Hi,
In TIDM-02009, the delay for computing 4 successive conversions of the same ADC channels is given as:
motor1.resolverCompDelay = motor1.sampleTime -
(ADC_S_H_TIME_NS / 2.0f + ADC_CONV_TIME_NS +
(ADC_S_H_TIME_NS * 4.0f + ADC_CONV_TIME_NS * 3.0f) / 2.0f) * NS_TO_S;
(trinv.c, line 187)
I would otherwise expect it to be simply:
ADC_S_H_TIME_NS * 4.0f + ADC_CONV_TIME_NS * 4.0f
Where do the extra terms come from? (These are the parts with the yellow highlights).
Thanks!