From 7e103ccf2d1080885d8384074537053bc5691178 Mon Sep 17 00:00:00 2001
From: "Ben V. Brown" <Ralim@Ralimtek.com>
Date: Tue, 24 Jan 2023 18:56:49 +1100
Subject: [PATCH] Wait for full ADC Burst

---
 source/Core/BSP/Pinecilv2/IRQ.cpp | 26 ++++++++++++++++----------
 1 file changed, 16 insertions(+), 10 deletions(-)

diff --git a/source/Core/BSP/Pinecilv2/IRQ.cpp b/source/Core/BSP/Pinecilv2/IRQ.cpp
index 0d2acd93..623bba3c 100644
--- a/source/Core/BSP/Pinecilv2/IRQ.cpp
+++ b/source/Core/BSP/Pinecilv2/IRQ.cpp
@@ -23,11 +23,12 @@ void start_PWM_output(void);
 history<uint16_t, ADC_Filter_Smooth> ADC_Vin;
 history<uint16_t, ADC_Filter_Smooth> ADC_Temp;
 history<uint16_t, ADC_Filter_Smooth> ADC_Tip;
+volatile uint8_t                     ADCBurstCounter = 0;
 void                                 adc_fifo_irq(void) {
   if (ADC_GetIntStatus(ADC_INT_FIFO_READY) == SET) {
-    start_PWM_output(); // Restart the tip PWM
     // Read out all entries in the fifo
     while (ADC_Get_FIFO_Count()) {
+      ADCBurstCounter++;
       volatile uint32_t reading = ADC_Read_FIFO();
       // As per manual, 26 bit reading; lowest 16 are the ADC
       uint16_t sample = reading & 0xFFFF;
@@ -47,12 +48,18 @@ void                                 adc_fifo_irq(void) {
         break;
       }
     }
-    // unblock the PID controller thread
-    if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
-      BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-      if (pidTaskNotification) {
-        vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
-        portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+
+    if (ADCBurstCounter >= 8) {
+      ADCBurstCounter = 0;
+      start_PWM_output();
+
+      // unblock the PID controller thread
+      if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
+        BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+        if (pidTaskNotification) {
+          vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
+          portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+        }
       }
     }
   }
@@ -69,8 +76,6 @@ volatile bool     lastPeriodWasFast = false;
 
 void start_PWM_output(void) {
 
-  TIMER_Enable(TIMER_CH0);
-
   if (PWMSafetyTimer) {
     PWMSafetyTimer--;
     if (lastPeriodWasFast != fastPWM) {
@@ -92,11 +97,12 @@ void start_PWM_output(void) {
   } else {
     PWM_Channel_Disable(PWM_Channel);
   }
+  TIMER_Enable(TIMER_CH0);
 }
 
 // Timer 0 is used to co-ordinate the ADC and the output PWM
 void timer0_comp0_callback(void) {
-  PWM_Channel_Disable(PWM_Channel);
+  TIMER_Disable(TIMER_CH0);
   ADC_Start();
 }
 void timer0_comp1_callback(void) { PWM_Channel_Disable(PWM_Channel); } // Trigged at end of output cycle; turn off the tip PWM