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Optimize PWM updates #30

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merged 2 commits into from
Jul 11, 2021
Merged

Optimize PWM updates #30

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788338e
perf: Remove PCA interrupt
mathiasvr Jun 8, 2021
17a7a22
perf: Remove pwm power RAM variables
mathiasvr Jun 8, 2021
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100 changes: 17 additions & 83 deletions Bluejay.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -584,7 +578,6 @@ 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

Expand Down Expand Up @@ -962,12 +955,24 @@ 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
Expand Down Expand Up @@ -998,7 +1003,6 @@ 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
Expand Down Expand Up @@ -1129,76 +1133,6 @@ 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


Expand Down Expand Up @@ -3719,7 +3653,7 @@ 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
Expand Down
43 changes: 0 additions & 43 deletions Common.inc
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Original file line number Diff line number Diff line change
Expand Up @@ -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)

Expand Down