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Firmware revision 12 (patch 3)
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Fix missing active drag brake while coasting
Fix missing UDIS in music playing routine
Unify commutation reset
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@neoxic
neoxic committed Nov 25, 2024
1 parent 8458887 commit 7044afc
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Showing 3 changed files with 41 additions and 42 deletions.
1 change: 1 addition & 0 deletions src/common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -147,6 +147,7 @@ int calcpid(PID *pid, int x, int y);
void checkcfg(void);
int savecfg(void);
int resetcfg(void);
void resetcom(void);
int playmusic(const char *str, int vol);

static inline int min(int a, int b) {return a < b ? a : b;}
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34 changes: 12 additions & 22 deletions src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
#include "common.h"

#define REVISION 12
#define REVPATCH 2
#define REVPATCH 3

const Cfg cfgdata = {
.id = 0x32ea,
Expand Down Expand Up @@ -333,30 +333,15 @@ static void nextstep(void) {
}

static void laststep(void) {
#ifdef PWM_ENABLE
TIM1_CCMR1 = TIM_CCMR1_OC1M_FORCE_HIGH | TIM_CCMR1_OC2M_FORCE_HIGH;
TIM1_CCMR2 = TIM_CCMR2_OC3M_FORCE_HIGH;
#else
TIM1_CCMR1 = TIM_CCMR1_OC1M_FORCE_LOW | TIM_CCMR1_OC2M_FORCE_LOW;
TIM1_CCMR2 = TIM_CCMR2_OC3M_FORCE_LOW;
#endif
int er = TIM_CCER_CC1NE | TIM_CCER_CC2NE | TIM_CCER_CC3NE;
#ifdef INVERTED_HIGH
er |= TIM_CCER_CC1P | TIM_CCER_CC2P | TIM_CCER_CC3P;
#endif
#ifdef PWM_ENABLE
er |= TIM_CCER_CC1NP | TIM_CCER_CC2NP | TIM_CCER_CC3NP;
#endif
TIM1_CCER = er;
TIM1_EGR = TIM_EGR_COMG;
resetcom();
if (sine && prep) { // Switch over to 6-step
step = (step + 29) / 60 + 1;
if (step > 6) step = 1;
}
sine = 0;
prep = 0;
if (lock) nextstep(); // Active drag brake
else { // Passive drag brake
if (lock) nextstep();
else {
#ifdef PWM_ENABLE
TIM1_CCMR1 = TIM_CCMR1_OC1PE | TIM_CCMR1_OC1M_PWM2 | TIM_CCMR1_OC2PE | TIM_CCMR1_OC2M_PWM2;
TIM1_CCMR2 = TIM_CCMR2_OC3PE | TIM_CCMR2_OC3M_PWM2;
Expand Down Expand Up @@ -628,8 +613,13 @@ void main(void) {
running = 1;
} else { // Neutral
if (braking == 1) braking = 2; // Reverse after braking
if (sync < 6) { // Drag brake
curduty = lock ? min(cfg.duty_drag, 100 - cutback) : cfg.duty_drag * 20; // 60% cutback at 15C above prot_temp
if (lock) { // Active drag brake
curduty = min(cfg.duty_drag, 100 - cutback); // 60% cutback at 15C above prot_temp
running = 0;
goto setduty;
}
if (sync < 6) { // Passive drag brake
curduty = cfg.duty_drag * 20;
running = 0;
goto setduty;
}
Expand Down Expand Up @@ -726,7 +716,7 @@ void main(void) {
TIM1_CCMR1 = m1;
TIM1_CCMR2 = m2;
TIM1_CCER = er;
TIM1_EGR = TIM_EGR_COMG;
TIM1_EGR = TIM_EGR_UG | TIM_EGR_COMG;
step = reverse + 1;
ertm = 600; // 100K ERPM (freq_min/duty_spup/duty_ramp have no effect)
continue;
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48 changes: 28 additions & 20 deletions src/util.c
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Original file line number Diff line number Diff line change
Expand Up @@ -398,6 +398,25 @@ int resetcfg(void) {
return savecfg();
}

void resetcom(void) {
#ifdef PWM_ENABLE
TIM1_CCMR1 = TIM_CCMR1_OC1M_FORCE_HIGH | TIM_CCMR1_OC2M_FORCE_HIGH;
TIM1_CCMR2 = TIM_CCMR2_OC3M_FORCE_HIGH;
#else
TIM1_CCMR1 = TIM_CCMR1_OC1M_FORCE_LOW | TIM_CCMR1_OC2M_FORCE_LOW;
TIM1_CCMR2 = TIM_CCMR2_OC3M_FORCE_LOW;
#endif
int er = TIM_CCER_CC1NE | TIM_CCER_CC2NE | TIM_CCER_CC3NE;
#ifdef INVERTED_HIGH
er |= TIM_CCER_CC1P | TIM_CCER_CC2P | TIM_CCER_CC3P;
#endif
#ifdef PWM_ENABLE
er |= TIM_CCER_CC1NP | TIM_CCER_CC2NP | TIM_CCER_CC3NP;
#endif
TIM1_CCER = er;
TIM1_EGR = TIM_EGR_UG | TIM_EGR_COMG;
}

int playmusic(const char *str, int vol) {
static const uint16_t arr[] = {30575, 28859, 27240, 25713, 24268, 22906, 21621, 20407, 19261, 18181, 17160, 16196, 15287};
static char flag;
Expand All @@ -412,6 +431,7 @@ int playmusic(const char *str, int vol) {
if (!vol || ertm || flag) return 0;
flag = 1;
vol <<= 1;
resetcom();
#ifdef PWM_ENABLE
TIM1_CCMR1 = TIM_CCMR1_OC1M_FORCE_LOW | TIM_CCMR1_OC2PE | TIM_CCMR1_OC2M_PWM1;
TIM1_CCMR2 = TIM_CCMR2_OC3M_FORCE_LOW;
Expand All @@ -428,22 +448,25 @@ int playmusic(const char *str, int vol) {
er |= TIM_CCER_CC1NP | TIM_CCER_CC2NP | TIM_CCER_CC3NP;
#endif
TIM1_CCER = er;
TIM1_CCR2 = 0; // Preload silence
TIM1_PSC = CLK_MHZ / 8 - 1; // 125ns resolution
for (int a, b, c = 0; (a = *str++);) {
if (a >= 'a' && a <= 'g') a -= 'c', b = 0; // Low note
else if (a >= 'A' && a <= 'G') a -= 'C', b = 1; // High note
else if (a == '_') goto update; // Pause
else {
else if (a == '_') { // Pause
TIM1_CCR2 = 0;
goto update;
} else {
if (a == '+' && !c++) continue; // Octave up
if (a == '-' && c--) continue; // Octave down
break; // Invalid specifier
}
a = (a + 7) % 7 << 1;
if (a > 4) --a;
if (*str == '#') ++a, ++str;
TIM1_CCR2 = vol; // Volume
TIM1_CR1 = TIM_CR1_CEN | TIM_CR1_ARPE | TIM_CR1_UDIS;
TIM1_ARR = arr[a] >> (b + c); // Frequency
TIM1_CCR2 = vol; // Volume
TIM1_CR1 = TIM_CR1_CEN | TIM_CR1_ARPE;
update:
TIM1_EGR = TIM_EGR_UG | TIM_EGR_COMG;
a = strtol(str, &end, 10); // Duration
Expand All @@ -453,23 +476,8 @@ int playmusic(const char *str, int vol) {
str = end;
}
delay(tmp * a);
TIM1_CCR2 = 0; // Preload silence
}
#ifdef PWM_ENABLE
TIM1_CCMR1 = TIM_CCMR1_OC1M_FORCE_HIGH | TIM_CCMR1_OC2M_FORCE_HIGH;
TIM1_CCMR2 = TIM_CCMR2_OC3M_FORCE_HIGH;
#else
TIM1_CCMR1 = TIM_CCMR1_OC1M_FORCE_LOW | TIM_CCMR1_OC2M_FORCE_LOW;
TIM1_CCMR2 = TIM_CCMR2_OC3M_FORCE_LOW;
#endif
er = TIM_CCER_CC1NE | TIM_CCER_CC2NE | TIM_CCER_CC3NE;
#ifdef INVERTED_HIGH
er |= TIM_CCER_CC1P | TIM_CCER_CC2P | TIM_CCER_CC3P;
#endif
#ifdef PWM_ENABLE
er |= TIM_CCER_CC1NP | TIM_CCER_CC2NP | TIM_CCER_CC3NP;
#endif
TIM1_CCER = er;
resetcom();
TIM1_PSC = 0;
TIM1_ARR = CLK_KHZ / 24 - 1;
TIM1_EGR = TIM_EGR_UG | TIM_EGR_COMG;
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