From fc2cb4d0dafc818a74d7dc1c140433e72e4a1853 Mon Sep 17 00:00:00 2001
From: AlkaMotors <37931458+AlkaMotors@users.noreply.github.com>
Date: Tue, 24 Dec 2024 08:36:20 -0400
Subject: [PATCH] ramp rate and comparator interrupt changes g071 f421 f051
 f415

---
 Inc/targets.h              | 94 +++++++++++++++++++++++++++-----------
 Mcu/f051/Inc/comparator.h  |  2 +-
 Mcu/f051/Src/comparator.c  | 19 ++++----
 Mcu/f415/Src/at32f415_it.c | 11 +++--
 4 files changed, 88 insertions(+), 38 deletions(-)

diff --git a/Inc/targets.h b/Inc/targets.h
index 4de226d9..44b732ee 100644
--- a/Inc/targets.h
+++ b/Inc/targets.h
@@ -73,6 +73,18 @@
 #define USE_INTERNAL_AMP
 #endif
 
+#ifdef NEUTRON_SINGLE_L431
+#define FILE_NAME				"NEUTRON_SINGLE_L431"
+#define FIRMWARE_NAME           "Neutron L4 S"
+#define DEAD_TIME               70
+#define HARDWARE_GROUP_L4_N
+#define TARGET_VOLTAGE_DIVIDER  210
+#define CURRENT_OFFSET          498
+#define MILLIVOLT_PER_AMP        8
+#define USE_SERIAL_TELEMETRY
+#define USE_INTERNAL_AMP
+#endif
+
 #ifdef VIMDRONES_L431
 #define FIRMWARE_NAME "VimdroneL431"
 #define FILE_NAME "VIMDRONES_L431"
@@ -133,7 +145,7 @@
 
 #ifdef  REF_L431
 #define FILE_NAME				"REF_L431"
-#define FIRMWARE_NAME           "L431 Neutron"
+#define FIRMWARE_NAME           "L431 TEST"
 #define DEAD_TIME               80
 #define HARDWARE_GROUP_L4_A
 #define TARGET_VOLTAGE_DIVIDER  260
@@ -358,6 +370,18 @@
 #define PA6_NTC_ONLY
 #endif
 
+#ifdef F4A_RUSH_F421
+#define FIRMWARE_NAME "F4A RUSH    "
+#define FILE_NAME "F4A_RUSH_F421"
+#define DEAD_TIME 40
+#define HARDWARE_GROUP_AT_540
+#define HARDWARE_GROUP_AT_E
+#define USE_SERIAL_TELEMETRY
+#define USE_PA14_TELEMETRY
+#define PA6_NTC_ONLY
+#endif
+
+
 #ifdef F4A_SINGLE_F421
 #define FIRMWARE_NAME "F4A Single  "
 #define FILE_NAME "F4A_SINGLE_F421"
@@ -365,7 +389,7 @@
 #define HARDWARE_GROUP_AT_540
 #define HARDWARE_GROUP_AT_E
 #define USE_SERIAL_TELEMETRY
-#define USE_PA14_TELEMETRY
+//#define USE_PA14_TELEMETRY
 #define PA6_NTC_ONLY
 #endif
 
@@ -400,6 +424,18 @@
 #define ADC_CHANNEL_VOLTAGE ADC_CHANNEL_6
 #endif
 
+#ifdef JHEMCU_F421
+#define FIRMWARE_NAME "JHEMCU_F421 "
+#define FILE_NAME "JHEMCU_F421"
+#define DEAD_TIME 80
+#define HARDWARE_GROUP_AT_B
+#define HARDWARE_GROUP_AT_045
+#define USE_SERIAL_TELEMETRY
+#define ADC_CHANNEL_CURRENT ADC_CHANNEL_3
+#define ADC_CHANNEL_VOLTAGE ADC_CHANNEL_6
+#define TARGET_MIN_BEMF_COUNTS 3
+#endif
+
 #ifdef FLASHHOBBY_F421
 #define FIRMWARE_NAME "FH F421     "
 #define FILE_NAME "FLASHHOBBY_F421"
@@ -524,7 +560,7 @@
 #define ADC_CHANNEL_VOLTAGE ADC_CHANNEL_6
 #endif
 
-#ifdef TEKKO32_4IN1_F421
+#ifdef  TEKKO32_4IN1_F421
 #define FIRMWARE_NAME "Tekko32 4in1"
 #define FILE_NAME "TEKKO32_4IN1_F421"
 #define DEAD_TIME 80
@@ -589,24 +625,6 @@
 #define ADC_CHANNEL_TEMP ADC_CHANNEL_6
 #endif
 
-#ifdef FLYROTOR_F421
-#define FIRMWARE_NAME "FLYROTOR_150"
-#define FILE_NAME "FLYROTOR_F421"
-#define DEAD_TIME 100
-#define HARDWARE_GROUP_AT_B
-#define HARDWARE_GROUP_AT_450
-#define USE_SERIAL_TELEMETRY
-#define MILLIVOLT_PER_AMP 19
-#define TARGET_VOLTAGE_DIVIDER 190
-#define USE_NTC
-#define USE_LED_STRIP
-#define WS2812_PIN GPIO_PINS_3
-#define USE_PULSE_OUT
-#define ADC_CHANNEL_CURRENT ADC_CHANNEL_3
-#define ADC_CHANNEL_VOLTAGE ADC_CHANNEL_2
-#define ADC_CHANNEL_TEMP ADC_CHANNEL_6
-#endif
-
 #ifdef HAKRC_K_F421
 #define FIRMWARE_NAME "HAKRC F4 K  "
 #define FILE_NAME "HAKRC_K_F421"
@@ -658,7 +676,7 @@
 #endif
 
 #ifdef TEKKO32_F421
-#define FIRMWARE_NAME "Tekko32 F4"
+#define FIRMWARE_NAME "Tekko32 F421"
 #define FILE_NAME "TEKKO32_F421"
 #define DEAD_TIME 60
 #define HARDWARE_GROUP_AT_045
@@ -789,7 +807,7 @@
 #endif
 
 #ifdef TEKKO32_F415
-#define FIRMWARE_NAME "Tekko32 F4  "
+#define FIRMWARE_NAME "Tekko32 F415"
 #define FILE_NAME "TEKKO32_F415"
 #define DEAD_TIME 100
 #define HARDWARE_GROUP_AT_D
@@ -902,6 +920,15 @@
 #define USE_SERIAL_TELEMETRY
 #endif
 
+#ifdef SKYSTARS_KO60_F421
+#define FIRMWARE_NAME "F421 KO60   "
+#define FILE_NAME "SKYSTARS_KO60_F421"
+#define DEAD_TIME 60
+#define HARDWARE_GROUP_AT_B
+#define HARDWARE_GROUP_AT_045
+#define USE_SERIAL_TELEMETRY
+#endif
+
 #ifdef SKYSTARS_KM65_F421
 #define FIRMWARE_NAME "F421 KM65"
 #define FILE_NAME "SKYSTARS_KM65_F421"
@@ -1120,7 +1147,7 @@
 #define DEAD_TIME 45
 #define HARDWARE_GROUP_F0_B
 #define USE_SERIAL_TELEMETRY
-// #define USE_RGB_LED
+#define USE_RGB_LED
 #endif
 
 #ifdef OCDRC_F051
@@ -1633,7 +1660,7 @@
 #define TARGET_VOLTAGE_DIVIDER 110
 #define HARDWARE_GROUP_G0_A
 #define USE_SERIAL_TELEMETRY
-#define SIXTY_FOUR_KB_MEMORY
+//#define SIXTY_FOUR_KB_MEMORY
 #define CURRENT_ADC_CHANNEL LL_ADC_CHANNEL_4
 #define CURRENT_ADC_PIN LL_GPIO_PIN_4
 #define USE_LED_STRIP
@@ -1890,6 +1917,21 @@
 #define VOLTAGE_ADC_CHANNEL LL_ADC_CHANNEL_7
 #endif
 
+#ifdef  CRAWLMASTER_F031
+#define FILE_NAME "CRAWLMASTER_F031"
+#define FIRMWARE_NAME "HH CM F031"
+#define DEAD_TIME 60
+#define HARDWARE_GROUP_F031_A
+#define TARGET_STALL_PROTECTION_INTERVAL 8000
+#define MILLIVOLT_PER_AMP 28
+#define USE_SERIAL_TELEMETRY
+#define CURRENT_SENSE_ADC_PIN LL_GPIO_PIN_5
+#define VOLTAGE_SENSE_ADC_PIN LL_GPIO_PIN_7
+
+#define CURRENT_ADC_CHANNEL LL_ADC_CHANNEL_5
+#define VOLTAGE_ADC_CHANNEL LL_ADC_CHANNEL_7
+#endif
+
 #ifndef FIRMWARE_NAME
 /* if you get this then you have forgotten to add the section for your target above */
 #error "Missing defines for target"
@@ -3501,7 +3543,7 @@
 #define TARGET_MIN_BEMF_COUNTS 3
 // #define USE_SERIAL_TELEMETRY // moved to individual ESCs
 #define USE_ADC
-#define LOOP_FREQUENCY_HZ 10000
+#define LOOP_FREQUENCY_HZ 20000
 #endif
 
 #ifdef MCU_G071
diff --git a/Mcu/f051/Inc/comparator.h b/Mcu/f051/Inc/comparator.h
index bf6a4933..0d659ed7 100644
--- a/Mcu/f051/Inc/comparator.h
+++ b/Mcu/f051/Inc/comparator.h
@@ -14,7 +14,7 @@
 //#define COMP_PA4 0b1000101
 //#define COMP_PA5 0b1010101
 
-// High speed comparator
+//// High speed comparator
  #define COMP_PA0 0b1100001
  #define COMP_PA4 0b1000001
  #define COMP_PA5 0b1010001
diff --git a/Mcu/f051/Src/comparator.c b/Mcu/f051/Src/comparator.c
index 32850e2b..21868340 100644
--- a/Mcu/f051/Src/comparator.c
+++ b/Mcu/f051/Src/comparator.c
@@ -6,12 +6,13 @@
  */
 
 #include "comparator.h"
-
+#include "common.h"
 #include "targets.h"
 
 COMP_TypeDef* active_COMP = COMP1;
 
 uint8_t getCompOutputLevel() { return LL_COMP_ReadOutputLevel(active_COMP); }
+uint8_t medium_speed_set;
 
 void maskPhaseInterrupts()
 {
@@ -23,9 +24,6 @@ void enableCompInterrupts() { EXTI->IMR |= (1 << 21); }
 
 void changeCompInput()
 {
-    //	TIM3->CNT = 0;
-    //	HAL_COMP_Stop_IT(&hcomp1);            // done in comparator interrupt
-    // routine
 
     if (step == 1 || step == 4) { // c floating
         COMP->CSR = PHASE_C_COMP;
@@ -36,13 +34,18 @@ void changeCompInput()
     if (step == 3 || step == 6) { // b floating
         COMP->CSR = PHASE_B_COMP;
     }
+if((average_interval < 400)){
+COMP->CSR = COMP->CSR & ~(1<<2);
+
+medium_speed_set = 0;
+}
+if((average_interval > 600)){
+COMP->CSR  = COMP->CSR | 1<<2;
+medium_speed_set = 1;
+}
     if (rising) {
         EXTI->RTSR = 0x0;
         EXTI->FTSR = 0x200000;
-
-        //	hcomp1.Init.TriggerMode = COMP_TRIGGERMODE_IT_FALLING;   //
-        // polarity of
-        // comp output reversed
     } else {
         // falling bemf
         EXTI->FTSR = 0x0;
diff --git a/Mcu/f415/Src/at32f415_it.c b/Mcu/f415/Src/at32f415_it.c
index b0462bd7..de33ac78 100644
--- a/Mcu/f415/Src/at32f415_it.c
+++ b/Mcu/f415/Src/at32f415_it.c
@@ -20,6 +20,8 @@ int recieved_ints = 0;
 #include "ADC.h"
 #include "main.h"
 #include "targets.h"
+#include "comparator.h"
+#include "common.h"
 /** @addtogroup AT32F421_StdPeriph_Templates
  * @{
  */
@@ -164,11 +166,14 @@ void DMA1_Channel6_IRQHandler(void)
  */
 void CMP1_IRQHandler(void)
 {
-    if ((EXINT->intsts & EXTI_LINE) != (uint32_t)RESET) {
-        //	EXTI->PND = EXTI_LINE;
+  if((INTERVAL_TIMER->cval) > ((average_interval>>1))){
+       EXINT->intsts = EXTI_LINE;
+       interruptRoutine();
+    }else{ 
+      if (getCompOutputLevel() == rising){
         EXINT->intsts = EXTI_LINE;
-        interruptRoutine();
     }
+  }
 }
 
 /**