From c87af91880cac09ad52014c1765f42c84b01a06c Mon Sep 17 00:00:00 2001
From: alexklimaj <alex@arkelectron.com>
Date: Tue, 19 Nov 2024 11:54:37 -0700
Subject: [PATCH] Rebase Alka Improve startup low kv motors
 ef2ec01871d6c81a2e98c9881048ba68371ef9d4

---
 Inc/targets.h              |  3 +++
 Inc/version.h              |  4 ++--
 Mcu/f051/Inc/comparator.h  | 12 +++++++++---
 Mcu/g071/Src/peripherals.c |  7 +++++--
 Src/main.c                 | 16 +++++++++++-----
 5 files changed, 30 insertions(+), 12 deletions(-)

diff --git a/Inc/targets.h b/Inc/targets.h
index 13bde1a9..5ee42f93 100644
--- a/Inc/targets.h
+++ b/Inc/targets.h
@@ -1316,6 +1316,7 @@
 #define USE_DRV8328_NFAULT
 #define NFAULT_PORT GPIOB
 #define NFAULT_PIN LL_GPIO_PIN_5
+#define TARGET_MIN_BEMF_COUNTS 3
 #endif
 
 #ifdef RHINO80A_F051
@@ -3331,7 +3332,9 @@
 #define APPLICATION_ADDRESS 0x08001000
 #define MAIN_COMP COMP1
 #define EXTI_LINE LL_EXTI_LINE_21
+#ifndef TARGET_MIN_BEMF_COUNTS
 #define TARGET_MIN_BEMF_COUNTS 2
+#endif
 #define COMPARATOR_IRQ ADC1_COMP_IRQn
 #define USE_ADC
 #ifndef CURRENT_ADC_PIN
diff --git a/Inc/version.h b/Inc/version.h
index 0f0d0125..67208d1d 100644
--- a/Inc/version.h
+++ b/Inc/version.h
@@ -2,6 +2,6 @@
   update this file for new releases
  */
 #define VERSION_MAJOR 2
-#define VERSION_MINOR 16
+#define VERSION_MINOR 17
 
-#define EEPROM_VERSION 2
\ No newline at end of file
+#define EEPROM_VERSION 2
diff --git a/Mcu/f051/Inc/comparator.h b/Mcu/f051/Inc/comparator.h
index dfb6c492..e08281b8 100644
--- a/Mcu/f051/Inc/comparator.h
+++ b/Mcu/f051/Inc/comparator.h
@@ -9,9 +9,15 @@
 #define COMPARATOR_H_
 #endif /* COMPARATOR_H_ */
 
-#define COMP_PA0 0b1100001
-#define COMP_PA4 0b1000001
-#define COMP_PA5 0b1010001
+// Medium speed comparator
+#define COMP_PA0 0b1100101
+#define COMP_PA4 0b1000101
+#define COMP_PA5 0b1010101
+
+// High speed comparator
+// #define COMP_PA0 0b1100001
+// #define COMP_PA4 0b1000001
+// #define COMP_PA5 0b1010001
 
 #include "main.h"
 
diff --git a/Mcu/g071/Src/peripherals.c b/Mcu/g071/Src/peripherals.c
index 0c725ffd..7cc9534f 100644
--- a/Mcu/g071/Src/peripherals.c
+++ b/Mcu/g071/Src/peripherals.c
@@ -134,7 +134,7 @@ void MX_COMP1_Init(void)
     COMP_InitStruct.OutputPolarity = LL_COMP_OUTPUTPOL_NONINVERTED;
     COMP_InitStruct.OutputBlankingSource = LL_COMP_BLANKINGSRC_TIM1_OC5;
     LL_COMP_Init(COMP1, &COMP_InitStruct);
-    LL_COMP_SetPowerMode(COMP1, LL_COMP_POWERMODE_HIGHSPEED);
+    LL_COMP_SetPowerMode(COMP1, LL_COMP_POWERMODE_MEDIUMSPEED);
     LL_COMP_SetCommonWindowMode(__LL_COMP_COMMON_INSTANCE(COMP1),
         LL_COMP_WINDOWMODE_DISABLE);
     LL_COMP_SetCommonWindowOutput(__LL_COMP_COMMON_INSTANCE(COMP1),
@@ -202,7 +202,7 @@ void MX_COMP2_Init(void)
     COMP_InitStruct.OutputPolarity = LL_COMP_OUTPUTPOL_NONINVERTED;
     COMP_InitStruct.OutputBlankingSource = LL_COMP_BLANKINGSRC_TIM1_OC5;
     LL_COMP_Init(COMP2, &COMP_InitStruct);
-    LL_COMP_SetPowerMode(COMP2, LL_COMP_POWERMODE_HIGHSPEED);
+    LL_COMP_SetPowerMode(COMP2, LL_COMP_POWERMODE_MEDIUMSPEED);
     LL_COMP_SetCommonWindowMode(__LL_COMP_COMMON_INSTANCE(COMP2),
         LL_COMP_WINDOWMODE_DISABLE);
     LL_COMP_SetCommonWindowOutput(__LL_COMP_COMMON_INSTANCE(COMP2),
@@ -822,4 +822,7 @@ void enableCorePeripherals()
     NVIC_SetPriority(EXTI4_15_IRQn, 2);
     NVIC_EnableIRQ(EXTI4_15_IRQn);
     EXTI->IMR1 |= (1 << 15);
+		#ifdef USE_PULSE_OUT
+		 LL_GPIO_SetPinMode(RPM_PULSE_PORT, RPM_PULSE_PIN, LL_GPIO_MODE_OUTPUT);
+		#endif
 }
diff --git a/Src/main.c b/Src/main.c
index c4cb8197..94508ed0 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -835,9 +835,9 @@ void commutate()
     }
     __enable_irq();
     changeCompInput();
-	if (average_interval > 2500) {
-      old_routine = 1;
-   }
+//	if (average_interval > 2500) {
+//      old_routine = 1;
+//   }
     bemfcounter = 0;
     zcfound = 0;
    commutation_intervals[step - 1] = commutation_interval; // just used to calulate average
@@ -1540,7 +1540,7 @@ void zcfoundroutine()
             enableCompInterrupts(); // enable interrupt
         }
     } else {
-        if (commutation_interval < 1300) {
+       if (zero_crosses > 30) {
             old_routine = 0;
             enableCompInterrupts(); // enable interrupt
         }
@@ -1811,7 +1811,13 @@ int main(void)
             input_ready = 0;
         }
 #endif
-
+if(zero_crosses < 5){
+	  min_bemf_counts_up = TARGET_MIN_BEMF_COUNTS * 2;
+		min_bemf_counts_down = TARGET_MIN_BEMF_COUNTS * 2;
+}else{
+	 min_bemf_counts_up = TARGET_MIN_BEMF_COUNTS;
+	min_bemf_counts_down = TARGET_MIN_BEMF_COUNTS;
+}
         RELOAD_WATCHDOG_COUNTER();
         e_com_time = ((commutation_intervals[0] + commutation_intervals[1] + commutation_intervals[2] + commutation_intervals[3] + commutation_intervals[4] + commutation_intervals[5]) + 4) >> 1; // COMMUTATION INTERVAL IS 0.5US INCREMENTS
         if (eepromBuffer.variable_pwm) {