Timer Configuration for a PWM Scheme

Hi All,

I would really appreciate your input to this problem.

I am presently trying to implement the waveform "(a) PWM-ON" shown in figure below

It is for a 6step control algorithm, the STSW-SPIN32F0251 to be exact.

Here is the snapshot of the code that I have implemented for each step

This is the result that I am getting on the output timers that generates output PWM signals.

-->The yellow and green waveforms are the hall sensor input signals. All the three hall sensors signals have been XORed internally in my MCU into a single channel TI1.

-->The blue waveform is the gate signal to the high side of the first leg.

-->The pink waveform is the gate signal to the low side of the second leg.

A zoom in: Also here is an interesting picture showing the current waveform in pink color. The current decays to 0 between each step due to this delay problem

Now the problem that I would love you to help me with is this:

1. There is this delay between the signals on each gate signal waveform (blue and purple). It sort of makes sense since, I use the hall sensor signal edges (rising and falling) to indicate a step (1-6). so at each step, another pulse is produced on the same hall sensor interface timer to use in triggering the configuration changes in the output PWM timer for my gate drivers.
2. Hence it makes sense that there would be an initial delay, but after that there should be no delay as explained here in the manual RM0360

So how can I fix this delay?

I kinda think it could be a setting problem on the PWM timer - advanced timer 1. Maybe there is a setting to ensure the signals repeat and not get cleared until the next step.?

Thank you