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Merge pull request #156 from bird-sanctuary/backport/enforce_max_star…
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…tup_power

Backport/Enforce max startup power
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@stylesuxx
stylesuxx authored Aug 7, 2023
2 parents 2a28de2 + 4a8b807 commit 02bd04c
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Showing 3 changed files with 55 additions and 27 deletions.
58 changes: 36 additions & 22 deletions src/Bluejay.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -753,21 +753,17 @@ 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
Expand Down Expand Up @@ -797,7 +793,6 @@ 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
Expand All @@ -811,10 +806,13 @@ 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

; Initialize commutation
call comm5_comm6 ; Initialize commutation
call comm6_comm1
call initialize_timing ; Initialize timing
Expand All @@ -823,6 +821,8 @@ motor_start_bidir_done:
call calc_next_comm_period
call initialize_timing ; Initialize timing

setb IE_EA ; Enable interrupts

;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Run entry point
Expand Down Expand Up @@ -1030,11 +1030,13 @@ 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
Expand All @@ -1057,33 +1059,42 @@ 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:
; Enable all interrupts (disabled above, in exit_run_mode)
setb IE_EA

; 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
Expand All @@ -1092,16 +1103,19 @@ exit_run_mode_stall_done_beep:
ljmp arming_begin ; Go back and wait for arming

exit_run_mode_no_stall:
; Enable all interrupts (disabled above, in exit_run_mode)
setb IE_EA

; 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_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

Expand Down
13 changes: 10 additions & 3 deletions src/Modules/Power.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -50,10 +50,17 @@ 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_Initial_Run_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)
Expand Down
11 changes: 9 additions & 2 deletions src/Modules/Timing.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down

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