working version

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
+ of this license document, but changing it is not allowed.
+
+			    Preamble
+
+  The licenses for most software are designed to take away your
+freedom to share and change it.  By contrast, the GNU General Public
+License is intended to guarantee your freedom to share and change free
+software--to make sure the software is free for all its users.  This
+General Public License applies to most of the Free Software
+Foundation's software and to any other program whose authors commit to
+using it.  (Some other Free Software Foundation software is covered by
+the GNU Library General Public License instead.)  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+this service if you wish), that you receive source code or can get it
+if you want it, that you can change the software or use pieces of it
+in new free programs; and that you know you can do these things.
+
+  To protect your rights, we need to make restrictions that forbid
+anyone to deny you these rights or to ask you to surrender the rights.
+These restrictions translate to certain responsibilities for you if you
+distribute copies of the software, or if you modify it.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must give the recipients all the rights that
+you have.  You must make sure that they, too, receive or can get the
+source code.  And you must show them these terms so they know their
+rights.
+
+  We protect your rights with two steps: (1) copyright the software, and
+(2) offer you this license which gives you legal permission to copy,
+distribute and/or modify the software.
+
+  Also, for each author's protection and ours, we want to make certain
+that everyone understands that there is no warranty for this free
+software.  If the software is modified by someone else and passed on, we
+want its recipients to know that what they have is not the original, so
+that any problems introduced by others will not reflect on the original
+authors' reputations.
+
+  Finally, any free program is threatened constantly by software
+patents.  We wish to avoid the danger that redistributors of a free
+program will individually obtain patent licenses, in effect making the
+program proprietary.  To prevent this, we have made it clear that any
+patent must be licensed for everyone's free use or not licensed at all.
+
+  The precise terms and conditions for copying, distribution and
+modification follow.
+
+		    GNU GENERAL PUBLIC LICENSE
+   TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
+  0. This License applies to any program or other work which contains
+a notice placed by the copyright holder saying it may be distributed
+under the terms of this General Public License.  The "Program", below,
+refers to any such program or work, and a "work based on the Program"
+means either the Program or any derivative work under copyright law:
+that is to say, a work containing the Program or a portion of it,
+either verbatim or with modifications and/or translated into another
+language.  (Hereinafter, translation is included without limitation in
+the term "modification".)  Each licensee is addressed as "you".
+
+Activities other than copying, distribution and modification are not
+covered by this License; they are outside its scope.  The act of
+running the Program is not restricted, and the output from the Program
+is covered only if its contents constitute a work based on the
+Program (independent of having been made by running the Program).
+Whether that is true depends on what the Program does.
+
+  1. You may copy and distribute verbatim copies of the Program's
+source code as you receive it, in any medium, provided that you
+conspicuously and appropriately publish on each copy an appropriate
+copyright notice and disclaimer of warranty; keep intact all the
+notices that refer to this License and to the absence of any warranty;
+and give any other recipients of the Program a copy of this License
+along with the Program.
+
+You may charge a fee for the physical act of transferring a copy, and
+you may at your option offer warranty protection in exchange for a fee.
+
+  2. You may modify your copy or copies of the Program or any portion
+of it, thus forming a work based on the Program, and copy and
+distribute such modifications or work under the terms of Section 1
+above, provided that you also meet all of these conditions:
+
+    a) You must cause the modified files to carry prominent notices
+    stating that you changed the files and the date of any change.
+
+    b) You must cause any work that you distribute or publish, that in
+    whole or in part contains or is derived from the Program or any
+    part thereof, to be licensed as a whole at no charge to all third
+    parties under the terms of this License.
+
+    c) If the modified program normally reads commands interactively
+    when run, you must cause it, when started running for such
+    interactive use in the most ordinary way, to print or display an
+    announcement including an appropriate copyright notice and a
+    notice that there is no warranty (or else, saying that you provide
+    a warranty) and that users may redistribute the program under
+    these conditions, and telling the user how to view a copy of this
+    License.  (Exception: if the Program itself is interactive but
+    does not normally print such an announcement, your work based on
+    the Program is not required to print an announcement.)
+
+These requirements apply to the modified work as a whole.  If
+identifiable sections of that work are not derived from the Program,
+and can be reasonably considered independent and separate works in
+themselves, then this License, and its terms, do not apply to those
+sections when you distribute them as separate works.  But when you
+distribute the same sections as part of a whole which is a work based
+on the Program, the distribution of the whole must be on the terms of
+this License, whose permissions for other licensees extend to the
+entire whole, and thus to each and every part regardless of who wrote it.
+
+Thus, it is not the intent of this section to claim rights or contest
+your rights to work written entirely by you; rather, the intent is to
+exercise the right to control the distribution of derivative or
+collective works based on the Program.
+
+In addition, mere aggregation of another work not based on the Program
+with the Program (or with a work based on the Program) on a volume of
+a storage or distribution medium does not bring the other work under
+the scope of this License.
+
+  3. You may copy and distribute the Program (or a work based on it,
+under Section 2) in object code or executable form under the terms of
+Sections 1 and 2 above provided that you also do one of the following:
+
+    a) Accompany it with the complete corresponding machine-readable
+    source code, which must be distributed under the terms of Sections
+    1 and 2 above on a medium customarily used for software interchange; or,
+
+    b) Accompany it with a written offer, valid for at least three
+    years, to give any third party, for a charge no more than your
+    cost of physically performing source distribution, a complete
+    machine-readable copy of the corresponding source code, to be
+    distributed under the terms of Sections 1 and 2 above on a medium
+    customarily used for software interchange; or,
+
+    c) Accompany it with the information you received as to the offer
+    to distribute corresponding source code.  (This alternative is
+    allowed only for noncommercial distribution and only if you
+    received the program in object code or executable form with such
+    an offer, in accord with Subsection b above.)
+
+The source code for a work means the preferred form of the work for
+making modifications to it.  For an executable work, complete source
+code means all the source code for all modules it contains, plus any
+associated interface definition files, plus the scripts used to
+control compilation and installation of the executable.  However, as a
+special exception, the source code distributed need not include
+anything that is normally distributed (in either source or binary
+form) with the major components (compiler, kernel, and so on) of the
+operating system on which the executable runs, unless that component
+itself accompanies the executable.
+
+If distribution of executable or object code is made by offering
+access to copy from a designated place, then offering equivalent
+access to copy the source code from the same place counts as
+distribution of the source code, even though third parties are not
+compelled to copy the source along with the object code.
+
+  4. You may not copy, modify, sublicense, or distribute the Program
+except as expressly provided under this License.  Any attempt
+otherwise to copy, modify, sublicense or distribute the Program is
+void, and will automatically terminate your rights under this License.
+However, parties who have received copies, or rights, from you under
+this License will not have their licenses terminated so long as such
+parties remain in full compliance.
+
+  5. You are not required to accept this License, since you have not
+signed it.  However, nothing else grants you permission to modify or
+distribute the Program or its derivative works.  These actions are
+prohibited by law if you do not accept this License.  Therefore, by
+modifying or distributing the Program (or any work based on the
+Program), you indicate your acceptance of this License to do so, and
+all its terms and conditions for copying, distributing or modifying
+the Program or works based on it.
+
+  6. Each time you redistribute the Program (or any work based on the
+Program), the recipient automatically receives a license from the
+original licensor to copy, distribute or modify the Program subject to
+these terms and conditions.  You may not impose any further
+restrictions on the recipients' exercise of the rights granted herein.
+You are not responsible for enforcing compliance by third parties to
+this License.
+
+  7. If, as a consequence of a court judgment or allegation of patent
+infringement or for any other reason (not limited to patent issues),
+conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License.  If you cannot
+distribute so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you
+may not distribute the Program at all.  For example, if a patent
+license would not permit royalty-free redistribution of the Program by
+all those who receive copies directly or indirectly through you, then
+the only way you could satisfy both it and this License would be to
+refrain entirely from distribution of the Program.
+
+If any portion of this section is held invalid or unenforceable under
+any particular circumstance, the balance of the section is intended to
+apply and the section as a whole is intended to apply in other
+circumstances.
+
+It is not the purpose of this section to induce you to infringe any
+patents or other property right claims or to contest validity of any
+such claims; this section has the sole purpose of protecting the
+integrity of the free software distribution system, which is
+implemented by public license practices.  Many people have made
+generous contributions to the wide range of software distributed
+through that system in reliance on consistent application of that
+system; it is up to the author/donor to decide if he or she is willing
+to distribute software through any other system and a licensee cannot
+impose that choice.
+
+This section is intended to make thoroughly clear what is believed to
+be a consequence of the rest of this License.
+
+  8. If the distribution and/or use of the Program is restricted in
+certain countries either by patents or by copyrighted interfaces, the
+original copyright holder who places the Program under this License
+may add an explicit geographical distribution limitation excluding
+those countries, so that distribution is permitted only in or among
+countries not thus excluded.  In such case, this License incorporates
+the limitation as if written in the body of this License.
+
+  9. The Free Software Foundation may publish revised and/or new versions
+of the General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+Each version is given a distinguishing version number.  If the Program
+specifies a version number of this License which applies to it and "any
+later version", you have the option of following the terms and conditions
+either of that version or of any later version published by the Free
+Software Foundation.  If the Program does not specify a version number of
+this License, you may choose any version ever published by the Free Software
+Foundation.
+
+  10. If you wish to incorporate parts of the Program into other free
+programs whose distribution conditions are different, write to the author
+to ask for permission.  For software which is copyrighted by the Free
+Software Foundation, write to the Free Software Foundation; we sometimes
+make exceptions for this.  Our decision will be guided by the two goals
+of preserving the free status of all derivatives of our free software and
+of promoting the sharing and reuse of software generally.
+
+			    NO WARRANTY
+
+  11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
+FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW.  EXCEPT WHEN
+OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
+PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
+OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.  THE ENTIRE RISK AS
+TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU.  SHOULD THE
+PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
+REPAIR OR CORRECTION.
+
+  12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
+REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
+INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
+OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
+TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
+YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
+PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGES.
+
+		     END OF TERMS AND CONDITIONS
+
+	    How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    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; either version 2 of the License, or
+    (at your option) any later version.
+
+    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
+
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program is interactive, make it output a short notice like this
+when it starts in an interactive mode:
+
+    Gnomovision version 69, Copyright (C) year  name of author
+    Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, the commands you use may
+be called something other than `show w' and `show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary.  Here is a sample; alter the names:
+
+  Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+  `Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+  <signature of Ty Coon>, 1 April 1989
+  Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
+proprietary programs.  If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library.  If this is what you want to do, use the GNU Library General
+Public License instead of this License.

Makefile

@@ -1,6 +1,6 @@
-PRG            = bl_test
+PRG            = blmc
 OBJ            = blmc.o eeprom.o i2c-slave.o main.o
-MCU_TARGET     = atmega8
+MCU_TARGET     = atmega88
 OPTIMIZE       = -Os
 
 DEFS           =
@@ -61,4 +61,4 @@ ebin:  $(PRG)_eeprom.bin
 
 install: text
 #	uisp -dprog=avr910 -dserial=/dev/ttyS0 -dspeed=115200 -dpart=M8 --erase --upload if=$(PRG).hex
-	avrdude -p m8 -c butterfly -b 115200 -P /dev/ttyUSB1 -u -e -V -U flash:w:$(PRG).hex
+	avrdude -p m88 -c butterfly -b 115200 -u -e -V -U flash:w:$(PRG).hex

README

@@ -0,0 +1,11 @@
+blmc v2
+=======
+
+An AVR mega88/168 based brushless motor controller.
+- must run with TWIBOOT as bootloader to get own i2c address
+- spinup parameters in EEPROM
+- extended i2c protocol
+
+TODO:
+- remove C1/C3/C6 and do "timed" commutation
+- replace C11 with smaller value / remove it

blmc.c

@@ -31,67 +31,86 @@ static uint8_t next_sense;
 
 void trigger_adc(uint8_t channel)
 {
-	/* Disable Analog Comperator */
+	/* Disable Analog Comperator Interrupt */
-	ACSR &= ~(1<<ACIE);
+	TIMSK1 &= ~(1<<ICIE1);
 
-	/* set channel (Internal reference, 2.56V) */
+	/* set channel (external reference, 5V) */
-	ADMUX = (1<<REFS1) | (1<<REFS0) | channel;
+	ADMUX = (0<<REFS1) | (0<<REFS0) | channel;
 
-	/* turn on ADC with interrupts, start conversion with 1/32 of F_CPU */
+	/*
-	ADCSRA = (1<<ADEN) | (1<<ADSC) | (1<<ADIE) | (1<<ADIF)| (1<<ADPS2) | (1<<ADPS0);
+	 * turn on ADC with interrupts
+	 * 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;
 
-	/* Disable Analog Comperator */
+	/* Disable Analog Comperator Interrupt */
-	ACSR &= ~(1<<ACIE);
+	TIMSK1 &= ~(1<<ICIE1);
-
-	TCNT1 = 0x00;
-	TCNT2 = 0x00;
 
 	switch (phase) {
-	case 0:	PORTD = (PORTD & ~PHASE_L_MASK) | PHASE_B_L;
+	case 0: /* A: PWM, B: LOW, C: SENSE => disable EN_C, disable PWM_B, enable EN_B */
-		TCCR1A = (TCCR1A & ~(1<<COM1B1)) | (1<<COM1A1);
+		PORTD &= ~PHASE_C_EN;
-		TCCR2 &= ~(1<<COM21);
+		TCCR0A &= ~PHASE_B_OC;
-		ACSR = (1<<ACIS1);
+		PORTD |= PHASE_B_EN;
+
+		/* C: falling edge */
+		TCCR1B &= ~(1<<ICES1);
 		next_sense = SENSE_C;
 		break;
 
-	case 1:	PORTD = (PORTD & ~PHASE_L_MASK) | PHASE_B_L;
+	case 1: /* A: SENSE, B: LOW, C: PWM => disable EN_A, enable PWM_C, enable EN_C */
-		TCCR1A &= ~((1<<COM1A1) | (1<<COM1B1));
+		PORTB &= ~PHASE_A_EN;
-		TCCR2 |= (1<<COM21);
+		TCCR2A |= PHASE_C_OC;
-		ACSR = (1<<ACIS1) | (1<<ACIS0);
+		PORTD |= PHASE_C_EN;
+
+		/* A: rising edge */
+		TCCR1B |= (1<<ICES1);
 		next_sense = SENSE_A;
 		break;
 
-	case 2:	PORTD = (PORTD & ~PHASE_L_MASK) | PHASE_A_L;
+	case 2: /* A: LOW, B: SENSE, C: PWM => disable EN_B, disable PWM_A, enable EN_A */
-		TCCR1A &= ~((1<<COM1A1) | (1<<COM1B1));
+		PORTD &= ~PHASE_B_EN;
-		TCCR2 |= (1<<COM21);
+		TCCR2A &= ~PHASE_A_OC;
-		ACSR = (1<<ACIS1);
+		PORTB |= PHASE_A_EN;
+
+		/* B: falling edge */
+		TCCR1B &= ~(1<<ICES1);
 		next_sense = SENSE_B;
 		break;
 
-	case 3:	PORTD = (PORTD & ~PHASE_L_MASK) | PHASE_A_L;
+	case 3: /* A: LOW, B: PWM, C: SENSE => disable EN_C, enable PWM_B, enable EN_B */
-		TCCR1A = (TCCR1A & ~(1<<COM1A1)) | (1<<COM1B1);
+		PORTD &= ~PHASE_C_EN;
-		TCCR2 &= ~(1<<COM21);
+		TCCR0A |= PHASE_B_OC;
-		ACSR = (1<<ACIS1) | (1<<ACIS0);
+		PORTD |= PHASE_B_EN;
+
+		/* C: rising edge */
+		TCCR1B |= (1<<ICES1);
 		next_sense = SENSE_C;
 		break;
 
-	case 4:	PORTD = (PORTD & ~PHASE_L_MASK) | PHASE_C_L;
+	case 4: /* A: SENSE, B: PWM, C: LOW => disable EN_A, disable PWM_C, enable EN_C */
-		TCCR1A = (TCCR1A & ~(1<<COM1A1)) | (1<<COM1B1);
+		PORTB &= ~PHASE_A_EN;
-		TCCR2 &= ~(1<<COM21);
+		TCCR2A &= ~PHASE_C_OC;
-		ACSR = (1<<ACIS1);
+		PORTD |= PHASE_C_EN;
+
+		/* A: falling edge */
+		TCCR1B &= ~(1<<ICES1);
 		next_sense = SENSE_A;
 		break;
 
-	case 5:	PORTD = (PORTD & ~PHASE_L_MASK) | PHASE_C_L;
+	case 5: /* A: PWM, B: SENSE, C: LOW => disable EN_B, enable PWM_A, enable EN_A */
-		TCCR1A = (TCCR1A & ~(1<<COM1B1)) | (1<<COM1A1);
+		PORTD &= ~PHASE_B_EN;
-		TCCR2 &= ~(1<<COM21);
+		TCCR2A |= PHASE_A_OC;
-		ACSR = (1<<ACIS1) | (1<<ACIS0);
+		PORTB |= PHASE_A_EN;
+
+		/* B: rising edge */
+		TCCR1B |= (1<<ICES1);
 		next_sense = SENSE_B;
 		break;
 	}
@@ -114,8 +133,10 @@ void next_phase(void)
 		ADMUX = next_sense;
 
 		/* enable Analog Comparator with Interrupts */
-		if (blmc.flags & FLAG_COM_NORMAL)
+		if (blmc.flags & FLAG_COM_NORMAL) {
-			ACSR |= (1<<ACIE) | (1<<ACI);
+			TIFR1 |= (1<<ICF1);
+			TIMSK1 |= (1<<ICIE1);
+		}
 	}
 
 	phase++;
@@ -183,19 +204,18 @@ void setpwm(uint8_t pwm)
 	if (blmc.flags & FLAG_PWM_SPINUP)
 		pwm = params.spinup_pwm;
 
-	/* raise current-limit */
+	/* raise current-limit, set flag */
-	if (blmc.current > params.current_limit)
+	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 */
+	} else if (blmc.pwm_limit == 0) {
-	if (blmc.pwm_limit)
-		blmc.flags |= FLAG_CURRENT_LIMIT;
-	else
 		blmc.flags &= ~FLAG_CURRENT_LIMIT;
+	}
 
 	/* prevent overflow */
 	if (blmc.pwm_limit > pwm)
@@ -208,12 +228,21 @@ void setpwm(uint8_t pwm)
 	if (pwm > params.pwm_max)
 		pwm = params.pwm_max;
 
-	OCR1A = pwm;
+	OCR0B = pwm;
-	OCR1B = pwm;
+	OCR2A = pwm;
-	OCR2 = pwm;
+	OCR2B = pwm;
+
+	/* disable PWM signales, enable all drivers -> brake */
+	if (pwm == 0) {
+		TCCR0A &= ~PHASE_B_OC;
+		TCCR2A &= ~(PHASE_A_OC | PHASE_C_OC);
+
+		PORTB |= PHASE_A_EN;
+		PORTD |= (PHASE_B_EN | PHASE_C_EN);
+	}
 }
 
-ISR(ANA_COMP_vect)
+ISR(TIMER1_CAPT_vect)
 {
 	next_phase();
 }
@@ -233,8 +262,10 @@ ISR(ADC_vect)
 	ADCSRA = 0x00;
 
 	/* enable Analog Comparator with Interrupts */
-	if (blmc.flags & FLAG_COM_NORMAL)
+	if (blmc.flags & FLAG_COM_NORMAL) {
-		ACSR |= (1<<ACIE) | (1<<ACI);
+		TIFR1 |= (1<<ICF1);
+		TIMSK1 |= (1<<ICIE1);
+	}
 
 	if (channel == SENSE_CURRENT) {
 		current_tmp += value;

blmc.h

@@ -3,23 +3,6 @@
 
 #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

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);
+		memcpy_P(&params, &defaults, sizeof(struct ee_param));
-		uint8_t *src = (uint8_t *)&defaults;
-		uint8_t *dst = (uint8_t *)&params;
-		while (i--)
-			*dst++ = *src++;
-
 		write_parameters();
 		return 1;
 	}

eeprom.h

@@ -22,16 +22,17 @@ struct ee_param {
 };
 
 #define DEFAULT_PARAMETERS { \
-	.spinup_ticks = 1000, \
+	.spinup_ticks = 2000, \
-	.spinup_tick = 25, \
+	.spinup_tick = 24, \
-	.spinup_step = 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);

i2c-slave.c

@@ -27,67 +27,117 @@
 extern struct blmc_ blmc;
 extern struct ee_param params;
 
+/* SLA+R */
 #define CMD_WAIT		0x00
-#define CMD_GET_INFO		0x10
+#define CMD_READ_VERSION	0x01
-#define CMD_SET_PWM		0x21
+#define CMD_READ_MEMORY		0x02
-#define CMD_GET_STATUS		0x22
+/* internal mappings */
-#define CMD_SET_PARAM		0x23
+#define CMD_READ_CHIPINFO	(0x10 | CMD_READ_MEMORY)
-#define CMD_GET_PARAM		0x24
+#define CMD_READ_FLASH		(0x20 | CMD_READ_MEMORY)
-#define CMD_BOOT_LOADER		0x2F
+#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] = "blctrl m88-v2.0";
 
 ISR(TWI_vect)
 {
 	static uint8_t cmd;
 	static uint8_t bcnt;
+	uint8_t data;
 
 	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 */
 	case 0x80:
-		if (bcnt == 0) {
+		data = TWDR;
-			cmd = TWDR;
+		switch (bcnt) {
-			switch (cmd) {
+		case 0:
-			case CMD_BOOT_LOADER:
+			switch (data) {
-				wdt_enable(WDTO_15MS);
+			case CMD_SWITCH_APPLICATION:
-
+			case CMD_WRITE_MEMORY:
-			case CMD_GET_INFO:
+				cmd = data;
-			case CMD_SET_PWM:
-			case CMD_GET_STATUS:
-			case CMD_SET_PARAM:
-			case CMD_GET_PARAM:
 				bcnt++;
 				break;
 
 			default:
+				blmc.flags |= FLAG_I2C_ACTIVE;
+				setpwm(data);
 				cmd = CMD_WAIT;
 				bcnt = 0;
 				break;
 			}
+			break;
 
-		} else if (cmd == CMD_SET_PWM) {
+		case 1:
-			blmc.flags |= FLAG_I2C_ACTIVE;
+			switch (cmd) {
-			setpwm(TWDR);
+			case CMD_SWITCH_APPLICATION:
-			bcnt = 0;
+				if (data == BOOTTYPE_BOOTLOADER) {
+					wdt_enable(WDTO_15MS);
+				}
+				break;
 
-		} else if (cmd == CMD_SET_PARAM) {
+			case CMD_WRITE_MEMORY:
-			((uint8_t *)&params)[bcnt++ -1] = TWDR;
+				bcnt++;
-			if (bcnt > sizeof(params)) {
+				if (data == MEMTYPE_PARAMETERS) {
+					cmd = CMD_WRITE_PARAMETERS;
+				}
+				break;
+
+			default:
+				break;
+			}
+			break;
+
+		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();
-				bcnt = 0;
+				}
+				break;
+
+			default:
+				break;
+			}
+			break;
 		}
 
-		} else {
+		TWCR = (1<<TWEN) | (1<<TWIE) | (1<<TWINT) | (1<<TWEA);
-			bcnt = 0;
-		}
-
-		TWCR |= (1<<TWINT) | (1<<TWEA);
 		break;
 
 	/* SLA+R received, ACK returned -> send data */
@@ -96,68 +146,68 @@ ISR(TWI_vect)
 	/* prev. SLA+R, data sent, ACK returned -> send data */
 	case 0xB8:
 		switch (cmd) {
-		case CMD_GET_INFO:
+		case CMD_WAIT:
-			TWDR = info[bcnt++];
-			bcnt %= sizeof(info);
-			break;
-
-		case CMD_GET_STATUS:
 			switch (bcnt++) {
-			case 0:	TWDR = blmc.pwm - blmc.pwm_limit;
+			case 0: data = blmc.pwm - blmc.pwm_limit;
 				break;
 
-			case 1:	TWDR = blmc.pwm;
+			case 1: data = blmc.pwm;
 				break;
 
-			case 2:	TWDR = (blmc.rpm >> 8);
+			case 2: data = (blmc.rpm & 0xFF);
 				break;
 
-			case 3: TWDR = (blmc.rpm & 0xFF);
+			case 3: data = (blmc.rpm >> 8);
 				break;
 
-			case 4:	TWDR = (blmc.current >> 8);
+			case 4: data = (blmc.current & 0xFF);
 				break;
 
-			case 5: TWDR = (blmc.current & 0xFF);
+			case 5: data = (blmc.current >> 8);
 				break;
 
-			case 6:	TWDR = (blmc.voltage >> 8);
+			case 6: data = (blmc.voltage & 0xFF);
 				break;
 
-			case 7: TWDR = (blmc.voltage & 0xFF);
+			case 7: data = (blmc.voltage >> 8);
-				bcnt = 0;
 				break;
 
 			default:
-				bcnt = 0;
+				data = 0x00;
 				break;
 			}
 			break;
 
-		case CMD_GET_PARAM:
+		case CMD_READ_VERSION:
-			TWDR = ((uint8_t *)&params)[bcnt++];
+			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;
 		}
 
-		TWCR |= (1<<TWINT) | (1<<TWEA);
+		TWDR = data;
+		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;
 	}
 }

main.c

@@ -31,6 +31,7 @@
 
 #include <avr/io.h>
 #include <avr/interrupt.h>
+#include <avr/sleep.h>
 
 #include "main.h"
 #include "blmc.h"
@@ -45,13 +46,13 @@ extern struct blmc_ blmc;
 
 static uint8_t led[2];
 
-ISR(TIMER0_OVF_vect)
+ISR(TIMER1_COMPB_vect)
 {
-	static uint8_t timer0_cnt = 0;
+	static uint8_t rpm_cnt = 0;
 	static uint8_t adc_chan = SENSE_CURRENT;
 
 	/* Come back in 20ms */
-	TCNT0 = 0xFF - 156;
+	OCR1B = TCNT1 + 20000;
 
 	/* commutations during last 20ms */
 	uint16_t diff = blmc.rpm_tmp - blmc.rpm_tmp_old;
@@ -63,7 +64,7 @@ ISR(TIMER0_OVF_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 */
@@ -75,7 +76,7 @@ ISR(TIMER0_OVF_vect)
 		} else {
 			blmc.flags &= ~FLAG_I2C_TIMEOUT;
 		}
-
+#endif
 		blmc.flags &= ~FLAG_I2C_ACTIVE;
 	}
 
@@ -83,9 +84,9 @@ ISR(TIMER0_OVF_vect)
 	setpwm(blmc.pwm);
 
 	/* calc rpm every second */
-	timer0_cnt++;
+	rpm_cnt++;
-	if (timer0_cnt == 50) {
+	if (rpm_cnt == 50) {
-		timer0_cnt = 0;
+		rpm_cnt = 0;
 
 		blmc.rpm = blmc.rpm_tmp;
 		blmc.rpm_tmp = 0;
@@ -99,7 +100,6 @@ ISR(TIMER0_OVF_vect)
 		else
 			adc_chan = SENSE_CURRENT;
 	}
-
 	/* led blink timer */
 	static uint8_t led_timer = 0;
 	led_timer = (led_timer +1) & 0x1F;
@@ -125,29 +125,49 @@ ISR(TIMER0_OVF_vect)
 	}
 }
 
+/*
+ * For newer devices (mega88) the watchdog timer remains active even after a
+ * system reset. So disable it as soon as possible.
+ * automagically called on startup
+ */
+void get_mcusr(void) __attribute__((naked, section(".init3")));
+void get_mcusr(void)
+{
+	MCUSR = 0;
+	WDTCSR = (1<<WDCE) | (0<<WDE);
+}
+
 int main(void)
 {
-	DDRB = PHASE_H_MASK | LED_RT | LED_GN;
+	DDRB = PHASE_A_EN | PHASE_A_PWM | LED_RT | LED_GN;
-	DDRD = PHASE_L_MASK;
+	DDRD = PHASE_B_EN | PHASE_B_PWM | PHASE_C_EN | PHASE_C_PWM;
 
 	PORTB = 0x00;
 	PORTD = 0x00;
 
-	/* timer0: running with F_CPU/1024 */
+	/* timer0: running with F_CPU, 8bit Phase Correct PWM (16kHz) */
-	TCCR0 = (1<<CS02) | (1<<CS00);
+	TCCR0A = (1<<WGM00);
+	TCCR0B = (1<<CS00);
 
-	/* timer1: running with F_CPU, 8bit Phase Correct PWM (16kHz) */
+	/* timer1: running with F_CPU/8 */
-	TCCR1B = (1<<CS10);
+	TCCR1B = (1<<CS11) | (1<<ICNC1);
-	TCCR1A = (1<<WGM10);
 
 	/* timer2: running with F_CPU, 8bit Phase Correct PWM (16kHz) */
-	TCCR2 = (1<<WGM20) | (1<<CS20);
+	TCCR2A = (1<<WGM20);
+	TCCR2B = (1<<CS20);
 
-	/* enable Timer0 OVF Interrupt */
+	/* sync PWM timers */
-	TIMSK = (1<<TOIE0);
+	GTCCR = (1<<TSM) | (1<<PSRASY) | (1<<PSRSYNC);
+	TCNT0 = 0x00;
+	TCNT2 = 0x00;
+	GTCCR = (0<<TSM);
+
+	/* enable Timer1 OVF Interrupt */
+	TIMSK1 = (1<<OCIE1B);
 
 	/* Enable Analog Comparator Multiplexer */
-	SFIOR |= (1<<ACME);
+	ADCSRB |= (1<<ACME);
+	ACSR |= (1<<ACIC);
 
 	/* I2C Init: keep Address from bootloader, Auto ACKs with Interrupts */
 	TWCR = (1<<TWEA) | (1<<TWEN) | (1<<TWIE);
@@ -156,6 +176,8 @@ int main(void)
 	if (read_parameters())
 		blmc.flags |= FLAG_INVALID_EEPROM;
 
+	set_sleep_mode(SLEEP_MODE_IDLE);
+
 	sei();
 
 	while (1) {
@@ -204,6 +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;
 }

main.h

@@ -9,4 +9,23 @@
 #define LED_RT		(1<<PORTB4)
 #define LED_GN		(1<<PORTB5)
 
+#define PHASE_A_EN	(1<<PORTB2)
+#define PHASE_A_PWM	(1<<PORTB3)
+#define PHASE_A_OC	(1<<COM2A1)
+
+#define PHASE_B_EN	(1<<PORTD7)
+#define PHASE_B_PWM	(1<<PORTD5)
+#define PHASE_B_OC	(1<<COM0B1)
+
+#define PHASE_C_EN	(1<<PORTD4)
+#define PHASE_C_PWM	(1<<PORTD3)
+#define PHASE_C_OC	(1<<COM2B1)
+
+#define SENSE_A		0
+#define SENSE_B		2
+#define SENSE_C		1
+
+#define SENSE_VOLTAGE	7
+#define SENSE_CURRENT	3
+
 #endif