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发表于 2016-12-24 10:22:52
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楼主您好，最近在看BLHEli_s 16.5版本的程序，发现在油门校准过程每次都要调用 find_throttle_gains 这个入口函数，看他注释是说为了双向模式下用的，算出来这个增益是用来干吗的，没太看懂，请楼主帮忙多谢万能的主！代码如下：，
- ;**** **** **** **** **** **** **** **** **** **** **** **** ****
- ;
- ; Find throttle gains
- ;
- ; No assumptions
- ;
- ; Finds throttle gains for both directions in bidirectional mode
- ;
- ;**** **** **** **** **** **** **** **** **** **** **** **** ****
- find_throttle_gains:
- ; Check if full range is chosen
- jnb Flags2.RCP_FULL_RANGE, find_throttle_gains_normal
- mov Temp3, #0 ; Min throttle
- mov Temp4, #0
- mov Temp5, #255 ; Max throttle
- mov Temp6, #0
- mov Temp7, #0 ; Deadband
- call find_throttle_gain
- mov Throttle_Gain_M, Temp4
- mov Throttle_Gain, Temp3
- ret
- find_throttle_gains_normal:
- ; Check if bidirectional operation
- jnb Flags3.PGM_BIDIR, find_throttle_gains_bidir_done
- mov Temp1, #Pgm_Min_Throttle
- mov A, @Temp1
- mov Temp3, A
- mov Temp4, #0
- mov Temp1, #Pgm_Center_Throttle
- mov A, @Temp1
- mov Temp5, A
- mov Temp6, #0
- clr C
- mov A, Temp3 ; Scale gains in bidirectional
- rlc A
- mov Temp3, A
- mov A, Temp4
- rlc A
- mov Temp4, A
- clr C
- mov A, Temp5
- rlc A
- mov Temp5, A
- mov A, Temp6
- rlc A
- mov Temp6, A
- mov Temp7, #10 ; Compensate for deadband in bidirectional
- call find_throttle_gain
- mov Throttle_Gain_BD_Rev_M, Temp4
- mov Throttle_Gain_BD_Rev, Temp3
- find_throttle_gains_bidir_done:
- mov Temp1, #Pgm_Min_Throttle
- jnb Flags3.PGM_BIDIR, ($+5)
- mov Temp1, #Pgm_Center_Throttle
- mov A, @Temp1
- mov Temp3, A
- mov Temp4, #0
- mov Temp1, #Pgm_Max_Throttle
- mov A, @Temp1
- mov Temp5, A
- mov Temp6, #0
- mov Temp7, #0 ; No deadband
- jnb Flags3.PGM_BIDIR, find_throttle_gain_fwd
- clr C
- mov A, Temp3 ; Scale gains in bidirectional
- rlc A
- mov Temp3, A
- mov A, Temp4
- rlc A
- mov Temp4, A
- clr C
- mov A, Temp5
- rlc A
- mov Temp5, A
- mov A, Temp6
- rlc A
- mov Temp6, A
- mov Temp7, #10 ; Compensate for deadband in bidirectional
- find_throttle_gain_fwd:
- call find_throttle_gain
- mov Throttle_Gain_M, Temp4
- mov Throttle_Gain, Temp3
- ret
- ret
- ;**** **** **** **** **** **** **** **** **** **** **** **** ****
- ;
- ; Find throttle gain
- ;
- ; The difference between max and min throttle must be more than 140us (a Pgm_xxx_Throttle difference of 35)
- ; Temp4/3 holds min throttle, Temp6/5 holds max throttle, Temp7 holds deadband, Temp4/Temp3 gives resulting gain
- ;
- ; Finds throttle gain from throttle calibration values
- ;
- ;**** **** **** **** **** **** **** **** **** **** **** **** ****
- find_throttle_gain:
- ; Subtract deadband from max
- clr C
- mov A, Temp5
- subb A, Temp7
- mov Temp5, A
- mov A, Temp6
- subb A, #0
- mov Temp6, A
- ; Calculate difference
- clr C
- mov A, Temp5
- subb A, Temp3
- mov Temp5, A
- mov A, Temp6
- subb A, Temp4
- mov Temp6, A
- ; Check that difference is minimum 35
- clr C
- mov A, Temp5
- subb A, #35
- mov A, Temp6
- subb A, #0
- jnc ($+6)
- mov Temp5, #35
- mov Temp6, #0
- ; Check that difference is maximum 511
- clr C
- mov A, Temp5
- subb A, #255
- mov A, Temp6
- subb A, #1
- jc ($+6)
- mov Temp5, #255
- mov Temp6, #1
- ; Find gain
- mov Temp4, #0FFh
- find_throttle_gain_loop:
- inc Temp4
- mov Temp3, #0
- test_throttle_gain:
- inc Temp3
- mov A, Temp3
- jnz test_throttle_gain_mult
- clr C
- mov A, Temp5 ; Set multiplier x2 and range /2
- rlc A
- mov Temp5, A
- mov A, Temp6
- rlc A
- mov Temp6, A
- ajmp find_throttle_gain_loop
- test_throttle_gain_mult:
- mov A, Temp5 ; A has difference, B has gain
- mov B, Temp3
- mul AB
- mov Temp7, B
- mov A, Temp6
- mov B, Temp3
- mul AB
- add A, Temp7
- subb A, #124
- jc test_throttle_gain
- mov A, Temp3
- cpl A
- jz find_throttle_gain_loop
- ret
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楼主: helislayer
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楼主
，现在电调发热有点大，但是不会烧MOS管，电机高低速都正常，楼主知道一般电调发热有哪些原因吗？
