/***************************************************************************
 *   Copyright (C) 09/2007 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.             *
 ***************************************************************************/
/*
 * Application:
 * LED_GN blinking -> motor stop
 * LED_GN on -> motor running
 * LED_GN on & LED_RT blinking -> pwm soft limit
 * LED_GN off & LED_RT blinking -> current to high / undervoltage
 *
 * startup:
 * - selftest
 *
 * cmdloop:
 * - set motor (pwm)
 * - get status (motor speed, voltage, current)
 * - reboot (with cookie)
 */

#include <avr/io.h>
#include <avr/interrupt.h>

#include "main.h"
#include "blmc.h"

extern struct blmc_ blmc;

ISR(TIMER0_OVF_vect)
{
	static uint8_t timer0_cnt = 0;
	static uint8_t adc_chan = SENSE_CURRENT;

	/* Come back in 20ms */
	TCNT0 = 0xFF - 156;

	/* current-limiting */
	setpwm(blmc.pwm);

	uint16_t diff = blmc.rpm_tmp - blmc.rpm_tmp2;
	blmc.rpm_tmp2 = blmc.rpm_tmp;

	/* too low rpm while running -> do a spinup */
	if (diff < 0x8 && blmc.flags == (FLAG_PWM_NORMAL | FLAG_COM_NORMAL))
		blmc.flags = FLAG_PWM_SPINUP | FLAG_COM_SPINUP;

	timer0_cnt++;
	if (timer0_cnt == 50) {
		timer0_cnt = 0;

		blmc.rpm = blmc.rpm_tmp;
		blmc.rpm_tmp = 0;
	}

	/* trigger adc by hand when not running */
	if (!(blmc.flags & FLAG_COM_NORMAL)) {
		trigger_adc(adc_chan);
		if (adc_chan == SENSE_CURRENT)
			adc_chan = SENSE_VOLTAGE;
		else
			adc_chan = SENSE_CURRENT;
	}
}

int main(void)
{
	DDRB = PHASE_H_MASK | LED_RT | LED_GN;
	DDRD = PHASE_L_MASK;

	PORTB = LED_GN;
	PORTD = 0x00;

	/* timer0: running with F_CPU/1024 */
	TCCR0 = (1<<CS02) | (1<<CS00);

	/* timer1: running with F_CPU, 8bit Fast PWM (32kHz) */
	TCCR1B = (1<<CS10);// | (1<<WGM12);
	TCCR1A = (1<<WGM10);

	/* timer2: running with F_CPU, 8bit Fast PWM (32kHz) */
	TCCR2 = (1<<WGM20) | (1<<CS20);// | (1<<WGM21);

	/* enable Timer0 OVF Interrupt */
	TIMSK = (1<<TOIE0); // | (1<<OCIE2); // | (1<<TOIE2)

	/* Enable Analog Comparator Multiplexer */
	SFIOR |= (1<<ACME);

	/* I2C Init: keep Address from bootloader, Auto ACKs with Interrupts */
	TWCR = (1<<TWEA) | (1<<TWEN) | (1<<TWIE);

	sei();

	while (1) {
		if (blmc.flags & FLAG_COM_SPINUP)
			spinup();
	};

	return 0;
}