Fix inline current sense for B-G431B

Author: sDessens

src/drivers/hardware_specific/stm32_mcu.cpp

@@ -196,6 +196,12 @@ void _alignTimersNew() {
     #ifdef SIMPLEFOC_STM32_DEBUG
       SIMPLEFOC_DEBUG("STM32-DRV: Restarting timer ", getTimerNumber(get_timer_index(timers[i]->getHandle()->Instance)));
     #endif
+
+    // Skip 1 on the repetition counter. This shifts TIM_TRGO_UPDATE to align with the pwm peaks instead of the troughs.
+    // note: the documentation states that "In center-aligned mode, for odd values of RCR, the update event occurs either on the
+    // overflow or on the underflow depending on when the RCR register was written and when the counter was started. If the RCR
+    // was written before starting the counter, the UEV occurson the overflow." However, I was unable to get this to work.
+    timers[0]->getHandle()->Instance->CNT = timers[0]->getHandle()->Instance->ARR;
   }
 
   for (int i=0; i<numTimers; i++) {
@@ -260,6 +266,10 @@ STM32DriverParams* _initHardware6PWMPair(long PWM_freq, float dead_zone, PinMap*
     HardwareTimer_Handle[index]->handle.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
     HardwareTimer_Handle[index]->handle.Init.RepetitionCounter = 1;
     // HardwareTimer_Handle[index]->handle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE; 
+
+    // Set Trigger out for inline current sense DMA transfer
+    LL_TIM_SetTriggerOutput(HardwareTimer_Handle[index]->handle.Instance, LL_TIM_TRGO_UPDATE);
+
     HAL_TIM_Base_Init(&(HardwareTimer_Handle[index]->handle));
     ((HardwareTimer *)HardwareTimer_Handle[index]->__this)->setOverflow((uint32_t)PWM_freq, HERTZ_FORMAT);
   }