From 8d4f94cea1b80fa6be14d5f0d992a0ec94f0ed24 Mon Sep 17 00:00:00 2001
From: Jan Mrna <mj370@protonmail.com>
Date: Sat, 16 May 2026 18:39:30 +0200
Subject: [PATCH] Add delay after switching off H-bridge

---
 fw/Core/Src/main.c | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/fw/Core/Src/main.c b/fw/Core/Src/main.c
index bcfddbf..7036529 100644
--- a/fw/Core/Src/main.c
+++ b/fw/Core/Src/main.c
@@ -60,6 +60,15 @@ uint16_t ADC_ReadChannel(uint32_t channel);
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
 
+void H_bridge_delay()
+{
+  // very rough calculation: body of the loop takes 8 instructions,
+  // freq is 12 MHz: 8 / 12e6 * 100 = 0.000066 s, so about 66 ns
+  // This calculation could be way off, but it doesn't matter that much
+  volatile uint32_t delay = 100;
+  while(--delay > 0) {}
+}
+
 void H_bridge_turn_off()
 {
   HAL_GPIO_WritePin(LS_A_GPIO_Port, LS_A_Pin, GPIO_PIN_RESET);
@@ -71,6 +80,9 @@ void H_bridge_turn_off()
 void H_bridge_set_direction(bool positive)
 {
   H_bridge_turn_off();
+  // delay to make sure all FETs are turned off;
+  // not measured, just eyeballing the time
+  H_bridge_delay();
   if (positive)
   {
     HAL_GPIO_WritePin(HS_A_GPIO_Port, HS_A_Pin, GPIO_PIN_SET);