diff --git a/firmware/lib/currentsense/adc.cpp b/firmware/lib/currentsense/adc.cpp
index 6195155..5778d98 100644
--- a/firmware/lib/currentsense/adc.cpp
+++ b/firmware/lib/currentsense/adc.cpp
@@ -21,7 +21,7 @@ void MX_ADC1_Init(void)
   hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
   hadc1.Init.LowPowerAutoWait = DISABLE;
   hadc1.Init.ContinuousConvMode = DISABLE;
-  hadc1.Init.NbrOfConversion = 1;
+  hadc1.Init.NbrOfConversion = 2;
   hadc1.Init.DiscontinuousConvMode = DISABLE;
   hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T2_TRGO;
   hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
@@ -39,8 +39,9 @@ void MX_ADC1_Init(void)
   sConfig.Rank = ADC_REGULAR_RANK_1;
   sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
   sConfig.SingleDiff = ADC_SINGLE_ENDED;
-  sConfig.OffsetNumber = ADC_OFFSET_NONE;
-  sConfig.Offset = 0;
+  sConfig.OffsetNumber = ADC_OFFSET_1;
+  sConfig.Offset = 0x7FF;
+  sConfig.OffsetSaturation = ENABLE;
   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
     SIMPLEFOC_DEBUG("HAL ADC OPAMP1 init failed!");
 
@@ -77,8 +78,9 @@ void MX_ADC2_Init(void)
   sConfig.Rank = ADC_REGULAR_RANK_1;
   sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
   sConfig.SingleDiff = ADC_SINGLE_ENDED;
-  sConfig.OffsetNumber = ADC_OFFSET_NONE;
-  sConfig.Offset = 0;
+  sConfig.OffsetNumber = ADC_OFFSET_1;
+  sConfig.Offset = 0x7FF;
+  sConfig.OffsetSaturation = ENABLE;
   if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
     SIMPLEFOC_DEBUG("HAL ADC OPAMP2 init failed!");
 
@@ -90,16 +92,6 @@ void MX_ADC2_Init(void)
 
 void ADC_DMA_Init(ADC_HandleTypeDef* adcHandle)
 {
-
-  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
-
-  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC12;
-  PeriphClkInit.Adc12ClockSelection = RCC_ADC12CLKSOURCE_SYSCLK;
-  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
   HAL_RCC_ADC12_CLK_ENABLED++;
   if(HAL_RCC_ADC12_CLK_ENABLED==1){
     __HAL_RCC_ADC12_CLK_ENABLE();
@@ -120,9 +112,7 @@ void ADC_DMA_Init(ADC_HandleTypeDef* adcHandle)
     hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
     HAL_DMA_DeInit(&hdma_adc1);
     if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
-    {
-      Error_Handler();
-    }
+      SIMPLEFOC_DEBUG("HAL error enabling DMA1 channel 1.");
 
     __HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
   }
@@ -139,10 +129,9 @@ void ADC_DMA_Init(ADC_HandleTypeDef* adcHandle)
     hdma_adc2.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
     hdma_adc2.Init.Mode = DMA_CIRCULAR;
     hdma_adc2.Init.Priority = DMA_PRIORITY_LOW;
+    HAL_DMA_DeInit(&hdma_adc2);
     if (HAL_DMA_Init(&hdma_adc2) != HAL_OK)
-    {
-      Error_Handler();
-    }
+      SIMPLEFOC_DEBUG("HAL error enabling DMA1 channel 2.");
 
     __HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc2);
   }
diff --git a/firmware/lib/currentsense/dma.cpp b/firmware/lib/currentsense/dma.cpp
index 99a75df..9832e65 100644
--- a/firmware/lib/currentsense/dma.cpp
+++ b/firmware/lib/currentsense/dma.cpp
@@ -16,7 +16,6 @@ void MX_DMA_Init(void)
   PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC12;
   PeriphClkInit.Adc12ClockSelection = RCC_ADC12CLKSOURCE_SYSCLK;
   HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
-
 }
 
 extern "C" {
diff --git a/firmware/lib/currentsense/utils.cpp b/firmware/lib/currentsense/utils.cpp
index ef71e24..68774a1 100644
--- a/firmware/lib/currentsense/utils.cpp
+++ b/firmware/lib/currentsense/utils.cpp
@@ -74,7 +74,7 @@ void *_configureADCInline(const void *driver_params, const int pinA, const int p
     ADC_DMA_Init(&hadc1);
     ADC_DMA_Init(&hadc2);
 
-    if (HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc1Result, 1) != HAL_OK)
+    if (HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc1Result, 2) != HAL_OK)
     {
         SIMPLEFOC_DEBUG("DMA1 read init failed");
     }