diff --git a/circuit/README.md b/circuit/README.md
index a2f06f0e24571e674aa193f6690854e4ea036b2f..a57a8716a553944be06277e7dfe5e8ce3168de4a 100644
--- a/circuit/README.md
+++ b/circuit/README.md
@@ -13,6 +13,7 @@ Power is bussed to the board with two M3 Screw Terminals. The board includes roo
- label lights
- wants one lo-side debug pin!
- for resets etc, pull en to gnd on other side of switch!
+ - wants spi debug pins
- might have to go to DRV8320 - newer, available
- CSD88548 is CSD88599 but more amps less volts, use these
diff --git a/circuit/atkbldcdriver/atkbldcdriver.brd b/circuit/atkbldcdriver/atkbldcdriver.brd
index c71e034adad6b1c84863e36d4ebfa1499a8b1be1..0d0bc312f6f55da37359d91c53a2169de053e662 100644
--- a/circuit/atkbldcdriver/atkbldcdriver.brd
+++ b/circuit/atkbldcdriver/atkbldcdriver.brd
@@ -3622,7 +3622,7 @@ design rules under a new name.</description>
<wire x1="54.7" y1="49.9378875" x2="52.8474875" y2="51.7904" width="0.1524" layer="1"/>
<wire x1="52.8474875" y1="51.7904" x2="49.3904" y2="51.7904" width="0.1524" layer="1"/>
<wire x1="49.3904" y1="51.7904" x2="49.15" y2="51.55" width="0.1524" layer="1"/>
-<wire x1="49.15" y1="51.55" x2="49.15" y2="51.1" width="0" layer="19" extent="1-1"/>
+<wire x1="49.15" y1="51.55" x2="49.15" y2="51.1" width="0.1524" layer="1"/>
</signal>
<signal name="PWMLOW">
<contactref element="U1" pad="16"/>
diff --git a/circuit/atkbldcdriver/eagle.epf b/circuit/atkbldcdriver/eagle.epf
index 0ef4ef711d143031b2fc1992567228145e48a792..5db0460885a3f79be0605e77e152056e237fe0c6 100644
--- a/circuit/atkbldcdriver/eagle.epf
+++ b/circuit/atkbldcdriver/eagle.epf
@@ -1,5 +1,5 @@
[Eagle]
-Version="09 01 01"
+Version="09 00 00"
Platform="Windows"
Globals="Globals"
Desktop="Desktop"
@@ -42,7 +42,7 @@ UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFu
Type="Board Editor"
Number=1
File="atkbldcdriver.brd"
-View="46.0222 19.7572 101.977 66.359"
+View="46.6255 23.8801 69.1125 42.6084"
WireWidths=" 0.0762 0.127 0.15 0.508 0.6096 0.8128 2.54 1.016 1.27 0.3048 0.254 0.2 0.4064 0.1016 0.2032 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6 0.3"
@@ -58,7 +58,7 @@ DimensionExtWidths=" 0.127 0.254 0.1 0.13 0.26 0"
DimensionExtLengths=" 1.27 2.54 1 2 3 0"
DimensionExtOffsets=" 1.27 2.54 1 2 3 0"
SmdSizes=" 0.3048 0.1524 0.4064 0.2032 0.6096 0.3048 0.8128 0.4064 1.016 0.508 1.27 0.6604 1.4224 0.7112 1.6764 0.8128 1.778 0.9144 1.9304 0.9652 2.1844 1.0668 2.54 1.27 3.81 1.9304 5.08 2.54 6.4516 3.2512 1.27 0.635"
-WireBend=1
+WireBend=3
WireBendSet=0
WireCap=1
MiterStyle=0
@@ -84,9 +84,9 @@ Layer=1
[Win_2]
Type="Schematic Editor"
-Number=2
+Number=3
File="atkbldcdriver.sch"
-View="-199.977 -15.3886 91.806 117.046"
+View="-280.35 -76.1712 223.851 152.676"
WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
@@ -125,7 +125,7 @@ ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=91
-Views=" 1: -199.977 -15.3886 91.806 117.046"
+Views=" 1: -280.35 -76.1712 223.851 152.676"
Sheet="1"
[Win_3]
@@ -133,7 +133,7 @@ Type="Control Panel"
Number=0
[Desktop]
-Screen="3840 1080"
+Screen="1920 1080"
Window="Win_1"
Window="Win_2"
Window="Win_3"
diff --git a/embedded/README.md b/embedded/README.md
index bd27525af16872ff4019e322e02e470122c0e22a..7b6fd78b28dcbf8098af889cfaf8dd601af4da95 100644
--- a/embedded/README.md
+++ b/embedded/README.md
@@ -26,4 +26,10 @@ This worked out fairly well, I'll add some video ... I run one timer to commutat
In any case, I'd say it's enough to start trying to cut things, with some more current available. Hopefully I won't fry anything in the process: hand on the e-stop!
-
\ No newline at end of file
+
+
+## Closing a loop on 6-Step Commutation
+
+I know I can do this if I can manage to read my encoder successfully. I could also probably do it with the ADC, but I would want an oscilloscope to go down that path, and I don't have one here.
+
+So, we use a logic analyzer to try reading this AMS5047
\ No newline at end of file
diff --git a/embedded/atkbldcdriver/atkbldcdriver/atkbldcdriver.cproj b/embedded/atkbldcdriver/atkbldcdriver/atkbldcdriver.cproj
index 56c8b18cc01bff2fa54d736eb93df42a807a3baa..7327bcc799a1d688ea4a1133726dd91983f30ae0 100644
--- a/embedded/atkbldcdriver/atkbldcdriver/atkbldcdriver.cproj
+++ b/embedded/atkbldcdriver/atkbldcdriver/atkbldcdriver.cproj
@@ -41,7 +41,7 @@
</framework-data>
</AsfFrameworkConfig>
<avrtool>com.atmel.avrdbg.tool.atmelice</avrtool>
- <avrtoolserialnumber>J41800087098</avrtoolserialnumber>
+ <avrtoolserialnumber>J41800086407</avrtoolserialnumber>
<avrdeviceexpectedsignature>0x1E9842</avrdeviceexpectedsignature>
<com_atmel_avrdbg_tool_atmelice>
<ToolOptions>
@@ -51,7 +51,7 @@
<InterfaceName>PDI</InterfaceName>
</ToolOptions>
<ToolType>com.atmel.avrdbg.tool.atmelice</ToolType>
- <ToolNumber>J41800087098</ToolNumber>
+ <ToolNumber>J41800086407</ToolNumber>
<ToolName>Atmel-ICE</ToolName>
</com_atmel_avrdbg_tool_atmelice>
<avrtoolinterface>PDI</avrtoolinterface>
diff --git a/embedded/atkbldcdriver/atkbldcdriver/main.c b/embedded/atkbldcdriver/atkbldcdriver/main.c
index 8d9def36694d50b5fab0dcc94b468a0a4bf15791..2669daf701f7411ecf08257a96b94c6103cf995c 100644
--- a/embedded/atkbldcdriver/atkbldcdriver/main.c
+++ b/embedded/atkbldcdriver/atkbldcdriver/main.c
@@ -183,6 +183,9 @@ int main(void)
// start timers for commutation, accel tickers
tickers_init();
+ // startup encoder
+ //encoder_init();
+
// start pwm system
pwm_init();
// initialize the bldc state structure
@@ -201,6 +204,7 @@ int main(void)
while (1)
{
+ //ams5047_write(&ams5047, 1200);
atkport_scan(&atkp0, 2);
// just... as fast as we can
tck++;