[STM32F1] 电机PWM期间怎么使用AD采样？

/* ------------ ADC1~ADC2 reguler channel configuration ----------------- */

    ADC_InitStructure.ADC_Mode = ADC_Mode_RegInjecSimult; /* »ìºÏͬ²½¹æÔò+ͬ²½×¢Èëģʽ */

    ADC_InitStructure.ADC_ScanConvMode = ENABLE;

    ADC_InitStructure.ADC_ContinuousConvMode = DISABLE; /* DISABLE */

    ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;

    ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;

    ADC_InitStructure.ADC_NbrOfChannel = NUM_OF_REG_CHANNEL;

    ADC_Init(ADC1, &ADC_InitStructure);

    ADC_Init(ADC2, &ADC_InitStructure);

    ADC_EXT_TRIG_ENABLE(ADC2); /* adc2¹æÔòͨµÀÍⲿ´¥·¢ */



    /* Regular ChannelÉèÖòɼ¯Ë³ÐòºÍʱ¼ä.ÉèÖóÉË«adcºó,dmaÓÃ32bit´«Êä,µÍ16bitÊÇadc1ͨµÀ,¸ß16bitÊÇadc2ͨµÀ */

    ADC_RegularChannelConfig(ADC1, CH5_RESERVED,          1, ADC_SampleTime_13Cycles5);//0

    ADC_RegularChannelConfig(ADC1, CH6_VREF_1_65,   2, ADC_SampleTime_13Cycles5);// 2

    ADC_RegularChannelConfig(ADC1, CH12_BAT_IN,         3, ADC_SampleTime_13Cycles5);// 4

    ADC_RegularChannelConfig(ADC1, CH13_15VAD,           4, ADC_SampleTime_13Cycles5);//6

    ADC_RegularChannelConfig(ADC1, CH14_RIGHT_BUS_CURRENT,        5, ADC_SampleTime_13Cycles5);//8

        ADC_RegularChannelConfig(ADC1, CH15_LEFT_BUS_CURRENT,        6, ADC_SampleTime_13Cycles5);//10



    /* Regular Channel */

        ADC_RegularChannelConfig(ADC2, CH15_LEFT_BUS_CURRENT,1, ADC_SampleTime_13Cycles5);// 1

        ADC_RegularChannelConfig(ADC2, CH5_RESERVED,          2, ADC_SampleTime_13Cycles5);// 3

    ADC_RegularChannelConfig(ADC2, CH6_VREF_1_65,   3, ADC_SampleTime_13Cycles5);//5

    ADC_RegularChannelConfig(ADC2, CH12_BAT_IN,         4, ADC_SampleTime_13Cycles5);//7

    ADC_RegularChannelConfig(ADC2, CH13_15VAD,           5, ADC_SampleTime_13Cycles5);//9

        ADC_RegularChannelConfig(ADC2, CH14_RIGHT_BUS_CURRENT,6, ADC_SampleTime_13Cycles5);//11



        /* ÔÙ´ÎÅäÖÃadc1ºÍadc2µÄ×¢Èëת»»¹æÔò.Èç¹ûת»»Ìõ¼þΪTIM8CC4,Ôòµ±cc4²úÉúʱ,adc1

         * ½«´¥·¢,¶øadc2»á±»×÷ΪslaveÆô¶¯×ª»».ÕâÀïµÄͨµÀ¿ÉÒÔÓÃÀ´²âÁ¿ÏàµçÁ÷.

         */

    /* Injected Channel×¢ÈëͨµÀ×î¶à4¸ö,²Î¿¼jsqr¼Ä´æÆ÷ */

    ADC_InjectedSequencerLengthConfig(ADC1, NUM_OF_INJ_CHANNEL);



    ADC_InjectedChannelConfig(ADC1, CH3_RESERVED, 1, ADC_SampleTime_13Cycles5);

    ADC_InjectedChannelConfig(ADC1, CH4_RESERVED, 2, ADC_SampleTime_13Cycles5);

        ADC_InjectedChannelConfig(ADC1, CH10_RESERVED, 3, ADC_SampleTime_13Cycles5);

    ADC_InjectedChannelConfig(ADC1, CH11_RESERVED, 4, ADC_SampleTime_13Cycles5);



    ADC_ExternalTrigInjectedConvConfig(ADC1, ADC_ExternalTrigInjecConv_Ext_IT15_TIM8_CC4);

    ADC_ExternalTrigInjectedConvCmd(ADC1, ENABLE);



        /* ---------------------- ADC2 configuration ------------------------------- */

    /* Injected Channel */

    ADC_InjectedSequencerLengthConfig(ADC2, NUM_OF_INJ_CHANNEL);



    ADC_InjectedChannelConfig(ADC2, CH11_RESERVED, 1, ADC_SampleTime_13Cycles5);

    ADC_InjectedChannelConfig(ADC2, CH10_RESERVED, 2, ADC_SampleTime_13Cycles5);

        ADC_InjectedChannelConfig(ADC2, CH4_RESERVED, 3, ADC_SampleTime_13Cycles5);

    ADC_InjectedChannelConfig(ADC2, CH3_RESERVED, 4, ADC_SampleTime_13Cycles5);



    ADC_ExternalTrigInjectedConvConfig(ADC2, ADC_ExternalTrigInjecConv_None);  //GDоƬÐè¼ÓÕâ¾ä»°£¬STÄܼæÈÝ



    ADC_ExternalTrigInjectedConvCmd(ADC2, ENABLE);



        /* ------------------------------------------------------------------------- */



    /**

     * ADC1

     */

    /* Enable ADC1 DMA */

    ADC_DMA_ENABLE(ADC1);

    /* Enable ADC1 */

    ADC_ENABLE(ADC1);

    /* Enable ADC1 reset calibaration register */

    ADC_RST_CAL(ADC1);

    /* Check the end of ADC1 reset calibration register */

    while(ADC_GET_RST_CAL_STATUS(ADC1));

    /* Start ADC1 calibaration */

    ADC_START_CAL(ADC1);

    /* Check the end of ADC1 calibration */

    while(ADC_GET_CAL_STATUS(ADC1));



    /* Enable ADC2 */

    ADC_ENABLE(ADC2);

    ADC_RST_CAL(ADC2);

    while(ADC_GET_RST_CAL_STATUS(ADC2));

    ADC_START_CAL(ADC2);

    while(ADC_GET_CAL_STATUS(ADC2));



        /**

         * DMA1 channel1 deinitialize

         */

        RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);

    DMA_DISABLE(DMA1_Channel1);

    DMA1_Channel1->CCR = 0;

    DMA1_Channel1->CNDTR = 0;

    DMA1_Channel1->CMAR = 0;

    DMA1_Channel1->CPAR = 0;

    CLR_IT_FLAG(DMA1, Channel1);



    /**

     * DMA1 channel1 configuration

     */

    DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&(ADC1->DR);

    DMA_InitStructure.DMA_MemoryBaseAddr     = (uint32_t)&g_adc12_value[0];

    DMA_InitStructure.DMA_DIR                = DMA_DIR_PeripheralSRC;

    DMA_InitStructure.DMA_BufferSize         = NUM_OF_REG_CHANNEL; /* ָʾDMAʹÓöàÉÙ¸öÊý¾Ý,²»Äܳ¬¹ýÊý×é´óС.µ¥Î»ÊÇDMA_MemoryDataSize */

    DMA_InitStructure.DMA_PeripheralInc      = DMA_PeripheralInc_Disable;

    DMA_InitStructure.DMA_MemoryInc          = DMA_MemoryInc_Enable;

    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word; /* ÕâÊÇADC2ʹÓÃDMAµÄÒªÇó.low 16bit=adc1,high 16bit=adc2 */

    DMA_InitStructure.DMA_MemoryDataSize     = DMA_MemoryDataSize_Word;

    DMA_InitStructure.DMA_Mode               = DMA_Mode_Normal; /* normal=Ö»´«ËÍÒ»´Î */

    DMA_InitStructure.DMA_Priority           = DMA_Priority_VeryHigh;

    DMA_InitStructure.DMA_M2M                = DMA_M2M_Disable;

    DMA_Init(DMA1_Channel1, &DMA_InitStructure);