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Merge pull request #29 from mathiasvr/comm-optimize 

Optimize and fix commutation timing calculations
main
Mathias Rasmussen 3 years ago
committed by GitHub
parent
9fd507a4ed 8b3d324fa1
commit
443f376592
No known key found for this signature in database GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 247 additions and 191 deletions
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  1. 438
      Bluejay.asm

438
Bluejay.asm
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@ -525,6 +525,87 @@ imov MACRO reg, val ;; Increment pointer register and move
mov @reg, val ;; Write value to memory address pointed to by register
ENDM
;**** **** **** **** ****
; Division
;
; ih, il: input (hi byte, lo byte)
; oh, ol: output (hi byte, lo byte)
;
Divide_By_16 MACRO ih, il, oh, ol
mov A, ih
swap A
mov ol, A
anl A, #00Fh
mov oh, A
mov A, ol
anl A, #0F0h
mov ol, A
mov A, il
swap A
anl A, #00Fh
orl A, ol
mov ol, A
ENDM
Divide_12Bit_By_16 MACRO ih, il, ol ;; Only if ih < 16
mov A, ih
swap A
mov ol, A
mov A, il
swap A
anl A, #00Fh
orl A, ol
mov ol, A
ENDM
Divide_By_8 MACRO ih, il, oh, ol
mov A, ih
swap A
rl A
mov ol, A
anl A, #01Fh
mov oh, A
mov A, ol
anl A, #0E0h
mov ol, A
mov A, il
swap A
rl A
anl A, #01Fh
orl A, ol
mov ol, A
ENDM
Divide_11Bit_By_8 MACRO ih, il, ol ;; Only if ih < 8
mov A, ih
swap A
rl A
mov ol, A
mov A, il
swap A
rl A
anl A, #01Fh
orl A, ol
mov ol, A
ENDM
Divide_By_4 MACRO ih, il, oh, ol
clr C
mov A, ih
rrc A
mov oh, A
mov A, il
rrc A
mov ol, A
clr C
mov A, oh
rrc A
mov oh, A
mov A, ol
rrc A
mov ol, A
ENDM
;**** **** **** **** **** **** **** **** **** **** **** **** ****
@ -1538,9 +1619,9 @@ set_pwm_limit_high_rpm:
clr C
mov A, Comm_Period4x_L
IF MCU_48MHZ == 1
subb A, #0A0h ; Limit Comm_Period to 160, which is 500k erpm
subb A, #0A0h ; Limit Comm_Period4x to 160, which is ~510k erpm
ELSE
subb A, #0E4h ; Limit Comm_Period to 228, which is 350k erpm
subb A, #0E4h ; Limit Comm_Period4x to 228, which is ~358k erpm
ENDIF
mov A, Comm_Period4x_H
subb A, #00h
@ -1688,7 +1769,7 @@ initialize_timing:
; Called immediately after each commutation
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
calc_next_comm_timing:
calc_next_comm_period:
; Read commutation time
clr IE_EA
clr TMR2CN0_TR2 ; Timer 2 disabled
@ -1707,43 +1788,50 @@ IF MCU_48MHZ == 1
rrca Temp1
ENDIF
; Calculate this commutation time
mov Temp4, Prev_Comm_L
mov Temp5, Prev_Comm_H
mov Prev_Comm_L, Temp1 ; Store timestamp as previous commutation
mov Prev_Comm_H, Temp2
jb Flag_Startup_Phase, calc_next_comm_startup
; Calculate this commutation time
clr C
mov A, Temp1
subb A, Temp4 ; Calculate the new commutation time
mov Temp1, A
subb A, Prev_Comm_L ; Calculate the new commutation time
mov Prev_Comm_L, Temp1 ; Save timestamp as previous commutation
mov Temp1, A ; Store commutation period in Temp1 (lo byte)
mov A, Temp2
subb A, Temp5
jb Flag_Startup_Phase, calc_next_comm_startup
subb A, Prev_Comm_H
mov Prev_Comm_H, Temp2 ; Save timestamp as previous commutation
IF MCU_48MHZ == 1
anl A, #7Fh
ENDIF
mov Temp2, A
mov Temp2, A ; Store commutation period in Temp2 (hi byte)
jnb Flag_High_Rpm, calc_next_comm_normal ; Branch normal rpm
ajmp calc_next_comm_timing_fast ; Branch high rpm
ajmp calc_next_comm_period_fast ; Branch high rpm
calc_next_comm_startup:
; Calculate this commutation time
mov Temp4, Prev_Comm_L
mov Temp5, Prev_Comm_H
mov Temp6, Prev_Comm_X
mov Prev_Comm_L, Temp1 ; Store timestamp as previous commutation
mov Prev_Comm_H, Temp2
mov Prev_Comm_X, Temp3 ; Store extended timestamp as previous commutation
mov Temp2, A
clr C
mov A, Temp1
subb A, Temp4 ; Calculate the new commutation time
mov A, Temp2
subb A, Temp5
mov A, Temp3
subb A, Temp6 ; Calculate the new extended commutation time
IF MCU_48MHZ == 1
anl A, #7Fh
ENDIF
mov Temp3, A
jz calc_next_comm_startup_no_X
; Extended byte is not zero, so commutation time is above 0xFFFF
mov Temp1, #0FFh
mov Temp2, #0FFh
sjmp calc_next_comm_startup_average
mov Comm_Period4x_L, #0FFh
mov Comm_Period4x_H, #0FFh
ajmp calc_next_comm_done
calc_next_comm_startup_no_X:
; Extended byte = 0, so commutation time fits within two bytes
@ -1751,8 +1839,6 @@ calc_next_comm_startup_no_X:
mov Temp8, Prev_Prev_Comm_H
mov Prev_Prev_Comm_L, Temp4
mov Prev_Prev_Comm_H, Temp5
mov Temp1, Prev_Comm_L ; Reload this commutation timestamp
mov Temp2, Prev_Comm_H
; Calculate the new commutation time based upon the two last commutations (to reduce sensitivity to offset)
clr C
@ -1763,190 +1849,141 @@ calc_next_comm_startup_no_X:
subb A, Temp8
mov Temp2, A
calc_next_comm_startup_average:
clr C
mov A, Comm_Period4x_H ; Average with previous and save
rrc A
mov Temp4, A
mov A, Comm_Period4x_L
rrc A
mov Temp3, A
mov A, Temp1
add A, Temp3
mov Comm_Period4x_L, A
mov A, Temp2
addc A, Temp4
mov Comm_Period4x_H, A
jnc ($+8)
mov Comm_Period4x_L, #0FFh
mov Comm_Period4x_H, #0FFh
mov Temp3, Comm_Period4x_L ; Comm_Period4x holds the time of 4 commutations
mov Temp4, Comm_Period4x_H
sjmp calc_new_wait_times_setup
sjmp calc_next_comm_div_4_1
calc_next_comm_normal:
; Prepare averaging by dividing Comm_Period4x and current commutation period (Temp2/1) according to speed.
mov Temp3, Comm_Period4x_L ; Comm_Period4x holds the time of 4 commutations
mov Temp4, Comm_Period4x_H
mov Temp5, Comm_Period4x_L ; Copy variables
mov Temp6, Comm_Period4x_H
mov Temp7, #4 ; Divide Comm_Period4x 4 times as default
mov Temp8, #2 ; Divide new commutation time 2 times as default
clr C
mov A, Temp4
subb A, #04h
jc calc_next_comm_avg_period_div
mov A, Temp4 ; Is Comm_Period4x_H below 4? (above ~80k erpm)
subb A, #4
jc calc_next_comm_div_16_4 ; Yes - Use averaging for high speeds
dec Temp7 ; Reduce averaging time constant for low speeds
dec Temp8
subb A, #4 ; Is Comm_Period4x_H below 8? (above ~40k erpm)
jc calc_next_comm_div_8_2 ; Yes - Use averaging for low speeds
clr C
mov A, Temp4
subb A, #08h
jc calc_next_comm_avg_period_div
; No - Use averaging for even lower speeds
jb Flag_Initial_Run_Phase, calc_next_comm_avg_period_div ; Do not average very fast during initial run
; Do not average very fast during initial run
jb Flag_Initial_Run_Phase, calc_next_comm_div_8_2_slow
dec Temp7 ; Reduce averaging time constant more for even lower speeds
dec Temp8
calc_next_comm_div_4_1:
; Update Comm_Period4x from 1 new commutation period
calc_next_comm_avg_period_div:
clr C
rrca Temp6 ; Divide by 2
rrca Temp5
djnz Temp7, calc_next_comm_avg_period_div
; Divide Temp4/3 by 4 and store in Temp6/5
Divide_By_4 Temp4, Temp3, Temp6, Temp5
clr C
mov A, Temp3
subb A, Temp5 ; Subtract a fraction
mov Temp3, A
mov A, Temp4
subb A, Temp6
mov Temp4, A
sjmp calc_next_comm_average_and_update
mov A, Temp8 ; Divide new time
jz calc_next_comm_new_period_div_done
calc_next_comm_div_8_2:
; Update Comm_Period4x from 1/2 new commutation period
calc_next_comm_new_period_div:
clr C
rrca Temp2 ; Divide by 2
; Divide Temp4/3 by 8 and store in Temp5
Divide_11Bit_By_8 Temp4, Temp3, Temp5
mov Temp6, #0
clr C ; Divide by 2
rrca Temp2
rrca Temp1
djnz Temp8, calc_next_comm_new_period_div
calc_next_comm_new_period_div_done:
mov A, Temp3
add A, Temp1 ; Add the divided new time
mov Temp3, A
mov A, Temp4
addc A, Temp2
mov Temp4, A
mov Comm_Period4x_L, Temp3 ; Store Comm_Period4x_X
mov Comm_Period4x_H, Temp4
jnc calc_new_wait_times_setup ; If period larger than 0xffff - go to slow case
sjmp calc_next_comm_average_and_update
mov Temp4, #0FFh
mov Comm_Period4x_L, Temp4 ; Set commutation period registers to very slow timing (0xffff)
mov Comm_Period4x_H, Temp4
calc_next_comm_div_8_2_slow:
; Update Comm_Period4x from 1/2 new commutation period
calc_new_wait_times_setup:
; Set high rpm flag (if above 156k erpm)
clr C
mov A, Temp4
subb A, #2 ; Is Comm_Period4x_H below 2?
jnc ($+4)
setb Flag_High_Rpm ; Yes - Set high rpm flag
; Divide Temp4/3 by 8 and store in Temp6/5
Divide_By_8 Temp4, Temp3, Temp6, Temp5
; Load programmed commutation timing
jnb Flag_Startup_Phase, calc_new_wait_per_startup_done ; Set dedicated timing during startup
clr C ; Divide by 2
rrca Temp2
rrca Temp1
mov Temp8, #3
sjmp calc_new_wait_per_demag_done
sjmp calc_next_comm_average_and_update
calc_new_wait_per_startup_done:
mov Temp1, #Pgm_Comm_Timing ; Load timing setting
mov A, @Temp1
mov Temp8, A ; Store in Temp8
calc_next_comm_div_16_4:
; Update Comm_Period4x from 1/4 new commutation period
clr C
mov A, Demag_Detected_Metric ; Check demag metric
subb A, #130
jc calc_new_wait_per_demag_done
; Divide Temp4/3 by 16 and store in Temp5
Divide_12Bit_By_16 Temp4, Temp3, Temp5
mov Temp6, #0
inc Temp8 ; Increase timing (if metric 130 or above)
; Divide Temp2/1 by 4 and store in Temp2/1
Divide_By_4 Temp2, Temp1, Temp2, Temp1
clr C
mov A, Demag_Detected_Metric
subb A, #160
jc ($+3)
calc_next_comm_average_and_update:
; Comm_Period4x = Comm_Period4x - (Comm_Period4x / (16, 8 or 4)) + (Comm_Period / (4, 2 or 1))
inc Temp8 ; Increase timing again (if metric 160 or above)
; Temp6/5: Comm_Period4x divided by (16, 8 or 4)
clr C ; Subtract a fraction
mov A, Temp3 ; Comm_Period4x_L
subb A, Temp5
mov Temp3, A
mov A, Temp4 ; Comm_Period4x_H
subb A, Temp6
mov Temp4, A
clr C
mov A, Temp8 ; Limit timing to max
subb A, #6
jc ($+4)
; Temp2/1: This commutation period divided by (4, 2 or 1)
mov A, Temp3 ; Add the divided new time
add A, Temp1
mov Comm_Period4x_L, A
mov A, Temp4
addc A, Temp2
mov Comm_Period4x_H, A
mov Temp8, #5 ; Set timing to max (if timing 6 or above)
jnc calc_next_comm_done ; Is period larger than 0xffff?
mov Comm_Period4x_L, #0FFh ; Yes - Set commutation period registers to very slow timing (0xffff)
mov Comm_Period4x_H, #0FFh
calc_new_wait_per_demag_done:
; Set timing reduction
mov Temp7, #2
calc_next_comm_done:
clr C
mov A, Comm_Period4x_H
subb A, #2 ; Is Comm_Period4x_H below 2? (above ~160k erpm)
jnc ($+4)
setb Flag_High_Rpm ; Yes - Set high rpm flag
; Commutation period: 60 deg / 6 runs = 60 deg
calc_next_comm_15deg:
; Commutation period: 360 deg / 6 runs = 60 deg
; 60 deg / 4 = 15 deg
; Load current commutation timing and compute 15 deg timing
; Divide Comm_Period4x by 16 (Comm_Period1x divided by 4) and store in Temp4/3
mov A, Comm_Period4x_H ; Divide by 16
swap A
anl A, #00Fh
mov Temp2, A
mov A, Comm_Period4x_H
swap A
anl A, #0F0h
mov Temp1, A
mov A, Comm_Period4x_L
swap A
anl A, #00Fh
add A, Temp1
mov Temp1, A
Divide_By_16 Comm_Period4x_H, Comm_Period4x_L, Temp4, Temp3
; Subtract timing reduction
clr C
mov A, Temp1
subb A, Temp7
mov A, Temp3
subb A, #2 ; Set timing reduction
mov Temp3, A
mov A, Temp2
mov A, Temp4
subb A, #0
mov Temp4, A
jc load_min_time ; Check that result is still positive
jnz calc_next_comm_timing_exit ; Check that result is still above minimum
jc calc_next_comm_15deg_set_min ; Check that result is still positive
jnz calc_next_comm_period_exit ; Check that result is still above minimum
mov A, Temp3
jnz calc_next_comm_timing_exit
jnz calc_next_comm_period_exit
load_min_time:
calc_next_comm_15deg_set_min:
mov Temp3, #1 ; Set minimum waiting time (Timers cannot wait for a delay of 0)
mov Temp4, #0
sjmp calc_next_comm_timing_exit
sjmp calc_next_comm_period_exit
;**** **** **** **** ****
; Calculate next commutation timing fast routine
; Fast calculation (Comm_Period4x_H less than 2)
calc_next_comm_timing_fast:
calc_next_comm_period_fast:
; Calculate new commutation time
mov Temp3, Comm_Period4x_L ; Comm_Period4x holds the time of 4 commutations
mov Temp4, Comm_Period4x_H
mov A, Temp4 ; Divide by 16 and store in Temp5
swap A
mov Temp7, A
mov A, Temp3
swap A
anl A, #0Fh
orl A, Temp7
mov Temp5, A
; Divide by 16 and store in Temp5
Divide_12Bit_By_16 Temp4, Temp3, Temp5
clr C
mov A, Temp3 ; Subtract a fraction
@ -1957,14 +1994,12 @@ calc_next_comm_timing_fast:
mov Temp4, A
; Note: Temp2 is assumed to be zero (approx. Comm_Period4x_H / 4)
clr C
mov A, Temp1
rrc A ; Divide by 4
clr C
rrc A
mov Temp1, A
mov A, Temp3 ; Add the divided new time
add A, Temp1
mov A, Temp1 ; Divide by 4
rr A
rr A
anl A, #03Fh
add A, Temp3 ; Add the divided new time
mov Temp3, A
mov A, Temp4
addc A, #0
@ -1974,12 +2009,10 @@ calc_next_comm_timing_fast:
mov Comm_Period4x_H, Temp4
clr C
subb A, #2 ; If erpm below 156k - go to normal case
subb A, #2 ; Is Comm_Period4x_H 2 or more? (below ~160k erpm)
jc ($+4)
clr Flag_High_Rpm ; Clear high rpm bit
clr Flag_High_Rpm ; Yes - Clear high rpm bit
; Set timing reduction
mov Temp1, #2
mov A, Temp4 ; Divide Comm_Period4x by 16 and store in Temp4/3
swap A
mov Temp7, A
@ -1988,22 +2021,16 @@ calc_next_comm_timing_fast:
swap A
anl A, #0Fh
orl A, Temp7
mov Temp3, A
clr C
subb A, Temp1
subb A, #2 ; Timing reduction
mov Temp3, A
jc load_min_time_fast ; Check that result is still positive
jnz calc_new_wait_times_fast_done ; Check that result is still above minimum
jc calc_next_comm_fast_set_min ; Check that result is still positive
jnz calc_next_comm_period_exit ; Check that result is still above minimum
load_min_time_fast:
calc_next_comm_fast_set_min:
mov Temp3, #1 ; Set minimum waiting time (Timers cannot wait for a delay of 0)
calc_new_wait_times_fast_done:
mov Temp1, #Pgm_Comm_Timing ; Load timing setting
mov A, @Temp1
mov Temp8, A ; Store in Temp8
calc_next_comm_timing_exit:
calc_next_comm_period_exit:
;**** **** **** **** **** **** **** **** **** **** **** **** ****
@ -2037,6 +2064,10 @@ wait_advance_timing:
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
calc_new_wait_times:
mov Temp1, #Pgm_Comm_Timing ; Load commutation timing setting
mov A, @Temp1
mov Temp8, A ; Store in Temp8
clr C
clr A
subb A, Temp3 ; Negate
@ -2054,6 +2085,34 @@ ENDIF
jb Flag_High_Rpm, calc_new_wait_times_fast ; Branch if high rpm
; Load programmed commutation timing
jnb Flag_Startup_Phase, adjust_comm_timing
mov Temp8, #3 ; Set dedicated timing during startup
sjmp load_comm_timing_done
adjust_comm_timing:
; Adjust commutation timing according to demag metric
clr C
mov A, Demag_Detected_Metric ; Check demag metric
subb A, #130
jc load_comm_timing_done
inc Temp8 ; Increase timing (if metric 130 or above)
subb A, #30
jc ($+3)
inc Temp8 ; Increase timing again (if metric 160 or above)
clr C
mov A, Temp8 ; Limit timing to max
subb A, #6
jc ($+4)
mov Temp8, #5 ; Set timing to max (if timing 6 or above)
load_comm_timing_done:
mov A, Temp1 ; Copy values
mov Temp3, A
mov A, Temp2
@ -2067,6 +2126,8 @@ ENDIF
rrc A
mov Temp5, A
mov Wt_Zc_Scan_Start_L, Temp5 ; Set 7.5deg time for zero cross scan delay
mov Wt_Zc_Scan_Start_H, Temp6
mov Wt_Zc_Tout_Start_L, Temp1 ; Set 15deg time for zero cross scan timeout
mov Wt_Zc_Tout_Start_H, Temp2
@ -2117,8 +2178,6 @@ store_times_increase:
mov Wt_Comm_Start_H, Temp4
mov Wt_Adv_Start_L, Temp1 ; New commutation advance time (~15deg nominal)
mov Wt_Adv_Start_H, Temp2
mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg)
mov Wt_Zc_Scan_Start_H, Temp6
sjmp calc_new_wait_times_exit
store_times_decrease:
@ -2126,8 +2185,6 @@ store_times_decrease:
mov Wt_Comm_Start_H, Temp2
mov Wt_Adv_Start_L, Temp3 ; New commutation advance time (~15deg nominal)
mov Wt_Adv_Start_H, Temp4
mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg)
mov Wt_Zc_Scan_Start_H, Temp6
; Set very short delays for all but advance time during startup, in order to widen zero cross capture range
jnb Flag_Startup_Phase, calc_new_wait_times_exit
@ -2149,6 +2206,7 @@ calc_new_wait_times_fast:
rrc A ; Divide by 2
mov Temp5, A
mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg)
mov Wt_Zc_Tout_Start_L, Temp1 ; Set 15deg time for zero cross scan timeout
clr C
@ -2182,13 +2240,11 @@ store_times_up_or_down_fast:
store_times_increase_fast:
mov Wt_Comm_Start_L, Temp3 ; Now commutation time (~60deg) divided by 4 (~15deg nominal)
mov Wt_Adv_Start_L, Temp1 ; New commutation advance time (~15deg nominal)
mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg)
sjmp calc_new_wait_times_exit
store_times_decrease_fast:
mov Wt_Comm_Start_L, Temp1 ; Now commutation time (~60deg) divided by 4 (~15deg nominal)
mov Wt_Adv_Start_L, Temp3 ; New commutation advance time (~15deg nominal)
mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg)
calc_new_wait_times_exit:
@ -3941,9 +3997,9 @@ motor_start_bidir_done:
call comm5_comm6 ; Initialize commutation
call comm6_comm1
call initialize_timing ; Initialize timing
call calc_next_comm_timing ; Set virtual commutation point
call calc_next_comm_period ; Set virtual commutation point
call initialize_timing ; Initialize timing
call calc_next_comm_timing
call calc_next_comm_period
call initialize_timing ; Initialize timing
@ -3962,7 +4018,7 @@ run1:
; evaluate_comparator_integrity ; Check whether comparator reading has been normal
call wait_for_comm ; Wait from zero cross to commutation
call comm1_comm2 ; Commutate
call calc_next_comm_timing ; Calculate next timing and wait advance timing wait
call calc_next_comm_period ; Calculate next timing and wait advance timing wait
; wait_advance_timing ; Wait advance timing and start zero cross wait
; calc_new_wait_times
; wait_before_zc_scan ; Wait zero cross wait and start zero cross timeout
@ -3976,7 +4032,7 @@ run2:
call set_pwm_limit ; Set pwm power limit for low or high rpm
call wait_for_comm
call comm2_comm3
call calc_next_comm_timing
call calc_next_comm_period
; wait_advance_timing
; calc_new_wait_times
; wait_before_zc_scan
@ -3989,7 +4045,7 @@ run3:
; evaluate_comparator_integrity
call wait_for_comm
call comm3_comm4
call calc_next_comm_timing
call calc_next_comm_period
; wait_advance_timing
; calc_new_wait_times
; wait_before_zc_scan
@ -4002,7 +4058,7 @@ run4:
; evaluate_comparator_integrity
call wait_for_comm
call comm4_comm5
call calc_next_comm_timing
call calc_next_comm_period
; wait_advance_timing
; calc_new_wait_times
; wait_before_zc_scan
@ -4015,7 +4071,7 @@ run5:
; evaluate_comparator_integrity
call wait_for_comm
call comm5_comm6
call calc_next_comm_timing
call calc_next_comm_period
; wait_advance_timing
; calc_new_wait_times
; wait_before_zc_scan
@ -4030,7 +4086,7 @@ run6:
call wait_for_comm
call comm6_comm1
call check_temp_and_limit_power
call calc_next_comm_timing
call calc_next_comm_period
; wait_advance_timing
; calc_new_wait_times
; wait_before_zc_scan
@ -4120,15 +4176,15 @@ run6_check_dir_change:
jmp run4 ; Go back to run 4, thereby changing force direction
run6_check_speed:
mov Temp1, #0F0h ; Default minimum speed
mov Temp1, #0F0h ; Default minimum speed (~1330 erpm)
jnb Flag_Dir_Change_Brake, run6_brake_done; Is it a direction change?
mov Pwm_Limit, Pwm_Limit_Beg ; Set max power while braking to initial power limit
mov Temp1, #20h ; Bidirectional braking termination speed
mov Temp1, #20h ; Bidirectional braking termination speed (~9970 erpm)
run6_brake_done:
clr C
mov A, Comm_Period4x_H ; Is Comm_Period4x more than 32ms (~1220 eRPM)?
mov A, Comm_Period4x_H ; Is Comm_Period4x below minimum speed??
subb A, Temp1
ljc run1 ; No - go back to run 1

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