From 1c711e71dc9e45987f460c3633c076aa709e563a Mon Sep 17 00:00:00 2001
From: matei jordache <mateijordache@live.com>
Date: Sun, 12 Nov 2023 15:38:01 -0500
Subject: [PATCH] get ADC trigger working

---
 .../src/common/base_classes/FOCDriver.h       |  2 +-
 firmware/lib/currentsense/adc.cpp             | 44 +++++++------------
 firmware/lib/currentsense/utils.cpp           | 13 +++++-
 3 files changed, 29 insertions(+), 30 deletions(-)

diff --git a/firmware/lib/Arduino-FOC/src/common/base_classes/FOCDriver.h b/firmware/lib/Arduino-FOC/src/common/base_classes/FOCDriver.h
index 7994134..7a60c4b 100644
--- a/firmware/lib/Arduino-FOC/src/common/base_classes/FOCDriver.h
+++ b/firmware/lib/Arduino-FOC/src/common/base_classes/FOCDriver.h
@@ -12,7 +12,7 @@ class FOCDriver{
 
         virtual void disable() = 0;
 
-        virtual void setPwm(float a, float b, float c);
+        virtual void setPwm(float a, float b, float c) = 0;
         // virtual void setPwm(uint8_t a, uint8_t b);
 
         long pwm_frequency;
diff --git a/firmware/lib/currentsense/adc.cpp b/firmware/lib/currentsense/adc.cpp
index cf9aea3..6195155 100644
--- a/firmware/lib/currentsense/adc.cpp
+++ b/firmware/lib/currentsense/adc.cpp
@@ -23,7 +23,7 @@ void MX_ADC1_Init(void)
   hadc1.Init.ContinuousConvMode = DISABLE;
   hadc1.Init.NbrOfConversion = 1;
   hadc1.Init.DiscontinuousConvMode = DISABLE;
-  hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T3_TRGO;
+  hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T2_TRGO;
   hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
   hadc1.Init.DMAContinuousRequests = ENABLE;
   hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
@@ -65,7 +65,7 @@ void MX_ADC2_Init(void)
   hadc2.Init.ContinuousConvMode = DISABLE;
   hadc2.Init.NbrOfConversion = 2;
   hadc2.Init.DiscontinuousConvMode = DISABLE;
-  hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T3_TRGO;
+  hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T2_TRGO;
   hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
   hadc2.Init.DMAContinuousRequests = ENABLE;
   hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED;
@@ -92,20 +92,21 @@ 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();
+  }
+
   if(adcHandle->Instance==ADC1)
   {
-    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();
-    }
-
     /* ADC1 DMA Init */
     /* ADC1 Init */
     hdma_adc1.Instance = DMA1_Channel1;
@@ -115,8 +116,9 @@ void ADC_DMA_Init(ADC_HandleTypeDef* adcHandle)
     hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
     hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
     hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
-    hdma_adc1.Init.Mode = DMA_NORMAL;
+    hdma_adc1.Init.Mode = DMA_CIRCULAR;
     hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
+    HAL_DMA_DeInit(&hdma_adc1);
     if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
     {
       Error_Handler();
@@ -126,18 +128,6 @@ void ADC_DMA_Init(ADC_HandleTypeDef* adcHandle)
   }
   else if(adcHandle->Instance==ADC2)
   {
-    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();
-    }
-
     /* ADC2 DMA Init */
     /* ADC2 Init */
     hdma_adc2.Instance = DMA1_Channel2;
diff --git a/firmware/lib/currentsense/utils.cpp b/firmware/lib/currentsense/utils.cpp
index 0142b5f..ef71e24 100644
--- a/firmware/lib/currentsense/utils.cpp
+++ b/firmware/lib/currentsense/utils.cpp
@@ -115,12 +115,21 @@ void _driverSyncLowSide(void *_driver_params, void *_cs_params)
     _stopTimers(driver_params->timers, 6);
 
     // See RM0440 pg. 1169
-    // This grabs the timer handle used for ADC and sets the direction bit as upcounting (?)
+    // Grab the timer handle used for ADC and sets the direction bit as upcounting
     cs_params->timer_handle->getHandle()->Instance->CR1 |= TIM_CR1_DIR;
 
-    // This sets the value of the timer to the reload value. I think this is so that an event is immediately fired
+    /** Set the value of the timer to the reload value, so that overflow event is generated immediately.
+     * This is because we are using repetition counter to count every other event, skipping the underflow at 
+     * valleys of PWM. We can downsample every other peak if repetition counter is increased to 3
+     */
     cs_params->timer_handle->getHandle()->Instance->CNT = cs_params->timer_handle->getHandle()->Instance->ARR;
 
+    // Set TIM_CR1_URS to 0b1 -> only update events are overflows/underflow
+    cs_params->timer_handle->getHandle()->Instance->CR1 |= 0x0004;
+
+    // Set TIM_CR2_MMS to 0b010 -> update event (overflow and underflow) mapped to tim2_trgo
+    cs_params->timer_handle->getHandle()->Instance->CR2 |= 0x0020;
+
     _startTimers(driver_params->timers, 6);
 }