Merge branch 'v0.22' into feature/bring_back_96khz_mode

src/BLHeliBootLoad.inc

@@ -59,7 +59,7 @@ init:
     mov  SP, #0c0h                      ; Stack = 64 upper bytes of RAM
     ; Initialize clock
     mov  CLKSEL, #00h                   ; Set clock divider to 1
-IF MCU_TYPE == MCU_BB1 or MCU_TYPE = MCU_BB2
+IF MCU_TYPE == MCU_BB1 or MCU_TYPE == MCU_BB2
     ; Initialize VDD monitor
     orl  VDM0CN, #080h                  ; Enable the VDD monitor
 ENDIF
@@ -68,7 +68,8 @@ ENDIF
     acall waitf
 
     ; Initialize flash keys
-    Unlock_Flash
+    mov  BL_Flash_Key_1, #0A5h
+    mov  BL_Flash_Key_2, #0F1h
 
     ; Initialize ports
     orl  RTX_MDIN, #(1 SHL RTX_PIN)     ; Set digital
@@ -188,7 +189,11 @@ mai2:
 exit:
     mov  Bit_Access, #0                 ; Clear variable used by flash lock detect
     mov  Bit_Access_Int, #0FFh          ; Set variable to indicate that program execution came from bootloader
-    Lock_Flash
+
+    ; Lock flash by setting invalid values
+    mov  BL_Flash_Key_1, #0
+    mov  BL_Flash_Key_2, #0
+
     ljmp 0000h
 rst:
     ajmp init

src/Bluejay.asm

@@ -236,7 +236,7 @@ Wt_Zc_Tout_Start_L: DS 1                ; Timer3 start point for zero cross scan
 Wt_Zc_Tout_Start_H: DS 1                ; Timer3 start point for zero cross scan timeout (hi byte)
 Wt_Comm_Start_L: DS 1                   ; Timer3 start point from zero cross to commutation (lo byte)
 Wt_Comm_Start_H: DS 1                   ; Timer3 start point from zero cross to commutation (hi byte)
-Pwm_Limit: DS 1                         ; Maximum allowed pwm (8-bit)
+Pwm_Limit_Startup_n_Temp: DS 1          ; Maximum allowed pwm (8-bit) - Used for startup power limit and temperature limit after startup
 Pwm_Limit_By_Rpm: DS 1                  ; Maximum allowed pwm for low or high rpm (8-bit)
 Pwm_Limit_Beg: DS 1                     ; Initial pwm limit (8-bit)
 Pwm_Braking24_L: DS 1                   ; Max Braking @24khz pwm (lo byte)
@@ -330,8 +330,8 @@ Temp_Storage: DS 48                     ; Temporary storage (internal memory)
 ;**** **** **** **** **** **** **** **** **** **** **** **** ****
 CSEG AT CSEG_EEPROM
 EEPROM_FW_MAIN_REVISION EQU 0           ; Main revision of the firmware
-EEPROM_FW_SUB_REVISION EQU 21           ; Sub revision of the firmware
-EEPROM_LAYOUT_REVISION EQU 208          ; Revision of the EEPROM layout
+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 30       ; Number of parameters
 
 Eep_FW_Main_Revision: DB EEPROM_FW_MAIN_REVISION ; EEPROM firmware main revision number
@@ -734,28 +734,24 @@ wait_for_start_nonzero:
 ;**** **** **** **** **** **** **** **** **** **** **** **** ****
 motor_start:
     clr  IE_EA                          ; Disable interrupts
+
     call switch_power_off
-    setb IE_EA                          ; Enable interrupts
 
     clr  A
-    mov  Flags0, A                      ; Clear run time flags
-    mov  Flags1, A
-    mov  Demag_Detected_Metric, A       ; Clear demag metric
-    mov  Demag_Detected_Metric_Max, A   ; Clear demag metric max
-
-    call wait1ms
-
+    mov  Flags0, #0                     ; Clear run time flags
+    mov  Flags1, #0
+    mov  Demag_Detected_Metric, #0      ; Clear demag metric
+    mov  Demag_Detected_Metric_Max, #0  ; Clear demag metric max
     mov  Ext_Telemetry_H, #0            ; Clear extended telemetry data
 
     ; Set up start operating conditions
-    clr  IE_EA                          ; Disable interrupts
     mov  Temp2, #Pgm_Startup_Power_Max
     mov  Pwm_Limit_Beg, @Temp2          ; Set initial pwm limit
     mov  Pwm_Limit_By_Rpm, Pwm_Limit_Beg
 
     ; Set temperature PWM limit and setpoint to the maximum value
-    mov  Pwm_Limit, #255
-    mov  Temp_Pwm_Level_Setpoint, #255
+    mov  Pwm_Limit_Startup_n_Temp, Pwm_Limit_Beg
+    mov  Temp_Pwm_Level_Setpoint, Pwm_Limit_Beg
 
 ; Begin startup sequence
 IF MCU_TYPE == MCU_BB2 or MCU_TYPE == MCU_BB51
@@ -778,7 +774,6 @@ IF MCU_TYPE == MCU_BB2 or MCU_TYPE == MCU_BB51
 
     mov  DShot_GCR_Start_Delay, #DSHOT_TLM_START_DELAY_48
 ENDIF
-    setb IE_EA                          ; Enable interrupts
 
     mov  C, Flag_Pgm_Dir_Rev            ; Read spin direction setting
     mov  Flag_Motor_Dir_Rev, C
@@ -792,18 +787,23 @@ ENDIF
 ; Motor start beginning
 ;**** **** **** **** **** **** **** **** **** **** **** **** ****
 motor_start_bidir_done:
+    ; Set initial motor state
     setb Flag_Startup_Phase             ; Set startup phase flags
     setb Flag_Initial_Run_Phase
     mov  Startup_Cnt, #0                ; Reset startup phase run counter
     mov  Initial_Run_Rot_Cntd, #12      ; Set initial run rotation countdown
-    call comm5_comm6                    ; Initialize commutation
+
+    ; Initialize commutation
+    call comm5_comm6                    ; Enable MOSFET commutation
     call comm6_comm1
     call initialize_timing              ; Initialize timing
     call calc_next_comm_period          ; Set virtual commutation point
     call initialize_timing              ; Initialize timing
     call calc_next_comm_period
     call initialize_timing              ; Initialize timing
 
+    setb IE_EA                          ; Enable interrupts
+
 ;**** **** **** **** **** **** **** **** **** **** **** **** ****
 ;
 ; Run entry point
@@ -894,6 +894,7 @@ run6:
     jnb  Flag_Startup_Phase, initial_run_phase
 
     ; Startup phase
+    mov  Pwm_Limit_Startup_n_Temp, Pwm_Limit_Beg       ; Set initial max power
     mov  Pwm_Limit_By_Rpm, Pwm_Limit_Beg; Set initial max power
     clr  C
     mov  A, Startup_Cnt                 ; Load startup counter
@@ -906,7 +907,6 @@ run6:
 startup_phase_done:
     ; Clear startup phase flag & remove pwm limits
     clr  Flag_Startup_Phase
-    mov  Pwm_Limit_By_Rpm, #255
 
 initial_run_phase:
     ; If it is a direction change - branch
@@ -927,6 +927,16 @@ initial_run_phase:
 
 initial_run_phase_done:
     clr  Flag_Initial_Run_Phase         ; Clear initial run phase flag
+
+    ; Lift startup power restrictions
+    ; Temperature protection acts until this point
+    ; as a max startup power limiter.
+    ; This plus the power limits applied in set_pwm_limit function
+    ; act as a startup power limiter to protect the esc and the motor
+    ; during startup, jams produced after crashes and desyncs recovery
+    mov  Pwm_Limit_Startup_n_Temp, #255 ; Reset temperature level pwm limit
+    mov  Temp_Pwm_Level_Setpoint, #255  ; Reset temperature level setpoint
+
     setb Flag_Motor_Started             ; Set motor started
     jmp  run1                           ; Continue with normal run
 
@@ -1011,11 +1021,13 @@ exit_run_mode_on_timeout:
     inc  Startup_Stall_Cnt              ; Increment stall count if motors did not properly start
 
 exit_run_mode:
-    clr  IE_EA                          ; Disable all interrupts
-    clr  Flag_Ext_Tele                  ; Clear extended DSHOT telemetry flag
+    ; Disable all interrupts (they will be disabled for a while, be aware)
+    clr  IE_EA
+
     call switch_power_off
     mov  Flags0, #0                     ; Clear run time flags (in case they are used in interrupts)
     mov  Flags1, #0
+    clr  Flag_Ext_Tele                  ; Clear extended DSHOT telemetry flag
 
 IF MCU_TYPE == MCU_BB2 or MCU_TYPE == MCU_BB51
     Set_MCU_Clk_24MHz
@@ -1038,38 +1050,44 @@ IF MCU_TYPE == MCU_BB2 or MCU_TYPE == MCU_BB51
     mov  DShot_GCR_Start_Delay, #DSHOT_TLM_START_DELAY
 ENDIF
 
-    setb IE_EA                          ; Enable all interrupts
-
     ; Check if RCP is zero, then it is a normal stop or signal timeout
     jb   Flag_Rcp_Stop, exit_run_mode_no_stall
 
+    ; It is a stall!
     ; Signal stall
     setb Flag_Stall_Notify
 
-    clr  C                              ; Otherwise - it's a stall
+    ; Check max consecutive stalls and exit if stall counter > 3
+    clr  C
     mov  A, Startup_Stall_Cnt
-    subb A, #4                          ; Maximum consecutive stalls
-    jnc  exit_run_mode_stall_done
+    subb A, #3
+    jnc  exit_run_mode_is_stall
+
+    ; At this point there was a desync event, and a new try is to be done.
+    ; The program will jump to motor_start. Interrupts are disabled at this
+    ; point so it is safe to jump to motor start, where a new initial state
+    ; will be set
 
     call wait100ms                      ; Wait for a bit between stall restarts
+
     ljmp motor_start                    ; Go back and try starting motors again
 
-exit_run_mode_stall_done:
+exit_run_mode_is_stall:
     ; Clear extended DSHOT telemetry flag if turtle mode is not active
     ; This flag is also used for EDT safety arm flag
     ; We don't want to deactivate extended telemetry during turtle mode
     ; Extended telemetry flag is important because it is involved in
     ; EDT safety feature. We don't want to disable EDT arming during
     ; turtle mode.
-    jb Flag_User_Reverse_Requested, exit_run_mode_stall_done_beep
+    jb Flag_User_Reverse_Requested, exit_run_mode_is_stall_beep
     clr Flag_Ext_Tele
 
-exit_run_mode_stall_done_beep:
+exit_run_mode_is_stall_beep:
     ; Stalled too many times
-    clr  IE_EA
     call beep_motor_stalled
-    setb IE_EA
 
+    ; Enable all interrupts before jump (disabled above, in exit_run_mode)
+    setb IE_EA
     ljmp arming_begin                   ; Go back and wait for arming
 
 exit_run_mode_no_stall:
@@ -1079,10 +1097,10 @@ exit_run_mode_no_stall:
     ; Extended telemetry flag is important because it is involved in
     ; EDT safety feature. We don't want to disable EDT arming during
     ; turtle mode.
-    jb Flag_User_Reverse_Requested, exit_run_mode_no_stall_beep
+    jb Flag_User_Reverse_Requested, exit_run_mode_no_stall_no_beep
     clr Flag_Ext_Tele
 
-exit_run_mode_no_stall_beep:
+exit_run_mode_no_stall_no_beep:
     ; Clear stall counter
     mov  Startup_Stall_Cnt, #0
 
@@ -1095,6 +1113,8 @@ exit_run_mode_no_stall_beep:
     C_Com_Fet_On
 
 exit_run_mode_brake_done:
+    ; Enable all interrupts before jump (disabled above, in exit_run_mode)
+    setb IE_EA
     ljmp wait_for_start                 ; Go back to wait for power on
 
 ;**** **** **** **** **** **** **** **** **** **** **** **** ****

src/Modules/Isrs.asm

@@ -347,7 +347,7 @@ t1_int_zero_rcp_checked:
 t1_int_zero_rcp_checked_set_limit:
     ; Set pwm limit
     clr  C
-    mov  A, Pwm_Limit                   ; Limit to the smallest
+    mov  A, Pwm_Limit_Startup_n_Temp    ; Limit to the smallest
     mov  Temp6, A                       ; Store limit in Temp6
     subb A, Pwm_Limit_By_Rpm
     jc   t1_int_zero_rcp_checked_check_limit

src/Modules/Power.asm

@@ -35,9 +35,16 @@
 ;
 ;**** **** **** **** **** **** **** **** **** **** **** **** ****
 switch_power_off:
+    ; This three macros disable MOSFET communtation.
+    ; Dshot frames will have no effect after disabling MOSFET communtation.
+    ; Commutation is started again at motor_start_bidir_done.
     All_Pwm_Fets_Off                    ; Turn off all pwm FETs
     All_Com_Fets_Off                    ; Turn off all commutation FETs
     Set_All_Pwm_Phases_Off
+
+    ; Enforce all PWM limits to zero to disable dshot frame rcpulses
+    mov  Pwm_Limit_By_Rpm, #0
+    mov  Pwm_Limit_Startup_n_Temp, #0
     ret
 
 ;**** **** **** **** **** **** **** **** **** **** **** **** ****
@@ -50,10 +57,17 @@ switch_power_off:
 set_pwm_limit:
     jb   Flag_High_Rpm, set_pwm_limit_high_rpm ; If high rpm,limit pwm by rpm instead
 
-    ;set_pwm_limit_low_rpm:
-    ; Set pwm limit
+set_pwm_limit_low_rpm:
+    ; Set pwm limit for startup phase to avoid burning the esc/motor during startup
+    ; (Startup can happen after a desync caused by a crash, if that is the case it
+    ; will be better to avoid burning esc/motor)
+    mov  Temp1, Pwm_Limit_Beg
+
+    ; Exit if startup phase is set
+    jb   Flag_Startup_Phase, set_pwm_limit_low_rpm_exit
+
+    ; Set default pwm limit for other phases
     mov  Temp1, #0FFh                   ; Default full power
-    jb   Flag_Startup_Phase, set_pwm_limit_low_rpm_exit ; Exit if startup phase set
 
     mov  A, Low_Rpm_Pwr_Slope           ; Check if low RPM power protection is enabled
     jz   set_pwm_limit_low_rpm_exit     ; Exit if disabled (zero)
@@ -72,9 +86,13 @@ set_pwm_limit_calculate:
     mul  AB
     mov  Temp1, A                       ; Set new limit
     xch  A, B
+
+    ; If RPM_PWM_LIMIT < 255 goto set_pwm_limit_check_limit_to_min
     jz   set_pwm_limit_check_limit_to_min ; Limit to max
 
-    mov  Temp1, #0FFh
+    ; Limit is bigger than 0xFF -> set max pwm and exit
+    mov  Pwm_Limit_By_Rpm, #0FFh
+    ret
 
 set_pwm_limit_check_limit_to_min:
     clr  C

src/Modules/Scheduler.asm

@@ -183,21 +183,21 @@ scheduler_steps_odd:
     ; resulting in current spikes, that may damage motor/ESC.
     ; Compare pwm limit to setpoint
     clr  C
-    mov  A, Pwm_Limit
+    mov  A, Pwm_Limit_Startup_n_Temp
     subb A, Temp_Pwm_Level_Setpoint
     jz   scheduler_steps_odd_choose_step ; pwm limit == setpoint -> next
     jc   scheduler_steps_odd_temp_pwm_limit_inc ; pwm limit < setpoint -> increase pwm limit
 
 scheduler_steps_odd_temp_pwm_limit_dec:
     ; Decrease pwm limit
-    dec  Pwm_Limit
+    dec  Pwm_Limit_Startup_n_Temp
 
     ; Continue with odd scheduler step selection
     sjmp scheduler_steps_odd_choose_step
 
 scheduler_steps_odd_temp_pwm_limit_inc:
     ; Increase pwm limit
-    inc  Pwm_Limit
+    inc  Pwm_Limit_Startup_n_Temp
 
 ; Run speciffic odd scheduler step
 scheduler_steps_odd_choose_step:

src/Modules/Timing.asm

@@ -776,9 +776,16 @@ evaluate_comparator_integrity:
     jb   Flag_Dir_Change_Brake, eval_comp_exit ; Do not exit run mode if braking
     jb   Flag_Demag_Detected, eval_comp_exit ; Do not exit run mode if it is a demag situation
 
-    dec  SP                             ; Routine exit without "ret" command
+    ; Disable all interrupts and cut power ASAP. They will be enabled in exit_run_mode_on_timeout
+    clr  IE_EA
+    call switch_power_off
+
+    ; Routine exit without "ret" command
     dec  SP
-    ljmp exit_run_mode_on_timeout       ; Exit run mode if timeout has elapsed
+    dec  SP
+
+    ; Go to exit run mode if timeout has elapsed
+    ljmp exit_run_mode_on_timeout
 
 eval_comp_startup:
     inc  Startup_Cnt                    ; Increment startup counter

src/Settings/BluejaySettings.asm

@@ -42,10 +42,10 @@ DEFAULT_PGM_POWER_RATING EQU 2          ; 1=1S,2=2S+
 DEFAULT_PGM_BRAKE_ON_STOP EQU 0         ; 1=Enabled 0=Disabled
 DEFAULT_PGM_LED_CONTROL EQU 0           ; Byte for LED control. 2 bits per LED,0=Off,1=On
 
-DEFAULT_PGM_STARTUP_POWER_MIN EQU 51    ; 0..255 => (1000..1125 Throttle): value * (1000 / 2047) + 1000
+DEFAULT_PGM_STARTUP_POWER_MIN EQU 21    ; 0..255 => (1000..1125 Throttle): value * (1000 / 2047) + 1000
 DEFAULT_PGM_STARTUP_BEEP EQU 1          ; 0=Short beep,1=Melody
 
-DEFAULT_PGM_STARTUP_POWER_MAX EQU 25    ; 0..255 => (1000..2000 Throttle): Maximum startup power
+DEFAULT_PGM_STARTUP_POWER_MAX EQU 5     ; 0..255 => (1000..2000 Throttle): Maximum startup power
 DEFAULT_PGM_BRAKING_STRENGTH EQU 255    ; 0..255 => 0..100 % Braking
 
 DEFAULT_PGM_SAFETY_ARM EQU 0            ; EDT safety arm is disabled by default