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feat: Add pwm frequency setting
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@mathiasvr
mathiasvr committed Jan 22, 2022
1 parent f04ced7 commit aec294d
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Showing 3 changed files with 137 additions and 90 deletions.
204 changes: 127 additions & 77 deletions Bluejay.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -109,11 +109,6 @@ Z_ EQU 26 ; Bm Cm Am Vn __ RX __ __ Ac Ap Bc Bp Cc Cp __ __ yes no high - Pino

PWM_CENTERED EQU DEADTIME > 0 ; Use center aligned pwm on ESCs with dead time

IF MCU_48MHZ < 2 AND PWM_FREQ < 3
; Number of bits in pwm high byte
PWM_BITS_H EQU (2 + MCU_48MHZ - PWM_CENTERED - PWM_FREQ)
ENDIF

$include (Common.inc) ; Include common source code for EFM8BBx based ESCs

;**** **** **** **** ****
Expand All @@ -136,6 +131,7 @@ DEFAULT_PGM_DITHERING EQU 1 ; 0=Disabled, 1=Enabled

DEFAULT_PGM_STARTUP_POWER_MAX EQU 25 ; 0..255 => (1000..2000 Throttle): Maximum startup power
DEFAULT_PGM_BRAKING_STRENGTH EQU 255 ; 0..255 => 0..100 % Braking
DEFAULT_PGM_PWM_FREQUENCY EQU 24 ; 24, 48, 96 [kHz]

;**** **** **** **** ****
; Temporary register definitions
Expand Down Expand Up @@ -259,6 +255,10 @@ DShot_GCR_Pulse_Time_3_Tmp: DS 1

DShot_GCR_Start_Delay: DS 1

Pwm_Bits_H: DS 1
Pwm_H_Mask: DS 1
Dithering_Mask: DS 1

;**** **** **** **** ****
; Indirect addressing data segments
ISEG AT 080h ; The variables below must be in this sequence
Expand All @@ -269,7 +269,7 @@ Pgm_Dithering: DS 1 ; Enable PWM dithering
Pgm_Startup_Power_Max: DS 1 ; Maximum power (limit) during startup (and starting initial run phase)
_Pgm_Rampup_Slope: DS 1 ;
Pgm_Rpm_Power_Slope: DS 1 ; Low RPM power protection slope (factor)
Pgm_Pwm_Freq: DS 1 ; PWM frequency (temporary method for display)
Pgm_Pwm_Frequency: DS 1 ; PWM frequency [kHz]
Pgm_Direction: DS 1 ; Rotation direction
_Pgm_Input_Pol: DS 1 ; Input PWM polarity
Initialized_L_Dummy: DS 1 ; Place holder
Expand Down Expand Up @@ -329,7 +329,7 @@ Eep_Pgm_Dithering: DB DEFAULT_PGM_DITHERING
Eep_Pgm_Startup_Power_Max: DB DEFAULT_PGM_STARTUP_POWER_MAX
_Eep_Pgm_Rampup_Slope: DB 0FFh
Eep_Pgm_Rpm_Power_Slope: DB DEFAULT_PGM_RPM_POWER_SLOPE ; EEPROM copy of programmed rpm power slope (formerly startup power)
Eep_Pgm_Pwm_Freq: DB (24 SHL PWM_FREQ) ; Temporary method for display
Eep_Pgm_Pwm_Frequency: DB DEFAULT_PGM_PWM_FREQUENCY
Eep_Pgm_Direction: DB DEFAULT_PGM_DIRECTION ; EEPROM copy of programmed rotation direction
_Eep__Pgm_Input_Pol: DB 0FFh
Eep_Initialized_L: DB 055h ; EEPROM initialized signature (lo byte)
Expand Down Expand Up @@ -936,30 +936,40 @@ t1_int_zero_rcp_checked:
clr C
mov A, Temp6
subb A, Temp2 ; 8-bit rc pulse
jnc t1_int_scale_pwm_resolution
jnc t1_int_pwm_scale_resolution

IF PWM_BITS_H == 0 ; 8-bit pwm
mov A, Pwm_Bits_H
jnz t1_int_pwm_limit_not_8bit
;IF PWM_BITS_H == 0 ; 8-bit pwm
mov A, Temp6
mov Temp2, A
ELSE
sjmp t1_int_pwm_scale_resolution
;ELSE
t1_int_pwm_limit_not_8bit:
mov A, Temp6 ; Multiply limit by 8 for 11-bit pwm
mov B, #8
mul AB
mov Temp4, A
mov Temp5, B
ENDIF
;ENDIF

t1_int_scale_pwm_resolution:
t1_int_pwm_scale_resolution:
; Scale pwm resolution and invert (duty cycle is defined inversely)
IF PWM_BITS_H == 3 ; 11-bit pwm

mov A, Pwm_Bits_H
cjne A, #3, t1_int_pwm_scale_10_bit
;IF PWM_BITS_H == 3 ; 11-bit pwm
mov A, Temp5
cpl A
anl A, #7
mov Temp3, A
mov A, Temp4
cpl A
mov Temp2, A
ELSEIF PWM_BITS_H == 2 ; 10-bit pwm
sjmp t1_int_set_pwm ; No dithering for 11-bit pwm
;ELSEIF PWM_BITS_H == 2 ; 10-bit pwm
t1_int_pwm_scale_10_bit:
cjne A, #2, t1_int_pwm_scale_9_bit
clr C
mov A, Temp5
rrc A
Expand All @@ -970,7 +980,10 @@ ELSEIF PWM_BITS_H == 2 ; 10-bit pwm
rrc A
cpl A
mov Temp2, A
ELSEIF PWM_BITS_H == 1 ; 9-bit pwm
sjmp t1_int_pwm_dithering
;ELSEIF PWM_BITS_H == 1 ; 9-bit pwm
t1_int_pwm_scale_9_bit:
cjne A, #1, t1_int_pwm_scale_8_bit
mov B, Temp5
mov A, Temp4
mov C, B.0
Expand All @@ -985,21 +998,22 @@ ELSEIF PWM_BITS_H == 1 ; 9-bit pwm
cpl A
anl A, #1
mov Temp3, A
ELSEIF PWM_BITS_H == 0 ; 8-bit pwm
sjmp t1_int_pwm_dithering
;ELSEIF PWM_BITS_H == 0 ; 8-bit pwm
t1_int_pwm_scale_8_bit:
mov A, Temp2 ; Temp2 already 8-bit
cpl A
mov Temp2, A
mov Temp3, #0
ENDIF
;ENDIF

t1_int_pwm_dithering:
; 11-bit effective dithering of 8/9/10-bit pwm
IF PWM_BITS_H < 3
jnb Flag_Dithering, t1_int_set_pwm

mov A, Temp4 ; 11-bit low byte
cpl A
anl A, #((1 SHL (3 - PWM_BITS_H)) - 1); Get index into dithering pattern table

anl A, Dithering_Mask ; Get index into dithering pattern table
add A, #Dithering_Patterns
mov Temp1, A ; Reuse DShot pwm pointer since it is not currently in use.
mov A, @Temp1 ; Retrieve pattern
Expand All @@ -1008,19 +1022,17 @@ IF PWM_BITS_H < 3

jnb ACC.0, t1_int_set_pwm ; Increment if bit is set

inc Temp2
mov A, Temp2
add A, #1
mov Temp2, A
jnz t1_int_set_pwm
IF PWM_BITS_H != 0
;IF PWM_BITS_H != 0 ; TODO: 8-bit optimization not applied
inc Temp3
mov A, Temp3
addc A, #0
mov Temp3, A
jnb ACC.PWM_BITS_H, t1_int_set_pwm
anl A, Pwm_H_Mask
jnz t1_int_set_pwm
dec Temp3 ; Reset on overflow
ENDIF
;ENDIF
dec Temp2
ENDIF

t1_int_set_pwm:
; Set pwm registers
Expand Down Expand Up @@ -1060,24 +1072,28 @@ ENDIF

; Note: Interrupts (of higher priority) are not explicitly disabled because
; int0 is already disabled and timer 0 is assumed to be disabled at this point
IF PWM_BITS_H != 0
;IF PWM_BITS_H != 0
mov A, Pwm_Bits_H
jz t1_int_set_pwm_8_bit

; Set power pwm auto-reload registers
Set_Power_Pwm_Reg_L Temp2
Set_Power_Pwm_Reg_H Temp3
ELSE
Set_Power_Pwm_Reg_H Temp2
ENDIF

IF DEADTIME != 0
; Set damp pwm auto-reload registers
IF PWM_BITS_H != 0
Set_Damp_Pwm_Reg_L Temp4
Set_Damp_Pwm_Reg_H Temp5
ELSE
Set_Damp_Pwm_Reg_H Temp4
ENDIF
Set_Damp_Pwm_Reg_L Temp4
Set_Damp_Pwm_Reg_H Temp5
ENDIF
sjmp t1_int_set_pwm_done
;ELSE
t1_int_set_pwm_8_bit:
Set_Power_Pwm_Reg_H Temp2
IF DEADTIME != 0
Set_Damp_Pwm_Reg_H Temp4
ENDIF
;ENDIF

t1_int_set_pwm_done:
mov Rcp_Timeout_Cntd, #10 ; Set timeout count

; Prepare DShot telemetry
Expand Down Expand Up @@ -3524,7 +3540,7 @@ set_default_parameters:
imov Temp1, #DEFAULT_PGM_STARTUP_POWER_MAX ; Pgm_Startup_Power_Max
imov Temp1, #0FFh ; _Pgm_Rampup_Slope
imov Temp1, #DEFAULT_PGM_RPM_POWER_SLOPE ; Pgm_Rpm_Power_Slope
imov Temp1, #(24 SHL PWM_FREQ) ; Pgm_Pwm_Freq
imov Temp1, #DEFAULT_PGM_PWM_FREQUENCY ; Pgm_Pwm_Frequency
imov Temp1, #DEFAULT_PGM_DIRECTION ; Pgm_Direction
imov Temp1, #0FFh ; _Pgm_Input_Pol

Expand Down Expand Up @@ -3625,21 +3641,45 @@ 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
; Decode pwm frequency setting
mov Temp1, #Pgm_Pwm_Frequency ; Read programmed pwm frequency setting
mov A, @Temp1
mov Temp2, #0 ; 24 kHz by default
cjne A, #48, ($+5)
mov Temp2, #1 ; 48 kHz
cjne A, #96, ($+5)
mov Temp2, #2 ; 96 kHz

; TODO: Simplify?
clr C
mov A, #(2 + MCU_48MHZ - PWM_CENTERED)
subb A, Temp2
mov Pwm_Bits_H, A ; Number of bits in pwm high byte

; Decode pwm dithering and braking strength settings
mov Temp1, #Pgm_Dithering ; Read programmed dithering setting
mov A, @Temp1
IF PWM_BITS_H == 3 ; Scale braking strength to pwm resolution
; Note: Added for completeness
add A, #0FFh ; Carry set if A is not zero
mov Flag_Dithering, C ; Set dithering enabled

mov A, Pwm_Bits_H
cjne A, #3, decode_pwm_h_2
; Currently 11-bit pwm is only used on targets with built-in dead time insertion
rl A
rl A
rl A
mov Temp2, A
anl A, #07h
mov Pwm_Braking_H, A
mov A, Temp2
anl A, #0F8h
mov Pwm_Braking_L, A
ELSEIF PWM_BITS_H == 2
; Not initializing pwm dithering or braking strength
sjmp decode_pwm_h_done

decode_pwm_h_2:
;IF PWM_BITS_H == 2 ; Initialize pwm dithering bit patterns
cjne A, #2, decode_pwm_h_1
mov Pwm_H_Mask, #03h
mov Dithering_Mask, #01h

mov Temp1, #Dithering_Patterns ; 1-bit dithering (10-bit to 11-bit)
mov @Temp1, #00h ; 00000000
imov Temp1, #55h ; 01010101

mov Temp1, #Pgm_Braking_Strength ; Scale 10-bit braking pwm
mov A, @Temp1
rl A
rl A
mov Temp2, A
Expand All @@ -3648,38 +3688,37 @@ ELSEIF PWM_BITS_H == 2
mov A, Temp2
anl A, #0FCh
mov Pwm_Braking_L, A
ELSEIF PWM_BITS_H == 1

sjmp decode_pwm_h_done
;ELSEIF PWM_BITS_H == 1
decode_pwm_h_1:
cjne A, #1, decode_pwm_h_0
mov Pwm_H_Mask, #01h
mov Dithering_Mask, #03h

mov Temp1, #Dithering_Patterns ; 2-bit dithering (9-bit to 11-bit)
mov @Temp1, #00h ; 00000000
imov Temp1, #11h ; 00010001
imov Temp1, #55h ; 01010101
imov Temp1, #77h ; 01110111

mov Temp1, #Pgm_Braking_Strength ; Scale 9-bit braking pwm
mov A, @Temp1
rl A
mov Temp2, A
anl A, #01h
mov Pwm_Braking_H, A
mov A, Temp2
anl A, #0FEh
mov Pwm_Braking_L, A
ELSEIF PWM_BITS_H == 0
mov Pwm_Braking_H, #0
mov Pwm_Braking_L, A
ENDIF
cjne @Temp1, #0FFh, decode_pwm_dithering
mov Pwm_Braking_L, #0FFh ; Apply full braking if setting is max

decode_pwm_dithering:
mov Temp1, #Pgm_Dithering ; Read programmed dithering setting
mov A, @Temp1
add A, #0FFh ; Carry set if A is not zero
mov Flag_Dithering, C ; Set dithering enabled
sjmp decode_pwm_h_done
;ELSEIF PWM_BITS_H == 0
decode_pwm_h_0:
cjne A, #0, decode_pwm_h_done
mov Pwm_H_Mask, #00h
mov Dithering_Mask, #07h

IF PWM_BITS_H == 2 ; Initialize pwm dithering bit patterns
mov Temp1, #Dithering_Patterns ; 1-bit dithering (10-bit to 11-bit)
mov @Temp1, #00h ; 00000000
imov Temp1, #55h ; 01010101
ELSEIF PWM_BITS_H == 1
mov Temp1, #Dithering_Patterns ; 2-bit dithering (9-bit to 11-bit)
mov @Temp1, #00h ; 00000000
imov Temp1, #11h ; 00010001
imov Temp1, #55h ; 01010101
imov Temp1, #77h ; 01110111
ELSEIF PWM_BITS_H == 0
mov Temp1, #Dithering_Patterns ; 3-bit dithering (8-bit to 11-bit)
mov @Temp1, #00h ; 00000000
imov Temp1, #01h ; 00000001
Expand All @@ -3689,7 +3728,18 @@ ELSEIF PWM_BITS_H == 0
imov Temp1, #5Bh ; 01011011
imov Temp1, #77h ; 01110111
imov Temp1, #7fh ; 01111111
ENDIF

mov Temp1, #Pgm_Braking_Strength ; Scale 8-bit braking pwm
mov A, @Temp1
mov Pwm_Braking_H, #0
mov Pwm_Braking_L, A
;ENDIF

decode_pwm_h_done:
cjne @Temp1, #0FFh, decode_exit
mov Pwm_Braking_L, #0FFh ; Apply full braking if setting is max

decode_exit:
ret


Expand Down
4 changes: 3 additions & 1 deletion Common.inc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -156,7 +156,9 @@ Initialize_PCA MACRO
mov PCA0CN0, #40h ;; PCA enabled
mov PCA0MD, #08h ;; PCA clock is system clock

mov PCA0PWM, #(80h + PWM_BITS_H) ;; Enable PCA auto-reload registers and set pwm cycle length (8-11 bits)
mov A, #80h ;; Enable PCA auto-reload registers
add A, Pwm_Bits_H ;; Set pwm cycle length (8-11 bits)
mov PCA0PWM, A

IF PWM_CENTERED == 1
mov PCA0CENT, #07h ;; Center aligned pwm
Expand Down
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