fix zpwm generator bug

chip/zpwm_generator.cpp

@@ -33,6 +33,8 @@ void ZPWMGenerator::startPWM(float freq, float duty) {
   __HAL_TIM_SET_AUTORELOAD(m_htim, autoreload);
   __HAL_TIM_SET_PRESCALER(m_htim, prescaler);
 
+  // printf("auto reload %d  %f %f\n", autoreload, duty, duty / 100.0 * __HAL_TIM_GET_AUTORELOAD(m_htim));
+
   /**
    * @brief
    */
@@ -44,13 +46,19 @@ void ZPWMGenerator::startPWM(float freq, float duty) {
   sConfigOC.OCIdleState        = TIM_OCIDLESTATE_RESET;
   sConfigOC.OCNIdleState       = TIM_OCNIDLESTATE_RESET;
 
-  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, m_channel) != HAL_OK) {
+  if (HAL_TIM_PWM_ConfigChannel(m_htim, &sConfigOC, m_channel) != HAL_OK) {
     Error_Handler();
   }
   // HAL_TIM_PWM_Start(m_htim, Channel);
-  HAL_TIM_PWM_Start(m_htim, m_channel);
+  if (HAL_TIM_PWM_Start(m_htim, m_channel) != HAL_OK) {
+    Error_Handler();
+  }
 }
 void ZPWMGenerator::stopPWM() {
+  float duty = 0;
+  if (!m_polarity) {
+    duty = 100.0 - duty;
+  }
   //  HAL_TIM_PWM_Stop(m_htim, m_channel);
-  startPWM(0);
+  startPWM(duty);
 }