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Aligned throttle range with standard radio range #99

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Aligned throttle range with standard radio range #99

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a654f7d
Centered neutral throttle in bidirectional mode
ahalekelly Oct 26, 2015
67f1603
Cleaning up cruft
ahalekelly Nov 7, 2017
dc4755f
Merge branch 'master' of https://github.com/sim-/tgy
ahalekelly Nov 7, 2017
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35 changes: 15 additions & 20 deletions tgy.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -180,21 +180,20 @@
.if !defined(TIMING_OFFSET)
.equ TIMING_OFFSET = 0 ; Motor timing offset in microseconds
.endif
.equ MOTOR_BRAKE = 0 ; Enable brake during neutral/idle ("motor drag" brake)
.equ MOTOR_BRAKE = 1 ; Enable brake during neutral/idle ("motor drag" brake)
.equ LOW_BRAKE = 0 ; Enable brake on very short RC pulse ("thumb" brake like on Airtronics XL2P)
.if !defined(MOTOR_REVERSE)
.equ MOTOR_REVERSE = 0 ; Reverse normal commutation direction
.endif
.equ RC_PULS_REVERSE = 0 ; Enable RC-car style forward/reverse throttle
.equ RC_CALIBRATION = 1 ; Support run-time calibration of min/max pulse lengths
.equ RC_CALIBRATION = 0 ; Support run-time calibration of min/max pulse lengths
.equ SLOW_THROTTLE = 0 ; Limit maximum throttle jump to try to prevent overcurrent
.equ BEACON = 1 ; Beep periodically when RC signal is lost
.equ BEACON_IDLE = 0 ; Beep periodically if idle for a long period
.if !defined(CHECK_HARDWARE)
.equ CHECK_HARDWARE = 0 ; Check for correct pin configuration, sense inputs, and functioning MOSFETs
.endif
.equ CELL_MAX_DV = 43 ; Maximum battery cell deciV
.equ CELL_MIN_DV = 35 ; Minimum battery cell deciV
.equ CELL_COUNT = 0 ; 0: auto, >0: hard-coded number of cells (for reliable LVC > ~4S)
.equ BLIP_CELL_COUNT = 0 ; Blip out cell count before arming
.equ DEBUG_ADC_DUMP = 0 ; Output an endless loop of all ADC values (no normal operation)
Expand All @@ -208,20 +207,20 @@
; These are now defaults which can be adjusted via throttle calibration
; (stick high, stick low, (stick neutral) at start).
; These might be a bit wide for most radios, but lines up with POWER_RANGE.
.equ STOP_RC_PULS = 1060 ; Stop motor at or below this pulse length
.equ FULL_RC_PULS = 1860 ; Full speed at or above this pulse length
.equ STOP_RC_PULS = 1100 ; Stop motor at or below this pulse length
.equ FULL_RC_PULS = 1900 ; Full speed at or above this pulse length
.equ MAX_RC_PULS = 2400 ; Throw away any pulses longer than this
.equ MIN_RC_PULS = 768 ; Throw away any pulses shorter than this
.equ MID_RC_PULS = (STOP_RC_PULS + FULL_RC_PULS) / 2 ; Neutral when RC_PULS_REVERSE = 1
.equ RCP_ALIAS_SHIFT = 3 ; Enable 1/8th PWM input alias ("oneshot125")
.equ BEEP_RCP_ERROR = 0 ; Beep at stop if invalid PWM pulses were received

.if RC_PULS_REVERSE
.equ RCP_DEADBAND = 50 ; Do not start until this much above or below neutral
.equ PROGRAM_RC_PULS = (STOP_RC_PULS + FULL_RC_PULS * 3) / 4 ; Normally 1660
.equ RCP_DEADBAND = 25 ; Do not start until this much above or below neutral
.equ PROGRAM_RC_PULS = (STOP_RC_PULS + FULL_RC_PULS * 3) / 4 ; Normally 1700
.else
.equ RCP_DEADBAND = 0
.equ PROGRAM_RC_PULS = (STOP_RC_PULS + FULL_RC_PULS) / 2 ; Normally 1460
.equ PROGRAM_RC_PULS = (STOP_RC_PULS + FULL_RC_PULS) / 2 ; Normally 1500
.endif

.if LOW_BRAKE
Expand All @@ -239,23 +238,19 @@
.if !defined(POWER_RANGE)
.equ POWER_RANGE = 800 * CPU_MHZ / 16 + MIN_DUTY
.endif

.equ MAX_POWER = (POWER_RANGE-1)
.equ PWR_COOL_START = (POWER_RANGE/24) ; Power limit while starting to reduce heating
.equ PWR_MIN_START = (POWER_RANGE/6) ; Power limit while starting (to start)
.equ PWR_MAX_START = (POWER_RANGE/4) ; Power limit while starting (if still not running)
.equ PWR_MAX_RPM1 = (POWER_RANGE/4) ; Power limit when running slower than TIMING_RANGE1
.equ PWR_MAX_RPM2 = (POWER_RANGE/2) ; Power limit when running slower than TIMING_RANGE2
.equ PWR_MAX_RPM = (POWER_RANGE/2) ; Power limit when running slower than TIMING_RANGE1

.equ BRAKE_POWER = MAX_POWER*2/3 ; Brake force is exponential, so start fairly high
.equ BRAKE_SPEED = 3 ; Speed to reach MAX_POWER, 0 (slowest) - 8 (fastest)
.equ LOW_BRAKE_POWER = MAX_POWER*2/3
.equ LOW_BRAKE_SPEED = 5

.equ TIMING_MIN = 0x8000 ; 8192us per commutation
.equ TIMING_RANGE1 = 0x4000 ; 4096us per commutation
.equ TIMING_RANGE2 = 0x2000 ; 2048us per commutation
.equ TIMING_RANGE3 = 0x1000 ; 1024us per commutation
.equ TIMING_RANGE = 0x1000 ; 1024us per commutation
.equ TIMING_MAX = 0x0080 ; 32us per commutation (312,500eRPM)

.equ TIMEOUT_START = 48000 ; Timeout per commutation for ZC during starting
Expand Down Expand Up @@ -2812,19 +2807,19 @@ update_timing1:
; The actual current peak will depend on motor KV and voltage,
; so this is just an approximation. This is calculated smoothly
; with a (very slow) software divide only if timing permits.
cpi2 temp2, temp3, (TIMING_RANGE3 * CPU_MHZ / 2) >> 8, temp4
cpi2 temp2, temp3, (TIMING_RANGE * CPU_MHZ / 2) >> 8, temp4
ldi2 XL, XH, MAX_POWER
brcs update_timing4 ; Fast timing: no duty limit.

; 24.8-bit fixed-point unsigned divide, inlined with available registers:
; duty (XL:XH) = MAX_POWER * (TIMING_RANGE3 * CPU_MHZ / 2) / period (temp1:temp2:temp3)
; duty (XL:XH) = MAX_POWER * (TIMING_RANGE * CPU_MHZ / 2) / period (temp1:temp2:temp3)
; This takes about one microsecond per loop, but we only take this path
; when the motor is spinning slowly.

ldi XL, byte3(MAX_POWER * (TIMING_RANGE3 * CPU_MHZ / 2) / 0x100)
ldi XL, byte3(MAX_POWER * (TIMING_RANGE * CPU_MHZ / 2) / 0x100)
ldi XH, 33 ; Iteration counter
movw timing_duty_l, XL
ldi2 XL, XH, MAX_POWER * (TIMING_RANGE3 * CPU_MHZ / 2) / 0x100
ldi2 XL, XH, MAX_POWER * (TIMING_RANGE * CPU_MHZ / 2) / 0x100

mul ZH, ZH ; Zero temp5, temp6
sub temp4, temp4 ; Zero temp4, clear carry
Expand All @@ -2849,9 +2844,9 @@ fudiv24_ep:
com XL
com XH

cpi2 XL, XH, PWR_MAX_RPM1, temp4
cpi2 XL, XH, PWR_MAX_RPM, temp4
brcc update_timing4
ldi2 XL, XH, PWR_MAX_RPM1
ldi2 XL, XH, PWR_MAX_RPM
update_timing4: movw timing_duty_l, XL

sts timing_l, temp1 ; Store timing (120 degrees)
Expand Down