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Fix for Teensy freezing when pwm idle enabled

This commit is contained in:
Josh Stewart 2018-10-06 09:39:23 +10:00
parent 2b321a9164
commit 43ed2e422a
1 changed files with 18 additions and 9 deletions
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27
speeduino/idle.ino
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@ -29,7 +29,7 @@ void initialiseIdle()
if( (configPage6.iacAlgorithm == IAC_ALGORITHM_PWM_OL) || (configPage6.iacAlgorithm == IAC_ALGORITHM_PWM_CL) )
{
//FlexTimer 2 is used for idle
//FlexTimer 2, compare channel 0 is used for idle
FTM2_MODE |= FTM_MODE_WPDIS; // Write Protection Disable
FTM2_MODE |= FTM_MODE_FTMEN; //Flex Timer module enable
FTM2_MODE |= FTM_MODE_INIT;
@ -75,7 +75,12 @@ void initialiseIdle()
//Setup the channels (See Pg 1014 of K64 DS).
FTM2_C0SC &= ~FTM_CSC_MSB; //According to Pg 965 of the K64 datasheet, this should not be needed as MSB is reset to 0 upon reset, but the channel interrupt fails to fire without it
FTM2_C0SC |= FTM_CSC_MSA; //Enable Compare mode
FTM2_C0SC |= FTM_CSC_CHIE; //Enable channel compare interrupt
//The below enables channel compare interrupt, but this is done in idleControl()
//FTM2_C0SC |= FTM_CSC_CHIE;
FTM2_C1SC &= ~FTM_CSC_MSB; //According to Pg 965 of the K64 datasheet, this should not be needed as MSB is reset to 0 upon reset, but the channel interrupt fails to fire without it
FTM2_C1SC |= FTM_CSC_MSA; //Enable Compare mode
//FTM2_C1SC |= FTM_CSC_CHIE; //Enable channel compare interrupt
// enable IRQ Interrupt
NVIC_ENABLE_IRQ(IRQ_FTM2);
@ -117,8 +122,10 @@ void initialiseIdle()
idle2_pin_mask = digitalPinToBitMask(pinIdle2);
#if defined(CORE_STM32)
idle_pwm_max_count = 1000000L / (configPage6.idleFreq * 2); //Converts the frequency in Hz to the number of ticks (at 2uS) it takes to complete 1 cycle. Note that the frequency is divided by 2 coming from TS to allow for up to 5KHz
#else
#elif defined(CORE_AVR)
idle_pwm_max_count = 1000000L / (16 * configPage6.idleFreq * 2); //Converts the frequency in Hz to the number of ticks (at 16uS) it takes to complete 1 cycle. Note that the frequency is divided by 2 coming from TS to allow for up to 512hz
#elif defined(CORE_TEENSY)
idle_pwm_max_count = 1000000L / (32 * configPage6.idleFreq * 2); //Converts the frequency in Hz to the number of ticks (at 16uS) it takes to complete 1 cycle. Note that the frequency is divided by 2 coming from TS to allow for up to 512hz
#endif
enableIdle();
break;
@ -141,8 +148,10 @@ void initialiseIdle()
idle2_pin_mask = digitalPinToBitMask(pinIdle2);
#if defined(CORE_STM32)
idle_pwm_max_count = 1000000L / (configPage6.idleFreq * 2); //Converts the frequency in Hz to the number of ticks (at 2uS) it takes to complete 1 cycle. Note that the frequency is divided by 2 coming from TS to allow for up to 5KHz
#else
#elif defined(CORE_AVR)
idle_pwm_max_count = 1000000L / (16 * configPage6.idleFreq * 2); //Converts the frequency in Hz to the number of ticks (at 16uS) it takes to complete 1 cycle. Note that the frequency is divided by 2 coming from TS to allow for up to 512hz
#elif defined(CORE_TEENSY)
idle_pwm_max_count = 1000000L / (32 * configPage6.idleFreq * 2); //Converts the frequency in Hz to the number of ticks (at 16uS) it takes to complete 1 cycle. Note that the frequency is divided by 2 coming from TS to allow for up to 512hz
#endif
idlePID.SetOutputLimits(percentage(configPage2.iacCLminDuty, idle_pwm_max_count), percentage(configPage2.iacCLmaxDuty, idle_pwm_max_count));
idlePID.SetTunings(configPage6.idleKP, configPage6.idleKI, configPage6.idleKD);
@ -250,9 +259,10 @@ void idleControl()
if(currentStatus.idleUpActive == true) { currentStatus.idleDuty += configPage2.idleUpAdder; } //Add Idle Up amount if active
if( currentStatus.idleDuty == 0 ) { disableIdle(); break; }
idle_pwm_target_value = percentage(currentStatus.idleDuty, idle_pwm_max_count);
currentStatus.idleLoad = currentStatus.idleDuty >> 1;
currentStatus.idleLoad = currentStatus.idleDuty >> 1; //Idle Load is divided by 2 in order to send to TS
idleOn = true;
}
break;
case IAC_ALGORITHM_PWM_CL: //Case 3 is PWM closed loop
@ -482,14 +492,13 @@ static inline void idleInterrupt() //Most ARM chips can simply call a function
#if defined(CORE_TEENSY)
void ftm2_isr(void)
{
{
//FTM2 only has 2 compare channels
//Use separate variables for each test to ensure conversion to bool
bool interrupt1 = (FTM2_C0SC & FTM_CSC_CHF);
bool interrupt2 = (FTM2_C1SC & FTM_CSC_CHF); //Not currently used
if(interrupt2) { FTM2_C0SC &= ~FTM_CSC_CHF; idleInterrupt(); }
else if(interrupt2) { FTM1_C1SC &= ~FTM_CSC_CHF; } //Add a callback function here if this is ever used
if(interrupt1) { FTM2_C0SC &= ~FTM_CSC_CHF; idleInterrupt(); }
else if(interrupt2) { FTM2_C1SC &= ~FTM_CSC_CHF; } //Add a callback function here if this is ever used
}
#endif