leia/leia.c

@@ -8,7 +8,7 @@
 //         OCR1A: interrupt: assert STEP
 //         OCR1B: interrupt: deassert STEP, RESET
 // ADC:    Three NTCs ADC8,9,10, Iprim ADC3, internals.
-//         Interrupt stores conversion results and advances channels.
+//         Interrupt stores conversionresults and advances channels.
 // DAC:    Motor current reference.
 // TIMER0: ADC conversion cadence, 92µs resolution, range 23ms range.
 //         Interrupt: DAC ramp ticks
@@ -88,10 +88,8 @@ struct stat {
 	uint16_t      adc[16];        // 48
 	uint16_t      dac;            // 80
 	uint8_t       adc_idx;        // 82
-	uint8_t       eewr_n;         // 83
+	uint8_t       pad[45];        //128
-	uint16_t      eewr_a;         // 84
+};
-	uint8_t       pad[42];        // 86
-};                                    //128
 
 struct vars {
 	struct conf conf;
@@ -145,8 +143,8 @@ const struct conf runcon = {
 	},
 	.dac_ref = DAC_R | ADC_BG,
 	.adc_incr = 16, // one conversion per channel
-	.adc_period = TICK_NS(10000000),
+	.adc_period = TICK_NS(1000000),
-	.dac_step = 0x40,
+	.dac_step = 0x20,
 	.pad = "\xff\xff\xff\xff\xff\xff",
 };
 
@@ -577,6 +575,7 @@ ISR(ADC_vect, ISR_NAKED)
 
 static void conf_init()
 {
+	cli();
 	adc_init();
 	adc_start(v.stat.adc_idx>>4);
 	dac_set(v.conf.dac_ramp);
@@ -587,13 +586,16 @@ static void conf_init()
 
 // Write EEPROM in interrupt.
 
-#if 0
+uint8_t eewr_n;  // number of bytes to write 
+uint16_t eewr_a; // EEPROM conf base address
+
+#if 1
 ISR(EE_READY_vect)
 {
-	uint8_t n = v.stat.eewr_n;
+	uint8_t n = eewr_n;
 	while (n) {
-		v.stat.eewr_n = --n;
+		eewr_n = --n;
-		EEAR = v.stat.eewr_a + n;
+		EEAR = eewr_a + n;
 		EECR |= 1<<EERE;
 		uint8_t d = ((uint8_t*)&v.conf)[n];
 		if (EEDR == d)
@@ -617,16 +619,16 @@ ISR(EE_READY_vect, ISR_NAKED)
 		"push r30"		"\n\t"
 		"push r31"		"\n\t"
 		"cbi %[C], %[IE]"	"\n\t"
-		"lds r24, %[EN]"	"\n"
+		"lds r24, eewr_n"	"\n"
 		"1:"			"\n\t"
 		"clr r31"		"\n\t"
 		"cp r24, r31"		"\n\t"
 		"breq 2f"		"\n\t"
 		"subi r24, 1"		"\n\t"
-		"lds r30, %[EA]"	"\n\t"
+		"lds r30, eewr_a"	"\n\t"
 		"add r30, r24"		"\n\t"
 		"out %[AL], r30"	"\n\t"
-		"lds r30, %[EA]+1"	"\n\t"
+		"lds r30, eewr_a+1"	"\n\t"
 		"adc r30, r31"		"\n\t"
 		"out %[AH], r30"	"\n\t"
 		"sbi %[C], %[RE]"	"\n\t"
@@ -648,16 +650,15 @@ ISR(EE_READY_vect, ISR_NAKED)
 		"subi r30, -1"		"\n\t"
 		"out %[CC], r30"	"\n\t"
 		"2:"			"\n\t"
-		"sts %[EN], r24"	"\n\t"
+		"sts eewr_n, r24"	"\n\t"
 		"pop r31"		"\n\t"
 		"pop r30"		"\n\t"
 		"pop r24"		"\n\t"
 		"out __SREG__, r24"	"\n\t"
 		"pop r24"		"\n\t"
 		"reti"			"\n"
-		:[EN]  "+m" (v.stat.eewr_n)
+		:
-		:[EA]  "m"  (v.stat.eewr_a),
+		:[V]   "m"  (v.conf),
-		 [V]   "m"  (v.conf),
 		 [C]   "n"  (_SFR_IO_ADDR(EECR)),
 		 [AL]  "n"  (_SFR_IO_ADDR(EEARL)),
 		 [AH]  "n"  (_SFR_IO_ADDR(EEARH)),
@@ -676,8 +677,8 @@ uint8_t eeprom_save(uint16_t a)
 {
 	if (EECR & 1<<EERIE)
 		return 1;
-	v.stat.eewr_a = a;
+	eewr_a = a;
-	v.stat.eewr_n = sizeof(struct conf);
+	eewr_n = sizeof(struct conf);
 	GPIOR2 = 0;
 	EECR = 1<<EERIE;
 	return 0;
@@ -686,8 +687,11 @@ uint8_t eeprom_save(uint16_t a)
 static inline
 uint8_t eeprom_load(uint16_t a)
 {
-	if (EECR & 1<<EEWE)
+	cli();
+	if (EECR & 1<<EEWE) {
+		sei();
 		return 1;
+	}
 	uint8_t n = sizeof(struct conf);
 	uint8_t *c = (uint8_t*)&v.conf;
 	while (n--) {
@@ -695,17 +699,22 @@ uint8_t eeprom_load(uint16_t a)
 		EECR |= 1<<EERE;
 		*c++ = EEDR;
 	}
+	sei();
 	return 0;
 }
 
 static inline
 uint8_t eeprom_read_byte(uint16_t a, uint8_t *r)
 {
-	if (EECR & 1<<EEWE)
+	cli();
+	if (EECR & 1<<EEWE) {
+		sei();
 		return 1;
+	}
 	EEAR = a;
 	EECR |= 1<<EERE;
 	*r = EEDR;
+	sei();
 	return 0;
 }
 
@@ -841,8 +850,6 @@ void reg88(uint8_t *v1, uint8_t *v2, unsigned char *r, const unsigned char *c)
 // goes low.
 //
 // Interrupts
-// are enabled only while sleeping, waiting for the SPI master
-//
 // PCINT2:       disable global interrupts
 // TIMER1_COMPA: assert STEP
 // TIMER1_COMPB: deassert STEP, RESET
@@ -890,10 +897,6 @@ int main()
 			resp[1] = error_msg[4];
 			resp[2] = error_msg[5];
 			break;
-		case '?':
-			resp[1] = GPIOR2;
-			resp[2] = GPIOR1;
-			break;
 		case 'm': reg88(&v.conf.lmask, &v.conf.lval, resp, cmd); break;
 		case 'q': reg16(&v.conf.period, resp, cmd);
 			if (0) case 'l': reg16(&v.conf.slen, resp, cmd);