Skip to content

Commit

Permalink
Mirror complementary PWM state at commutation advance.
Browse files Browse the repository at this point in the history 
This will increase braking force (proportional to commutation rate) with
software complementary PWM, and improves consistency.
  • Loading branch information
@sim-
sim- committed Sep 13, 2015
1 parent 15ca2d0 commit d7f80f6
Showing 1 changed file with 85 additions and 63 deletions.
148 changes: 85 additions & 63 deletions tgy.asm
View file
Original file line number Diff line number Diff line change
Expand Up @@ -618,7 +618,8 @@ eeprom_defaults_w:
.endif

.if defined(AnFET)
; Direct high and low side drive (inverted if INIT_Px is set)
; Traditional direct high and low side drive, inverted if INIT_Px is set.
; Dead-time insertion is supported for COMP_PWM.

.equ CPWM_SOFT = COMP_PWM

Expand Down Expand Up @@ -676,24 +677,42 @@ eeprom_defaults_w:
.endmacro

.macro PWM_FOCUS_A_on
.if COMP_PWM
cpse temp3, temp4
PWM_COMP_A_on
.endif
.endmacro
.macro PWM_FOCUS_A_off
.if COMP_PWM
in temp3, PWM_COMP_A_PORT_in
PWM_COMP_A_off
in temp4, PWM_COMP_A_PORT_in
.endif
.endmacro
.macro PWM_FOCUS_B_on
.if COMP_PWM
cpse temp3, temp4
PWM_COMP_B_on
.endif
.endmacro
.macro PWM_FOCUS_B_off
.if COMP_PWM
in temp3, PWM_COMP_B_PORT_in
PWM_COMP_B_off
in temp4, PWM_COMP_B_PORT_in
.endif
.endmacro
.macro PWM_FOCUS_C_on
.if COMP_PWM
cpse temp3, temp4
PWM_COMP_C_on
.endif
.endmacro
.macro PWM_FOCUS_C_off
.if COMP_PWM
in temp3, PWM_COMP_C_PORT_in
PWM_COMP_C_off
in temp4, PWM_COMP_C_PORT_in
.endif
.endmacro

Expand All @@ -702,12 +721,26 @@ eeprom_defaults_w:
.equ PWM_A_PORT_in = ApFET_port
.equ PWM_B_PORT_in = BpFET_port
.equ PWM_C_PORT_in = CpFET_port
.equ PWM_COMP_A_PORT_in = AnFET_port
.equ PWM_COMP_B_PORT_in = BnFET_port
.equ PWM_COMP_C_PORT_in = CnFET_port
.else
.equ PWM_A_PORT_in = AnFET_port
.equ PWM_B_PORT_in = BnFET_port
.equ PWM_C_PORT_in = CnFET_port
.equ PWM_COMP_A_PORT_in = ApFET_port
.equ PWM_COMP_B_PORT_in = BpFET_port
.equ PWM_COMP_C_PORT_in = CpFET_port
.endif

.macro PWM_ALL_off
.if HIGH_SIDE_PWM
all_pFETs_off @0
.else
all_nFETs_off @0
.endif
.endmacro

.macro all_pFETs_off
.if ApFET_port != BpFET_port || ApFET_port != CpFET_port
ApFET_off
Expand Down Expand Up @@ -757,18 +790,40 @@ eeprom_defaults_w:
.endmacro

.elif defined(ENABLE_ALL)
; Driver with PWM/ENABLE-style logic input, but with off state (or diode
; emulation mode) when the PWM pin is pulled up rather than driven high.
; Every FET toggle can be a single I/O instruction with this method,
; rather than having to select high or low in advance to toggling enable.
; Three logic level PWM/ENABLE-style driver, with diode emulation mode or
; off state at the middle level on the PWM pin. This is accomplished by
; setting a pull-up rather than drive high. With this method, every FET
; toggle can be a single I/O instruction, rather than having to select
; high or low in advance to toggling enable. The following macros are used:
;
; XnFET_on -> cbi PWM_X_PORT, PWM_X (drain through ext pull-down)
; XnFET_off -> sbi PWM_X_PORT, PWM_X (pull-up pin with ext pull-down)
; XpFET_on -> sbi PWM_X_DDR, PWM_X (drive-up pin)
; XpFET_off -> cbi PWM_X_DDR, PWM_X (pull-up pin with ext pull-down)
;
; COMP_PWM on these is done in hardware rather than software, so we can
; just toggle the PORT value after PWM_FOCUS sets DDR (output mode).
; This results in the following macro arrangement:
;
; TRI CPWM HIGH_SIDE_PWM : PWM ON PWM OFF PWM_X_PORT_in
; 0 0 0 : XnFET_on XnFET_off XnFET_port
; 0 0 1 : XpFET_on XpFET_off XpFET_port
; 0 1 0 : XnFET_on XnFET_off XnFET_port
; 0 1 1 : XpFET_on XpFET_off XpFET_port
; 1 0 0 : XnFET_on XnFET_off PWM_X_PORT
; 1 0 1 : XpFET_on XpFET_off PWM_X_DDR
; 1 1 0 : XnFET_on XnFET_off PWM_X_PORT
; 1 1 1 : XnFET_off XnFET_on PWM_X_PORT
;
; For the last case, PWM_X_off actually turns low side on which isn't how
; we want to leave the phase after commutating. PWM_X_clear will take care
; of this.
;
; We leave ENABLE high once initialized as some drivers will actually
; shut down rather than just using the input as a logic gate.
;
; We enforce HIGH_SIDE_PWM as diode emulation mode in these drivers
; typically allows active freewheeling only in this orientation, and
; because the bootstrap charge is typically not enough to hold up the
; high-side gate for the commutation period.
; We prefer HIGH_SIDE_PWM as diode emulation mode in these drivers
; typically allows active freewheeling only in this orientation.

.equ CPWM_SOFT = 0

Expand Down Expand Up @@ -856,6 +911,10 @@ eeprom_defaults_w:
.equ PWM_C_PORT_in = PWM_C_DDR
.endif

.macro PWM_ALL_off
all_nFETs_off @0
.endmacro

.macro all_pFETs_off
.if PWM_A_DDR != PWM_B_DDR || PWM_A_DDR != PWM_C_DDR
ApFET_off
Expand Down Expand Up @@ -937,31 +996,6 @@ eeprom_defaults_w:
.endif

;-- PWM macros -----------------------------------------------------------
;
; For tristate-PWM-style drivers, the following macros are used:
;
; XnFET_on -> cbi PWM_X_PORT, PWM_X (drain through ext pull-down)
; XnFET_off -> sbi PWM_X_PORT, PWM_X (pull-up pin with ext pull-down)
; XpFET_on -> sbi PWM_X_DDR, PWM_X (drive-up pin)
; XpFET_off -> cbi PWM_X_DDR, PWM_X (pull-up pin with ext pull-down)
;
; COMP_PWM on these is done in hardware rather than software, so we can
; just toggle the PORT value after PWM_FOCUS sets DDR (output mode).
; This results in the following macro arrangement:
;
; TRI CPWM HIGH_SIDE_PWM : PWM ON PWM OFF PWM_X_PORT_in
; 0 0 0 : XnFET_on XnFET_off XnFET_port
; 0 0 1 : XpFET_on XpFET_off XpFET_port
; 0 1 0 : XnFET_on XnFET_off XnFET_port
; 0 1 1 : XpFET_on XpFET_off XpFET_port
; 1 0 0 : XnFET_on XnFET_off PWM_X_PORT
; 1 0 1 : XpFET_on XpFET_off PWM_X_DDR
; 1 1 0 : XnFET_on XnFET_off PWM_X_PORT
; 1 1 1 : XnFET_off XnFET_on PWM_X_PORT
;
; For the last case, PWM_X_off actually turns low side on which isn't how
; we want to leave the phase after commutating. PWM_X_clear will take care
; of this.

.macro PWM_A_on
.if !defined(AnFET) && COMP_PWM && HIGH_SIDE_PWM
Expand All @@ -982,15 +1016,18 @@ eeprom_defaults_w:
.endif
.endmacro
.macro PWM_A_clear
in temp1, PWM_A_PORT_in
.if !defined(AnFET) && COMP_PWM && HIGH_SIDE_PWM
AnFET_off
.elif HIGH_SIDE_PWM
ApFET_off
.else
AnFET_off
.endif
in temp2, PWM_A_PORT_in
.endmacro
.macro PWM_A_copy
cpse temp1, temp2
.if !defined(AnFET) && COMP_PWM && HIGH_SIDE_PWM
AnFET_on
.elif HIGH_SIDE_PWM
Expand Down Expand Up @@ -1019,15 +1056,18 @@ eeprom_defaults_w:
.endif
.endmacro
.macro PWM_B_clear
in temp1, PWM_B_PORT_in
.if !defined(BnFET) && COMP_PWM && HIGH_SIDE_PWM
BnFET_off
.elif HIGH_SIDE_PWM
BpFET_off
.else
BnFET_off
.endif
in temp2, PWM_B_PORT_in
.endmacro
.macro PWM_B_copy
cpse temp1, temp2
.if !defined(BnFET) && COMP_PWM && HIGH_SIDE_PWM
BnFET_on
.elif HIGH_SIDE_PWM
Expand Down Expand Up @@ -1056,15 +1096,18 @@ eeprom_defaults_w:
.endif
.endmacro
.macro PWM_C_clear
in temp1, PWM_C_PORT_in
.if !defined(CnFET) && COMP_PWM && HIGH_SIDE_PWM
CnFET_off
.elif HIGH_SIDE_PWM
CpFET_off
.else
CnFET_off
.endif
in temp2, PWM_C_PORT_in
.endmacro
.macro PWM_C_copy
cpse temp1, temp2
.if !defined(CnFET) && COMP_PWM && HIGH_SIDE_PWM
CnFET_on
.elif HIGH_SIDE_PWM
Expand All @@ -1074,16 +1117,6 @@ eeprom_defaults_w:
.endif
.endmacro

.if HIGH_SIDE_PWM
.macro PWM_ALL_off
all_pFETs_off @0
.endmacro
.else
.macro PWM_ALL_off
all_nFETs_off @0
.endmacro
.endif

;-- Complementary PWM macros ---------------------------------------------

.if CPWM_SOFT
Expand Down Expand Up @@ -3463,10 +3496,7 @@ start_from_running:
cbr flags2, ALL_FETS
sbr flags2, (1<<B_FET)
PWM_FOCUS_C_off
in temp1, PWM_C_PORT_in
PWM_C_clear
in temp2, PWM_C_PORT_in
cpse temp1, temp2
PWM_B_copy
PWM_FOCUS_B_on
sei
Expand All @@ -3479,10 +3509,7 @@ start_from_running:
cbr flags2, ALL_FETS
sbr flags2, (1<<C_FET)
PWM_FOCUS_B_off
in temp1, PWM_B_PORT_in
PWM_B_clear
in temp2, PWM_B_PORT_in
cpse temp1, temp2
PWM_C_copy
PWM_FOCUS_C_on
sei
Expand Down Expand Up @@ -3511,10 +3538,7 @@ start_from_running:
cbr flags2, ALL_FETS
sbr flags2, (1<<A_FET)
PWM_FOCUS_B_off
in temp1, PWM_B_PORT_in
PWM_B_clear
in temp2, PWM_B_PORT_in
cpse temp1, temp2
PWM_A_copy
PWM_FOCUS_A_on
sei
Expand All @@ -3527,10 +3551,7 @@ start_from_running:
cbr flags2, ALL_FETS
sbr flags2, (1<<B_FET)
PWM_FOCUS_A_off
in temp1, PWM_A_PORT_in
PWM_A_clear
in temp2, PWM_A_PORT_in
cpse temp1, temp2
PWM_B_copy
PWM_FOCUS_B_on
sei
Expand Down Expand Up @@ -3559,10 +3580,7 @@ start_from_running:
cbr flags2, ALL_FETS
sbr flags2, (1<<C_FET)
PWM_FOCUS_A_off
in temp1, PWM_A_PORT_in
PWM_A_clear
in temp2, PWM_A_PORT_in
cpse temp1, temp2
PWM_C_copy
PWM_FOCUS_C_on
sei
Expand All @@ -3575,10 +3593,7 @@ start_from_running:
cbr flags2, ALL_FETS
sbr flags2, (1<<A_FET)
PWM_FOCUS_C_off
in temp1, PWM_C_PORT_in
PWM_C_clear
in temp2, PWM_C_PORT_in
cpse temp1, temp2
PWM_A_copy
PWM_FOCUS_A_on
sei
Expand Down Expand Up @@ -3710,10 +3725,17 @@ start_fail_beep:
demag_timeout:
ldi ZL, low(pwm_wdr) ; Stop PWM switching
; Interrupts will not turn on any FETs now
.if COMP_PWM
.if COMP_PWM && CPWM_SOFT
; Turn off complementary PWM if it was on,
; but leave on the high side commutation FET.
sbrc flags2, A_FET
PWM_COMP_A_off
sbrc flags2, B_FET
PWM_COMP_B_off
sbrc flags2, C_FET
PWM_COMP_C_off
.elif COMP_PWM && !CPWM_SOFT
sbrc flags2, A_FET
PWM_FOCUS_A_off
sbrc flags2, B_FET
PWM_FOCUS_B_off
Expand Down

0 comments on commit d7f80f6

Please sign in to comment.