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;**** **** **** **** ****;; BLHeli program for controlling brushless motors in helicopters and multirotors;; Copyright 2011, 2012 Steffen Skaug; This program is distributed under the terms of the GNU General Public License;; This file is part of BLHeli.;; BLHeli is free software: you can redistribute it and/or modify; it under the terms of the GNU General Public License as published by; the Free Software Foundation, either version 3 of the License, or; (at your option) any later version.;; BLHeli is distributed in the hope that it will be useful,; but WITHOUT ANY WARRANTY; without even the implied warranty of; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the; GNU General Public License for more details.;; You should have received a copy of the GNU General Public License; along with BLHeli. If not, see <http://www.gnu.org/licenses/>.
;;**** **** **** **** ****;; BLHeliTxPgm SiLabs ; ; EEPROM is not available in SiLabs MCUs ; Therefore a segment of the flash is used as "EEPROM" ; ;**** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Read all eeprom parameters routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****read_all_eeprom_parameters: ; Check initialized signature mov DPTR, #Eep_Initialized_L mov Temp1, #Bit_Access call read_eeprom_byte mov A, Bit_AccessIF MODE == 0 cjne A, #0A5h, read_eeprom_store_defaultsENDIFIF MODE == 1 cjne A, #05Ah, read_eeprom_store_defaultsENDIFIF MODE == 2 cjne A, #055h, read_eeprom_store_defaultsENDIF inc DPTR ; Now Eep_Initialized_H call read_eeprom_byte mov A, Bit_AccessIF MODE == 0 cjne A, #05Ah, read_eeprom_store_defaultsENDIFIF MODE == 1 cjne A, #0A5h, read_eeprom_store_defaultsENDIFIF MODE == 2 cjne A, #0AAh, read_eeprom_store_defaultsENDIF jmp read_eeprom_read
read_eeprom_store_defaults: call set_default_parameters call erase_and_store_all_in_eeprom jmp read_eeprom_exit
read_eeprom_read: ; Read eepromIF MODE == 0 ;Main mov DPTR, #Eep_Pgm_Gov_P_GainENDIFIF MODE == 1 ; Tail mov DPTR, #_Eep_Pgm_Gov_P_GainENDIF mov Temp1, #Pgm_Gov_P_Gain mov Temp4, #10
IF MODE == 2 ; multi mov DPTR, #Eep_Pgm_Fir_Key mov Temp1, #Pgm_Fir_Key mov Temp4, #12ENDIF read_eeprom_block1: call read_eeprom_byte inc DPTR inc Temp1 djnz Temp4, read_eeprom_block1
mov DPTR, #Eep_Enable_TX_Program mov Temp1, #Pgm_Enable_TX_Program mov Temp4, #21 ; 21 parameters read_eeprom_block2: call read_eeprom_byte inc DPTR inc Temp1 djnz Temp4, read_eeprom_block2
mov DPTR, #Eep_Dummy ; Set pointer to uncritical area
read_eeprom_exit: ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Erase flash and store all parameter value in EEPROM routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****erase_and_store_all_in_eeprom: clr EA ; Disable interrupts; call read_tags ;2015-02-11 call erase_flash ; Erase flash
mov DPTR, #Eep_FW_Main_Revision ; Store firmware main revision mov A, #EEPROM_FW_MAIN_REVISION call write_eeprom_byte_from_acc
inc DPTR ; Now firmware sub revision mov A, #EEPROM_FW_SUB_REVISION call write_eeprom_byte_from_acc
inc DPTR ; Now layout revision mov A, #EEPROM_LAYOUT_REVISION call write_eeprom_byte_from_acc
; Write eepromIF MODE == 0 ;Main mov DPTR, #Eep_Pgm_Gov_P_GainENDIFIF MODE == 1 ; Tail mov DPTR, #_Eep_Pgm_Gov_P_GainENDIF mov Temp1, #Pgm_Gov_P_Gain mov Temp4, #10 IF MODE == 2 ;multi mov DPTR, #Eep_Pgm_Fir_Key mov Temp1, #Pgm_Fir_Key mov Temp4, #12ENDIF
write_eeprom_block1: call write_eeprom_byte inc DPTR inc Temp1 djnz Temp4, write_eeprom_block1
mov DPTR, #Eep_Enable_TX_Program mov Temp1, #Pgm_Enable_TX_Program mov Temp4, #21 ; 21 parameters write_eeprom_block2: call write_eeprom_byte inc DPTR inc Temp1 djnz Temp4, write_eeprom_block2
; call write_tags ;2015-02-11 call write_eeprom_signature mov DPTR, #Eep_Dummy ; Set pointer to uncritical area ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****CSEG AT 1C00h ; Last code segment. Take care that there is enough space!;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Read eeprom byte routine;; Gives data in A and in address given by Temp1. Assumes address in DPTR ; Also assumes address high byte to be zero;;**** **** **** **** **** **** **** **** **** **** **** **** ****read_eeprom_byte: clr A movc A, @A+DPTR ; Read from flash mov @Temp1, A ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Write eeprom byte routine;; Assumes data in address given by Temp1, or in accumulator. Assumes address in DPTR ; Also assumes address high byte to be zero;;**** **** **** **** **** **** **** **** **** **** **** **** ****write_eeprom_byte: mov A, @Temp1write_eeprom_byte_from_acc: orl PSCTL, #01h ; Set the PSWE bit anl PSCTL, #0FDh ; Clear the PSEE bit mov RSTSRC, #02h ; Set VDD monitor as a reset source (PORSF) mov FLKEY, #0A5h ; First key code mov FLKEY, #0F1h ; Second key code movx @DPTR, A ; Write to flash anl PSCTL, #0FEh ; Clear the PSWE bit ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Erase flash routine (erases the flash segment used for "eeprom" variables);; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****erase_flash: orl PSCTL, #02h ; Set the PSEE bit orl PSCTL, #01h ; Set the PSWE bit mov RSTSRC, #02h ; Set VDD monitor as a reset source (PORSF) mov FLKEY, #0A5h ; First key code mov FLKEY, #0F1h ; Second key code mov DPTR, #Eep_Initialized_L movx @DPTR, A anl PSCTL, #0FCh ; Clear the PSEE and PSWE bits ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Write eeprom signature routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****write_eeprom_signature: IF MODE == 0 mov DPTR, #Eep_Initialized_L mov A, #0A5h call write_eeprom_byte_from_acc
mov DPTR, #Eep_Initialized_H mov A, #05Ah call write_eeprom_byte_from_accENDIFIF MODE == 1 mov DPTR, #Eep_Initialized_L mov A, #05Ah call write_eeprom_byte_from_acc
mov DPTR, #Eep_Initialized_H mov A, #0A5h call write_eeprom_byte_from_accENDIFIF MODE == 2 mov DPTR, #Eep_Initialized_L mov A, #055h call write_eeprom_byte_from_acc
mov DPTR, #Eep_Initialized_H mov A, #0AAh call write_eeprom_byte_from_accENDIF ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Read all tags from flash and store in temporary storage;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****read_tags: mov Temp3, #48 ; Number of tags mov Temp2, #Tag_Temporary_Storage ; Set RAM address mov Temp1, #Bit_Access mov DPTR, #Eep_ESC_Layout ; Set flash addressread_tag: call read_eeprom_byte mov A, Bit_Access mov @Temp2, A ; Write to RAM inc Temp2 inc DPTR djnz Temp3, read_tag ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Write all tags from temporary storage and store in flash;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****write_tags: mov Temp3, #48 ; Number of tags mov Temp2, #Tag_Temporary_Storage ; Set RAM address mov DPTR, #Eep_ESC_Layout ; Set flash addresswrite_tag: mov A, @Temp2 ; Read from RAM call write_eeprom_byte_from_acc inc Temp2 inc DPTR djnz Temp3, write_tag ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Store new parameter value in ram routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****store_new_value_in_ram: mov Temp4, Tx_Pgm_Func_No ; Function no mov Temp1, Tx_Pgm_Paraval_No ; Parameter value noIF MODE == 0store_main_func_1: cjne Temp4, #1, store_main_func_2 mov Temp2, #Pgm_Gov_P_Gain
store_main_func_2: cjne Temp4, #2, store_main_func_3 mov Temp2, #Pgm_Gov_I_Gain
store_main_func_3: cjne Temp4, #3, store_main_func_4 mov Temp2, #Pgm_Gov_Mode
store_main_func_4: cjne Temp4, #4, store_main_func_5 mov Temp2, #Pgm_Gov_Range
store_main_func_5: cjne Temp4, #5, store_main_func_6 mov Temp2, #Pgm_Low_Voltage_Lim
store_main_func_6: cjne Temp4, #6, store_main_func_7 mov Temp2, #Pgm_Startup_Pwr
store_main_func_7: cjne Temp4, #7, store_main_func_8 mov Temp2, #Pgm_Comm_Timing
store_main_func_8: cjne Temp4, #8, store_main_func_9 mov Temp2, #Pgm_Pwm_Freq
store_main_func_9: cjne Temp4, #9, store_main_func_10 mov Temp2, #Pgm_Demag_Comp
store_main_func_10: cjne Temp4, #10, store_main_func_11 mov Temp2, #Pgm_Direction
store_main_func_11: cjne Temp4, #11, store_in_ram_exit mov Temp2, #Pgm_Input_PolENDIFIF MODE == 1store_tail_func_1: cjne Temp4, #1, store_tail_func_2 mov Temp2, #Pgm_Motor_Gain
store_tail_func_2: cjne Temp4, #2, store_tail_func_3 mov Temp2, #Pgm_Motor_Idle
store_tail_func_3: cjne Temp4, #3, store_tail_func_4 mov Temp2, #Pgm_Startup_Pwr
store_tail_func_4: cjne Temp4, #4, store_tail_func_5 mov Temp2, #Pgm_Comm_Timing
store_tail_func_5: cjne Temp4, #5, store_tail_func_6 mov Temp2, #Pgm_Pwm_Freq
store_tail_func_6: cjne Temp4, #6, store_tail_func_7 mov Temp2, #Pgm_Demag_Comp
store_tail_func_7: cjne Temp4, #7, store_tail_func_8 mov Temp2, #Pgm_Direction
store_tail_func_8: cjne Temp4, #8, store_in_ram_exit mov Temp2, #Pgm_Input_PolENDIFIF MODE == 2 ;store_multi_func_1:; cjne Temp4, #1, store_multi_func_2; mov Temp2, #Pgm_Gov_P_Gain
;store_multi_func_2:; cjne Temp4, #2, store_multi_func_3; mov Temp2, #Pgm_Gov_I_Gain
;store_multi_func_3:; cjne Temp4, #3, store_multi_func_4; mov Temp2, #Pgm_Gov_Mode
;store_multi_func_4:; cjne Temp4, #4, store_multi_func_5; mov Temp2, #Pgm_Motor_Gain
;store_multi_func_5:; cjne Temp4, #5, store_multi_func_6; mov Temp2, #Pgm_Low_Voltage_Lim
;store_multi_func_6:; cjne Temp4, #6, store_multi_func_7; mov Temp2, #Pgm_Startup_Pwr
;store_multi_func_7:; cjne Temp4, #7, store_multi_func_8; mov Temp2, #Pgm_Comm_Timing
;store_multi_func_8:; cjne Temp4, #8, store_multi_func_9; mov Temp2, #Pgm_Pwm_Freq
;store_multi_func_9:; cjne Temp4, #9, store_multi_func_10; mov Temp2, #Pgm_Demag_Comp
;store_multi_func_10:; cjne Temp4, #10, store_multi_func_11; mov Temp2, #Pgm_Direction
;store_multi_func_11:; cjne Temp4, #11, store_in_ram_exit; mov Temp2, #Pgm_Input_Pol
store_multi_func_1: cjne Temp4, #1, store_multi_func_2 mov Temp2, #Pgm_Damping_Force ;读取Damping force(刹车力度)地址
store_multi_func_2: cjne Temp4, #2, store_multi_func_3 mov Temp2, #Pgm_Comm_Timing ;读取Commutation timing(进角)地址
;store_multi_func_3:; cjne Temp4, #3, store_multi_func_4; mov Temp2, #Pgm_Direction_Rev ;读取Rotation direction(旋转方式)地址
store_multi_func_3: cjne Temp4, #3, store_multi_func_4 mov Temp2, #Pgm_Startup_Pwr ;读取Startup power(启动力度)地址
store_multi_func_4: cjne Temp4, #4, store_multi_func_5 mov Temp2, #Pgm_Gov_Mode ;读取Closed loop mode(曲线)地址
store_multi_func_5: cjne Temp4, #5, store_multi_func_6 mov Temp2, #Pgm_Pwm_Freq ;读取Startup method(启动方式)地址
store_multi_func_6: cjne Temp4, #6, store_multi_func_7 mov Temp2, #Pgm_Low_Voltage_Lim ;读取Low voltage limit(低压保护)地址 store_multi_func_7: cjne Temp4, #7, store_multi_func_8 mov Temp2, #Pgm_Low_Voltage_Ctl ;读取Low voltage limit(低压保护)地址store_multi_func_8: cjne Temp4, #8, store_in_ram_exit mov Temp2, #Pgm_Direction ENDIF
store_in_ram_exit: mov A, Temp1 mov @Temp2, A ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Program by TX routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****program_by_tx: ; Programming mode entry beeps call success_beep setb Flags1.PROGRAM_FUNC_FLAG ;编程功能标志wait_for_program: mov Temp5, #10default_set_check: call wait200ms clr C mov A, New_Rcp ; Load new RC pulse value subb A, #RCP_STOP ; Below stop? jc wait_for_next_status clr C mov A, New_Rcp ; Load new RC pulse value subb A, #RCP_MAX ; Below max? jc wait_for_program djnz Temp5, default_set_check ;等待进入新设置 ajmp function_no_entry wait_for_next_status: mov Temp5, #10wait_for_exit: call wait200ms clr C mov A, New_Rcp ; Load new RC pulse value subb A, #RCP_STOP ; Below stop? jnc ($+7) djnz Temp5, wait_for_exit ajmp program_exit clr C mov A, New_Rcp ; Load new RC pulse value subb A, #RCP_MAX ; Below max? jc wait_for_next_status call set_default_parameters ; Load all defaults call erase_and_store_all_in_eeprom ; Erase flash and program call success_beep_inverted ajmp wait_for_program
; Start at function 1, parameter value 1function_no_entry: mov Tx_Pgm_Func_No, #1function_no_beep: call function_paraval_beep mov Temp5, #10 ; Wait is 5x 200msfunction_no_wait: mov Temp6, New_Rcp call wait200ms clr C mov A, Temp6 subb A, New_Rcp jnz function_no_wait ; No - branch clr C mov A, New_Rcp ; Load new RC pulse value subb A, #RCP_STOP ; Below stop? jc paraval_no_wait clr C mov A, New_Rcp ; Load new RC pulse value subb A, #RCP_MAX ; Below max? jnc function_no_next ajmp function_no_wait ;等待摇杆拉高或拉低 function_no_next: ; Yes - Next function value jnb Flags1.PROGRAM_FUNC_FLAG, func_paraval_store ;=0，则存储参数 djnz Temp5,function_no_wait inc Tx_Pgm_Func_No ; Function value no 功能+1 clr C mov A,Tx_Pgm_Func_NoIF MODE == 0 subb A,#12ENDIFIF MODE >= 1 subb A,#9ENDIF jc function_no_beep
mov Temp5, #10func_over_wait: call wait200ms clr C mov A, New_Rcp subb A, #RCP_STOP jc program_by_tx_exit ;below stop---exit clr C mov A, New_Rcp subb A, #RCP_MAX jc func_over_wait ;等待摇杆拉高或拉低 djnz Temp5, func_over_wait ; 摇杆一直处于拉高，等待2s结束
ajmp function_no_entry ;返回从第一项开始 func_paraval_store: setb Flags1.PROGRAM_FUNC_FLAG ;编程功能标志 call store_new_value_in_ram ; Yes - store new value in RAM call erase_and_store_all_in_eeprom ; Store all values in EEPROM call success_beep_inverted ; Beep success 改变存储叫声 mov Temp5, #10 ;存储完后等待时间store_wait: ; call wait200ms clr C mov A, New_Rcp subb A, #RCP_STOP jc program_by_tx_exit ; clr C mov A, New_Rcp ; Load new RC pulse value subb A, #RCP_MAX ; Below max? jc store_wait djnz Temp5, store_wait ;摇杆一直处于拉高状态，等待2s结束 mov Temp5, #1 ajmp function_no_next
paraval_no_wait: mov Temp5, #10 ;10*200=1s时间paraval_wait: call wait200ms clr C mov A, New_Rcp ; Load new RC pulse value subb A, #RCP_MAX ; Below max? jnc function_no_wait clr C mov A, New_Rcp subb A, #RCP_STOP ; Below stop? jnc paraval_wait ;等待摇杆拉高或拉低 djnz Temp5,paraval_wait ; 摇杆一直处于拉低，等待1s结束 clr Flags1.PROGRAM_FUNC_FLAG ;保存标志paraval_no_entry: mov Tx_Pgm_Paraval_No, #1paraval_no_beep: call function_paraval_beep mov Temp5, #10paraval_no_next: call wait200ms clr C mov A, New_Rcp ; Load new RC pulse value subb A, #RCP_MAX ; Below max? jnc function_no_next ; Yes - branch 跳回项目编程 clr C mov A, New_Rcp subb A, #RCP_STOP ; Below stop? jnc paraval_no_next ;等待摇杆拉高或拉低 djnz Temp5, paraval_no_next ; 摇杆一直处于拉低，等待1s结束 inc Tx_Pgm_Paraval_No ; Function value no 参数+1 mov A, Tx_Pgm_Func_No ; Decode number of parameters dec A IF MODE == 0 mov DPTR, #TX_PGM_PARAMS_MAINENDIFIF MODE == 1 mov DPTR, #TX_PGM_PARAMS_TAILENDIFIF MODE == 2 mov DPTR, #TX_PGM_PARAMS_MULTIENDIF movc A, @A+DPTR mov Temp1, A inc Temp1 clr C mov A, Tx_Pgm_Paraval_No subb A, Temp1 jnc paraval_no_entry ; Last parameter value? ajmp paraval_no_beep ; No - go back program_by_tx_exit: mov Temp5, #10 ;10*200=2s时间exit_wait: call wait200ms clr C mov A, New_Rcp subb A, #RCP_STOP ; Below stop? jnc exit_wait ;等待退出 djnz Temp5,exit_waitprogram_exit: ret
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