Merge pull request #30 from mathiasvr/pca-optimize

Optimize PWM updates

Bluejay.asm

@@ -167,7 +167,6 @@ Flag_Motor_Running			BIT	Flags1.3
 Flag_Motor_Started			BIT	Flags1.4		; Set when motor is started
 Flag_Dir_Change_Brake		BIT	Flags1.5		; Set when braking before direction change
 Flag_High_Rpm				BIT	Flags1.6		; Set when motor rpm is high (Comm_Period4x_H less than 2)
-Flag_Low_Pwm_Power			BIT	Flags1.7		; Set when pwm duty cycle is below 50%
 
 Flags2:					DS	1			; State flags. NOT reset upon motor_start
 ;						BIT	Flags2.0
@@ -223,11 +222,6 @@ Wt_Zc_Tout_Start_H:			DS	1	; Timer 3 start point for zero cross scan timeout (hi
 Wt_Comm_Start_L:			DS	1	; Timer 3 start point from zero cross to commutation (lo byte)
 Wt_Comm_Start_H:			DS	1	; Timer 3 start point from zero cross to commutation (hi byte)
 
-Power_Pwm_Reg_L:			DS	1	; Power pwm register setting (lo byte)
-Power_Pwm_Reg_H:			DS	1	; Power pwm register setting (hi byte)
-Damp_Pwm_Reg_L:			DS	1	; Damping pwm register setting (lo byte)
-Damp_Pwm_Reg_H:			DS	1	; Damping pwm register setting (hi byte)
-
 Pwm_Limit:				DS	1	; Maximum allowed pwm (8-bit)
 Pwm_Limit_By_Rpm:			DS	1	; Maximum allowed pwm for low or high rpm (8-bit)
 Pwm_Limit_Beg:				DS	1	; Initial pwm limit (8-bit)
@@ -665,7 +659,6 @@ t0_int_dshot_tlm_finish:
 	mov	TL0, #0					; Reset timer 0 count
 	setb	IE_EX0					; Enable int0 interrupts
 	setb	IE_EX1					; Enable int1 interrupts
-	Enable_PCA_Interrupt			; Enable pca interrupts
 
 	clr	Flag_Telemetry_Pending		; Mark that new telemetry packet may be created
 
@@ -1043,12 +1036,24 @@ ENDIF
 t1_int_set_pwm_damp_set:
 ENDIF
 
-	mov	Power_Pwm_Reg_L, Temp2
-	mov	Power_Pwm_Reg_H, Temp3
+	; Note: Interrupts (of higher priority) are not explicitly disabled because
+	; int0 is already disabled and timer 0 is assumed to be disabled at this point
+IF PWM_BITS_H != 0
+	; Set power pwm auto-reload registers
+	Set_Power_Pwm_Reg_L	Temp2
+	Set_Power_Pwm_Reg_H	Temp3
+ELSE
+	Set_Power_Pwm_Reg_H Temp2
+ENDIF
 
 IF DEADTIME != 0
-	mov	Damp_Pwm_Reg_L, Temp4
-	mov	Damp_Pwm_Reg_H, Temp5
+	; Set damp pwm auto-reload registers
+	IF PWM_BITS_H != 0
+		Set_Damp_Pwm_Reg_L	Temp4
+		Set_Damp_Pwm_Reg_H	Temp5
+	ELSE
+		Set_Damp_Pwm_Reg_H	Temp4
+	ENDIF
 ENDIF
 
 	mov	Rcp_Timeout_Cntd, #10		; Set timeout count
@@ -1079,7 +1084,6 @@ t1_int_exit_no_tlm:
 	mov	TL0, #0					; Reset timer 0
 	setb	IE_EX0					; Enable int0 interrupts
 	setb	IE_EX1					; Enable int1 interrupts
-	Enable_PCA_Interrupt			; Enable pca interrupts
 
 t1_int_exit_no_int:
 	pop	B						; Restore preserved registers
@@ -1210,76 +1214,6 @@ reti
 ;
 ;**** **** **** **** **** **** **** **** **** **** **** **** ****
 pca_int:
-	clr	IE_EA					; Disable all interrupts
-	push	ACC
-
-IF DEADTIME != 0					; HI/LO enable style drivers
-	mov	A, PCA0L					; Read low byte first, to transfer high byte to holding register
-	mov	A, PCA0H
-
-	jnb	Flag_Low_Pwm_Power, pca_int_hi_pwm
-
-	; Power below 50%, update pca in the 0x00-0x0F range
-	jb	ACC.PWM_BITS_H, pca_int_exit	; PWM edge selection bit (continue if up edge)
-
-	sjmp	pca_int_set_pwm
-
-pca_int_hi_pwm:
-	; Power above 50%, update pca in the 0x20-0x2F range
-	jnb	ACC.PWM_BITS_H, pca_int_exit	; PWM edge selection bit (continue if down edge)
-
-pca_int_set_pwm:
-	IF PWM_BITS_H != 0
-		jb	ACC.(PWM_BITS_H-1), pca_int_exit
-	ELSE
-		mov	A, PCA0L
-		jb	ACC.7, pca_int_exit
-	ENDIF
-ENDIF
-
-; Set power pwm auto-reload registers
-IF PWM_BITS_H != 0
-	Set_Power_Pwm_Reg_L Power_Pwm_Reg_L
-	Set_Power_Pwm_Reg_H Power_Pwm_Reg_H
-ELSE
-	Set_Power_Pwm_Reg_H Power_Pwm_Reg_L
-ENDIF
-
-IF DEADTIME != 0
-	; Set damp pwm auto-reload registers
-	IF PWM_BITS_H != 0
-		Set_Damp_Pwm_Reg_L Damp_Pwm_Reg_L
-		Set_Damp_Pwm_Reg_H Damp_Pwm_Reg_H
-	ELSE
-		Set_Damp_Pwm_Reg_H Damp_Pwm_Reg_L
-	ENDIF
-ENDIF
-
-	setb	Flag_Low_Pwm_Power
-IF PWM_BITS_H != 0
-	mov	A, Power_Pwm_Reg_H
-	jb	ACC.(PWM_BITS_H - 1), ($+5)
-ELSE
-	mov	A, Power_Pwm_Reg_L
-	jb	ACC.7, ($+5)
-ENDIF
-	clr	Flag_Low_Pwm_Power
-
-	Disable_COVF_Interrupt
-IF DEADTIME == 0					; EN/PWM style drivers
-	Disable_CCF_Interrupt
-ENDIF
-
-	anl	EIE1, #0EFh				; Pwm updated, disable pca interrupts
-
-pca_int_exit:
-	Clear_COVF_Interrupt
-IF DEADTIME == 0
-	Clear_CCF_Interrupt
-ENDIF
-
-	pop	ACC						; Restore preserved registers
-	setb	IE_EA					; Enable all interrupts
 	reti
 
 
@@ -3775,7 +3709,7 @@ setup_dshot:
 	; Setup interrupts for DShot
 	clr	Flag_Telemetry_Pending		; Clear DShot telemetry flag
 	mov	IE, #2Dh					; Enable timer 1/2 interrupts and INT0/1 interrupts
-	mov	EIE1, #90h				; Enable timer 3 and PCA0 interrupts
+	mov	EIE1, #80h				; Enable timer 3 interrupts
 	mov	IP, #03h					; High priority to timer 0 and INT0 interrupts
 
 	setb	IE_EA					; Enable all interrupts

Common.inc

@@ -165,49 +165,6 @@ ELSE
 ENDIF
 ENDM
 
-Clear_COVF_Interrupt MACRO
-	anl	PCA0PWM, #0DFh				;; Clear PCA cycle overflow flag
-ENDM
-
-Enable_COVF_Interrupt MACRO
-	orl	PCA0PWM, #40h				;; Enable PCA interrupt on cycle overflow
-ENDM
-
-Disable_COVF_Interrupt MACRO
-	anl	PCA0PWM, #0BFh				;; Disable PCA interrupt on cycle overflow
-ENDM
-
-IF DEADTIME == 0					; CCF interrupt is only used for DEADTIME == 0
-Clear_CCF_Interrupt MACRO
-	anl	PCA0CN0, #0FEh				;; Clear PCA capture/compare flag
-ENDM
-
-Enable_CCF_Interrupt MACRO
-	orl	PCA0CPM0, #01h				;; Enable PCA interrupt on capture/compare
-ENDM
-
-Disable_CCF_Interrupt MACRO
-	anl	PCA0CPM0, #0FEh			;; Disable PCA interrupt on capture/compare
-ENDM
-ENDIF
-
-Enable_PCA_Interrupt MACRO
-LOCAL pca_enabled set_pca_int_hi_pwm
-IF DEADTIME != 0
-	Enable_COVF_Interrupt
-ELSE
-	jnb	Flag_Low_Pwm_Power, set_pca_int_hi_pwm
-
-	Enable_COVF_Interrupt
-	sjmp	pca_enabled
-
-set_pca_int_hi_pwm:
-	Enable_CCF_Interrupt
-pca_enabled:
-ENDIF
-	orl	EIE1, #10h				;; Enable pca interrupts
-ENDM
-
 Set_MCU_Clk_24MHz MACRO
 	mov	CLKSEL, #13h				;; Set clock to 24MHz (Oscillator 1 divided by 2)