// Fetch and return the next char from input stream.
void fetchc(void) {
// terrible horrible eeprom addressing kludge
if (isram(fetchptr)) {
if (*fetchptr) fetchptr++;
inchar = *fetchptr;
}
else { // fetch char from eeprom
int addr = dekludge(fetchptr);
inchar = eeread(addr);
if ((inchar != 0) && (inchar != 255)) {
inchar = eeread(++addr);
fetchptr = kludge(addr); // save incremented pointer
if (inchar == 255) inchar = 0;
}
}
#ifdef PARSER_TRACE
// char trace
if (trace) {
//spb('['); printInteger(inchar);spb(':'); if (inchar) spb(inchar); spb(']');
spb('[');
if (inchar >= 0x20) spb(inchar);
else { spb('\\'); printInteger(inchar); }
spb(']');
}
#endif
//return inchar;
}
void
read_config(void)
{
byte i;
for (i = 0; i < PH_NUM; i++) {
sinus[i] = eeread(i);
}
ampl = eeread(AMPL_START);
period = FREQ_MAX/eeread(FREQ_START);
delay_step = eeread(DS_START);
delay_num = eeread(DN_START);
}
// return the address of the first unused space at or after addr
int findunoccupied(int addr) {
while (addr < ENDDB) {
if (eeread(addr) == EMPTY) return addr;
addr++;
}
return FAIL;
}
void cmd_peep(void) {
int i=0;
#ifdef AVROPENDOUS_BUILD
usbMouseOff();
#endif
while (i <= ENDEEPROM) {
if (i%64 == 0) {speol(); printHex(i+0xe000); spb(':'); }
if (i%8 == 0) spb(' ');
if (i%4 == 0) spb(' ');
byte c = eeread(i) & 0xff;
if (c == 0) spb('\\');
else if ((c == 255) || (c < 0)) spb('.');
else if (c < ' ') spb('^');
else spb(c);
i++;
}
speol();
#ifdef AVROPENDOUS_BUILD
usbMouseOn();
#endif
}
// Fetch a string from EEPROM at addr into buffer at str
void getString(int addr, char *str, int buflen) {
while (--buflen) {
byte c = eeread(addr++);
if ((c == 0) || (c == 255)) break;
*str++ = c;
}
*str = 0;
}
void nukeeeprom(void) {
initTaskList(); // stop any currently running background tasks
int addr = STARTDB;
while (addr <= ENDDB) {
if (eeread(addr) != EMPTY) eewrite(addr, EMPTY);
addr++;
}
}
// find the end of this occupied string slot. returns location or ENDDB.
int findend(int addr) {
while (++addr < ENDDB) {
byte c = eeread(addr);
if (c == EMPTY) return addr; // return pointer to first empty byte
if (!c) return (++addr); // or first byte past terminator
}
return ENDDB;
}
// erase string at addy. return addy of byte past end.
int erasestr(int addr) {
for (;;) {
byte c = eeread(addr);
if (c == EMPTY) return addr;
eewrite(addr++, EMPTY);
if (!c) return addr;
}
}
void nukeeeprom(void) {
initTaskList(); // stop any currently running background tasks
int addr;
for (addr = STARTDB; addr < ENDDB; addr++) {
if (eeread(addr) != EMPTY) {
eewrite(addr, EMPTY);
}
}
}
void IMU::loadCalib(){
short magic = 0;
int addr = ADDR;
eeread(addr, magic);
if (magic != MAGIC) {
Console.println(F("IMU error: no calib data"));
return;
}
Console.println(F("IMU: found calib data"));
loadSaveCalib(true);
}
static int
eeload(Ctlr* ctlr)
{
ushort sum;
int data, adr;
sum = 0;
for (adr = 0; adr < 0x40; adr++) {
data = eeread(ctlr, adr);
ctlr->eeprom[adr] = data;
sum += data;
}
return sum;
}
// print eeprom string at addr
void eeputs(int addr) {
for (;;) {
byte c = eeread(addr++);
if (!c || (c == EMPTY)) return;
//else if (c == '"') { spb('\\'); spb('"'); }
else if (c == '\\') { spb('\\'); spb('\\'); }
else if (c == '\n') { spb('\\'); spb('n'); }
else if (c == '\t') { spb('\\'); spb('t'); }
else if (c == '\r') { spb('\\'); spb('r'); }
else if ((c >= 0x80) || (c < ' ')) {
spb('\\'); spb('x');
if (c < 0x10) spb('0'); printHex(c);
}
else spb(c);
}
}
void rdee()
{
int i;
printf("\nconnecting...%s", ((i = penable()) == 1)? "Ok" : "Error");
if(!i) {
err = 1;
return;
}
printf("\n");
for(i=0; i < EESIZE; i++) {
printf("\ree reading... %4x",i);
buf[i] = eeread(i);
}
printf("\ree reading Ok \n");
err = 0;
}
// Re-prime the lookahead character buffer 'inchar'
void primec(void) {
// terrible horrible eeprom addressing kludge
if (isram(fetchptr)) inchar = *fetchptr;
else {
inchar = eeread(dekludge(fetchptr));
if (inchar == 255) inchar = 0;
}
#ifdef PARSER_TRACE
// char trace
if (trace) {
spb('<');
if (inchar >= 0x20) spb(inchar);
else { spb('\\'); printInteger(inchar); }
spb('>');
}
#endif
}
void cmd_peep(void) {
int i=0;
while (i <= ENDEEPROM) {
if (!(i&63)) {speol(); printHex(i+0xe000); spb(':'); }
if (!(i&7)) spb(' ');
if (!(i&3)) spb(' ');
byte c = eeread(i) & 0xff;
if (c == 0) spb('\\');
//else if ((c == 255) || (c < 0)) spb('.');
else if (c == 255) spb('.');
else if (c < ' ') spb('^');
else spb(c);
i++;
}
speol();
}
unsigned char eeReadByte(unsigned long wAddr)
{
char RetVal;
eestart();
eewrite(BP_EEPROM_ID_W);
eewrite((wAddr >> 8)); //Sent write Address high bits first
eewrite(wAddr); //Send write address low bits section
eestart();
eewrite(BP_EEPROM_ID_R);
RetVal = eeread(); //Write the single bit.
eesendack(1); //send nak?
eestop();
return RetVal;
}
void wree()
{
int i,e;
printf("\nconnecting...%s", ((i = penable()) == 1) ? "Ok" : "Error");
if(!i) {
err = 1;
return;
}
err = 0;
printf("\n");
for(i=0; i < sz; i++) {
printf("\ree writing ... %4x",i);
eewrite(i,buf[i]);
delay(50);
if((e = eeread(i)) != buf[i]) {
printf("\nerror at %x ee %x buf %x\n",i,e & 0xff,buf[i] & 0xff);
err = 1;
}
if(err) break;
}
if(!err) printf("\ree writing Ok \n");
}
/////////
//
// primec():
// fetch the current character from the input stream
// set inchar to the character or zero on EOF
//
void primec(void) {
switch (fetchtype) {
case SCRIPT_RAM: inchar = *(char *) fetchptr; break;
case SCRIPT_PROGMEM: inchar = pgm_read_byte(fetchptr); break;
case SCRIPT_EEPROM: inchar = eeread((int) fetchptr); break;
#if defined(SDFILE)
case SCRIPT_FILE: inchar = scriptread(); break;
#endif
default: unexpected(M_oops);
}
#ifdef PARSER_TRACE
if (trace) {
spb('<');
if (inchar >= 0x20) spb(inchar);
else { spb('\\'); printInteger(inchar); }
spb('>');
}
#endif
}
void ReadConfigurations(){
eeread(0, Arduino);
}
// return true if string in EEPROM at addr matches string at str
char eestrmatch(int addr, char *str) {
while (*str) if (eeread(addr++) != *str++) return 0;
if (eeread(addr) == 0) return 1; // ended at the same place?
return 0;
}
int main(void)
{
int cnt;
setup_ports();
read_config();
setup_timer();
setup_control();
PORTC = DISABLED;
setup_uart(9600UL);
flags = eeread(FLAGS_START);
ph_u = 0;
ph_v = 24;
ph_w = 12;
pwm_u = 0;
pwm_v = 0;
pwm_w = 0;
sei();
cnt = 0;
while (1) {
register byte i;
if ((flags & FLAG_POT) && cnt == 0)
read_speed();
cnt++;
cnt &= 0x3F;
if (flags & FLAG_GO) {
int8_t cnt_u, cnt_v, cnt_w;
int u_u, u_v, u_w;
/* Disable all phases */
PORTC &= ~((1 << EU) | (1 << EV) | (1 << EW));
/* Wait to turn mosfets off */
_delay_loop_2(delay_num * delay_step);
/* Switch all bridges to HIGH */
PORTC |= ((1<<UU) | (1<<UV) | (1<<UW));
/* Enable all phases */
PORTC |= ((1<<EU) | (1<<EV) | (1<<EW));
//_delay_loop_2(50);
cnt_u = cnt_v = cnt_w = -1;
u_u = u_v = u_w = 1;
for (i = 0; i < MAX_PWM; i++) {
if (i == pwm_u || (i > pwm_u && u_u)) {
CLRBIT(PORTC, EU); // DISABLE U
u_u = 0;
cnt_u = delay_num;
}
if (i == pwm_v || (i > pwm_v && u_v)) {
CLRBIT(PORTC, EV); // DISABLE V
u_v = 0;
cnt_v = delay_num;
}
if (i == pwm_w || (i > pwm_w && u_w)) {
CLRBIT(PORTC, EW); // DISABLE W
u_w = 0;
cnt_w = delay_num;
}
_delay_loop_2(delay_step);
if (cnt_u == 0) {
CLRBIT(PORTC, UU); // Set U to LOW
PORTC |= (1<<EU);
cnt_u = -1;
}
if (cnt_v == 0) {
CLRBIT(PORTC, UV); // Set V to LOW
PORTC |= (1<<EV);
cnt_v = -1;
}
if (cnt_w == 0) {
CLRBIT(PORTC, UW); // Set W to LOW
PORTC |= (1<<EW);
cnt_w = -1;
}
if (cnt_u > 0)
cnt_u--;
if (cnt_v > 0)
cnt_v--;
if (cnt_w > 0)
cnt_w--;
}
} else {
PORTC = DISABLED;
_delay_loop_1(250);
}
}
return 0;
}
