From ffd90a6a3663afcfe63b2463a0da7dd20fce32af Mon Sep 17 00:00:00 2001
From: Oskar <git@oskar.lol>
Date: Thu, 8 May 2025 15:12:54 +0200
Subject: [PATCH] Turn PWM channels on only when needed

---
 Hardware/~sensor-node.kicad_pcb.lck |  1 +
 Hardware/~sensor-node.kicad_sch.lck |  1 +
 Software/Core/Src/main.c            | 32 +++++++++++++++--------------
 3 files changed, 19 insertions(+), 15 deletions(-)
 create mode 100644 Hardware/~sensor-node.kicad_pcb.lck
 create mode 100644 Hardware/~sensor-node.kicad_sch.lck

diff --git a/Hardware/~sensor-node.kicad_pcb.lck b/Hardware/~sensor-node.kicad_pcb.lck
new file mode 100644
index 0000000..cde8aee
--- /dev/null
+++ b/Hardware/~sensor-node.kicad_pcb.lck
@@ -0,0 +1 @@
+{"hostname":"nagata","username":"oskar"}
\ No newline at end of file
diff --git a/Hardware/~sensor-node.kicad_sch.lck b/Hardware/~sensor-node.kicad_sch.lck
new file mode 100644
index 0000000..cde8aee
--- /dev/null
+++ b/Hardware/~sensor-node.kicad_sch.lck
@@ -0,0 +1 @@
+{"hostname":"nagata","username":"oskar"}
\ No newline at end of file
diff --git a/Software/Core/Src/main.c b/Software/Core/Src/main.c
index 3c49ab0..8b5cf2b 100644
--- a/Software/Core/Src/main.c
+++ b/Software/Core/Src/main.c
@@ -27,6 +27,8 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include <string.h>
+
 #include "mappings.h"
 /* USER CODE END Includes */
 
@@ -54,6 +56,8 @@ static uint8_t  dio_values[NUM_DIO_PINS];
 
 // See mappings.h pwm_tim_t
 TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
+
+static uint8_t  pwm_ch_active[8];
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -157,15 +161,8 @@ int main(void)
   if (HAL_FDCAN_Start(hMainCAN) != HAL_OK)
     Error_Handler();
 
-
-  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
-  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
-  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
-  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
-  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
-  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
-  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
-  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
+  // Init all channels as stopped
+  memset(pwm_ch_active, 0, 8);
 
   /* USER CODE END 2 */
 
@@ -352,14 +349,19 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle, uint32_t RxFifo0ITs)
       for (int i = 0; i < header.DataLength; i++) {
 
         TIM_HandleTypeDef* htim = PWM_TIM_MAP[PWM_CH_MAP[i].tim];
+
+        if ((pwm_ch_active[i] == 0) && (dcs[i] == 0)) {
+          HAL_TIM_PWM_Stop(htim, PWM_CH_MAP[i].ch << 2);
+          pwm_ch_active[i] = 0;
+          continue;
+        }
+
         SetCCR(htim->Instance, PWM_CH_MAP[i].ch, dcs[i]);
-        // TODO: This does not work, apparently they don't start in RESET
-        // Maybe have our own init bool array instead
-        // Manually enabling doesn't seem to work either
-        if (htim->ChannelState[PWM_CH_MAP[i].ch] == HAL_TIM_CHANNEL_STATE_RESET)
+
+        if (pwm_ch_active[i] == 0) {
           HAL_TIM_PWM_Start(htim, PWM_CH_MAP[i].ch << 2);
-        // MAYBE: Stop Timer when DC == 0 on all channels?
-        // HAL_TIM_PWM_Stop(htim, channel);
+          pwm_ch_active[i] = 1;
+        }
 
       }
       break;