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Merge pull request #154 from bird-sanctuary/feature/bring_back_96khz_…
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Feature/bring back 96khz mode
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@stylesuxx
stylesuxx committed Dec 7, 2023
2 parents 732667a + b1e67a8 commit 894a3e6
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Showing 4 changed files with 162 additions and 45 deletions.
7 changes: 6 additions & 1 deletion src/Bluejay.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -243,6 +243,8 @@ Pwm_Braking24_L: DS 1 ; Max Braking @24khz pwm (lo byte)
Pwm_Braking24_H: DS 1 ; Max Braking @24khz pwm (hi byte)
Pwm_Braking48_L: DS 1 ; Max Braking @48khz pwm (lo byte)
Pwm_Braking48_H: DS 1 ; Max Braking @48khz pwm (hi byte)
Pwm_Braking96_L: DS 1 ; Max Braking @96khz pwm (lo byte)
Pwm_Braking96_H: DS 1 ; Max Braking @96khz pwm (hi byte)
Temp_Prot_Limit: DS 1 ; Temperature protection limit
Temp_Pwm_Level_Setpoint: DS 1 ; PWM level setpoint
Beep_Strength: DS 1 ; Strength of beeps
Expand All @@ -266,6 +268,7 @@ DShot_GCR_Start_Delay: DS 1
Ext_Telemetry_L: DS 1 ; Extended telemetry data to be sent
Ext_Telemetry_H: DS 1
Scheduler_Counter: DS 1 ; Scheduler Heartbeat
Throttle_96to48_Threshold: DS 1 ; Threshold to switch between 24 and 48khz
Throttle_48to24_Threshold: DS 1 ; Threshold to switch between 24 and 48khz

;**** **** **** **** **** **** **** **** **** **** **** **** ****
Expand Down Expand Up @@ -312,6 +315,7 @@ Pgm_Brake_On_Stop: DS 1 ; Braking when throttle is zero
Pgm_LED_Control: DS 1 ; LED control
Pgm_Power_Rating: DS 1 ; Power rating
Pgm_Safety_Arm: DS 1 ; Various flag settings: bit 0 is require edt enable to arm
Pgm_96to48_Threshold: DS 1 ; Threshold to move between 96 and 48 khz PWM frequency
Pgm_48to24_Threshold: DS 1 ; Threshold to move between 48 and 24 khz PWM frequency

ISEG AT 0C0h
Expand All @@ -328,7 +332,7 @@ CSEG AT CSEG_EEPROM
EEPROM_FW_MAIN_REVISION EQU 0 ; Main revision of the firmware
EEPROM_FW_SUB_REVISION EQU 22 ; Sub revision of the firmware
EEPROM_LAYOUT_REVISION EQU 209 ; Revision of the EEPROM layout
EEPROM_B2_PARAMETERS_COUNT EQU 29 ; Number of parameters
EEPROM_B2_PARAMETERS_COUNT EQU 30 ; Number of parameters

Eep_FW_Main_Revision: DB EEPROM_FW_MAIN_REVISION ; EEPROM firmware main revision number
Eep_FW_Sub_Revision: DB EEPROM_FW_SUB_REVISION ; EEPROM firmware sub revision number
Expand Down Expand Up @@ -374,6 +378,7 @@ Eep_Pgm_Brake_On_Stop: DB DEFAULT_PGM_BRAKE_ON_STOP ; EEPROM copy of programmed
Eep_Pgm_LED_Control: DB DEFAULT_PGM_LED_CONTROL ; EEPROM copy of programmed LED control
Eep_Pgm_Power_Rating: DB DEFAULT_PGM_POWER_RATING ; EEPROM copy of programmed power rating
Eep_Pgm_Safety_Arm: DB DEFAULT_PGM_SAFETY_ARM ; Various flag settings: bit 0 is require edt enable to arm
Eep_Pgm_96to48_Threshold: DB DEFAULT_96to48_THRESHOLD ; Threshold to move between 96 and 48 khz PWM frequency
Eep_Pgm_48to24_Threshold: DB DEFAULT_48to24_THRESHOLD ; Threshold to move between 48 and 24 khz PWM frequency


Expand Down
117 changes: 107 additions & 10 deletions src/Modules/Isrs.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -370,12 +370,21 @@ t1_int_zero_rcp_checked_check_limit:

t1_int_dynamic_pwm:
; Dynamic PWM
clr C
mov A, Temp2

; Choose between 96khz and 48khz
clr C
subb A, Throttle_96to48_Threshold
jc t1_int_run_96khz

; Choose between 48khz and 24khz
clr C
subb A, Throttle_48to24_Threshold
jc t1_int_run_48khz

IF PWM_CENTERED == 0

IF PWM_CENTERED == 0 ; Edge aligned PWM

t1_int_run_24khz:
; Scale pwm resolution and invert (duty cycle is defined inversely)
; No deadtime and 24khz
Expand All @@ -387,9 +396,8 @@ t1_int_run_24khz:
cpl A
mov Temp2, A

; Set PCA to work at 24khz
; Set PCA to work at 24khz (11bit pwm)
mov PCA0PWM, #83h

jmp t1_int_set_pwm

t1_int_run_48khz:
Expand All @@ -406,9 +414,41 @@ t1_int_run_48khz:
cpl A
mov Temp2, A

; Set PCA to work at 48khz
; Set PCA to work at 48khz (10bit pwm)
mov PCA0PWM, #82h
ELSE
jmp t1_int_set_pwm

t1_int_run_96khz:
; Scale pwm resolution and invert (duty cycle is defined inversely)
; Deadtime and 96khz
mov B, Temp5
mov A, Temp4
mov C, B.0
rrc A
mov C, B.1
rrc A
cpl A
mov Temp2, A
mov A, Temp5
rr A
rr A
cpl A
anl A, #1
mov Temp3, A

; Set PCA to work at 96khz (9bit pwm)
mov PCA0PWM, #81h

t1_int_set_pwm:
; Set PWM registers
; NOTE: Interrupts are not explicitly disabled. Assume higher priority
; interrupts (Int0, Timer0) to be disabled at this point.
; Set power pwm auto-reload registers
Set_Power_Pwm_Reg_L Temp2
Set_Power_Pwm_Reg_H Temp3

ELSE ; Center aligned PWM

t1_int_run_24khz:
; Scale pwm resolution and invert (duty cycle is defined inversely)
; Deadtime and 24khz
Expand All @@ -423,7 +463,7 @@ t1_int_run_24khz:
cpl A
mov Temp2, A

; Set PCA to work at 24khz
; Set PCA to work at 24khz (10bit pwm)
mov PCA0PWM, #82h

; Subtract dead time from normal pwm and store as damping PWM
Expand Down Expand Up @@ -453,6 +493,7 @@ t1_int_max_braking_set_24khz:
mov A, Temp5
subb A, Pwm_Braking24_H ; Is braking pwm more than maximum allowed braking?
jc t1_int_set_pwm ; Yes - branch

mov Temp4, Pwm_Braking24_L ; No - set desired braking instead
mov Temp5, Pwm_Braking24_H
jmp t1_int_set_pwm
Expand All @@ -475,7 +516,7 @@ t1_int_run_48khz:
anl A, #1
mov Temp3, A

; Set PCA to work at 48khz
; Set PCA to work at 48khz (9bit pwm)
mov PCA0PWM, #81h

; Subtract dead time from normal pwm and store as damping PWM
Expand Down Expand Up @@ -505,9 +546,63 @@ t1_int_max_braking_set_48khz:
mov A, Temp5
subb A, Pwm_Braking48_H ; Is braking pwm more than maximum allowed braking?
jc t1_int_set_pwm ; Yes - branch

mov Temp4, Pwm_Braking48_L ; No - set desired braking instead
mov Temp5, Pwm_Braking48_H
jmp t1_int_set_pwm

t1_int_run_96khz:
; Scale pwm resolution and invert (duty cycle is defined inversely)
; Deadtime and 96khz
mov A, Temp2 ; Temp2 already 8-bit
cpl A
mov Temp2, A
mov Temp3, #0

; Set PCA to work at 96khz (8bit pwm)
mov PCA0PWM, #80h

; Subtract dead time from normal pwm and store as damping PWM
; Damping PWM duty cycle will be higher because numbers are inverted
clr C
mov A, Temp2 ; Skew damping FET timing
IF MCU_TYPE == MCU_BB1
subb A, #((DEADTIME + 1) SHR 1)
ELSE
subb A, #(DEADTIME)
ENDIF
mov Temp4, A
mov A, Temp3
subb A, #0
mov Temp5, A
jnc t1_int_max_braking_set_96khz

clr A ; Set to minimum value
mov Temp4, A
mov Temp5, A
sjmp t1_int_set_pwm_96khz ; Max braking is already zero - branch

t1_int_max_braking_set_96khz:
clr C
mov A, Temp4
subb A, Pwm_Braking96_L
mov A, Temp5
subb A, Pwm_Braking96_H ; Is braking pwm more than maximum allowed braking?
jc t1_int_set_pwm_96khz ; Yes - branch

mov Temp4, Pwm_Braking96_L ; No - set desired braking instead
mov Temp5, Pwm_Braking96_H

t1_int_set_pwm_96khz:
; Set PWM registers
; NOTE: Interrupts are not explicitly disabled. Assume higher priority
; interrupts (Int0, Timer0) to be disabled at this point.
; Set power pwm auto-reload registers
Set_Power_Pwm_Reg_H Temp2

; Set damp pwm auto-reload registers
Set_Damp_Pwm_Reg_H Temp4
jmp t1_int_prepare_telemetry

t1_int_set_pwm:
; Set PWM registers
Expand All @@ -517,12 +612,14 @@ t1_int_set_pwm:
Set_Power_Pwm_Reg_L Temp2
Set_Power_Pwm_Reg_H Temp3

IF DEADTIME != 0
; Set damp pwm auto-reload registers
Set_Damp_Pwm_Reg_L Temp4
Set_Damp_Pwm_Reg_H Temp5
ENDIF

ENDIF ; Edge/center aligned pwm


t1_int_prepare_telemetry:
mov Rcp_Timeout_Cntd, #10 ; Set timeout count

; Prepare DShot telemetry
Expand Down
80 changes: 47 additions & 33 deletions src/Modules/Settings.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,7 @@ set_default_parameters:
imov Temp1, #DEFAULT_PGM_LED_CONTROL ; Pgm_LED_Control
imov Temp1, #DEFAULT_PGM_POWER_RATING ; Pgm_Power_Rating
imov Temp1, #DEFAULT_PGM_SAFETY_ARM ; Pgm_Safety_Arm
imov Temp1, #DEFAULT_96to48_THRESHOLD ; Pgm_96to48_Threshold
imov Temp1, #DEFAULT_48to24_THRESHOLD ; Pgm_48to24_Threshold

ret
Expand Down Expand Up @@ -165,33 +166,14 @@ decode_temp_done:
mov Temp1, #Pgm_Beep_Strength ; Read programmed beep strength setting
mov Beep_Strength, @Temp1 ; Set beep strength

mov Temp1, #Pgm_Braking_Strength ; Read programmed braking strength setting
mov A, @Temp1
IF PWM_CENTERED == 1 ; Scale braking strength to pwm resolution
; Note: Added for completeness
; Currently 11-bit pwm is only used on targets with built-in dead time insertion
; No deadtime & 24khz
rl A
rl A
rl A
mov Temp2, A
anl A, #07h
mov Pwm_Braking24_H, A
mov A, Temp2
anl A, #0F8h
mov Pwm_Braking24_L, A
; Read programmed braking strength setting
mov Temp1, #Pgm_Braking_Strength

; Deadtime & 48khz
rl A
rl A
mov Temp2, A
anl A, #03h
mov Pwm_Braking48_H, A
mov A, Temp2
anl A, #0FCh
mov Pwm_Braking48_L, A
ELSE
; Deadtime & 24khz
; Scale braking strength to pwm resolution
; Only for center aligned pwm modes (edge aligned pwm insert deadtime by hw)
IF PWM_CENTERED == 1
; Deadtime & 24khz (10bit pwm)
mov A, @Temp1
rl A
rl A
mov Temp2, A
Expand All @@ -201,40 +183,72 @@ ELSE
anl A, #0FCh
mov Pwm_Braking24_L, A

; Deadtime & 48khz
; Deadtime & 48khz (9bit pwm)
mov A, @Temp1
rl A
mov Temp2, A
anl A, #01h
mov Pwm_Braking48_H, A
mov A, Temp2
anl A, #0FEh
mov Pwm_Braking48_L, A
ENDIF

; Deadtime & 96khz (8bit pwm)
mov A, @Temp1
mov Pwm_Braking96_H, #0
mov Pwm_Braking96_L, A

cjne @Temp1, #0FFh, decode_throttle_threshold
mov Pwm_Braking24_L, #0FFh ; Apply full braking if setting is max
mov Pwm_Braking48_L, #0FFh ; Apply full braking if setting is max
mov Pwm_Braking96_L, #0FFh ; Apply full braking if setting is max
ENDIF

decode_throttle_threshold:
; Load chosen frequency
mov Temp1, #Pgm_Pwm_Freq
mov A, @Temp1
mov Temp1, #Pgm_Pwm_Freq
mov A, @Temp1

; Check 24khz pwm frequency
cjne A, #24, decode_throttle_not_24
mov Throttle_96to48_Threshold, #0
mov Throttle_48to24_Threshold, #0
jmp decode_throttle_end
jmp decode_end

decode_throttle_not_24:
; Check 48khz pwm frequency
cjne A, #48, decode_throttle_not_48
mov Throttle_96to48_Threshold, #0
mov Throttle_48to24_Threshold, #255
jmp decode_throttle_end
jmp decode_end

decode_throttle_not_48:
; Check 96khz pwm frequency
cjne A, #96, decode_throttle_not_96
mov Throttle_96to48_Threshold, #255
mov Throttle_48to24_Threshold, #255
jmp decode_end

decode_throttle_not_96:
; Dynamic pwm frequency
; Load programmed throttle threshold into Throttle_96to48_Threshold
mov Temp1, #Pgm_96to48_Threshold
mov Throttle_96to48_Threshold, @Temp1

; Load programmed throttle threshold into Throttle_48to24_Threshold
mov Temp1, #Pgm_48to24_Threshold
mov Throttle_48to24_Threshold, @Temp1

decode_throttle_end:
; Sanitize Throttle_48to24_Threshold
clr C
mov A, Throttle_48to24_Threshold
subb A, Throttle_96to48_Threshold
jnc decode_throttle_not_96_end
clr A

decode_throttle_not_96_end:
; Update Throttle_48to24_Threshold
mov Throttle_48to24_Threshold, A

decode_end:
ret
3 changes: 2 additions & 1 deletion src/Settings/BluejaySettings.asm
View file
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@
;**** **** **** **** **** **** **** **** **** **** **** **** ****

DEFAULT_PGM_RPM_POWER_SLOPE EQU 9 ; 0=Off,1..13 (Power limit factor in relation to rpm)
DEFAULT_PWM_FREQUENCY EQU 24 ; 24=24khz, 48=48khz, otherwise dynamic
DEFAULT_PWM_FREQUENCY EQU 24 ; 24=24khz, 48=48khz, 96=96khz, otherwise dynamic
DEFAULT_PGM_COMM_TIMING EQU 4 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
DEFAULT_PGM_DEMAG_COMP EQU 2 ; 1=Disabled 2=Low 3=High
DEFAULT_PGM_DIRECTION EQU 1 ; 1=Normal 2=Reversed 3=Bidir 4=Bidir rev
Expand All @@ -49,4 +49,5 @@ DEFAULT_PGM_STARTUP_POWER_MAX EQU 5 ; 0..255 => (1000..2000 Throttle): Maxim
DEFAULT_PGM_BRAKING_STRENGTH EQU 255 ; 0..255 => 0..100 % Braking

DEFAULT_PGM_SAFETY_ARM EQU 0 ; EDT safety arm is disabled by default
DEFAULT_96to48_THRESHOLD EQU 85 ; About 33% threshold to change between 96 and 48khz
DEFAULT_48to24_THRESHOLD EQU 170 ; About 66% threshold to change between 48 and 24khz

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