ramp rate and comparator interrupt changes g071 f421

Inc/common.h

@@ -29,6 +29,7 @@ extern uint8_t compute_dshot_flag;
 extern uint16_t battery_voltage;
 extern int16_t actual_current;
 extern uint16_t e_rpm;
+extern uint32_t average_interval;
 
 
 #ifdef STMICRO

Inc/targets.h

@@ -1653,7 +1653,7 @@
 #define CURRENT_ADC_CHANNEL LL_ADC_CHANNEL_4
 #define CURRENT_ADC_PIN LL_GPIO_PIN_4
 #define RAMP_SPEED_LOW_RPM 1
-#define RAMP_SPEED_HIGH_RPM 2
+#define RAMP_SPEED_HIGH_RPM 1
 #define USE_LED_STRIP
 #endif
 
@@ -1919,11 +1919,11 @@
 #endif
 
 #ifndef RAMP_SPEED_STARTUP
-#define RAMP_SPEED_STARTUP 1 // adjusted 2.14 to match duty cycle change between mcu targets.
+#define RAMP_SPEED_STARTUP 2 // adjusted 2.14 to match duty cycle change between mcu targets.
 #endif
 
 #ifndef RAMP_SPEED_LOW_RPM // below commutation interval of 250us
-#define RAMP_SPEED_LOW_RPM 4
+#define RAMP_SPEED_LOW_RPM 6
 #endif
 
 #ifndef RAMP_SPEED_HIGH_RPM
@@ -3275,9 +3275,9 @@
 #endif
 
 #ifdef HARDWARE_GROUP_AT_245
-#define PHASE_A_COMP 0x400000F1 // pa2     // works for polling mode
-#define PHASE_B_COMP 0x400000C1 // pa4
-#define PHASE_C_COMP 0x400000D1 // pa5
+#define PHASE_A_COMP 0x400000F5 // pa2     // works for polling mode
+#define PHASE_B_COMP 0x400000C5 // pa4
+#define PHASE_C_COMP 0x400000D5 // pa5
 #endif
 
 #ifdef     HARDWARE_GROUP_L4_A

Mcu/f051/Inc/comparator.h

@@ -10,14 +10,14 @@
 #endif /* COMPARATOR_H_ */
 
 // Medium speed comparator
-#define COMP_PA0 0b1100101
-#define COMP_PA4 0b1000101
-#define COMP_PA5 0b1010101
+//#define COMP_PA0 0b1100101
+//#define COMP_PA4 0b1000101
+//#define COMP_PA5 0b1010101
 
 // High speed comparator
-// #define COMP_PA0 0b1100001
-// #define COMP_PA4 0b1000001
-// #define COMP_PA5 0b1010001
+ #define COMP_PA0 0b1100001
+ #define COMP_PA4 0b1000001
+ #define COMP_PA5 0b1010001
 
 #include "main.h"
 

Mcu/f421/Src/at32f421_it.c

@@ -5,6 +5,10 @@
 #include "ADC.h"
 #include "main.h"
 #include "targets.h"
+#include "common.h"
+#include "comparator.h"
+
+
 extern void transfercomplete();
 extern void PeriodElapsedCallback();
 extern void interruptRoutine();
@@ -19,7 +23,6 @@ extern char send_telemetry;
 extern char telemetry_done;
 extern char servoPwm;
 extern char dshot;
-extern uint32_t commutation_interval;
 int exti_int = 0;
 
 void HardFault_Handler(void)
@@ -177,12 +180,14 @@ void DMA1_Channel5_4_IRQHandler(void)
  */
 void ADC1_CMP_IRQHandler(void)
 {
-if ((EXINT->intsts & EXTI_LINE) != (uint32_t)RESET) {
-	EXINT->intsts = EXTI_LINE;
-	if((INTERVAL_TIMER->cval) > (commutation_interval >> 1)){
+  if((INTERVAL_TIMER->cval) > ((average_interval>>1))){
+       EXINT->intsts = EXTI_LINE;
        interruptRoutine();
+    }else{ 
+      if (getCompOutputLevel() == rising){
+        EXINT->intsts = EXTI_LINE;
     }
-	}
+  }
 }
 
 /**

Mcu/g071/Src/comparator.c

@@ -1,27 +1,3 @@
-///*
-// * comparator.c
-// *
-// *  Created on: Sep. 26, 2020
-// *      Author: Alka
-// */
-//
-// #include "comparator.h"
-// #include "targets.h"
-//
-//
-// void maskPhaseInterrupts(){
-//	EXTI->IMR1 &= ~(1 << 18);
-//	EXTI->RPR1 = EXTI_LINE;
-//	EXTI->FPR1 = EXTI_LINE;
-////	LL_EXTI_ClearRisingFlag_0_31(EXTI_LINE);
-////	LL_EXTI_ClearFallingFlag_0_31(EXTI_LINE);
-//}
-//
-// void enableCompInterrupts(){
-//    EXTI->IMR1 |= (1 << 18);
-//}
-//
-
 /*
  * comparator.c
  *
@@ -36,6 +12,7 @@
 
 COMP_TypeDef* active_COMP = COMP2;
 uint32_t current_EXTI_LINE = LL_EXTI_LINE_18;
+uint8_t medium_speed_set;
 
 uint8_t getCompOutputLevel() { return (active_COMP->CSR >> 30 & 1); }
 
@@ -55,6 +32,14 @@ void enableCompInterrupts() { EXTI->IMR1 |= current_EXTI_LINE; }
 
 void changeCompInput()
 {
+if((average_interval < 400) && medium_speed_set){
+LL_COMP_SetPowerMode(active_COMP, LL_COMP_POWERMODE_HIGHSPEED);
+medium_speed_set = 0;
+}
+if((average_interval > 600) && !medium_speed_set){
+LL_COMP_SetPowerMode(active_COMP, LL_COMP_POWERMODE_MEDIUMSPEED);
+medium_speed_set = 1;
+}
     if (step == 1 || step == 4) { // c floating
 #ifdef N_VARIANT
         current_EXTI_LINE = PHASE_C_EXTI_LINE;

Mcu/g071/Src/peripherals.c

@@ -132,9 +132,9 @@ void MX_COMP1_Init(void)
     COMP_InitStruct.InputMinus = LL_COMP_INPUT_MINUS_IO3;
     COMP_InitStruct.InputHysteresis = LL_COMP_HYSTERESIS_NONE;
     COMP_InitStruct.OutputPolarity = LL_COMP_OUTPUTPOL_NONINVERTED;
-    COMP_InitStruct.OutputBlankingSource = LL_COMP_BLANKINGSRC_TIM1_OC5;
+    COMP_InitStruct.OutputBlankingSource = LL_COMP_BLANKINGSRC_NONE;
     LL_COMP_Init(COMP1, &COMP_InitStruct);
-    LL_COMP_SetPowerMode(COMP1, LL_COMP_POWERMODE_MEDIUMSPEED);
+    LL_COMP_SetPowerMode(COMP1, LL_COMP_POWERMODE_HIGHSPEED);
     LL_COMP_SetCommonWindowMode(__LL_COMP_COMMON_INSTANCE(COMP1),
         LL_COMP_WINDOWMODE_DISABLE);
     LL_COMP_SetCommonWindowOutput(__LL_COMP_COMMON_INSTANCE(COMP1),
@@ -200,9 +200,9 @@ void MX_COMP2_Init(void)
     COMP_InitStruct.InputMinus = LL_COMP_INPUT_MINUS_IO3;
     COMP_InitStruct.InputHysteresis = LL_COMP_HYSTERESIS_NONE;
     COMP_InitStruct.OutputPolarity = LL_COMP_OUTPUTPOL_NONINVERTED;
-    COMP_InitStruct.OutputBlankingSource = LL_COMP_BLANKINGSRC_TIM1_OC5;
+    COMP_InitStruct.OutputBlankingSource = LL_COMP_BLANKINGSRC_NONE;
     LL_COMP_Init(COMP2, &COMP_InitStruct);
-    LL_COMP_SetPowerMode(COMP2, LL_COMP_POWERMODE_MEDIUMSPEED);
+    LL_COMP_SetPowerMode(COMP2, LL_COMP_POWERMODE_HIGHSPEED);
     LL_COMP_SetCommonWindowMode(__LL_COMP_COMMON_INSTANCE(COMP2),
         LL_COMP_WINDOWMODE_DISABLE);
     LL_COMP_SetCommonWindowOutput(__LL_COMP_COMMON_INSTANCE(COMP2),

Mcu/g071/Src/stm32g0xx_it.c

@@ -29,6 +29,9 @@
 #include "IO.h"
 #include "WS2812.h"
 #include "targets.h"
+#include "comparator.h"
+#include "common.h"
+
 /* USER CODE END Includes */
 
 /* Private typedef
@@ -84,7 +87,6 @@ extern char dshot_telemetry;
 extern char armed;
 extern char out_put;
 extern uint8_t compute_dshot_flag;
-extern uint32_t commutation_interval;
 
 /* USER CODE END EV */
 
@@ -234,35 +236,56 @@ void DMA1_Channel2_3_IRQHandler(void)
  */
 void ADC1_COMP_IRQHandler(void)
 {
-    if (LL_EXTI_IsActiveFallingFlag_0_31(LL_EXTI_LINE_18)) {
-        LL_EXTI_ClearFallingFlag_0_31(LL_EXTI_LINE_18);
-				if((INTERVAL_TIMER->CNT) > (commutation_interval >> 1)){
-       interruptRoutine();
-    }
-        return;
-    }
-
-    if (LL_EXTI_IsActiveRisingFlag_0_31(LL_EXTI_LINE_18)) {
-        LL_EXTI_ClearRisingFlag_0_31(LL_EXTI_LINE_18);
-				if((INTERVAL_TIMER->CNT) > (commutation_interval >> 1)){
-       interruptRoutine();
+  if (LL_EXTI_IsActiveFallingFlag_0_31(LL_EXTI_LINE_18)) {
+    if((INTERVAL_TIMER->CNT) > (average_interval >> 1)){
+      LL_EXTI_ClearFallingFlag_0_31(LL_EXTI_LINE_18);
+      interruptRoutine();
+    }else{
+      if(getCompOutputLevel() == rising){
+          LL_EXTI_ClearFallingFlag_0_31(LL_EXTI_LINE_18);
+          return;
+      }
     }
-        return;
-    }
-    if (LL_EXTI_IsActiveFallingFlag_0_31(LL_EXTI_LINE_17)) {
-        LL_EXTI_ClearFallingFlag_0_31(LL_EXTI_LINE_17);
-				if((INTERVAL_TIMER->CNT) > (commutation_interval >> 1)){
-       interruptRoutine();
+    return;
+  }
+
+  if (LL_EXTI_IsActiveRisingFlag_0_31(LL_EXTI_LINE_18)) {
+    if((INTERVAL_TIMER->CNT) > (average_interval >> 1)){
+      LL_EXTI_ClearRisingFlag_0_31(LL_EXTI_LINE_18);
+      interruptRoutine();
+    }else{
+      if(getCompOutputLevel() == rising){
+          LL_EXTI_ClearRisingFlag_0_31(LL_EXTI_LINE_18);
+          return;
+      }
     }
-        return;
+    return;
+  }
+  if (LL_EXTI_IsActiveFallingFlag_0_31(LL_EXTI_LINE_17)) {
+    if((INTERVAL_TIMER->CNT) > (average_interval >> 1)){
+      LL_EXTI_ClearFallingFlag_0_31(LL_EXTI_LINE_17);
+      interruptRoutine();
+    }else{
+      if(getCompOutputLevel() == rising){
+          LL_EXTI_ClearFallingFlag_0_31(LL_EXTI_LINE_17);
+          return;
+      }
     }
-    if (LL_EXTI_IsActiveRisingFlag_0_31(LL_EXTI_LINE_17)) {
-        LL_EXTI_ClearRisingFlag_0_31(LL_EXTI_LINE_17);
-				if((INTERVAL_TIMER->CNT) > (commutation_interval >> 1)){
-       interruptRoutine();
-    }
-        return;
+    return;
+  }
+
+  if (LL_EXTI_IsActiveRisingFlag_0_31(LL_EXTI_LINE_17)) {
+    if((INTERVAL_TIMER->CNT) > (average_interval >> 1)){
+      LL_EXTI_ClearRisingFlag_0_31(LL_EXTI_LINE_17);
+      interruptRoutine();
+    }else{
+      if(getCompOutputLevel() == rising){
+          LL_EXTI_ClearRisingFlag_0_31(LL_EXTI_LINE_17);
+          return;
+      }
     }
+    return;
+  }
 }
 
 /**

Src/main.c

@@ -819,7 +819,8 @@ void commutate()
 #endif
     bemfcounter = 0;
     zcfound = 0;
-   commutation_intervals[step - 1] = commutation_interval; // just used to calulate average
+    commutation_intervals[step - 1] = commutation_interval; // just used to calulate average
+    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
 #ifdef USE_PULSE_OUT
 		if(rising){
 			GPIOB->scr = GPIO_PINS_8;
@@ -833,7 +834,7 @@ void PeriodElapsedCallback()
 {
     DISABLE_COM_TIMER_INT(); // disable interrupt
     commutate();
-    commutation_interval = (3 * commutation_interval + thiszctime) >> 2;
+    commutation_interval = ((commutation_interval)+((lastzctime + thiszctime) >> 1))>>1;
   	if (!eepromBuffer.auto_advance) {
 	  advance = (commutation_interval >> 3) * temp_advance; // 60 divde 8 7.5 degree increments
 	} else {
@@ -872,8 +873,9 @@ void interruptRoutine()
             }
         }
     __disable_irq();
-		maskPhaseInterrupts();
-		thiszctime = INTERVAL_TIMER_COUNT;  
+    maskPhaseInterrupts();
+    lastzctime = thiszctime;
+    thiszctime = INTERVAL_TIMER_COUNT;  
     SET_INTERVAL_TIMER_COUNT(0);
     SET_AND_ENABLE_COM_INT(waitTime+1); // enable COM_TIMER interrupt
     __enable_irq();
@@ -1779,7 +1781,7 @@ if(zero_crosses < 5){
 	min_bemf_counts_down = TARGET_MIN_BEMF_COUNTS;
 }
         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
+
         if (eepromBuffer.variable_pwm) {
             tim1_arr = map(commutation_interval, 96, 200, TIMER1_MAX_ARR / 2,
                 TIMER1_MAX_ARR);
@@ -1875,7 +1877,6 @@ if(zero_crosses < 5){
             }
         }
 #endif
-
         average_interval = e_com_time / 3;
         if (desync_check && zero_crosses > 10) {
             if ((getAbsDif(last_average_interval, average_interval) > average_interval >> 1) && (average_interval < 2000)) { // throttle resitricted before zc 20.
@@ -1989,28 +1990,20 @@ if(zero_crosses < 5){
 						}
 
             if (degrees_celsius > eepromBuffer.limits.temperature) {
-                duty_cycle_maximum = map(degrees_celsius, eepromBuffer.limits.temperature - 10, eepromBuffer.limits.temperature + 10,
-                    throttle_max_at_high_rpm / 2, 1);
+              duty_cycle_maximum = map(degrees_celsius, eepromBuffer.limits.temperature - 10, eepromBuffer.limits.temperature + 10,
+                throttle_max_at_high_rpm / 2, 1);
             }
             if (zero_crosses < 100 && commutation_interval > 500) {
-#ifdef MCU_G071
-                TIM1->CCR5 = 1; // comparator blanking
-                filter_level = 8;
-#else
-                filter_level = 12;
-#endif
+              filter_level = 12;
             } else {
-#ifdef MCU_G071
-                TIM1->CCR5 = 10;
-#endif
-                filter_level = map(average_interval, 100, 500, 3, 12);
+              filter_level = map(average_interval, 100, 500, 3, 12);
             }
             if (commutation_interval < 50) {
-                filter_level = 2;
+              filter_level = 2;
             }
 
             if (eepromBuffer.auto_advance) {
-			    auto_advance_level = map(duty_cycle, 100, 2000, 13, 23);
+              auto_advance_level = map(duty_cycle, 100, 2000, 13, 23);
             }
 
             /**************** old routine*********************/