From 7ed41be749575fc06bbcbb7853f3826209b17b0a Mon Sep 17 00:00:00 2001
From: Nicolas Trimborn <ge37vez@mytum.de>
Date: Sun, 5 Sep 2021 19:39:08 +0200
Subject: [PATCH] ads1299 does not recover gracefully.  Need to figure out
 transfer complete interrupt

---
 .../Two_Motor_D51/Two_Motor_D51/configuration.h     |  6 ++++--
 .../Two_Motor_D51/Two_Motor_D51/hpl/dmac/hpl_dmac.c |  4 ++--
 .../Two_Motor_D51/Two_Motor_D51/interrupts.h        | 13 ++++++++++++-
 .../Two_Motor_D51/Two_Motor_D51/main.c              | 10 ++++++----
 4 files changed, 24 insertions(+), 9 deletions(-)

diff --git a/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/configuration.h b/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/configuration.h
index 5254044..ea10d7c 100644
--- a/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/configuration.h
+++ b/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/configuration.h
@@ -229,10 +229,12 @@ static void spi_ads1299_init_dma_descriptors()
 	_dma_get_channel_resource(&resource_rx, CONF_SERCOM_2_SPI_M_DMA_RX_CHANNEL);
 	_dma_get_channel_resource(&resource_tx, CONF_SERCOM_2_SPI_M_DMA_TX_CHANNEL);
 	resource_rx->dma_cb.transfer_done = ADS1299_Transfer_Complete_cb;
-	//resource_rx->dma_cb.error = ADS1299_Transfer_error_cb;
-
+	resource_rx->dma_cb.error = ADS1299_Transfer_error_cb;
+	
+	resource_tx->dma_cb.transfer_done = ADS1299_Transfer_Complete_cb;
 	/* Enable DMA transfer complete interrupt */
 	_dma_set_irq_state(CONF_SERCOM_2_SPI_M_DMA_RX_CHANNEL, DMA_TRANSFER_COMPLETE_CB, true);
+	_dma_set_irq_state(CONF_SERCOM_2_SPI_M_DMA_TX_CHANNEL, DMA_TRANSFER_COMPLETE_CB, true);
 	//_dma_set_irq_state(CONF_SERCOM_2_SPI_M_DMA_RX_CHANNEL, DMA_TRANSFER_ERROR_CB, true);
 	
 
diff --git a/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/hpl/dmac/hpl_dmac.c b/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/hpl/dmac/hpl_dmac.c
index 7dddc9d..60623be 100644
--- a/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/hpl/dmac/hpl_dmac.c
+++ b/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/hpl/dmac/hpl_dmac.c
@@ -218,8 +218,8 @@ static void _dmac_handler(void)
 	if (hri_dmac_get_INTPEND_TERR_bit(DMAC)) {
 		hri_dmac_clear_CHINTFLAG_TERR_bit(DMAC, channel);
 		tmp_resource->dma_cb.error(tmp_resource);
-	} else if (hri_dmac_get_INTPEND_TCMPL_bit(DMAC)) {
-		hri_dmac_clear_CHINTFLAG_TCMPL_bit(DMAC, channel);
+	} else if (hri_dmac_get_CHINTFLAG_TCMPL_bit(DMAC, channel)) {
+		hri_dmac_clear_CHINTFLAG_TCMPL_bit(DMAC, channel); /********* ADDED **************/
 		tmp_resource->dma_cb.transfer_done(tmp_resource);
 	}
 }
diff --git a/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/interrupts.h b/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/interrupts.h
index 4bdcbc8..cb1bb14 100644
--- a/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/interrupts.h
+++ b/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/interrupts.h
@@ -72,7 +72,16 @@ static void	b2bTransferComplete_cb(struct _dma_resource *resource)
 	volatile int x = 0;
 }
 
-
+void SERCOM2_1_Handler()
+{
+	volatile int x = 0;
+	
+}
+void SERCOM2_2_Handler()
+{
+	volatile int x = 0;
+	
+}
 
 // ----------------------------------------------------------------------
 // 	ADC Callback for Motor Phase Current Measurement.
@@ -142,7 +151,9 @@ void ADS1299_dataReadyISR(void)
 void ADS1299_Transfer_Complete_cb(void)
 {
 	//PORT->Group[0].OUTSET.reg = (1<<GPIO_PIN(SPI2_SS));
+	
 	volatile int x = 1;
+	
 }
 
 void ADS1299_Transfer_error_cb(void)
diff --git a/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/main.c b/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/main.c
index 69ada91..1aaae90 100644
--- a/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/main.c
+++ b/2_Motor_Master_D51/Two_Motor_D51/Two_Motor_D51/main.c
@@ -71,10 +71,11 @@ void enable_NVIC_IRQ(void)
 	NVIC_SetPriority(ADC1_0_IRQn, 3);
 	NVIC_EnableIRQ(TCC0_0_IRQn);
 	//NVIC_EnableIRQ(TCC1_0_IRQn);
-	//NVIC_EnableIRQ(EIC_2_IRQn);
+	NVIC_EnableIRQ(EIC_2_IRQn);
 	         
 	NVIC_EnableIRQ(SERCOM1_1_IRQn);
 	NVIC_EnableIRQ(SERCOM2_1_IRQn);
+	NVIC_EnableIRQ(SERCOM2_2_IRQn);
 	//NVIC_SetPriority(SERCOM1_1_IRQn, 1);
 	NVIC_EnableIRQ(TC0_IRQn);
 	//NVIC_EnableIRQ(TC0_IRQn);
@@ -181,10 +182,12 @@ int main(void)
 	/* External IRQ Config */
 	custom_logic_enable();
 	
-	__enable_irq();
+
+	delay_us(20);
 	ADS1299_START();
 	delay_us(20);
 	/* ADS Result Ready Interrupt, active low */
+	__enable_irq();
 	
 	/* Enable Reception 
 	* Enable RX channels at startup,  Linked to itself so never ends
@@ -193,8 +196,7 @@ int main(void)
 	_dma_enable_transaction(CONF_SERCOM_2_SPI_M_DMA_RX_CHANNEL, false);
 	
 	/* Clear Exint Flag */
-	EIC->INTFLAG.bit.EXTINT = (1<<2);
-	
+	//EIC->INTFLAG.bit.EXTINT = (1<<2);
 	//ext_irq_register(GPIO_PIN(ADS_DATA_RDY), ADS1299_dataReadyISR);
 	enable_NVIC_IRQ();