STM32G474 HRTIM为什么无法正常触发ADC？

Hi,
我在用G474 HRtiM驱动BLDC电机，尝试使用ADC trigger在下管导通时（CMP2作为reset source）去触发低侧电流感应。现在的问题是即使CMP2中断回调可以被正常调用，PWM波形也正常，ADC依然没被触发。
因为没有使用CubeMX生成代码，是对着Cube包内的Example抄的，所以我想可能是某些信号配置在硬件上不可实现。但是我检查了Datasheet和用Cube生成的代码，我的配置是可以实现的。
ADC和HRTIM配置如下：
    __HAL_RCC_ADC12_CLK_ENABLE();    this->adc1_handle.Instance                   = ADC1;    this->adc1_handle.Init.ClockPrescaler        = ADC_CLOCK_SYNC_PCLK_DIV4;    this->adc1_handle.Init.Resolution            = ADC_RESOLUTION_12B;    this->adc1_handle.Init.DataAlign             = ADC_DATAALIGN_RIGHT;    this->adc1_handle.Init.GainCompensation      = 0;    this->adc1_handle.Init.ScanConvMode          = ADC_SCAN_DISABLE;    this->adc1_handle.Init.EOCSelection          = ADC_EOC_SINGLE_CONV;    this->adc1_handle.Init.LowPowerAutoWait      = DISABLE;    this->adc1_handle.Init.ContinuousConvMode    = DISABLE;    this->adc1_handle.Init.NbrOfConversion       = 1;    this->adc1_handle.Init.DiscontinuousConvMode = DISABLE;    this->adc1_handle.Init.ExternalTrigConv      = ADC_EXTERNALTRIG_HRTIM_TRG6;    // this->adc1_handle.Init.ExternalTrigConv      = ADC_SOFTWARE_START;    this->adc1_handle.Init.ExternalTrigConvEdge  = ADC_EXTERNALTRIGCONVEDGE_RISING;    this->adc1_handle.Init.DMAContinuousRequests = DISABLE;    this->adc1_handle.Init.Overrun               = ADC_OVR_DATA_OVERWRITTEN;    this->adc1_handle.Init.OversamplingMode      = DISABLE;    auto result = HAL_ADC_Init(&(this->adc1_handle));    if (result != HAL_OK)        throw hardware_error(result, "HAL_ADC_Init ADC1");    ADC_MultiModeTypeDef multimode1 = {};    multimode1.Mode                 = ADC_MODE_INDEPENDENT;    result = HAL_ADCEx_MultiModeConfigChannel(&(this->adc1_handle), &multimode1);    if (result != HAL_OK)        throw hardware_error(result, "HAL_ADCEx_MultiModeConfigChannel ADC1");    this->vopamp1_handle.Channel      = ADC_CHANNEL_VOPAMP1;    this->vopamp1_handle.Rank         = ADC_REGULAR_RANK_1;    this->vopamp1_handle.SamplingTime = ADC_SAMPLETIME_640CYCLES_5;    this->vopamp1_handle.SingleDiff   = ADC_SINGLE_ENDED;    this->vopamp1_handle.OffsetNumber = ADC_OFFSET_NONE;    this->vopamp1_handle.Offset       = 0;    result = HAL_ADC_ConfigChannel(&(this->adc1_handle), &(this->vopamp1_handle));    if (result != HAL_OK)        throw hardware_error(result, "HAL_ADC_ConfigChannel VOPAMP1");    result = HAL_ADCEx_Calibration_Start(&(this->adc1_handle), ADC_SINGLE_ENDED);    if (result != HAL_OK)        throw hardware_error(result, "HAL_ADCEx_Calibration_Start ADC1");    HAL_NVIC_SetPriority(ADC1_2_IRQn, 7, 0);    HAL_NVIC_EnableIRQ(ADC1_2_IRQn);    result = HAL_ADC_Start_IT(&(this->adc1_handle));    if (result != HAL_OK)        throw hardware_error(result, "HAL_ADC_Start ADC1");__HAL_RCC_HRTIM1_CLK_ENABLE();    gpio_hrtim_u_p.Pin       = GPIO_PIN_8;    gpio_hrtim_u_p.Mode      = GPIO_MODE_AF_PP;    gpio_hrtim_u_p.Pull      = GPIO_PULLDOWN;    gpio_hrtim_u_p.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;    gpio_hrtim_u_p.Alternate = GPIO_AF13_HRTIM1;    HAL_GPIO_Init(GPIOA, &gpio_hrtim_u_p);    gpio_hrtim_u_n.Pin       = GPIO_PIN_9;    gpio_hrtim_u_n.Mode      = GPIO_MODE_AF_PP;    gpio_hrtim_u_n.Pull      = GPIO_PULLDOWN;    gpio_hrtim_u_n.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;    gpio_hrtim_u_n.Alternate = GPIO_AF13_HRTIM1;    HAL_GPIO_Init(GPIOA, &gpio_hrtim_u_n);    gpio_hrtim_v_p.Pin       = GPIO_PIN_12;    gpio_hrtim_v_p.Mode      = GPIO_MODE_AF_PP;    gpio_hrtim_v_p.Pull      = GPIO_PULLDOWN;    gpio_hrtim_v_p.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;    gpio_hrtim_v_p.Alternate = GPIO_AF13_HRTIM1;    HAL_GPIO_Init(GPIOB, &gpio_hrtim_v_p);    gpio_hrtim_v_n.Pin       = GPIO_PIN_13;    gpio_hrtim_v_n.Mode      = GPIO_MODE_AF_PP;    gpio_hrtim_v_n.Pull      = GPIO_PULLDOWN;    gpio_hrtim_v_n.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;    gpio_hrtim_v_n.Alternate = GPIO_AF13_HRTIM1;    HAL_GPIO_Init(GPIOB, &gpio_hrtim_v_n);    gpio_hrtim_w_p.Pin       = GPIO_PIN_14;    gpio_hrtim_w_p.Mode      = GPIO_MODE_AF_PP;    gpio_hrtim_w_p.Pull      = GPIO_PULLDOWN;    gpio_hrtim_w_p.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;    gpio_hrtim_w_p.Alternate = GPIO_AF13_HRTIM1;    HAL_GPIO_Init(GPIOB, &gpio_hrtim_w_p);    gpio_hrtim_w_n.Pin       = GPIO_PIN_15;    gpio_hrtim_w_n.Mode      = GPIO_MODE_AF_PP;    gpio_hrtim_w_n.Pull      = GPIO_PULLDOWN;    gpio_hrtim_w_n.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;    gpio_hrtim_w_n.Alternate = GPIO_AF13_HRTIM1;    HAL_GPIO_Init(GPIOB, &gpio_hrtim_w_n);    HRTIM_TimeBaseCfgTypeDef   hrtim_timebase_cfg;    HRTIM_TimerCtlTypeDef      hrtim_timer_ctl;    HRTIM_TimerCfgTypeDef      hrtim_timer_cfg;    HRTIM_CompareCfgTypeDef    hrtim_compare_cfg;    HRTIM_OutputCfgTypeDef     hrtim_output_cfg;    HRTIM_DeadTimeCfgTypeDef   hrtim_deadtime_cfg;    HRTIM_ADCTriggerCfgTypeDef hrtim_adctrig_cfg;    this->hrtim_handle.Instance                     = HRTIM1;    this->hrtim_handle.Init.HRTIMInterruptResquests = HRTIM_IT_NONE;    this->hrtim_handle.Init.SyncOptions             = HRTIM_SYNCOPTION_NONE;    auto result = HAL_HRTIM_Init(&(this->hrtim_handle));    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_Init");    std::printf("hrtim: configured, no ITn");    result = HAL_HRTIM_DLLCalibrationStart(&(this->hrtim_handle), HRTIM_CALIBRATIONRATE_1);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_DLLCalibrationStart");    result = HAL_HRTIM_PollForDLLCalibration(&(this->hrtim_handle), 10);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_PollForDLLCalibration");    std::printf("hrtim: calibrated, period: HRTIM_CALIBRATIONRATE_1 (0.7ms)n");    timebase_period = (HAL_RCC_GetSysClockFreq() * (32 / this->prescaler_radio)) / this->desired_frequency;    hrtim_timebase_cfg.Mode              = HRTIM_MODE_CONTINUOUS;    hrtim_timebase_cfg.Period            = timebase_period;    hrtim_timebase_cfg.PrescalerRatio    = HRTIM_PRESCALERRATIO_MUL4;    hrtim_timebase_cfg.RepetitionCounter = 0;    result = HAL_HRTIM_TimeBaseConfig(&(this->hrtim_handle), HRTIM_TIMERINDEX_MASTER, &hrtim_timebase_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_TimeBaseConfig Master");    std::printf("hrtim: master timebase mode: HRTIM_MODE_CONTINUOUS, prescaler: HRTIM_PRESCALERRATIO_MUL4n");    std::printf("hrtim: master timebase period: %llun", (unsigned long long)timebase_period);    result = HAL_HRTIM_TimeBaseConfig(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_A, &hrtim_timebase_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_TimeBaseConfig CHA");    result = HAL_HRTIM_TimeBaseConfig(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_C, &hrtim_timebase_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_TimeBaseConfig CHC");    result = HAL_HRTIM_TimeBaseConfig(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_D, &hrtim_timebase_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_TimeBaseConfig CHD");    std::printf("hrtim: timebase mode: HRTIM_MODE_CONTINUOUS, prescaler: HRTIM_PRESCALERRATIO_MUL4n");    std::printf("hrtim: timebase period: %llun", (unsigned long long)timebase_period);    hrtim_timer_ctl.DualChannelDacEnable = HRTIM_TIMER_DCDE_DISABLED;    hrtim_timer_ctl.GreaterCMP1          = HRTIM_TIMERGTCMP1_EQUAL;    hrtim_timer_ctl.GreaterCMP3          = HRTIM_TIMERGTCMP3_EQUAL;    hrtim_timer_ctl.TrigHalf             = HRTIM_TIMERTRIGHALF_DISABLED;    hrtim_timer_ctl.UpDownMode           = HRTIM_TIMERUPDOWNMODE_UP;    result = HAL_HRTIM_WaveformTimerControl(&(this->hrtim_handle), HRTIM_TIMERINDEX_MASTER, &hrtim_timer_ctl);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformTimerControl Master");    std::printf("hrtim: master timecontrol mode: up, HRTIM_TIMERGTCMP1_EQUAL, HRTIM_TIMERGTCMP3_EQUALn");    result = HAL_HRTIM_WaveformTimerControl(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_A, &hrtim_timer_ctl);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformTimerControl CHA");    result = HAL_HRTIM_WaveformTimerControl(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_C, &hrtim_timer_ctl);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformTimerControl CHC");    result = HAL_HRTIM_WaveformTimerControl(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_D, &hrtim_timer_ctl);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformTimerControl CHD");    std::printf("hrtim: timecontrol mode: up, HRTIM_TIMERGTCMP1_EQUAL, HRTIM_TIMERGTCMP3_EQUALn");    hrtim_timer_cfg.InterruptRequests     = HRTIM_TIM_IT_REP;    hrtim_timer_cfg.DMARequests           = HRTIM_TIM_DMA_NONE;    hrtim_timer_cfg.DMASrcAddress         = 0x0000;    hrtim_timer_cfg.DMADstAddress         = 0x0000;    hrtim_timer_cfg.DMASize               = 0x1;    hrtim_timer_cfg.HalfModeEnable        = HRTIM_HALFMODE_DISABLED;    hrtim_timer_cfg.InterleavedMode       = HRTIM_INTERLEAVED_MODE_DISABLED;    hrtim_timer_cfg.StartOnSync           = HRTIM_SYNCSTART_DISABLED;    hrtim_timer_cfg.ResetOnSync           = HRTIM_SYNCRESET_DISABLED;    hrtim_timer_cfg.DACSynchro            = HRTIM_DACSYNC_NONE;    hrtim_timer_cfg.PreloadEnable         = HRTIM_PRELOAD_ENABLED;    hrtim_timer_cfg.UpdateGating          = HRTIM_UPDATEGATING_INDEPENDENT;    hrtim_timer_cfg.BurstMode             = HRTIM_TIMERBURSTMODE_MAINTAINCLOCK;    hrtim_timer_cfg.RepetitionUpdate      = HRTIM_UPDATEONREPETITION_ENABLED;    hrtim_timer_cfg.PushPull              = HRTIM_TIMPUSHPULLMODE_DISABLED;    hrtim_timer_cfg.FaultEnable           = HRTIM_TIMFAULTENABLE_NONE;    hrtim_timer_cfg.FaultLock             = HRTIM_TIMFAULTLOCK_READWRITE;    hrtim_timer_cfg.DeadTimeInsertion     = HRTIM_TIMDEADTIMEINSERTION_DISABLED;    hrtim_timer_cfg.DelayedProtectionMode = HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_DISABLED;    hrtim_timer_cfg.UpdateTrigger         = HRTIM_TIMUPDATETRIGGER_NONE;    hrtim_timer_cfg.ResetTrigger          = HRTIM_TIMRESETTRIGGER_NONE;    hrtim_timer_cfg.ResetUpdate           = HRTIM_TIMUPDATEONRESET_DISABLED;    hrtim_timer_cfg.ReSyncUpdate          = HRTIM_TIMERESYNC_UPDATE_UNCONDITIONAL;    result = HAL_HRTIM_WaveformTimerConfig(&(this->hrtim_handle), HRTIM_TIMERINDEX_MASTER, &hrtim_timer_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformTimerConfig CHA");    std::printf(        "hrtim: master timebase config: independent, repetition IT, no DMA, no reset, dead time insertion "        "disabledn");    hrtim_timer_cfg.InterruptRequests     = HRTIM_TIM_IT_NONE;    hrtim_timer_cfg.DMARequests           = HRTIM_TIM_DMA_NONE;    hrtim_timer_cfg.DMASrcAddress         = 0x0000;    hrtim_timer_cfg.DMADstAddress         = 0x0000;    hrtim_timer_cfg.DMASize               = 0x1;    hrtim_timer_cfg.HalfModeEnable        = HRTIM_HALFMODE_DISABLED;    hrtim_timer_cfg.InterleavedMode       = HRTIM_INTERLEAVED_MODE_DISABLED;    hrtim_timer_cfg.StartOnSync           = HRTIM_SYNCSTART_DISABLED;    hrtim_timer_cfg.ResetOnSync           = HRTIM_SYNCRESET_DISABLED;    hrtim_timer_cfg.DACSynchro            = HRTIM_DACSYNC_NONE;    hrtim_timer_cfg.PreloadEnable         = HRTIM_PRELOAD_ENABLED;    hrtim_timer_cfg.UpdateGating          = HRTIM_UPDATEGATING_INDEPENDENT;    hrtim_timer_cfg.BurstMode             = HRTIM_TIMERBURSTMODE_MAINTAINCLOCK;    hrtim_timer_cfg.RepetitionUpdate      = HRTIM_UPDATEONREPETITION_ENABLED;    hrtim_timer_cfg.PushPull              = HRTIM_TIMPUSHPULLMODE_DISABLED;    hrtim_timer_cfg.FaultEnable           = HRTIM_TIMFAULTENABLE_NONE;    hrtim_timer_cfg.FaultLock             = HRTIM_TIMFAULTLOCK_READWRITE;    hrtim_timer_cfg.DeadTimeInsertion     = HRTIM_TIMDEADTIMEINSERTION_ENABLED;    hrtim_timer_cfg.DelayedProtectionMode = HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_DISABLED;    hrtim_timer_cfg.UpdateTrigger         = HRTIM_TIMUPDATETRIGGER_NONE;    hrtim_timer_cfg.ResetTrigger          = HRTIM_TIMRESETTRIGGER_MASTER_PER;    hrtim_timer_cfg.ResetUpdate           = HRTIM_TIMUPDATEONRESET_ENABLED;    hrtim_timer_cfg.ReSyncUpdate          = HRTIM_TIMERESYNC_UPDATE_UNCONDITIONAL;    result = HAL_HRTIM_WaveformTimerConfig(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_A, &hrtim_timer_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformTimerConfig CHA");    result = HAL_HRTIM_WaveformTimerConfig(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_C, &hrtim_timer_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformTimerConfig CHC");    hrtim_timer_cfg.DelayedProtectionMode = HRTIM_TIMER_D_E_DELAYEDPROTECTION_DISABLED;    result = HAL_HRTIM_WaveformTimerConfig(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_D, &hrtim_timer_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformTimerConfig CHD");    std::printf(        "hrtim: timebase config: independent, no IT, no DMA, reset on master PER, dead time insertion enabledn");    // hrtim_compare_cfg.CompareValue       = -1;    // hrtim_compare_cfg.AutoDelayedMode    = HRTIM_AUTODELAYEDMODE_REGULAR;    // hrtim_compare_cfg.AutoDelayedTimeout = 0;    // result = HAL_HRTIM_WaveformCompareConfig(    //     &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_A, HRTIM_COMPAREUNIT_1, &hrtim_compare_cfg);    // if (result != HAL_OK)    //     throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig CHA");    // result = HAL_HRTIM_WaveformCompareConfig(    //     &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_A, HRTIM_COMPAREUNIT_2, &hrtim_compare_cfg);    // if (result != HAL_OK)    //     throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig CHA");    // result = HAL_HRTIM_WaveformCompareConfig(    //     &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_A, HRTIM_COMPAREUNIT_3, &hrtim_compare_cfg);    // if (result != HAL_OK)    //     throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig CHA");    // result = HAL_HRTIM_WaveformCompareConfig(    //     &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_C, HRTIM_COMPAREUNIT_1, &hrtim_compare_cfg);    // if (result != HAL_OK)    //     throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig CHC");    // result = HAL_HRTIM_WaveformCompareConfig(    //     &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_C, HRTIM_COMPAREUNIT_2, &hrtim_compare_cfg);    // if (result != HAL_OK)    //     throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig CHC");    // result = HAL_HRTIM_WaveformCompareConfig(    //     &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_C, HRTIM_COMPAREUNIT_3, &hrtim_compare_cfg);    // if (result != HAL_OK)    //     throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig CHC");    // result = HAL_HRTIM_WaveformCompareConfig(    //     &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_D, HRTIM_COMPAREUNIT_1, &hrtim_compare_cfg);    // if (result != HAL_OK)    //     throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig CHD");    // result = HAL_HRTIM_WaveformCompareConfig(    //     &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_D, HRTIM_COMPAREUNIT_2, &hrtim_compare_cfg);    // if (result != HAL_OK)    //     throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig CHD");    // result = HAL_HRTIM_WaveformCompareConfig(    //     &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_D, HRTIM_COMPAREUNIT_3, &hrtim_compare_cfg);    // if (result != HAL_OK)    //     throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig CHD");    std::printf("hrtim: compare config: not touch on all channelsn");    hrtim_output_cfg.Polarity              = HRTIM_OUTPUTPOLARITY_HIGH;    hrtim_output_cfg.SetSource             = HRTIM_OUTPUTSET_TIMCMP1;    hrtim_output_cfg.ResetSource           = HRTIM_OUTPUTSET_TIMCMP2;    hrtim_output_cfg.IdleMode              = HRTIM_OUTPUTIDLEMODE_NONE;    hrtim_output_cfg.IdleLevel             = HRTIM_OUTPUTIDLELEVEL_INACTIVE;    hrtim_output_cfg.FaultLevel            = HRTIM_OUTPUTFAULTLEVEL_NONE;    hrtim_output_cfg.ChopperModeEnable     = HRTIM_OUTPUTCHOPPERMODE_DISABLED;    hrtim_output_cfg.BurstModeEntryDelayed = HRTIM_OUTPUTBURSTMODEENTRY_REGULAR;    result = HAL_HRTIM_WaveformOutputConfig(        &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_A, HRTIM_OUTPUT_TA1, &hrtim_output_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig TA1");    result = HAL_HRTIM_WaveformOutputConfig(        &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_C, HRTIM_OUTPUT_TC1, &hrtim_output_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig TC1");    result = HAL_HRTIM_WaveformOutputConfig(        &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_D, HRTIM_OUTPUT_TD1, &hrtim_output_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig TD1");    hrtim_output_cfg.Polarity    = HRTIM_OUTPUTPOLARITY_HIGH;    hrtim_output_cfg.SetSource   = HRTIM_OUTPUTSET_TIMCMP2;    hrtim_output_cfg.ResetSource = HRTIM_OUTPUTSET_TIMCMP1;    result = HAL_HRTIM_WaveformOutputConfig(        &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_A, HRTIM_OUTPUT_TA2, &hrtim_output_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig TA2");    result = HAL_HRTIM_WaveformOutputConfig(        &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_C, HRTIM_OUTPUT_TC2, &hrtim_output_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig TC2");    result = HAL_HRTIM_WaveformOutputConfig(        &(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_D, HRTIM_OUTPUT_TD2, &hrtim_output_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformCompareConfig TD2");    std::printf("hrtim: output config: Tx1 up at TIMPER and down at CMP1, Tx2 up at CMP1 and down at TIMPERn");    auto deadtime_period_rise = (unsigned int)(((unsigned long long)HAL_RCC_GetSysClockFreq() *                                                (32 / this->prescaler_radio) * this->desired_deadtime_rise) /                                               1000000000);    auto deadtime_period_fall = (unsigned int)(((unsigned long long)HAL_RCC_GetSysClockFreq() *                                                (32 / this->prescaler_radio) * this->desired_deadtime_fall) /                                               1000000000);    hrtim_deadtime_cfg.Prescaler       = HRTIM_TIMDEADTIME_PRESCALERRATIO_MUL4; // 1.73ns per step    hrtim_deadtime_cfg.RisingValue     = deadtime_period_rise;    hrtim_deadtime_cfg.RisingSign      = HRTIM_TIMDEADTIME_RISINGSIGN_POSITIVE;    hrtim_deadtime_cfg.RisingLock      = HRTIM_TIMDEADTIME_RISINGLOCK_READONLY;    hrtim_deadtime_cfg.RisingSignLock  = HRTIM_TIMDEADTIME_RISINGSIGNLOCK_READONLY;    hrtim_deadtime_cfg.FallingValue    = deadtime_period_fall;    hrtim_deadtime_cfg.FallingSign     = HRTIM_TIMDEADTIME_FALLINGSIGN_POSITIVE;    hrtim_deadtime_cfg.FallingLock     = HRTIM_TIMDEADTIME_FALLINGLOCK_READONLY;    hrtim_deadtime_cfg.FallingSignLock = HRTIM_TIMDEADTIME_FALLINGSIGNLOCK_READONLY;    result = HAL_HRTIM_DeadTimeConfig(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_A, &hrtim_deadtime_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_DeadTimeConfig CHA");    result = HAL_HRTIM_DeadTimeConfig(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_C, &hrtim_deadtime_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_DeadTimeConfig CHC");    result = HAL_HRTIM_DeadTimeConfig(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_D, &hrtim_deadtime_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_DeadTimeConfig CHD");    std::printf(        "hrtim: deadtime config: rising %dns, falling %dns, period: rising %u, falling %un",        (unsigned int)this->desired_deadtime_rise,        (unsigned int)this->desired_deadtime_fall,        (unsigned int)deadtime_period_rise,        (unsigned int)deadtime_period_fall);    hrtim_adctrig_cfg.Trigger      = HRTIM_ADCTRIGGERUPDATE_TIMER_A;    hrtim_adctrig_cfg.UpdateSource = HRTIM_ADCTRIGGEREVENT6810_TIMERA_CMP2;    result = HAL_HRTIM_ADCTriggerConfig(&(this->hrtim_handle), HRTIM_ADCTRIGGER_6, &hrtim_adctrig_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_ADCTriggerConfig CHA");    result = HAL_HRTIM_ADCPostScalerConfig(&(this->hrtim_handle), HRTIM_ADCTRIGGER_6, 0x0);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_ADCPostScalerConfig CHA");    std::printf("hrtim: adc trigger 6: Timer A, CMP2n");    hrtim_adctrig_cfg.Trigger      = HRTIM_ADCTRIGGERUPDATE_TIMER_C;    hrtim_adctrig_cfg.UpdateSource = HRTIM_ADCTRIGGEREVENT6810_TIMERC_CMP2;    result = HAL_HRTIM_ADCTriggerConfig(&(this->hrtim_handle), HRTIM_ADCTRIGGER_8, &hrtim_adctrig_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_ADCTriggerConfig CHC");    result = HAL_HRTIM_ADCPostScalerConfig(&(this->hrtim_handle), HRTIM_ADCTRIGGER_8, 0x0);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_ADCPostScalerConfig CHC");    std::printf("hrtim: adc trigger 8: Timer C, CMP2n");    hrtim_adctrig_cfg.Trigger      = HRTIM_ADCTRIGGERUPDATE_TIMER_D;    hrtim_adctrig_cfg.UpdateSource = HRTIM_ADCTRIGGEREVENT6810_TIMERD_CMP2;    result = HAL_HRTIM_ADCTriggerConfig(&(this->hrtim_handle), HRTIM_ADCTRIGGER_10, &hrtim_adctrig_cfg);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_ADCTriggerConfig CHD");    result = HAL_HRTIM_ADCPostScalerConfig(&(this->hrtim_handle), HRTIM_ADCTRIGGER_10, 0x0);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_ADCPostScalerConfig CHD");    std::printf("hrtim: adc trigger 10: Timer D, CMP2n");    __arisa_hrtim_handle = &(this->hrtim_handle);    result = HAL_HRTIM_WaveformOutputStart(&(this->hrtim_handle), HRTIM_OUTPUT_TA1 | HRTIM_OUTPUT_TA2);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformOutputStart CHA");    std::printf("hrtim: U phase startedn");    result = HAL_HRTIM_WaveformOutputStart(&(this->hrtim_handle), HRTIM_OUTPUT_TC1 | HRTIM_OUTPUT_TC2);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformOutputStart CHC");    std::printf("hrtim: V phase startedn");    result = HAL_HRTIM_WaveformOutputStart(&(this->hrtim_handle), HRTIM_OUTPUT_TD1 | HRTIM_OUTPUT_TD2);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformOutputStart CHD");    std::printf("hrtim: W phase startedn");    result = HAL_HRTIM_WaveformCountStart(        &(this->hrtim_handle),        HRTIM_TIMERID_MASTER | HRTIM_TIMERID_TIMER_A | HRTIM_TIMERID_TIMER_C | HRTIM_TIMERID_TIMER_D);    if (result != HAL_OK)        throw hardware_error(result, "HAL_HRTIM_WaveformCountStart Master");    __HAL_HRTIM_MASTER_ENABLE_IT(&(this->hrtim_handle), HRTIM_MASTER_IT_MREP);    HAL_NVIC_SetPriority(HRTIM1_Master_IRQn, 6, 0);    HAL_NVIC_EnableIRQ(HRTIM1_Master_IRQn);    // __HAL_HRTIM_TIMER_ENABLE_IT(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_A, HRTIM_TIM_IT_CMP2);    // HAL_NVIC_SetPriority(HRTIM1_TIMA_IRQn, 6, 1);    // HAL_NVIC_EnableIRQ(HRTIM1_TIMA_IRQn);    // __HAL_HRTIM_TIMER_ENABLE_IT(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_C, HRTIM_TIM_IT_CMP2);    // HAL_NVIC_SetPriority(HRTIM1_TIMC_IRQn, 6, 2);    // HAL_NVIC_EnableIRQ(HRTIM1_TIMC_IRQn);    // __HAL_HRTIM_TIMER_ENABLE_IT(&(this->hrtim_handle), HRTIM_TIMERINDEX_TIMER_D, HRTIM_TIM_IT_CMP2);    // HAL_NVIC_SetPriority(HRTIM1_TIMD_IRQn, 6, 3);    // HAL_NVIC_EnableIRQ(HRTIM1_TIMD_IRQn);