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 /Modules/HBRIDGE/HB1FET01A/SW/h-bridge.cpp
 ,0 → 1,1339
+// Features:
+// - Complete PID loop
+// - Optional proportional feed-forward for open-loop control and wind-up minimization
+// - Wind-up limiting under overload conditions
+// - Torque throttling under overload
+// - TWI interface with PnP support
+// - Parameter storage in EEPROM including TWI address
+// - Acceleration, deceleration limits
+// - Speed integration to estimate travelled distance
+// - Add 'go to distance' mode with trapezoid speed-profiles - Needs testing
+// - Added 32-bit and 16-bit atomic reads and writes. Note: 8-bit atomic writes are NOT supported
+// - Added support for duty cycle throttling (basically torque-throttling)
+// - Added current reading and max current detection
+// - Added per cycle over-current detection and early-termination of cycle
+// - Added servo-type operation with pot-based position feedback
+// TODO:
+// - Add current integration for power usage estimation
+// - Add serial interface
+// - Add servo-type (PWM) interface
+// - Add optical encoder support
+// - When sampling for fast-collapse high-side and during the on-state: we only need two states - the high-side should be on already
+// - Switching between high- and low-collapse modes to equalize catch-diode load - make this user-selectable
+// - Detect continous-current mode and do something about it!
+// TODO TEST:
+// - Servo mode in all four modes
+// - Freewheeling and back-EMF in all four modes
+// - Braking
+// BUGS:
+// - back-EMF measurment is different in fast-collapse and low-collapse modes. This make control leading to different speeds in the two modes.
+#define BOARD_umHBridge
+#define H_BRIDGE
+#include <avr/pgmspace.h>
 +#include <avr/sleep.h>
 +
 +#include "common.h"
 +#include "opled.h"
 +#include "usart.h"
 +#include "twi_aap.h"
 +#include "eeprom.h"
 +
 +void DebugStat();
 +
 +// This is an 8-bit PWM
 +namespace PWM1 {
 +	enum eClkSrc {
 +		ClkNone = 0,
 +		Clk = (1 << CS10),
 +		ClkDiv1 = (1 << CS10),
 +		ClkDiv8 = (1 << CS11),
 +		ClkDiv64 = (1 << CS11) | (1 << CS10),
 +		ClkDiv256 = (1 << CS12),
 +		ClkDiv1024 = (1 << CS12) | (1 << CS10),
 +		ClkExtFall = (1 << CS12) | (1 << CS11),
 +		ClkExtRise = (1 << CS12) | (1 << CS11) | (1 << CS10)
 +	};
 +
 +	void inline Init(eClkSrc aClkSrc) {
 +		SETBIT(DDRB,0x02|0x04); // Preprare PortB to output to handle disables
 +		CLRBIT(PORTB,0x02|0x04); // Set port bits to 0 so that disable will work correctly
 +		CLRBIT(PRR,PRTIM0);
 +		TCCR1A = (1 << WGM10);
 +		TCCR1B = aClkSrc | (1 << WGM12);
 +		OCR1A = 0x0000;
 +		OCR1B = 0x0000;
 +		ICR1 = 0x0000;
 +		TCNT1 = 0x0000;
 +	}
 +	void inline DisableChA() {               CLRBIT(TCCR1A,(1 << COM1A1)); }
 +	void inline DisableChB() {               CLRBIT(TCCR1A,(1 << COM1B1)); }
 +	void inline DisableChAB() {              CLRBIT(TCCR1A,(1 << COM1A1) | (1 << COM1B1)); }
 +	void inline EnableChA() {                SETBIT(TCCR1A,(1 << COM1A1)); }
 +	void inline EnableChB() {                SETBIT(TCCR1A,(1 << COM1B1)); }
 +	void inline EnableChAB() {               SETBIT(TCCR1A,(1 << COM1A1) | (1 << COM1B1)); }
 +	bool inline IsChAEnabled() {             return TESTBIT(TCCR1A,(1 << COM1A1)) != 0; }
 +	bool inline IsChBEnabled() {             return TESTBIT(TCCR1A,(1 << COM1B1)) != 0; }
 +	bool inline IsChAOrBEnabled() {          return TESTBIT(TCCR1A,(1 << COM1A1) | (1 << COM1B1)) != 0; }
 +	// We never set the high bits to anything but 0, so the high-byte in the TEMP register doesn't need to be set.
 +	void inline SetChannelA(uint8_t aValue) { OCR1AL = aValue; }
 +	uint8_t inline GetChannelA()            { return OCR1AL; }
 +	void inline SetChannelB(uint8_t aValue) { OCR1BL = aValue; }
 +	uint8_t inline GetChannelB()            { return OCR1BL; }
 +	void inline EnableIRQ_A() {              SETBIT(TIMSK1,(1 << OCIE1A)); }
 +	void inline EnableIRQ_B() {              SETBIT(TIMSK1,(1 << OCIE1B)); }
 +	void inline EnableIRQ_AB() {             SETBIT(TIMSK1,(1 << OCIE1A) | (1 << OCIE1B)); }
 +	void inline EnableIRQ_Overflow() {       SETBIT(TIMSK1,(1 << TOIE1)); }
 +	void inline EnableOnlyIRQ_A() {          TIMSK1 = (1 << OCIE1A); }
 +	void inline EnableOnlyIRQ_B() {          TIMSK1 = (1 << OCIE1B); }
 +	void inline EnableOnlyIRQ_Overflow() {   TIMSK1 = (1 << TOIE1); }
 +	void inline DisableIRQ_A() {             CLRBIT(TIMSK1,(1 << OCIE1A)); }
 +	void inline DisableIRQ_B() {             CLRBIT(TIMSK1,(1 << OCIE1B)); }
 +	void inline DisableIRQ_Overflow() {      CLRBIT(TIMSK1,(1 << TOIE1)); }
 +	void inline DisableIRQ_All() {           TIMSK1 = 0; }
 +	bool inline IsPendingIRQ_A() {           return (TESTBIT(TIFR1,(1 << OCF1A)) != 0); }
 +	bool inline IsPendingIRQ_B() {           return (TESTBIT(TIFR1,(1 << OCF1B)) != 0); }
 +	bool inline IsPendingIRQ_Overflow() {    return (TESTBIT(TIFR1,(1 << TOV1)) != 0); }
 +	void inline ClearPendingIRQ_A() {        TIFR1 = (1 << OCF1A); }
 +	void inline ClearPendingIRQ_B() {        TIFR1 = (1 << OCF1B); }
 +	void inline ClearPendingIRQ_Overflow() { TIFR1 = (1 << TOV1); }
 +	void inline ClearPendingIRQ_All() {      TIFR1 = (1 << OCF1A) | (1 << OCF1B) | (1 << TOV1); }
 +}
 +
 +namespace ADConv {
 +	enum eRef {
 +		RefInt = (1 << REFS0) | (1 << REFS1),
 +		RefVcc = (1 << REFS0),
 +		RefExt = 0
 +	};
 +	enum eAdjust {
 +		LeftAdjust = ADLAR,
 +		RightAdjust = 0
 +	};
 +#if defined MEGA_BRIDGE
 +	const uint8_t Ch_MotorA = 7;
 +	const uint8_t Ch_MotorB = 2;
 +	const uint8_t Ch_MotorCurrent = 6;
 +	const uint8_t Ch_ServoPot = 3;
 +	const uint8_t Ch_Battery = 1;
 +
 +	const eRef Ref_MotorA = RefVcc;
 +	const eRef Ref_MotorB = RefVcc;
 +	const eRef Ref_MotorCurrent = RefInt;
 +	const eRef Ref_ServoPot = RefVcc;
 +	const eRef Ref_Battery = RefVcc;
 +#elif defined H_BRIDGE
 +	const uint8_t Ch_MotorA = 7;
 +	const uint8_t Ch_MotorB = 2;
 +	const uint8_t Ch_MotorCurrent = 6;
 +	const uint8_t Ch_ServoPot = 3;
 +
 +	const eRef Ref_MotorA = RefInt;
 +	const eRef Ref_MotorB = RefInt;
 +	const eRef Ref_MotorCurrent = RefInt;
 +	const eRef Ref_ServoPot = RefVcc;
 +	const eRef Ref_Battery = RefVcc;
 +#elif defined SERVO_BRAIN
 +	const uint8_t Ch_MotorA = 0;
 +	const uint8_t Ch_MotorB = 2;
 +	const uint8_t Ch_MotorCurrent = 6;
 +	const uint8_t Ch_ServoPot = 3;
 +
 +	const eRef Ref_MotorA = RefVcc;
 +	const eRef Ref_MotorB = RefVcc;
 +	const eRef Ref_MotorCurrent = RefVcc;
 +	const eRef Ref_ServoPot = RefVcc;
 +	const eRef Ref_Battery = RefVcc;
 +#else
 +	#error HW version is not specified
 +#endif
 +
 +	const uint8_t ADCSRA_BaseValue = (1 << ADEN) | (1 << ADATE) | (1 << ADPS2) | (1 << ADPS1);
 +	static inline void Init() {
 +		ADMUX = (1<< REFS0) | 15; // AVCC is the default reference
 +		ADCSRA = ADCSRA_BaseValue;
 +		ADCSRB = 0; // Free-running mode
 +		DIDR0 = (1 << Ch_MotorA) | (1 << Ch_MotorB) | (1 << Ch_MotorCurrent);
 +	}
 +	static inline void SetChannel(uint8_t aChannel) {
 +		ADMUX = (ADMUX & 0xf0) | (aChannel & 0x0f);
 +	}
 +	static inline void SetChannel(uint8_t aChannel,eRef aRef) {
 +		ADMUX = (ADMUX & 0x20) | (aChannel & 0x0f) | aRef;
 +	}
 +	static inline void SetChannel(uint8_t aChannel,eRef aRef,eAdjust aAdjust) {
 +		ADMUX = (aChannel & 0x0f) | aRef | aAdjust;
 +	}
 +	static inline void StartConversion(uint8_t aChannel) {
 +		SetChannel(aChannel);
 +		ADCSRA = ADCSRA_BaseValue | (1 << ADSC) | (1 << ADIE);
 +	}
 +	static inline void StartConversion(uint8_t aChannel,eRef aRef) {
 +		SetChannel(aChannel,aRef);
 +		ADCSRA = ADCSRA_BaseValue | (1 << ADSC) | (1 << ADIE);
 +	}
 +	static inline void StartConversion(uint8_t aChannel,eRef aRef, eAdjust aAdjust) {
 +		SetChannel(aChannel,aRef,aAdjust);
 +		ADCSRA = ADCSRA_BaseValue | (1 << ADSC) | (1 << ADIE);
 +	}
 +	static inline void StopConversion() {
 +		CLRBIT(ADCSRA,(1 << ADEN)); // This might delete the pending IRQ request, but we don't really care
 +	}
 +	static inline uint8_t GetChannel() {
 +		return ADMUX & 0x0f;
 +	}
 +	static uint16_t GetSample() {
 +		while((ADCSRA & (1 << ADIF)) == 0); // Wait until conversion finishes
 +		uint16_t RetVal = ADC;
 +		SETBIT(ADCSRA,ADIF);                // Clear the pending interrupt request (though we're polling)
 +		return RetVal;
 +	}
 +	static inline uint16_t FastGetSample() {
 +		return ADC;
 +	}
 +}
 +
 +namespace EEPROM_layout {
 +	const uint16_t DataRecord_Ofs = 0x00; // size is sizeof(HBridge::DataRecord)
 +	const uint16_t DataValid_Ofs = 0xfe;
 +}
 +
 +template<typename T> inline T min(T aA,T aB) { return (aA>aB)?aB:aA; }
 +template<typename T> inline T max(T aA,T aB) { return (aA>aB)?aA:aB; }
 +
 +#define SHOOT_THROUGH_DELAY for(int i=0;i<10000;++i);
 +
 +namespace HBridge {
 +	enum eSampleStates {
 +		SampleState_PreFastCollapse = 0,
 +		SampleState_FastCollapse,
 +		SampleState_PostFastCollapse,
 +
 +		SampleState_PreSampleBase,
 +		SampleState_PreSampleBase2,
 +		SampleState_SampleBase,
 +		SampleState_PreSearchMax,
 +		SampleState_PreSamplePot,
 +		SampleState_SamplePot,
 +		SampleState_SearchMax,
 +		SampleState_SearchMin,
 +		SampleState_PreCurrentSample,
 +		SampleState_CurrentSample1,
 +		SampleState_CurrentSample2,
 +		SampleState_CurrentSample3,
 +		// off-band battery sampling for fast-high-side collapse mode
 +		SampleState_PreSampleBat,
 +		SampleState_SampleBat
 +	};
 +	enum eOperatingModes {
 +		OperatingMode_Speed = 0,
 +		OperatingMode_Servo = 1
 +	};
 +
 +	const int16_t RequestFreewheel = 0x4000;
 +	const int16_t RequestBrake     = 0x4001;
 +
 +	const uint8_t EEPROMDataValid = 0x01;
 +
 +	const uint8_t GuardTime = 255 - 47; // Maximum allowed duty cycle
 +	const uint8_t ControlTime = 255 - 10;
 +#if defined MEGA_BRIDGE
 +	const uint8_t LoBMask = (0x01 << 2);
 +	const uint8_t LoAMask = (0x01 << 1);
 +	const uint8_t HiBMask = (0x01 << 5);
 +	const uint8_t HiAMask = (0x01 << 6);
 +	const eOperatingModes DefaultOperatingMode = OperatingMode_Speed;
 +
 +	const int16_t Def_IFactor = 0;
 +	const int16_t Def_PFactor = 0;
 +	const int16_t Def_DFactor = 0;
 +	const int16_t Def_PFFactor = 0x0100;
 +#elif defined H_BRIDGE
 +	const uint8_t LoBMask = (0x01 << 2);
 +	const uint8_t LoAMask = (0x01 << 1);
 +	const uint8_t HiBMask = (0x01 << 5);
 +	const uint8_t HiAMask = (0x01 << 6);
 +	const eOperatingModes DefaultOperatingMode = OperatingMode_Speed;
 +
 +	const int16_t Def_IFactor = 0;
 +	const int16_t Def_PFactor = 0;
 +	const int16_t Def_DFactor = 0;
 +	const int16_t Def_PFFactor = 0x0100;
 +#elif defined SERVO_BRAIN
 +	const uint8_t LoBMask = (0x01 << 2);
 +	const uint8_t LoAMask = (0x01 << 1);
 +	const uint8_t HiBMask = (0x01 << 6);
 +	const uint8_t HiAMask = (0x01 << 5);
 +	const eOperatingModes DefaultOperatingMode = OperatingMode_Servo;
 +
 +	const int16_t Def_IFactor = 0;
 +	const int16_t Def_PFactor = 0x0200;
 +	const int16_t Def_DFactor = 0;
 +	const int16_t Def_PFFactor = 0;
 +#else
 +#error No HW version is specified!
 +#endif
 +
 +	enum CollapseStates {
 +		FastCollapseHighSide = 0,
 +		FastCollapseLowSide,
 +		SlowCollapseHighSide,
 +		SlowCollapseLowSide,
 +		CollapseStateMask = 0x0f,
 +		CollapseStateAutoCycle = 0x10
 +	};
 +
 +	uint8_t ADSampleIdx;
 +	struct PublicData {
 +		// The layout of this record IS important.
 +		// This is the public interface that is accessible through the TWI interface
 +
 +		// Speed control request signal R/W (Scaled between -0x3fff and 0x3fff
 +		// 0x4000 is freewheeling and 0x4001 is braking
 +		int16_t RequestValue;
 +
 +		// PID control loop parameters R/W
 +		int16_t IFactor;
 +		int16_t PFactor;
 +		int16_t DFactor;
 +		int16_t PFFactor;
 +		int16_t SampleOffset;
 +
 +		// Request change limits (acceleration limits) R/W
 +		int16_t MaxPositiveChange;
 +		int16_t MaxNegativeChange;
 +
 +		// Travel (distance counter) R/W
 +		int32_t Distance;
 +
 +		// Travel cutoff  R/W
 +		int32_t FwDistanceLimit;
 +		int32_t BwDistanceLimit;
 +
 +		// Current estimated distance required to stop (R/O)
 +		int32_t DistanceToStop;
 +
 +		// Modified request (R/O)
 +		int16_t CurrentRequest;
 +
 +		// Command given to the H-bridge R/O
 +		int16_t Command;
 +
 +		// PID loop working set R/O
 +		int16_t IValue;
 +		int16_t LastError;
 +		int16_t Error;
 +
 +		// Last Back-EMF sample R/O
 +		int16_t VoltageSample;
 +
 +		// Back-EMF sampling code working set R/O
 +		int16_t BaseValue;
 +
 +		int16_t SampleCnt_Snapshot;
 +		int16_t MinValue_Snapshot;
 +
 +		// Private members: not part of the communication interface, but added to this structure for potential debugging
 +		int16_t MinValue;
 +		int16_t MaxValue;
 +		int16_t SampleCnt;
 +
 +		int16_t OriginalRequestValue;
 +
 +		uint8_t SampleState;
 +		uint8_t DutyCycleThrottle;
 +		uint8_t NewData;
 +		uint8_t IsForward;
 +
 +		uint16_t CurrentMax;
 +		uint16_t CurrentDelta;
 +		uint16_t CurrentTemp;
 +		uint16_t CurrentMaxSearch;
 +
 +		uint8_t ADBufferEnable;
 +		uint8_t ADBufferEnableHost;
 +
 +		uint16_t CurrentLimit;
 +
 +		uint8_t OperatingMode;
 +		uint8_t CollapseState;
 +
 +		uint16_t ADBuffer[80];
 +	} DataRecord;
 +
 +	inline uint8_t* GetDataRecord8(uint8_t aOfs)   { return ((uint8_t *)&DataRecord)+aOfs; }
 +	inline uint16_t* GetDataRecord16(uint8_t aOfs) { return (uint16_t *)(((uint8_t *)&DataRecord)+aOfs); }
 +	inline uint32_t* GetDataRecord32(uint8_t aOfs) { return (uint32_t *)(((uint8_t *)&DataRecord)+aOfs); }
 +	const inline size_t GetDataRecordSize() { return sizeof(DataRecord); }
 +	uint8_t GetDataElementSize(uint8_t aOfs) {
 +		#define FIELD_OFFSET(aField) ((uint8_t)((size_t)&(HBridge::DataRecord.aField)-(size_t)&HBridge::DataRecord))
 +		#define OFFSET_ENTRY(aField) if (aOfs >= FIELD_OFFSET(aField)) return sizeof(DataRecord.aField); else
 +		#define OFFSET_ENTRY_2(aField,aSize) if (aOfs >= FIELD_OFFSET(aField)) return (aSize); else
 +		OFFSET_ENTRY_2(ADBuffer,sizeof(DataRecord.ADBuffer[0]))
 +		OFFSET_ENTRY(CollapseState)
 +		OFFSET_ENTRY(OperatingMode)
 +		OFFSET_ENTRY(CurrentLimit)
 +		OFFSET_ENTRY(ADBufferEnableHost)
 +		OFFSET_ENTRY(ADBufferEnable)
 +		OFFSET_ENTRY(CurrentMaxSearch)
 +		OFFSET_ENTRY(CurrentTemp)
 +		OFFSET_ENTRY(CurrentDelta)
 +		OFFSET_ENTRY(CurrentMax)
 +		OFFSET_ENTRY(IsForward)
 +		OFFSET_ENTRY(NewData)
 +		OFFSET_ENTRY(DutyCycleThrottle)
 +		OFFSET_ENTRY(SampleState)
 +		OFFSET_ENTRY(OriginalRequestValue)
 +		OFFSET_ENTRY(SampleCnt)
 +		OFFSET_ENTRY(MaxValue)
 +		OFFSET_ENTRY(MinValue)
 +		OFFSET_ENTRY(MinValue_Snapshot)
 +		OFFSET_ENTRY(SampleCnt_Snapshot)
 +		OFFSET_ENTRY(BaseValue)
 +		OFFSET_ENTRY(VoltageSample)
 +		OFFSET_ENTRY(Error)
 +		OFFSET_ENTRY(LastError)
 +		OFFSET_ENTRY(IValue)
 +		OFFSET_ENTRY(Command)
 +		OFFSET_ENTRY(CurrentRequest)
 +		OFFSET_ENTRY(DistanceToStop)
 +		OFFSET_ENTRY(BwDistanceLimit)
 +		OFFSET_ENTRY(FwDistanceLimit)
 +		OFFSET_ENTRY(Distance)
 +		OFFSET_ENTRY(MaxNegativeChange)
 +		OFFSET_ENTRY(MaxPositiveChange)
 +		OFFSET_ENTRY(SampleOffset)
 +		OFFSET_ENTRY(PFFactor)
 +		OFFSET_ENTRY(DFactor)
 +		OFFSET_ENTRY(PFactor)
 +		OFFSET_ENTRY(IFactor)
 +		OFFSET_ENTRY(RequestValue)
 +		return 1;
 +		#undef FIELD_OFFSET
 +		#undef OFFSET_ENTRY
 +		#undef OFFSET_ENTRY2
 +	}
 +
 +	void FreeWheel();
 +
 +	inline void SaveSettings() {
 +		uint8_t *Data = (uint8_t *)&DataRecord;
 +		for(uint8_t i=EEPROM_layout::DataRecord_Ofs;i<EEPROM_layout::DataRecord_Ofs+sizeof(DataRecord);++i,++Data) {
 +			EEPROM::SetByte(i,*Data);
 +		}
 +		EEPROM::SetByte(EEPROM_layout::DataValid_Ofs,EEPROMDataValid);
 +		EEPROM::Wait();
 +	}
 +
 +	inline void Init() {
 +		// Init to all channels off - this is the free-wheeling state
 +		PWM1::Init(PWM1::ClkDiv256); // Set clock to clkI/O / 256 -> full cycle is around 120Hz with an 8MHz clock
 +		//PWM1::Init(PWM1::ClkDiv64); // Set clock to clkI/O / 64 -> full cycle is around 500Hz with an 8MHz clock
 +	    CLRBIT(PORTD,HiAMask);
 +		CLRBIT(PORTD,HiBMask);
 +	    CLRBIT(PORTB,LoBMask);
 +		CLRBIT(PORTB,LoBMask);
 +	    SETBIT(DDRB,LoBMask);
 +		SETBIT(DDRB,LoAMask);
 +	    SETBIT(DDRD,HiBMask);
 +		SETBIT(DDRD,HiAMask);
 +
 +        // No control loop - this is the default.
 +		DataRecord.IFactor  = Def_IFactor;
 +		DataRecord.PFactor  = Def_PFactor;
 +		DataRecord.DFactor  = Def_DFactor;
 +		DataRecord.PFFactor = Def_PFFactor;
 +		DataRecord.SampleOffset = 0;
 +		DataRecord.CollapseState = FastCollapseHighSide;
 +		DataRecord.OperatingMode = DefaultOperatingMode;
 +		// No acceleration control - this is the default.
 +		DataRecord.MaxPositiveChange = 0x7fff;
 +		DataRecord.MaxNegativeChange = 0x7fff;
 +
 +		if (EEPROM::GetByte(EEPROM_layout::DataValid_Ofs) == EEPROMDataValid) {
 +			uint8_t *Data = (uint8_t *)&DataRecord;
 +			for(uint8_t i=EEPROM_layout::DataRecord_Ofs;i<EEPROM_layout::DataRecord_Ofs+sizeof(DataRecord);++i,++Data) {
 +				*Data = EEPROM::GetByte(i);
 +			}
 +		}
 +
 +		DataRecord.IValue = 0;
 +		DataRecord.Error = 0;
 +		DataRecord.LastError = 0;
 +		DataRecord.RequestValue = RequestFreewheel;
 +		DataRecord.OriginalRequestValue = RequestFreewheel;
 +		DataRecord.IsForward = true;
 +		DataRecord.NewData = false;
 +		DataRecord.Distance = 0;
 +		DataRecord.FwDistanceLimit = 0x7fffffff;
 +		DataRecord.BwDistanceLimit = 0x80000000;
 +		DataRecord.DutyCycleThrottle = GuardTime;
 +		DataRecord.CurrentLimit = 0xffff; // Anything over 0x3ff is OFF
 +		for(uint8_t i = 0;i<sizeof(DataRecord.ADBuffer)/sizeof(DataRecord.ADBuffer[0]);++i) {
 +			DataRecord.ADBuffer[i] = 0;
 +		}
 +		ADSampleIdx = 0;
 +		DataRecord.ADBufferEnable = 0;
 +		DataRecord.ADBufferEnableHost = true;
 +
 +		FreeWheel();
 +		PWM1::EnableIRQ_AB();
 +
 +		DataRecord.SampleState = SampleState_CurrentSample3;
 +		ADConv::StartConversion(ADConv::Ch_MotorCurrent);
 +	}
 +	// If made inline GCC generates invalid code
 +	void Forward(uint8_t aSpeed) {
 +		if (aSpeed > DataRecord.DutyCycleThrottle) aSpeed = DataRecord.DutyCycleThrottle;
 +		if (aSpeed > GuardTime) aSpeed = GuardTime;
 +		// Allways clear first, than set
 +	    CLRBIT(PORTB,LoBMask);
 +	    CLRBIT(PORTB,LoAMask);
 +	    CLRBIT(PORTD,HiBMask);
 +	    SETBIT(PORTD,HiAMask);
 +	    PWM1::SetChannelB(aSpeed);
 +	    PWM1::SetChannelA(ControlTime);
 +	    PWM1::DisableChAB();
 +	    if (aSpeed > 0) PWM1::EnableChB();
 +	    DataRecord.IsForward = true;
 +	}
 +	void Backward(uint8_t aSpeed) {
 +		if (aSpeed > DataRecord.DutyCycleThrottle) aSpeed = DataRecord.DutyCycleThrottle;
 +		if (aSpeed > GuardTime) aSpeed = GuardTime;
 +		// Allways clear first, than set
 +	    CLRBIT(PORTB,LoBMask);
 +	    CLRBIT(PORTB,LoAMask);
 +	    CLRBIT(PORTD,HiAMask);
 +		SETBIT(PORTD,HiBMask);
 +	    PWM1::SetChannelA(aSpeed);
 +	    PWM1::SetChannelB(ControlTime);
 +	    PWM1::DisableChAB();
 +		if (aSpeed > 0) PWM1::EnableChA();
 +	    DataRecord.IsForward = false;
 +	}
 +	inline void FastFieldCollapseHighSide() {
 +		if (PWM1::IsChAEnabled()) {
 +    		CLRBIT(PORTD,HiBMask);
 +    		CLRBIT(PORTD,HiAMask);
 +    		SETBIT(PORTD,HiAMask);
 +		} else if (PWM1::IsChBEnabled()) {
 +    		CLRBIT(PORTD,HiAMask);
 +    		CLRBIT(PORTD,HiBMask);
 +    		SETBIT(PORTD,HiBMask);
 +		}
 +	}
 +	inline void FastFieldCollapseLowSide() {
 +		if (PWM1::IsChAEnabled()) {
 +			CLRBIT(PORTD,HiAMask);
 +			CLRBIT(PORTD,HiBMask);
 +			SHOOT_THROUGH_DELAY;
 +			CLRBIT(PORTB,LoAMask);
 +			PWM1::DisableChAB();
 +			SETBIT(PORTB,LoBMask);
 +		} else if (PWM1::IsChBEnabled()) {
 +			CLRBIT(PORTD,HiAMask);
 +			CLRBIT(PORTD,HiBMask);
 +			SHOOT_THROUGH_DELAY;
 +			CLRBIT(PORTB,LoBMask);
 +			PWM1::DisableChAB();
 +			SETBIT(PORTB,LoAMask);
 +		}
 +	}
 +	inline void SlowFieldCollapseHighSide() {
 +	}
 +	inline void SlowFieldCollapseLowSide() {
 +		if (PWM1::IsChAEnabled()) {
 +			CLRBIT(PORTD,HiAMask);
 +			CLRBIT(PORTD,HiBMask);
 +			SHOOT_THROUGH_DELAY;
 +			CLRBIT(PORTB,LoBMask);
 +			PWM1::DisableChAB();
 +			SETBIT(PORTB,LoAMask);
 +		} else if (PWM1::IsChBEnabled()) {
 +			CLRBIT(PORTD,HiAMask);
 +			CLRBIT(PORTD,HiBMask);
 +			SHOOT_THROUGH_DELAY;
 +			CLRBIT(PORTB,LoAMask);
 +			PWM1::DisableChAB();
 +			SETBIT(PORTB,LoBMask);
 +		}
 +	}
 +	inline void ResetAfterFastCollapse() {
 +		if (TESTBIT(PORTD,HiAMask) != 0) {
 +			CLRBIT(PORTD,HiAMask);
 +			SETBIT(PORTD,HiBMask);
 +		} else if (TESTBIT(PORTD,HiBMask) != 0) {
 +			CLRBIT(PORTD,HiBMask);
 +			SETBIT(PORTD,HiAMask);
 +		} else if (TESTBIT(PORTB,LoAMask) != 0) {
 +			CLRBIT(PORTB,LoAMask);
 +			SETBIT(PORTB,LoBMask);
 +		} else if (TESTBIT(PORTB,LoBMask) != 0) {
 +			CLRBIT(PORTB,LoBMask);
 +			SETBIT(PORTB,LoAMask);
 +		}
 +	}
 +
 +	void CollapseField() {
 +		switch (DataRecord.CollapseState & CollapseStateMask) {
 +			case FastCollapseHighSide:
 +				FastFieldCollapseHighSide();
 +			break;
 +			case FastCollapseLowSide:
 +				FastFieldCollapseLowSide();
 +			break;
 +			default:
 +			case SlowCollapseHighSide:
 +				SlowFieldCollapseHighSide();
 +			break;
 +			case SlowCollapseLowSide:
 +				SlowFieldCollapseLowSide();
 +			break;
 +		}
 +	}
 +
 +	inline void SwitchCollapseType() {
 +		switch (DataRecord.CollapseState & CollapseStateMask) {
 +			case FastCollapseHighSide:
 +				if (TESTBIT(DataRecord.CollapseState,CollapseStateAutoCycle) != 0) {
 +					DataRecord.CollapseState = CollapseStateAutoCycle | FastCollapseLowSide;
 +				}
 +			break;
 +			case FastCollapseLowSide:
 +				if (TESTBIT(DataRecord.CollapseState,CollapseStateAutoCycle) != 0) {
 +					DataRecord.CollapseState = CollapseStateAutoCycle | FastCollapseHighSide;
 +				}
 +			break;
 +			default:
 +			case SlowCollapseHighSide:
 +				if (TESTBIT(DataRecord.CollapseState,CollapseStateAutoCycle) != 0) {
 +					DataRecord.CollapseState = CollapseStateAutoCycle | SlowCollapseLowSide;
 +				} else {
 +					DataRecord.CollapseState = SlowCollapseHighSide;
 +				}
 +			break;
 +			case SlowCollapseLowSide:
 +				if (TESTBIT(DataRecord.CollapseState,CollapseStateAutoCycle) != 0) {
 +					DataRecord.CollapseState = CollapseStateAutoCycle | SlowCollapseHighSide;
 +				}
 +			break;
 +		}
 +	}
 +	inline void ResetHighSide() {
 +	    if (TESTBIT(PORTD,HiBMask)) {
 +	    	CLRBIT(PORTD,HiBMask);
 +	    	SETBIT(PORTD,HiBMask);
 +	    }
 +	    if (TESTBIT(PORTD,HiAMask)) {
 +	    	CLRBIT(PORTD,HiAMask);
 +	    	SETBIT(PORTD,HiAMask);
 +	    }
 +	}
 +	void FreeWheel() {
 +		// Disable everything
 +	    CLRBIT(PORTB,LoBMask);
 +	    CLRBIT(PORTB,LoAMask);
 +    	CLRBIT(PORTD,HiBMask);
 +    	CLRBIT(PORTD,HiAMask);
 +	    PWM1::DisableChAB();
 +		// Set up interrupts to some reasonable values
 +		if (!DataRecord.IsForward) {
 +		    PWM1::SetChannelA(0x10);
 +		    PWM1::SetChannelB(ControlTime);
 +	    } else {
 +		    PWM1::SetChannelB(0x10);
 +		    PWM1::SetChannelA(ControlTime);
 +	    }
 +	}
 +	void Brake() {
 +		// Allways clear first, than set
 +	    CLRBIT(PORTB,LoBMask);
 +	    CLRBIT(PORTB,LoAMask);
 +	    PWM1::DisableChAB();
 +	    PWM1::SetChannelB(0x10); // Set it to some reasonable value
 +	    PWM1::SetChannelA(ControlTime);
 +	    DataRecord.IsForward = true;
 +	    SETBIT(PORTD,HiAMask);
 +	    SETBIT(PORTD,HiBMask);
 +	}
 +	void HandleOverload() {
 +		// Turn off both low-side FETs - this will remove the load for the rest of the cycle
 +	    CLRBIT(PORTB,LoBMask);
 +	    CLRBIT(PORTB,LoAMask);
 +	    PWM1::DisableChAB();
 +	}
 +
 +
 +	int16_t ScaledMult(int16_t aA, int16_t aB) {
 +		return (((int32_t)aA * (int32_t)aB) >> 8);
 +	}
 +
 +	static inline void DoControl() {
 +		// Control acceleration
 +		// Note: DoControl will not be called if RequestValue is Freewheel or Braking
 +		int16_t SpeedDiff = DataRecord.RequestValue - DataRecord.CurrentRequest;
 +		if (SpeedDiff > DataRecord.MaxPositiveChange) {
 +			DataRecord.CurrentRequest += DataRecord.MaxPositiveChange;
 +		} else if (SpeedDiff < -DataRecord.MaxNegativeChange) {
 +			DataRecord.CurrentRequest -= DataRecord.MaxNegativeChange;
 +		} else {
 +			DataRecord.CurrentRequest = DataRecord.RequestValue;
 +		}
 +
 +		// Limit motion to travel cutoff values. Note that we update RequestValue and not CurrentRequest
 +		// so stop will be smooth. Since we estimage the time required to stop this also implements
 +		// the go-to-distance functionality.
 +		int16_t Change = (DataRecord.OriginalRequestValue > 0)?DataRecord.MaxNegativeChange:-DataRecord.MaxPositiveChange;
 +		DataRecord.DistanceToStop = ((int32_t)DataRecord.VoltageSample * (int32_t)DataRecord.VoltageSample / (int32_t)Change) << 3;
 +		int32_t StopPosition = DataRecord.Distance + DataRecord.DistanceToStop;
 +		if (DataRecord.OriginalRequestValue > 0) {
 +			if (StopPosition > DataRecord.FwDistanceLimit) {
 +				DataRecord.RequestValue = DataRecord.CurrentRequest - min(DataRecord.MaxNegativeChange,DataRecord.CurrentRequest);
 +			}
 +		} else {
 +			if (StopPosition < DataRecord.BwDistanceLimit) {
 +				DataRecord.RequestValue = DataRecord.CurrentRequest + min(DataRecord.MaxPositiveChange,-DataRecord.CurrentRequest);
 +			}
 +		}
 +
 +		// Control loop
 +		int16_t ScaledRequest = DataRecord.CurrentRequest >> 4;
 +		DataRecord.LastError = DataRecord.Error;
 +		DataRecord.Error = DataRecord.VoltageSample - ScaledRequest;
 +		int16_t DValue = DataRecord.Error - DataRecord.LastError;
 +		DataRecord.Command = ScaledMult(ScaledRequest,DataRecord.PFFactor) + ScaledMult(DataRecord.IValue,DataRecord.IFactor) + ScaledMult(DataRecord.Error,DataRecord.PFactor) + ScaledMult(DValue,DataRecord.DFactor);
 +		// Limit command to valid range and limit IValue growth as well
 +		if (DataRecord.Command >= 0x100) {
 +			DataRecord.Command = 0xffL;
 +			// In an overflow case allow integrator value updates if it works against the overflow (sign bits are differenet)
 +			if (((DataRecord.IValue ^ DataRecord.Error) & 0x8000) != 0) DataRecord.IValue += DataRecord.Error;
 +		} else if (DataRecord.Command <= -0x100) {
 +			DataRecord.Command = -0xffL;
 +			// In an overflow case allow integrator value updates if it works against the overflow (sign bits are differenet)
 +			if (((DataRecord.IValue ^ DataRecord.Error) & 0x8000) != 0) DataRecord.IValue += DataRecord.Error;
 +		} else {
 +			// Use saturated arithmetics to avoid roll-over in the accumulator
 +			int32_t TempIValue = (int32_t)DataRecord.IValue + (int32_t)DataRecord.Error;
 +			if (TempIValue > 0x7fff) {
 +				DataRecord.IValue = 0x7fffL;
 +			} else if (TempIValue < -0x7fffL) {
 +				DataRecord.IValue = -0x7fff;
 +			} else {
 +				DataRecord.IValue = TempIValue;
 +			}
 +		}
 +		if (DataRecord.Command > 0) Forward(DataRecord.Command); else Backward((-DataRecord.Command));
 +
 +		DataRecord.NewData = true;
 +	}
 +
 +	uint8_t SampleStateCnt = 0;
 +
 +	inline bool BatSampleWhileOn() {
 +		uint8_t OnTime = (DataRecord.IsForward)?PWM1::GetChannelB():PWM1::GetChannelA();
 +		return (OnTime > 128);
 +	}
 +
 +	// Samples the positive pole of the motor WRT back-EMF
 +	void SetADChannelMotorPositive() {
 +		if (DataRecord.IsForward) {
 +			ADConv::SetChannel(ADConv::Ch_MotorA,ADConv::Ref_MotorA,ADConv::RightAdjust);
 +		} else {
 +			ADConv::SetChannel(ADConv::Ch_MotorB,ADConv::Ref_MotorB,ADConv::RightAdjust);
 +		}
 +	}
 +
 +	// Samples the negative pole of the motor WRT back-EMF
 +	void SetADChannelMotorNegative() {
 +		if (DataRecord.IsForward) {
 +			ADConv::SetChannel(ADConv::Ch_MotorB,ADConv::Ref_MotorB,ADConv::RightAdjust);
 +		} else {
 +			ADConv::SetChannel(ADConv::Ch_MotorA,ADConv::Ref_MotorA,ADConv::RightAdjust);
 +		}
 +	}
 +
 +	static void StartOffPhase(bool aWasChAOrBEnabled) {
 +		// Start new measurements
 +		switch (DataRecord.CollapseState & CollapseStateMask) {
 +			case FastCollapseLowSide:
 +				SetADChannelMotorNegative();
 +				if (aWasChAOrBEnabled) {
 +					DataRecord.SampleState = SampleState_PreFastCollapse;
 +				} else {
 +					DataRecord.SampleState = SampleState_PostFastCollapse;
 +				}
 +			break;
 +			case FastCollapseHighSide:
 +				SetADChannelMotorPositive();
 +				if (aWasChAOrBEnabled) {
 +					DataRecord.SampleState = SampleState_PreFastCollapse;
 +				} else {
 +					DataRecord.SampleState = SampleState_PostFastCollapse;
 +				}
 +			break;
 +			case SlowCollapseLowSide:
 +				SetADChannelMotorNegative();
 +				DataRecord.SampleState = SampleState_PreSampleBase;
 +			break;
 +			case SlowCollapseHighSide:
 +				SetADChannelMotorPositive();
 +				DataRecord.SampleState = SampleState_PreSampleBase;
 +			break;
 +		}
 +	}
 +
 +	static inline void StartOnPhase() {
 +		switch (DataRecord.CollapseState & CollapseStateMask) {
 +			case FastCollapseLowSide:
 +				ADConv::SetChannel(ADConv::Ch_MotorCurrent,ADConv::Ref_MotorCurrent,ADConv::RightAdjust);
 +				DataRecord.SampleState = SampleState_PreCurrentSample;
 +			break;
 +			case FastCollapseHighSide:
 +				if (BatSampleWhileOn()) {
 +					SetADChannelMotorPositive();
 +					DataRecord.SampleState = SampleState_PreSampleBat;
 +					SampleStateCnt = 0;
 +				} else {
 +					ADConv::SetChannel(ADConv::Ch_MotorCurrent,ADConv::Ref_MotorCurrent,ADConv::RightAdjust);
 +					DataRecord.SampleState = SampleState_PreCurrentSample;
 +				}
 +			break;
 +			case SlowCollapseLowSide:
 +				ADConv::SetChannel(ADConv::Ch_MotorCurrent,ADConv::Ref_MotorCurrent,ADConv::RightAdjust);
 +				DataRecord.SampleState = SampleState_PreCurrentSample;
 +			break;
 +			case SlowCollapseHighSide:
 +				ADConv::SetChannel(ADConv::Ch_MotorCurrent,ADConv::Ref_MotorCurrent,ADConv::RightAdjust);
 +				DataRecord.SampleState = SampleState_PreCurrentSample;
 +			break;
 +		}
 +		bool InvertSample = !DataRecord.IsForward;
 +		switch (DataRecord.OperatingMode) {
 +			default:
 +			case OperatingMode_Speed: {
 +				int16_t LocalBaseValue = DataRecord.BaseValue;
 +				switch (DataRecord.CollapseState & CollapseStateMask) {
 +					case FastCollapseHighSide:
 +					case SlowCollapseHighSide:
 +					break;
 +					case FastCollapseLowSide:
 +					case SlowCollapseLowSide:
 +						InvertSample = !InvertSample;
 +						LocalBaseValue = 0; // These are ground-based measurements...
 +					break;
 +				}
 +				if (!InvertSample) {
 +					DataRecord.VoltageSample = LocalBaseValue - DataRecord.MinValue;
 +				} else {
 +					DataRecord.VoltageSample = DataRecord.MinValue - LocalBaseValue;
 +				}
 +			}
 +			break;
 +			case OperatingMode_Servo:
 +				DataRecord.VoltageSample = DataRecord.MaxValue;
 +			break;
 +		}
 +
 +		DataRecord.VoltageSample -= DataRecord.SampleOffset;
 +		DataRecord.SampleCnt_Snapshot = DataRecord.SampleCnt;
 +		DataRecord.MinValue_Snapshot = DataRecord.MinValue;
 +	}
 +
 +	uint8_t BlinkCnt;
 +	const uint8_t BlinkInterval = 50;
 +
 +	void HandleIRQ(bool IsIRQA) {
 +		if (DataRecord.IsForward == IsIRQA) {
 +			// Almost at the end: grab back-EMF data from sampling,
 +			// do the control, and start sampling for current
 +			StartOnPhase();
 +
 +			switch (DataRecord.RequestValue) {
 +				case RequestFreewheel:
 +					FreeWheel();
 +					DataRecord.CurrentRequest = 0;
 +				break;
 +				case RequestBrake:
 +					Brake();
 +					DataRecord.CurrentRequest = 0;
 +				break;
 +				default:
 +					// Update the travalled distance:
 +					DataRecord.Distance += DataRecord.VoltageSample;
 +					DoControl();
 +				break;
 +			}
 +			SwitchCollapseType();
 +			// Toggle user LED
 +			++BlinkCnt;
 +			if (BlinkCnt > BlinkInterval) {
 +				BlinkCnt = 0;
 +				OpLed::Toggle();
 +			}
 +		} else {
 +			// At the end of the on-part: reverse voltage across motor to fast-discharge it.
 +			bool WasChAOrBEnabled = PWM1::IsChAOrBEnabled();
 +			CollapseField();
 +
 +			ADSampleIdx = 0;
 +
 +			if (DataRecord.ADBufferEnable == 0) {
 +				DataRecord.ADBufferEnable = 1;
 +			}
 +			if (DataRecord.ADBufferEnableHost) {
 +				DataRecord.ADBufferEnableHost = false;
 +				DataRecord.ADBufferEnable = 0;
 +			}
 +
 +			// Start sampling for voltages and back-EMF
 +			StartOffPhase(WasChAOrBEnabled);
 +			ResetHighSide();
 +		}
 +	}
 +
 +	uint8_t CurrentSampleCnt;
 +	const uint8_t CollapseSearchBlank = 1;
 +	const uint16_t CollapseSearchLowLimit = 0x30;
 +	const uint16_t CollapseSearchHighLimit = 0x90;
 +
 +	void Sample() {
 +		int16_t CurData = ADConv::FastGetSample();
 +
 +		// Save off samples in the ADBuffer for host-side 'scope' display.
 +		if (DataRecord.ADBufferEnable == 0) {
 +			if (ADSampleIdx < sizeof(DataRecord.ADBuffer)/sizeof(DataRecord.ADBuffer[0])) {
 +				int16_t ADSampleData = (int16_t)ADConv::GetChannel() << 10;
 +				ADSampleData |= CurData;
 +				DataRecord.ADBuffer[ADSampleIdx] = ADSampleData;
 +				++ADSampleIdx;
 +				if (ADSampleIdx < sizeof(DataRecord.ADBuffer)/sizeof(DataRecord.ADBuffer[0])) {
 +					DataRecord.ADBuffer[ADSampleIdx] = 0;
 +				}
 +				TOGGLEBIT(PORTD,0x10);
 +			}
 +		}
 +
 +		// State-machine for data-sampling.
 +		switch (DataRecord.SampleState) {
 +			case SampleState_PreFastCollapse:
 +				DataRecord.SampleState = SampleState_FastCollapse;
 +				// Update max current from the search field
 +				DataRecord.CurrentMax = DataRecord.CurrentMaxSearch;
 +				// TODO: If DataRecord.CurrentTemp isn't DataRecord.CurrentMaxSearch (more or less)
 +				// than the over-current protection must have been activated.
 +				SampleStateCnt = 0;
 +			break;
 +			case SampleState_FastCollapse:
 +				// Wait in this state until turn-off transient is over
 +				switch (DataRecord.CollapseState & CollapseStateMask) {
 +					case FastCollapseLowSide:
 +						if (CurData < CollapseSearchLowLimit && SampleStateCnt > CollapseSearchBlank) {
 +							ResetAfterFastCollapse();
 +							DataRecord.SampleState = SampleState_PostFastCollapse;
 +						} else if (CurData > CollapseSearchHighLimit) {
 +							SampleStateCnt = CollapseSearchBlank;
 +						}
 +						++SampleStateCnt;
 +					break;
 +					case FastCollapseHighSide:
 +						if (CurData > CollapseSearchHighLimit && SampleStateCnt > CollapseSearchBlank) {
 +							ResetAfterFastCollapse();
 +							DataRecord.SampleState = SampleState_PostFastCollapse;
 +						} else if (CurData < CollapseSearchLowLimit) {
 +							SampleStateCnt = CollapseSearchBlank;
 +						}
 +						++SampleStateCnt;
 +					break;
 +				}
 +			break;
 +			case SampleState_PostFastCollapse:
 +				switch (DataRecord.OperatingMode) {
 +					default:
 +					case OperatingMode_Speed:
 +						switch (DataRecord.CollapseState & CollapseStateMask) {
 +							case FastCollapseLowSide:
 +								SetADChannelMotorPositive();
 +								DataRecord.BaseValue = CurData;
 +								DataRecord.SampleState = SampleState_PreSearchMax;
 +							break;
 +							case FastCollapseHighSide:
 +								if (BatSampleWhileOn()) {
 +									SetADChannelMotorNegative();
 +									DataRecord.SampleState = SampleState_PreSearchMax;
 +								} else {
 +									SetADChannelMotorPositive();
 +									DataRecord.SampleState = SampleState_PreSampleBat;
 +									SampleStateCnt = 0;
 +								}
 +							break;
 +						}
 +					break;
 +					case OperatingMode_Servo:
 +						ADConv::SetChannel(ADConv::Ch_ServoPot,ADConv::Ref_ServoPot,ADConv::RightAdjust);
 +						DataRecord.SampleState = SampleState_PreSamplePot;
 +					break;
 +				}
 +			break;
 +			case SampleState_PreSampleBase:
 +				// Throw away the data, but the next one is for real!
 +				DataRecord.SampleState = SampleState_PreSampleBase2;
 +				switch (DataRecord.CollapseState & CollapseStateMask) {
 +					case SlowCollapseLowSide:
 +						SetADChannelMotorNegative();
 +					break;
 +					case SlowCollapseHighSide:
 +						SetADChannelMotorPositive();
 +					break;
 +				}
 +				// Update max current from the search field
 +				DataRecord.CurrentMax = DataRecord.CurrentMaxSearch;
 +				// TODO: If DataRecord.CurrentTemp isn't DataRecord.CurrentMaxSearch (more or less)
 +				// than the over-current protection must have been activated.
 +				SampleStateCnt = 0;
 +			break;
 +			case SampleState_PreSampleBase2:
 +				// throw away this data, but the next one is for real!
 +				DataRecord.SampleState = SampleState_SampleBase;
 +			break;
 +			case SampleState_SampleBase:
 +				switch (DataRecord.OperatingMode) {
 +					default:
 +					case OperatingMode_Speed:
 +						switch (DataRecord.CollapseState & CollapseStateMask) {
 +							case SlowCollapseLowSide:
 +								SetADChannelMotorPositive();
 +								DataRecord.BaseValue = CurData;
 +								DataRecord.SampleState = SampleState_PreSearchMax;
 +							break;
 +							case SlowCollapseHighSide:
 +								SetADChannelMotorNegative();
 +								DataRecord.BaseValue = CurData;
 +								DataRecord.SampleState = SampleState_PreSearchMax;
 +							break;
 +						}
 +					break;
 +					case OperatingMode_Servo:
 +						ADConv::SetChannel(ADConv::Ch_ServoPot,ADConv::Ref_ServoPot,ADConv::RightAdjust);
 +						DataRecord.SampleState = SampleState_PreSamplePot;
 +					break;
 +				}
 +			break;
 +			case SampleState_PreSamplePot:
 +				DataRecord.SampleState = SampleState_SamplePot;
 +			break;
 +			case SampleState_SamplePot:
 +				DataRecord.MaxValue = CurData;
 +				DataRecord.SampleCnt = 1;
 +			break;
 +			case SampleState_PreSearchMax:
 +				DataRecord.SampleState = SampleState_SearchMax;
 +				DataRecord.MaxValue = 0x0000;
 +				DataRecord.SampleCnt = 0;
 +			break;
 +			case SampleState_SearchMax:
 +				switch (DataRecord.CollapseState & CollapseStateMask) {
 +					case FastCollapseHighSide:
 +					case SlowCollapseLowSide:
 +						if (CurData <= DataRecord.MaxValue) {
 +							DataRecord.MaxValue = CurData;
 +						} else {
 +							DataRecord.SampleState = SampleState_SearchMin;
 +							DataRecord.MinValue = DataRecord.MaxValue;
 +						}
 +					break;
 +					case FastCollapseLowSide:
 +					case SlowCollapseHighSide:
 +						if (CurData >= DataRecord.MaxValue) {
 +							DataRecord.MaxValue = CurData;
 +						} else {
 +							DataRecord.SampleState = SampleState_SearchMin;
 +							DataRecord.MinValue = DataRecord.MaxValue;
 +						}
 +					break;
 +				}
 +			break;
 +			case SampleState_SearchMin:
 +				switch (DataRecord.CollapseState & CollapseStateMask) {
 +					case FastCollapseHighSide:
 +					case SlowCollapseLowSide:
 +						if (CurData > DataRecord.MinValue) {
 +							DataRecord.MinValue = CurData;
 +						}
 +						DataRecord.SampleCnt++;
 +					break;
 +					case FastCollapseLowSide:
 +					case SlowCollapseHighSide:
 +						if (CurData < DataRecord.MinValue) {
 +							DataRecord.MinValue = CurData;
 +						}
 +						DataRecord.SampleCnt++;
 +					break;
 +				}
 +			break;
 +			case SampleState_PreSampleBat:
 +				if (SampleStateCnt > 4)
 +					DataRecord.SampleState = SampleState_SampleBat;
 +				++SampleStateCnt;
 +			break;
 +			case SampleState_SampleBat:
 +				DataRecord.BaseValue = CurData;
 +				if (BatSampleWhileOn()) {
 +					ADConv::SetChannel(ADConv::Ch_MotorCurrent,ADConv::Ref_MotorCurrent,ADConv::RightAdjust);
 +					DataRecord.SampleState = SampleState_PreCurrentSample;
 +				} else {
 +					SetADChannelMotorNegative();
 +					DataRecord.SampleState = SampleState_PreSearchMax;
 +				}
 +			break;
 +			case SampleState_PreCurrentSample:
 +				ADConv::SetChannel(ADConv::Ch_MotorCurrent,ADConv::Ref_MotorCurrent,ADConv::RightAdjust);
 +				CurrentSampleCnt = 0;
 +				DataRecord.SampleState = SampleState_CurrentSample1;
 +			break;
 +			case SampleState_CurrentSample1:
 +				if (CurData > DataRecord.CurrentLimit) HandleOverload();
 +				if (CurrentSampleCnt == 0) {
 +					DataRecord.CurrentTemp = CurData;
 +					DataRecord.CurrentMaxSearch = CurData;
 +				}
 +				++CurrentSampleCnt;
 +				if (CurData > DataRecord.CurrentMaxSearch) DataRecord.CurrentMaxSearch = CurData;
 +				if (CurrentSampleCnt == 3) DataRecord.SampleState = SampleState_CurrentSample2;
 +			break;
 +			case SampleState_CurrentSample2:
 +				if (CurData > DataRecord.CurrentLimit) HandleOverload();
 +				// Sample delta-current. It is related to the back-EMF voltage, though
 +				// this measurement is not precise enough to base control off of it
 +				DataRecord.CurrentDelta = CurData - DataRecord.CurrentTemp;
 +				DataRecord.CurrentTemp = CurData;
 +				if (CurData > DataRecord.CurrentMaxSearch) DataRecord.CurrentMaxSearch = CurData;
 +				DataRecord.SampleState = SampleState_CurrentSample3;
 +			break;
 +			case SampleState_CurrentSample3:
 +				// We'll stay in this state until the on-phase ends...
 +				if (CurData > DataRecord.CurrentLimit) HandleOverload();
 +				DataRecord.CurrentTemp = CurData;
 +				if (CurData > DataRecord.CurrentMaxSearch) DataRecord.CurrentMaxSearch = CurData;
 +			break;
 +		}
 +	}
 +}
 +
 +SIGNAL(SIG_OUTPUT_COMPARE1A) {HBridge::HandleIRQ(true);}
 +SIGNAL(SIG_OUTPUT_COMPARE1B) {HBridge::HandleIRQ(false);}
 +SIGNAL(SIG_ADC) {HBridge::Sample();}
 +
 +namespace TWI {
 +	uint8_t Address;
 +
 +	extern const sConfigRecord ConfigRecord PROGMEM __attribute__ ((weak)) = {UniqueIDUnassigned,
 +		DevClassHBridge,
 +#if defined MEGA_BRIDGE
 +		DevUmHBridge
 +#elif defined H_BRIDGE
 +		DevUmHBridge
 +#elif defined SERVO_BRAIN
 +		DevUmServoBrain
 +#else
 +#error No HW version is specified!
 +#endif
 +	};
 +
 +	enum UserStates {
 +		US_ReceiveAddr = TWI::US_Base,
 +		US_ReceiveData,
 +		US_SendData
 +	};
 +
 +	void HandleUserReceive() {
 +		State = US_ReceiveAddr;
 +	}
 +
 +	union {
 +		uint8_t UInt8[4];
 +		uint16_t UInt16[2];
 +		uint32_t UInt32[1];
 +	} TransmitBuffer;
 +
 +	void SendData() __attribute__ ((noinline));
 +
 +	void SendData() {
 +		switch (HBridge::GetDataElementSize(Address)) {
 +			default:
 +			case 1:
 +				TWIPrevData = *HBridge::GetDataRecord8(Address);
 +			break;
 +			case 2:
 +	    		if ((Address & 1) == 0) {
 +					TransmitBuffer.UInt16[0] = *HBridge::GetDataRecord16(Address);
 +				}
 +				TWIPrevData = TransmitBuffer.UInt8[Address & 1];
 +			break;
 +			case 4:
 +	    		if ((Address & 3) == 0) {
 +					TransmitBuffer.UInt32[0] = *HBridge::GetDataRecord32(Address);
 +				}
 +				TWIPrevData = TransmitBuffer.UInt8[Address & 3];
 +			break;
 +		}
 +		TWDR = TWIPrevData;
 +		++Address;
 +		if (Address >= HBridge::GetDataRecordSize()) Address = 0; // Wrap around
 +	}
 +
 +	void GetData() {
 +		switch (HBridge::GetDataElementSize(Address)) {
 +			default:
 +			case 1:
 +        		TransmitBuffer.UInt8[0] = TWIData;
 +				*HBridge::GetDataRecord8(Address) = TransmitBuffer.UInt8[0];
 +			break;
 +			case 2:
 +        		TransmitBuffer.UInt8[Address & 1] = TWIData;
 +        		if ((Address & 1) != 0) {
 +					// High-byte: store the whole word
 +					*HBridge::GetDataRecord16(Address & (~0x01)) = TransmitBuffer.UInt16[0];
 +					// Special-case request value, we have to save that in another spot as well...
 +					if (Address == 1) {
 +						HBridge::DataRecord.OriginalRequestValue = TransmitBuffer.UInt16[0];
 +					}
 +				}
 +			break;
 +			case 4:
 +        		TransmitBuffer.UInt8[Address & 3] = TWIData;
 +        		if ((Address & 3) != 0) {
 +					// Highest byte: store the whole dword
 +					*HBridge::GetDataRecord32(Address & (~0x03)) = TransmitBuffer.UInt32[0];
 +				}
 +			break;
 +		}
 +		++Address;
 +		if (Address >= HBridge::GetDataRecordSize()) Address = 0; // Wrap around
 +	}
 +
 +	void HandleUserTransmit() {
 +		SendData();
 +		State = US_SendData;
 +	}
 +
 +	void HandleUserState() {
 +		switch (State) {
 +			case US_ReceiveAddr:
 +				switch (TWIStatus) {
 +	                case TW_SR_DATA_ACK:
 +						// TODO: handle different command codes here -> check the data written to this address!
 +	                	if (TWIData == 0xff) {
 +	                		HBridge::SaveSettings();
 +	                		ResetTWI();
 +	                	} else {
 +		                	//if ((TWIData & 0x7f) >= HBridge::GetDataRecordSize()) Address = HBridge::GetDataRecordSize() - 1; else Address = TWIData;
 +							if (TWIData >= HBridge::GetDataRecordSize()) Address = HBridge::GetDataRecordSize() - 1; else Address = TWIData;
 +							State = US_ReceiveData;
 +						}
 +					break;
 +					default:
 +						ResetTWI();
 +					break;
 +				}
 +			break;
 +			case US_ReceiveData:
 +				switch (TWIStatus) {
 +	                case TW_SR_DATA_ACK:
 +	                	GetData();
 +	                	// We stay in this state for any optional additional data
 +					break;
 +					default:
 +						ResetTWI();
 +					break;
 +				}
 +			break;
 +			case US_SendData:
 +				switch (TWIStatus) {
 +	                case TW_ST_DATA_ACK:
 +						SendData();
 +	            		SETBIT(TWIControl,(1 << TWEA)); // require ACK
 +	            	break;
 +					default:
 +						ResetTWI();
 +					break;
 +	            }
 +			break;
 +			default:
 +				// This really REALLY shouldn't happen...
 +				ResetTWI();
 +			break;
 +		}
 +	}
 +}
 +
 +#ifdef USE_SERIAL_DEBUG
 +// Debug interfaces
 +namespace UsartComm {
 +	inline void Init(uint16_t aBaudSetting) {
 +		USART0::Init(aBaudSetting);
 +	}
 +	void HandleInput() {
 +		uint8_t CurData = USART0::FastReceiveData();
 +		OpLed::Toggle();
 +	}
 +}
 +
 +SIGNAL(SIG_USART_RECV) {UsartComm::HandleInput();}
 +
 +void DebugStat() {
 +	cli();
 +	int16_t VoltageSample = HBridge::DataRecord.VoltageSample;
 +	uint16_t SampleCnt = HBridge::DataRecord.SampleCnt_Snapshot;
 +	int16_t MinValue = HBridge::DataRecord.MinValue_Snapshot;
 +	int16_t CurrentRequest = HBridge::DataRecord.CurrentRequest;
 +	int16_t Error = HBridge::DataRecord.Error;
 +	int16_t IValue = HBridge::DataRecord.IValue;
 +	int16_t Command = HBridge::DataRecord.Command;
 +	sei();
 +
 +	USART0::SendHexData(VoltageSample);
 +	USART0::SendData(' '); USART0::SendData('S'); USART0::SendData(':'); USART0::SendHexData(SampleCnt);
 +	USART0::SendData(' '); USART0::SendData('M'); USART0::SendData(':'); USART0::SendHexData(MinValue);
 +	USART0::SendData(' '); USART0::SendData('R'); USART0::SendData(':'); USART0::SendHexData(CurrentRequest);
 +	USART0::SendData(' '); USART0::SendData('E'); USART0::SendData(':'); USART0::SendHexData(Error);
 +	USART0::SendData(' '); USART0::SendData('I'); USART0::SendData(':'); USART0::SendHexData(IValue);
 +	USART0::SendData(' '); USART0::SendData('C'); USART0::SendData(':'); USART0::SendHexData(Command);
 +	USART0::SendData('\r'); USART0::SendData('\n');
 +}
 +#endif // USE_SERIAL_DEBUG
 +
 +int main() {
 +	cli();
 +	EEPROM::Init();
 +	OpLed::Init();
 +	HBridge::BlinkCnt = 0;
 +	#ifdef USE_SERIAL_DEBUG
 +	UsartComm::Init(USART0::baud57600_8MHz);
 +	#endif // USE_SERIAL_DEBUG
 +	TCCR0A = 0;
 +	TWI::Init();
 +	ADConv::Init();
 +	HBridge::Init();
 +	SETBIT(DDRD,0x08|0x10);
 +	sei();
 +
 +	// Everything happens in the interrupt routines. We have nothing else to do
 +	// here but some optional debugging
 +	while (true) {
 +		#ifdef USE_SERIAL_DEBUG
 +		cli();
 +		if (HBridge::DataRecord.NewData) {
 +			HBridge::DataRecord.NewData = false;
 +			DebugStat();
 +		} else {
 +			sei();
 +		}
 +		#endif // USE_SERIAL_DEBUG
 +    }
 +    return 0;
 +}

 /Modules/HBRIDGE/HB1FET01A/SW/avr4.x
 ,0 → 1,168
+/* Default linker script, for normal executables */
+OUTPUT_FORMAT("elf32-avr","elf32-avr","elf32-avr")
+OUTPUT_ARCH(avr:4)
+MEMORY
+{
+  text   (rx)   : ORIGIN = 0, LENGTH = 8K
+  data   (rw!x) : ORIGIN = 0x800060, LENGTH = 0xffa0
+  eeprom (rw!x) : ORIGIN = 0x810000, LENGTH = 64K
+}
+SECTIONS
+{
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+    {
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+    }
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+  .rel.plt       : { *(.rel.plt)                }
+  .rela.plt      : { *(.rela.plt)               }
+  /* Internal text space or external memory */
+  .text :
+  {
+    KEEP (*(.vectors))
+     __ctors_start = . ;
+     KEEP (*(.ctors))
+     __ctors_end = . ;
+     __dtors_start = . ;
+     KEEP (*(.dtors))
+     __dtors_end = . ;
+    *(.progmem.gcc*)
+    *(.progmem*)
+    . = ALIGN(2);
+    KEEP (*(.init0))  /* Start here after reset.  */
+    KEEP (*(.init1))
+    KEEP (*(.init2))  /* Clear __zero_reg__, set up stack pointer.  */
+    KEEP (*(.init3))
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+    KEEP (*(.init5))
+    KEEP (*(.init6))  /* C++ constructors.  */
+    KEEP (*(.init7))
+    KEEP (*(.init8))
+    KEEP (*(.init9))  /* Call main().  */
+    *(.text)
+    . = ALIGN(2);
+    *(.text.*)
+    . = ALIGN(2);
+    *(.fini9)  /* _exit() starts here.  */
+    *(.fini8)
+    *(.fini7)
+    *(.fini6)  /* C++ destructors.  */
+    *(.fini5)
+    *(.fini4)
+    *(.fini3)
+    *(.fini2)
+    *(.fini1)
+    *(.fini0)  /* Infinite loop after program termination.  */
+     _etext = . ;
+  }  > text
+  .data   : AT (ADDR (.text) + SIZEOF (.text))
+  {
+     PROVIDE (__data_start = .) ;
+    *(.data)
+    *(.gnu.linkonce.d*)
+    . = ALIGN(2);
+     _edata = . ;
+     PROVIDE (__data_end = .) ;
+  }  > data
+  .bss  SIZEOF(.data) + ADDR(.data) :
+  {
+     PROVIDE (__bss_start = .) ;
+    *(.bss)
+    *(COMMON)
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+   __data_load_start = LOADADDR(.data);
+   __data_load_end = __data_load_start + SIZEOF(.data);
+  /* Global data not cleared after reset.  */
+  .noinit  SIZEOF(.bss) + ADDR(.bss) :
+  {
+     PROVIDE (__noinit_start = .) ;
+    *(.noinit*)
+     PROVIDE (__noinit_end = .) ;
+     _end = . ;
+     PROVIDE (__heap_start = .) ;
+  }  > data
+  .eeprom  :
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+    *(.eeprom*)
+     __eeprom_end = . ;
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+  /* DWARF debug sections.
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+     of the section so we begin them at 0.  */
+  /* DWARF 1 */
+  .debug          0 : { *(.debug) }
+  .line           0 : { *(.line) }
+  /* GNU DWARF 1 extensions */
+  .debug_srcinfo  0 : { *(.debug_srcinfo) }
+  .debug_sfnames  0 : { *(.debug_sfnames) }
+  /* DWARF 1.1 and DWARF 2 */
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+  .debug_macinfo  0 : { *(.debug_macinfo) }
+}

 /Modules/HBRIDGE/HB1FET01A/SW/avr5.x
 ,0 → 1,168
+/* Default linker script, for normal executables */
+OUTPUT_FORMAT("elf32-avr","elf32-avr","elf32-avr")
+OUTPUT_ARCH(avr:5)
+MEMORY
+{
+  text   (rx)   : ORIGIN = 0, LENGTH = 128K
+  data   (rw!x) : ORIGIN = 0x800060, LENGTH = 0xffa0
+  eeprom (rw!x) : ORIGIN = 0x810000, LENGTH = 64K
+}
+SECTIONS
+{
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+      *(.rel.text.*)
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+  .rel.bss       : { *(.rel.bss)                }
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+  .rel.plt       : { *(.rel.plt)                }
+  .rela.plt      : { *(.rela.plt)               }
+  /* Internal text space or external memory */
+  .text :
+  {
+    KEEP (*(.vectors))
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+     __dtors_end = . ;
+    *(.progmem.gcc*)
+    *(.progmem*)
+    . = ALIGN(2);
+    KEEP (*(.init0))  /* Start here after reset.  */
+    KEEP (*(.init1))
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+    KEEP (*(.init8))
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+    . = ALIGN(2);
+    *(.fini9)  /* _exit() starts here.  */
+    *(.fini8)
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+    *(.fini6)  /* C++ destructors.  */
+    *(.fini5)
+    *(.fini4)
+    *(.fini3)
+    *(.fini2)
+    *(.fini1)
+    *(.fini0)  /* Infinite loop after program termination.  */
+     _etext = . ;
+  }  > text
+  .data   : AT (ADDR (.text) + SIZEOF (.text))
+  {
+     PROVIDE (__data_start = .) ;
+    *(.data)
+    *(.gnu.linkonce.d*)
+    . = ALIGN(2);
+     _edata = . ;
+     PROVIDE (__data_end = .) ;
+  }  > data
+  .bss  SIZEOF(.data) + ADDR(.data) :
+  {
+     PROVIDE (__bss_start = .) ;
+    *(.bss)
+    *(COMMON)
+     PROVIDE (__bss_end = .) ;
+  }  > data
+   __data_load_start = LOADADDR(.data);
+   __data_load_end = __data_load_start + SIZEOF(.data);
+  /* Global data not cleared after reset.  */
+  .noinit  SIZEOF(.bss) + ADDR(.bss) :
+  {
+     PROVIDE (__noinit_start = .) ;
+    *(.noinit*)
+     PROVIDE (__noinit_end = .) ;
+     _end = . ;
+     PROVIDE (__heap_start = .) ;
+  }  > data
+  .eeprom  :
+  {
+    *(.eeprom*)
+     __eeprom_end = . ;
+  }  > eeprom
+  /* Stabs debugging sections.  */
+  .stab 0 : { *(.stab) }
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+  /* DWARF debug sections.
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+  /* DWARF 1 */
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+  .line           0 : { *(.line) }
+  /* GNU DWARF 1 extensions */
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+}

 /Modules/HBRIDGE/HB1FET01A/SW/common.h
 ,0 → 1,33
+#ifndef __common_h__
+#define __common_h__
+#define CLRBIT(aReg,aBit) (aReg) &= ~(aBit)
+#define SETBIT(aReg,aBit) (aReg) |= (aBit)
+#define TOGGLEBIT(aReg,aBit) (aReg) ^= (aBit)
+//#define TESTBIT(aValue,aConst) ((aValue & aConst) != 0)
+#define TESTBIT(aValue,aConst) ({               \
+    uint8_t Temp = (uint8_t)(aValue);           \
+    __asm__ (                                   \
+        "andi %0, %2" "\n\t"                    \
+        "breq L_%="   "\n\t"                    \
+        "ldi %0,1"    "\n\t"                    \
+        "L_%=: "      "\n\t"                    \
+        : "=r" (Temp) : "0" (Temp), "M" (aConst)\
+    );                                          \
+    Temp;                                       \
+})
+#if defined BOARD_rs232if
+#define BOARD
+#elif defined BOARD_umServo32
+#define BOARD
+#elif defined BOARD_umHBridge
+#define BOARD
+#elif defined BOARD_NA
+#define BOARD
+#else
+#error BOARD_xxx must be defined
+#endif
+#endif // __common_h__

 /Modules/HBRIDGE/HB1FET01A/SW/eeprom.cpp
 ,0 → 1,43
+#include <avr/pgmspace.h>
+#include "eeprom.h"
+#include "common.h"
+void EEPROM::Wait() {
+        while(TESTBIT(EECR,(1<<EEPE)));
+}
+uint8_t EEPROM::GetByte(uint16_t aOfs) {
+        // Wait for any pending writes to finish
+        while(TESTBIT(EECR,(1<<EEPE)));
+        EEARL = aOfs & 0x00ff;
+        #ifdef EEARH
+        EEARH = 0;
+        #endif
+        SETBIT(EECR,(1 << EERE));
+        uint8_t RetVal = EEDR;
+        return RetVal;
+}
+void EEPROM::SetByte(uint16_t aOfs,uint8_t aData) {
+        // Wait for any pending writes to finish
+        while(TESTBIT(EECR,(1<<EEPE)));
+        EEARL = aOfs & 0x00ff;
+        #ifdef EEARH
+        EEARH = 0;
+        #endif
+        EEDR = aData;
+        SETBIT(EECR,(1<<EEMPE));
+        SETBIT(EECR,(1<<EEPE));
+}
+uint16_t EEPROM::GetWord(uint16_t aOfs) {
+        uint16_t RetVal;
+        ((uint8_t *)(&RetVal))[0] = GetByte(aOfs+0);
+        ((uint8_t *)(&RetVal))[1] = GetByte(aOfs+1);
+        return RetVal;
+}
+void EEPROM::SetWord(uint16_t aOfs,uint16_t aData) {
+        SetByte(aOfs+0,((uint8_t *)(&aData))[0]);
+        SetByte(aOfs+1,((uint8_t *)(&aData))[1]);
+}

 /Modules/HBRIDGE/HB1FET01A/SW/eeprom.h
 ,0 → 1,18
+#ifndef __EEPROM_H__
+#define __EEPROM_H__
+namespace EEPROM {
+        inline void Init() {
+                EECR = 0; // Make sure we're erasing and writing at the same time
+        }
+        uint8_t GetByte(uint16_t aOfs);
+        void SetByte(uint16_t aOfs,uint8_t aData);
+        uint16_t GetWord(uint16_t aOfs);
+        void SetWord(uint16_t aOfs,uint16_t aData);
+        void Wait();
+}
+namespace EEPROM_layout {
+}
+#endif // __EEPROM_H__

/Modules/HBRIDGE/HB1FET01A/SW/gentwiuid.exe
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property

 /Modules/HBRIDGE/HB1FET01A/SW/guids.h
 ,0 → 1,63
+#ifndef __guids_h__
+#define __guids_h__
+#ifdef BOARD
+// We're included for the target board. Define various structures
+struct GUID {
+        uint32_t Part1;
+        uint16_t Part2;
+        uint16_t Part3;
+        uint8_t  Part4[8];
+};
+#endif
+// These are the only valid values for UniqueID items
+const uint8_t num0 = 0x00;
+const uint8_t num1 = 0x01;
+const uint8_t num2 = 0x03;
+const uint8_t num3 = 0x07;
+const uint8_t num4 = 0x0f;
+const uint8_t num5 = 0x1f;
+const uint8_t num6 = 0x3f;
+const uint8_t num7 = 0x7f;
+const uint8_t num8 = 0xff; // this value is never used in any valid uniqueID, however it IS used in the unassigned ID
+// Unique IDs
+#define UniqueIDUnassigned { \
+        num0,num1,num2,num3,     \
+        num4,num5,num6,num7,     \
+        num8,num7,num6,num5,     \
+        num4,num3,num2,num1,     \
+        num0,num1,num2,num3,     \
+        num4,num5,num6,num7,     \
+        num8,num7,num6,num5,     \
+        num4,num3,num2,num1,     \
+        num0,num1,num2,num3,     \
+        num4,num5,num6,num7,     \
+        num8,num7,num6,num5,     \
+        num4,num3,num2,num1      \
+}
+// Device Class GUIDs
+// {00000000-0000-0000-0000-000000000000}
+#define DevClassReserved { 0x00000000, 0x0000, 0x0000, { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } }
+// {D8745C7D-71A5-4977-A989-2E1EF853CCB8}
+#define DevClassUnassigned { 0xd8745c7d, 0x71a5, 0x4977, { 0xa9, 0x89, 0x2e, 0x1e, 0xf8, 0x53, 0xcc, 0xb8 } }
+// {15D37F46-A4F2-416d-8157-FAB7D1A66BE8}
+#define DevClassServoController { 0x15d37f46, 0xa4f2, 0x416d, { 0x81, 0x57, 0xfa, 0xb7, 0xd1, 0xa6, 0x6b, 0xe8 } }
+// {D3C8787E-DCE8-445b-B1C7-86C2BF85D144}
+#define DevClassHBridge { 0xd3c8787e, 0xdce8, 0x445b, { 0xb1, 0xc7, 0x86, 0xc2, 0xbf, 0x85, 0xd1, 0x44 } }
+// Device GUIDs
+// {00000000-0000-0000-0000-000000000000}
+#define DevReserved { 0x00000000, 0x0000, 0x0000, { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 } }
+// {E59F78CE-6328-4316-B1DE-F0AA5E45F34F}
+#define DevUnassigned { 0xe59f78ce, 0x6328, 0x4316, { 0xb1, 0xde, 0xf0, 0xaa, 0x5e, 0x45, 0xf3, 0x4f } }
+// {E3470D73-9110-4d61-915E-916FF8A89BA6}
+#define DevUmServo32 { 0xe3470d73, 0x9110, 0x4d61, { 0x91, 0x5e, 0x91, 0x6f, 0xf8, 0xa8, 0x9b, 0xa6 } }
+// {CF232A58-497F-4bba-9E13-D9AB7938B418}
+#define DevUmHBridge { 0xcf232a58, 0x497f, 0x4bba, { 0x9e, 0x13, 0xd9, 0xab, 0x79, 0x38, 0xb4, 0x18 } }
+// {518FC22C-B5A1-40b3-8D7C-C75EC729F25C}
+#define DevUmServoBrain { 0x518fc22c, 0xb5a1, 0x40b3, { 0x8d, 0x7c, 0xc7, 0x5e, 0xc7, 0x29, 0xf2, 0x5c } }
+#endif // __guids_h__

 /Modules/HBRIDGE/HB1FET01A/SW/opled.h
 ,0 → 1,34
+#ifndef __opled_h__
+#define __opled_h__
+#include "common.h"
+namespace OpLed {
+        #if defined BOARD_rs232if
+        const int OpLedMask=(0x01 << 4);
+        #elif defined BOARD_umServo32
+        const int OpLedMask=(0x01 << 4);
+        #elif defined BOARD_umHBridge
+        const int OpLedMask=(0x01 << 2);
+        #else
+        #error Unknown board specification
+        #endif
+        void inline Init() {
+            SETBIT(DDRD,OpLedMask);
+        }
+        void inline On() {
+            SETBIT(PORTD,OpLedMask);
+        }
+        void inline Off() {
+            CLRBIT(PORTD,OpLedMask);
+        }
+        void inline Toggle() {
+            TOGGLEBIT(PORTD,OpLedMask);
+        }
+}
+#endif // __opled_h__

 /Modules/HBRIDGE/HB1FET01A/SW/twi_aap.cpp
 ,0 → 1,375
+#include <avr/pgmspace.h>
+#include <avr/interrupt.h>
+#include <avr/signal.h>
+#include <avr/sleep.h>
+#include "common.h"
+#include "usart.h"
+#include "twi_aap.h"
+#include "eeprom.h"
+/*********
+                                switch (TWOStatus) {
+                    case TW_SR_SLA_ACK:            //0x60
+                    break;
+                    case TW_SR_ARB_LOST_SLA_ACK:   //0x68
+                    break;
+                    case TW_SR_GCALL_ACK:          //0x70
+                    break;
+                    case TW_SR_ARB_LOST_GCALL_ACK: //0x78
+                    break;
+                    case TW_SR_DATA_ACK:           //0x80
+                    break;
+                    case TW_SR_DATA_NACK:          //0x88
+                    break;
+                    case TW_SR_GCALL_DATA_ACK:     //0x90
+                    break;
+                    case TW_SR_GCALL_DATA_NACK:    //0x98
+                    break;
+                    case TW_ST_LAST_DATA:          //0xC8
+                    case TW_SR_STOP:               //0xA0
+                                                State = MS_Idle;
+                                SETBIT(TWIControl,(1 << TWEA)); // turn address recognition back on
+                    break;
+                                        default: // All non-handled states will basically terminate any processing
+                                                State = MS_Idle;
+                                CLRBIT(TWIControl,(1 << TWEA)); // will return NACK, i.e. will pretend to be unaddressed
+                                        break;
+                                }
+                                switch (TWOStatus) {
+                    case TW_ST_SLA_ACK:            //0xA8
+                    break;
+                    case TW_ST_ARB_LOST_SLA_ACK:   //0xB0
+                    break;
+                    case TW_ST_DATA_ACK:           //0xB8
+                    break;
+                    case TW_ST_DATA_NACK:          //0xC0
+                    break;
+                    case TW_ST_ARB_LOST:           //0x38 - let's hope it works
+                                        break;
+                    case TW_ST_LAST_DATA:          //0xC8
+                                                State = MS_Idle;
+                                SETBIT(TWIControl,(1 << TWEA)); // turn address recognition back on
+                    break;
+                                        default: // All non-handled states will basically terminate any processing
+                                                State = MS_Idle;
+                                CLRBIT(TWIControl,(1 << TWEA)); // will return NACK, i.e. will pretend to be unaddressed
+                                        break;
+                                }
+**********/
+namespace TWI {
+        extern const sConfigRecord ConfigRecord PROGMEM __attribute__ ((weak)) = {UniqueIDUnassigned,DevClassUnassigned,DevUnassigned};
+//      void TWI::UserInit() __attribute__ ((weak));
+        void TWI::HandleUserReceive() __attribute__ ((weak));
+        void TWI::HandleUserTransmit() __attribute__ ((weak));
+        void TWI::HandleUserState() __attribute__ ((weak));
+        static inline void TWI::HandleState_MS_Idle();
+        static inline void TWI::HandleState_MS_Addressed();
+        static inline void TWI::StateMachine();
+        uint8_t ConfigCnt;
+}
+void TWI::ResetTWITransmit() {
+        // Same as above, but also returns the statemachine to the idle state
+        State = MS_Idle;
+        LastCmd = TWI_AAPCmd_Reserved;
+        // In slave-transmitter mode it's not possible to reset the TWI.
+        // But at least we can transmit all '1'-s so we won't interfere with the bus.
+        #ifdef SERIAL_DBG
+        USART0::SendData('*');
+        #endif
+        TWDR = 0xff;
+        SETBIT(TWIControl,(1 << TWEA) | (1 << TWSTO));
+}
+void TWI::ResetTWIReceive() {
+        // Same as above, but also returns the statemachine to the idle state
+        State = MS_Idle;
+        LastCmd = TWI_AAPCmd_Reserved;
+        // In slave-transmitter mode it's not possible to reset the TWI.
+        // But at least we can transmit all '1'-s so we won't interfere with the bus.
+        #ifdef SERIAL_DBG
+        USART0::SendData('#');
+        #endif
+        TWDR = 0xff;
+        SETBIT(TWIControl,(1 << TWSTO));
+        CLRBIT(TWIControl,(1 << TWEA));
+}
+void TWI::ResetTWI() {
+        switch (TWIStatus) {
+        case TW_ST_LAST_DATA:          //0xC8
+        case TW_SR_STOP:
+                case TW_ST_DATA_NACK:
+                case TW_SR_DATA_NACK:
+        case TW_SR_GCALL_DATA_NACK:
+                        State = MS_Idle;
+                SETBIT(TWIControl,(1 << TWEA)); // turn address recognition back on
+                CLRBIT(TWIControl,(1 << TWSTO)); // even if we did so, stop aborting
+        break;
+                case TW_BUS_ERROR:
+                // This is the point where we re-enable the address recognition
+                        ResetTWITransmit();
+                break;
+                default:
+                        ResetTWIReceive();
+                break;
+        }
+}
+/*void TWI::UserInit() {
+}*/
+void TWI::HandleUserReceive() {
+        #ifdef SERIAL_DBG
+        USART0::SendData('r');
+        #endif
+        ResetTWI();
+}
+void TWI::HandleUserTransmit() {
+        #ifdef SERIAL_DBG
+        USART0::SendData('t');
+        #endif
+        ResetTWI();
+}
+void TWI::HandleUserState() {
+}
+static inline void TWI::HandleState_MS_Idle() {
+        switch (TWIStatus) {
+        case TW_SR_SLA_ACK:
+                LastCmd = TWI_AAPCmd_Reserved;
+                HandleUserReceive();
+        break;
+        case TW_SR_GCALL_ACK:
+                        State = MS_Addressed;
+        break;
+        case TW_ST_SLA_ACK:
+                if ((TWIData & 0xfe) == GeneralCallAddr) {
+                        // TWI_AAP read command: things depend on what the last (write) command was:
+                        if (LastCmd == TWI_AAPCmd_GetConfig) {
+                                // This is the read part of the GetUDID command: Send the byte count and change state
+                                TWIPrevData = sizeof(ConfigRecord);
+                                TWDR = TWIPrevData;
+                                State = AAP_CmdGetConfig_SendConfig;
+                                ConfigCnt = 0;
+                        //SETBIT(TWIControl,(1 << TWEA)); // require ACK
+                        } else {
+                                //Unknown read command: ignore
+                        ResetTWITransmit();
+                        }
+                } else {
+                        HandleUserTransmit();
+                }
+        break;
+        case TW_ST_LAST_DATA:
+        case TW_SR_STOP:
+                        #ifdef SERIAL_DBG
+                        USART0::SendData('.');
+                        #endif
+                        State = MS_Idle;
+                SETBIT(TWIControl,(1 << TWEA)); // turn address recognition back on
+                CLRBIT(TWIControl,(1 << TWSTO)); // even if we did so, stop aborting
+        break;
+                case TW_ST_DATA_ACK:
+                case TW_SR_DATA_ACK:
+        case TW_SR_GCALL_DATA_ACK:
+                        ResetTWIReceive();
+                break;
+                case TW_BUS_ERROR:
+                case TW_ST_DATA_NACK:
+                case TW_SR_DATA_NACK:
+        case TW_SR_GCALL_DATA_NACK:
+                // This is the point where we re-enable the address recognition
+                        ResetTWITransmit();
+                break;
+                default:
+                        State = MS_Idle;
+                SETBIT(TWIControl,(1 << TWEA) | (1 << TWSTO)); // reset the TWI
+                break;
+        }
+}
+static inline void TWI::HandleState_MS_Addressed() {
+        switch (TWIStatus) {
+        case TW_SR_GCALL_DATA_ACK:
+                switch(TWIData) {
+                        case TWI_AAPCmd_ResetDevices:
+                        LastCmd = TWIData;
+                                State = MS_Idle;
+                                SoftAddress = 0;
+                                        TWAR = SoftAddress | 1; // General call recognition and slave-receiver mode through address being 0
+                        break;
+                        case TWI_AAPCmd_ResetToPermAddress:
+                        LastCmd = TWIData;
+                                State = MS_Idle;
+                                        SoftAddress = EEPROM::GetByte(EEPROM_layout::TWI_SoftAddr_Ofs);
+                                        TWAR = SoftAddress | 1; // General call recognition and slave-receiver mode
+                                        if (SoftAddress != 0) {
+                                                // We have a valid address, do not respond to this command
+                                LastCmd = TWI_AAPCmd_Reserved;
+                                        }
+                        break;
+                                case TWI_AAPCmd_GetConfig:
+                                        LastCmd = TWIData;
+                                        State = AAP_CmdGetConfig_GetAddress;
+                                break;
+                                case TWI_AAPCmd_AssignAddress:
+                                        LastCmd = TWIData;
+                                ConfigCnt = 0;
+                                        State = AAP_CmdAssignAddress_GetUniqueID;
+                                break;
+                                default:
+                                        // unknown command - ignore the rest
+                                        ResetTWIReceive();
+                                break;
+                }
+        break;
+                default:
+                        ResetTWI();
+                break;
+        }
+}
+static inline void TWI::StateMachine() {
+        TWIStatus = TWSR & TW_STATUS_MASK;
+        TWIControl = TWCR;
+        if (TWIStatus != TW_SR_STOP) {
+                TWIData = TWDR;
+        } else {
+                // Fast short-circuit for stop-bit detection
+                // This condition cannot use clock-stretching so we might miss the next start if we don't hurry
+                State = MS_Idle;
+                SETBIT(TWIControl,(1 << TWEA)); // turn address recognition back on
+                CLRBIT(TWIControl,(1 << TWSTO)); // even if we did so, stop aborting
+                SETBIT(TWIControl,(1 << TWINT));
+                TWCR = TWIControl;
+                return;
+        }
+        #ifdef SERIAL_DBG
+        // DUMP state to serial port
+        USART0::SendData('s'); USART0::SendData(' '); USART0::SendHexData(TWIStatus); USART0::SendData(' ');
+        USART0::SendData('d'); USART0::SendData(' '); USART0::SendHexData(TWIData); USART0::SendData(' ');
+        USART0::SendData('S'); USART0::SendData(' '); USART0::SendHexData(State); USART0::SendData(' ');
+        USART0::SendData('L'); USART0::SendData(' '); USART0::SendHexData(LastCmd); USART0::SendData(' ');
+        USART0::SendData('A'); USART0::SendData(' '); USART0::SendHexData(SoftAddress); USART0::SendData('-');
+        #endif
+        switch (State) {
+                case MS_Idle:
+                        HandleState_MS_Idle();
+                break;
+                case MS_Addressed:
+                        HandleState_MS_Addressed();
+                break;
+                case AAP_CmdGetConfig_GetAddress:
+                        switch (TWIStatus) {
+                case TW_SR_GCALL_DATA_ACK:
+                                        State = MS_Idle;
+                        SETBIT(TWIControl,(1 << TWEA) | (1 << TWSTO)); // reset the TWI
+                                        if (SoftAddress != TWIData) {
+                                                // We have a valid address, or was not addressed -> do not respond to this command
+                                LastCmd = TWI_AAPCmd_Reserved;
+                                        }
+                                break;
+                                default:
+                                        ResetTWI();
+                                break;
+                        }
+                break;
+                case AAP_CmdAssignAddress_GetUniqueID:
+                        switch (TWIStatus) {
+                case TW_SR_GCALL_DATA_ACK:
+                                        if (TWIData == pgm_read_byte(ConfigRecord.UniqueID+ConfigCnt)) {
+                                                ++ConfigCnt;
+                                                if (ConfigCnt == UniqueID_Size) State = AAP_CmdAssignAddress_GetAddress;
+                                        } else {
+                                                // UDID is not ours, abort command
+                                                ResetTWIReceive();
+                                        }
+                                break;
+                                default:
+                                        ResetTWI();
+                                break;
+                        }
+                break;
+                case AAP_CmdAssignAddress_GetAddress:
+                        switch (TWIStatus) {
+                case TW_SR_GCALL_DATA_ACK:
+                        SoftAddress = TWIData & 0xfe;
+                        if (TWIData & 0x01 == 1) {
+                                                EEPROM::SetByte(EEPROM_layout::TWI_SoftAddr_Ofs,SoftAddress);
+                        }
+                                        State = MS_Idle;
+                                        TWAR = SoftAddress | 1; // General call recognition and normal operation
+                        SETBIT(TWIControl,(1 << TWEA) | (1 << TWSTO)); // reset the TWI
+                                        LastCmd = TWI_AAPCmd_Reserved;
+                                break;
+                                default:
+                                        ResetTWI();
+                                break;
+                        }
+                break;
+                // Read-oriented commands
+                case AAP_CmdGetConfig_SendConfig:
+                        switch (TWIStatus) {
+                case TW_ST_DATA_ACK:
+                        if (TWIData != TWIPrevData) {
+                                // We've lost the arbitration
+                                ResetTWITransmit();
+                                break;
+                        }
+                        TWIPrevData = pgm_read_byte(((uint8_t*)(&ConfigRecord))+ConfigCnt);
+                                TWDR = TWIPrevData;
+                        ConfigCnt++;
+                                        //At the last byte, we require NACK
+                        if (ConfigCnt == sizeof(ConfigRecord)) {
+                                State = MS_Idle;
+                                CLRBIT(TWIControl,(1 << TWEA)); // require NACK
+                        } else {
+                                        State = AAP_CmdGetConfig_SendConfig;
+                                        SETBIT(TWIControl,(1 << TWEA)); // require ACK
+                                }
+                break;
+                                default:
+                                        ResetTWI();
+                                break;
+                        }
+                break;
+                // User commands
+                default:
+                        HandleUserState();
+                break;
+        }
+        // re-enable the TWI interrupts
+        SETBIT(TWIControl,1 << TWINT);
+        #ifdef SERIAL_DBG
+        USART0::SendData('S'); USART0::SendData(' '); USART0::SendHexData(State); USART0::SendData(' ');
+        USART0::SendData('L'); USART0::SendData(' '); USART0::SendHexData(LastCmd); USART0::SendData(' ');
+        USART0::SendData('A'); USART0::SendData(' '); USART0::SendHexData(SoftAddress); USART0::SendData(' ');
+        USART0::SendData('C'); USART0::SendData(' '); USART0::SendHexData(TWIControl); USART0::SendData(0x0d); USART0::SendData(0x0a);
+        #endif
+        TWCR = TWIControl;
+}
+SIGNAL(SIG_TWI) {TWI::StateMachine();}
+uint8_t TWI::State;
+uint8_t TWI::LastCmd;
+uint8_t TWI::SoftAddress;
+uint8_t TWI::TWIStatus;
+uint8_t TWI::TWIData;
+uint8_t TWI::TWIPrevData;
+uint8_t TWI::TWIControl;

 /Modules/HBRIDGE/HB1FET01A/SW/twi_aap.h
 ,0 → 1,77
+#ifndef __twi_aap_h__
+#define __two_aap_h__
+#include <compat/twi.h>
+#include "common.h"
+#include "usart.h"
+#include "guids.h"
+#include "eeprom.h"
+//#define SERIAL_DBG
+namespace EEPROM_layout {
+        const uint16_t TWI_SoftAddr_Ofs = 0xff;
+}
+namespace TWI {
+        const uint8_t GeneralCallAddr = 0;
+        const size_t UniqueID_Size = 16*3;
+        const size_t GUID_Size = sizeof(GUID);
+        struct sConfigRecord {
+                uint8_t UniqueID[UniqueID_Size];
+                GUID ClassID;
+                GUID DevID;
+        };
+        enum TWI_AAPCommands {
+                TWI_AAPCmd_Reserved           = 0,
+                TWI_AAPCmd_Start              = 0x20,
+                TWI_AAPCmd_End                = 0x21,
+                TWI_AAPCmd_ResetDevices       = 0x22,
+                TWI_AAPCmd_ResetToPermAddress = 0x23,
+                TWI_AAPCmd_GetConfig          = 0x24,
+                TWI_AAPCmd_AssignAddress      = 0x25
+        };
+        enum MainStates {
+                MS_Idle = 0,
+                MS_Addressed,
+                AAP_CmdGetConfig_GetAddress,
+                AAP_CmdGetConfig_SendConfig,
+                AAP_CmdAssignAddress_GetUniqueID,
+                AAP_CmdAssignAddress_GetAddress,
+                US_Base
+        };
+        extern uint8_t State;
+        extern uint8_t LastCmd;
+        extern uint8_t SoftAddress;
+        inline void Init() {
+                TWBR = 32; // 100kHz with an 8MHz crystal
+//              TWBR = 16; // 200kHz with an 8MHz crystal
+                TWSR = 0; // pre-scaler: 1
+                TWCR = (1 << TWEA) | (1 << TWEN) | (1 << TWIE) | (1 << TWINT);
+                if (TWSR == TW_BUS_ERROR) SETBIT(TWCR,(1 << TWSTO)); // reset TWI
+                TWAMR = 0; // all address bits matter
+                State = MS_Idle;
+                SoftAddress = EEPROM::GetByte(EEPROM_layout::TWI_SoftAddr_Ofs);
+                if (SoftAddress == 0xff) SoftAddress = 0;
+                SoftAddress &= 0xfe;
+//              TWAR = GeneralCallAddr | 1; // General call recognition and slave-receiver mode through address being 0
+                TWAR = SoftAddress | 1;
+                LastCmd = TWI_AAPCmd_Reserved;
+        }
+        // These used in all states, including user states, so make them available.
+        extern uint8_t TWIStatus;
+        extern uint8_t TWIData;
+        extern uint8_t TWIPrevData;
+        extern uint8_t TWIControl;
+        void ResetTWITransmit();
+        void ResetTWIReceive();
+        void ResetTWI();
+}
+#endif // __twi_aap_h__

 /Modules/HBRIDGE/HB1FET01A/SW/usart.cpp
 ,0 → 1,65
+#include <avr/pgmspace.h>
+#include <avr/interrupt.h>
+#include <avr/signal.h>
+#include "common.h"
+#include "usart.h"
+void USART0::SendData(uint8_t aData) {
+        while(!TESTBIT(UCSR0A,(1 << UDRE0)));
+        UDR0 = aData;
+}
+uint8_t USART0::ReceiveData() {
+        while(!TESTBIT(UCSR0A,(1 << RXC0)));
+        return UDR0;
+}
+// a non-exported helper function
+static char MakeHexDigit(uint8_t aDigit) {
+        if (aDigit > 9) return 'a'+aDigit-10; else return '0'+aDigit;
+}
+void USART0::SendHexData(uint8_t aData) {
+        SendData(MakeHexDigit(aData >> 4));
+        SendData(MakeHexDigit(aData & 0x0f));
+}
+void USART0::SendHexData(uint16_t aData) {
+        SendHexData((uint8_t)(aData >> 8));
+        SendHexData((uint8_t)(aData & 0xff));
+}
+void USART0::SendHexData(uint32_t aData) {
+        SendHexData((uint16_t)(aData >> 16));
+        SendHexData((uint16_t)(aData & 0xffff));
+}
+void USART0::SendHexData(int16_t aData) {
+        if (aData < 0) {
+                SendData('-');
+                aData = -aData;
+        } else {
+                SendData(' ');
+        }
+        SendHexData((uint16_t)aData);
+}
+void USART0::SendHexData(int32_t aData) {
+        if (aData < 0) {
+                SendData('-');
+                aData = -aData;
+        } else {
+                SendData(' ');
+        }
+        SendHexData((uint32_t)aData);
+}
+void USART0::SendString(const char *aString) {
+        while(aString != 0) SendData(*(aString++));
+}
+void USART0::SendPGString(const char *aString) {
+        while(aString != 0) SendData(pgm_read_byte(aString++));
+}

 /Modules/HBRIDGE/HB1FET01A/SW/usart.h
 ,0 → 1,41
+#ifndef __usart_h__
+#define __usart_h__
+#include "common.h"
+namespace USART0 {
+        // setting = f_osc/16/BAUD - 1
+        const uint16_t baud9600_8MHz = 51;
+        const uint16_t baud19200_8MHz = 25;
+        const uint16_t baud57600_8MHz = 8;
+        const uint16_t baud19200_6_14MHz = 19;
+        const uint16_t baud38400_6_14MHz = 9;
+        const uint16_t baud19200_6_5MHz = 20;
+        const uint16_t baud38400_6_5MHz = 10;
+        const uint16_t baud57600_6_5MHz = 6;
+        inline uint8_t FastReceiveData();
+        inline void Init(uint16_t aBaudSetting) {
+                UBRR0 = aBaudSetting;
+                UCSR0A = 0;
+                FastReceiveData(); // Clear any possible pending input data (to avoid spurious IRQ
+                UCSR0B = (1 << RXCIE0) | (1 << RXEN0) | (1 << TXEN0);
+                UCSR0C = (1 << USBS0) | (3 << UCSZ00);
+        }
+        void SendData(uint8_t aData);
+        uint8_t ReceiveData();
+        inline void FastSendData(uint8_t aData) {
+                UDR0 = aData;
+        }
+        inline uint8_t FastReceiveData() {
+                return UDR0;
+        }
+        void SendHexData(uint8_t aData);
+        void SendHexData(uint16_t aData);
+        void SendHexData(uint32_t aData);
+        void SendHexData(int16_t aData);
+        void SendHexData(int32_t aData);
+        void SendString(const char *aString);
+        void SendPGString(const char *aString);
+}
+#endif // __usart_h__

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