From afa987c506c6c5ad2090d4b96d125ee21029686f Mon Sep 17 00:00:00 2001
From: LongHairedHacker <sebastian@sebastians-site.de>
Date: Thu, 23 Jul 2020 19:04:18 +0200
Subject: [PATCH] Alternative switching pattern for better bootstraping

---
 firmware/main.c | 20 ++++++++++++++------
 firmware/pwm.h  | 37 ++++++++++++++++++++++++++++++-------
 2 files changed, 44 insertions(+), 13 deletions(-)

diff --git a/firmware/main.c b/firmware/main.c
index 1a1afef..d0244a4 100644
--- a/firmware/main.c
+++ b/firmware/main.c
@@ -14,14 +14,16 @@ int main(void) {
 
 
 	while(1) {
-		//hbridge_set_l1();
-
-		for(uint8_t speed = 0; speed <= 250; speed++) {
-			for(uint16_t i = 0; i < 250; i++) {
+		for(uint8_t speed = 50; speed <= 255; speed++) {
+			for(uint16_t i = 0; i < 1000; i++) {
 				pwm_cycle_forwards(speed);
 			}
 		}
 
+		for(uint16_t i = 0; i < 10000; i++) {
+			pwm_cycle_forwards(255);
+		}
+
 		hbridge_unset_h2();
 		hbridge_unset_h2();
 		hbridge_set_l1();
@@ -30,12 +32,18 @@ int main(void) {
 		hbridge_unset_l2();
 		hbridge_unset_l2();
 
-		for(uint8_t speed = 0; speed <= 250; speed++) {
-			for(uint16_t i = 0; i < 250; i++) {
+
+
+		for(uint8_t speed = 50; speed <= 255; speed++) {
+			for(uint16_t i = 0; i < 1000; i++) {
 				pwm_cycle_backwards(speed);
 			}
 		}
 
+		for(uint16_t i = 0; i < 10000; i++) {
+			pwm_cycle_forwards(255);
+		}
+
 		hbridge_unset_h2();
 		hbridge_unset_h2();
 		hbridge_set_l1();
diff --git a/firmware/pwm.h b/firmware/pwm.h
index 02f336f..b2b4dc5 100644
--- a/firmware/pwm.h
+++ b/firmware/pwm.h
@@ -41,39 +41,62 @@ static inline void hbridge_unset_l2(void) {
 	PORTB &= ~(1 << PB4);
 }
 
-const double delay_time = 2.0;
+const double delay_time = 1;
 
 static inline void pwm_cycle_backwards(uint8_t speed) {
 	PIND |= (1 << PD1);
 
-	hbridge_unset_l2();
-	hbridge_set_l1();
 	for(uint8_t i = 0; i < 8; i++) {
 		if((speed & (1 << i)) != 0) {
+			hbridge_unset_h1();
 			hbridge_set_h2();
+			hbridge_set_l1();
+			hbridge_unset_l2();
+		}
+		else {
+			hbridge_unset_h1();
+			hbridge_unset_h2();
+			hbridge_unset_l1();
+			hbridge_set_l2();
 		}
 		for(uint8_t j = 0; j < (1 << i); j++) {
 			_delay_us(delay_time);
 		}
-		hbridge_unset_h2();
 	}
+
+	hbridge_unset_h1();
+	hbridge_unset_h2();
+	hbridge_unset_l1();
+	hbridge_unset_l2();
 }
 
 
 static inline void pwm_cycle_forwards(uint8_t speed) {
 	PIND |= (1 << PD1);
 
-	hbridge_unset_l1();
-	hbridge_set_l2();
+
 	for(uint8_t i = 0; i < 8; i++) {
 		if((speed & (1 << i)) != 0) {
 			hbridge_set_h1();
+			hbridge_unset_h2();
+			hbridge_unset_l1();
+			hbridge_set_l2();
+		}
+		else {
+			hbridge_unset_h1();
+			hbridge_unset_h2();
+			hbridge_set_l1();
+			hbridge_unset_l2();
 		}
 		for(uint8_t j = 0; j < (1 << i); j++) {
 			_delay_us(delay_time);
 		}
-		hbridge_unset_h1();
 	}
+
+	hbridge_unset_h1();
+	hbridge_unset_h2();
+	hbridge_unset_l1();
+	hbridge_unset_l2();
 }
 
 #endif