Hi All,

A compare module can generate software PWM effectively with low ins.cyl overhead. The stearing is all done in software.


You turn on the pin (according to the steer logic) and with compare interrupt turn off all the outputs. Comapre value comes in from the PID. Turning off the outputs in the ISR and turning them on (sterring) gives you the dead-time automatically. It is not that complicated.

Sorry can't share the code. (Mostly ASM)