Firmware revision 7

+ Maximum duty cycle ramp + Increased acceleration slew rate above 60kERPM + Fixed throttle mode Independent fixed/analog throttle mode Flexible analog throttle pin assignment Strict desync detection condition
neoxic · Sep 20, 2023 · ac0c7e5 · ac0c7e5
1 parent f15f62e
commit ac0c7e5
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Showing 18 changed files with 90 additions and 94 deletions.
diff --git a/mcu/AT32F421/config.c b/mcu/AT32F421/config.c
@@ -88,7 +88,7 @@ void init(void) {
 	ADC1_SQR3 = SENS_CHAN;
 	len = SENS_CNT;
 	if (IO_ANALOG) {
-		ADC1_SQR3 |= THROT_CHAN << (len++ * 5);
+		ADC1_SQR3 |= AIN_PIN << (len++ * 5);
 		ain = 1;
 	}
 	ADC1_SQR3 |= 0x230 << (len * 5); // CH16 (temp), CH17 (vref)

diff --git a/mcu/AT32F421/config.h b/mcu/AT32F421/config.h
@@ -25,10 +25,6 @@
 #define SENS_CHAN 0x66
 #endif
 
-#ifndef THROT_CHAN
-#define THROT_CHAN 2 // A2
-#endif
-
 #define CLK 120000000
 #define IO_PA2
 #define IO_TYPE 0

diff --git a/mcu/GD32E230/config.c b/mcu/GD32E230/config.c
@@ -90,7 +90,7 @@ void init(void) {
 	ADC1_SQR3 = SENS_CHAN;
 	len = SENS_CNT;
 	if (IO_ANALOG) {
-		ADC1_SQR3 |= THROT_CHAN << (len++ * 5);
+		ADC1_SQR3 |= AIN_PIN << (len++ * 5);
 		ain = 1;
 	}
 	ADC1_SQR3 |= 0x230 << (len * 5); // CH16 (temp), CH17 (vref)

diff --git a/mcu/GD32E230/config.h b/mcu/GD32E230/config.h
@@ -22,10 +22,6 @@
 #define SENS_CHAN 0x3
 #endif
 
-#ifndef THROT_CHAN
-#define THROT_CHAN 2 // A2
-#endif
-
 #define CLK 72000000
 #define IO_PA2
 #define IO_TYPE 0

diff --git a/mcu/GD32F350/config.c b/mcu/GD32F350/config.c
@@ -98,7 +98,7 @@ void init(void) {
 	ADC1_SQR3 = SENS_CHAN;
 	len = SENS_CNT;
 	if (IO_ANALOG) {
-		ADC1_SQR3 |= THROT_CHAN << (len++ * 5);
+		ADC1_SQR3 |= AIN_PIN << (len++ * 5);
 		ain = 1;
 	}
 	ADC1_SQR3 |= 0x230 << (len * 5); // CH16 (temp), CH17 (vref)

diff --git a/mcu/GD32F350/config.h b/mcu/GD32F350/config.h
@@ -22,10 +22,6 @@
 #define SENS_CHAN 0x3
 #endif
 
-#ifndef THROT_CHAN
-#define THROT_CHAN 2 // A2
-#endif
-
 #define CLK 104000000
 
 #define IFTIM TIM2

diff --git a/mcu/STM32F051/config.c b/mcu/STM32F051/config.c
@@ -84,7 +84,7 @@ void init(void) {
 	ADC1_CHSELR = SENS_CHAN | 0x30000; // CH16 (temp), CH17 (vref)
 	len = SENS_CNT + 2;
 	if (IO_ANALOG) {
-		ADC1_CHSELR |= THROT_CHAN;
+		ADC1_CHSELR |= 1 << AIN_PIN;
 		ain = 1;
 		++len;
 	}
@@ -157,7 +157,7 @@ void dma1_channel1_isr(void) {
 	DMA1_IFCR = DMA_IFCR_CTCIF(1);
 	DMA1_CCR(1) = 0;
 	int i = 0, v = 0, c = 0, x = 0;
-#ifndef THROT_LAST
+#ifndef AIN_LAST
 	if (ain) x = buf[i++];
 #endif
 #ifdef SENS_SWAP
@@ -171,7 +171,7 @@ void dma1_channel1_isr(void) {
 	v = buf[i++];
 #endif
 #endif
-#ifdef THROT_LAST
+#ifdef AIN_LAST
 	if (ain) x = buf[i++];
 #endif
 	int r = ST_VREFINT_CAL * 3300 / buf[i + 1];

diff --git a/mcu/STM32F051/config.h b/mcu/STM32F051/config.h
@@ -29,10 +29,6 @@
 #define SENS_SWAP
 #endif
 
-#ifndef THROT_CHAN
-#define THROT_CHAN 0x4 // A2
-#endif
-
 #define CLK 48000000
 
 #define IFTIM TIM2

diff --git a/mcu/STM32G071/config.c b/mcu/STM32G071/config.c
@@ -122,7 +122,7 @@ void init(void) {
 	ADC1_CHSELR = SENS_CHAN;
 	len = SENS_CNT;
 	if (IO_ANALOG) {
-		ADC1_CHSELR |= THROT_CHAN << (len++ << 2);
+		ADC1_CHSELR |= AIN_PIN << (len++ << 2);
 		ain = 1;
 	}
 	ADC1_CHSELR |= 0xfdc << (len << 2); // CH12 (temp), CH13 (vref)

diff --git a/mcu/STM32G071/config.h b/mcu/STM32G071/config.h
@@ -31,14 +31,6 @@
 #define SENS_CHAN 0x64
 #endif
 
-#ifndef THROT_CHAN
-#ifdef IO_PA2
-#define THROT_CHAN 2 // A2
-#else
-#define THROT_CHAN 6 // A6
-#endif
-#endif
-
 #define CLK 64000000
 
 #define IFTIM TIM2

diff --git a/mcu/STSPIN32F0/config.c b/mcu/STSPIN32F0/config.c
@@ -73,7 +73,7 @@ void init(void) {
 	ADC1_CHSELR = 0x30000; // CH16 (temp), CH17 (vref)
 	len = 2;
 	if (IO_ANALOG) {
-		ADC1_CHSELR |= THROT_CHAN;
+		ADC1_CHSELR |= 1 << AIN_PIN;
 		ain = 1;
 		++len;
 	}

diff --git a/mcu/STSPIN32F0/config.h b/mcu/STSPIN32F0/config.h
@@ -17,10 +17,6 @@
 
 #pragma once
 
-#ifndef THROT_CHAN
-#define THROT_CHAN 0x40 // A6
-#endif
-
 #define CLK 48000000
 #define SENSORED
 #define IO_PA6

diff --git a/src/cli.c b/src/cli.c
@@ -29,27 +29,29 @@
 	XX( 8, val, duty_min) \
 	XX( 9, val, duty_max) \
 	XX(10, val, duty_spup) \
-	XX(11, val, duty_rate) \
-	XX(12, val, duty_drag) \
-	XX(13, val, throt_mode) \
-	XX(14, val, throt_cal) \
-	XX(15, val, throt_min) \
-	XX(16, val, throt_mid) \
-	XX(17, val, throt_max) \
-	XX(18, val, input_mode) \
-	XX(19, val, input_chid) \
-	XX(20, val, telem_mode) \
-	XX(21, val, telem_phid) \
-	XX(22, val, telem_poles) \
-	XX(23, val, prot_temp) \
-	XX(24, val, prot_volt) \
-	XX(25, val, prot_cells) \
-	XX(26, val, prot_curr) \
-	XX(27, str, music) \
-	XX(28, val, volume) \
-	XX(29, val, beacon) \
-	XX(30, val, led) \
-	XX(31, val, brushed) \
+	XX(11, val, duty_ramp) \
+	XX(12, val, duty_rate) \
+	XX(13, val, duty_drag) \
+	XX(14, val, throt_mode) \
+	XX(15, val, throt_set) \
+	XX(16, val, throt_cal) \
+	XX(17, val, throt_min) \
+	XX(18, val, throt_mid) \
+	XX(19, val, throt_max) \
+	XX(20, val, input_mode) \
+	XX(21, val, input_chid) \
+	XX(22, val, telem_mode) \
+	XX(23, val, telem_phid) \
+	XX(24, val, telem_poles) \
+	XX(25, val, prot_temp) \
+	XX(26, val, prot_volt) \
+	XX(27, val, prot_cells) \
+	XX(28, val, prot_curr) \
+	XX(29, str, music) \
+	XX(30, val, volume) \
+	XX(31, val, beacon) \
+	XX(32, val, led) \
+	XX(33, val, brushed) \
 
 static int beep = -1;
 
@@ -211,6 +213,7 @@ CFG_MAP(XX)
 		case 8: // 'throt <value>'
 			if (narg != 2 || !getval(args[1], &val) || val < -2000 || val > 2000) goto error;
 			throt = val;
+			analog = 0;
 			break;
 		case 9: // 'beep'
 			if (narg != 1) goto error;

diff --git a/src/common.h b/src/common.h
@@ -42,13 +42,21 @@
 #define CLK_MHZ (CLK / 1000000)
 
 #ifdef ANALOG
-#define IO_ANALOG (ANALOG_THROT < 100)
-#elif defined IO_PA2 || defined IO_PA6
+#define IO_ANALOG (cfg.throt_set < 100)
+#elif defined IO_PA2 || defined IO_PA6 || defined ANALOG_PIN
 #define IO_ANALOG (cfg.input_mode == 1)
 #else
 #define IO_ANALOG 0
 #endif
 
+#ifdef ANALOG_PIN
+#define AIN_PIN ANALOG_PIN
+#elif defined IO_PA6
+#define AIN_PIN 6
+#else
+#define AIN_PIN 2
+#endif
+
 typedef struct {
 	const uint16_t id;
 	const char revision;
@@ -66,9 +74,11 @@ typedef struct {
 	char duty_min;
 	char duty_max;
 	char duty_spup;
+	char duty_ramp;
 	char duty_rate;
 	char duty_drag;
 	char throt_mode;
+	char throt_set;
 	char throt_cal;
 	short throt_min;
 	short throt_mid;

diff --git a/src/defs.h b/src/defs.h
@@ -128,9 +128,6 @@
 #ifndef ANALOG_MAX
 #define ANALOG_MAX 3200 // mV
 #endif
-#ifndef ANALOG_THROT
-#define ANALOG_THROT 0 // %
-#endif
 
 // Default settings
 
@@ -167,6 +164,9 @@
 #ifndef DUTY_SPUP
 #define DUTY_SPUP 10
 #endif
+#ifndef DUTY_RAMP
+#define DUTY_RAMP 0
+#endif
 #ifndef DUTY_RATE
 #define DUTY_RATE 25
 #endif
@@ -176,6 +176,9 @@
 #ifndef THROT_MODE
 #define THROT_MODE 0
 #endif
+#ifndef THROT_SET
+#define THROT_SET 0
+#endif
 #ifndef THROT_CAL
 #ifdef USE_HSE
 #define THROT_CAL 0

diff --git a/src/io.c b/src/io.c
@@ -408,7 +408,7 @@ static void dshotdma(void) {
 			cfg.led &= ~8;
 			break;
 #endif
-		case 40: // Select timing
+		case 40: // Select motor timing
 			if (cnt != 6) break;
 			if ((x = cfg.timing + 1) > 7) x = 1;
 			beepval = cfg.timing = x;
@@ -420,12 +420,18 @@ static void dshotdma(void) {
 			cfg.freq_max = x << 3;
 			beepval = x - 5;
 			break;
-		case 42: // Increase acceleration slew rate
+		case 42: // Select maximum duty cycle ramp
+			if (cnt != 6) break;
+			if ((x = cfg.duty_ramp / 10 + 1) > 10) x = 0;
+			cfg.duty_ramp = x * 10;
+			beepval = x;
+			break;
+		case 43: // Increase acceleration slew rate
 			if (cnt != 6) break;
 			if ((x = cfg.duty_rate) < 100 && ++x > 10) x = (x + 4) / 5 * 5;
 			beepval = cfg.duty_rate = x;
 			break;
-		case 43: // Decrease acceleration slew rate
+		case 44: // Decrease acceleration slew rate
 			if (cnt != 6) break;
 			if ((x = cfg.duty_rate) > 1 && --x > 10) x = x / 5 * 5;
 			beepval = cfg.duty_rate = x;