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[EXPERIMENTAL] Feature/jamming protection #180

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[EXPERIMENTAL] Feature/jamming protection #180

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461824d
This is a proof of concept to implement an algorithm to detect jammin…
damosvil Oct 9, 2023
a1aef75
To disable jamming protection as soon as throttle < JAMMING_PROTECTIO…
damosvil Oct 11, 2023
5986291
Flag_Ext_Tele can only be cleared in exit_run_mode when motors are no…
Oct 5, 2023
2737993
Changed subrevision and tag to name it to 0.20.1 IR1 (internal releas…
damosvil Oct 13, 2023
35e2b6e
Updated jamming protection to be enabled when:
damosvil Oct 15, 2023
e168e2e
Subversion bumped to XR2
damosvil Oct 16, 2023
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28 changes: 24 additions & 4 deletions src/Bluejay.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,23 @@ ENDIF
; Select the pwm frequency (or unselect for use with external batch compile file)
;PWM_FREQ EQU 0 ; 0=24, 1=48, 2=96 kHz

; Throttle threshold for jamming protection [0 - 255]
JAMMING_PROTECTION_THROTTLE_THRESHOLD EQU 55h ; 33% throttle

; Period 40h is ~5000erpm (about 257rpm at 14 poles)
; Period 20h is ~10000erpm (about 714rpm at 14 poles)
; Period 10h is ~20000erpm (about 1428rpm at 14 poles)
; Period 8h is ~40000erpm (about 2857rpm at 14 poles)
; Period 4h is ~80000erpm (about 5717rpm at 14 poles)
; Period 2h is ~160000erpm (about 11428rpm at 14 poles)
; Period 1h is ~320000erpm (about 22857rpm at 14 poles)
; Period over which ESC will resync under jamming suspection
JAMMING_PROTECTION_PERIOD_LO_RESYNC EQU 8h ; 2857rpm disable esc if protection is enabled
; Period over which ESC will enable jamming protection
JAMMING_PROTECTION_PERIOD_HI_ENGAGE EQU 6h ; 4000rpm engage jamming protection
; Number of turns conditions are valid to enable jamming protection to avoid chaotic events
JAMMING_PROTECTION_ETURN_CNT_ENGAGE EQU 24

PWM_CENTERED EQU DEADTIME > 0 ; Use center aligned pwm on ESCs with dead time

IF MCU_TYPE == MCU_BB1
Expand Down Expand Up @@ -203,6 +220,7 @@ Flags0: DS 1 ; State flags. Reset upon motor_start
Flag_Demag_Notify BIT Flags0.3 ; Set when motor demag has been detected but still not notified
Flag_Desync_Notify BIT Flags0.4 ; Set when motor desync has been detected but still not notified
Flag_Stall_Notify BIT Flags0.5 ; Set when motor stall detected but still not notified
Flag_Jamming_Protection_Active BIT Flags0.6 ; Set when jamming protection is active

Flags1: DS 1 ; State flags. Reset upon motor_start
Flag_Timer3_Pending BIT Flags1.0 ; Timer3 pending flag
Expand Down Expand Up @@ -239,6 +257,7 @@ DSEG AT 30h
Rcp_Outside_Range_Cnt: DS 1 ; RC pulse outside range counter (incrementing)
Rcp_Timeout_Cntd: DS 1 ; RC pulse timeout counter (decrementing)
Rcp_Stop_Cnt: DS 1 ; Counter for RC pulses below stop value
Rcp_Throttle: DS 1 ; Throttle in 8bit

Beacon_Delay_Cnt: DS 1 ; Counter to trigger beacon during wait for start
Startup_Cnt: DS 1 ; Startup phase commutations counter (incrementing)
Expand Down Expand Up @@ -295,6 +314,8 @@ DShot_GCR_Start_Delay: DS 1
Ext_Telemetry_L: DS 1 ; Extended telemetry data to be sent
Ext_Telemetry_H: DS 1
Scheduler_Counter: DS 1 ; Scheduler Heartbeat
Jamm_Prot_ETurn_Cnt: DS 1 ; Jamming protection electronic turn counter

;**** **** **** **** **** **** **** **** **** **** **** **** ****
; Indirect addressing data segments
;**** **** **** **** **** **** **** **** **** **** **** **** ****
Expand Down Expand Up @@ -355,7 +376,7 @@ Temp_Storage: DS 48 ; Temporary storage (internal memory)
;**** **** **** **** **** **** **** **** **** **** **** **** ****
CSEG AT CSEG_EEPROM
EEPROM_FW_MAIN_REVISION EQU 0 ; Main revision of the firmware
EEPROM_FW_SUB_REVISION EQU 21 ; Sub revision of the firmware
EEPROM_FW_SUB_REVISION EQU 20 ; Sub revision of the firmware
EEPROM_LAYOUT_REVISION EQU 207 ; Revision of the EEPROM layout
EEPROM_B2_PARAMETERS_COUNT EQU 28 ; Number of parameters

Expand Down Expand Up @@ -406,7 +427,7 @@ Eep_Pgm_Safety_Arm: DB DEFAULT_PGM_SAFETY_ARM ; Various flag settings: bit 0 is

Eep_Dummy: DB 0FFh ; EEPROM address for safety reason
CSEG AT CSEG_NAME
Eep_Name: DB "Bluejay (.1 RC2)" ; Name tag (16 Bytes)
Eep_Name: DB "Bluejay (.1 XR2)" ; Name tag (16 Bytes)

CSEG AT CSEG_MELODY
Eep_Pgm_Beep_Melody: DB 2,58,4,32,52,66,13,0,69,45,13,0,52,66,13,0,78,39,211,0,69,45,208,25,52,25,0
Expand Down Expand Up @@ -924,7 +945,7 @@ run6:
sjmp exit_run_mode

startup_phase_done:
; Clear startup phase flag & remove pwm limits
; Clear startup phase flag
clr Flag_Startup_Phase

initial_run_phase:
Expand Down Expand Up @@ -1046,7 +1067,6 @@ exit_run_mode:
call switch_power_off
mov Flags0, #0 ; Clear run time flags (in case they are used in interrupts)
mov Flags1, #0
clr Flag_Ext_Tele ; Clear extended DSHOT telemetry flag

IF MCU_TYPE == MCU_BB2 or MCU_TYPE == MCU_BB51
Set_MCU_Clk_24MHz
Expand Down
10 changes: 9 additions & 1 deletion src/Modules/Isrs.asm
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Expand Up @@ -339,6 +339,14 @@ t1_int_rcp_not_zero:
clr Flag_Rcp_Stop ; Pulse ready

t1_int_zero_rcp_checked:
; Flag_Jamming_Protection_Active = Flag_Jamming_Protection_Active && (throttle > JAMMING_PROTECTION_THROTTLE_THRESHOLD)
mov A, Temp2
mov Rcp_Throttle, A ; Store throttle to be used in timing module
add A, #(255 - JAMMING_PROTECTION_THROTTLE_THRESHOLD)
anl C, Flag_Jamming_Protection_Active
mov Flag_Jamming_Protection_Active, C

t1_int_dec_outside_range_counter:
; Decrement outside range counter
mov A, Rcp_Outside_Range_Cnt
jz t1_int_zero_rcp_checked_set_limit
Expand Down Expand Up @@ -408,7 +416,7 @@ ELSEIF PWM_BITS_H == PWM_9_BIT
anl A, #1
mov Temp3, A
ELSEIF PWM_BITS_H == PWM_8_BIT
mov A, Temp2 ; Temp2 already 8-bit
mov A, Temp2 ; Rcp_Throttle already 8-bit
cpl A
mov Temp2, A
mov Temp3, #0
Expand Down
57 changes: 57 additions & 0 deletions src/Modules/Timing.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -761,6 +761,62 @@ setup_comm_wait:
orl EIE1, #80h ; Enable Timer3 interrupts
setb IE_EA ; Enable interrupts again

;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Jamming protection
;
; Checks speed in case a jamming has happened
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
jamming_protection:
; Avoid check if jamming protection is not engaged
jnb Flag_Jamming_Protection_Active, jamming_protection_engage

; If speed above resync threshold (period is lower) do nothing
mov A, Comm_Period4x_H
add A, #(255 - JAMMING_PROTECTION_PERIOD_LO_RESYNC)
jnc jamming_protection_done

jamming_protection_full_resync:
; Disable all interrupts and cut power ASAP. They will be enabled in exit_run_mode_on_timeout
clr IE_EA
call switch_power_off

; Routine exit without "ret" command
dec SP
dec SP

; Go to exit run mode if timeout has elapsed
ljmp exit_run_mode_on_timeout

jamming_protection_engage:
; If throttle <= JAMMING_PROTECTION_THROTTLE_THRESHOLD then clear jamming protection
mov A, Rcp_Throttle
add A, #(255 - JAMMING_PROTECTION_THROTTLE_THRESHOLD)
jnc jamming_protection_clear

; If period of eturn is over threshold then clear jamming protection
mov A, Comm_Period4x_H
add A, #(255 - JAMMING_PROTECTION_PERIOD_HI_ENGAGE)
jc jamming_protection_clear

; Flag_Jamming_Protection_Active = (Jamm_Prot_ETurn_Cnt > JAMMING_PROTECTION_ETURN_CNT_ENGAGE)
inc Jamm_Prot_ETurn_Cnt
mov A, Jamm_Prot_ETurn_Cnt
add A, #(255 - JAMMING_PROTECTION_ETURN_CNT_ENGAGE)
mov Flag_Jamming_Protection_Active, C

jmp jamming_protection_done


jamming_protection_clear:
; Disable jamming protection
clr Flag_Jamming_Protection_Active
mov Jamm_Prot_ETurn_Cnt, #0

jamming_protection_done:


;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Evaluate comparator integrity
Expand All @@ -776,6 +832,7 @@ evaluate_comparator_integrity:
jb Flag_Dir_Change_Brake, eval_comp_exit ; Do not exit run mode if braking
jb Flag_Demag_Detected, eval_comp_exit ; Do not exit run mode if it is a demag situation

eval_comp_full_resync:
; Disable all interrupts and cut power ASAP. They will be enabled in exit_run_mode_on_timeout
clr IE_EA
call switch_power_off
Expand Down