I’ll list my problems here during studying the source code.I’ll post my answer later if I really get it.Also welcome others to discuss them.And any reply is appreciated.
1、in handler TIM8_UP_TIM13_IRQHandler,all CCRs are assigned TIM_1_8_PERIOD_CLOCKS / 2 when counter is counting down.Won’t those go into effect after the next update event and before ControlLoop_IRQHandler finishes?