From 27b32bd462487ec251368f4f2b990ae2c491d4a1 Mon Sep 17 00:00:00 2001
From: Olaf Rempel <razzor@kopf-tisch.de>
Date: Tue, 25 Jan 2011 13:43:30 +0100
Subject: [PATCH] working version

---
 blmc.c      | 14 ++++----------
 eeprom.c    | 10 +++-------
 eeprom.h    |  9 +++++----
 i2c-slave.c | 55 ++++++++++++++++++++++++++++++++++-------------------
 main.c      | 22 +++++++++++++++------
 5 files changed, 63 insertions(+), 47 deletions(-)

diff --git a/blmc.c b/blmc.c
index 410f678..cf6c359 100644
--- a/blmc.c
+++ b/blmc.c
@@ -39,13 +39,13 @@ void trigger_adc(uint8_t channel)
 
 	/*
 	 * turn on ADC with interrupts
-	 * start conversion with 1/16 of F_CPU
-	 * 1/500kHz * 25 => 50us conversion time
+	 * start conversion with 1/32 of F_CPU
+	 * 1/250kHz * 25 => 100us conversion time
 	 */
 	ADCSRA = (1<<ADEN) | (1<<ADSC) | (1<<ADIE) | (1<<ADIF)| (1<<ADPS2) | (0<<ADPS0);
 }
 
-void next_phase(void)
+static void next_phase(void)
 {
 	static uint8_t phase;
 	static uint8_t phase_adc;
@@ -53,9 +53,6 @@ void next_phase(void)
 	/* Disable Analog Comperator Interrupt */
 	TIMSK1 &= ~(1<<ICIE1);
 
-	TCNT0 = 0x00;
-	TCNT2 = 0x00;
-
 	switch (phase) {
 	case 0: /* A: PWM, B: LOW, C: SENSE => disable EN_C, disable PWM_B, enable EN_B */
 		PORTD &= ~PHASE_C_EN;
@@ -235,11 +232,8 @@ void setpwm(uint8_t pwm)
 	OCR2A = pwm;
 	OCR2B = pwm;
 
-	/* disable all drivers */
+	/* disable PWM signales, enable all drivers -> brake */
 	if (pwm == 0) {
-		PORTB &= ~PHASE_A_EN;
-		PORTD &= ~(PHASE_B_EN | PHASE_C_EN);
-
 		TCCR0A &= ~PHASE_B_OC;
 		TCCR2A &= ~(PHASE_A_OC | PHASE_C_OC);
 
diff --git a/eeprom.c b/eeprom.c
index 9e4fa12..ee93aa4 100644
--- a/eeprom.c
+++ b/eeprom.c
@@ -16,11 +16,12 @@
  *   Free Software Foundation, Inc.,                                       *
  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  ***************************************************************************/
+#include <avr/pgmspace.h>
 #include <avr/eeprom.h>
 #include <util/crc16.h>
 #include "eeprom.h"
 
-static const struct ee_param defaults = DEFAULT_PARAMETERS;
+static struct ee_param defaults PROGMEM = DEFAULT_PARAMETERS;
 
 struct ee_param params;
 struct ee_param params_in_eeprom EEMEM = DEFAULT_PARAMETERS;
@@ -48,12 +49,7 @@ uint8_t read_parameters(void)
 		crc = _crc_ccitt_update(crc, *tmp++);
 
 	if (crc != 0x0000) {
-		i = sizeof(struct ee_param);
-		uint8_t *src = (uint8_t *)&defaults;
-		uint8_t *dst = (uint8_t *)&params;
-		while (i--)
-			*dst++ = *src++;
-
+		memcpy_P(&params, &defaults, sizeof(struct ee_param));
 		write_parameters();
 		return 1;
 	}
diff --git a/eeprom.h b/eeprom.h
index 5acb97a..220a488 100644
--- a/eeprom.h
+++ b/eeprom.h
@@ -22,16 +22,17 @@ struct ee_param {
 };
 
 #define DEFAULT_PARAMETERS { \
-	.spinup_ticks = 1000, \
-	.spinup_tick = 25, \
-	.spinup_step = 24, \
+	.spinup_ticks = 2000, \
+	.spinup_tick = 24, \
+	.spinup_step = 4, \
 	.spinup_wait = 10, \
-	.spinup_pwm = 0x0f, \
+	.spinup_pwm = 25, \
 	.pwm_min = 0x08, \
 	.pwm_max = 0xff, \
 	.current_limit = 120, \
 	.current_max = 0x3ff, \
 	.voltage_min = 0x000, \
+	.crc16 = 0xDB76, \
 };
 
 uint8_t read_parameters(void);
diff --git a/i2c-slave.c b/i2c-slave.c
index ac852dc..d591137 100644
--- a/i2c-slave.c
+++ b/i2c-slave.c
@@ -61,20 +61,19 @@ extern struct ee_param params;
 
 
 
-const static uint8_t info[16] = "blctrl m88-v1.2";
+const static uint8_t info[16] = "blctrl m88-v2.0";
 
 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 */
 	case 0x60:
 		bcnt = 0;
-		TWCR |= (1<<TWINT) | (1<<TWEA);
+		TWCR = (1<<TWEN) | (1<<TWIE) | (1<<TWINT) | (1<<TWEA);
 		break;
 
 	/* prev. SLA + W, data received, ACK returned -> receive Data and ACK */
@@ -103,9 +102,6 @@ ISR(TWI_vect)
 			case CMD_SWITCH_APPLICATION:
 				if (data == BOOTTYPE_BOOTLOADER) {
 					wdt_enable(WDTO_15MS);
-
-				} else {
-					ack = (0<<TWEA);
 				}
 				break;
 
@@ -113,14 +109,10 @@ ISR(TWI_vect)
 				bcnt++;
 				if (data == MEMTYPE_PARAMETERS) {
 					cmd = CMD_WRITE_PARAMETERS;
-
-				} else {
-					ack = (0<<TWEA);
 				}
 				break;
 
 			default:
-				ack = (0<<TWEA);
 				break;
 			}
 			break;
@@ -136,21 +128,16 @@ ISR(TWI_vect)
 				((uint8_t *)&params)[bcnt++ -4] = data;
 				if (bcnt == sizeof(params)) {
 					write_parameters();
-					ack = (0<<TWEA);
 				}
 				break;
 
 			default:
-				ack = (0<<TWEA);
 				break;
 			}
 			break;
 		}
 
-		if (ack == 0x00)
-			bcnt = 0;
-
-		TWCR |= (1<<TWINT) | ack;
+		TWCR = (1<<TWEN) | (1<<TWIE) | (1<<TWINT) | (1<<TWEA);
 		break;
 
 	/* SLA+R received, ACK returned -> send data */
@@ -160,7 +147,35 @@ ISR(TWI_vect)
 	case 0xB8:
 		switch (cmd) {
 		case CMD_WAIT:
-			data = 0x00;	/* TODO: transmit Current and MaxPWM */
+			switch (bcnt++) {
+			case 0: data = blmc.pwm - blmc.pwm_limit;
+				break;
+
+			case 1: data = blmc.pwm;
+				break;
+
+			case 2: data = (blmc.rpm & 0xFF);
+				break;
+
+			case 3: data = (blmc.rpm >> 8);
+				break;
+
+			case 4: data = (blmc.current & 0xFF);
+				break;
+
+			case 5: data = (blmc.current >> 8);
+				break;
+
+			case 6: data = (blmc.voltage & 0xFF);
+				break;
+
+			case 7: data = (blmc.voltage >> 8);
+				break;
+
+			default:
+				data = 0x00;
+				break;
+			}
 			break;
 
 		case CMD_READ_VERSION:
@@ -180,19 +195,19 @@ ISR(TWI_vect)
 		}
 
 		TWDR = data;
-		TWCR |= (1<<TWINT) | (1<<TWEA);
+		TWCR = (1<<TWEN) | (1<<TWIE) | (1<<TWINT) | (1<<TWEA);
 		break;
 
 	/* STOP or repeated START */
 	case 0xA0:
 	/* Data transmitted, NACK returned */
 	case 0xC0:
-		TWCR |= (1<<TWINT) | (1<<TWEA);
+		TWCR = (1<<TWEN) | (1<<TWIE) | (1<<TWINT) | (1<<TWEA);
 		break;
 
 	/* failsave -> reset Hardware */
 	default:
-		TWCR |= (1<<TWINT) | (1<<TWSTO) | (1<<TWEA);
+		TWCR = (1<<TWEN) | (1<<TWIE) | (1<<TWINT) | (1<<TWSTO) | (1<<TWEA);
 		break;
 	}
 }
diff --git a/main.c b/main.c
index afea18f..7b414e6 100644
--- a/main.c
+++ b/main.c
@@ -31,6 +31,7 @@
 
 #include <avr/io.h>
 #include <avr/interrupt.h>
+#include <avr/sleep.h>
 
 #include "main.h"
 #include "blmc.h"
@@ -63,7 +64,7 @@ ISR(TIMER1_COMPB_vect)
 			blmc.flags &= ~(FLAG_RUN_MASK);
 			blmc.flags |= FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
 		}
-
+#if 0
 		/* no i2c cmd in the last 20ms */
 		if (!(blmc.flags & FLAG_I2C_ACTIVE)) {
 			/* already in i2c timeout, turn off motor */
@@ -75,9 +76,8 @@ ISR(TIMER1_COMPB_vect)
 		} else {
 			blmc.flags &= ~FLAG_I2C_TIMEOUT;
 		}
-
-// TODO: currently disabled
-// 		blmc.flags &= ~FLAG_I2C_ACTIVE;
+#endif
+		blmc.flags &= ~FLAG_I2C_ACTIVE;
 	}
 
 	/* set pwm again (adjust current limit) */
@@ -100,7 +100,6 @@ ISR(TIMER1_COMPB_vect)
 		else
 			adc_chan = SENSE_CURRENT;
 	}
-
 	/* led blink timer */
 	static uint8_t led_timer = 0;
 	led_timer = (led_timer +1) & 0x1F;
@@ -151,12 +150,18 @@ int main(void)
 	TCCR0B = (1<<CS00);
 
 	/* timer1: running with F_CPU/8 */
-	TCCR1B = (1<<CS11);
+	TCCR1B = (1<<CS11) | (1<<ICNC1);
 
 	/* timer2: running with F_CPU, 8bit Phase Correct PWM (16kHz) */
 	TCCR2A = (1<<WGM20);
 	TCCR2B = (1<<CS20);
 
+	/* sync PWM timers */
+	GTCCR = (1<<TSM) | (1<<PSRASY) | (1<<PSRSYNC);
+	TCNT0 = 0x00;
+	TCNT2 = 0x00;
+	GTCCR = (0<<TSM);
+
 	/* enable Timer1 OVF Interrupt */
 	TIMSK1 = (1<<OCIE1B);
 
@@ -171,6 +176,8 @@ int main(void)
 	if (read_parameters())
 		blmc.flags |= FLAG_INVALID_EEPROM;
 
+	set_sleep_mode(SLEEP_MODE_IDLE);
+
 	sei();
 
 	while (1) {
@@ -219,6 +226,9 @@ int main(void)
 		/* do a spinup from main loop (blocking for > 200ms) */
 		if (blmc.flags & FLAG_COM_SPINUP)
 			spinup();
+
+		sleep_mode();
 	};
+
 	return 0;
 }