Driving motor with MCPWM

[MrOngCW]

Hi, I am trying to learn MCPWM but i cant seem to drive multiple motors at once with a DRV8833

Only 1 motor (MCPWM_UNIT_0 , MCPWM_TIMER_0) runs..
Is there anything wrong with the code?

Code: Select all

void setup()
{
  mcpwm_config_t pwm_config;
  pwm_config.frequency = 1000;
  pwm_config.cmpr_a = 0;    		
  pwm_config.cmpr_b = 0;    		
  pwm_config.counter_mode = MCPWM_UP_COUNTER;
  pwm_config.duty_mode = MCPWM_DUTY_MODE_0;

  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, fl1);
  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0B, fl2);

  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM1A, fr1);
  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM1B, fr2);


  mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config);
  mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_1, &pwm_config);
}

void loop()
{
  mcpwm_set_signal_low(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_B);
  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 50);
  mcpwm_set_duty_type(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, MCPWM_DUTY_MODE_0);

  mcpwm_set_signal_low(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_B);
  mcpwm_set_duty(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_A, 60);
  mcpwm_set_duty_type(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_A, MCPWM_DUTY_MODE_0);
}