use parameters from eeprom

Makefile

@@ -1,5 +1,5 @@
 PRG            = bl_test
-OBJ            = blmc.o i2c-slave.o main.o
+OBJ            = blmc.o eeprom.o i2c-slave.o main.o
 MCU_TARGET     = atmega8
 OPTIMIZE       = -Os
 
@@ -19,7 +19,7 @@ OBJCOPY        = avr-objcopy
 OBJDUMP        = avr-objdump
 SIZE           = avr-size
 
-all: $(PRG).elf lst text
+all: $(PRG).elf lst text ehex ebin
 	$(SIZE) -x -A $(PRG).elf
 
 $(PRG).elf: $(OBJ)

blmc.c

@@ -21,7 +21,9 @@
 
 #include "main.h"
 #include "blmc.h"
+#include "eeprom.h"
 
+extern struct ee_param params;
 struct blmc_ blmc;
 
 /* Analog Comparator Channel */
@@ -128,22 +130,25 @@ void next_phase(void)
  */
 void spinup(void)
 {
-	uint16_t time = 1000;
+	/* see util/delay.h for details.. */
+	uint16_t tick = (((uint16_t)(F_CPU / 3e6)) << 8) * (params.spinup_tick & 0x3F);
+
+	uint16_t time = params.spinup_ticks;
 	while (time > 50) {
 		next_phase();
 
 		uint16_t i;
 		for (i = 0; i < time; i++)
-			_delay_us(25);
+			_delay_loop_1(tick >> 8);
 
-		time -= (time / 24 +1);
+		time -= (time / params.spinup_step +1);
 	}
 
 	/* manual spinup complete, analog comperator takes control */
 	blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_NORMAL;
 	next_phase();
 
-	for (time = 0; time < 10; time++)
+	for (time = 0; time < params.spinup_wait; time++)
 		_delay_ms(20);
 
 	/* switch to desired pwm value */
@@ -157,7 +162,7 @@ void spinup(void)
 void setpwm(uint8_t pwm)
 {
 	/* run motor *only* if there are no hard errors */
-	if (pwm >= 8 && !(blmc.flags & FLAG_HARDERR_MASK)) {
+	if (pwm >= params.pwm_min && !(blmc.flags & FLAG_HARDERR_MASK)) {
 		/* do a spinup */
 		if (blmc.pwm == 0)
 			blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP;
@@ -167,22 +172,22 @@ void setpwm(uint8_t pwm)
 		pwm = 0;
 	}
 
-	/* do spinup with small pwm */
-	if (blmc.flags & FLAG_PWM_SPINUP)
-		pwm = 0x0f;
-
 	/* save pwm value */
 	blmc.pwm = pwm;
 
-	/* raise current limit, TODO: magic value */
+	/* do spinup with small pwm */
-	if (blmc.current > 120)
+	if (blmc.flags & FLAG_PWM_SPINUP)
+		pwm = params.spinup_pwm;
+
+	/* raise current-limit */
+	if (blmc.current > params.current_limit)
 		blmc.pwm_limit++;
 
-	/* lower current limit */
+	/* lower current-limit */
 	else if (blmc.pwm_limit > 0)
 		blmc.pwm_limit--;
 
-	/* set soft current flag */
+	/* set current-limit flag */
 	if (blmc.pwm_limit)
 		blmc.flags |= FLAG_CURRENTLIMIT;
 	else
@@ -194,6 +199,11 @@ void setpwm(uint8_t pwm)
 
 	/* set new value */
 	pwm -= blmc.pwm_limit;
+
+	/* limit pwm */
+	if (pwm > params.pwm_max)
+		pwm = params.pwm_max;
+
 	OCR1A = pwm;
 	OCR1B = pwm;
 	OCR2 = pwm;
@@ -230,7 +240,9 @@ ISR(ADC_vect)
 			current_tmp = 0;
 			current_cnt = 0;
 		}
-		// TODO: overcurrent shutdown
+
+		if (value > params.current_max)
+			blmc.flags |= FLAG_OVERCURRENT;
 
 	} else {
 		voltage_tmp += value;
@@ -239,7 +251,9 @@ ISR(ADC_vect)
 			blmc.voltage = voltage_tmp;
 			voltage_tmp = 0;
 			voltage_cnt = 0;
+
+			if (blmc.voltage < params.voltage_min)
+				blmc.flags |= FLAG_UNDERVOLTAGE;
 		}
-		// TODO: undervoltage shutdown
 	}
 }

eeprom.c

@@ -0,0 +1,62 @@
+/***************************************************************************
+ *   Copyright (C) 02/2008 by Olaf Rempel                                  *
+ *   razzor@kopf-tisch.de                                                  *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; version 2 of the License,               *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, write to the                         *
+ *   Free Software Foundation, Inc.,                                       *
+ *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ ***************************************************************************/
+#include <avr/eeprom.h>
+#include <util/crc16.h>
+#include "eeprom.h"
+
+#include <avr/io.h>
+#include "main.h"
+
+static const struct ee_param defaults = DEFAULT_PARAMETERS;
+
+struct ee_param params;
+struct ee_param params_in_eeprom EEMEM;
+
+void write_parameters(struct ee_param *p)
+{
+	uint8_t i;
+	uint16_t crc = 0x0000;
+	uint8_t *tmp = (uint8_t *)p;
+	for (i = 0; i < sizeof(params) -2; i++)
+		crc = _crc_ccitt_update(crc, *tmp++);
+
+	params.crc16 = crc;
+	eeprom_write_block(&p, &params_in_eeprom, sizeof(params));
+}
+
+void read_parameters(void)
+{
+	eeprom_read_block(&params, &params_in_eeprom, sizeof(params));
+
+	uint8_t i;
+	uint16_t crc = 0x0000;
+	uint8_t *tmp = (uint8_t *)&params;
+	for (i = 0; i < sizeof(params); i++)
+		crc = _crc_ccitt_update(crc, *tmp++);
+
+	if (crc != 0x0000) {
+		i = sizeof(params);
+		uint8_t *src = (uint8_t *)&defaults;
+		uint8_t *dst = (uint8_t *)&params;
+		while (i--)
+			*dst++ = *src++;
+
+		write_parameters((struct ee_param *)&params);
+	}
+}

eeprom.h

@@ -0,0 +1,40 @@
+#ifndef _EEPROM_PARAMETERS_H_
+#define _EEPROM_PARAMETERS_H_
+
+struct ee_param {
+	uint16_t spinup_ticks;
+
+	uint8_t spinup_tick;
+	uint8_t spinup_step;
+
+	uint8_t spinup_wait;
+	uint8_t spinup_pwm;
+
+	uint8_t pwm_min;
+	uint8_t pwm_max;
+
+	uint16_t current_limit;
+	uint16_t current_max;
+
+	uint16_t voltage_min;
+
+	uint16_t crc16;
+};
+
+#define DEFAULT_PARAMETERS { \
+	.spinup_ticks = 1000, \
+	.spinup_tick = 25, \
+	.spinup_step = 24, \
+	.spinup_wait = 10, \
+	.spinup_pwm = 0x0f, \
+	.pwm_min = 0x08, \
+	.pwm_max = 0xff, \
+	.current_limit = 120, \
+	.current_max = 0x3ff, \
+	.voltage_min = 0x000, \
+};
+
+void read_parameters(void);
+void write_parameters(struct ee_param *p);
+
+#endif

main.c

@@ -33,6 +33,12 @@
 
 #include "main.h"
 #include "blmc.h"
+#include "eeprom.h"
+
+#define LED_OFF		0x00
+#define LED_SLOW	0x01
+#define LED_FAST	0x10
+#define LED_ON		0x11
 
 extern struct blmc_ blmc;
 
@@ -127,6 +133,7 @@ int main(void)
 	/* I2C Init: keep Address from bootloader, Auto ACKs with Interrupts */
 	TWCR = (1<<TWEA) | (1<<TWEN) | (1<<TWIE);
 
+	read_parameters();
 	blmc.flags = 0x00;
 
 	sei();
@@ -161,6 +168,9 @@ int main(void)
 			}
 		}
 
+		if (!(blmc.flags & (FLAG_SOFTERR_MASK | FLAG_HARDERR_MASK)))
+			led[1] = LED_OFF;
+
 		/* do a spinup from main loop (blocking for > 200ms) */
 		if (blmc.flags & FLAG_COM_SPINUP)
 			spinup();

main.h

@@ -9,9 +9,4 @@
 #define LED_RT		(1<<PORTB4)
 #define LED_GN		(1<<PORTB5)
 
-#define LED_OFF		0x00
-#define LED_SLOW	0x01
-#define LED_FAST	0x10
-#define LED_ON		0x11
-
 #endif