Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: BREMS/BREMSConfig.cpp

Revision:
91:f58472ac3fae
Parent:
90:2ef53b1a22de
Child:
92:a9dac72d8cac
--- a/BREMS/BREMSConfig.cpp	Tue Apr 04 04:05:37 2017 +0000
+++ b/BREMS/BREMSConfig.cpp	Wed Apr 05 20:57:18 2017 +0000
@@ -22,13 +22,13 @@
     NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
 
     TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
-    TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
+    TIM1->CR1 = 0x00; //CMS = 10, interrupt only when counting up
     TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on, 
-    TIM1->RCR |= 0x01; //update event once per up/down count of tim1 
+    TIM1->RCR |= 0x00; //update event once per up/down count of tim1 
     TIM1->EGR |= TIM_EGR_UG;
     
     TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
-    TIM1->ARR = (int) ((float) 9e7 / F_SW);
+    TIM1->ARR = (int) (2 * (float) 9e7 / F_SW);
     TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
     TIM1->CR1 |= TIM_CR1_CEN;