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duty cycle ramp, current limit fixes.
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@AlkaMotors
AlkaMotors committed Nov 5, 2023
1 parent 1fb9551 commit 6f5a73a
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Showing 3 changed files with 71 additions and 44 deletions.
35 changes: 26 additions & 9 deletions Src/functions.c
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Original file line number Diff line number Diff line change
Expand Up @@ -8,15 +8,32 @@
#include "functions.h"
#include "targets.h"

long map(long x, long in_min, long in_max, long out_min, long out_max)
{
if (x < in_min) {
x = in_min;
}
if (x > in_max) {
x = in_max;
}
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
//long map(long x, long in_min, long in_max, long out_min, long out_max)
//{
// if (x < in_min) {
// x = in_min;
// }
// if (x > in_max) {
// x = in_max;
// }
// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
//}

long map(long x, long in_min, long in_max, long out_min, long out_max) {
if(x >= in_max)
return out_max;
if (in_min > in_max)
return map(x, in_max, in_min, out_max, out_min);
if (out_min == out_max)
return out_min;
const long in_mid = (in_min + in_max) >> 1;
const long out_mid = (out_min + out_max) >> 1;
if (in_min == in_mid)
return out_mid;
if (x <= in_mid)
return map(x, in_min, in_mid, out_min, out_mid);
else
return map(x, in_mid + 1, in_max, out_mid, out_max);
}

int getAbsDif(int number1, int number2)
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73 changes: 42 additions & 31 deletions Src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -172,7 +172,16 @@
*1.98 - Dshot erpm rounding compensation.
*1.99 - Add max duty cycle change to individual targets ( will later become an settings option)
- Fix dshot telemetry delay f4 and e230 mcu
*2.00 - Cleanup of target structure
*2.01 - Increase 10khztimer to 20khz, increase max duty cycle change.
*2.02 - Increase startup power for inverted output targets.
*2.03 - Move chime from dshot direction change commands to save command.
*2.04 - Fix current protection, max duty cycle not increasing
- Fix double startup chime
- Change current averaging method for more precision
- Fix startup ramp speed adjustment
*2.05 - Fix ramp tied to input frequency
*/
#include "main.h"
#include "ADC.h"
Expand All @@ -199,7 +208,7 @@
#endif

#define VERSION_MAJOR 2
#define VERSION_MINOR 03
#define VERSION_MINOR 05

uint32_t pwm_frequency_conversion_factor = 0;
uint16_t blank_time;
Expand Down Expand Up @@ -376,6 +385,7 @@ uint16_t low_pin_count = 0;
uint8_t max_duty_cycle_change = 2;
char fast_accel = 1;
uint16_t last_duty_cycle = 0;
uint16_t duty_cycle_setpoint = 0;
char play_tone_flag = 0;

typedef enum {
Expand Down Expand Up @@ -1167,9 +1177,9 @@ void setInput()
}

if (use_sin_start) {
duty_cycle = map(input, 137, 2047, minimum_duty_cycle, TIMER1_MAX_ARR);
duty_cycle_setpoint = map(input, 137, 2047, minimum_duty_cycle, TIMER1_MAX_ARR);
} else {
duty_cycle = map(input, 47, 2047, minimum_duty_cycle, TIMER1_MAX_ARR);
duty_cycle_setpoint = map(input, 47, 2047, minimum_duty_cycle, TIMER1_MAX_ARR);
}

if (!RC_CAR_REVERSE) {
Expand Down Expand Up @@ -1241,7 +1251,7 @@ void setInput()
} else {
allOff();
}
duty_cycle = 0;
duty_cycle_setpoint = 0;
}

phase_A_position = ((step - 1) * 60) + enter_sine_angle;
Expand All @@ -1260,39 +1270,39 @@ void setInput()
if (use_sin_start == 1) {
stepper_sine = 1;
}
duty_cycle = 0;
duty_cycle_setpoint = 0;
}
}
if (!prop_brake_active) {
if (input >= 47 && (zero_crosses < (20 >> stall_protection))) {
if (duty_cycle < min_startup_duty) {
duty_cycle = min_startup_duty;
if (duty_cycle_setpoint < min_startup_duty) {
duty_cycle_setpoint = min_startup_duty;
}
if (duty_cycle > startup_max_duty_cycle) {
duty_cycle = startup_max_duty_cycle;
if (duty_cycle_setpoint > startup_max_duty_cycle) {
duty_cycle_setpoint = startup_max_duty_cycle;
}
}

if (duty_cycle > duty_cycle_maximum) {
duty_cycle = duty_cycle_maximum;
if (duty_cycle_setpoint > duty_cycle_maximum) {
duty_cycle_setpoint = duty_cycle_maximum;
}
if (use_current_limit) {
if (duty_cycle > use_current_limit_adjust) {
duty_cycle = use_current_limit_adjust;
if (duty_cycle_setpoint > use_current_limit_adjust) {
duty_cycle_setpoint = use_current_limit_adjust;
}
}

if (stall_protection_adjust > 0 && input > 47) {

duty_cycle = duty_cycle + (uint16_t)stall_protection_adjust;
duty_cycle_setpoint = duty_cycle_setpoint + (uint16_t)stall_protection_adjust;
}
}
}
}

void tenKhzRoutine()
{ // 20khz as of 2.00 to be renamed

duty_cycle = duty_cycle_setpoint;
tenkhzcounter++;
ledcounter++;
one_khz_loop_counter++;
Expand Down Expand Up @@ -1375,8 +1385,8 @@ void tenKhzRoutine()
if (use_current_limit_adjust < minimum_duty_cycle) {
use_current_limit_adjust = minimum_duty_cycle;
}
if (use_current_limit_adjust > duty_cycle) {
use_current_limit_adjust = duty_cycle;
if (use_current_limit_adjust > tim1_arr) {
use_current_limit_adjust = tim1_arr;
}
}
if (stall_protection && running) { // this boosts throttle as the rpm gets lower, for crawlers and rc cars only, do not use for multirotors.
Expand Down Expand Up @@ -1412,7 +1422,7 @@ void tenKhzRoutine()
max_duty_cycle_change = voltage_based_max_change * 3;
}
#else
if (duty_cycle < 150) {
if (last_duty_cycle < 150) {
max_duty_cycle_change = RAMP_SPEED_STARTUP;
} else {
if (average_interval > 500) {
Expand All @@ -1435,23 +1445,21 @@ void tenKhzRoutine()
duty_cycle = last_duty_cycle - max_duty_cycle_change;
fast_accel = 0;
} else {

fast_accel = 0;
}
}
if ((armed && running) && input > 47) {
if (VARIABLE_PWM) {
}
adjusted_duty_cycle = ((duty_cycle * pwm_frequency_conversion_factor) >> 10) + 1;
adjusted_duty_cycle = ((duty_cycle * tim1_arr) / TIMER1_MAX_ARR)+1;

} else {

if (prop_brake_active) {
adjusted_duty_cycle = TIMER1_MAX_ARR - ((duty_cycle * pwm_frequency_conversion_factor) >> 10) + 1;
adjusted_duty_cycle = TIMER1_MAX_ARR - ((duty_cycle * tim1_arr)/TIMER1_MAX_ARR);
} else {
// uint32_t bignumber = duty_cycle * tim1_arr;
// adjusted_duty_cycle = ((duty_cycle * tim1_arr)/TIMER1_MAX_ARR);
adjusted_duty_cycle = ((duty_cycle * pwm_frequency_conversion_factor) >> 10) + 1;
// adjusted_duty_cycle = bignumber / TIMER1_MAX_ARR ;
adjusted_duty_cycle = ((duty_cycle * tim1_arr) / TIMER1_MAX_ARR);
}
}

Expand Down Expand Up @@ -1754,7 +1762,9 @@ int main(void)
}

#endif

#ifdef MCU_G071
setInputPullDown();
#endif
while (1) {
#ifdef MCU_F031
if (input_ready) {
Expand All @@ -1765,9 +1775,10 @@ int main(void)

RELOAD_WATCHDOG_COUNTER();
e_com_time = ((commutation_intervals[0] + commutation_intervals[1] + commutation_intervals[2] + commutation_intervals[3] + commutation_intervals[4] + commutation_intervals[5]) + 4) >> 1; // COMMUTATION INTERVAL IS 0.5US INCREMENTS
tim1_arr = map(commutation_interval, 96, 200, TIMER1_MAX_ARR / 2, TIMER1_MAX_ARR);
pwm_frequency_conversion_factor = (tim1_arr << 10) / TIMER1_MAX_ARR; // multply by 1024

if (VARIABLE_PWM) {
tim1_arr = map(commutation_interval, 96, 200, TIMER1_MAX_ARR / 2, TIMER1_MAX_ARR);
// pwm_frequency_conversion_factor = (tim1_arr << 10) / TIMER1_MAX_ARR; // multply by 1024
}
if (signaltimeout > (LOOP_FREQUENCY_HZ >> 1)) { // half second timeout when armed;
if (armed) {
allOff();
Expand Down Expand Up @@ -1980,8 +1991,8 @@ int main(void)
}
if (zero_crosses < 100 || commutation_interval > 500) {
#ifdef MCU_G071
TIM1->CCR5 = 500; // comparator blanking
filter_level = 3;
TIM1->CCR5 = 50; // comparator blanking
filter_level = 4;
#else
filter_level = 12;
#endif
Expand Down
7 changes: 3 additions & 4 deletions Src/signal.c
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Original file line number Diff line number Diff line change
Expand Up @@ -29,8 +29,8 @@ uint8_t buffersize = 32;
uint32_t average_signal_pulse;
uint8_t average_count;
uint32_t average_packet_length;
uint16_t dshot_frametime_high;
uint16_t dshot_frametime_low;
uint16_t dshot_frametime_high = 50000;
uint16_t dshot_frametime_low = 0;

void computeMSInput()
{
Expand Down Expand Up @@ -158,9 +158,8 @@ void transfercomplete()
}
}
if (!armed) {
if (dshot && (average_count < 8)) {
if (dshot && (average_count <8) && (zero_input_count > 5)) {
average_count++;
dshot_frametime_high = (dma_buffer[31] - dma_buffer[0]) * 2;
average_packet_length = average_packet_length + (dma_buffer[31] - dma_buffer[0]);
if (average_count == 8) {
dshot_frametime_high = (average_packet_length >> 3) + (average_packet_length >> 7);
Expand Down

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