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@ -133,6 +133,11 @@ |
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; Fixed bug that caused brake not to work for low side pwm ESCs |
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; Fixed bug where noisy input signal could cause loss of sync |
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; Made low rpm power limiting programmable through the startup power parameter |
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; - Rev14.7 Beeps can be turned off by programming beep strength to 1 |
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; Throttle cal difference is checked to be above required minimum before storing. Throttle cal max is not stored until successful min throttle cal |
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; In order to have a good code for fixed wing planes, that has low voltage limiting, a main code spoolup time setting of 0 is made fast |
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; Some small changes for improved sync hold |
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; |
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; |
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; |
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;**** **** **** **** **** |
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@ -275,7 +280,7 @@ |
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;#define AFRO_12A_MULTI |
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;#define AFRO_20A_MAIN ; ICP1 as input |
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;#define AFRO_20A_TAIL |
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;#define AFRO_20A_MULTI |
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;#define AFRO_20A_MULTI |
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;#define AFRO_20A_HV_MAIN ; ICP1 as input |
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;#define AFRO_20A_HV_TAIL |
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;#define AFRO_20A_HV_MULTI |
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@ -296,7 +301,22 @@ |
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;#define TBS_CUBE_20A_MULTI |
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;#define ZTW_SPIDER_LITE_18Av2_MAIN |
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;#define ZTW_SPIDER_LITE_18Av2_TAIL |
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;#define ZTW_SPIDER_LITE_18Av2_MULTI |
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;#define ZTW_SPIDER_LITE_18Av2_MULTI |
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;#define HTIRC_DRAGONFLY_6A_MAIN |
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;#define HTIRC_DRAGONFLY_6A_TAIL |
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;#define HTIRC_DRAGONFLY_6A_MULTI |
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;#define HTIRC_DRAGONFLY_12A_MAIN |
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;#define HTIRC_DRAGONFLY_12A_TAIL |
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;#define HTIRC_DRAGONFLY_12A_MULTI |
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;#define HTIRC_DRAGONFLY_20A_MAIN |
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;#define HTIRC_DRAGONFLY_20A_TAIL |
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;#define HTIRC_DRAGONFLY_20A_MULTI |
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;#define HTIRC_DRAGONFLY_30A_MAIN |
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;#define HTIRC_DRAGONFLY_30A_TAIL |
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;#define HTIRC_DRAGONFLY_30A_MULTI |
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;#define HTIRC_DRAGONFLY_40A_MAIN |
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;#define HTIRC_DRAGONFLY_40A_TAIL |
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;#define HTIRC_DRAGONFLY_40A_MULTI |
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@ -917,6 +937,80 @@ |
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.INCLUDE "ZTW_Spider_Lite_18Av2.inc" ; Select ZTW Spider Lite 18Av2 pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_6A_MAIN) |
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.EQU MODE = 0 ; Choose mode. Set to 0 for main motor |
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.INCLUDE "Htirc_Dragonfly_6A.inc" ; Select HTIRC Dragonfly 6A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_6A_TAIL) |
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.EQU MODE = 1 ; Choose mode. Set to 1 for tail motor |
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.INCLUDE "Htirc_Dragonfly_6A.inc" ; Select HTIRC Dragonfly 6A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_6A_MULTI) |
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.EQU MODE = 2 ; Choose mode. Set to 2 for multirotor |
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.INCLUDE "Htirc_Dragonfly_6A.inc" ; Select HTIRC Dragonfly 6A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_12A_MAIN) |
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.EQU MODE = 0 ; Choose mode. Set to 0 for main motor |
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.INCLUDE "Htirc_Dragonfly_12A.inc" ; Select HTIRC Dragonfly 12A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_12A_TAIL) |
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.EQU MODE = 1 ; Choose mode. Set to 1 for tail motor |
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.INCLUDE "Htirc_Dragonfly_12A.inc" ; Select HTIRC Dragonfly 12A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_12A_MULTI) |
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.EQU MODE = 2 ; Choose mode. Set to 2 for multirotor |
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.INCLUDE "Htirc_Dragonfly_12A.inc" ; Select HTIRC Dragonfly 12A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_20A_MAIN) |
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.EQU MODE = 0 ; Choose mode. Set to 0 for main motor |
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.INCLUDE "Htirc_Dragonfly_20A.inc" ; Select HTIRC Dragonfly 20A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_20A_TAIL) |
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.EQU MODE = 1 ; Choose mode. Set to 1 for tail motor |
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.INCLUDE "Htirc_Dragonfly_20A.inc" ; Select HTIRC Dragonfly 20A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_20A_MULTI) |
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.EQU MODE = 2 ; Choose mode. Set to 2 for multirotor |
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.INCLUDE "Htirc_Dragonfly_20A.inc" ; Select HTIRC Dragonfly 20A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_30A_MAIN) |
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.EQU MODE = 0 ; Choose mode. Set to 0 for main motor |
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.INCLUDE "Htirc_Dragonfly_30A.inc" ; Select HTIRC Dragonfly 30A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_30A_TAIL) |
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.EQU MODE = 1 ; Choose mode. Set to 1 for tail motor |
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.INCLUDE "Htirc_Dragonfly_30A.inc" ; Select HTIRC Dragonfly 30A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_30A_MULTI) |
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.EQU MODE = 2 ; Choose mode. Set to 2 for multirotor |
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.INCLUDE "Htirc_Dragonfly_30A.inc" ; Select HTIRC Dragonfly 30A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_40A_MAIN) |
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.EQU MODE = 0 ; Choose mode. Set to 0 for main motor |
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.INCLUDE "Htirc_Dragonfly_40A.inc" ; Select HTIRC Dragonfly 40A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_40A_TAIL) |
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.EQU MODE = 1 ; Choose mode. Set to 1 for tail motor |
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.INCLUDE "Htirc_Dragonfly_40A.inc" ; Select HTIRC Dragonfly 40A pinout |
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#endif |
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#if defined(HTIRC_DRAGONFLY_40A_MULTI) |
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.EQU MODE = 2 ; Choose mode. Set to 2 for multirotor |
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.INCLUDE "Htirc_Dragonfly_40A.inc" ; Select HTIRC Dragonfly 40A pinout |
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#endif |
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@ -1090,11 +1184,11 @@ |
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.EQU OC1A_PENDING = 0 ; Timer1 output compare pending flag |
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.EQU RCP_MEAS_PWM_FREQ = 1 ; Measure RC pulse pwm frequency |
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.EQU PWM_ON = 2 ; Set in on part of pwm cycle |
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.EQU DEMAG_ENABLED = 3 ; Set when demag compensation is enabled (above a min speed and throttle) |
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.EQU DEMAG_DETECTED = 4 ; Set when excessive demag time is detected |
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.EQU DEMAG_CUT_POWER = 5 ; Set when demag compensation cuts power |
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.EQU GOV_ACTIVE = 6 ; Set when governor is active |
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.EQU DIR_CHANGE_BRAKE = 7 ; Set when braking before direction change |
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.EQU DEMAG_DETECTED = 3 ; Set when excessive demag time is detected |
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.EQU DEMAG_CUT_POWER = 4 ; Set when demag compensation cuts power |
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.EQU GOV_ACTIVE = 5 ; Set when governor is active |
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.EQU DIR_CHANGE_BRAKE = 6 ; Set when braking before direction change |
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; = 7 |
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.DEF Flags1 = R23 ; State flags. Reset upon init_start |
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.EQU MOTOR_SPINNING = 0 ; Set when in motor is spinning |
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@ -1157,7 +1251,7 @@ Power_On_Wait_Cnt_H: .BYTE 1 ; Power on wait counter (hi byte) |
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Startup_Cnt: .BYTE 1 ; Startup phase commutations counter (incrementing) |
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Startup_Zc_Timeout_Cntd: .BYTE 1 ; Startup zero cross timeout counter (decrementing) |
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Initial_Run_Rot_Cnt: .BYTE 1 ; Initial run rotations counter (incrementing) |
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Initial_Run_Rot_Cntd: .BYTE 1 ; Initial run rotations counter (decrementing) |
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Stall_Cnt: .BYTE 1 ; Counts start/run attempts that resulted in stall. Reset upon a proper stop |
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Demag_Detected_Metric: .BYTE 1 ; Metric used to gauge demag event frequency |
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Demag_Pwr_Off_Thresh: .BYTE 1 ; Metric threshold above which power is cut |
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@ -1287,7 +1381,7 @@ 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 = 6 ; Sub revision of the firmware |
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.EQU EEPROM_FW_SUB_REVISION = 7 ; Sub revision of the firmware |
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.EQU EEPROM_LAYOUT_REVISION = 21 ; 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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@ -1856,7 +1950,7 @@ t0_int_current_pwm_update: |
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lds I_Temp1, Pgm_Gov_Mode ; Governor mode? |
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cpi I_Temp1, 4 |
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breq PC+2 |
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rjmp t0_int_pwm_exit ; Yes - branch |
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rjmp t0_int_exit ; Yes - branch |
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.ENDIF |
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lds XL, Requested_Pwm ; Set equal as default |
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@ -1931,18 +2025,11 @@ t0_int_current_pwm_no_dither: |
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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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subi I_Temp1, 248 |
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brcs t0_int_pwm_exit |
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brcs t0_int_exit |
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sbr Flags1, (1<<SKIP_DAMP_ON) |
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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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mov XL, Current_Pwm_Limited |
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cpi XL, 0x40 ; Set if above 25% |
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brcs PC+2 |
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sbr Flags0, (1<<DEMAG_ENABLED) |
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t0_int_exit: |
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; Increment counter and check if high "interrupt" |
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lds XL, Timer0_Int_Cnt |
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inc XL |
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@ -2065,6 +2152,11 @@ t0h_int_rcp_gov_pwm_done: |
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ldi XL, 1 ; Reset skip count. Default is fast spoolup |
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sts Spoolup_Limit_Skip, XL |
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ldi I_Temp1, 8 ; Default fast increase for spoolup time of zero |
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lds XL, Main_Spoolup_Time_3x |
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tst XL |
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breq t0h_int_rcp_inc_limit ; Jump for spoolup time of zero |
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ldi I_Temp1, 5 ; Default fast increase |
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lds XL, Main_Spoolup_Time_3x ; No spoolup until 3*N*32ms (Spoolup_Limit_Cnt in I_Temp2) |
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@ -2696,7 +2788,13 @@ beep_f4: ; Entry point 4, load beeper frequency 4 settings |
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rjmp beep |
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beep: ; Beep loop start |
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ldi Temp2, 2 ; Must be an even number (or direction will change) |
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lds XH, Beep_Strength |
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dec XH |
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brne beep_start |
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ret |
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beep_start: |
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ldi Temp2, 2 |
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beep_onoff: |
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clr XH |
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BpFET_off ; BpFET off |
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@ -3379,24 +3477,9 @@ calc_governor_int_corr_exit: |
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set_pwm_limit_low_rpm: |
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; Set pwm limit and demag disable for low rpms |
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ldi Temp1, 0xFF ; Default full power |
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cbr Flags0, (1<<DEMAG_ENABLED) ; Default disabled |
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sbrc Flags1, STARTUP_PHASE ; Exit if startup phase set |
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rjmp set_pwm_limit_low_rpm_exit |
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sbrc Flags1, INITIAL_RUN_PHASE ; Skip demag portion if initial run phase set |
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rjmp set_pwm_demag_done |
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sbr Flags0, (1<<DEMAG_ENABLED) ; Enable demag |
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lds XH, Comm_Period4x_H |
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cpi XH, 0x0A ; ~31250 eRPM |
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brcs set_pwm_demag_done ; If speed above - branch |
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mov XH, Current_Pwm_Limited |
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cpi XH, 0x40 ; Do not disable if pwm above 25% |
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brcc set_pwm_demag_done |
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cbr Flags0, (1<<DEMAG_ENABLED) ; Disable demag |
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set_pwm_demag_done: |
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lds XH, Pgm_Enable_Power_Prot ; Check if low RPM power protection is enabled |
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tst XH |
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breq set_pwm_limit_low_rpm_exit ; Exit if disabled |
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@ -3911,13 +3994,16 @@ calc_next_comm_normal: |
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ldi XH, 2 ; Divide new commutation time 2 times as default |
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mov Temp8, XH |
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cpi Temp4, 0x04 |
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brcs PC+3 |
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brcs calc_next_comm_avg_period_div |
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dec Temp7 ; Reduce averaging time constant for low speeds |
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dec Temp8 |
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cpi Temp4, 0x08 |
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brcs PC+3 |
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brcs calc_next_comm_avg_period_div |
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sbrc Flags1, INITIAL_RUN_PHASE |
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rjmp calc_next_comm_avg_period_div ; Do not average very fast during initial run |
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dec Temp7 ; Reduce averaging time constant more for even lower speeds |
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dec Temp8 |
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@ -4418,10 +4504,18 @@ comp_read_wrong_extend_timeout: |
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cli ; Disable interrupts while reading timer 1 |
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Read_TCNT1L Temp4 ; Assuming interrupts are disabled |
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Read_TCNT1H Temp5 |
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lds Temp6, Comm_Period4x_L ; Set timeout to zero comm period 4x value |
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lds Temp7, Comm_Period4x_H |
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lds Temp6, Comm_Period4x_L ; Set timeout to ~4x comm period 4x value |
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lds XH, Comm_Period4x_H |
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lsl Temp6 |
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rol XH |
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brcc PC+2 |
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ldi XH, 0xFF |
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lsl Temp6 |
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rol XH |
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brcc PC+2 |
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ldi XH, 0xFF |
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add Temp4, Temp6 ; Set new output compare value |
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adc Temp5, Temp7 |
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adc Temp5, XH |
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Set_OCR1AH Temp5 ; Update high byte first to avoid false output compare |
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Set_OCR1AL Temp4 |
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sbr Flags0, (1<<OC1A_PENDING) |
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@ -4522,8 +4616,6 @@ eval_comp_exit: |
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wait_for_comm: |
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; Update demag metric |
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ldi Temp1, 0 |
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sbrs Flags0, DEMAG_ENABLED |
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rjmp PC+4 |
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sbrs Flags0, DEMAG_DETECTED |
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rjmp PC+2 |
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@ -5258,10 +5350,12 @@ decode_settings: |
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; Decode spoolup time |
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lds Temp1, Pgm_Main_Spoolup_Time |
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tst Temp1 |
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brne PC+2 ; If not zero - branch |
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brne decode_main_spoolup_nonzero ; If not zero - branch |
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inc Temp1 |
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sts Main_Spoolup_Time_3x, Zero |
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rjmp decode_main_spoolup_done |
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decode_main_spoolup_nonzero: |
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cpi Temp1, 17 ; Limit to 17 max |
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brcs PC+2 |
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@ -5280,6 +5374,7 @@ decode_settings: |
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add XH, Temp1 |
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add XH, Temp1 ; Now 15x |
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sts Main_Spoolup_Time_15x, XH |
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decode_main_spoolup_done: |
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.ENDIF |
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; Decode low rpm power slope |
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lds Temp1, Pgm_Startup_Pwr |
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@ -5416,7 +5511,8 @@ test_throttle_gain: |
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average_throttle: |
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sbr Flags3, (1<<FULL_THROTTLE_RANGE) ; Set range to 1000-2020us |
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xcall find_throttle_gain ; Set throttle gain |
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xcall wait30ms |
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xcall wait30ms |
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xcall wait30ms |
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ldi Temp3, 0 |
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ldi Temp4, 0 |
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ldi XH, 16 ; Average 16 measurments |
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@ -5824,7 +5920,6 @@ throttle_high_cal: |
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sts Pgm_Ppm_Max_Throttle, XH ; Store |
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xcall wait200ms |
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cli |
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xcall store_all_in_eeprom |
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xcall success_beep |
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sei |
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@ -5859,6 +5954,20 @@ throttle_low_cal: |
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mov XH, Temp7 |
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subi XH, 0xFB ; Add about 2% (subtract negative number) |
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sts Pgm_Ppm_Min_Throttle, XH ; Store |
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mov Temp1, XH ; Min throttle in Temp1 |
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lds Temp2, Pgm_Ppm_Max_Throttle |
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subi Temp2, 130 ; Subtract 130 (520us) from max throttle |
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brcs program_by_tx_entry_limit |
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sbc Temp2, Temp1 ; Subtract min from max |
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brcc program_by_tx_entry_store |
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program_by_tx_entry_limit: |
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ldi XH, 130 |
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add Temp1, XH ; Make max 520us higher than min |
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sts Pgm_Ppm_Max_Throttle, Temp1 ; Store new max |
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program_by_tx_entry_store: |
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xcall wait200ms |
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cli |
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xcall store_all_in_eeprom |
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@ -6222,7 +6331,7 @@ run6: |
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cbr Flags1, (1<<STARTUP_PHASE) ; Clear startup phase flag |
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sbr Flags1, (1<<INITIAL_RUN_PHASE); Set initial run phase flag |
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sts Initial_Run_Rot_Cnt, Temp3 ; Set initial run rotation count |
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sts Initial_Run_Rot_Cntd, Temp3 ; Set initial run rotation count |
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.IF MODE == 1 ; Tail |
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ldi XH, 0xFF |
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sts Pwm_Limit, XH ; Allow full power |
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@ -6252,7 +6361,7 @@ normal_run_checks: |
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rjmp initial_run_phase_done |
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; Decrement startup rotation count |
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lds XH, Initial_Run_Rot_Cnt |
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lds XH, Initial_Run_Rot_Cntd |
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dec XH |
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; Check number of nondamped rotations |
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brne normal_run_check_startup_rot ; Branch if counter is not zero |
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@ -6262,7 +6371,7 @@ normal_run_checks: |
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rjmp run1 ; Continue with normal run |
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normal_run_check_startup_rot: |
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sts Initial_Run_Rot_Cnt, XH ; Not zero - store counter |
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sts Initial_Run_Rot_Cntd, XH ; Not zero - store counter |
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lds XH, New_Rcp ; Load new pulse value |
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cpi XH, RCP_STOP ; Check if pulse is below stop value |
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brcs PC+2 |
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@ -6362,7 +6471,7 @@ run6_brake_done: |
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sbr Flags3, (1<<PGM_DIR_REV) ; Set spinning direction |
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sbr Flags1, (1<<INITIAL_RUN_PHASE) |
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ldi XH, 18 |
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sts Initial_Run_Rot_Cnt, XH |
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sts Initial_Run_Rot_Cntd, XH |
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lds XH, Pwm_Spoolup_Beg ; Set initial max power |
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sts Pwm_Limit, XH |
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rjmp run1 ; Go back to run 1 |
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sskaug
8 years ago