Firmware revision 14 (patch 5)

Reduce overcurrent protection P-term
Fix variable PWM frequency
Add missing checkcfg()
Add ESCAPE5 target
Amend ESCAPE1 target

Author: neoxic

CMakeLists.txt

@@ -56,10 +56,11 @@ add_target(AIRBOT1 AT32F421 DEAD_TIME=66 COMP_MAP=321 SENS_MAP=0xA3A6 VOLT_MUL=7
 add_target(AIRBOT2 STM32F051 DEAD_TIME=26 COMP_MAP=321 SENS_MAP=0xA3 VOLT_MUL=738 IO_PA2)
 add_target(DYS1 STM32F051 DEAD_TIME=26 COMP_MAP=123 SENS_MAP=0xA6A3 CURR_MUL=60 LED_MAP=0xAFB3B4 LED_INV IO_PA2)
 add_target(EMAX1 STM32F051 DEAD_TIME=26 COMP_MAP=123 IO_PA2)
-add_target(ESCAPE1 STM32G071 DEAD_TIME=35 COMP_MAP=123 SENS_MAP=0xA5A4 VOLT_MUL=1100 CURR_MUL=30 LED_WS2812 LED_STAT IO_PA2 IO_AUX)
+add_target(ESCAPE1 STM32G071 DEAD_TIME=35 COMP_MAP=123 HALL_MAP=0xAFB35 SENS_MAP=0xA6A5A4 VOLT_MUL=1100 CURR_MUL=30 BEC_MAP=0xCEF LED_WS2812 LED_STAT IO_PA2)
 add_target(ESCAPE2 STM32G071 DEAD_TIME=35 COMP_MAP=123 SENS_MAP=0xA6 VOLT_MUL=1100 BEC_MAP=0xADE IO_PA2)
 add_target(ESCAPE3 AT32F421 DEAD_TIME=66 COMP_MAP=123 SENS_MAP=0xA6 VOLT_MUL=1100 BEC_MAP=0xADE)
-add_target(ESCAPE4 STM32G071 DEAD_TIME=35 COMP_MAP=123 HALL_MAP=0xB358 SENS_MAP=0xA6A5A4 TEMP_SENS=NTC10K3455UP2K VOLT_MUL=1100 CURR_MUL=30 BEC_MAP=0xCEF LED_MAP=0xF2AF LED1_INV LED_STAT IO_PA2)
+add_target(ESCAPE4 STM32G071 DEAD_TIME=35 COMP_MAP=123 HALL_MAP=0xB358 SENS_MAP=0xA6A5A4 VOLT_MUL=1100 CURR_MUL=30 BEC_MAP=0xCEF LED_MAP=0xF2AF LED1_INV LED_STAT IO_PA2)
+add_target(ESCAPE5 STM32G071 DEAD_TIME=35 COMP_MAP=123 SENS_MAP=0xA6 VOLT_MUL=1100 BEC_MAP=0xA45 LED_WS2812 LED_STAT IO_PA2)
 add_target(FLYCOLOR1 STM32F051 DEAD_TIME=26 COMP_MAP=123 SENS_MAP=0xA6 VOLT_MUL=1100 LED_MAP=0xB5B4B3 IO_PA2)
 add_target(FLYCOLOR2 STM32G071 DEAD_TIME=35 COMP_MAP=123 SENS_MAP=0xA6 VOLT_MUL=1100 LED_MAP=0xB8 LED_STAT)
 add_target(FREELYRC1 AT32F421 DEAD_TIME=66 COMP_MAP=123 SENS_MAP=0xA3 VOLT_MUL=1100 LED_WS2812 LED_STAT)

src/common.h

@@ -153,21 +153,17 @@ static inline int clamp(int x, int a, int b) {return min(max(x, a), b);}
 // Temperature sensors
 
 static inline int NTC10K3455LO2K(int x) {
-	if (x < 100) return 0;
 	return (x < 2338 ? (x - 1650) * 46 + 74841 : (x - 2640) * 83 + 132044) >> 8;
 }
 
 static inline int NTC10K3455UP2K(int x) {
-	if (x > 3200) return 0;
 	return (x > 961 ? (x - 1650) * -46 + 74841 : (x - 660) * -83 + 132044) >> 8;
 }
 
 static inline int NTC10K3455LO10K(int x) {
-	if (x < 100) return 0;
 	return (x < 2762 ? (x - 1650) * 36 + 25600 : (x - 3036) * 151 + 107130) >> 8;
 }
 
 static inline int NTC10K3455UP10K(int x) {
-	if (x > 3200) return 0;
 	return (x > 537 ? (x - 1650) * -36 + 25600 : (x - 264) * -151 + 107130) >> 8;
 }

src/defs.h

@@ -83,7 +83,7 @@
 #endif
 
 #ifndef TEMP_SENS
-#define TEMP_SENS(x) 0
+#define TEMP_SENS NTC10K3455UP2K
 #endif
 #ifndef VOLT_MUL
 #define VOLT_MUL 0 // %

src/main.c

@@ -18,7 +18,7 @@
 #include "common.h"
 
 #define REVISION 14
-#define REVPATCH 4
+#define REVPATCH 5
 
 const Cfg cfgdata = {
 	.id = 0x32ea,
@@ -65,7 +65,7 @@ const Cfg cfgdata = {
 	.music = MUSIC,             // Startup music
 	.volume = VOLUME,           // Sound volume (%) [0..100]
 	.beacon = BEACON,           // Beacon volume (%) [0..100]
-	.bec = BEC,                 // BEC voltage control [0..3]
+	.bec = BEC,                 // BEC voltage control (0 - 5.5V, 1 - 6.5V, 2 - 7.4V, 3 - 8.4V)
 	.led = LED,                 // LED on/off bits [0..15]
 };
 
@@ -427,7 +427,7 @@ void adcdata(int t, int u, int v, int c, int a) {
 		c = 0;
 	}
 	temp1 = max((t = smooth(&st, t, 10)) >> 2, 0); // C
-	temp2 = max((u = smooth(&su, TEMP_SENS(u), 10)) >> 2, 0); // C
+	temp2 = hall || cfg.prot_sens ? max((u = smooth(&su, TEMP_SENS(u), 10)) >> 2, 0) : 0; // C
 	volt = smooth(&sv, v * VOLT_MUL * 131 >> 17, 7); // V/100
 	curr = smooth(&sc, c * CURR_MUL * 205 >> 11, 4); // A/100
 	i += curr; // Current integral
@@ -607,7 +607,7 @@ void main(void) {
 #endif
 	laststep();
 	PID bpid = {.Kp = 50, .Ki = 0, .Kd = 1000}; // Stall protection
-	PID cpid = {.Kp = 400, .Ki = 0, .Kd = 600}; // Overcurrent protection
+	PID cpid = {.Kp = 80, .Ki = 0, .Kd = 600}; // Overcurrent protection
 	for (int curduty = 0, running = 0, braking = 2, cutoff = 0, boost = 0, choke = 0, n = 0;;) {
 		int ccr, arr = CLK_KHZ / cfg.freq_min;
 		int input = cutoff == 3000 ? 0 : throt;
@@ -679,8 +679,8 @@ void main(void) {
 		if (brushed && step != reverse + 1) step = 0; // Change brushed direction
 		if ((newduty += boost - choke) < 0) newduty = 0;
 		if (ertm) { // Variable PWM frequency
+			arr = scale(ertm, 1000, 2000, CLK_KHZ / cfg.freq_max, arr); // 30..60 kERPM
 			erpm = 60000000 / ertm;
-			arr = scale(erpm, 30000, 60000, arr, CLK_KHZ / cfg.freq_max);
 		}
 		int maxduty = min(scale(erpm, 0, cfg.duty_ramp * 1000, cfg.duty_spup * 20, 2000), 2000 - cutback * 25); // 75% cutback at 15C above prot_temp
 		if (newduty > maxduty) newduty = maxduty;

src/util.c

@@ -37,6 +37,10 @@
 #endif
 
 #ifndef BEC_MAP
+#elif BEC_MAP == 0xA45
+#define BEC_PORT A
+#define BEC_PIN1 4
+#define BEC_PIN2 5
 #elif BEC_MAP == 0xB35
 #define BEC_PORT B
 #define BEC_PIN1 3
@@ -497,6 +501,7 @@ int resetcfg(void) {
 	__disable_irq();
 	memcpy(&cfg, &cfgdata, sizeof cfgdata);
 	__enable_irq();
+	checkcfg();
 	return savecfg();
 }