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@ -107,6 +107,11 @@ |
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; Added setting for enable/disable of PWM input |
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; Better AFW and damping for some ESCs (that have a slow high side driver) |
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; Miscellaneous other changes |
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; - Rev14.1 Fixed max throttle calibration bug (for non-oneshot) |
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; Fixed some closed loop mode bugs |
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; Relaxed signal jitter requirement for looptimes below 1000 |
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; Added skipping of damping fet switching near max power, for improved high end throttle linearity, using the concept of SimonK |
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; Improved sync hold at high rpms |
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; |
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; |
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; |
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@ -212,6 +217,9 @@ |
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;#define MULTISTAR_30A_MAIN ; Inverted input |
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;#define MULTISTAR_30A_TAIL |
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;#define MULTISTAR_30A_MULTI |
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;#define MULTISTAR_40Av2_MAIN |
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;#define MULTISTAR_40Av2_TAIL |
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;#define MULTISTAR_40Av2_MULTI |
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;#define MULTISTAR_45A_MAIN ; Inverted input |
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;#define MULTISTAR_45A_TAIL |
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;#define MULTISTAR_45A_MULTI |
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@ -583,6 +591,21 @@ |
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.INCLUDE "Multistar_30A.inc" ; Select Multistar 30A pinout |
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#endif |
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#if defined(MULTISTAR_40Av2_MAIN) |
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.EQU MODE = 0 ; Choose mode. Set to 0 for main motor |
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.INCLUDE "Multistar_40Av2.inc" ; Select Multistar 40A v2 pinout |
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#endif |
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#if defined(MULTISTAR_40Av2_TAIL) |
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.EQU MODE = 1 ; Choose mode. Set to 1 for tail motor |
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.INCLUDE "Multistar_40Av2.inc" ; Select Multistar 40A v2 pinout |
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#endif |
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#if defined(MULTISTAR_40Av2_MULTI) |
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.EQU MODE = 2 ; Choose mode. Set to 2 for multirotor |
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.INCLUDE "Multistar_40Av2.inc" ; Select Multistar 40A v2 pinout |
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#endif |
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#if defined(MULTISTAR_45A_MAIN) |
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.EQU MODE = 0 ; Choose mode. Set to 0 for main motor |
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.INCLUDE "Multistar_45A.inc" ; Select Multistar 45A pinout |
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@ -882,7 +905,7 @@ |
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.EQU DEFAULT_PGM_TAIL_BEEP_STRENGTH = 250; Beep strength |
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.EQU DEFAULT_PGM_TAIL_BEACON_STRENGTH = 250; Beacon strength |
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.EQU DEFAULT_PGM_TAIL_BEACON_DELAY = 4 ; 1=1m 2=2m 3=5m 4=10m 5=Infinite |
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.EQU DEFAULT_PGM_TAIL_PWM_DITHER = 3 ; 1=1 2=3 3=7 4=15 5=31 |
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.EQU DEFAULT_PGM_TAIL_PWM_DITHER = 3 ; 1=Off 2=7 3=15 4=31 5=63 |
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; Multi |
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.EQU DEFAULT_PGM_MULTI_P_GAIN = 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0 |
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@ -901,7 +924,7 @@ |
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.EQU DEFAULT_PGM_MULTI_BEEP_STRENGTH = 40 ; Beep strength |
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.EQU DEFAULT_PGM_MULTI_BEACON_STRENGTH = 80 ; Beacon strength |
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.EQU DEFAULT_PGM_MULTI_BEACON_DELAY = 4 ; 1=1m 2=2m 3=5m 4=10m 5=Infinite |
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.EQU DEFAULT_PGM_MULTI_PWM_DITHER = 3 ; 1=1 2=3 3=7 4=15 5=31 |
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.EQU DEFAULT_PGM_MULTI_PWM_DITHER = 3 ; 1=Off 2=7 3=15 4=31 5=63 |
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; Common |
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.EQU DEFAULT_PGM_ENABLE_TX_PROGRAM = 1 ; 1=Enabled 0=Disabled |
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@ -926,7 +949,7 @@ |
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.EQU RCP_MAX = 255 ; This is maximum RC pulse length |
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.EQU RCP_VALIDATE = 2 ; Require minimum this pulse length to validate RC pulse |
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.EQU RCP_STOP = 1 ; Stop motor at or below this pulse length |
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.EQU RCP_STOP_LIMIT = 5 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit |
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.EQU RCP_STOP_LIMIT = 250 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit |
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.EQU PWM_START = 50 ; PWM used as max power during start |
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@ -969,7 +992,7 @@ |
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.EQU RCP_MAX = 255 ; This is maximum RC pulse length |
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.EQU RCP_VALIDATE = 2 ; Require minimum this pulse length to validate RC pulse |
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.EQU RCP_STOP = 1 ; Stop motor at or below this pulse length |
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.EQU RCP_STOP_LIMIT = 5 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit |
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.EQU RCP_STOP_LIMIT = 250 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit |
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.EQU PWM_START = 50 ; PWM used as max power during start |
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@ -1024,8 +1047,8 @@ |
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.EQU INITIAL_RUN_PHASE = 2 ; Set when in initial run phase, before synchronized run is achieved |
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.EQU ADC_READ_TEMP = 3 ; Set when ADC input shall be set to read temperature |
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.EQU COMP_TIMED_OUT = 4 ; Set when comparator reading timed out |
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;.EQU = 5 |
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;.EQU = 6 |
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.EQU SKIP_DAMP_ON = 5 ; Set when turning damping fet on is skipped |
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.EQU SKIP_DAMP_OFF = 6 ; Set when turning damping fet off is skipped |
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;.EQU = 7 |
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@ -1214,7 +1237,7 @@ Pgm_Startup_Pwr_Decoded: .BYTE 1 ; Programmed startup power decoded |
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.ORG 0 |
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.EQU EEPROM_FW_MAIN_REVISION = 14 ; Main revision of the firmware |
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.EQU EEPROM_FW_SUB_REVISION = 0 ; Sub revision of the firmware |
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.EQU EEPROM_FW_SUB_REVISION = 1 ; Sub revision of the firmware |
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.EQU EEPROM_LAYOUT_REVISION = 20 ; Revision of the EEPROM layout |
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Eep_FW_Main_Revision: .DB EEPROM_FW_MAIN_REVISION ; EEPROM firmware main revision number |
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@ -1455,19 +1478,25 @@ t2_int_pwm_off_exit_nfets_off: |
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t2_int_pwm_off_damped: |
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.IF PFETON_DELAY < 128 |
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All_nFETs_Off ; Switch off all nfets |
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sbrc Flags1, SKIP_DAMP_ON |
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rjmp t2_int_pwm_off_damp_done |
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.IF PFETON_DELAY != 0 |
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ldi YL, PFETON_DELAY |
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dec YL |
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brne PC-1 |
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.ENDIF |
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Damping_FET_on YL ; Damping fet on |
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t2_int_pwm_off_damp_done: |
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.ENDIF |
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.IF PFETON_DELAY >= 128 ; "Negative", 1's complement |
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sbrc Flags1, SKIP_DAMP_ON |
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rjmp t2_int_pwm_off_damp_done |
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Damping_FET_on YL ; Damping fet on |
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ldi YL, PFETON_DELAY |
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com YL |
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dec YL |
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brne PC-1 |
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t2_int_pwm_off_damp_done: |
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All_nFETs_Off ; Switch off all nfets |
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.ENDIF |
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t2_int_pwm_off_fullpower_exit: |
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@ -1509,11 +1538,14 @@ pwm_afet_damped: |
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rjmp t2_int_pwm_on_exit |
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sbrc Flags0, DEMAG_CUT_POWER |
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rjmp t2_int_pwm_on_exit |
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sbrc Flags1, SKIP_DAMP_OFF |
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rjmp pwm_afet_damped_done |
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.IF NFETON_DELAY != 0 |
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ldi YL, NFETON_DELAY ; Set delay |
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dec YL |
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brne PC-1 |
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.ENDIF |
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pwm_afet_damped_done: |
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AnFET_on ; Switch nFET |
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rjmp t2_int_pwm_on_exit |
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@ -1523,11 +1555,14 @@ pwm_bfet_damped: |
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rjmp t2_int_pwm_on_exit |
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sbrc Flags0, DEMAG_CUT_POWER |
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rjmp t2_int_pwm_on_exit |
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sbrc Flags1, SKIP_DAMP_OFF |
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rjmp pwm_bfet_damped_done |
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.IF NFETON_DELAY != 0 |
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ldi YL, NFETON_DELAY ; Set delay |
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dec YL |
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brne PC-1 |
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.ENDIF |
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pwm_bfet_damped_done: |
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BnFET_on ; Switch nFET |
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rjmp t2_int_pwm_on_exit |
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@ -1537,11 +1572,14 @@ pwm_cfet_damped: |
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rjmp t2_int_pwm_on_exit |
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sbrc Flags0, DEMAG_CUT_POWER |
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rjmp t2_int_pwm_on_exit |
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sbrc Flags1, SKIP_DAMP_OFF |
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rjmp pwm_cfet_damped_done |
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.IF NFETON_DELAY != 0 |
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ldi YL, NFETON_DELAY ; Set delay |
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dec YL |
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brne PC-1 |
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.ENDIF |
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pwm_cfet_damped_done: |
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CnFET_on ; Switch nFET |
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rjmp t2_int_pwm_on_exit |
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@ -1658,7 +1696,7 @@ t0_int_skip_end: |
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t0_int_rcp_update_start: |
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; Process updated RC pulse |
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sbrs Flags2, RCP_UPDATED ; Is there an updated RC pulse available? |
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rjmp t0_int_current_pwm_done ; No - exit |
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rjmp t0_int_current_pwm_update ; No - update pwm limits and exit |
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lds XL, New_Rcp ; Load new pulse value |
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mov I_Temp1, XL |
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@ -1746,17 +1784,18 @@ t0_int_pwm_update: |
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ldi XL, 0xFF |
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sts Requested_Pwm, XL |
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t0_int_current_pwm_update: |
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.ENDIF |
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t0_int_current_pwm_update: |
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.IF MODE == 0 || MODE == 2 ; Main or multi |
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lds I_Temp1, Pgm_Gov_Mode ; Governor mode? |
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cpi I_Temp1, 4 |
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brne t0_int_pwm_exit ; Yes - branch |
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breq PC+2 |
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rjmp t0_int_pwm_exit ; Yes - branch |
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.ENDIF |
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lds XL, Requested_Pwm ; Set equal as default |
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sts Current_Pwm, XL |
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t0_int_current_pwm_done: |
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.IF MODE >= 1 ; Tail or multi |
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; Set current_pwm_limited |
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lds I_Temp1, Current_Pwm ; Default not limited |
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@ -1823,6 +1862,17 @@ t0_int_current_pwm_dither_max_power: |
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t0_int_current_pwm_no_dither: |
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sts Current_Pwm_Lim_Dith, I_Temp1 |
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.IF DAMPED_MODE_ENABLE == 1 |
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; Skip damping fet switching for high throttle |
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cbr Flags1, (1<<SKIP_DAMP_ON) |
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cbr Flags1, (1<<SKIP_DAMP_OFF) |
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subi I_Temp1, 245 |
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brcs t0_int_pwm_exit |
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sbr Flags1, (1<<SKIP_DAMP_ON) |
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subi I_Temp1, 5 |
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brcs t0_int_pwm_exit |
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sbr Flags1, (1<<SKIP_DAMP_OFF) |
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.ENDIF |
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.ENDIF |
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t0_int_pwm_exit: |
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; Set demag enabled if pwm is above limit |
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@ -2127,6 +2177,10 @@ rcp_int_second_meas_pwm_freq: |
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rjmp rcp_int_store_data |
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rcp_int_check_12kHz: |
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lds XL, Pgm_Enable_PWM_Input ; Check if PWM input is enabled |
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tst XL |
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breq rcp_int_restore_edge ; If it is not - branch |
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; Check if pwm frequency is 12kHz |
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cpi I_Temp1, low(200) ; If below 100us, 12kHz pwm is assumed |
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cpc I_Temp2, Zero |
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@ -2317,12 +2371,12 @@ rcp_int_ppm_check_full_range: |
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; Calculate "1000us" plus throttle minimum |
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ldi XL, 0 ; Set 1000us as default minimum |
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mov I_Temp7, XL |
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lds I_Temp2, Pgm_Direction ; Check if bidirectional operation (store in I_Temp2) |
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sbrc Flags3, FULL_THROTTLE_RANGE ; Check if full range is chosen |
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rjmp rcp_int_ppm_calculate ; Yes - branch |
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lds I_Temp7, Pgm_Ppm_Min_Throttle ; Min throttle value is in 4us units |
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.IF MODE >= 1 ; Tail or multi |
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lds I_Temp2, Pgm_Direction ; Check if bidirectional operation (store in I_Temp2) |
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cpi I_Temp2, 3 |
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brne PC+3 ; No - branch |
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@ -2946,7 +3000,7 @@ governor_activate: |
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ldi Temp2, 0xC7 |
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lds Temp3, Comm_Period4x_L ; Load comm period |
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lds Temp4, Comm_Period4x_H |
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; Set speed range. Bare Comm_Period4x corresponds to 400k rpm, because it is 500n units |
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; Set speed range |
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lsr Temp4 |
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ror Temp3 ; 200k eRPM range here |
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; Check range |
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@ -3075,8 +3129,8 @@ governor_check_pwm: |
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cp Temp4, XH |
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brcc governor_int_max_pwm ; Yes - branch |
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tst Temp4 ; Is current pwm at zero? |
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breq governor_int_min_pwm ; Yes - branch |
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cpi Temp4, 2 ; Is current pwm at minimum? |
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brcs governor_int_min_pwm ; Yes - branch |
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rjmp governor_store_int_error ; No - store integral error |
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@ -3227,7 +3281,7 @@ governor_apply_int_corr: |
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rjmp governor_store_int_corr ; No - store correction |
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governor_corr_int_min_pwm: |
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ldi Temp1, 0 ; Load minimum pwm |
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ldi Temp1, 1 ; Load minimum pwm |
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rjmp governor_store_int_corr |
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governor_corr_neg_int: |
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@ -3596,11 +3650,7 @@ check_voltage_exit: |
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check_voltage_lim: |
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.ENDIF |
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.IF MODE == 2 ; Multi |
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; Set current pwm limited if closed loop mode |
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lds XH, Pgm_Gov_Mode ; Governor mode? |
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cpi XH, 4 |
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brne check_voltage_set_pwm_gov ; Yes - branch |
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; Increase pwm limit |
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lds Temp2, Pwm_Limit |
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ldi XH, 16 |
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add Temp2, XH |
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@ -3609,9 +3659,19 @@ check_voltage_lim: |
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ldi Temp2, 255 |
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sts Pwm_Limit, Temp2 ; Increment limit |
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rjmp check_voltage_pwm_done |
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; Set current pwm limited if closed loop mode |
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lds XH, Pgm_Gov_Mode ; Governor mode? |
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cpi XH, 4 |
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breq check_voltage_pwm_done ; No - branch |
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lds Temp1, Pwm_Limit ; Set limit |
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lds XH, Current_Pwm |
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sub XH, Temp1 |
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brcc check_voltage_low_rpm ; If current pwm above limit - branch and limit |
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lds Temp1, Current_Pwm ; Set current pwm (no limiting) |
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check_voltage_set_pwm_gov: |
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check_voltage_low_rpm: |
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; Limit pwm for low rpms |
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lds XH, Pwm_Limit_Low_Rpm ; Check against limit |
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cp Temp1, XH |
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@ -3824,12 +3884,6 @@ calc_new_wait_per_demag_done: |
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brcc calc_new_wait_per_low |
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inc Temp7 ; Increase |
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inc Temp7 |
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sbrs Flags2, PGM_PWMOFF_DAMPED; More reduction for damped |
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rjmp calc_new_wait_per_low |
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inc Temp7 ; Increase more |
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calc_new_wait_per_low: |
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cpi XH, 2 ; 156k eRPM |
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@ -3838,11 +3892,6 @@ calc_new_wait_per_low: |
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inc Temp7 ; Increase more |
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inc Temp7 |
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sbrs Flags2, PGM_PWMOFF_DAMPED; More reduction for damped |
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rjmp calc_new_wait_per_high |
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inc Temp7 ; Increase more |
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calc_new_wait_per_high: |
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; Load current commutation timing |
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lds Temp2, Comm_Period4x_H ; Load Comm_Period4x |
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@ -4130,10 +4179,9 @@ comp_wait_on_comp_able_not_timed_out: |
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inc XH |
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sts Comparator_Read_Cnt, XH |
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Read_Comp_Out XH ; Read comparator output |
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ldi XH, 1 |
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sbrc Flags1, STARTUP_PHASE |
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rjmp comp_read_done |
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ldi XH, 4 ; 1 is stutter, 2 is quite fine, 3 is fine, 10 is fine on DYS SN20A |
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ldi XH, 2 ; More delay between readings for startup |
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dec XH |
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brne PC-1 |
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Read_Comp_Out XH ; Another reading reduces comparator noise on some ESCs (for some reason...) |
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@ -5195,7 +5243,7 @@ test_throttle_gain: |
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inc Temp1 |
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mul Temp5, Temp1 ; Temp5 has difference, Temp1 has gain |
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mov XH, Mul_Res_H |
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subi XH, 128 |
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subi XH, 125 |
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brcs test_throttle_gain |
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sts Ppm_Throttle_Gain, Temp1 ; Store gain |
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ret |
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@ -6092,7 +6140,10 @@ run6_check_rcp_stop_count: |
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.ENDIF |
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; Exit run loop after a given time |
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lds XH, Rcp_Stop_Cnt ; Load stop RC pulse counter value |
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cpi XH, RCP_STOP_LIMIT ; Is number of stop RC pulses above limit? |
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ldi Temp1, RCP_STOP_LIMIT |
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sbrc Flags0, DIR_CHANGE_BRAKE ; Is it a direction change? |
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ldi Temp1, 5 ; Yes - set a short timeout |
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cp XH, Temp1 ; Is number of stop RC pulses above limit? |
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brcc run_to_wait_for_power_on ; Yes, go back to wait for poweron |
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run6_check_rcp_timeout: |
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Steffen Skaug
9 years ago