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feat: Separate startup and rampup power settings
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@mathiasvr
mathiasvr committed Feb 9, 2021
1 parent d197d3b commit ad46bab
Showing 1 changed file with 45 additions and 47 deletions.
92 changes: 45 additions & 47 deletions Bluejay.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -113,22 +113,24 @@ $include (Common.inc) ; Include common source code for EFM8BBx based ESCs

;**** **** **** **** ****
; Programming defaults
DEFAULT_PGM_STARTUP_PWR EQU 9 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50
DEFAULT_PGM_RPM_POWER_SLOPE EQU 9 ; 0=Off, 1..13 (Power limit factor in relation to rpm)
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
DEFAULT_PGM_BEEP_STRENGTH EQU 40 ; 0..255 (BLHeli_S is 1..255)
DEFAULT_PGM_BEACON_STRENGTH EQU 80 ; 0..255
DEFAULT_PGM_BEACON_DELAY EQU 4 ; 1=1m 2=2m 3=5m 4=10m 5=Infinite
DEFAULT_PGM_ENABLE_TEMP_PROT EQU 7 ; 0=Disabled 1=80C 2=90C 3=100C 4=110C 5=120C 6=130C 7=140C
DEFAULT_PGM_ENABLE_POWER_PROT EQU 1 ; 1=Enabled 0=Disabled

DEFAULT_PGM_BRAKE_ON_STOP EQU 0 ; 1=Enabled 0=Disabled
DEFAULT_PGM_LED_CONTROL EQU 0 ; Byte for LED control. 2bits per LED, 0=Off, 1=On

DEFAULT_PGM_STARTUP_BOOST EQU 51 ; 0..255 (1000..1125 Throttle): value * (1000 / 2047) + 1000
DEFAULT_PGM_STARTUP_POWER_MIN EQU 51 ; 0..255 => (1000..1125 Throttle): value * (1000 / 2047) + 1000
DEFAULT_PGM_STARTUP_BEEP EQU 1 ; 0=Short beep, 1=Melody
DEFAULT_PGM_DITHERING EQU 1 ; 0=Disabled, 1=Enabled

DEFAULT_PGM_STARTUP_POWER_MAX EQU 25 ; 0..255 => (1000..2000 Throttle): Maximum startup power

;**** **** **** **** ****
; Temporary register definitions
Temp1 EQU R0
Expand Down Expand Up @@ -258,13 +260,13 @@ DShot_GCR_Start_Delay: DS 1
;**** **** **** **** ****
; Indirect addressing data segments
ISEG AT 080h ; The variables below must be in this sequence
_Pgm_Gov_P_Gain: DS 1 ; Governor P gain
Pgm_Startup_Boost: DS 1 ; Governor I gain
Pgm_Startup_Beep: DS 1 ; Governor mode
Pgm_Dithering: DS 1 ; Low voltage limit
_Pgm_Motor_Gain: DS 1 ; Motor gain
_Pgm_Motor_Idle: DS 1 ; Motor idle speed
Pgm_Startup_Pwr: DS 1 ; Startup power
_Pgm_Gov_P_Gain: DS 1 ;
Pgm_Startup_Power_Min: DS 1 ; Minimum power during startup phase
Pgm_Startup_Beep: DS 1 ; Startup beep melody on/off
Pgm_Dithering: DS 1 ; Enable 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
Pgm_Direction: DS 1 ; Rotation direction
_Pgm_Input_Pol: DS 1 ; Input PWM polarity
Expand All @@ -291,15 +293,12 @@ _Pgm_BEC_Voltage_High: DS 1 ; BEC voltage
_Pgm_Center_Throttle: DS 1 ; Center throttle (in bidirectional mode)
_Pgm_Main_Spoolup_Time: DS 1 ; Main spoolup time
Pgm_Enable_Temp_Prot: DS 1 ; Temperature protection enable
Pgm_Enable_Power_Prot: DS 1 ; Low RPM power protection enable
_Pgm_Enable_Power_Prot: DS 1 ; Low RPM power protection enable
_Pgm_Enable_Pwm_Input: DS 1 ; Enable PWM input signal
_Pgm_Pwm_Dither: DS 1 ; Output PWM dither
Pgm_Brake_On_Stop: DS 1 ; Braking when throttle is zero
Pgm_LED_Control: DS 1 ; LED control

; The sequence of the variables below is no longer of importance
Pgm_Startup_Pwr_Decoded: DS 1 ; Programmed startup power decoded

ISEG AT 0B0h
Stack: DS 16 ; Reserved stack space

Expand All @@ -315,19 +314,19 @@ Temp_Storage: DS 48 ; Temporary storage
CSEG AT 1A00h
EEPROM_FW_MAIN_REVISION EQU 0 ; Main revision of the firmware
EEPROM_FW_SUB_REVISION EQU 9 ; Sub revision of the firmware
EEPROM_LAYOUT_REVISION EQU 200 ; Revision of the EEPROM layout
EEPROM_LAYOUT_REVISION EQU 201 ; Revision of the EEPROM layout

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
Eep_Layout_Revision: DB EEPROM_LAYOUT_REVISION ; EEPROM layout revision number

_Eep_Pgm_Gov_P_Gain: DB 0FFh
Eep_Pgm_Startup_Boost: DB DEFAULT_PGM_STARTUP_BOOST
Eep_Pgm_Startup_Power_Min: DB DEFAULT_PGM_STARTUP_POWER_MIN
Eep_Pgm_Startup_Beep: DB DEFAULT_PGM_STARTUP_BEEP
Eep_Pgm_Dithering: DB DEFAULT_PGM_DITHERING
_Eep_Pgm_Motor_Gain: DB 0FFh
_Eep_Pgm_Motor_Idle: DB 0FFh
Eep_Pgm_Startup_Pwr: DB DEFAULT_PGM_STARTUP_PWR ; EEPROM copy of programmed startup power
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 startup power
_Eep_Pgm_Pwm_Freq: DB 0FFh
Eep_Pgm_Direction: DB DEFAULT_PGM_DIRECTION ; EEPROM copy of programmed rotation direction
_Eep__Pgm_Input_Pol: DB 0FFh
Expand All @@ -354,7 +353,7 @@ _Eep_Pgm_BEC_Voltage_High: DB 0FFh
_Eep_Pgm_Center_Throttle: DB 0FFh ; EEPROM copy of programmed center throttle
_Eep_Pgm_Main_Spoolup_Time: DB 0FFh
Eep_Pgm_Temp_Prot_Enable: DB DEFAULT_PGM_ENABLE_TEMP_PROT ; EEPROM copy of programmed temperature protection enable
Eep_Pgm_Enable_Power_Prot: DB DEFAULT_PGM_ENABLE_POWER_PROT ; EEPROM copy of programmed low rpm power protection enable
_Eep_Pgm_Enable_Power_Prot: DB 0FFh ; EEPROM copy of programmed low rpm power protection enable
_Eep_Pgm_Enable_Pwm_Input: DB 0FFh
_Eep_Pgm_Pwm_Dither: DB 0FFh
Eep_Pgm_Brake_On_Stop: DB DEFAULT_PGM_BRAKE_ON_STOP ; EEPROM copy of programmed braking when throttle is zero
Expand All @@ -372,7 +371,7 @@ CSEG AT 80h ; Code segment after interrupt vectors
;**** **** **** **** ****
; Table definitions
; Rampup pwm power (8-bit)
STARTUP_POWER_TABLE: DB 1, 2, 3, 4, 6, 9, 12, 18, 25, 37, 50, 62, 75
;STARTUP_POWER_TABLE: DB 1, 2, 3, 4, 6, 9, 12, 18, 25, 37, 50, 62, 75



Expand Down Expand Up @@ -778,7 +777,7 @@ t1_int_not_bidir:
mov A, Temp5
jnz t1_int_stall_boost ; Already more power than minimum at startup

mov Temp2, #Pgm_Startup_Boost ; Read startup boost setting (power at startup)
mov Temp2, #Pgm_Startup_Power_Min ; Read minimum startup power setting
mov B, @Temp2

clr C ; Set power to at least be minimum startup power
Expand Down Expand Up @@ -1398,9 +1397,8 @@ set_pwm_limit:
mov Temp1, #0FFh ; Default full power
jb Flag_Startup_Phase, set_pwm_limit_low_rpm_exit ; Exit if startup phase set

mov Temp2, #Pgm_Enable_Power_Prot ; Check if low RPM power protection is enabled
mov A, @Temp2
jz set_pwm_limit_low_rpm_exit ; Exit if disabled
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)

mov A, Comm_Period4x_H
jz set_pwm_limit_low_rpm_exit ; Avoid divide by zero
Expand Down Expand Up @@ -3335,12 +3333,12 @@ write_tag:
set_default_parameters:
mov Temp1, #_Pgm_Gov_P_Gain
mov @Temp1, #0FFh ; _Pgm_Gov_P_Gain
imov Temp1, #DEFAULT_PGM_STARTUP_BOOST ; Pgm_Startup_Boost
imov Temp1, #DEFAULT_PGM_STARTUP_POWER_MIN ; Pgm_Startup_Power_Min
imov Temp1, #DEFAULT_PGM_STARTUP_BEEP ; Pgm_Startup_Beep
imov Temp1, #DEFAULT_PGM_DITHERING ; Pgm_Dithering
imov Temp1, #0FFh ; Pgm_Rampup_Start_Power
imov Temp1, #0FFh ; Pgm_Rampup_Slope
imov Temp1, #DEFAULT_PGM_STARTUP_PWR ; Pgm_Startup_Pwr
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, #0FFh ; _Pgm_Pwm_Freq
imov Temp1, #DEFAULT_PGM_DIRECTION ; Pgm_Direction
imov Temp1, #0FFh ; _Pgm_Input_Pol
Expand Down Expand Up @@ -3369,7 +3367,7 @@ set_default_parameters:
imov Temp1, #0FFh ; _Pgm_Center_Throttle
imov Temp1, #0FFh ; _Pgm_Main_Spoolup_Time
imov Temp1, #DEFAULT_PGM_ENABLE_TEMP_PROT ; Pgm_Enable_Temp_Prot
imov Temp1, #DEFAULT_PGM_ENABLE_POWER_PROT ; Pgm_Enable_Power_Prot
imov Temp1, #0FFh ; _Pgm_Enable_Power_Prot
imov Temp1, #0FFh ; _Pgm_Enable_Pwm_Input
imov Temp1, #0FFh ; _Pgm_Pwm_Dither
imov Temp1, #DEFAULT_PGM_BRAKE_ON_STOP ; Pgm_Brake_On_Stop
Expand All @@ -3395,22 +3393,22 @@ decode_settings:
mov Flag_Pgm_Dir_Rev, C
mov Flag_Pgm_Bidir_Rev, C

; Decode startup power
mov Temp1, #Pgm_Startup_Pwr
mov A, @Temp1
dec A
mov DPTR, #STARTUP_POWER_TABLE
movc A, @A+DPTR
mov Temp1, #Pgm_Startup_Pwr_Decoded
mov @Temp1, A
; Decode low rpm power slope
mov Temp1, #Pgm_Startup_Pwr
mov A, @Temp1
mov Low_Rpm_Pwr_Slope, A
clr C
subb A, #2
jnc ($+5)
mov Low_Rpm_Pwr_Slope, #2
; Check startup power
mov Temp1, #Pgm_Startup_Power_Max
mov A, #80 ; Limit to at most 80
subb A, @Temp1
jnc ($+4)
mov @Temp1, #80

; Check low rpm power slope
mov Temp1, #Pgm_Rpm_Power_Slope
mov A, #13 ; Limit to at most 13
subb A, @Temp1
jnc ($+4)
mov @Temp1, #13

mov Low_Rpm_Pwr_Slope, @Temp1

; Decode demag compensation
mov Temp1, #Pgm_Demag_Comp
mov A, @Temp1
Expand Down Expand Up @@ -3819,7 +3817,7 @@ init_start:

; Set up start operating conditions
clr IE_EA ; Disable interrupts
mov Temp2, #Pgm_Startup_Pwr_Decoded
mov Temp2, #Pgm_Startup_Power_Max
mov Pwm_Limit_Beg, @Temp2 ; Set initial pwm limit
mov Pwm_Limit, Pwm_Limit_Beg
mov Pwm_Limit_By_Rpm, Pwm_Limit_Beg
Expand Down

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