read back current and pwm limit

AUTHORS

@@ -0,0 +1 @@
+Olaf Rempel <razzor AT kopf MINUS tisch DOT de>

COPYING

@@ -0,0 +1,340 @@
+		    GNU GENERAL PUBLIC LICENSE
+		       Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.
+     59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ Everyone is permitted to copy and distribute verbatim copies
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+
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Makefile

@@ -1,4 +1,4 @@
-PRG            = bl_test
+PRG            = blmc
 OBJ            = blmc.o eeprom.o i2c-slave.o main.o
 MCU_TARGET     = atmega8
 OPTIMIZE       = -Os

README

@@ -0,0 +1,8 @@
+blmc v1
+=======
+
+An AVR mega8 based brushless motor controller.
+- SW/HW and i2c protocol are *NOT* compatible with H+I blctrl!
+- must run with TWIBOOT as bootloader to get own i2c address
+- spinup parameters in EEPROM
+- extended i2c protocol

blmc.c

@@ -183,19 +183,18 @@ void setpwm(uint8_t pwm)
 	if (blmc.flags & FLAG_PWM_SPINUP)
 		pwm = params.spinup_pwm;
 
-	/* raise current-limit */
-	if (blmc.current > params.current_limit)
+	/* raise current-limit, set flag */
+	if (blmc.current > params.current_limit) {
+		blmc.flags |= FLAG_CURRENT_LIMIT;
 		blmc.pwm_limit++;
 
 	/* lower current-limit */
-	else if (blmc.pwm_limit > 0)
+	} else if (blmc.pwm_limit > 0) {
 		blmc.pwm_limit--;
 
-	/* set current-limit flag */
-	if (blmc.pwm_limit)
-		blmc.flags |= FLAG_CURRENT_LIMIT;
-	else
+	} else if (blmc.pwm_limit == 0) {
 		blmc.flags &= ~FLAG_CURRENT_LIMIT;
+	}
 
 	/* prevent overflow */
 	if (blmc.pwm_limit > pwm)

blmc.h

@@ -1,25 +1,6 @@
 #ifndef _BLMC_H_
 #define _BLMC_H_
 
-#include <avr/io.h>
-
-#define PHASE_A_H	(1<<PORTB1)
-#define PHASE_B_H	(1<<PORTB2)
-#define PHASE_C_H	(1<<PORTB3)
-#define PHASE_H_MASK	(PHASE_A_H | PHASE_B_H | PHASE_C_H)
-
-#define PHASE_A_L	(1<<PORTD4)
-#define PHASE_B_L	(1<<PORTD3)
-#define PHASE_C_L	(1<<PORTD2)
-#define PHASE_L_MASK	(PHASE_A_L | PHASE_B_L | PHASE_C_L)
-
-#define SENSE_A		0
-#define SENSE_B		1
-#define SENSE_C		2
-
-#define SENSE_VOLTAGE	3
-#define SENSE_CURRENT	6
-
 #define FLAG_RUN_MASK			0x00F
 #define FLAG_PWM_SPINUP			0x001
 #define FLAG_PWM_NORMAL			0x002

i2c-slave.c

@@ -27,20 +27,48 @@
 extern struct blmc_ blmc;
 extern struct ee_param params;
 
+/* SLA+R */
 #define CMD_WAIT		0x00
-#define CMD_GET_INFO		0x10
-#define CMD_SET_PWM		0x21
-#define CMD_GET_STATUS		0x22
-#define CMD_SET_PARAM		0x23
-#define CMD_GET_PARAM		0x24
-#define CMD_BOOT_LOADER		0x2F
+#define CMD_READ_VERSION	0x01
+#define CMD_READ_MEMORY		0x02
+/* internal mappings */
+#define CMD_READ_CHIPINFO	(0x10 | CMD_READ_MEMORY)
+#define CMD_READ_FLASH		(0x20 | CMD_READ_MEMORY)
+#define CMD_READ_EEPROM		(0x30 | CMD_READ_MEMORY)
+#define CMD_READ_PARAMETERS	(0x40 | CMD_READ_MEMORY)	/* only in APP */
 
-const static uint8_t info[16] = "blctrl  m8-v1.2";
+/* SLA+W */
+#define CMD_SWITCH_APPLICATION	CMD_READ_VERSION
+#define CMD_WRITE_MEMORY	CMD_READ_MEMORY
+/* internal mappings */
+#define CMD_BOOT_BOOTLOADER	(0x10 | CMD_SWITCH_APPLICATION)	/* only in APP */
+#define CMD_BOOT_APPLICATION	(0x20 | CMD_SWITCH_APPLICATION)
+#define CMD_WRITE_CHIPINFO	(0x10 | CMD_WRITE_MEMORY)	/* invalid */
+#define CMD_WRITE_FLASH		(0x20 | CMD_WRITE_MEMORY)
+#define CMD_WRITE_EEPROM	(0x30 | CMD_WRITE_MEMORY)
+#define CMD_WRITE_PARAMETERS	(0x40 | CMD_WRITE_MEMORY)	/* only in APP */
+
+/* CMD_SWITCH_APPLICATION parameter */
+#define BOOTTYPE_BOOTLOADER	0x00				/* only in APP */
+#define BOOTTYPE_APPLICATION	0x80
+
+/* CMD_{READ|WRITE}_* parameter */
+#define MEMTYPE_CHIPINFO	0x00
+#define MEMTYPE_FLASH		0x01
+#define MEMTYPE_EEPROM		0x02
+#define MEMTYPE_PARAMETERS	0x03				/* only in APP */
+
+
+
+
+const static uint8_t info[16] = "blmc m8-v1.2   ";
 
 ISR(TWI_vect)
 {
 	static uint8_t cmd;
 	static uint8_t bcnt;
+	uint8_t data;
+	uint8_t ack = (1<<TWEA);
 
 	switch (TWSR & 0xF8) {
 	/* SLA + W received, ACK returned -> receive Data and ACK */
@@ -51,43 +79,78 @@ ISR(TWI_vect)
 
 	/* prev. SLA + W, data received, ACK returned -> receive Data and ACK */
 	case 0x80:
-		if (bcnt == 0) {
-			cmd = TWDR;
-			switch (cmd) {
-			case CMD_BOOT_LOADER:
-				wdt_enable(WDTO_15MS);
-
-			case CMD_GET_INFO:
-			case CMD_SET_PWM:
-			case CMD_GET_STATUS:
-			case CMD_SET_PARAM:
-			case CMD_GET_PARAM:
+		data = TWDR;
+		switch (bcnt) {
+		case 0:
+			switch (data) {
+			case CMD_SWITCH_APPLICATION:
+			case CMD_WRITE_MEMORY:
+				cmd = data;
 				bcnt++;
 				break;
 
 			default:
+				blmc.flags |= FLAG_I2C_ACTIVE;
+				setpwm(data);
 				cmd = CMD_WAIT;
 				bcnt = 0;
 				break;
 			}
+			break;
 
-		} else if (cmd == CMD_SET_PWM) {
-			blmc.flags |= FLAG_I2C_ACTIVE;
-			setpwm(TWDR);
-			bcnt = 0;
+		case 1:
+			switch (cmd) {
+			case CMD_SWITCH_APPLICATION:
+				if (data == BOOTTYPE_BOOTLOADER) {
+					wdt_enable(WDTO_15MS);
 
-		} else if (cmd == CMD_SET_PARAM) {
-			((uint8_t *)&params)[bcnt++ -1] = TWDR;
-			if (bcnt > sizeof(params)) {
-				write_parameters();
-				bcnt = 0;
+				} else {
+					ack = (0<<TWEA);
+				}
+				break;
+
+			case CMD_WRITE_MEMORY:
+				bcnt++;
+				if (data == MEMTYPE_PARAMETERS) {
+					cmd = CMD_WRITE_PARAMETERS;
+
+				} else {
+					ack = (0<<TWEA);
+				}
+				break;
+
+			default:
+				ack = (0<<TWEA);
+				break;
 			}
+			break;
 
-		} else {
-			bcnt = 0;
+		case 2:	/* ignore address bytes */
+		case 3:
+			bcnt++;
+			break;
+
+		default:
+			switch (cmd) {
+			case CMD_WRITE_PARAMETERS:
+				((uint8_t *)&params)[bcnt++ -4] = data;
+				if (bcnt == sizeof(params)) {
+					write_parameters();
+					ack = (0<<TWEA);
+				}
+				break;
+
+			default:
+				ack = (0<<TWEA);
+				break;
+			}
+			break;
 		}
 
-		TWCR |= (1<<TWINT) | (1<<TWEA);
+		if (ack == 0x00)
+			bcnt = 0;
+
+		TWCR |= (1<<TWINT) | ack;
 		break;
 
 	/* SLA+R received, ACK returned -> send data */
@@ -96,55 +159,39 @@ ISR(TWI_vect)
 	/* prev. SLA+R, data sent, ACK returned -> send data */
 	case 0xB8:
 		switch (cmd) {
-		case CMD_GET_INFO:
-			TWDR = info[bcnt++];
-			bcnt %= sizeof(info);
-			break;
-
-		case CMD_GET_STATUS:
+		case CMD_WAIT:
 			switch (bcnt++) {
-			case 0:	TWDR = blmc.pwm - blmc.pwm_limit;
+			case 0:
+				data = blmc.current & 0xFF;
 				break;
 
-			case 1:	TWDR = blmc.pwm;
-				break;
-
-			case 2:	TWDR = (blmc.rpm >> 8);
-				break;
-
-			case 3: TWDR = (blmc.rpm & 0xFF);
-				break;
-
-			case 4:	TWDR = (blmc.current >> 8);
-				break;
-
-			case 5: TWDR = (blmc.current & 0xFF);
-				break;
-
-			case 6:	TWDR = (blmc.voltage >> 8);
-				break;
-
-			case 7: TWDR = (blmc.voltage & 0xFF);
-				bcnt = 0;
+			case 1:
+				data = 0xFF - blmc.pwm_limit;
 				break;
 
 			default:
-				bcnt = 0;
+				data = 0xFF;
 				break;
 			}
 			break;
 
-		case CMD_GET_PARAM:
-			TWDR = ((uint8_t *)&params)[bcnt++];
+		case CMD_READ_VERSION:
+			data = info[bcnt++];
+			bcnt %= sizeof(info);
+			break;
+
+		case CMD_READ_PARAMETERS:
+			data = ((uint8_t *)&params)[bcnt++];
 			if (bcnt > sizeof(params))
 				bcnt = 0;
 			break;
 
 		default:
-			TWDR = 0xFF;
+			data = 0xFF;
 			break;
 		}
 
+		TWDR = data;
 		TWCR |= (1<<TWINT) | (1<<TWEA);
 		break;
 

main.c

@@ -31,6 +31,7 @@
 
 #include <avr/io.h>
 #include <avr/interrupt.h>
+#include <avr/sleep.h>
 
 #include "main.h"
 #include "blmc.h"
@@ -156,6 +157,8 @@ int main(void)
 	if (read_parameters())
 		blmc.flags |= FLAG_INVALID_EEPROM;
 
+	set_sleep_mode(SLEEP_MODE_IDLE);
+
 	sei();
 
 	while (1) {
@@ -204,6 +207,8 @@ int main(void)
 		/* do a spinup from main loop (blocking for > 200ms) */
 		if (blmc.flags & FLAG_COM_SPINUP)
 			spinup();
+
+		sleep_mode();
 	};
 	return 0;
 }

main.h

@@ -9,4 +9,21 @@
 #define LED_RT		(1<<PORTB4)
 #define LED_GN		(1<<PORTB5)
 
+#define PHASE_A_H	(1<<PORTB1)
+#define PHASE_B_H	(1<<PORTB2)
+#define PHASE_C_H	(1<<PORTB3)
+#define PHASE_H_MASK	(PHASE_A_H | PHASE_B_H | PHASE_C_H)
+
+#define PHASE_A_L	(1<<PORTD4)
+#define PHASE_B_L	(1<<PORTD3)
+#define PHASE_C_L	(1<<PORTD2)
+#define PHASE_L_MASK	(PHASE_A_L | PHASE_B_L | PHASE_C_L)
+
+#define SENSE_A		0
+#define SENSE_B		1
+#define SENSE_C		2
+
+#define SENSE_VOLTAGE	3
+#define SENSE_CURRENT	6
+
 #endif