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$NOMOD51;**** **** **** **** ****;; 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/>.;;**** **** **** **** ****;; The software was initially designed for use with Eflite mCP X, but is now adapted to copters/planes in general;; The software was inspired by and started from from Bernard Konze's BLMC: http://home.versanet.de/~bkonze/blc_6a/blc_6a.htm; And also Simon Kirby's TGY: https://github.com/sim-/tgy;; This file is best viewed with tab width set to 5;; The input signal can be positive 1kHz, 2kHz, 4kHz, 8kHz or 12kHz PWM (e.g. taken from the "resistor tap" on mCPx); And the input signal can be PPM (1-2ms) or OneShot125 (125-250us) at rates up to several hundred Hz.; The code adapts itself to the various input modes/frequencies; The code ESC can also be programmed to accept inverted input signal.;; The first lines of the software must be modified according to the chosen environment:; Uncomment the selected ESC and main/tail/multi mode; BESCNO EQU "ESC"_"mode" ; ;**** **** **** **** ****; Revision history:; - Rev1.0: Initial revision based upon BLHeli for AVR controllers; - Rev2.0: Changed "Eeprom" initialization, layout and defaults; Various changes and improvements to comparator reading. Now using timer1 for time from pwm on/off; Beeps are made louder; Added programmable low voltage limit; Added programmable damped tail mode (only for 1S ESCs); Added programmable motor rotation direction; - Rev2.1: (minor changes by 4712); Added Disable TX Programming by PC Setup Application ; therfore changed EEPROM_LAYOUT_REVISION = 8 ; Added Vdd Monitor as reset source when writing to "EEProm"; Changed for use of batch file to assemble, link and make hex files ; - Rev2.2: (minor changes by 4712); Added Disable Throttle Re-Arming every motor start by PC Setup Application ; - Rev2.3: (minor changes by 4712); Added bugfixed (2x CLR C before j(n)c operations)thx Steffen! ; - Rev2.4: Revisions 2.1 to 2.3 integrated; - Rev3.0: Added PPM (1050us-1866us) as accepted input signal; Added startup rpm as a programming parameter; Added startup acceleration as a programming parameter; Added option for using voltage measurements to compensate motor power; Added governor target by setup as a governor mode option; Governor is kept active regardless of rpm; Smooth governor spoolup/down in arm and setup modes; Increased governor P and I gain programming ranges; Increased and changed low voltage limit programming range; Disabled tx programming entry for all but the first arming sequence after power on; Made it possible to skip parameters in tx programming by setting throttle midstick; Made it default not to rearm for every restart; - Rev3.1: Fixed bug that prevented chosen parameter to be set in tx programming; - Rev3.2: ...also updated the EEPROM revision parameter; - Rev3.3: Fixed negative number bug in voltage compensation; Fixed bug in startup power calculation for non-default power; Prevented possibility for voltage compensation fighting low voltage limiting; Applied overall spoolup control to ensure soft spoolup in any mode; Added a delay of 3 seconds from initiation of main motor stop until new startup is allowed; Reduced beep power to reduce power consumption for very strong motors/ESCs; - Rev3.4: Fixed bug that prevented full power in governor arm and setup modes; Increased NFETON_DELAY for XP_7A and XP_12A to allow for more powerful fets; Increased initial spoolup power, and linked to startup power; - Rev4.0: Fixed bug that made tail tx program beeps very weak; Added thermal protection feature; Governor P and I gain ranges are extended up to 8.0x gain; Startup sequence is aborted upon zero throttle; Avoided voltage compensation function induced latency for tail when voltage compensation is not enabled; Improved input signal frequency detection robustness; - Rev4.1: Increased thermal protection temperature limits; - Rev5.0: Added multi(copter) operating mode. TAIL define changed to MODE with three modes: MAIN, TAIL and MULTI; Added programmable commutation timing; Added a damped light mode that has less damping, but that can be used with all escs; Added programmable damping force; Added thermal protection for startup too; Added wait beeps when waiting more than 30 sec for throttle above zero (after having been armed); Modified tail idling to provide option for very low speeds; Changed PPM range to 1150-1830us; Arming sequence is dropped for PPM input, unless it is governor arm mode; Loss of input signal will immediately stop the motor for PPM input; Bug corrected in Turnigy Plush 6A voltage measurement setup; FET switching delays are set for original fets. Stronger/doubled/tripled etc fets may require faster pfet off switching; Miscellaneous other changes; - Rev6.0: Reverted comparator reading routine to rev5.0 equivalent, in order to avoid tail motor stops; Added governor range programmability; Implemented startup retry sequence with varying startup power for multi mode; In damped light mode, damping is now applied to the active nfet phase for fully damped capable ESCs; - Rev6.1: Added input signal qualification criteria for PPM, to avoid triggering on noise spikes (fix for plush hardware); Changed main and multi mode stop criteria. Will now be in run mode, even if RC pulse input is zero; Fixed bug in commutation that caused rough running in damped light mode; Miscellaneous other changes; - Rev7.0 Added direct startup mode programmability; Added throttle calibration. Min>=1000us and Max<=2000us. Difference must be >520us, otherwise max is shifted so that difference=520us; Added programmable throttle change rate; Added programmable beep strength, beacon strength and beacon delay; Reduced power step to full power significantly; Miscellaneous other changes; - Rev8.0 Added a 2 second delay after power up, to wait for receiver initialization; Added a programming option for disabling low voltage limit, and made it default for MULTI; Added programable demag compensation, using the concept of SimonK; Improved robustness against noisy input signal; Refined direct startup; Removed voltage compensation; Miscellaneous other changes; - Rev9.0 Increased programming range for startup power, and made its default ESC dependent; Made default startup method ESC dependent; Even more smooth and gentle spoolup for MAIN, to suit larger helis; Improved transition from stepped startup to run; Refined direct startup; - Rev9.1 Fixed bug that changed FW revision after throttle calibration or TX programming; - Rev9.2 Altered timing of throttle calibration in order to work with MultiWii calibration firmware; Reduced main spoolup time to around 5 seconds; Changed default beacon delay to 3 minutes; - Rev9.3 Fixed bug in Plush 60/80A temperature reading, that caused failure in operation above 4S; Corrected temperature limit for HiModel cool 22/33/41A, RCTimer 6A, Skywalker 20/40A, Turnigy AE45A, Plush 40/60/80A. Limit was previously set too high; - Rev9.4 Improved timing for increased maximum rpm limit; - Rev10.0 Added closed loop mode for multi; Added high/low BEC voltage option (for the ESCs where HW supports it); Added method of resetting all programmed parameter values to defaults by TX programming; Added Turnigy K-force 40A and Turnigy K-force 120A HV ESCs; Enabled fully damped mode for several ESCs; Extended startup power range downwards to enable very smooth start for large heli main motors; Extended damping force with a highest setting; Corrected temperature limits for F310 chips (Plush 40A and AE 45A); Implemented temperature reading average in order to avoid problems with ADC noise on Skywalkers; Increased switching delays for XP 7A fast, in order to avoid cross conduction of N and P fets; Miscellaneous other changes; - Rev10.1 Relaxed RC signal jitter requirement during frequency measurement; Corrected bug that prevented using governor low; Enabled vdd monitor always, in order to reduce likelihood of accidental overwriting of adjustments; Fixed bug that caused stop for PPM input above 2048us, and moved upper accepted limit to 2160us; - Rev10.2 Corrected temperature limit for AE20-30/XP7-25, where limit was too high; Corrected temperature limit for 120HV, where limit was too low; Fixed bug that caused AE20/25/30A not to run in reverse; - Rev10.3 Removed vdd monitor for 1S capable ESCs, in order to avoid brownouts/resets; Made auto bailout spoolup for main more smooth; - Rev10.4 Ensured that main spoolup and governor activation will always be smooth, regardless of throttle input; Added capability to operate on 12kHz input signal too; - Rev11.0 Fixed bug of programming default values for governor in MULTI mode; Disabled interrupts explicitly some places, to avoid possibilities for unintentional fet switching; Changed interrupt disable strategy, to always allow pwm interrupts, to avoid noise when running at low rpms; Added governor middle range for MAIN mode; Added bidirectional mode for TAIL and MULTI mode with PPM input; Changed and improved demag compensation; Miscellaneous other changes; - Rev11.1 Fixed bug of slow acceleration response for MAIN mode running without governor; Fixed bug with PWM input, where throttle remains high even when zeroing throttle (seen on V922 tail); Fixed bug in bidirectional operation, where direction change could cause reset; Improved autorotation bailout for MAIN; Reduced min speed back to 1220 erpm; Misc code cleanups; - Rev11.2 Fixed throttle calibration bug; Added high side driver precharge for all-nfet ESCs; Optimized timing in general and for demag compensation in particular; Auto bailout functionality modified; Governor is deactivated for throttle inputs below 10%; Increased beacon delay times; - Rev12.0 Added programmable main spoolup time; Added programmable temperature protection enable; Bidirectional mode stop/start improved. Motor is now stopped before starting; Power is limited for very low rpms (when BEMF is low), in order to avoid sync loss ; Damped light mode is made more smooth and quiet, particularly at low and high rpms; Comparator signal qualification scheme is changed; Demag compensation scheme is significantly changed; Increased jitter tolerance for PPM frequency measurement; Fully damped mode removed, and damped light only supported on damped capable ESCs; Default tail mode changed to damped light; Miscellaneous other changes; - Rev12.1 Fixed bug in tail code; Improved startup for Atmel; Added support for multiple high BEC voltages; Added support for RPM output; - Rev12.2 Improved running smoothness, particularly for damped light; Avoiding lockup at full throttle when input signal is noisy; Avoiding detection of 1-wire programming signal as valid throttle signal; - Rev13.0 Removed stepped start; Removed throttle change rate and damping force parameters; Added support for OneShot125; Improved commutation timing accuracy; - Rev13.1 Removed startup ramp for MULTI; Improved startup for some odd ESCs; - Rev13.2 Still tweaking startup to make it more reliable and faster for all ESC/motor combos; Increased deadband for bidirectional operation; Relaxed signal detection criteria; Added support for running 50MHz capable SiLabs MCUs at 50MHz; Added bootlader to SiLabs code; Miscellaneous other changes;;;;**** **** **** **** ****; Up to 8K Bytes of In-System Self-Programmable Flash; 768 Bytes Internal SRAM;;**** **** **** **** ****; Master clock is internal 24MHz oscillator; Timer 0 (167/500ns counts) always counts up and is used for; - PWM generation; Timer 1 (167/500ns counts) always counts up and is used for; - Time from pwm on/off event; Timer 2 (500ns counts) always counts up and is used for; - RC pulse timeout/skip counts and commutation times; Timer 3 (500ns counts) always counts up and is used for; - Commutation timeouts; PCA0 (500ns counts) always counts up and is used for; - RC pulse measurement;;**** **** **** **** ****; Interrupt handling; The F330/2 does not disable interrupts when entering an interrupt routine.; Also some interrupt flags need to be cleared by software; The code disables interrupts in interrupt routines, in order to avoid too nested interrupts; - Interrupts are disabled during beeps, to avoid audible interference from interrupts; - RC pulse interrupts are periodically disabled in order to reduce interference with pwm interrupts.;;**** **** **** **** ****; Motor control:; - Brushless motor control with 6 states for each electrical 360 degrees; - An advance timing of 0deg has zero cross 30deg after one commutation and 30deg before the next; - Timing advance in this implementation is set to 15deg nominally; - "Damped" commutation schemes are available, where more than one pfet is on when pwm is off. This will absorb energy from bemf and make step settling more damped.; Motor sequence starting from zero crossing:; - Timer wait: Wt_Comm 15deg ; Time to wait from zero cross to actual commutation; - Timer wait: Wt_Advance 15deg ; Time to wait for timing advance. Nominal commutation point is after this; - Timer wait: Wt_Zc_Scan 7.5deg ; Time to wait before looking for zero cross; - Scan for zero cross 22.5deg , Nominal, with some motor variations;; Motor startup:; Startup is the only phase, before normal bemf commutation run begins.;;**** **** **** **** ****; List of enumerated supported ESCs and modes (main, tail or multi)XP_3A_Main EQU 1XP_3A_Tail EQU 2XP_3A_Multi EQU 3XP_7A_Main EQU 4XP_7A_Tail EQU 5XP_7A_Multi EQU 6XP_7A_Fast_Main EQU 7XP_7A_Fast_Tail EQU 8XP_7A_Fast_Multi EQU 9XP_12A_Main EQU 10XP_12A_Tail EQU 11XP_12A_Multi EQU 12XP_18A_Main EQU 13XP_18A_Tail EQU 14XP_18A_Multi EQU 15XP_25A_Main EQU 16XP_25A_Tail EQU 17XP_25A_Multi EQU 18XP_35A_SW_Main EQU 19XP_35A_SW_Tail EQU 20XP_35A_SW_Multi EQU 21DP_3A_Main EQU 22DP_3A_Tail EQU 23DP_3A_Multi EQU 24Supermicro_3p5A_Main EQU 25Supermicro_3p5A_Tail EQU 26 Supermicro_3p5A_Multi EQU 27 Turnigy_Plush_6A_Main EQU 28Turnigy_Plush_6A_Tail EQU 29 Turnigy_Plush_6A_Multi EQU 30 Turnigy_Plush_10A_Main EQU 31Turnigy_Plush_10A_Tail EQU 32 Turnigy_Plush_10A_Multi EQU 33 Turnigy_Plush_12A_Main EQU 34Turnigy_Plush_12A_Tail EQU 35 Turnigy_Plush_12A_Multi EQU 36 Turnigy_Plush_18A_Main EQU 37Turnigy_Plush_18A_Tail EQU 38 Turnigy_Plush_18A_Multi EQU 39 Turnigy_Plush_25A_Main EQU 40Turnigy_Plush_25A_Tail EQU 41 Turnigy_Plush_25A_Multi EQU 42 Turnigy_Plush_30A_Main EQU 43Turnigy_Plush_30A_Tail EQU 44 Turnigy_Plush_30A_Multi EQU 45 Turnigy_Plush_40A_Main EQU 46Turnigy_Plush_40A_Tail EQU 47 Turnigy_Plush_40A_Multi EQU 48 Turnigy_Plush_60A_Main EQU 49Turnigy_Plush_60A_Tail EQU 50 Turnigy_Plush_60A_Multi EQU 51 Turnigy_Plush_80A_Main EQU 52Turnigy_Plush_80A_Tail EQU 53 Turnigy_Plush_80A_Multi EQU 54 Turnigy_Plush_Nfet_18A_Main EQU 55Turnigy_Plush_Nfet_18A_Tail EQU 56 Turnigy_Plush_Nfet_18A_Multi EQU 57 Turnigy_Plush_Nfet_25A_Main EQU 58Turnigy_Plush_Nfet_25A_Tail EQU 59 Turnigy_Plush_Nfet_25A_Multi EQU 60 Turnigy_Plush_Nfet_30A_Main EQU 61Turnigy_Plush_Nfet_30A_Tail EQU 62 Turnigy_Plush_Nfet_30A_Multi EQU 63 Turnigy_AE_20A_Main EQU 64Turnigy_AE_20A_Tail EQU 65 Turnigy_AE_20A_Multi EQU 66 Turnigy_AE_25A_Main EQU 67Turnigy_AE_25A_Tail EQU 68 Turnigy_AE_25A_Multi EQU 69 Turnigy_AE_30A_Main EQU 70Turnigy_AE_30A_Tail EQU 71 Turnigy_AE_30A_Multi EQU 72 Turnigy_AE_45A_Main EQU 73Turnigy_AE_45A_Tail EQU 74 Turnigy_AE_45A_Multi EQU 75 Turnigy_KForce_40A_Main EQU 76 Turnigy_KForce_40A_Tail EQU 77 Turnigy_KForce_40A_Multi EQU 78 Turnigy_KForce_70A_HV_Main EQU 79 Turnigy_KForce_70A_HV_Tail EQU 80 Turnigy_KForce_70A_HV_Multi EQU 81 Turnigy_KForce_120A_HV_Main EQU 82 Turnigy_KForce_120A_HV_Tail EQU 83 Turnigy_KForce_120A_HV_Multi EQU 84 Turnigy_KForce_120A_HV_v2_Main EQU 85 Turnigy_KForce_120A_HV_v2_Tail EQU 86 Turnigy_KForce_120A_HV_v2_Multi EQU 87 Skywalker_20A_Main EQU 88Skywalker_20A_Tail EQU 89 Skywalker_20A_Multi EQU 90 Skywalker_40A_Main EQU 91Skywalker_40A_Tail EQU 92 Skywalker_40A_Multi EQU 93 HiModel_Cool_22A_Main EQU 94HiModel_Cool_22A_Tail EQU 95 HiModel_Cool_22A_Multi EQU 96 HiModel_Cool_33A_Main EQU 97HiModel_Cool_33A_Tail EQU 98 HiModel_Cool_33A_Multi EQU 99 HiModel_Cool_41A_Main EQU 100HiModel_Cool_41A_Tail EQU 101 HiModel_Cool_41A_Multi EQU 102 RCTimer_6A_Main EQU 103 RCTimer_6A_Tail EQU 104 RCTimer_6A_Multi EQU 105 Align_RCE_BL15X_Main EQU 106 Align_RCE_BL15X_Tail EQU 107 Align_RCE_BL15X_Multi EQU 108 Align_RCE_BL15P_Main EQU 109 Align_RCE_BL15P_Tail EQU 110 Align_RCE_BL15P_Multi EQU 111 Align_RCE_BL35X_Main EQU 112 Align_RCE_BL35X_Tail EQU 113 Align_RCE_BL35X_Multi EQU 114 Align_RCE_BL35P_Main EQU 115 Align_RCE_BL35P_Tail EQU 116 Align_RCE_BL35P_Multi EQU 117 Gaui_GE_183_18A_Main EQU 118 Gaui_GE_183_18A_Tail EQU 119 Gaui_GE_183_18A_Multi EQU 120 H_King_10A_Main EQU 121 H_King_10A_Tail EQU 122 H_King_10A_Multi EQU 123 H_King_20A_Main EQU 124 H_King_20A_Tail EQU 125 H_King_20A_Multi EQU 126 H_King_35A_Main EQU 127 H_King_35A_Tail EQU 128 H_King_35A_Multi EQU 129 H_King_50A_Main EQU 130 H_King_50A_Tail EQU 131 H_King_50A_Multi EQU 132 Polaris_Thunder_12A_Main EQU 133 Polaris_Thunder_12A_Tail EQU 134 Polaris_Thunder_12A_Multi EQU 135 Polaris_Thunder_20A_Main EQU 136 Polaris_Thunder_20A_Tail EQU 137 Polaris_Thunder_20A_Multi EQU 138 Polaris_Thunder_30A_Main EQU 139 Polaris_Thunder_30A_Tail EQU 140 Polaris_Thunder_30A_Multi EQU 141 Polaris_Thunder_40A_Main EQU 142 Polaris_Thunder_40A_Tail EQU 143 Polaris_Thunder_40A_Multi EQU 144 Polaris_Thunder_60A_Main EQU 145 Polaris_Thunder_60A_Tail EQU 146 Polaris_Thunder_60A_Multi EQU 147 Polaris_Thunder_80A_Main EQU 148 Polaris_Thunder_80A_Tail EQU 149 Polaris_Thunder_80A_Multi EQU 150 Polaris_Thunder_100A_Main EQU 151 Polaris_Thunder_100A_Tail EQU 152 Polaris_Thunder_100A_Multi EQU 153 Platinum_Pro_30A_Main EQU 154 Platinum_Pro_30A_Tail EQU 155 Platinum_Pro_30A_Multi EQU 156 Platinum_Pro_150A_Main EQU 157 Platinum_Pro_150A_Tail EQU 158 Platinum_Pro_150A_Multi EQU 159 Platinum_50Av3_Main EQU 160 Platinum_50Av3_Tail EQU 161 Platinum_50Av3_Multi EQU 162 EAZY_3Av2_Main EQU 163 EAZY_3Av2_Tail EQU 164 EAZY_3Av2_Multi EQU 165 Tarot_30A_Main EQU 166 Tarot_30A_Tail EQU 167 Tarot_30A_Multi EQU 168 SkyIII_30A_Main EQU 169 SkyIII_30A_Tail EQU 170 SkyIII_30A_Multi EQU 171 EMAX_20A_Main EQU 172 EMAX_20A_Tail EQU 173 EMAX_20A_Multi EQU 174 EMAX_40A_Main EQU 175 EMAX_40A_Tail EQU 176 EMAX_40A_Multi EQU 177 XRotor_10A_Main EQU 178 XRotor_10A_Tail EQU 179 XRotor_10A_Multi EQU 180 XRotor_20A_Main EQU 181 XRotor_20A_Tail EQU 182 XRotor_20A_Multi EQU 183 XRotor_40A_Main EQU 184 XRotor_40A_Tail EQU 185 XRotor_40A_Multi EQU 186
;**** **** **** **** ****; Select the ESC and mode to use (or unselect all for use with external batch compile file);BESCNO EQU XP_3A_Main;BESCNO EQU XP_3A_Tail;BESCNO EQU XP_3A_Multi;BESCNO EQU XP_7A_Main;BESCNO EQU XP_7A_Tail;BESCNO EQU XP_7A_Multi;BESCNO EQU XP_7A_Fast_Main;BESCNO EQU XP_7A_Fast_Tail;BESCNO EQU XP_7A_Fast_Multi;BESCNO EQU XP_12A_Main;BESCNO EQU XP_12A_Tail ;BESCNO EQU XP_12A_Multi;BESCNO EQU XP_18A_Main ;BESCNO EQU XP_18A_Tail ;BESCNO EQU XP_18A_Multi;BESCNO EQU XP_25A_Main ;BESCNO EQU XP_25A_Tail ;BESCNO EQU XP_25A_Multi;BESCNO EQU XP_35A_SW_Main;BESCNO EQU XP_35A_SW_Tail ;BESCNO EQU XP_35A_SW_Multi;BESCNO EQU DP_3A_Main ;BESCNO EQU DP_3A_Tail;BESCNO EQU DP_3A_Multi;BESCNO EQU Supermicro_3p5A_Main;BESCNO EQU Supermicro_3p5A_Tail;BESCNO EQU Supermicro_3p5A_Multi;BESCNO EQU Turnigy_Plush_6A_Main ;BESCNO EQU Turnigy_Plush_6A_Tail ;BESCNO EQU Turnigy_Plush_6A_Multi;BESCNO EQU Turnigy_Plush_10A_Main ;BESCNO EQU Turnigy_Plush_10A_Tail ;BESCNO EQU Turnigy_Plush_10A_Multi;BESCNO EQU Turnigy_Plush_12A_Main ;BESCNO EQU Turnigy_Plush_12A_Tail ;BESCNO EQU Turnigy_Plush_12A_Multi;BESCNO EQU Turnigy_Plush_18A_Main ;BESCNO EQU Turnigy_Plush_18A_Tail ;BESCNO EQU Turnigy_Plush_18A_Multi;BESCNO EQU Turnigy_Plush_25A_Main ;BESCNO EQU Turnigy_Plush_25A_Tail;BESCNO EQU Turnigy_Plush_25A_Multi;BESCNO EQU Turnigy_Plush_30A_Main ;BESCNO EQU Turnigy_Plush_30A_Tail ;BESCNO EQU Turnigy_Plush_30A_Multi;BESCNO EQU Turnigy_Plush_40A_Main ;BESCNO EQU Turnigy_Plush_40A_Tail ;BESCNO EQU Turnigy_Plush_40A_Multi;BESCNO EQU Turnigy_Plush_60A_Main;BESCNO EQU Turnigy_Plush_60A_Tail ;BESCNO EQU Turnigy_Plush_60A_Multi;BESCNO EQU Turnigy_Plush_80A_Main;BESCNO EQU Turnigy_Plush_80A_Tail ;BESCNO EQU Turnigy_Plush_80A_Multi;BESCNO EQU Turnigy_Plush_Nfet_18A_Main;BESCNO EQU Turnigy_Plush_Nfet_18A_Tail ;BESCNO EQU Turnigy_Plush_Nfet_18A_Multi;BESCNO EQU Turnigy_Plush_Nfet_25A_Main ;BESCNO EQU Turnigy_Plush_Nfet_25A_Tail;BESCNO EQU Turnigy_Plush_Nfet_25A_Multi;BESCNO EQU Turnigy_Plush_Nfet_30A_Main ;BESCNO EQU Turnigy_Plush_Nfet_30A_Tail ;BESCNO EQU Turnigy_Plush_Nfet_30A_Multi;BESCNO EQU Turnigy_AE_20A_Main ;BESCNO EQU Turnigy_AE_20A_Tail ;BESCNO EQU Turnigy_AE_20A_Multi;BESCNO EQU Turnigy_AE_25A_Main ;BESCNO EQU Turnigy_AE_25A_Tail ;BESCNO EQU Turnigy_AE_25A_Multi;BESCNO EQU Turnigy_AE_30A_Main ;BESCNO EQU Turnigy_AE_30A_Tail ;BESCNO EQU Turnigy_AE_30A_Multi;BESCNO EQU Turnigy_AE_45A_Main;BESCNO EQU Turnigy_AE_45A_Tail ;BESCNO EQU Turnigy_AE_45A_Multi;BESCNO EQU Turnigy_KForce_40A_Main;BESCNO EQU Turnigy_KForce_40A_Tail ;BESCNO EQU Turnigy_KForce_40A_Multi;BESCNO EQU Turnigy_KForce_70A_HV_Main;BESCNO EQU Turnigy_KForce_70A_HV_Tail ;BESCNO EQU Turnigy_KForce_70A_HV_Multi;BESCNO EQU Turnigy_KForce_120A_HV_Main;BESCNO EQU Turnigy_KForce_120A_HV_Tail ;BESCNO EQU Turnigy_KForce_120A_HV_Multi;BESCNO EQU Turnigy_KForce_120A_HV_v2_Main;BESCNO EQU Turnigy_KForce_120A_HV_v2_Tail ;BESCNO EQU Turnigy_KForce_120A_HV_v2_Multi;BESCNO EQU Skywalker_20A_Main;BESCNO EQU Skywalker_20A_Tail;BESCNO EQU Skywalker_20A_Multi;BESCNO EQU Skywalker_40A_Main ;BESCNO EQU Skywalker_40A_Tail ;BESCNO EQU Skywalker_40A_Multi;BESCNO EQU HiModel_Cool_22A_Main;BESCNO EQU HiModel_Cool_22A_Tail;BESCNO EQU HiModel_Cool_22A_Multi;BESCNO EQU HiModel_Cool_33A_Main;BESCNO EQU HiModel_Cool_33A_Tail;BESCNO EQU HiModel_Cool_33A_Multi;BESCNO EQU HiModel_Cool_41A_Main;BESCNO EQU HiModel_Cool_41A_Tail;BESCNO EQU HiModel_Cool_41A_Multi;BESCNO EQU RCTimer_6A_Main;BESCNO EQU RCTimer_6A_Tail;BESCNO EQU RCTimer_6A_Multi;BESCNO EQU Align_RCE_BL15X_Main;BESCNO EQU Align_RCE_BL15X_Tail;BESCNO EQU Align_RCE_BL15X_Multi;BESCNO EQU Align_RCE_BL15P_Main;BESCNO EQU Align_RCE_BL15P_Tail;BESCNO EQU Align_RCE_BL15P_Multi ;BESCNO EQU Align_RCE_BL35X_Main ;BESCNO EQU Align_RCE_BL35X_Tail;BESCNO EQU Align_RCE_BL35X_Multi;BESCNO EQU Align_RCE_BL35P_Main;BESCNO EQU Align_RCE_BL35P_Tail;BESCNO EQU Align_RCE_BL35P_Multi;BESCNO EQU Gaui_GE_183_18A_Main;BESCNO EQU Gaui_GE_183_18A_Tail;BESCNO EQU Gaui_GE_183_18A_Multi;BESCNO EQU H_King_10A_Main ;BESCNO EQU H_King_10A_Tail ;BESCNO EQU H_King_10A_Multi;BESCNO EQU H_King_20A_Main;BESCNO EQU H_King_20A_Tail;BESCNO EQU H_King_20A_Multi;BESCNO EQU H_King_35A_Main;BESCNO EQU H_King_35A_Tail;BESCNO EQU H_King_35A_Multi;BESCNO EQU H_King_50A_Main;BESCNO EQU H_King_50A_Tail;BESCNO EQU H_King_50A_Multi;BESCNO EQU Polaris_Thunder_12A_Main;BESCNO EQU Polaris_Thunder_12A_Tail;BESCNO EQU Polaris_Thunder_12A_Multi;BESCNO EQU Polaris_Thunder_20A_Main;BESCNO EQU Polaris_Thunder_20A_Tail;BESCNO EQU Polaris_Thunder_20A_Multi;BESCNO EQU Polaris_Thunder_30A_Main;BESCNO EQU Polaris_Thunder_30A_Tail;BESCNO EQU Polaris_Thunder_30A_Multi;BESCNO EQU Polaris_Thunder_40A_Main;BESCNO EQU Polaris_Thunder_40A_Tail;BESCNO EQU Polaris_Thunder_40A_Multi;BESCNO EQU Polaris_Thunder_60A_Main;BESCNO EQU Polaris_Thunder_60A_Tail;BESCNO EQU Polaris_Thunder_60A_Multi;BESCNO EQU Polaris_Thunder_80A_Main;BESCNO EQU Polaris_Thunder_80A_Tail;BESCNO EQU Polaris_Thunder_80A_Multi;BESCNO EQU Polaris_Thunder_100A_Main;BESCNO EQU Polaris_Thunder_100A_Tail;BESCNO EQU Polaris_Thunder_100A_Multi;BESCNO EQU Platinum_Pro_30A_Main;BESCNO EQU Platinum_Pro_30A_Tail;BESCNO EQU Platinum_Pro_30A_Multi;BESCNO EQU Platinum_Pro_150A_Main;BESCNO EQU Platinum_Pro_150A_Tail;BESCNO EQU Platinum_Pro_150A_Multi;BESCNO EQU Platinum_50Av3_Main;BESCNO EQU Platinum_50Av3_Tail;BESCNO EQU Platinum_50Av3_Multi ;BESCNO EQU EAZY_3Av2_Main;BESCNO EQU EAZY_3Av2_Tail;BESCNO EQU EAZY_3Av2_Multi;BESCNO EQU Tarot_30A_Main;BESCNO EQU Tarot_30A_Tail;BESCNO EQU Tarot_30A_Multi;BESCNO EQU SkyIII_30A_Main;BESCNO EQU SkyIII_30A_Tail;BESCNO EQU SkyIII_30A_Multi;BESCNO EQU EMAX_20A_Main;BESCNO EQU EMAX_20A_Tail;BESCNO EQU EMAX_20A_Multi ;BESCNO EQU EMAX_40A_Main;BESCNO EQU EMAX_40A_Tail;BESCNO EQU EMAX_40A_Multi;BESCNO EQU XRotor_10A_Main;BESCNO EQU XRotor_10A_Tail;BESCNO EQU XRotor_10A_Multi ;BESCNO EQU XRotor_20A_Main;BESCNO EQU XRotor_20A_Tail;BESCNO EQU XRotor_20A_Multi;BESCNO EQU XRotor_40A_Main;BESCNO EQU XRotor_40A_Tail;BESCNO EQU XRotor_40A_Multi
;**** **** **** **** ****; ESC selection statementsIF BESCNO == XP_3A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (XP_3A.inc) ; Select XP 3A pinoutENDIF
IF BESCNO == XP_3A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (XP_3A.inc) ; Select XP 3A pinoutENDIF
IF BESCNO == XP_3A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (XP_3A.inc) ; Select XP 3A pinoutENDIF
IF BESCNO == XP_7A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (XP_7A.inc) ; Select XP 7A pinoutENDIF
IF BESCNO == XP_7A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (XP_7A.inc) ; Select XP 7A pinoutENDIF
IF BESCNO == XP_7A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (XP_7A.inc) ; Select XP 7A pinoutENDIF
IF BESCNO == XP_7A_Fast_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinoutENDIF
IF BESCNO == XP_7A_Fast_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinoutENDIF
IF BESCNO == XP_7A_Fast_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinoutENDIF
IF BESCNO == XP_12A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (XP_12A.inc) ; Select XP 12A pinoutENDIF
IF BESCNO == XP_12A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (XP_12A.inc) ; Select XP 12A pinoutENDIF
IF BESCNO == XP_12A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (XP_12A.inc) ; Select XP 12A pinoutENDIF
IF BESCNO == XP_18A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (XP_18A.inc) ; Select XP 18A pinoutENDIF
IF BESCNO == XP_18A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (XP_18A.inc) ; Select XP 18A pinoutENDIF
IF BESCNO == XP_18A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (XP_18A.inc) ; Select XP 18A pinoutENDIF
IF BESCNO == XP_25A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (XP_25A.inc) ; Select XP 25A pinoutENDIF
IF BESCNO == XP_25A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (XP_25A.inc) ; Select XP 25A pinoutENDIF
IF BESCNO == XP_25A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (XP_25A.inc) ; Select XP 25A pinoutENDIF
IF BESCNO == XP_35A_SW_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (XP_35A_SW.inc) ; Select XP 35A SW pinoutENDIF
IF BESCNO == XP_35A_SW_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (XP_35A_SW.inc) ; Select XP 35A SW pinoutENDIF
IF BESCNO == XP_35A_SW_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (XP_35A_SW.inc) ; Select XP 35A SW pinoutENDIF
IF BESCNO == DP_3A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (DP_3A.inc) ; Select DP 3A pinoutENDIF
IF BESCNO == DP_3A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (DP_3A.inc) ; Select DP 3A pinoutENDIF
IF BESCNO == DP_3A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (DP_3A.inc) ; Select DP 3A pinoutENDIF
IF BESCNO == Supermicro_3p5A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinoutENDIF
IF BESCNO == Supermicro_3p5A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinoutENDIF
IF BESCNO == Supermicro_3p5A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinoutENDIF
IF BESCNO == Turnigy_Plush_6A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinoutENDIF
IF BESCNO == Turnigy_Plush_6A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinoutENDIF
IF BESCNO == Turnigy_Plush_6A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinoutENDIF
IF BESCNO == Turnigy_Plush_10A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinoutENDIF
IF BESCNO == Turnigy_Plush_10A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinoutENDIF
IF BESCNO == Turnigy_Plush_10A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinoutENDIF
IF BESCNO == Turnigy_Plush_12A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinoutENDIF
IF BESCNO == Turnigy_Plush_12A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinoutENDIF
IF BESCNO == Turnigy_Plush_12A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinoutENDIF
IF BESCNO == Turnigy_Plush_18A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinoutENDIF
IF BESCNO == Turnigy_Plush_18A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinoutENDIF
IF BESCNO == Turnigy_Plush_18A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinoutENDIF
IF BESCNO == Turnigy_Plush_25A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinoutENDIF
IF BESCNO == Turnigy_Plush_25A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinoutENDIF
IF BESCNO == Turnigy_Plush_25A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinoutENDIF
IF BESCNO == Turnigy_Plush_30A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinoutENDIF
IF BESCNO == Turnigy_Plush_30A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinoutENDIF
IF BESCNO == Turnigy_Plush_30A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinoutENDIF
IF BESCNO == Turnigy_Plush_40A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinoutENDIF
IF BESCNO == Turnigy_Plush_40A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinoutENDIF
IF BESCNO == Turnigy_Plush_40A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinoutENDIF
IF BESCNO == Turnigy_Plush_60A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinoutENDIF
IF BESCNO == Turnigy_Plush_60A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinoutENDIF
IF BESCNO == Turnigy_Plush_60A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinoutENDIF
IF BESCNO == Turnigy_Plush_80A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinoutENDIF
IF BESCNO == Turnigy_Plush_80A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinoutENDIF
IF BESCNO == Turnigy_Plush_80A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinoutENDIF
IF BESCNO == Turnigy_Plush_Nfet_18A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_Plush_Nfet_18A.inc) ; Select Turnigy Plush Nfet 18A pinoutENDIF
IF BESCNO == Turnigy_Plush_Nfet_18A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_Plush_Nfet_18A.inc) ; Select Turnigy Plush Nfet 18A pinoutENDIF
IF BESCNO == Turnigy_Plush_Nfet_18A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_Plush_Nfet_18A.inc) ; Select Turnigy Plush Nfet 18A pinoutENDIF
IF BESCNO == Turnigy_Plush_Nfet_25A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_Plush_Nfet_25A.inc) ; Select Turnigy Plush Nfet 25A pinoutENDIF
IF BESCNO == Turnigy_Plush_Nfet_25A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_Plush_Nfet_25A.inc) ; Select Turnigy Plush Nfet 25A pinoutENDIF
IF BESCNO == Turnigy_Plush_Nfet_25A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_Plush_Nfet_25A.inc) ; Select Turnigy Plush Nfet 25A pinoutENDIF
IF BESCNO == Turnigy_Plush_Nfet_30A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_Plush_Nfet_30A.inc) ; Select Turnigy Plush Nfet 30A pinoutENDIF
IF BESCNO == Turnigy_Plush_Nfet_30A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_Plush_Nfet_30A.inc) ; Select Turnigy Plush Nfet 30A pinoutENDIF
IF BESCNO == Turnigy_Plush_Nfet_30A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_Plush_Nfet_30A.inc) ; Select Turnigy Plush Nfet 30A pinoutENDIF
IF BESCNO == Turnigy_AE_20A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinoutENDIF
IF BESCNO == Turnigy_AE_20A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinoutENDIF
IF BESCNO == Turnigy_AE_20A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinoutENDIF
IF BESCNO == Turnigy_AE_25A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinoutENDIF
IF BESCNO == Turnigy_AE_25A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinoutENDIF
IF BESCNO == Turnigy_AE_25A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinoutENDIF
IF BESCNO == Turnigy_AE_30A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinoutENDIF
IF BESCNO == Turnigy_AE_30A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinoutENDIF
IF BESCNO == Turnigy_AE_30A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinoutENDIF
IF BESCNO == Turnigy_AE_45A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinoutENDIF
IF BESCNO == Turnigy_AE_45A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinoutENDIF
IF BESCNO == Turnigy_AE_45A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinoutENDIF
IF BESCNO == Turnigy_KForce_40A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinoutENDIF
IF BESCNO == Turnigy_KForce_40A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinoutENDIF
IF BESCNO == Turnigy_KForce_40A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinoutENDIF
IF BESCNO == Turnigy_KForce_70A_HV_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_KForce_70A_HV.inc) ; Select Turnigy KForce 70A HV pinoutENDIF
IF BESCNO == Turnigy_KForce_70A_HV_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_KForce_70A_HV.inc) ; Select Turnigy KForce 70A HV pinoutENDIF
IF BESCNO == Turnigy_KForce_70A_HV_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_KForce_70A_HV.inc) ; Select Turnigy KForce 70A HV pinoutENDIF
IF BESCNO == Turnigy_KForce_120A_HV_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinoutENDIF
IF BESCNO == Turnigy_KForce_120A_HV_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinoutENDIF
IF BESCNO == Turnigy_KForce_120A_HV_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinoutENDIF
IF BESCNO == Turnigy_KForce_120A_HV_v2_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Turnigy_KForce_120A_HV_v2.inc); Select Turnigy KForce 120A HV v2 pinoutENDIF
IF BESCNO == Turnigy_KForce_120A_HV_v2_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Turnigy_KForce_120A_HV_v2.inc); Select Turnigy KForce 120A HV v2 pinoutENDIF
IF BESCNO == Turnigy_KForce_120A_HV_v2_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Turnigy_KForce_120A_HV_v2.inc); Select Turnigy KForce 120A HV v2 pinoutENDIF
IF BESCNO == Skywalker_20A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Skywalker_20A.inc) ; Select Skywalker 20A pinoutENDIF
IF BESCNO == Skywalker_20A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Skywalker_20A.inc) ; Select Skywalker 20A pinoutENDIF
IF BESCNO == Skywalker_20A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Skywalker_20A.inc) ; Select Skywalker 20A pinoutENDIF
IF BESCNO == Skywalker_40A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Skywalker_40A.inc) ; Select Skywalker 40A pinoutENDIF
IF BESCNO == Skywalker_40A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Skywalker_40A.inc) ; Select Skywalker 40A pinoutENDIF
IF BESCNO == Skywalker_40A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Skywalker_40A.inc) ; Select Skywalker 40A pinoutENDIF
IF BESCNO == HiModel_Cool_22A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinoutENDIF
IF BESCNO == HiModel_Cool_22A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinoutENDIF
IF BESCNO == HiModel_Cool_22A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinoutENDIF
IF BESCNO == HiModel_Cool_33A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinoutENDIF
IF BESCNO == HiModel_Cool_33A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinoutENDIF
IF BESCNO == HiModel_Cool_33A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinoutENDIF
IF BESCNO == HiModel_Cool_41A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinoutENDIF
IF BESCNO == HiModel_Cool_41A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinoutENDIF
IF BESCNO == HiModel_Cool_41A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinoutENDIF
IF BESCNO == RCTimer_6A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (RCTimer_6A.inc) ; Select RC Timer 6A pinoutENDIF
IF BESCNO == RCTimer_6A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (RCTimer_6A.inc) ; Select RC Timer 6A pinoutENDIF
IF BESCNO == RCTimer_6A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (RCTimer_6A.inc) ; Select RC Timer 6A pinoutENDIF
IF BESCNO == Align_RCE_BL15X_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinoutENDIF
IF BESCNO == Align_RCE_BL15X_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinoutENDIF
IF BESCNO == Align_RCE_BL15X_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinoutENDIF
IF BESCNO == Align_RCE_BL15P_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Align_RCE_BL15P.inc) ; Select Align RCE-BL15P pinoutENDIF
IF BESCNO == Align_RCE_BL15P_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Align_RCE_BL15P.inc) ; Select Align RCE-BL15P pinoutENDIF
IF BESCNO == Align_RCE_BL15P_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Align_RCE_BL15P.inc) ; Select Align RCE-BL15P pinoutENDIF
IF BESCNO == Align_RCE_BL35X_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinoutENDIF
IF BESCNO == Align_RCE_BL35X_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinoutENDIF
IF BESCNO == Align_RCE_BL35X_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinoutENDIF
IF BESCNO == Align_RCE_BL35P_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinoutENDIF
IF BESCNO == Align_RCE_BL35P_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinoutENDIF
IF BESCNO == Align_RCE_BL35P_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinoutENDIF
IF BESCNO == Gaui_GE_183_18A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Gaui_GE_183_18A.inc) ; Select Gaui GE-183 18A pinoutENDIF
IF BESCNO == Gaui_GE_183_18A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Gaui_GE_183_18A.inc) ; Select Gaui GE-183 18A pinoutENDIF
IF BESCNO == Gaui_GE_183_18A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Gaui_GE_183_18A.inc) ; Select Gaui GE-183 18A pinoutENDIF
IF BESCNO == H_King_10A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (H_King_10A.inc) ; Select H-King 10A pinoutENDIF
IF BESCNO == H_King_10A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (H_King_10A.inc) ; Select H-King 10A pinoutENDIF
IF BESCNO == H_King_10A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (H_King_10A.inc) ; Select H-King 10A pinoutENDIF
IF BESCNO == H_King_20A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (H_King_20A.inc) ; Select H-King 20A pinoutENDIF
IF BESCNO == H_King_20A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (H_King_20A.inc) ; Select H-King 20A pinoutENDIF
IF BESCNO == H_King_20A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (H_King_20A.inc) ; Select H-King 20A pinoutENDIF
IF BESCNO == H_King_35A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (H_King_35A.inc) ; Select H-King 35A pinoutENDIF
IF BESCNO == H_King_35A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (H_King_35A.inc) ; Select H-King 35A pinoutENDIF
IF BESCNO == H_King_35A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (H_King_35A.inc) ; Select H-King 35A pinoutENDIF
IF BESCNO == H_King_50A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (H_King_50A.inc) ; Select H-King 50A pinoutENDIF
IF BESCNO == H_King_50A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (H_King_50A.inc) ; Select H-King 50A pinoutENDIF
IF BESCNO == H_King_50A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (H_King_50A.inc) ; Select H-King 50A pinoutENDIF
IF BESCNO == Polaris_Thunder_12A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Polaris_Thunder_12A.inc) ; Select Polaris Thunder 12A pinoutENDIF
IF BESCNO == Polaris_Thunder_12A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Polaris_Thunder_12A.inc) ; Select Polaris Thunder 12A pinoutENDIF
IF BESCNO == Polaris_Thunder_12A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Polaris_Thunder_12A.inc) ; Select Polaris Thunder 12A pinoutENDIF
IF BESCNO == Polaris_Thunder_20A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Polaris_Thunder_20A.inc) ; Select Polaris Thunder 20A pinoutENDIF
IF BESCNO == Polaris_Thunder_20A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Polaris_Thunder_20A.inc) ; Select Polaris Thunder 20A pinoutENDIF
IF BESCNO == Polaris_Thunder_20A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Polaris_Thunder_20A.inc) ; Select Polaris Thunder 20A pinoutENDIF
IF BESCNO == Polaris_Thunder_30A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Polaris_Thunder_30A.inc) ; Select Polaris Thunder 30A pinoutENDIF
IF BESCNO == Polaris_Thunder_30A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Polaris_Thunder_30A.inc) ; Select Polaris Thunder 30A pinoutENDIF
IF BESCNO == Polaris_Thunder_30A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Polaris_Thunder_30A.inc) ; Select Polaris Thunder 30A pinoutENDIF
IF BESCNO == Polaris_Thunder_40A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Polaris_Thunder_40A.inc) ; Select Polaris Thunder 40A pinoutENDIF
IF BESCNO == Polaris_Thunder_40A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Polaris_Thunder_40A.inc) ; Select Polaris Thunder 40A pinoutENDIF
IF BESCNO == Polaris_Thunder_40A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Polaris_Thunder_40A.inc) ; Select Polaris Thunder 40A pinoutENDIF
IF BESCNO == Polaris_Thunder_60A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Polaris_Thunder_60A.inc) ; Select Polaris Thunder 60A pinoutENDIF
IF BESCNO == Polaris_Thunder_60A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Polaris_Thunder_60A.inc) ; Select Polaris Thunder 60A pinoutENDIF
IF BESCNO == Polaris_Thunder_60A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Polaris_Thunder_60A.inc) ; Select Polaris Thunder 60A pinoutENDIF
IF BESCNO == Polaris_Thunder_80A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Polaris_Thunder_80A.inc) ; Select Polaris Thunder 80A pinoutENDIF
IF BESCNO == Polaris_Thunder_80A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Polaris_Thunder_80A.inc) ; Select Polaris Thunder 80A pinoutENDIF
IF BESCNO == Polaris_Thunder_80A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Polaris_Thunder_80A.inc) ; Select Polaris Thunder 80A pinoutENDIF
IF BESCNO == Polaris_Thunder_100A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Polaris_Thunder_100A.inc); Select Polaris Thunder 100A pinoutENDIF
IF BESCNO == Polaris_Thunder_100A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Polaris_Thunder_100A.inc); Select Polaris Thunder 100A pinoutENDIF
IF BESCNO == Polaris_Thunder_100A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Polaris_Thunder_100A.inc); Select Polaris Thunder 100A pinoutENDIF
IF BESCNO == Platinum_Pro_30A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Platinum_Pro_30A.inc) ; Select Platinum Pro 30A pinoutENDIF
IF BESCNO == Platinum_Pro_30A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Platinum_Pro_30A.inc) ; Select Platinum Pro 30A pinoutENDIF
IF BESCNO == Platinum_Pro_30A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Platinum_Pro_30A.inc) ; Select Platinum Pro 30A pinoutENDIF
IF BESCNO == Platinum_Pro_150A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Platinum_Pro_150A.inc) ; Select Platinum Pro 150A pinoutENDIF
IF BESCNO == Platinum_Pro_150A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Platinum_Pro_150A.inc) ; Select Platinum Pro 150A pinoutENDIF
IF BESCNO == Platinum_Pro_150A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Platinum_Pro_150A.inc) ; Select Platinum Pro 150A pinoutENDIF
IF BESCNO == Platinum_50Av3_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Platinum_50Av3.inc) ; Select Platinum 50A v3 pinoutENDIF
IF BESCNO == Platinum_50Av3_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Platinum_50Av3.inc) ; Select Platinum 50A v3 pinoutENDIF
IF BESCNO == Platinum_50Av3_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Platinum_50Av3.inc) ; Select Platinum 50A v3 pinoutENDIF
IF BESCNO == EAZY_3Av2_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (EAZY_3Av2.inc) ; Select Eazy 3A v2 pinoutENDIF
IF BESCNO == EAZY_3Av2_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (EAZY_3Av2.inc) ; Select Eazy 3A v2 pinoutENDIF
IF BESCNO == EAZY_3Av2_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (EAZY_3Av2.inc) ; Select Eazy 3A v2 pinoutENDIF
IF BESCNO == Tarot_30A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (Tarot_30A.inc) ; Select Tarot 30A pinoutENDIF
IF BESCNO == Tarot_30A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (Tarot_30A.inc) ; Select Tarot 30A pinoutENDIF
IF BESCNO == Tarot_30A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (Tarot_30A.inc) ; Select Tarot 30A pinoutENDIF
IF BESCNO == SkyIII_30A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (SkyIII_30A.inc) ; Select SkyIII 30A pinoutENDIF
IF BESCNO == SkyIII_30A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (SkyIII_30A.inc) ; Select SkyIII 30A pinoutENDIF
IF BESCNO == SkyIII_30A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (SkyIII_30A.inc) ; Select SkyIII 30A pinoutENDIF
IF BESCNO == EMAX_20A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (EMAX_20A.inc) ; Select EMAX 20A pinoutENDIF
IF BESCNO == EMAX_20A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (EMAX_20A.inc) ; Select EMAX 20A pinoutENDIF
IF BESCNO == EMAX_20A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (EMAX_20A.inc) ; Select EMAX 20A pinoutENDIF
IF BESCNO == EMAX_40A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (EMAX_40A.inc) ; Select EMAX 40A pinoutENDIF
IF BESCNO == EMAX_40A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (EMAX_40A.inc) ; Select EMAX 40A pinoutENDIF
IF BESCNO == EMAX_40A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (EMAX_40A.inc) ; Select EMAX 40A pinoutENDIF
IF BESCNO == XRotor_10A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (XRotor_10A.inc) ; Select XRotor 10A pinoutENDIF
IF BESCNO == XRotor_10A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (XRotor_10A.inc) ; Select XRotor 10A pinoutENDIF
IF BESCNO == XRotor_10A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (XRotor_10A.inc) ; Select XRotor 10A pinoutENDIF
IF BESCNO == XRotor_20A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (XRotor_20A.inc) ; Select XRotor 20A pinoutENDIF
IF BESCNO == XRotor_20A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (XRotor_20A.inc) ; Select XRotor 20A pinoutENDIF
IF BESCNO == XRotor_20A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (XRotor_20A.inc) ; Select XRotor 20A pinoutENDIF
IF BESCNO == XRotor_40A_MainMODE EQU 0 ; Choose mode. Set to 0 for main motor$include (XRotor_40A.inc) ; Select XRotor 40A pinoutENDIF
IF BESCNO == XRotor_40A_TailMODE EQU 1 ; Choose mode. Set to 1 for tail motor$include (XRotor_40A.inc) ; Select XRotor 40A pinoutENDIF
IF BESCNO == XRotor_40A_MultiMODE EQU 2 ; Choose mode. Set to 2 for multirotor$include (XRotor_40A.inc) ; Select XRotor 40A pinoutENDIF
;**** **** **** **** ****; TX programming defaults;; Parameter dependencies:; - Governor P gain, I gain and Range is only used if one of the three governor modes is selected; - Governor setup target is only used if Setup governor mode is selected (or closed loop mode is on for multi);; MAINDEFAULT_PGM_MAIN_P_GAIN EQU 7 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0DEFAULT_PGM_MAIN_I_GAIN EQU 7 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0DEFAULT_PGM_MAIN_GOVERNOR_MODE EQU 1 ; 1=Tx 2=Arm 3=Setup 4=OffDEFAULT_PGM_MAIN_GOVERNOR_RANGE EQU 1 ; 1=High 2=Middle 3=LowDEFAULT_PGM_MAIN_LOW_VOLTAGE_LIM EQU 4 ; 1=Off 2=3.0V/c 3=3.1V/c 4=3.2V/c 5=3.3V/c 6=3.4V/cDEFAULT_PGM_MAIN_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=HighIF DAMPED_MODE_ENABLE == 1DEFAULT_PGM_MAIN_PWM_FREQ EQU 2 ; 1=High 2=Low 3=DampedLightELSEDEFAULT_PGM_MAIN_PWM_FREQ EQU 2 ; 1=High 2=Low ENDIFDEFAULT_PGM_MAIN_DEMAG_COMP EQU 1 ; 1=Disabled 2=Low 3=HighDEFAULT_PGM_MAIN_DIRECTION EQU 1 ; 1=Normal 2=ReversedDEFAULT_PGM_MAIN_RCP_PWM_POL EQU 1 ; 1=Positive 2=NegativeDEFAULT_PGM_MAIN_GOV_SETUP_TARGET EQU 180 ; Target for governor in setup mode. Corresponds to 70% throttleDEFAULT_PGM_MAIN_REARM_START EQU 0 ; 1=Enabled 0=DisabledDEFAULT_PGM_MAIN_BEEP_STRENGTH EQU 120 ; Beep strengthDEFAULT_PGM_MAIN_BEACON_STRENGTH EQU 200 ; Beacon strengthDEFAULT_PGM_MAIN_BEACON_DELAY EQU 4 ; 1=1m 2=2m 3=5m 4=10m 5=Infinite
; TAILDEFAULT_PGM_TAIL_GAIN EQU 3 ; 1=0.75 2=0.88 3=1.00 4=1.12 5=1.25DEFAULT_PGM_TAIL_IDLE_SPEED EQU 4 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=HighDEFAULT_PGM_TAIL_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=HighIF DAMPED_MODE_ENABLE == 1DEFAULT_PGM_TAIL_PWM_FREQ EQU 3 ; 1=High 2=Low 3=DampedLight ELSEDEFAULT_PGM_TAIL_PWM_FREQ EQU 1 ; 1=High 2=Low ENDIFDEFAULT_PGM_TAIL_DEMAG_COMP EQU 1 ; 1=Disabled 2=Low 3=HighDEFAULT_PGM_TAIL_DIRECTION EQU 1 ; 1=Normal 2=Reversed 3=BidirectionalDEFAULT_PGM_TAIL_RCP_PWM_POL EQU 1 ; 1=Positive 2=NegativeDEFAULT_PGM_TAIL_BEEP_STRENGTH EQU 250 ; Beep strengthDEFAULT_PGM_TAIL_BEACON_STRENGTH EQU 250 ; Beacon strengthDEFAULT_PGM_TAIL_BEACON_DELAY EQU 4 ; 1=1m 2=2m 3=5m 4=10m 5=Infinite
; MULTIDEFAULT_PGM_MULTI_P_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0DEFAULT_PGM_MULTI_I_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0DEFAULT_PGM_MULTI_GOVERNOR_MODE EQU 4 ; 1=HiRange 2=MidRange 3=LoRange 4=OffDEFAULT_PGM_MULTI_GAIN EQU 3 ; 1=0.75 2=0.88 3=1.00 4=1.12 5=1.25DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM EQU 1 ; 1=Off 2=3.0V/c 3=3.1V/c 4=3.2V/c 5=3.3V/c 6=3.4V/cDEFAULT_PGM_MULTI_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=HighIF DAMPED_MODE_ENABLE == 1DEFAULT_PGM_MULTI_PWM_FREQ EQU 1 ; 1=High 2=Low 3=DampedLight ELSEDEFAULT_PGM_MULTI_PWM_FREQ EQU 1 ; 1=High 2=LowENDIFDEFAULT_PGM_MULTI_DEMAG_COMP EQU 2 ; 1=Disabled 2=Low 3=HighDEFAULT_PGM_MULTI_DIRECTION EQU 1 ; 1=Normal 2=Reversed 3=BidirectionalDEFAULT_PGM_MULTI_RCP_PWM_POL EQU 1 ; 1=Positive 2=NegativeDEFAULT_PGM_MULTI_BEEP_STRENGTH EQU 40 ; Beep strengthDEFAULT_PGM_MULTI_BEACON_STRENGTH EQU 80 ; Beacon strengthDEFAULT_PGM_MULTI_BEACON_DELAY EQU 4 ; 1=1m 2=2m 3=5m 4=10m 5=Infinite
; COMMONDEFAULT_PGM_ENABLE_TX_PROGRAM EQU 1 ; 1=Enabled 0=DisabledDEFAULT_PGM_PPM_MIN_THROTTLE EQU 37 ; 4*37+1000=1148DEFAULT_PGM_PPM_MAX_THROTTLE EQU 208 ; 4*208+1000=1832DEFAULT_PGM_PPM_CENTER_THROTTLE EQU 122 ; 4*122+1000=1488 (used in bidirectional mode)DEFAULT_PGM_BEC_VOLTAGE_HIGH EQU 0 ; 0=Low 1+= High or higher DEFAULT_PGM_ENABLE_TEMP_PROT EQU 1 ; 1=Enabled 0=Disabled
;**** **** **** **** ****; Constant definitions for mainIF MODE == 0
GOV_SPOOLRATE EQU 2 ; Number of steps for governor requested pwm per 32msRCP_TIMEOUT_PPM EQU 10 ; Number of timer2H overflows (about 32ms) before considering rc pulse lostRCP_TIMEOUT EQU 64 ; Number of timer2L overflows (about 128us) before considering rc pulse lostRCP_SKIP_RATE EQU 32 ; Number of timer2L overflows (about 128us) before reenabling rc pulse detectionRCP_MIN EQU 0 ; This is minimum RC pulse lengthRCP_MAX EQU 255 ; This is maximum RC pulse lengthRCP_VALIDATE EQU 2 ; Require minimum this pulse length to validate RC pulseRCP_STOP EQU 1 ; Stop motor at or below this pulse lengthRCP_STOP_LIMIT EQU 250 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
PWM_START EQU 50 ; PWM used as max power during start
COMM_TIME_RED EQU 1 ; Fixed reduction (in us) for commutation wait (to account for fixed delays)COMM_TIME_MIN EQU 1 ; Minimum time (in us) for commutation wait
TEMP_CHECK_RATE EQU 8 ; Number of adc conversions for each check of temperature (the other conversions are used for voltage)
ENDIF; Constant definitions for tailIF MODE == 1
GOV_SPOOLRATE EQU 1 ; Number of steps for governor requested pwm per 32msRCP_TIMEOUT_PPM EQU 10 ; Number of timer2H overflows (about 32ms) before considering rc pulse lostRCP_TIMEOUT EQU 24 ; Number of timer2L overflows (about 128us) before considering rc pulse lostRCP_SKIP_RATE EQU 6 ; Number of timer2L overflows (about 128us) before reenabling rc pulse detectionRCP_MIN EQU 0 ; This is minimum RC pulse lengthRCP_MAX EQU 255 ; This is maximum RC pulse lengthRCP_VALIDATE EQU 2 ; Require minimum this pulse length to validate RC pulseRCP_STOP EQU 1 ; Stop motor at or below this pulse lengthRCP_STOP_LIMIT EQU 130 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
PWM_START EQU 50 ; PWM used as max power during start
COMM_TIME_RED EQU 1 ; Fixed reduction (in us) for commutation wait (to account for fixed delays)COMM_TIME_MIN EQU 1 ; Minimum time (in us) for commutation wait
TEMP_CHECK_RATE EQU 8 ; Number of adc conversions for each check of temperature (the other conversions are used for voltage)
ENDIF; Constant definitions for multiIF MODE == 2
GOV_SPOOLRATE EQU 1 ; Number of steps for governor requested pwm per 32msRCP_TIMEOUT_PPM EQU 10 ; Number of timer2H overflows (about 32ms) before considering rc pulse lostRCP_TIMEOUT EQU 24 ; Number of timer2L overflows (about 128us) before considering rc pulse lostRCP_SKIP_RATE EQU 6 ; Number of timer2L overflows (about 128us) before reenabling rc pulse detectionRCP_MIN EQU 0 ; This is minimum RC pulse lengthRCP_MAX EQU 255 ; This is maximum RC pulse lengthRCP_VALIDATE EQU 2 ; Require minimum this pulse length to validate RC pulseRCP_STOP EQU 1 ; Stop motor at or below this pulse lengthRCP_STOP_LIMIT EQU 250 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
PWM_START EQU 50 ; PWM used as max power during start
COMM_TIME_RED EQU 1 ; Fixed reduction (in us) for commutation wait (to account for fixed delays)COMM_TIME_MIN EQU 1 ; Minimum time (in us) for commutation wait
TEMP_CHECK_RATE EQU 8 ; Number of adc conversions for each check of temperature (the other conversions are used for voltage)
ENDIF
;**** **** **** **** ****; Temporary register definitionsTemp1 EQU R0Temp2 EQU R1Temp3 EQU R2Temp4 EQU R3Temp5 EQU R4Temp6 EQU R5Temp7 EQU R6Temp8 EQU R7
;**** **** **** **** ****; Register definitionsDSEG AT 20h ; Variables segment
Bit_Access: DS 1 ; MUST BE AT THIS ADDRESS. Variable at bit accessible address (for non interrupt routines)Bit_Access_Int: DS 1 ; Variable at bit accessible address (for interrupts)
Requested_Pwm: DS 1 ; Requested pwm (from RC pulse value)Governor_Req_Pwm: DS 1 ; Governor requested pwm (sets governor target)Current_Pwm: DS 1 ; Current pwmCurrent_Pwm_Limited: DS 1 ; Current pwm that is limited (applied to the motor output)Rcp_Prev_Edge_L: DS 1 ; RC pulse previous edge timer3 timestamp (lo byte)Rcp_Prev_Edge_H: DS 1 ; RC pulse previous edge timer3 timestamp (hi byte)Rcp_Outside_Range_Cnt: DS 1 ; RC pulse outside range counter (incrementing) Rcp_Timeout_Cnt: DS 1 ; RC pulse timeout counter (decrementing) Rcp_Skip_Cnt: DS 1 ; RC pulse skip counter (decrementing) _Spare_Reg: DS 1 ; Spare register
Flags0: DS 1 ; State flags. Reset upon init_startT3_PENDING EQU 0 ; Timer3 pending flagRCP_MEAS_PWM_FREQ EQU 1 ; Measure RC pulse pwm frequencyPWM_ON EQU 2 ; Set in on part of pwm cyclePWM_TIMER0_OVERFLOW EQU 3 ; Set for 50MHz MCUs when PWM timer 0 overflowsDEMAG_ENABLED EQU 4 ; Set when demag compensation is enabled (above a min speed and throttle)DEMAG_DETECTED EQU 5 ; Set when excessive demag time is detectedDEMAG_CUT_POWER EQU 6 ; Set when demag compensation cuts power; EQU 7
Flags1: DS 1 ; State flags. Reset upon init_start MOTOR_SPINNING EQU 0 ; Set when in motor is spinningSTARTUP_PHASE EQU 1 ; Set when in startup phaseINITIAL_RUN_PHASE EQU 2 ; Set when in initial run phase, before synchronized run is achievedDIR_CHANGE_BRAKE EQU 3 ; Set when braking before direction change; EQU 4; EQU 5; EQU 6; EQU 7
Flags2: DS 1 ; State flags. NOT reset upon init_startRCP_UPDATED EQU 0 ; New RC pulse length value availableRCP_EDGE_NO EQU 1 ; RC pulse edge no. 0=rising, 1=fallingPGM_PWMOFF_DAMPED EQU 2 ; Programmed pwm off damped modePGM_PWM_HIGH_FREQ EQU 3 ; Progremmed pwm high frequencyRCP_PPM EQU 4 ; RC pulse ppm type input (set also when oneshot is set)RCP_PPM_ONESHOT125 EQU 5 ; RC pulse ppm type input is OneShot125; EQU 6 ; EQU 7
Flags3: DS 1 ; State flags. NOT reset upon init_startRCP_PWM_FREQ_1KHZ EQU 0 ; RC pulse pwm frequency is 1kHzRCP_PWM_FREQ_2KHZ EQU 1 ; RC pulse pwm frequency is 2kHzRCP_PWM_FREQ_4KHZ EQU 2 ; RC pulse pwm frequency is 4kHzRCP_PWM_FREQ_8KHZ EQU 3 ; RC pulse pwm frequency is 8kHzRCP_PWM_FREQ_12KHZ EQU 4 ; RC pulse pwm frequency is 12kHzPGM_DIR_REV EQU 5 ; Programmed direction. 0=normal, 1=reversedPGM_RCP_PWM_POL EQU 6 ; Programmed RC pulse pwm polarity. 0=positive, 1=negativeFULL_THROTTLE_RANGE EQU 7 ; When set full throttle range is used (1000-2000us) and stored calibration values are ignored
;**** **** **** **** ****; RAM definitionsDSEG AT 30h ; Ram data segment, direct addressing
Initial_Arm: DS 1 ; Variable that is set during the first arm sequence after power on
Power_On_Wait_Cnt_L: DS 1 ; Power on wait counter (lo byte)Power_On_Wait_Cnt_H: DS 1 ; Power on wait counter (hi byte)
Startup_Rot_Cnt: DS 1 ; Startup phase rotations counterStartup_Ok_Cnt: DS 1 ; Startup phase ok comparator waits counter (incrementing)Demag_Detected_Metric: DS 1 ; Metric used to gauge demag event frequencyDemag_Pwr_Off_Thresh: DS 1 ; Metric threshold above which power is cutLow_Rpm_Pwr_Slope: DS 1 ; Sets the slope of power increase for low rpms
Prev_Comm_L: DS 1 ; Previous commutation timer3 timestamp (lo byte)Prev_Comm_H: DS 1 ; Previous commutation timer3 timestamp (hi byte)Comm_Period4x_L: DS 1 ; Timer3 counts between the last 4 commutations (lo byte)Comm_Period4x_H: DS 1 ; Timer3 counts between the last 4 commutations (hi byte)Comm_Phase: DS 1 ; Current commutation phaseComparator_Read_Cnt: DS 1 ; Number of comparator reads done
Gov_Target_L: DS 1 ; Governor target (lo byte)Gov_Target_H: DS 1 ; Governor target (hi byte)Gov_Integral_L: DS 1 ; Governor integral error (lo byte)Gov_Integral_H: DS 1 ; Governor integral error (hi byte)Gov_Integral_X: DS 1 ; Governor integral error (ex byte)Gov_Proportional_L: DS 1 ; Governor proportional error (lo byte)Gov_Proportional_H: DS 1 ; Governor proportional error (hi byte)Gov_Prop_Pwm: DS 1 ; Governor calculated new pwm based upon proportional errorGov_Arm_Target: DS 1 ; Governor arm target valueGov_Active: DS 1 ; Governor active (enabled when speed is above minimum)
Wt_Advance_L: DS 1 ; Timer3 counts for commutation advance timing (lo byte)Wt_Advance_H: DS 1 ; Timer3 counts for commutation advance timing (hi byte)Wt_Zc_Scan_L: DS 1 ; Timer3 counts from commutation to zero cross scan (lo byte)Wt_Zc_Scan_H: DS 1 ; Timer3 counts from commutation to zero cross scan (hi byte)Wt_Zc_Timeout_L: DS 1 ; Timer3 counts for zero cross scan timeout (lo byte)Wt_Zc_Timeout_H: DS 1 ; Timer3 counts for zero cross scan timeout (hi byte)Wt_Comm_L: DS 1 ; Timer3 counts from zero cross to commutation (lo byte)Wt_Comm_H: DS 1 ; Timer3 counts from zero cross to commutation (hi byte)Next_Wt_L: DS 1 ; Timer3 counts for next wait period (lo byte)Next_Wt_H: DS 1 ; Timer3 counts for next wait period (hi byte)
Rcp_PrePrev_Edge_L: DS 1 ; RC pulse pre previous edge pca timestamp (lo byte)Rcp_PrePrev_Edge_H: DS 1 ; RC pulse pre previous edge pca timestamp (hi byte)Rcp_Edge_L: DS 1 ; RC pulse edge pca timestamp (lo byte)Rcp_Edge_H: DS 1 ; RC pulse edge pca timestamp (hi byte)Rcp_Prev_Period_L: DS 1 ; RC pulse previous period (lo byte)Rcp_Prev_Period_H: DS 1 ; RC pulse previous period (hi byte)Rcp_Period_Diff_Accepted: DS 1 ; RC pulse period difference acceptableNew_Rcp: DS 1 ; New RC pulse value in pca countsPrev_Rcp_Pwm_Freq: DS 1 ; Previous RC pulse pwm frequency (used during pwm frequency measurement)Curr_Rcp_Pwm_Freq: DS 1 ; Current RC pulse pwm frequency (used during pwm frequency measurement)Rcp_Stop_Cnt: DS 1 ; Counter for RC pulses below stop valueAuto_Bailout_Armed: DS 1 ; Set when auto rotation bailout is armed
Pwm_Limit: DS 1 ; Maximum allowed pwm Pwm_Limit_Spoolup: DS 1 ; Maximum allowed pwm during spoolupPwm_Limit_Low_Rpm: DS 1 ; Maximum allowed pwm for low rpmsPwm_Spoolup_Beg: DS 1 ; Pwm to begin main spoolup withPwm_Motor_Idle: DS 1 ; Motor idle speed pwmPwm_On_Cnt: DS 1 ; Pwm on event counter (used to increase pwm off time for low pwm)
Spoolup_Limit_Cnt: DS 1 ; Interrupt count for spoolup limitSpoolup_Limit_Skip: DS 1 ; Interrupt skips for spoolup limit increment (1=no skips, 2=skip one etc)Main_Spoolup_Time_3x: DS 1 ; Main spoolup time x3Main_Spoolup_Time_10x: DS 1 ; Main spoolup time x10Main_Spoolup_Time_15x: DS 1 ; Main spoolup time x15
Lipo_Adc_Reference_L: DS 1 ; Voltage reference adc value (lo byte)Lipo_Adc_Reference_H: DS 1 ; Voltage reference adc value (hi byte)Lipo_Adc_Limit_L: DS 1 ; Low voltage limit adc value (lo byte)Lipo_Adc_Limit_H: DS 1 ; Low voltage limit adc value (hi byte)Adc_Conversion_Cnt: DS 1 ; Adc conversion counter
Current_Average_Temp: DS 1 ; Current average temperature (lo byte ADC reading, assuming hi byte is 1)
Ppm_Throttle_Gain: DS 1 ; Gain to be applied to RCP value for PPM inputBeep_Strength: DS 1 ; Strength of beeps
Tx_Pgm_Func_No: DS 1 ; Function number when doing programming by txTx_Pgm_Paraval_No: DS 1 ; Parameter value number when doing programming by txTx_Pgm_Beep_No: DS 1 ; Beep number when doing programming by tx
Skip_T2_Int: DS 1 ; Set for 50MHz MCUs when timer 2 interrupt shall be ignored Skip_T2h_Int: DS 1 ; Set for 50MHz MCUs when timer 2 high interrupt shall be ignored Timer0_Overflow_Value: DS 1 ; Remaining timer 0 wait time used with 50MHz MCUsClock_Set_At_50MHz: DS 1 ; Variable set if 50MHz MCUs run at 50MHz
; Indirect addressing data segment. The variables below must be in this sequenceISEG AT 080h Pgm_Gov_P_Gain: DS 1 ; Programmed governor P gainPgm_Gov_I_Gain: DS 1 ; Programmed governor I gainPgm_Gov_Mode: DS 1 ; Programmed governor modePgm_Low_Voltage_Lim: DS 1 ; Programmed low voltage limitPgm_Motor_Gain: DS 1 ; Programmed motor gainPgm_Motor_Idle: DS 1 ; Programmed motor idle speedPgm_Startup_Pwr: DS 1 ; Programmed startup powerPgm_Pwm_Freq: DS 1 ; Programmed pwm frequencyPgm_Direction: DS 1 ; Programmed rotation directionPgm_Input_Pol: DS 1 ; Programmed input pwm polarityInitialized_L_Dummy: DS 1 ; Place holderInitialized_H_Dummy: DS 1 ; Place holderPgm_Enable_TX_Program: DS 1 ; Programmed enable/disable value for TX programmingPgm_Main_Rearm_Start: DS 1 ; Programmed enable/disable re-arming main every start Pgm_Gov_Setup_Target: DS 1 ; Programmed main governor setup target_Pgm_Startup_Rpm: DS 1 ; Programmed startup rpm (unused - place holder)_Pgm_Startup_Accel: DS 1 ; Programmed startup acceleration (unused - place holder)_Pgm_Volt_Comp: DS 1 ; Place holderPgm_Comm_Timing: DS 1 ; Programmed commutation timing_Pgm_Damping_Force: DS 1 ; Programmed damping force (unused - place holder)Pgm_Gov_Range: DS 1 ; Programmed governor range_Pgm_Startup_Method: DS 1 ; Programmed startup method (unused - place holder)Pgm_Ppm_Min_Throttle: DS 1 ; Programmed throttle minimumPgm_Ppm_Max_Throttle: DS 1 ; Programmed throttle maximumPgm_Beep_Strength: DS 1 ; Programmed beep strengthPgm_Beacon_Strength: DS 1 ; Programmed beacon strengthPgm_Beacon_Delay: DS 1 ; Programmed beacon delay_Pgm_Throttle_Rate: DS 1 ; Programmed throttle rate (unused - place holder)Pgm_Demag_Comp: DS 1 ; Programmed demag compensationPgm_BEC_Voltage_High: DS 1 ; Programmed BEC voltagePgm_Ppm_Center_Throttle: DS 1 ; Programmed throttle center (in bidirectional mode)Pgm_Main_Spoolup_Time: DS 1 ; Programmed main spoolup timePgm_Enable_Temp_Prot: DS 1 ; Programmed temperature protection enable
; The sequence of the variables below is no longer of importancePgm_Gov_P_Gain_Decoded: DS 1 ; Programmed governor decoded P gainPgm_Gov_I_Gain_Decoded: DS 1 ; Programmed governor decoded I gainPgm_Startup_Pwr_Decoded: DS 1 ; Programmed startup power decoded
; Indirect addressing data segmentISEG AT 0D0h Tag_Temporary_Storage: DS 48 ; Temporary storage for tags when updating "Eeprom"
;**** **** **** **** ****CSEG AT 1A00h ; "Eeprom" segmentEEPROM_FW_MAIN_REVISION EQU 13 ; Main revision of the firmwareEEPROM_FW_SUB_REVISION EQU 2 ; Sub revision of the firmwareEEPROM_LAYOUT_REVISION EQU 19 ; Revision of the EEPROM layout
Eep_FW_Main_Revision: DB EEPROM_FW_MAIN_REVISION ; EEPROM firmware main revision numberEep_FW_Sub_Revision: DB EEPROM_FW_SUB_REVISION ; EEPROM firmware sub revision numberEep_Layout_Revision: DB EEPROM_LAYOUT_REVISION ; EEPROM layout revision number
IF MODE == 0Eep_Pgm_Gov_P_Gain: DB DEFAULT_PGM_MAIN_P_GAIN ; EEPROM copy of programmed governor P gainEep_Pgm_Gov_I_Gain: DB DEFAULT_PGM_MAIN_I_GAIN ; EEPROM copy of programmed governor I gainEep_Pgm_Gov_Mode: DB DEFAULT_PGM_MAIN_GOVERNOR_MODE ; EEPROM copy of programmed governor modeEep_Pgm_Low_Voltage_Lim: DB DEFAULT_PGM_MAIN_LOW_VOLTAGE_LIM ; EEPROM copy of programmed low voltage limit_Eep_Pgm_Motor_Gain: DB 0FFh _Eep_Pgm_Motor_Idle: DB 0FFh Eep_Pgm_Startup_Pwr: DB DEFAULT_PGM_MAIN_STARTUP_PWR ; EEPROM copy of programmed startup powerEep_Pgm_Pwm_Freq: DB DEFAULT_PGM_MAIN_PWM_FREQ ; EEPROM copy of programmed pwm frequencyEep_Pgm_Direction: DB DEFAULT_PGM_MAIN_DIRECTION ; EEPROM copy of programmed rotation directionEep_Pgm_Input_Pol: DB DEFAULT_PGM_MAIN_RCP_PWM_POL ; EEPROM copy of programmed input polarityEep_Initialized_L: DB 0A5h ; EEPROM initialized signature low byteEep_Initialized_H: DB 05Ah ; EEPROM initialized signature high byteEep_Enable_TX_Program: DB DEFAULT_PGM_ENABLE_TX_PROGRAM ; EEPROM TX programming enableEep_Main_Rearm_Start: DB DEFAULT_PGM_MAIN_REARM_START ; EEPROM re-arming main enableEep_Pgm_Gov_Setup_Target: DB DEFAULT_PGM_MAIN_GOV_SETUP_TARGET ; EEPROM main governor setup target_Eep_Pgm_Startup_Rpm: DB 0FFh _Eep_Pgm_Startup_Accel: DB 0FFh _Eep_Pgm_Volt_Comp: DB 0FFh Eep_Pgm_Comm_Timing: DB DEFAULT_PGM_MAIN_COMM_TIMING ; EEPROM copy of programmed commutation timing_Eep_Pgm_Damping_Force: DB 0FFh Eep_Pgm_Gov_Range: DB DEFAULT_PGM_MAIN_GOVERNOR_RANGE ; EEPROM copy of programmed governor range_Eep_Pgm_Startup_Method: DB 0FFh Eep_Pgm_Ppm_Min_Throttle: DB DEFAULT_PGM_PPM_MIN_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1148)Eep_Pgm_Ppm_Max_Throttle: DB DEFAULT_PGM_PPM_MAX_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1832)Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_MAIN_BEEP_STRENGTH ; EEPROM copy of programmed beep strengthEep_Pgm_Beacon_Strength: DB DEFAULT_PGM_MAIN_BEACON_STRENGTH ; EEPROM copy of programmed beacon strengthEep_Pgm_Beacon_Delay: DB DEFAULT_PGM_MAIN_BEACON_DELAY ; EEPROM copy of programmed beacon delay_Eep_Pgm_Throttle_Rate: DB 0FFh Eep_Pgm_Demag_Comp: DB DEFAULT_PGM_MAIN_DEMAG_COMP ; EEPROM copy of programmed demag compensationEep_Pgm_BEC_Voltage_High: DB DEFAULT_PGM_BEC_VOLTAGE_HIGH ; EEPROM copy of programmed BEC voltage_Eep_Pgm_Ppm_Center_Throttle: DB 0FFh ; EEPROM copy of programmed center throttle (final value is 4x+1000=1488)Eep_Pgm_Main_Spoolup_Time: DB DEFAULT_PGM_MAIN_SPOOLUP_TIME ; EEPROM copy of programmed main spoolup timeEep_Pgm_Temp_Prot_Enable: DB DEFAULT_PGM_ENABLE_TEMP_PROT ; EEPROM copy of programmed temperature protection enableENDIF
IF MODE == 1_Eep_Pgm_Gov_P_Gain: DB 0FFh _Eep_Pgm_Gov_I_Gain: DB 0FFh _Eep_Pgm_Gov_Mode: DB 0FFh _Eep_Pgm_Low_Voltage_Lim: DB 0FFh Eep_Pgm_Motor_Gain: DB DEFAULT_PGM_TAIL_GAIN ; EEPROM copy of programmed tail gainEep_Pgm_Motor_Idle: DB DEFAULT_PGM_TAIL_IDLE_SPEED ; EEPROM copy of programmed tail idle speedEep_Pgm_Startup_Pwr: DB DEFAULT_PGM_TAIL_STARTUP_PWR ; EEPROM copy of programmed startup powerEep_Pgm_Pwm_Freq: DB DEFAULT_PGM_TAIL_PWM_FREQ ; EEPROM copy of programmed pwm frequencyEep_Pgm_Direction: DB DEFAULT_PGM_TAIL_DIRECTION ; EEPROM copy of programmed rotation directionEep_Pgm_Input_Pol: DB DEFAULT_PGM_TAIL_RCP_PWM_POL ; EEPROM copy of programmed input polarityEep_Initialized_L: DB 05Ah ; EEPROM initialized signature low byteEep_Initialized_H: DB 0A5h ; EEPROM initialized signature high byteEep_Enable_TX_Program: DB DEFAULT_PGM_ENABLE_TX_PROGRAM ; EEPROM TX programming enable_Eep_Main_Rearm_Start: DB 0FFh _Eep_Pgm_Gov_Setup_Target: DB 0FFh _Eep_Pgm_Startup_Rpm: DB 0FFh_Eep_Pgm_Startup_Accel: DB 0FFh_Eep_Pgm_Volt_Comp: DB 0FFh Eep_Pgm_Comm_Timing: DB DEFAULT_PGM_TAIL_COMM_TIMING ; EEPROM copy of programmed commutation timing_Eep_Pgm_Damping_Force: DB 0FFh_Eep_Pgm_Gov_Range: DB 0FFh _Eep_Pgm_Startup_Method: DB 0FFhEep_Pgm_Ppm_Min_Throttle: DB DEFAULT_PGM_PPM_MIN_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1148)Eep_Pgm_Ppm_Max_Throttle: DB DEFAULT_PGM_PPM_MAX_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1832)Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_TAIL_BEEP_STRENGTH ; EEPROM copy of programmed beep strengthEep_Pgm_Beacon_Strength: DB DEFAULT_PGM_TAIL_BEACON_STRENGTH ; EEPROM copy of programmed beacon strengthEep_Pgm_Beacon_Delay: DB DEFAULT_PGM_TAIL_BEACON_DELAY ; EEPROM copy of programmed beacon delay_Eep_Pgm_Throttle_Rate: DB 0FFhEep_Pgm_Demag_Comp: DB DEFAULT_PGM_TAIL_DEMAG_COMP ; EEPROM copy of programmed demag compensationEep_Pgm_BEC_Voltage_High: DB DEFAULT_PGM_BEC_VOLTAGE_HIGH ; EEPROM copy of programmed BEC voltageEep_Pgm_Ppm_Center_Throttle: DB DEFAULT_PGM_PPM_CENTER_THROTTLE ; EEPROM copy of programmed center throttle (final value is 4x+1000=1488)_Eep_Pgm_Main_Spoolup_Time: DB 0FFhEep_Pgm_Temp_Prot_Enable: DB DEFAULT_PGM_ENABLE_TEMP_PROT ; EEPROM copy of programmed temperature protection enableENDIF
IF MODE == 2Eep_Pgm_Gov_P_Gain: DB DEFAULT_PGM_MULTI_P_GAIN ; EEPROM copy of programmed closed loop P gainEep_Pgm_Gov_I_Gain: DB DEFAULT_PGM_MULTI_I_GAIN ; EEPROM copy of programmed closed loop I gainEep_Pgm_Gov_Mode: DB DEFAULT_PGM_MULTI_GOVERNOR_MODE ; EEPROM copy of programmed closed loop modeEep_Pgm_Low_Voltage_Lim: DB DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM ; EEPROM copy of programmed low voltage limitEep_Pgm_Motor_Gain: DB DEFAULT_PGM_MULTI_GAIN ; EEPROM copy of programmed tail gain_Eep_Pgm_Motor_Idle: DB 0FFh ; EEPROM copy of programmed tail idle speedEep_Pgm_Startup_Pwr: DB DEFAULT_PGM_MULTI_STARTUP_PWR ; EEPROM copy of programmed startup powerEep_Pgm_Pwm_Freq: DB DEFAULT_PGM_MULTI_PWM_FREQ ; EEPROM copy of programmed pwm frequencyEep_Pgm_Direction: DB DEFAULT_PGM_MULTI_DIRECTION ; EEPROM copy of programmed rotation directionEep_Pgm_Input_Pol: DB DEFAULT_PGM_MULTI_RCP_PWM_POL ; EEPROM copy of programmed input polarityEep_Initialized_L: DB 055h ; EEPROM initialized signature low byteEep_Initialized_H: DB 0AAh ; EEPROM initialized signature high byteEep_Enable_TX_Program: DB DEFAULT_PGM_ENABLE_TX_PROGRAM ; EEPROM TX programming enable_Eep_Main_Rearm_Start: DB 0FFh _Eep_Pgm_Gov_Setup_Target: DB 0FFh _Eep_Pgm_Startup_Rpm: DB 0FFh_Eep_Pgm_Startup_Accel: DB 0FFh_Eep_Pgm_Volt_Comp: DB 0FFh Eep_Pgm_Comm_Timing: DB DEFAULT_PGM_MULTI_COMM_TIMING ; EEPROM copy of programmed commutation timing_Eep_Pgm_Damping_Force: DB 0FFh_Eep_Pgm_Gov_Range: DB 0FFh _Eep_Pgm_Startup_Method: DB 0FFhEep_Pgm_Ppm_Min_Throttle: DB DEFAULT_PGM_PPM_MIN_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1148)Eep_Pgm_Ppm_Max_Throttle: DB DEFAULT_PGM_PPM_MAX_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1832)Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_MULTI_BEEP_STRENGTH ; EEPROM copy of programmed beep strengthEep_Pgm_Beacon_Strength: DB DEFAULT_PGM_MULTI_BEACON_STRENGTH ; EEPROM copy of programmed beacon strengthEep_Pgm_Beacon_Delay: DB DEFAULT_PGM_MULTI_BEACON_DELAY ; EEPROM copy of programmed beacon delay_Eep_Pgm_Throttle_Rate: DB 0FFhEep_Pgm_Demag_Comp: DB DEFAULT_PGM_MULTI_DEMAG_COMP ; EEPROM copy of programmed demag compensationEep_Pgm_BEC_Voltage_High: DB DEFAULT_PGM_BEC_VOLTAGE_HIGH ; EEPROM copy of programmed BEC voltageEep_Pgm_Ppm_Center_Throttle: DB DEFAULT_PGM_PPM_CENTER_THROTTLE ; EEPROM copy of programmed center throttle (final value is 4x+1000=1488)_Eep_Pgm_Main_Spoolup_Time: DB 0FFhEep_Pgm_Temp_Prot_Enable: DB DEFAULT_PGM_ENABLE_TEMP_PROT ; EEPROM copy of programmed temperature protection enableENDIF
Eep_Dummy: DB 0FFh ; EEPROM address for safety reason
CSEG AT 1A60hEep_Name: DB " " ; Name tag (16 Bytes)
;**** **** **** **** **** Interrupt_Table_Definition ; SiLabs interruptsCSEG AT 80h ; Code segment after interrupt vectors
;**** **** **** **** ****
; Table definitionsGOV_GAIN_TABLE: DB 02h, 03h, 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 60h, 80hSTARTUP_POWER_TABLE: DB 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 60h, 80h, 0A0h, 0C0hIF MODE == 0 IF DAMPED_MODE_ENABLE == 1 TX_PGM_PARAMS_MAIN: DB 13, 13, 4, 3, 6, 13, 5, 3, 3, 2, 2 ENDIF IF DAMPED_MODE_ENABLE == 0 TX_PGM_PARAMS_MAIN: DB 13, 13, 4, 3, 6, 13, 5, 2, 3, 2, 2 ENDIFENDIFIF MODE == 1 IF DAMPED_MODE_ENABLE == 1 TX_PGM_PARAMS_TAIL: DB 5, 5, 13, 5, 3, 3, 3, 2 ENDIF IF DAMPED_MODE_ENABLE == 0 TX_PGM_PARAMS_TAIL: DB 5, 5, 13, 5, 2, 3, 3, 2 ENDIFENDIFIF MODE == 2 IF DAMPED_MODE_ENABLE == 1 TX_PGM_PARAMS_MULTI: DB 13, 13, 4, 5, 6, 13, 5, 3, 3, 3, 2 ENDIF IF DAMPED_MODE_ENABLE == 0 TX_PGM_PARAMS_MULTI: DB 13, 13, 4, 5, 6, 13, 5, 2, 3, 3, 2 ENDIFENDIF
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Timer0 interrupt routine;; Assumptions: DPTR register must be set to desired pwm_nfet_on label; Requirements: Temp variables can NOT be used since PSW.3 is not set;;**** **** **** **** **** **** **** **** **** **** **** **** ****t0_int: ; Used for pwm controlIF MCU_50MHZ == 1 ; Check overflow flag jnb Flags0.PWM_TIMER0_OVERFLOW, t0_int_start; Execute this interrupt
clr Flags0.PWM_TIMER0_OVERFLOW mov TL0, Timer0_Overflow_Value ; Set timer reti
t0_int_start:ENDIF clr EA ; Disable all interrupts push PSW ; Preserve registers through interrupt push ACC ; Check if pwm is on jb Flags0.PWM_ON, t0_int_pwm_off ; Is pwm on?
; Do not execute pwm when stopped jb Flags1.MOTOR_SPINNING, ($+5) ajmp t0_int_pwm_on_exit ; Do not execute pwm on during demag recovery jnb Flags0.DEMAG_CUT_POWER, ($+5) ajmp t0_int_pwm_on_exit_pfets_off ; Pwm on cycle. IF MODE == 1 ; Tail jnb Current_Pwm_Limited.7, t0_int_pwm_on_low_pwm ; Jump for low pwm (<50%)ENDIF
t0_int_pwm_on_execute: clr A jmp @A+DPTR ; Jump to pwm on routines. DPTR should be set to one of the pwm_nfet_on labels
IF MODE == 1 ; Tailt0_int_pwm_on_low_pwm: ; Skip pwm on cycles for very low pwm inc Pwm_On_Cnt ; Increment event counter clr C mov A, #5 ; Only skip for very low pwm subb A, Current_Pwm_Limited ; Check skipping shall be done (for low pwm only) jc t0_int_pwm_on_execute
subb A, Pwm_On_Cnt ; Check if on cycle is to be skipped jc t0_int_pwm_on_execute
jb Flags1.STARTUP_PHASE, t0_int_pwm_on_execute
IF MCU_50MHZ == 0 mov TL0, #120 ; Write start point for timer mov A, Current_Pwm_Limited jnz t0_int_pwm_on_low_pwm_done
mov TL0, #0 ; Write start point for timer (long time for zero pwm)
ELSE mov TL0, #0 mov TH1, #0 mov A, Current_Pwm_Limited jnz t0_int_pwm_on_low_pwm_done
mov TL0, #0 mov TH1, #0 setb Flags0.PWM_TIMER0_OVERFLOW mov Timer0_Overflow_Value, #0
ENDIFt0_int_pwm_on_low_pwm_done: jmp t0_int_pwm_on_exit_no_timer_updateENDIF
t0_int_pwm_off: ; Pwm off cycleIF MCU_50MHZ == 0 mov TL0, Current_Pwm_Limited ; Load new timer settingELSE clr C mov A, Current_Pwm_Limited rlc A jc t0_int_pwm_off_set_timer
mov TL0, #0 setb Flags0.PWM_TIMER0_OVERFLOW mov Timer0_Overflow_Value, A ajmp t0_int_pwm_off_timer_set
t0_int_pwm_off_set_timer: mov TL0, At0_int_pwm_off_timer_set:ENDIF ; Clear pwm on flag clr Flags0.PWM_ON ; Set full PWM (on all the time) if current PWM near max. This will give full power, but at the cost of a small "jump" in power mov A, Current_Pwm_Limited ; Load current pwm cpl A ; Full pwm? jnz ($+4) ; No - branch ajmp t0_int_pwm_off_fullpower_exit ; Yes - exit
; Do not execute pwm when stopped jb Flags1.MOTOR_SPINNING, ($+5) ajmp t0_int_pwm_off_exit_nfets_off
IF DAMPED_MODE_ENABLE == 1 ; If damped operation, set pFETs on in pwm_off jb Flags2.PGM_PWMOFF_DAMPED, t0_int_pwm_off_damped ; Damped operation?ENDIF
; Separate exit commands here for minimum delay mov TL1, #0 ; Reset timer1 IF MCU_50MHZ == 1 mov TH1, #0 ENDIF pop ACC ; Restore preserved registers pop PSW All_nFETs_Off ; Switch off all nfets setb EA ; Enable all interrupts reti
t0_int_pwm_off_damped: All_nFETs_Off ; Switch off all nfets mov A, #PFETON_DELAY djnz ACC, $ mov A, Comm_Phase ; Turn on pfets according to commutation phase dec A jb ACC.2, t0_int_pwm_off_comm_5_6 jb ACC.1, t0_int_pwm_off_comm_3_4
CpFET_On ; Comm phase 1 or 2 - turn on C jmp t0_int_pwm_off_exit
t0_int_pwm_off_comm_3_4: BpFET_On ; Comm phase 3 or 4 - turn on B jmp t0_int_pwm_off_exit
t0_int_pwm_off_comm_5_6: ApFET_On ; Comm phase 5 or 6 - turn on A jmp t0_int_pwm_off_exit
t0_int_pwm_off_exit_nfets_off: ; Exit from pwm off cycle mov TL1, #0 ; Reset timer1 IF MCU_50MHZ == 1 mov TH1, #0 ENDIF pop ACC ; Restore preserved registers pop PSW All_nFETs_Off ; Switch off all nfets setb EA ; Enable all interrupts reti
t0_int_pwm_off_exit: mov TL1, #0 ; Reset timer1 IF MCU_50MHZ == 1 mov TH1, #0 ENDIFt0_int_pwm_off_fullpower_exit: pop ACC ; Restore preserved registers pop PSW setb EA ; Enable all interrupts reti
pwm_nofet_on: ; Dummy pwm on cycle ajmp t0_int_pwm_on_exit
pwm_afet_on: ; Pwm on cycle afet on (bfet off) AnFET_on BnFET_off ajmp t0_int_pwm_on_exit
pwm_bfet_on: ; Pwm on cycle bfet on (cfet off) BnFET_on CnFET_off ajmp t0_int_pwm_on_exit
pwm_cfet_on: ; Pwm on cycle cfet on (afet off) CnFET_on AnFET_off ajmp t0_int_pwm_on_exit
pwm_anfet_bpfet_on: ; Pwm on cycle anfet on (bnfet off) and bpfet on (used in damped state 6) ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow) ApFET_off CpFET_off mov A, #NFETON_DELAY ; Set full delay djnz ACC, $ AnFET_on ; Switch nFETs BnFET_off ajmp t0_int_pwm_on_exit
pwm_anfet_cpfet_on: ; Pwm on cycle anfet on (bnfet off) and cpfet on (used in damped state 5) ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow) ApFET_off BpFET_off mov A, #NFETON_DELAY ; Set full delay djnz ACC, $ AnFET_on ; Switch nFETs BnFET_off ajmp t0_int_pwm_on_exit
pwm_bnfet_cpfet_on: ; Pwm on cycle bnfet on (cnfet off) and cpfet on (used in damped state 4) ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow) BpFET_off ApFET_off mov A, #NFETON_DELAY ; Set full delay djnz ACC, $ BnFET_on ; Switch nFETs CnFET_off ajmp t0_int_pwm_on_exit
pwm_bnfet_apfet_on: ; Pwm on cycle bnfet on (cnfet off) and apfet on (used in damped state 3) ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow) BpFET_off CpFET_off mov A, #NFETON_DELAY ; Set full delay djnz ACC, $ BnFET_on ; Switch nFETs CnFET_off ajmp t0_int_pwm_on_exit
pwm_cnfet_apfet_on: ; Pwm on cycle cnfet on (anfet off) and apfet on (used in damped state 2) ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow) CpFET_off BpFET_off mov A, #NFETON_DELAY ; Set full delay djnz ACC, $ CnFET_on ; Switch nFETs AnFET_off ajmp t0_int_pwm_on_exit
pwm_cnfet_bpfet_on: ; Pwm on cycle cnfet on (anfet off) and bpfet on (used in damped state 1) ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow) CpFET_off ApFET_off mov A, #NFETON_DELAY ; Set full delay djnz ACC, $ CnFET_on ; Switch nFETs AnFET_off ajmp t0_int_pwm_on_exit
t0_int_pwm_on_exit_pfets_off: jnb Flags2.PGM_PWMOFF_DAMPED, t0_int_pwm_on_exit ; If not damped operation - branch mov A, Comm_Phase ; Turn off pfets according to commutation phase jb ACC.2, t0_int_pfets_off_comm_4_5_6 jb ACC.1, t0_int_pfets_off_comm_2_3
t0_int_pfets_off_comm_1_6: ApFET_Off ; Comm phase 1 and 6 - turn off A and C CpFET_Off jmp t0_int_pwm_on_exit
t0_int_pfets_off_comm_4_5_6: jb ACC.1, t0_int_pfets_off_comm_1_6 ApFET_Off ; Comm phase 4 and 5 - turn off A and B BpFET_Off jmp t0_int_pwm_on_exit
t0_int_pfets_off_comm_2_3: BpFET_Off ; Comm phase 2 and 3 - turn off B and C CpFET_Off
t0_int_pwm_on_exit: ; Set timer for coming on cycle length mov A, Current_Pwm_Limited ; Load current pwm cpl A ; cpl is 255-xIF MCU_50MHZ == 0 mov TL0, A ; Write start point for timerELSE clr C rlc A jc t0_int_pwm_on_set_timer
mov TL0, #0 setb Flags0.PWM_TIMER0_OVERFLOW mov Timer0_Overflow_Value, A ajmp t0_int_pwm_on_timer_set
t0_int_pwm_on_set_timer: mov TL0, At0_int_pwm_on_timer_set:ENDIF ; Set other variables mov TL1, #0 ; Reset timer1 IF MCU_50MHZ == 1 mov TH1, #0 ENDIFIF MODE == 1 ; Tail mov Pwm_On_Cnt, #0 ; Reset pwm on event counterENDIF setb Flags0.PWM_ON ; Set pwm on flagt0_int_pwm_on_exit_no_timer_update: ; Exit interrupt pop ACC ; Restore preserved registers pop PSW setb EA ; Enable all interrupts reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Timer2 interrupt routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****t2_int: ; Happens every 128us for low byte and every 32ms for high byte clr EA clr ET2 ; Disable timer2 interrupts anl EIE1, #0EFh ; Disable PCA0 interrupts push PSW ; Preserve registers through interrupt push ACC setb PSW.3 ; Select register bank 1 for interrupt routines setb EAIF MCU_50MHZ == 1 mov A, Clock_Set_At_50MHz jz t2_int_start
; Check skip variable mov A, Skip_T2_Int jz t2_int_start ; Execute this interrupt
mov Skip_T2_Int, #0 ajmp t2_int_exit
t2_int_start: mov Skip_T2_Int, #1 ; Skip next interruptENDIF ; Clear low byte interrupt flag clr TF2L ; Clear interrupt flag ; Check RC pulse timeout counter mov A, Rcp_Timeout_Cnt ; RC pulse timeout count zero? jz t2_int_pulses_absent ; Yes - pulses are absent
; Decrement timeout counter (if PWM) jb Flags2.RCP_PPM, t2_int_skip_start ; If flag is set (PPM) - branch
dec Rcp_Timeout_Cnt ; No - decrement ajmp t2_int_skip_start
t2_int_pulses_absent: ; Timeout counter has reached zero, pulses are absent mov Temp1, #RCP_MIN ; RCP_MIN as default mov Temp2, #RCP_MIN Read_Rcp_Int ; Look at value of Rcp_In jnb ACC.Rcp_In, ($+5) ; Is it high? mov Temp1, #RCP_MAX ; Yes - set RCP_MAX Rcp_Int_First ; Set interrupt trig to first again Rcp_Clear_Int_Flag ; Clear interrupt flag clr Flags2.RCP_EDGE_NO ; Set first edge flag Read_Rcp_Int ; Look once more at value of Rcp_In jnb ACC.Rcp_In, ($+5) ; Is it high? mov Temp2, #RCP_MAX ; Yes - set RCP_MAX clr C mov A, Temp1 subb A, Temp2 ; Compare the two readings of Rcp_In jnz t2_int_pulses_absent ; Go back if they are not equal
jnb Flags0.RCP_MEAS_PWM_FREQ, ($+6) ; Is measure RCP pwm frequency flag set?
mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; Yes - set timeout count to start value
jb Flags2.RCP_PPM, t2_int_ppm_timeout_set ; If flag is set (PPM) - branch
mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; For PWM, set timeout count to start value
t2_int_ppm_timeout_set: mov New_Rcp, Temp1 ; Store new pulse length setb Flags2.RCP_UPDATED ; Set updated flag
t2_int_skip_start: ; Check RC pulse skip counter mov A, Rcp_Skip_Cnt jz t2_int_skip_end ; If RC pulse skip count is zero - end skipping RC pulse detection ; Decrement skip counter (only if edge counter is zero) dec Rcp_Skip_Cnt ; Decrement ajmp t2_int_rcp_update_start
t2_int_skip_end: jb Flags2.RCP_PPM, t2_int_rcp_update_start ; If flag is set (PPM) - branch
; Skip counter has reached zero, start looking for RC pulses again Rcp_Int_Enable ; Enable RC pulse interrupt Rcp_Clear_Int_Flag ; Clear interrupt flag t2_int_rcp_update_start: ; Process updated RC pulse jb Flags2.RCP_UPDATED, ($+5) ; Is there an updated RC pulse available? ajmp t2_int_current_pwm_done ; No - update pwm limits and exit
mov Temp1, New_Rcp ; Load new pulse value jb Flags0.RCP_MEAS_PWM_FREQ, ($+5) ; If measure RCP pwm frequency flag set - do not clear flag
clr Flags2.RCP_UPDATED ; Flag that pulse has been evaluated
; Use a gain of 1.0625x for pwm input if not governor mode jb Flags2.RCP_PPM, t2_int_pwm_min_run ; If flag is set (PPM) - branch
IF MODE == 0 ; Main - do not adjust gain ajmp t2_int_pwm_min_runELSE
IF MODE == 2 ; Multi mov Temp2, #Pgm_Gov_Mode ; Closed loop mode? cjne @Temp2, #4, t2_int_pwm_min_run; Yes - branchENDIF
; Limit the maximum value to avoid wrap when scaled to pwm range clr C mov A, Temp1 subb A, #240 ; 240 = (255/1.0625) Needs to be updated according to multiplication factor below jc t2_int_rcp_update_mult
mov A, #240 ; Set requested pwm to max mov Temp1, A
t2_int_rcp_update_mult: ; Multiply by 1.0625 (optional adjustment gyro gain) mov A, Temp1 swap A ; After this "0.0625" anl A, #0Fh add A, Temp1 mov Temp1, A ; Adjust tail gain mov Temp2, #Pgm_Motor_Gain cjne @Temp2, #3, ($+5) ; Is gain 1? ajmp t2_int_pwm_min_run ; Yes - skip adjustment
clr C rrc A ; After this "0.5" clr C rrc A ; After this "0.25" mov Bit_Access_Int, @Temp2 ; (Temp2 has #Pgm_Motor_Gain) jb Bit_Access_Int.0, t2_int_rcp_gain_corr ; Branch if bit 0 in gain is set
clr C rrc A ; After this "0.125"
t2_int_rcp_gain_corr: jb Bit_Access_Int.2, t2_int_rcp_gain_pos ; Branch if bit 2 in gain is set
clr C xch A, Temp1 subb A, Temp1 ; Apply negative correction mov Temp1, A ajmp t2_int_pwm_min_run
t2_int_rcp_gain_pos: add A, Temp1 ; Apply positive correction mov Temp1, A jnc t2_int_pwm_min_run ; Above max?
mov A, #0FFh ; Yes - limit mov Temp1, AENDIF
t2_int_pwm_min_run: IF MODE == 1 ; Tail - limit minimum pwm ; Limit minimum pwm clr C mov A, Temp1 subb A, Pwm_Motor_Idle ; Is requested pwm lower than minimum? jnc t2_int_pwm_update ; No - branch
mov A, Pwm_Motor_Idle ; Yes - limit pwm to Pwm_Motor_Idle mov Temp1, AENDIF
t2_int_pwm_update: ; Update requested_pwm mov Requested_Pwm, Temp1 ; Set requested pwm ; Limit pwm during direct start jnb Flags1.STARTUP_PHASE, t2_int_current_pwm_update
IF MODE == 2 ; Multi mov A, Requested_Pwm add A, #8 ; Add an extra power boost during start mov Requested_Pwm, A
jnc ($+5) mov Requested_Pwm, #0FFhENDIF clr C mov A, Requested_Pwm ; Limit pwm during direct start subb A, Pwm_Limit jc t2_int_current_pwm_update
mov Requested_Pwm, Pwm_Limit
t2_int_current_pwm_update: IF MODE == 0 OR MODE == 2 ; Main or multi mov Temp1, #Pgm_Gov_Mode ; Governor mode? cjne @Temp1, #4, t2_int_pwm_exit ; Yes - branchENDIF
mov Current_Pwm, Requested_Pwm ; Set equal as defaultt2_int_current_pwm_done:IF MODE >= 1 ; Tail or multi ; Set current_pwm_limited mov Temp1, Current_Pwm ; Default not limited clr C mov A, Current_Pwm ; Check against limit subb A, Pwm_Limit jc ($+4) ; If current pwm below limit - branch
mov Temp1, Pwm_Limit ; Limit pwm
IF MODE == 2 ; Multi ; Limit pwm for low rpms clr C mov A, Temp1 ; Check against limit subb A, Pwm_Limit_Low_Rpm jc ($+4) ; If current pwm below limit - branch
mov Temp1, Pwm_Limit_Low_Rpm ; Limit pwm
ENDIF mov Current_Pwm_Limited, Temp1ENDIFt2_int_pwm_exit: ; Set demag enabled if pwm is above limit clr C mov A, Current_Pwm_Limited subb A, #40h ; Set if above 25% jc ($+4)
setb Flags0.DEMAG_ENABLED
t2_int_exit: ; Check if high byte flag is set jb TF2H, t2h_int pop ACC ; Restore preserved registers pop PSW clr PSW.3 ; Select register bank 0 for main program routines orl EIE1, #10h ; Enable PCA0 interrupts setb ET2 ; Enable timer2 interrupts reti
t2h_int:IF MCU_50MHZ == 1 mov A, Clock_Set_At_50MHz jz t2h_int_start
; Check skip variable mov A, Skip_T2h_Int jz t2h_int_start ; Execute this interrupt
mov Skip_T2h_Int, #0 ajmp t2h_int_exit
t2h_int_start: mov Skip_T2h_Int, #1 ; Skip next interruptENDIF ; High byte interrupt (happens every 32ms) clr TF2H ; Clear interrupt flag mov Temp1, #GOV_SPOOLRATE ; Load governor spool rate ; Check RC pulse timeout counter (used here for PPM only) mov A, Rcp_Timeout_Cnt ; RC pulse timeout count zero? jz t2h_int_rcp_stop_check ; Yes - do not decrement
; Decrement timeout counter (if PPM) jnb Flags2.RCP_PPM, t2h_int_rcp_stop_check ; If flag is not set (PWM) - branch
dec Rcp_Timeout_Cnt ; No flag set (PPM) - decrement
t2h_int_rcp_stop_check: ; Check RC pulse against stop value clr C mov A, New_Rcp ; Load new pulse value subb A, #RCP_STOP ; Check if pulse is below stop value jc t2h_int_rcp_stop
; RC pulse higher than stop value, reset stop counter mov Rcp_Stop_Cnt, #0 ; Reset rcp stop counter ajmp t2h_int_rcp_gov_pwm
t2h_int_rcp_stop: ; RC pulse less than stop value mov Auto_Bailout_Armed, #0 ; Disarm bailout mov Spoolup_Limit_Cnt, #0 mov A, Rcp_Stop_Cnt ; Increment stop counter add A, #1 mov Rcp_Stop_Cnt, A jnc t2h_int_rcp_gov_pwm ; Branch if counter has not wrapped
mov Rcp_Stop_Cnt, #0FFh ; Set stop counter to max
t2h_int_rcp_gov_pwm:IF MODE == 0 ; Main ; Update governor variables mov Temp2, #Pgm_Gov_Mode ; Governor target by arm mode? cjne @Temp2, #2, t2h_int_rcp_gov_by_setup ; No - branch
mov A, Gov_Active ; Is governor active? jz t2h_int_rcp_gov_by_tx ; No - branch (this ensures soft spoolup by tx)
clr C mov A, Requested_Pwm subb A, #50 ; Is requested pwm below 20%? jc t2h_int_rcp_gov_by_tx ; Yes - branch (this enables a soft spooldown)
mov Requested_Pwm, Gov_Arm_Target ; Yes - load arm target
t2h_int_rcp_gov_by_setup: mov Temp2, #Pgm_Gov_Mode ; Governor target by setup mode? cjne @Temp2, #3, t2h_int_rcp_gov_by_tx ; No - branch
mov A, Gov_Active ; Is governor active? jz t2h_int_rcp_gov_by_tx ; No - branch (this ensures soft spoolup by tx)
clr C mov A, Requested_Pwm subb A, #50 ; Is requested pwm below 20%? jc t2h_int_rcp_gov_by_tx ; Yes - branch (this enables a soft spooldown)
mov Temp2, #Pgm_Gov_Setup_Target ; Gov by setup - load setup target mov Requested_Pwm, @Temp2
t2h_int_rcp_gov_by_tx: clr C mov A, Governor_Req_Pwm subb A, Requested_Pwm ; Is governor requested pwm equal to requested pwm? jz t2h_int_rcp_gov_pwm_done ; Yes - branch
jc t2h_int_rcp_gov_pwm_inc ; No - if lower, then increment
dec Governor_Req_Pwm ; No - if higher, then decrement ajmp t2h_int_rcp_gov_pwm_done
t2h_int_rcp_gov_pwm_inc: inc Governor_Req_Pwm ; Increment
t2h_int_rcp_gov_pwm_done: djnz Temp1, t2h_int_rcp_gov_pwm ; If not number of steps processed - go back
inc Spoolup_Limit_Cnt ; Increment spoolup count mov A, Spoolup_Limit_Cnt jnz ($+4) ; Wrapped?
dec Spoolup_Limit_Cnt ; Yes - decrement
djnz Spoolup_Limit_Skip, t2h_int_exit ; Jump if skip count is not reached
mov Spoolup_Limit_Skip, #1 ; Reset skip count. Default is fast spoolup mov Temp1, #5 ; Default fast increase
clr C mov A, Spoolup_Limit_Cnt subb A, Main_Spoolup_Time_3x ; No spoolup until 3*N*32ms
jc t2h_int_exit
clr C mov A, Spoolup_Limit_Cnt subb A, Main_Spoolup_Time_10x ; Slow spoolup until "100"*N*32ms jnc t2h_int_rcp_limit_middle_ramp
mov Temp1, #1 ; Slow initial spoolup mov Spoolup_Limit_Skip, #3 jmp t2h_int_rcp_set_limit
t2h_int_rcp_limit_middle_ramp: clr C mov A, Spoolup_Limit_Cnt subb A, Main_Spoolup_Time_15x ; Faster spoolup until "150"*N*32ms jnc t2h_int_rcp_set_limit
mov Temp1, #1 ; Faster middle spoolup mov Spoolup_Limit_Skip, #1
t2h_int_rcp_set_limit: ; Do not increment spoolup limit if higher pwm is not requested, unless governor is active clr C mov A, Pwm_Limit_Spoolup subb A, Current_Pwm jc t2h_int_rcp_inc_limit ; If Current_Pwm is larger than Pwm_Limit_Spoolup - branch
mov Temp2, #Pgm_Gov_Mode ; Governor mode? cjne @Temp2, #4, ($+5) ajmp t2h_int_rcp_bailout_arm ; No - branch
mov A, Gov_Active ; Is governor active? jnz t2h_int_rcp_inc_limit ; Yes - branch
mov Pwm_Limit_Spoolup, Current_Pwm ; Set limit to what current pwm is mov A, Spoolup_Limit_Cnt ; Check if spoolup limit count is 255. If it is, then this is a "bailout" ramp inc A jz ($+5)
mov Spoolup_Limit_Cnt, Main_Spoolup_Time_3x ; Stay in an early part of the spoolup sequence (unless "bailout" ramp) mov Spoolup_Limit_Skip, #1 ; Set skip count mov Governor_Req_Pwm, #60 ; Set governor requested speed to ensure that it requests higher speed ; 20=Fail on jerk when governor activates ; 30=Ok ; 100=Fail on small governor settling overshoot on low headspeeds ; 200=Fail on governor settling overshoot jmp t2h_int_exit ; Exit
t2h_int_rcp_inc_limit: mov A, Pwm_Limit_Spoolup ; Increment spoolup pwm add A, Temp1 jnc t2h_int_rcp_no_limit ; If below 255 - branch
mov Pwm_Limit_Spoolup, #0FFh ajmp t2h_int_rcp_bailout_arm
t2h_int_rcp_no_limit: mov Pwm_Limit_Spoolup, At2h_int_rcp_bailout_arm: mov A, Pwm_Limit_Spoolup inc A jnz t2h_int_exit
mov Auto_Bailout_Armed, #255 ; Arm bailout mov Spoolup_Limit_Cnt, #255
ENDIFt2h_int_exit: pop ACC ; Restore preserved registers pop PSW clr PSW.3 ; Select register bank 0 for main program routines orl EIE1, #10h ; Enable PCA0 interrupts setb ET2 ; Enable timer2 interrupts reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Timer3 interrupt routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****t3_int: ; Used for commutation timing push PSW ; Preserve registers through interrupt push ACC clr EA ; Disable all interrupts anl TMR3CN, #7Fh ; Clear timer3 interrupt flag anl EIE1, #7Fh ; Disable timer3 interrupts clr Flags0.T3_PENDING ; Flag that timer has wrappedIF MCU_50MHZ == 1 clr C mov A, Next_Wt_L rlc A mov Next_Wt_L, A mov A, Next_Wt_H rlc A mov Next_Wt_H, AENDIF ; Set up next wait mov TMR3CN, #00h ; Timer3 disabled clr C clr A subb A, Next_Wt_L ; Set wait value mov TMR3L, A clr A subb A, Next_Wt_H mov TMR3H, A mov TMR3CN, #04h ; Timer3 enabled pop ACC ; Restore preserved registers pop PSW setb EA ; Enable all interrupts reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; PCA interrupt routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****pca_int: ; Used for RC pulse timing clr EA anl EIE1, #0EFh ; Disable PCA0 interrupts clr ET2 ; Disable timer2 interrupts push PSW ; Preserve registers through interrupt push ACC push B setb PSW.3 ; Select register bank 1 for interrupt routines setb EA ; Get the PCA counter values Get_Rcp_Capture_Values ; Clear interrupt flag Rcp_Clear_Int_Flag ; Check which edge it is jnb Flags2.RCP_EDGE_NO, ($+5) ; Is it a first edge trig? ajmp pca_int_second_meas_pwm_freq ; No - branch to second
Rcp_Int_Second ; Yes - set second edge trig setb Flags2.RCP_EDGE_NO ; Set second edge flag ; Read RC signal level Read_Rcp_Int ; Test RC signal level jb ACC.Rcp_In, ($+5) ; Is it high? ajmp pca_int_fail_minimum ; No - jump to fail minimum
; RC pulse was high, store RC pulse start timestamp mov Rcp_Prev_Edge_L, Temp1 mov Rcp_Prev_Edge_H, Temp2 ajmp pca_int_exit ; Exit
pca_int_fail_minimum: ; Prepare for next interrupt Rcp_Int_First ; Set interrupt trig to first again Rcp_Clear_Int_Flag ; Clear interrupt flag clr Flags2.RCP_EDGE_NO ; Set first edge flag jnb Flags2.RCP_PPM, ($+5) ; If flag is not set (PWM) - branch
ajmp pca_int_set_timeout ; If PPM - ignore trig as noise
mov Temp1, #RCP_MIN ; Set RC pulse value to minimum Read_Rcp_Int ; Test RC signal level again jnb ACC.Rcp_In, ($+5) ; Is it high?
ajmp pca_int_set_timeout ; Yes - set new timeout and exit
mov New_Rcp, Temp1 ; Store new pulse length ajmp pca_int_limited ; Set new RC pulse, new timeout and exit
pca_int_second_meas_pwm_freq: ; Prepare for next interrupt Rcp_Int_First ; Set first edge trig clr Flags2.RCP_EDGE_NO ; Set first edge flag ; Check if pwm frequency shall be measured jb Flags0.RCP_MEAS_PWM_FREQ, ($+5) ; Is measure RCP pwm frequency flag set? ajmp pca_int_fall ; No - skip measurements
; Set second edge trig only during pwm frequency measurement Rcp_Int_Second ; Set second edge trig Rcp_Clear_Int_Flag ; Clear interrupt flag setb Flags2.RCP_EDGE_NO ; Set second edge flag ; Store edge data to RAM mov Rcp_Edge_L, Temp1 mov Rcp_Edge_H, Temp2 ; Calculate pwm frequency clr C mov A, Temp1 subb A, Rcp_PrePrev_Edge_L mov Temp1, A mov A, Temp2 subb A, Rcp_PrePrev_Edge_H mov Temp2, A clr A mov Temp4, A mov Temp7, #2 ; Set default period tolerance requirement (MSB) mov Temp3, #0 ; (LSB) ; Check if pulse is too short clr C mov A, Temp1 subb A, #low(140) ; If pulse below 70us, not accepted mov A, Temp2 subb A, #high(140) jnc rcp_int_check_12kHz
mov Rcp_Period_Diff_Accepted, #0 ; Set not accepted ajmp pca_int_store_data
rcp_int_check_12kHz: ; Check if pwm frequency is 12kHz clr C mov A, Temp1 subb A, #low(200) ; If below 100us, 12kHz pwm is assumed mov A, Temp2 subb A, #high(200) jnc pca_int_check_8kHz
clr A setb ACC.RCP_PWM_FREQ_12KHZ mov Temp4, A mov Temp3, #10 ; Set period tolerance requirement (LSB) ajmp pca_int_restore_edge_set_msb
pca_int_check_8kHz: ; Check if pwm frequency is 8kHz clr C mov A, Temp1 subb A, #low(360) ; If below 180us, 8kHz pwm is assumed mov A, Temp2 subb A, #high(360) jnc pca_int_check_4kHz
clr A setb ACC.RCP_PWM_FREQ_8KHZ mov Temp4, A mov Temp3, #15 ; Set period tolerance requirement (LSB) ajmp pca_int_restore_edge_set_msb
pca_int_check_4kHz: ; Check if pwm frequency is 4kHz clr C mov A, Temp1 subb A, #low(720) ; If below 360us, 4kHz pwm is assumed mov A, Temp2 subb A, #high(720) jnc pca_int_check_2kHz
clr A setb ACC.RCP_PWM_FREQ_4KHZ mov Temp4, A mov Temp3, #30 ; Set period tolerance requirement (LSB) ajmp pca_int_restore_edge_set_msb
pca_int_check_2kHz: ; Check if pwm frequency is 2kHz clr C mov A, Temp1 subb A, #low(1440) ; If below 720us, 2kHz pwm is assumed mov A, Temp2 subb A, #high(1440) jnc pca_int_check_1kHz
clr A setb ACC.RCP_PWM_FREQ_2KHZ mov Temp4, A mov Temp3, #60 ; Set period tolerance requirement (LSB) ajmp pca_int_restore_edge_set_msb
pca_int_check_1kHz: ; Check if pwm frequency is 1kHz clr C mov A, Temp1 subb A, #low(2200) ; If below 1100us, 1kHz pwm is assumed mov A, Temp2 subb A, #high(2200) jnc pca_int_restore_edge
clr A setb ACC.RCP_PWM_FREQ_1KHZ mov Temp4, A mov Temp3, #120 ; Set period tolerance requirement (LSB)
pca_int_restore_edge_set_msb: mov Temp7, #0 ; Set period tolerance requirement (MSB)pca_int_restore_edge: ; Calculate difference between this period and previous period clr C mov A, Temp1 subb A, Rcp_Prev_Period_L mov Temp5, A mov A, Temp2 subb A, Rcp_Prev_Period_H mov Temp6, A ; Make positive jnb ACC.7, pca_int_check_diff mov A, Temp5 cpl A add A, #1 mov Temp5, A mov A, Temp6 cpl A mov Temp6, A
pca_int_check_diff: ; Check difference mov Rcp_Period_Diff_Accepted, #0 ; Set not accepted as default clr C mov A, Temp5 subb A, Temp3 ; Check difference mov A, Temp6 subb A, Temp7 jnc pca_int_store_data
mov Rcp_Period_Diff_Accepted, #1 ; Set accepted
pca_int_store_data: ; Store previous period mov Rcp_Prev_Period_L, Temp1 mov Rcp_Prev_Period_H, Temp2 ; Restore edge data from RAM mov Temp1, Rcp_Edge_L mov Temp2, Rcp_Edge_H ; Store pre previous edge mov Rcp_PrePrev_Edge_L, Temp1 mov Rcp_PrePrev_Edge_H, Temp2 mov Temp1, #RCP_VALIDATE ajmp pca_int_limited
pca_int_fall: ; RC pulse edge was second, calculate new pulse length clr C mov A, Temp1 subb A, Rcp_Prev_Edge_L mov Temp1, A mov A, Temp2 subb A, Rcp_Prev_Edge_H mov Temp2, A jnb Flags3.RCP_PWM_FREQ_12KHZ, ($+5) ; Is RC input pwm frequency 12kHz? ajmp pca_int_pwm_divide_done ; Yes - branch forward
jnb Flags3.RCP_PWM_FREQ_8KHZ, ($+5) ; Is RC input pwm frequency 8kHz? ajmp pca_int_pwm_divide_done ; Yes - branch forward
jnb Flags3.RCP_PWM_FREQ_4KHZ, ($+5) ; Is RC input pwm frequency 4kHz? ajmp pca_int_pwm_divide ; Yes - branch forward
jb Flags2.RCP_PPM_ONESHOT125, ($+5) ajmp rcp_int_fall_not_oneshot
mov A, Temp2 ; Oneshot125 - move to I_Temp5/6 mov Temp6, A mov A, Temp1 mov Temp5, A ajmp rcp_int_fall_check_range
rcp_int_fall_not_oneshot: mov A, Temp2 ; No - 2kHz. Divide by 2 clr C rrc A mov Temp2, A mov A, Temp1 rrc A mov Temp1, A
jnb Flags3.RCP_PWM_FREQ_2KHZ, ($+5) ; Is RC input pwm frequency 2kHz? ajmp pca_int_pwm_divide ; Yes - branch forward
mov A, Temp2 ; No - 1kHz. Divide by 2 again clr C rrc A mov Temp2, A mov A, Temp1 rrc A mov Temp1, A
jnb Flags3.RCP_PWM_FREQ_1KHZ, ($+5) ; Is RC input pwm frequency 1kHz? ajmp pca_int_pwm_divide ; Yes - branch forward
mov A, Temp2 ; No - PPM. Divide by 2 (to bring range to 256) and move to Temp5/6 clr C rrc A mov Temp6, A mov A, Temp1 rrc A mov Temp5, Arcp_int_fall_check_range: ; Skip range limitation if pwm frequency measurement jb Flags0.RCP_MEAS_PWM_FREQ, pca_int_ppm_check_full_range
; Check if 2160us or above (in order to ignore false pulses) clr C mov A, Temp5 ; Is pulse 2160us or higher? subb A, #28 mov A, Temp6 subb A, #2 jc ($+4) ; No - proceed
ajmp pca_int_ppm_outside_range ; Yes - ignore pulse
pca_int_ppm_below_full_range: ; Check if below 800us (in order to ignore false pulses) mov A, Temp6 jnz pca_int_ppm_check_full_range
clr C mov A, Temp5 ; Is pulse below 800us? subb A, #200 jnc pca_int_ppm_check_full_range ; No - proceed
pca_int_ppm_outside_range: inc Rcp_Outside_Range_Cnt clr C mov A, Rcp_Outside_Range_Cnt subb A, #10 ; Allow a given number of outside pulses jnc ($+4) ajmp pca_int_set_timeout ; If below limit - ignore pulse
mov New_Rcp, #0 ; Set pulse length to zero setb Flags2.RCP_UPDATED ; Set updated flag ajmp pca_int_set_timeout
pca_int_ppm_check_full_range: mov A, Rcp_Outside_Range_Cnt jz ($+4)
dec Rcp_Outside_Range_Cnt
; Calculate "1000us" plus throttle minimum mov A, #0 ; Set 1000us as default minimum jb Flags3.FULL_THROTTLE_RANGE, pca_int_ppm_calculate ; Check if full range is chosen
IF MODE >= 1 ; Tail or multi mov Temp1, #Pgm_Direction ; Check if bidirectional operation mov A, @Temp1 ENDIF mov Temp1, #Pgm_Ppm_Min_Throttle ; Min throttle value is in 4us unitsIF MODE >= 1 ; Tail or multi cjne A, #3, ($+5)
mov Temp1, #Pgm_Ppm_Center_Throttle ; Center throttle value is in 4us unitsENDIF mov A, @Temp1
pca_int_ppm_calculate: add A, #250 ; Add 1000us to minimum mov Temp7, A clr A addc A, #0 mov Temp8, A
clr C mov A, Temp5 ; Subtract minimum subb A, Temp7 mov Temp5, A mov A, Temp6 subb A, Temp8 mov Temp6, AIF MODE >= 1 ; Tail or multi mov Bit_Access_Int.0, C mov Temp1, #Pgm_Direction ; Check if bidirectional operation mov A, @Temp1 cjne A, #3, pca_int_ppm_bidir_dir_set ; No - branch
mov C, Bit_Access_Int.0 jnc pca_int_ppm_bidir_fwd ; If result is positive - branch
pca_int_ppm_bidir_rev: jb Flags3.PGM_DIR_REV, pca_int_ppm_bidir_dir_set ; If same direction - branch
clr EA ; Direction change, turn off all fets setb Flags3.PGM_DIR_REV ajmp pca_int_ppm_bidir_dir_change
pca_int_ppm_bidir_fwd: jnb Flags3.PGM_DIR_REV, pca_int_ppm_bidir_dir_set ; If same direction - branch
clr EA ; Direction change, turn off all fets clr Flags3.PGM_DIR_REV
pca_int_ppm_bidir_dir_change: All_nFETs_Off All_pFETs_Off jb Flags1.STARTUP_PHASE, ($+5) ; Do not brake when starting
setb Flags1.DIR_CHANGE_BRAKE ; Set brake flag
setb EApca_int_ppm_bidir_dir_set: mov C, Bit_Access_Int.0ENDIF jnc pca_int_ppm_neg_checked ; If result is positive - branch
IF MODE >= 1 ; Tail or multi mov A, @Temp1 ; Check if bidirectional operation (Temp1 has Pgm_Direction) cjne A, #3, pca_int_ppm_unidir_neg ; No - branch
mov A, Temp5 ; Change sign cpl A add A, #1 mov Temp5, A mov A, Temp6 cpl A addc A, #0 mov Temp6, A jmp pca_int_ppm_neg_checked
pca_int_ppm_unidir_neg:ENDIF mov Temp1, #RCP_MIN ; Yes - set to minimum mov Temp2, #0 ajmp pca_int_pwm_divide_done
pca_int_ppm_neg_checked:IF MODE >= 1 ; Tail or multi mov Temp1, #Pgm_Direction ; Check if bidirectional operation mov A, @Temp1 cjne A, #3, pca_int_ppm_bidir_done ; No - branch
mov A, Temp5 ; Multiply value by 2 rlc A mov Temp5 A mov A, Temp6 rlc A mov Temp6 A clr C ; Subtract deadband mov A, Temp5 subb A, #10 mov Temp5, A mov A, Temp6 subb A, #0 mov Temp6, A jnc pca_int_ppm_bidir_done
mov Temp5, #RCP_MIN mov Temp6, #0
pca_int_ppm_bidir_done:ENDIF clr C ; Check that RC pulse is within legal range (max 255) mov A, Temp5 subb A, #RCP_MAX mov A, Temp6 subb A, #0 jc pca_int_ppm_max_checked
mov Temp1, #RCP_MAX mov Temp2, #0 ajmp pca_int_pwm_divide_done
pca_int_ppm_max_checked: mov A, Temp5 ; Multiply throttle value by gain mov B, Ppm_Throttle_Gain mul AB xch A, B mov C, B.7 ; Multiply result by 2 (unity gain is 128) rlc A mov Temp1, A ; Transfer to Temp1/2 mov Temp2, #0 jc pca_int_ppm_limit_after_mult jmp pca_int_limited
pca_int_ppm_limit_after_mult: mov Temp1, #RCP_MAX mov Temp2, #0 jmp pca_int_limited
pca_int_pwm_divide: mov A, Temp2 ; Divide by 2 clr C rrc A mov Temp2, A mov A, Temp1 rrc A mov Temp1, A
pca_int_pwm_divide_done: jnb Flags3.RCP_PWM_FREQ_12KHZ, pca_int_check_legal_range ; Is RC input pwm frequency 12kHz? mov A, Temp2 ; Yes - check that value is not more than 255 jz ($+4)
mov Temp1, #RCP_MAX
clr C mov A, Temp1 ; Multiply by 1.5 rrc A addc A, Temp1 mov Temp1, A clr A addc A, #0 mov Temp2, A
pca_int_check_legal_range: ; Check that RC pulse is within legal range clr C mov A, Temp1 subb A, #RCP_MAX mov A, Temp2 subb A, #0 jc pca_int_limited
mov Temp1, #RCP_MAX
pca_int_limited: ; RC pulse value accepted mov New_Rcp, Temp1 ; Store new pulse length setb Flags2.RCP_UPDATED ; Set updated flag jb Flags0.RCP_MEAS_PWM_FREQ, ($+5) ; Is measure RCP pwm frequency flag set?
ajmp pca_int_set_timeout ; No - skip measurements
mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ)+(1 SHL RCP_PWM_FREQ_12KHZ)) cpl A anl A, Flags3 ; Clear all pwm frequency flags orl A, Temp4 ; Store pwm frequency value in flags mov Flags3, A clr Flags2.RCP_PPM ; Default, flag is not set (PWM) clr A add A, Temp4 ; Check if all flags are cleared jnz pca_int_set_timeout
setb Flags2.RCP_PPM ; Set flag (PPM)
pca_int_set_timeout: mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; Set timeout count to start value jnb Flags2.RCP_PPM, pca_int_ppm_timeout_set ; If flag is not set (PWM) - branch
mov Rcp_Timeout_Cnt, #RCP_TIMEOUT_PPM ; No flag set means PPM. Set timeout count
pca_int_ppm_timeout_set: jnb Flags0.RCP_MEAS_PWM_FREQ, ($+5) ; Is measure RCP pwm frequency flag set?
ajmp pca_int_exit ; Yes - exit
jb Flags2.RCP_PPM, pca_int_exit ; If flag is set (PPM) - branch
Rcp_Int_Disable ; Disable RC pulse interrupt
pca_int_exit: ; Exit interrupt routine mov Rcp_Skip_Cnt, #RCP_SKIP_RATE ; Load number of skips jnb Flags2.RCP_PPM, ($+6) ; If flag is not set (PWM) - branch
mov Rcp_Skip_Cnt, #10 ; Load number of skips
pop B ; Restore preserved registers pop ACC pop PSW clr PSW.3 ; Select register bank 0 for main program routines setb ET2 ; Enable timer2 interrupts orl EIE1, #10h ; Enable PCA0 interrupts reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Wait xms ~(x*4*250) (Different entry points) ;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****wait1ms: mov Temp2, #1 jmp waitxms_o
wait3ms: mov Temp2, #3 jmp waitxms_o
wait10ms: mov Temp2, #10 jmp waitxms_o
wait30ms: mov Temp2, #30 jmp waitxms_o
wait100ms: mov Temp2, #100 jmp waitxms_o
wait200ms: mov Temp2, #200 jmp waitxms_o
waitxms_o: ; Outer loop mov Temp1, #23waitxms_m: ; Middle loop clr A djnz ACC, $ ; Inner loop (42.7us - 1024 cycles) djnz Temp1, waitxms_m djnz Temp2, waitxms_o ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Beeper routines (4 different entry points) ;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****beep_f1: ; Entry point 1, load beeper frequency 1 settings mov Temp3, #20 ; Off wait loop length mov Temp4, #120 ; Number of beep pulses jmp beep
beep_f2: ; Entry point 2, load beeper frequency 2 settings mov Temp3, #16 mov Temp4, #140 jmp beep
beep_f3: ; Entry point 3, load beeper frequency 3 settings mov Temp3, #13 mov Temp4, #180 jmp beep
beep_f4: ; Entry point 4, load beeper frequency 4 settings mov Temp3, #11 mov Temp4, #200 jmp beep
beep: ; Beep loop start mov Temp5, Current_Pwm_Limited ; Store value mov Current_Pwm_Limited, #1 ; Set to a nonzero value mov Temp2, #2 ; Must be an even number (or direction will change)beep_onoff: cpl Flags3.PGM_DIR_REV ; Toggle between using A fet and C fet clr A BpFET_off ; BpFET off djnz ACC, $ ; Allow some time after pfet is turned off BnFET_on ; BnFET on (in order to charge the driver of the BpFET) djnz ACC, $ ; Let the nfet be turned on a while BnFET_off ; BnFET off again djnz ACC, $ ; Allow some time after nfet is turned off BpFET_on ; BpFET on djnz ACC, $ ; Allow some time after pfet is turned on ; Turn on nfet AnFET_on ; AnFET on mov A, Beep_Strength djnz ACC, $ ; Turn off nfet AnFET_off ; AnFET off mov A, #150 ; 25�s off djnz ACC, $ djnz Temp2, beep_onoff ; Copy variable mov A, Temp3 mov Temp1, A beep_off: ; Fets off loop djnz ACC, $ djnz Temp1, beep_off djnz Temp4, beep BpFET_off ; BpFET off mov Current_Pwm_Limited, Temp5 ; Restore value ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Division 16bit unsigned by 16bit unsigned;; Dividend shall be in Temp2/Temp1, divisor in Temp4/Temp3; Result will be in Temp2/Temp1;;**** **** **** **** **** **** **** **** **** **** **** **** ****div_u16_by_u16: clr C mov Temp5, #0 mov Temp6, #0 mov B, #0div_u16_by_u16_div1: inc B ; Increment counter for each left shift mov A, Temp3 ; Shift left the divisor rlc A mov Temp3, A mov A, Temp4 rlc A mov Temp4, A jnc div_u16_by_u16_div1 ; Repeat until carry flag is set from high-bytediv_u16_by_u16_div2: mov A, Temp4 ; Shift right the divisor rrc A mov Temp4, A mov A, Temp3 rrc A mov Temp3, A clr C mov A, Temp2 ; Make a safe copy of the dividend mov Temp8, A mov A, Temp1 mov Temp7, A mov A, Temp1 ; Move low-byte of dividend into accumulator subb A, Temp3 ; Dividend - shifted divisor = result bit (no factor, only 0 or 1) mov Temp1, A ; Save updated dividend mov A, Temp2 ; Move high-byte of dividend into accumulator subb A, Temp4 ; Subtract high-byte of divisor (all together 16-bit substraction) mov Temp2, A ; Save updated high-byte back in high-byte of divisor jnc div_u16_by_u16_div3 ; If carry flag is NOT set, result is 1 mov A, Temp8 ; Otherwise result is 0, save copy of divisor to undo subtraction mov Temp2, A mov A, Temp7 mov Temp1, A div_u16_by_u16_div3: cpl C ; Invert carry, so it can be directly copied into result mov A, Temp5 rlc A ; Shift carry flag into temporary result mov Temp5, A mov A, Temp6 rlc A mov Temp6,A djnz B, div_u16_by_u16_div2 ;Now count backwards and repeat until "B" is zero mov A, Temp6 ; Move result to Temp2/Temp1 mov Temp2, A mov A, Temp5 mov Temp1, A ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Multiplication 16bit signed by 8bit unsigned;; Multiplicand shall be in Temp2/Temp1, multiplicator in Temp3; Result will be in Temp2/Temp1. Result will divided by 16;;**** **** **** **** **** **** **** **** **** **** **** **** ****mult_s16_by_u8_div_16: mov A, Temp1 ; Read input to math registers mov B, Temp2 mov Bit_Access, Temp3 setb PSW.4 ; Select register bank 2 for math routines mov Temp1, A ; Store in math registers mov Temp2, B mov Temp4, #0 ; Set sign in Temp4 and test sign jnb B.7, mult_s16_by_u8_positive
mov Temp4, #0FFh cpl A add A, #1 mov Temp1, A mov A, Temp2 cpl A addc A, #0 mov Temp2, Amult_s16_by_u8_positive: mov A, Temp1 ; Multiply LSB with multiplicator mov B, Bit_Access mul AB mov Temp6, B ; Place MSB in Temp6 mov Temp1, A ; Place LSB in Temp1 (result) mov A, Temp2 ; Multiply MSB with multiplicator mov B, Bit_Access mul AB mov Temp8, B ; Place in Temp8/7 mov Temp7, A mov A, Temp6 ; Add up add A, Temp7 mov Temp2, A mov A, #0 addc A, Temp8 mov Temp3, A mov Temp5, #4 ; Set number of divisionsmult_s16_by_u8_div_loop: clr C ; Rotate right mov A, Temp3 rrc A mov Temp3, A mov A, Temp2 rrc A mov Temp2, A mov A, Temp1 rrc A mov Temp1, A djnz Temp5, mult_s16_by_u8_div_loop
mov B, Temp4 ; Test sign jnb B.7, mult_s16_by_u8_exit
mov A, Temp1 cpl A add A, #1 mov Temp1, A mov A, Temp2 cpl A addc A, #0 mov Temp2, A
mult_s16_by_u8_exit: mov A, Temp1 ; Store output mov B, Temp2 clr PSW.4 ; Select normal register bank mov Temp1, A mov Temp2, B ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Calculate governor routines;; No assumptions;; Governs headspeed based upon the Comm_Period4x variable and pwm; The governor task is split into several routines in order to distribute processing time;;**** **** **** **** **** **** **** **** **** **** **** **** ****; First governor routine - calculate governor targetIF MODE == 0 ; Maincalc_governor_target: mov Temp1, #Pgm_Gov_Mode ; Governor mode? cjne @Temp1, #4, governor_speed_check ; Yes jmp calc_governor_target_exit ; No
governor_speed_check: ; Stop governor for stop RC pulse clr C mov A, New_Rcp ; Check RC pulse against stop value subb A, #(RCP_MAX/10) ; Is pulse below stop value? jc governor_deactivate ; Yes - deactivate
mov A, Flags1 anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) jnz governor_deactivate ; Deactivate if any startup phase set
; Skip speed check if governor is already active mov A, Gov_Active jnz governor_target_calc
; Check speed (do not run governor for low speeds) mov Temp1, #05h ; Default high range activation limit value (~62500 eRPM) mov Temp2, #Pgm_Gov_Range mov A, @Temp2 ; Check if high range (Temp2 has #Pgm_Gov_Range) dec A jz governor_act_lim_set ; If high range - branch
mov Temp1, #0Ah ; Middle range activation limit value (~31250 eRPM) dec A jz governor_act_lim_set ; If middle range - branch mov Temp1, #12h ; Low range activation limit value (~17400 eRPM)
governor_act_lim_set: clr C mov A, Comm_Period4x_H subb A, Temp1 jc governor_activate ; If speed above min limit - run governor
governor_deactivate: mov A, Gov_Active jz governor_first_deactivate_done; This code is executed continuously. Only execute the code below the first time
mov Pwm_Limit_Spoolup, Pwm_Spoolup_Beg mov Spoolup_Limit_Cnt, #255 mov Spoolup_Limit_Skip, #1
governor_first_deactivate_done: mov Current_Pwm, Requested_Pwm ; Set current pwm to requested clr A mov Gov_Target_L, A ; Set target to zero mov Gov_Target_H, A mov Gov_Integral_L, A ; Set integral to zero mov Gov_Integral_H, A mov Gov_Integral_X, A mov Gov_Active, A jmp calc_governor_target_exit
governor_activate: mov Gov_Active, #1
governor_target_calc: ; Governor calculations mov Temp2, #Pgm_Gov_Range mov A, @Temp2 ; Check high, middle or low range dec A jnz calc_governor_target_middle
mov A, Governor_Req_Pwm ; Load governor requested pwm cpl A ; Calculate 255-pwm (invert pwm) ; Calculate comm period target (1 + 2*((255-Requested_Pwm)/256) - 0.25) rlc A ; Msb to carry rlc A ; To bit0 mov Temp2, A ; Now 1 lsb is valid for H rrc A mov Temp1, A ; Now 7 msbs are valid for L mov A, Temp2 anl A, #01h ; Calculate H byte inc A ; Add 1 mov Temp2, A mov A, Temp1 anl A, #0FEh ; Calculate L byte jmp calc_governor_subtract_025
calc_governor_target_middle: mov A, @Temp2 ; Check middle or low range (Temp2 has #Pgm_Gov_Range) dec A dec A jnz calc_governor_target_low
mov A, Governor_Req_Pwm ; Load governor requested pwm cpl A ; Calculate 255-pwm (invert pwm) ; Calculate comm period target (1 + 4*((255-Requested_Pwm)/256)) rlc A ; Msb to carry rlc A ; To bit0 rlc A ; To bit1 mov Temp2, A ; Now 2 lsbs are valid for H rrc A mov Temp1, A ; Now 6 msbs are valid for L mov A, Temp2 anl A, #03h ; Calculate H byte inc A ; Add 1 mov Temp2, A mov A, Temp1 anl A, #0FCh ; Calculate L byte jmp calc_governor_store_target
calc_governor_target_low: mov A, Governor_Req_Pwm ; Load governor requested pwm cpl A ; Calculate 255-pwm (invert pwm) ; Calculate comm period target (2 + 8*((255-Requested_Pwm)/256) - 0.25) rlc A ; Msb to carry rlc A ; To bit0 rlc A ; To bit1 rlc A ; To bit2 mov Temp2, A ; Now 3 lsbs are valid for H rrc A mov Temp1, A ; Now 5 msbs are valid for L mov A, Temp2 anl A, #07h ; Calculate H byte inc A ; Add 1 inc A ; Add 1 more mov Temp2, A mov A, Temp1 anl A, #0F8h ; Calculate L bytecalc_governor_subtract_025: clr C subb A, #40h ; Subtract 0.25 mov Temp1, A mov A, Temp2 subb A, #0 mov Temp2, Acalc_governor_store_target: ; Store governor target mov Gov_Target_L, Temp1 mov Gov_Target_H, Temp2calc_governor_target_exit: ret ENDIFIF MODE == 1 ; Tailcalc_governor_target: ret ENDIFIF MODE == 2 ; Multicalc_governor_target: mov Temp1, #Pgm_Gov_Mode ; Closed loop mode? cjne @Temp1, #4, governor_target_calc ; Yes - branch jmp calc_governor_target_exit ; No
governor_target_calc: ; Stop governor for stop RC pulse clr C mov A, New_Rcp ; Check RC pulse against stop value subb A, #RCP_STOP ; Is pulse below stop value? jc governor_deactivate ; Yes - deactivate
jmp governor_activate ; No - activate
governor_deactivate: mov Current_Pwm, Requested_Pwm ; Set current pwm to requested clr A mov Gov_Target_L, A ; Set target to zero mov Gov_Target_H, A mov Gov_Integral_L, A ; Set integral to zero mov Gov_Integral_H, A mov Gov_Integral_X, A mov Gov_Active, A jmp calc_governor_target_exit
governor_activate: mov Temp1, #Pgm_Gov_Mode ; Store gov mode mov A, @Temp1 mov Temp5, A mov Gov_Active, #1 mov A, Requested_Pwm ; Load requested pwm mov Governor_Req_Pwm, A ; Set governor requested pwm ; Calculate comm period target 2*(51000/Requested_Pwm) mov Temp1, #38h ; Load 51000 mov Temp2, #0C7h mov Temp3, Comm_Period4x_L ; Load comm period mov Temp4, Comm_Period4x_H ; Set speed range. Bare Comm_Period4x corresponds to 400k eRPM, because it is 500n units clr C mov A, Temp4 rrc A mov Temp4, A mov A, Temp3 rrc A mov Temp3, A ; 200k eRPM range here ; Check range mov A, Temp5 dec A jz governor_activate_range_set ; 200k eRPM? - branchgovernor_activate_100k: clr C mov A, Temp4 rrc A mov Temp4, A mov A, Temp3 rrc A mov Temp3, A ; 100k eRPM range here mov A, Temp5 ; Check range again dec A dec A jz governor_activate_range_set ; 100k eRPM? - branchgovernor_activate_50k: clr C mov A, Temp4 rrc A mov Temp4, A mov A, Temp3 rrc A mov Temp3, A ; 50k eRPM range heregovernor_activate_range_set: call div_u16_by_u16 ; Store governor target mov Gov_Target_L, Temp1 mov Gov_Target_H, Temp2calc_governor_target_exit: ret ENDIF
; Second governor routine - calculate governor proportional errorcalc_governor_prop_error: ; Exit if governor is inactive mov A, Gov_Active jz calc_governor_prop_error_exit
IF MODE <= 1 ; Main or tail ; Load comm period and divide by 2 clr C mov A, Comm_Period4x_H rrc A mov Temp2, A mov A, Comm_Period4x_L rrc A mov Temp1, A ; Calculate error clr C mov A, Gov_Target_L subb A, Temp1 mov Temp1, A mov A, Gov_Target_H subb A, Temp2 mov Temp2, AENDIFIF MODE == 2 ; Multi ; Calculate error clr C mov A, Gov_Target_L subb A, Governor_Req_Pwm mov Temp1, A mov A, Gov_Target_H subb A, #0 mov Temp2, AENDIF ; Check error and limit jnc governor_check_prop_limit_pos ; Check carry
clr C mov A, Temp1 subb A, #80h ; Is error too negative? mov A, Temp2 subb A, #0FFh jc governor_limit_prop_error_neg ; Yes - limit jmp governor_store_prop_error
governor_check_prop_limit_pos: clr C mov A, Temp1 subb A, #7Fh ; Is error too positive? mov A, Temp2 subb A, #00h jnc governor_limit_prop_error_pos ; Yes - limit jmp governor_store_prop_error
governor_limit_prop_error_pos: mov Temp1, #7Fh ; Limit to max positive (2's complement) mov Temp2, #00h jmp governor_store_prop_error
governor_limit_prop_error_neg: mov Temp1, #80h ; Limit to max negative (2's complement) mov Temp2, #0FFh
governor_store_prop_error: ; Store proportional mov Gov_Proportional_L, Temp1 mov Gov_Proportional_H, Temp2calc_governor_prop_error_exit: ret
; Third governor routine - calculate governor integral errorcalc_governor_int_error: ; Exit if governor is inactive mov A, Gov_Active jz calc_governor_int_error_exit
; Add proportional to integral mov A, Gov_Proportional_L add A, Gov_Integral_L mov Temp1, A mov A, Gov_Proportional_H addc A, Gov_Integral_H mov Temp2, A mov Bit_Access, Gov_Proportional_H ; Sign extend high byte clr A jnb Bit_Access.7, ($+4) cpl A addc A, Gov_Integral_X mov Temp3, A ; Check integral and limit jnb ACC.7, governor_check_int_limit_pos ; Check sign bit
clr C mov A, Temp3 subb A, #0F0h ; Is error too negative? jc governor_limit_int_error_neg ; Yes - limit jmp governor_check_pwm
governor_check_int_limit_pos: clr C mov A, Temp3 subb A, #0Fh ; Is error too positive? jnc governor_limit_int_error_pos ; Yes - limit jmp governor_check_pwm
governor_limit_int_error_pos: mov Temp1, #0FFh ; Limit to max positive (2's complement) mov Temp2, #0FFh mov Temp3, #0Fh jmp governor_check_pwm
governor_limit_int_error_neg: mov Temp1, #00h ; Limit to max negative (2's complement) mov Temp2, #00h mov Temp3, #0F0h
governor_check_pwm: ; Check current pwm clr C mov A, Current_Pwm subb A, Pwm_Limit ; Is current pwm at or above pwm limit? jnc governor_int_max_pwm ; Yes - branch
mov A, Current_Pwm ; Is current pwm at zero? jz governor_int_min_pwm ; Yes - branch
ajmp governor_store_int_error ; No - store integral error
governor_int_max_pwm: mov A, Gov_Proportional_H jb ACC.7, calc_governor_int_error_exit ; Is proportional error negative - branch (high byte is always zero)
ajmp governor_store_int_error ; Positive - store integral error
governor_int_min_pwm: mov A, Gov_Proportional_H jnb ACC.7, calc_governor_int_error_exit ; Is proportional error positive - branch (high byte is always zero)
governor_store_int_error: ; Store integral mov Gov_Integral_L, Temp1 mov Gov_Integral_H, Temp2 mov Gov_Integral_X, Temp3calc_governor_int_error_exit: ret
; Fourth governor routine - calculate governor proportional correctioncalc_governor_prop_correction: ; Exit if governor is inactive mov A, Gov_Active jnz calc_governor_prop_corr jmp calc_governor_prop_corr_exit
calc_governor_prop_corr: ; Load proportional gain mov Temp1, #Pgm_Gov_P_Gain_Decoded; Load proportional gain mov A, @Temp1 mov Temp3, A ; Store in Temp3 ; Load proportional clr C mov A, Gov_Proportional_L ; Nominal multiply by 2 rlc A mov Temp1, A mov A, Gov_Proportional_H rlc A mov Temp2, A ; Apply gain call mult_s16_by_u8_div_16 ; Check error and limit (to low byte) mov A, Temp2 jnb ACC.7, governor_check_prop_corr_limit_pos ; Check sign bit
clr C mov A, Temp1 subb A, #80h ; Is error too negative? mov A, Temp2 subb A, #0FFh jc governor_limit_prop_corr_neg ; Yes - limit ajmp governor_apply_prop_corr
governor_check_prop_corr_limit_pos: clr C mov A, Temp1 subb A, #7Fh ; Is error too positive? mov A, Temp2 subb A, #00h jnc governor_limit_prop_corr_pos ; Yes - limit ajmp governor_apply_prop_corr
governor_limit_prop_corr_pos: mov Temp1, #7Fh ; Limit to max positive (2's complement) mov Temp2, #00h ajmp governor_apply_prop_corr
governor_limit_prop_corr_neg: mov Temp1, #80h ; Limit to max negative (2's complement) mov Temp2, #0FFh
governor_apply_prop_corr: ; Test proportional sign mov A, Temp1 jb ACC.7, governor_corr_neg_prop ; If proportional negative - go to correct negative
; Subtract positive proportional clr C mov A, Governor_Req_Pwm subb A, Temp1 mov Temp1, A ; Check result jc governor_corr_prop_min_pwm ; Is result negative?
clr C mov A, Temp1 ; Is result below pwm min? subb A, #1 jc governor_corr_prop_min_pwm ; Yes jmp governor_store_prop_corr ; No - store proportional correction
governor_corr_prop_min_pwm: mov Temp1, #1 ; Load minimum pwm jmp governor_store_prop_corr
governor_corr_neg_prop: ; Add negative proportional mov A, Temp1 cpl A add A, #1 add A, Governor_Req_Pwm mov Temp1, A ; Check result jc governor_corr_prop_max_pwm ; Is result above max? jmp governor_store_prop_corr ; No - store proportional correction
governor_corr_prop_max_pwm: mov Temp1, #255 ; Load maximum pwmgovernor_store_prop_corr: ; Store proportional pwm mov Gov_Prop_Pwm, Temp1calc_governor_prop_corr_exit: ret
; Fifth governor routine - calculate governor integral correctioncalc_governor_int_correction: ; Exit if governor is inactive mov A, Gov_Active jnz calc_governor_int_corr jmp calc_governor_int_corr_exit
calc_governor_int_corr: ; Load integral gain mov Temp1, #Pgm_Gov_I_Gain_Decoded; Load integral gain mov A, @Temp1 mov Temp3, A ; Store in Temp3 ; Load integral mov Temp1, Gov_Integral_H mov Temp2, Gov_Integral_X ; Apply gain call mult_s16_by_u8_div_16 ; Check integral and limit mov A, Temp2 jnb ACC.7, governor_check_int_corr_limit_pos ; Check sign bit
clr C mov A, Temp1 subb A, #01h ; Is integral too negative? mov A, Temp2 subb A, #0FFh jc governor_limit_int_corr_neg ; Yes - limit jmp governor_apply_int_corr
governor_check_int_corr_limit_pos: clr C mov A, Temp1 subb A, #0FFh ; Is integral too positive? mov A, Temp2 subb A, #00h jnc governor_limit_int_corr_pos ; Yes - limit jmp governor_apply_int_corr
governor_limit_int_corr_pos: mov Temp1, #0FFh ; Limit to max positive (2's complement) mov Temp2, #00h jmp governor_apply_int_corr
governor_limit_int_corr_neg: mov Temp1, #01h ; Limit to max negative (2's complement) mov Temp2, #0FFh
governor_apply_int_corr: ; Test integral sign mov A, Temp2 jb ACC.7, governor_corr_neg_int ; If integral negative - go to correct negative
; Subtract positive integral clr C mov A, Gov_Prop_Pwm subb A, Temp1 mov Temp1, A ; Check result jc governor_corr_int_min_pwm ; Is result negative?
clr C mov A, Temp1 ; Is result below pwm min? subb A, #1 jc governor_corr_int_min_pwm ; Yes jmp governor_store_int_corr ; No - store correction
governor_corr_int_min_pwm: mov Temp1, #0 ; Load minimum pwm jmp governor_store_int_corr
governor_corr_neg_int: ; Add negative integral mov A, Temp1 cpl A add A, #1 add A, Gov_Prop_Pwm mov Temp1, A ; Check result jc governor_corr_int_max_pwm ; Is result above max? jmp governor_store_int_corr ; No - store correction
governor_corr_int_max_pwm: mov Temp1, #255 ; Load maximum pwmgovernor_store_int_corr: ; Store current pwm mov Current_Pwm, Temp1calc_governor_int_corr_exit: ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Set pwm limit low rpm;; No assumptions;; Sets power limit for low rpms and disables demag for low rpms;;**** **** **** **** **** **** **** **** **** **** **** **** ****set_pwm_limit_low_rpm: ; Set pwm limit and demag disable for low rpms mov Temp1, #0FFh ; Default full power clr Flags0.DEMAG_ENABLED ; Default disabled mov A, Flags1 anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) jnz set_pwm_limit_low_rpm_exit ; Exit if any startup phase set
setb Flags0.DEMAG_ENABLED ; Enable demag clr C mov A, Comm_Period4x_H subb A, #0Ah ; ~31250 eRPM jc set_pwm_demag_done ; If speed above - branch
clr C mov A, Current_Pwm_Limited subb A, #40h ; Do not disable if pwm above 25% jnc set_pwm_demag_done
clr Flags0.DEMAG_ENABLED ; Disable demag
set_pwm_demag_done: mov A, Comm_Period4x_H jz set_pwm_limit_low_rpm_exit ; Avoid divide by zero
mov A, #255 ; Divide 255 by Comm_Period4x_H mov B, Comm_Period4x_H div AB mov B, Low_Rpm_Pwr_Slope ; Multiply by slope mul AB mov Temp1, A ; Set new limit xch A, B jz ($+4) ; Limit to max mov Temp1, #0FFh
clr C mov A, Temp1 ; Limit to min subb A, Pwm_Spoolup_Beg jnc set_pwm_limit_low_rpm_exit
mov Temp1, Pwm_Spoolup_Beg
set_pwm_limit_low_rpm_exit: mov Pwm_Limit_Low_Rpm, Temp1 ret ;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Measure lipo cells;; No assumptions;; Measure voltage and calculate lipo cells;;**** **** **** **** **** **** **** **** **** **** **** **** ****measure_lipo_cells:IF MODE == 1 ; Tail ; If tail, then exit jmp measure_lipo_exitENDIFmeasure_lipo_start: ; Load programmed low voltage limit mov Temp1, #Pgm_Low_Voltage_Lim ; Load limit mov A, @Temp1 mov Bit_Access, A ; Store in Bit_Access ; Set commutation to BpFET on call comm5comm6 ; Start adc Start_Adc ; Wait for ADC reference to settle, and then start again call wait1ms Start_Adc ; Wait for ADC conversion to completemeasure_lipo_wait_adc: Get_Adc_Status jb AD0BUSY, measure_lipo_wait_adc ; Read ADC result Read_Adc_Result ; Stop ADC Stop_Adc ; Switch power off call switch_power_off ; Set limit step mov Lipo_Adc_Limit_L, #ADC_LIMIT_L mov Lipo_Adc_Limit_H, #ADC_LIMIT_H clr C mov A, #ADC_LIMIT_H ; Divide 3.0V value by 2 rrc A mov Temp6, A mov A, #ADC_LIMIT_L rrc A mov Temp5, A mov A, #ADC_LIMIT_L ; Calculate 1.5*3.0V=4.5V value add A, Temp5 mov Temp5, A mov A, #ADC_LIMIT_H addc A, Temp6 mov Temp6, A mov A, Temp5 ; Copy step mov Temp3, A mov A, Temp6 mov Temp4, Ameasure_lipo_cell_loop: ; Check voltage against xS lower limit clr C mov A, Temp1 subb A, Temp3 ; Voltage above limit? mov A, Temp2 subb A, Temp4 jc measure_lipo_adjust ; No - branch
; Set xS voltage limit mov A, Lipo_Adc_Limit_L add A, #ADC_LIMIT_L mov Lipo_Adc_Limit_L, A mov A, Lipo_Adc_Limit_H addc A, #ADC_LIMIT_H mov Lipo_Adc_Limit_H, A ; Set (x+1)S lower limit mov A, Temp3 add A, Temp5 ; Add step mov Temp3, A mov A, Temp4 addc A, Temp6 mov Temp4, A jmp measure_lipo_cell_loop ; Check for one more battery cell
measure_lipo_adjust: mov Temp7, Lipo_Adc_Limit_L mov Temp8, Lipo_Adc_Limit_H ; Calculate 3.125% clr C mov A, Lipo_Adc_Limit_H rrc A mov Temp2, A mov A, Lipo_Adc_Limit_L rrc A mov Temp1, A ; After this 50% clr C mov A, Temp2 rrc A mov Temp2, A mov A, Temp1 rrc A mov Temp1, A ; After this 25% mov A, Lipo_Adc_Limit_L ; Set adc reference for voltage compensation add A, Temp1 mov Lipo_Adc_Reference_L, A mov A, Lipo_Adc_Limit_H addc A, Temp2 mov Lipo_Adc_Reference_H, A ; Divide three times to get to 3.125% mov Temp3, #3measure_lipo_divide_loop: clr C mov A, Temp2 rrc A mov Temp2, A mov A, Temp1 rrc A mov Temp1, A djnz Temp3, measure_lipo_divide_loop
; Add the programmed number of 0.1V (or 3.125% increments) mov Temp3, Bit_Access ; Load programmed limit (Bit_Access has Pgm_Low_Voltage_Lim) dec Temp3 jnz measure_lipo_limit_on ; Is low voltage limiting on?
mov Lipo_Adc_Limit_L, #0 ; No - set limit to zero mov Lipo_Adc_Limit_H, #0 jmp measure_lipo_exit
measure_lipo_limit_on: dec Temp3 mov A, Temp3 jz measure_lipo_update
measure_lipo_add_loop: mov A, Temp7 ; Add 3.125% add A, Temp1 mov Temp7, A mov A, Temp8 addc A, Temp2 mov Temp8, A djnz Temp3, measure_lipo_add_loop
measure_lipo_update: ; Set ADC limit mov Lipo_Adc_Limit_L, Temp7 mov Lipo_Adc_Limit_H, Temp8measure_lipo_exit: ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Start ADC conversion;; No assumptions;; Start conversion used for measuring power supply voltage;;**** **** **** **** **** **** **** **** **** **** **** **** ****start_adc_conversion: ; Start adc Start_Adc ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Check temperature, power supply voltage and limit power;; No assumptions;; Used to limit main motor power in order to maintain the required voltage;;**** **** **** **** **** **** **** **** **** **** **** **** ****check_temp_voltage_and_limit_power: ; Load programmed low voltage limit mov Temp1, #Pgm_Low_Voltage_Lim mov A, @Temp1 mov Temp8, A ; Store in Temp8 ; Wait for ADC conversion to complete Get_Adc_Status jb AD0BUSY, check_temp_voltage_and_limit_power ; Read ADC result Read_Adc_Result ; Stop ADC Stop_Adc
inc Adc_Conversion_Cnt ; Increment conversion counter clr C mov A, Adc_Conversion_Cnt ; Is conversion count equal to temp rate? subb A, #TEMP_CHECK_RATE jc check_voltage_start ; No - check voltage
mov Adc_Conversion_Cnt, #0 ; Yes - temperature check. Reset counter mov A, Temp2 ; Move ADC MSB to Temp3 mov Temp3, A mov Temp2, #Pgm_Enable_Temp_Prot ; Is temp protection enabled? mov A, @Temp2 jz temp_check_exit ; No - branch
mov A, Temp3 ; Is temperature reading below 256? jnz temp_average_inc_dec ; No - proceed
mov A, Current_Average_Temp ; Yes - decrement average jz temp_average_updated ; Already zero - no change jmp temp_average_dec ; Decrement
temp_average_inc_dec: clr C mov A, Temp1 ; Check if current temperature is above or below average subb A, Current_Average_Temp jz temp_average_updated_load_acc ; Equal - no change
mov A, Current_Average_Temp ; Above - increment average jnc temp_average_inc
jz temp_average_updated ; Below - decrement average if average is not already zerotemp_average_dec: dec A ; Decrement average jmp temp_average_updated
temp_average_inc: inc A ; Increment average jz temp_average_dec jmp temp_average_updated
temp_average_updated_load_acc: mov A, Current_Average_Temptemp_average_updated: mov Current_Average_Temp, A clr C subb A, #TEMP_LIMIT ; Is temperature below first limit? jc temp_check_exit ; Yes - exit
mov Pwm_Limit, #192 ; No - limit pwm
clr C subb A, #TEMP_LIMIT_STEP ; Is temperature below second limit jc temp_check_exit ; Yes - exit
mov Pwm_Limit, #128 ; No - limit pwm
clr C subb A, #TEMP_LIMIT_STEP ; Is temperature below third limit jc temp_check_exit ; Yes - exit
mov Pwm_Limit, #64 ; No - limit pwm
clr C subb A, #TEMP_LIMIT_STEP ; Is temperature below final limit jc temp_check_exit ; Yes - exit
mov Pwm_Limit, #0 ; No - limit pwm
temp_check_exit: Set_Adc_Ip_Volt ; Select adc input for next conversion ret
check_voltage_start:IF MODE == 0 OR MODE == 2 ; Main or multi ; Check if low voltage limiting is enabled mov A, Temp8 clr C subb A, #1 ; Is low voltage limit disabled? jz check_voltage_good ; Yes - voltage declared good
; Check if ADC is saturated clr C mov A, Temp1 subb A, #0FFh mov A, Temp2 subb A, #03h jnc check_voltage_good ; ADC saturated, can not make judgement
; Check voltage against limit clr C mov A, Temp1 subb A, Lipo_Adc_Limit_L mov A, Temp2 subb A, Lipo_Adc_Limit_H jnc check_voltage_good ; If voltage above limit - branch
; Decrease pwm limit mov A, Pwm_Limit jz check_voltage_lim ; If limit zero - branch
dec Pwm_Limit ; Decrement limit jmp check_voltage_lim
check_voltage_good: ; Increase pwm limit mov A, Pwm_Limit cpl A jz check_voltage_lim ; If limit max - branch
inc Pwm_Limit ; Increment limitIF MODE == 2 ; Multi mov Temp1, #Pgm_Direction ; Check if bidirectional operation mov A, @Temp1 cjne A, #3, check_voltage_lim
mov A, Pwm_Limit add A, #4 jc check_voltage_lim ; If limit max - branch
mov Pwm_Limit, A ; Increment limit two steps moreENDIF
check_voltage_lim: mov Temp1, Pwm_Limit ; Set limit clr C mov A, Current_Pwm subb A, Temp1 jnc check_voltage_spoolup_lim ; If current pwm above limit - branch and limit
mov Temp1, Current_Pwm ; Set current pwm (no limiting)
check_voltage_spoolup_lim: ; Slow spoolup clr C mov A, Temp1 subb A, Pwm_Limit_Spoolup jc check_voltage_exit ; If current pwm below limit - branch
mov Temp1, Pwm_Limit_Spoolup mov A, Pwm_Limit_Spoolup ; Check if spoolup limit is max cpl A jz check_voltage_exit ; If max - branch mov Pwm_Limit, Pwm_Limit_Spoolup ; Set pwm limit to spoolup limit during ramp (to avoid governor integral buildup)
check_voltage_exit:IF MODE == 0 ; Main mov Current_Pwm_Limited, Temp1ENDIFIF MODE == 2 ; Multi ; Set current pwm limited if closed loop mode mov Temp2, #Pgm_Gov_Mode ; Governor mode? cjne @Temp2, #4, check_voltage_set_pwm ; Yes - branch ajmp check_voltage_pwm_done
check_voltage_set_pwm: ; Limit pwm for low rpms clr C mov A, Temp1 ; Check against limit subb A, Pwm_Limit_Low_Rpm jc ($+4) ; If current pwm below limit - branch
mov Temp1, Pwm_Limit_Low_Rpm ; Limit pwm
mov Current_Pwm_Limited, Temp1check_voltage_pwm_done:ENDIFENDIFIF MODE == 1 ; Tail ; Increase pwm limit mov A, Pwm_Limit cpl A jz check_voltage_lim ; If limit max - branch
inc Pwm_Limit ; Increment limit
check_voltage_lim:ENDIF ; Set adc mux for next conversion mov A, Adc_Conversion_Cnt ; Is next conversion for temperature? cjne A, #(TEMP_CHECK_RATE-1), check_voltage_ret
Set_Adc_Ip_Temp ; Select temp sensor for next conversion
check_voltage_ret: ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Set startup PWM routine;; Either the SETTLE_PHASE or the STEPPER_PHASE flag must be set;; Used for pwm control during startup;;**** **** **** **** **** **** **** **** **** **** **** **** ****set_startup_pwm: ; Adjust startup power mov A, #PWM_START ; Set power mov Temp2, #Pgm_Startup_Pwr_Decoded mov B, @Temp2 mul AB xch A, B mov C, B.7 ; Multiply result by 2 (unity gain is 128) rlc A mov Temp1, A ; Transfer to Temp1 clr C mov A, Temp1 ; Check against limit subb A, Pwm_Limit jc startup_pwm_set_pwm ; If pwm below limit - branch
mov Temp1, Pwm_Limit ; Limit pwm
startup_pwm_set_pwm: ; Set pwm variables mov Requested_Pwm, Temp1 ; Update requested pwm mov Current_Pwm, Temp1 ; Update current pwm mov Current_Pwm_Limited, Temp1 ; Update limited version of current pwm mov Pwm_Spoolup_Beg, Temp1 ; Yes - update spoolup beginning pwm (will use PWM_SETTLE or PWM_SETTLE/2) ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Initialize all timings routine;; No assumptions;; Part of initialization before motor start;;**** **** **** **** **** **** **** **** **** **** **** **** ****initialize_all_timings: mov Comm_Period4x_L, #00h ; Set commutation period registers mov Comm_Period4x_H, #7Fh ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Calculate next commutation timing routine;; No assumptions;; Called immediately after each commutation; Also sets up timer 3 to wait advance timing; Two entry points are used;;**** **** **** **** **** **** **** **** **** **** **** **** ****calc_next_comm_timing: ; Entry point for run phase ; Read commutation time mov TMR2CN, #20h ; Timer2 disabled mov Temp1, TMR2L ; Load timer value mov Temp2, TMR2H mov TMR2CN, #24h ; Timer2 enabledIF MCU_50MHZ == 1 clr C mov A, Temp2 rrc A mov Temp2, A mov A, Temp1 rrc A mov Temp1, AENDIF ; Calculate this commutation time mov Temp3, Prev_Comm_L mov Temp4, Prev_Comm_H mov Prev_Comm_L, Temp1 ; Store timestamp as previous commutation mov Prev_Comm_H, Temp2 clr C mov A, Temp1 subb A, Temp3 ; Calculate the new commutation time mov Temp1, A mov A, Temp2 subb A, Temp4IF MCU_50MHZ == 1 anl A, #7FhENDIF mov Temp2, A ; Calculate new commutation time mov Temp3, Comm_Period4x_L ; Comm_Period4x(-l-h) holds the time of 4 commutations mov Temp4, Comm_Period4x_H mov Temp5, Comm_Period4x_L ; Copy variables mov Temp6, Comm_Period4x_H mov Temp7, #4 ; Divide Comm_Period4x 4 times as default mov Temp8, #2 ; Divide new commutation time 2 times as default clr C mov A, Temp4 subb A, #04h jc ($+4)
dec Temp7 ; Reduce averaging time constant for low speeds dec Temp8
clr C mov A, Temp4 subb A, #08h jc ($+4)
dec Temp7 ; Reduce averaging time constant more for even lower speeds dec Temp8
calc_next_comm_avg_period_div: clr C mov A, Temp6 rrc A ; Divide by 2 mov Temp6, A mov A, Temp5 rrc A mov Temp5, A djnz Temp7, calc_next_comm_avg_period_div
clr C mov A, Temp3 subb A, Temp5 ; Subtract a fraction mov Temp3, A mov A, Temp4 subb A, Temp6 mov Temp4, A mov A, Temp8 ; Divide new time jz calc_next_comm_new_period_div_done
calc_next_comm_new_period_div: clr C mov A, Temp2 rrc A ; Divide by 2 mov Temp2, A mov A, Temp1 rrc A mov Temp1, A djnz Temp8, calc_next_comm_new_period_div
calc_next_comm_new_period_div_done: mov A, Temp3 add A, Temp1 ; Add the divided new time mov Temp3, A mov A, Temp4 addc A, Temp2 mov Temp4, A mov Comm_Period4x_L, Temp3 ; Store Comm_Period4x_X mov Comm_Period4x_H, Temp4 jc calc_next_comm_slow ; If period larger than 0xffff - go to slow case
ret
calc_next_comm_slow: mov Comm_Period4x_L, #0FFh ; Set commutation period registers to very slow timing (0xffff) mov Comm_Period4x_H, #0FFh ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Wait advance timing routine;; No assumptions;; Waits for the advance timing to elapse and sets up the next zero cross wait;;**** **** **** **** **** **** **** **** **** **** **** **** ****wait_advance_timing: jnb Flags0.T3_PENDING, ($+5) ajmp wait_advance_timing
; Setup next wait time mov Next_Wt_L, Wt_ZC_Timeout_L mov Next_Wt_H, Wt_ZC_Timeout_H setb Flags0.T3_PENDING orl EIE1, #80h ; Enable timer3 interrupts ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Calculate new wait times routine;; No assumptions;; Calculates new wait times;;**** **** **** **** **** **** **** **** **** **** **** **** ****calc_new_wait_times: ; Load programmed commutation timing mov Temp1, #Pgm_Comm_Timing ; Load timing setting mov A, @Temp1 mov Temp8, A ; Store in Temp8 clr C mov A, Demag_Detected_Metric ; Check demag metric subb A, #130 jc ($+3)
inc Temp8 ; Increase timing
clr C mov A, Demag_Detected_Metric subb A, #160 jc ($+3)
inc Temp8 ; Increase timing again
clr C mov A, Temp8 ; Limit timing to max subb A, #6 jc ($+4)
mov Temp8, #5 ; Set timing to max
mov Temp7, #(COMM_TIME_RED SHL 1) dec Temp7 jnb Flags2.PGM_PWMOFF_DAMPED, ($+4) ; More reduction for damped
inc Temp7 ; Increase more
clr C mov A, Comm_Period4x_H ; More reduction for higher rpms subb A, #3 ; 104k eRPM jnc calc_new_wait_per_low
inc Temp7 ; Increase inc Temp7
jnb Flags2.PGM_PWMOFF_DAMPED, calc_new_wait_per_low ; More reduction for damped
inc Temp7 ; Increase more
calc_new_wait_per_low: clr C mov A, Comm_Period4x_H ; More reduction for higher rpms subb A, #2 ; 156k eRPM jnc calc_new_wait_per_high
inc Temp7 ; Increase more inc Temp7
jnb Flags2.PGM_PWMOFF_DAMPED, calc_new_wait_per_high ; More reduction for damped
inc Temp7 ; Increase more
calc_new_wait_per_high: ; Load current commutation timing mov Temp2, Comm_Period4x_H ; Load Comm_Period4x mov Temp1, Comm_Period4x_L mov Temp3, #4 ; Divide 4 timesdivide_wait_times: clr C mov A, Temp2 rrc A ; Divide by 2 mov Temp2, A mov A, Temp1 rrc A mov Temp1, A djnz Temp3, divide_wait_times
clr C mov A, Temp1 subb A, Temp7 mov Temp1, A mov A, Temp2 subb A, #0 mov Temp2, A jc load_min_time ; Check that result is still positive
clr C mov A, Temp1 subb A, #(COMM_TIME_MIN SHL 1) mov A, Temp2 subb A, #0 jnc adjust_timing ; Check that result is still above minumum
load_min_time: mov Temp1, #(COMM_TIME_MIN SHL 1) clr A mov Temp2, A
adjust_timing: mov A, Temp2 ; Copy values mov Temp4, A mov A, Temp1 mov Temp3, A clr C mov A, Temp2 rrc A ; Divide by 2 mov Temp6, A mov A, Temp1 rrc A mov Temp5, A mov Wt_Zc_Timeout_L, Temp1 ; Set 15deg time for zero cross scan timeout mov Wt_Zc_Timeout_H, Temp2 clr C mov A, Temp8 ; (Temp8 has Pgm_Comm_Timing) subb A, #3 ; Is timing normal? jz store_times_decrease ; Yes - branch
mov A, Temp8 jb ACC.0, adjust_timing_two_steps ; If an odd number - branch
mov A, Temp1 ; Add 7.5deg and store in Temp1/2 add A, Temp5 mov Temp1, A mov A, Temp2 addc A, Temp6 mov Temp2, A mov A, Temp5 ; Store 7.5deg in Temp3/4 mov Temp3, A mov A, Temp6 mov Temp4, A jmp store_times_up_or_down
adjust_timing_two_steps: mov A, Temp1 ; Add 15deg and store in Temp1/2 add A, Temp1 mov Temp1, A mov A, Temp2 addc A, Temp2 mov Temp2, A clr C mov A, Temp1 subb A, #(COMM_TIME_MIN SHL 1) mov Temp1, A mov A, Temp2 subb A, #0 mov Temp2, A mov Temp3, #(COMM_TIME_MIN SHL 1) ; Store minimum time in Temp3/4 clr A mov Temp4, A
store_times_up_or_down: clr C mov A, Temp8 subb A, #3 ; Is timing higher than normal? jc store_times_decrease ; No - branch
store_times_increase: mov Wt_Comm_L, Temp3 ; Now commutation time (~60deg) divided by 4 (~15deg nominal) mov Wt_Comm_H, Temp4 mov Wt_Advance_L, Temp1 ; New commutation advance time (~15deg nominal) mov Wt_Advance_H, Temp2 mov Wt_Zc_Scan_L, Temp5 ; Use this value for zero cross scan delay (7.5deg) mov Wt_Zc_Scan_H, Temp6 ret
store_times_decrease: mov Wt_Comm_L, Temp1 ; Now commutation time (~60deg) divided by 4 (~15deg nominal) mov Wt_Comm_H, Temp2 mov Wt_Advance_L, Temp3 ; New commutation advance time (~15deg nominal) mov Wt_Advance_H, Temp4 mov Wt_Zc_Scan_L, Temp5 ; Use this value for zero cross scan delay (7.5deg) mov Wt_Zc_Scan_H, Temp6 ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Wait before zero cross scan routine;; No assumptions;; Waits for the zero cross scan wait time to elapse; Also sets up timer 3 for the zero cross scan timeout time;;**** **** **** **** **** **** **** **** **** **** **** **** ****wait_before_zc_scan: jnb Flags0.T3_PENDING, ($+5) ajmp wait_before_zc_scan
setb Flags0.T3_PENDING orl EIE1, #80h ; Enable timer3 interrupts mov A, Flags1 anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) jz wait_before_zc_exit
mov Temp1, Comm_Period4x_L ; Set long timeout when starting mov Temp2, Comm_Period4x_H ; Break deadlock cyclic patterns during startup mov A, Startup_Ok_Cnt subb A, #8 jnc wait_before_zc_random_done
mov A, Temp1 jb ACC.0, wait_before_zc_random_done ; Use LSB as a random number
mov Temp2, Wt_Zc_Timeout_H
wait_before_zc_random_done:IF MCU_50MHZ == 1 clr C mov A, Temp1 rlc A mov Temp1, A mov A, Temp2 rlc A mov Temp2, AENDIF mov TMR3CN, #00h ; Timer3 disabled clr C clr A subb A, Temp1 ; Set timeout mov TMR3L, A clr A subb A, Temp2 mov TMR3H, A mov TMR3CN, #04h ; Timer3 enabled setb Flags0.T3_PENDING anl TMR3CN, #07Fh ; Clear interrupt flag orl EIE1, #80h ; Enable timer3 interrupts
wait_before_zc_exit: ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Wait for comparator to go low/high routines;; No assumptions;; Waits for the zero cross scan wait time to elapse; Then scans for comparator going low/high;;**** **** **** **** **** **** **** **** **** **** **** **** ****wait_for_comp_out_low: setb Flags0.DEMAG_DETECTED ; Set demag detected flag as default mov Comparator_Read_Cnt, #0 ; Reset number of comparator reads mov Bit_Access, #00h ; Desired comparator output jmp wait_for_comp_out_start
wait_for_comp_out_high: setb Flags0.DEMAG_DETECTED ; Set demag detected flag as default mov Comparator_Read_Cnt, #0 ; Reset number of comparator reads mov Bit_Access, #40h ; Desired comparator output
wait_for_comp_out_start: mov A, Flags1 ; Clear demag detected flag if start phases anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) jz ($+4) clr Flags0.DEMAG_DETECTED
setb EA ; Enable interrupts jb Flags0.T3_PENDING, wait_for_comp_out_not_timed_out; Has zero cross scan timeout elapsed?
mov A, Comparator_Read_Cnt ; Check that comparator has been read jz wait_for_comp_out_not_timed_out ; If not read - branch
ret ; Return
wait_for_comp_out_not_timed_out: ; Set number of comparator readings mov Temp1, #1 ; Number of OK readings required mov Temp3, #2 ; Number of fast consecutive readings clr C ; Set number of readings higher for lower speeds mov A, Comm_Period4x_H subb A, #05h jc ($+4)
mov Temp1, #2
clr C mov A, Comm_Period4x_H subb A, #0Ah jc ($+4)
mov Temp1, #3
clr C ; Set number of consecutive readings higher for lower speeds mov A, Comm_Period4x_H subb A, #0Fh jc ($+4)
mov Temp3, #3
jnb Flags1.STARTUP_PHASE, comp_wait_on_comp_able ; Set many samples during startup
mov Temp1, #30 mov Temp3, #1
comp_wait_on_comp_able: jb Flags0.T3_PENDING, comp_wait_on_comp_able_not_timed_out ; Has zero cross scan timeout elapsed?
mov A, Comparator_Read_Cnt ; Check that comparator has been read jz comp_wait_on_comp_able_not_timed_out ; If not read - branch
setb EA ; Enable interrupts ret ; Yes - return
comp_wait_on_comp_able_not_timed_out: setb EA ; Enable interrupts nop ; Allocate only just enough time to capture interrupt nop clr EA ; Disable interrupts clr C mov A, Comm_Period4x_H ; Reduce required distance to pwm transition for higher speeds mov Temp4, A subb A, #0Fh jc ($+4)
mov Temp4, #0Fh
mov A, Temp4 inc A jnb Flags2.PGM_PWM_HIGH_FREQ, ($+4) ; More delay for high pwm frequency
rl A
jb Flags0.PWM_ON, ($+4) ; More delay for pwm off
rl A
mov Temp2, A jnb Flags1.STARTUP_PHASE, ($+5) ; Set a long delay from pwm on/off events during startup
mov Temp2, #130
IF MCU_50MHZ == 0 mov A, TL1ELSE mov A, TH1 rrc A mov A, TL1 rrc AENDIF clr C subb A, Temp2 jc comp_wait_on_comp_able ; Re-evaluate pwm cycle
inc Comparator_Read_Cnt ; Increment comparator read count mov A, Temp3 mov Temp4, Aread_comp_loop: Read_Comp_Out ; Read comparator output anl A, #40h cjne A, Bit_Access, comp_read_wrong djnz Temp4, read_comp_loop ; Decrement readings count ajmp comp_read_ok comp_read_wrong: jb Flags0.DEMAG_DETECTED, ($+5) ajmp wait_for_comp_out_start ; If comparator output is not correct, and timeout already extended - go back and restart
clr Flags0.DEMAG_DETECTED ; Clear demag detected flag mov TMR3CN, #00h ; Timer3 disabled mov Temp7, Comm_Period4x_L ; Set timeout to comm period 4x value mov Temp8, Comm_Period4x_HIF MCU_50MHZ == 1 clr C mov A, Temp7 rlc A mov Temp7, A mov A, Temp8 rlc A mov Temp8, AENDIF clr C clr A subb A, Temp7 mov TMR3L, A clr A subb A, Temp8 mov TMR3H, A mov TMR3CN, #04h ; Timer3 enabled setb Flags0.T3_PENDING anl TMR3CN, #07Fh ; Clear interrupt flag in case there are pending interrupts orl EIE1, #80h ; Enable timer3 interrupts ajmp wait_for_comp_out_start ; If comparator output is not correct - go back and restart
comp_read_ok: jnb Flags0.DEMAG_DETECTED, ($+5) ; Do not accept correct comparator output if it is demag ajmp wait_for_comp_out_start
djnz Temp1, comp_wait_on_comp_able ; Decrement readings counter - repeat comparator reading if not zero
setb EA ; Enable interrupts ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Evaluate comparator integrity;; No assumptions;; Checks comparator signal behaviour versus expected behaviour;;**** **** **** **** **** **** **** **** **** **** **** **** ****evaluate_comparator_integrity: jnb Flags1.STARTUP_PHASE, eval_comp_check_timeout
inc Startup_Ok_Cnt ; Increment ok counter jb Flags0.T3_PENDING, eval_comp_exit
mov Startup_Ok_Cnt, #0 ; Reset ok counter jmp eval_comp_exit
eval_comp_check_timeout: jb Flags0.T3_PENDING, eval_comp_exit ; Has timeout elapsed? jb Flags0.DEMAG_DETECTED, eval_comp_exit ; Do not exit run mode if it is a demag situation jb Flags1.DIR_CHANGE_BRAKE, eval_comp_exit ; Do not exit run mode if it is a direction change brake dec SP ; Routine exit without "ret" command dec SP ljmp run_to_wait_for_power_on ; Yes - exit run mode
eval_comp_exit: ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Setup commutation timing routine;; No assumptions;; Sets up and starts wait from commutation to zero cross;;**** **** **** **** **** **** **** **** **** **** **** **** ****setup_comm_wait: mov Temp1, Wt_Comm_L ; Set wait commutation value mov Temp2, Wt_Comm_HIF MCU_50MHZ == 1 clr C mov A, Temp1 rlc A mov Temp1, A mov A, Temp2 rlc A mov Temp2, AENDIF mov TMR3CN, #00h ; Timer3 disabled anl TMR3CN, #07Fh ; Clear interrupt flag clr C clr A subb A, Temp1 mov TMR3L, A clr A subb A, Temp2 mov TMR3H, A mov TMR3CN, #04h ; Timer3 enabled ; Setup next wait time mov Next_Wt_L, Wt_Advance_L mov Next_Wt_H, Wt_Advance_H setb Flags0.T3_PENDING orl EIE1, #80h ; Enable timer3 interrupts ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Wait for commutation routine;; No assumptions;; Waits from zero cross to commutation ;;**** **** **** **** **** **** **** **** **** **** **** **** ****wait_for_comm: ; Update demag metric mov Temp1, #0 jnb Flags0.DEMAG_ENABLED, ($+8); If demag disabled - branch jnb Flags0.DEMAG_DETECTED, ($+5)
mov Temp1, #1
mov A, Demag_Detected_Metric ; Sliding average of 8, 256 when demag and 0 when not. Limited to minimum 120 mov B, #7 mul AB ; Multiply by 7 mov Temp2, A mov A, B ; Add new value for current demag status add A, Temp1 mov B, A mov A, Temp2 mov C, B.0 ; Divide by 8 rrc A mov C, B.1 rrc A mov C, B.2 rrc A mov Demag_Detected_Metric, A clr C subb A, #120 ; Limit to minimum 120 jnc ($+5)
mov Demag_Detected_Metric, #120
clr C mov A, Demag_Detected_Metric ; Check demag metric subb A, Demag_Pwr_Off_Thresh jc wait_for_comm_wait ; Cut power if many consecutive demags. This will help retain sync during hard accelerations
setb Flags0.DEMAG_CUT_POWER ; Set demag power cut flag All_nFETs_off
wait_for_comm_wait: jnb Flags0.T3_PENDING, ($+5) ajmp wait_for_comm_wait
; Setup next wait time mov Next_Wt_L, Wt_Zc_Scan_L mov Next_Wt_H, Wt_Zc_Scan_H setb Flags0.T3_PENDING orl EIE1, #80h ; Enable timer3 interrupts ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Commutation routines;; No assumptions;; Performs commutation switching ; Damped routines uses all pfets on when in pwm off to dampen the motor;;**** **** **** **** **** **** **** **** **** **** **** **** ****comm1comm2: Set_RPM_Out clr EA ; Disable all interrupts All_pFETs_off ; All pfets off jnb Flags2.PGM_PWMOFF_DAMPED, comm12_nondamp mov DPTR, #pwm_cnfet_apfet_on mov A, #NFETON_DELAY ; Delay djnz ACC, $ jmp comm12_prech_done ; Do not do precharge when running dampedcomm12_nondamp:IF HIGH_DRIVER_PRECHG_TIME NE 0 ; Precharge high side gate driver mov A, Comm_Period4x_H anl A, #0F8h ; Check if comm period is less than 8 jz comm12_prech_done AnFET_on mov A, #HIGH_DRIVER_PRECHG_TIME djnz ACC, $ AnFET_off mov A, #PFETON_DELAY djnz ACC, $ENDIFcomm12_prech_done: ApFET_on ; Ap on Set_Comp_Phase_B ; Set comparator to phase B mov Comm_Phase, #2 jmp comm_exit
comm2comm3: Clear_RPM_Out clr EA ; Disable all interrupts CnFET_off ; Cn off jnb Flags2.PGM_PWMOFF_DAMPED, comm23_nondamp mov DPTR, #pwm_bnfet_apfet_on BpFET_off CpFET_off mov A, #NFETON_DELAY ; Delay djnz ACC, $ jmp comm23_nfetcomm23_nondamp: mov DPTR, #pwm_bfet_on comm23_nfet: jnb Flags0.PWM_ON, comm23_cp ; Is pwm on? BnFET_on ; Yes - Bn oncomm23_cp: Set_Comp_Phase_C ; Set comparator to phase C mov Comm_Phase, #3 jmp comm_exit
comm3comm4: clr EA ; Disable all interrupts All_pFETs_off ; All pfets off jnb Flags2.PGM_PWMOFF_DAMPED, comm34_nondamp mov DPTR, #pwm_bnfet_cpfet_on mov A, #NFETON_DELAY ; Delay djnz ACC, $ jmp comm34_prech_done ; Do not do precharge when running dampedcomm34_nondamp:IF HIGH_DRIVER_PRECHG_TIME NE 0 ; Precharge high side gate driver mov A, Comm_Period4x_H anl A, #0F8h ; Check if comm period is less than 8 jz comm34_prech_done CnFET_on mov A, #HIGH_DRIVER_PRECHG_TIME djnz ACC, $ CnFET_off mov A, #PFETON_DELAY djnz ACC, $ENDIFcomm34_prech_done: CpFET_on ; Cp on Set_Comp_Phase_A ; Set comparator to phase A mov Comm_Phase, #4 jmp comm_exit
comm4comm5: clr EA ; Disable all interrupts BnFET_off ; Bn off jnb Flags2.PGM_PWMOFF_DAMPED, comm45_nondamp mov DPTR, #pwm_anfet_cpfet_on ApFET_off BpFET_off mov A, #NFETON_DELAY ; Delay djnz ACC, $ jmp comm45_nfetcomm45_nondamp: mov DPTR, #pwm_afet_oncomm45_nfet: jnb Flags0.PWM_ON, comm45_cp ; Is pwm on? AnFET_on ; Yes - An oncomm45_cp: Set_Comp_Phase_B ; Set comparator to phase B mov Comm_Phase, #5 jmp comm_exit
comm5comm6: clr EA ; Disable all interrupts All_pFETs_off ; All pfets off jnb Flags2.PGM_PWMOFF_DAMPED, comm56_nondamp mov DPTR, #pwm_anfet_bpfet_on mov A, #NFETON_DELAY ; Delay djnz ACC, $ jmp comm56_prech_done ; Do not do precharge when running dampedcomm56_nondamp:IF HIGH_DRIVER_PRECHG_TIME NE 0 ; Precharge high side gate driver mov A, Comm_Period4x_H anl A, #0F8h ; Check if comm period is less than 8 jz comm56_prech_done BnFET_on mov A, #HIGH_DRIVER_PRECHG_TIME djnz ACC, $ BnFET_off mov A, #PFETON_DELAY djnz ACC, $ENDIFcomm56_prech_done: BpFET_on ; Bp on Set_Comp_Phase_C ; Set comparator to phase C mov Comm_Phase, #6 jmp comm_exit
comm6comm1: clr EA ; Disable all interrupts AnFET_off ; An off jnb Flags2.PGM_PWMOFF_DAMPED, comm61_nondamp mov DPTR, #pwm_cnfet_bpfet_on ApFET_off CpFET_off mov A, #NFETON_DELAY ; Delay djnz ACC, $ jmp comm61_nfetcomm61_nondamp: mov DPTR, #pwm_cfet_oncomm61_nfet: jnb Flags0.PWM_ON, comm61_cp ; Is pwm on? CnFET_on ; Yes - Cn oncomm61_cp: Set_Comp_Phase_A ; Set comparator to phase A mov Comm_Phase, #1
comm_exit:IF MODE >= 1 ; Tail or multi jnb Flags1.DIR_CHANGE_BRAKE, comm_dir_change_done ; Is it a direction change?
call switch_power_off ; Switch off power mov A, #NFETON_DELAY ; Delay djnz ACC, $ mov A, #PFETON_DELAY ; Delay djnz ACC, $ All_pFETs_on ; All pfets on - Break
comm_dir_change_done:ENDIF clr Flags0.DEMAG_CUT_POWER ; Clear demag power cut flag setb EA ; Enable all interrupts ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Switch power off routine;; No assumptions;; Switches all fets off ;;**** **** **** **** **** **** **** **** **** **** **** **** ****switch_power_off: mov DPTR, #pwm_nofet_on ; Set DPTR register to pwm_nofet_on label All_nFETs_Off ; Turn off all nfets All_pFETs_Off ; Turn off all pfets clr Flags0.PWM_ON ; Set pwm cycle to pwm off ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Set default parameters;; No assumptions;; Sets default programming parameters;;**** **** **** **** **** **** **** **** **** **** **** **** ****set_default_parameters:IF MODE == 0 ; Main mov Temp1, #Pgm_Gov_P_Gain mov @Temp1, #DEFAULT_PGM_MAIN_P_GAIN inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_I_GAIN inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_GOVERNOR_MODE inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_LOW_VOLTAGE_LIM inc Temp1 mov @Temp1, #0FFh ; Motor gain inc Temp1 mov @Temp1, #0FFh ; Motor idle inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_PWR inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_PWM_FREQ inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_DIRECTION inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_RCP_PWM_POL
mov Temp1, #Pgm_Enable_TX_Program mov @Temp1, #DEFAULT_PGM_ENABLE_TX_PROGRAM inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_REARM_START inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_GOV_SETUP_TARGET inc Temp1 mov @Temp1, #0FFh ; Startup rpm inc Temp1 mov @Temp1, #0FFh ; Startup accel inc Temp1 mov @Temp1, #0FFh ; Voltage comp inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_COMM_TIMING inc Temp1 mov @Temp1, #0FFh ; Damping force inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_GOVERNOR_RANGE inc Temp1 mov @Temp1, #0FFh ; Startup method inc Temp1 mov @Temp1, #DEFAULT_PGM_PPM_MIN_THROTTLE inc Temp1 mov @Temp1, #DEFAULT_PGM_PPM_MAX_THROTTLE inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_BEEP_STRENGTH inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_BEACON_STRENGTH inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_BEACON_DELAY inc Temp1 mov @Temp1, #0FFh ; Throttle rate inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_DEMAG_COMP inc Temp1 mov @Temp1, #DEFAULT_PGM_BEC_VOLTAGE_HIGH inc Temp1 mov @Temp1, #DEFAULT_PGM_PPM_CENTER_THROTTLE inc Temp1 mov @Temp1, #DEFAULT_PGM_MAIN_SPOOLUP_TIME inc Temp1 mov @Temp1, #DEFAULT_PGM_ENABLE_TEMP_PROTENDIFIF MODE == 1 ; Tail mov Temp1, #Pgm_Gov_P_Gain mov @Temp1, #0FFh inc Temp1 mov @Temp1, #0FFh ; Governor I gain inc Temp1 mov @Temp1, #0FFh ; Governor mode inc Temp1 mov @Temp1, #0FFh ; Low voltage limit inc Temp1 mov @Temp1, #DEFAULT_PGM_TAIL_GAIN inc Temp1 mov @Temp1, #DEFAULT_PGM_TAIL_IDLE_SPEED inc Temp1 mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_PWR inc Temp1 mov @Temp1, #DEFAULT_PGM_TAIL_PWM_FREQ inc Temp1 mov @Temp1, #DEFAULT_PGM_TAIL_DIRECTION inc Temp1 mov @Temp1, #DEFAULT_PGM_TAIL_RCP_PWM_POL
mov Temp1, #Pgm_Enable_TX_Program mov @Temp1, #DEFAULT_PGM_ENABLE_TX_PROGRAM inc Temp1 mov @Temp1, #0FFh ; Main rearm start inc Temp1 mov @Temp1, #0FFh ; Governor setup target inc Temp1 mov @Temp1, #0FFh ; Startup rpm inc Temp1 mov @Temp1, #0FFh ; Startup accel inc Temp1 mov @Temp1, #0FFh ; Voltage comp inc Temp1 mov @Temp1, #DEFAULT_PGM_TAIL_COMM_TIMING inc Temp1 mov @Temp1, #0FFh ; Damping force inc Temp1 mov @Temp1, #0FFh ; Governor range inc Temp1 mov @Temp1, #0FFh ; Startup method inc Temp1 mov @Temp1, #DEFAULT_PGM_PPM_MIN_THROTTLE inc Temp1 mov @Temp1, #DEFAULT_PGM_PPM_MAX_THROTTLE inc Temp1 mov @Temp1, #DEFAULT_PGM_TAIL_BEEP_STRENGTH inc Temp1 mov @Temp1, #DEFAULT_PGM_TAIL_BEACON_STRENGTH inc Temp1 mov @Temp1, #DEFAULT_PGM_TAIL_BEACON_DELAY inc Temp1 mov @Temp1, #0FFh ; Throttle rate inc Temp1 mov @Temp1, #DEFAULT_PGM_TAIL_DEMAG_COMP inc Temp1 mov @Temp1, #DEFAULT_PGM_BEC_VOLTAGE_HIGH inc Temp1 mov @Temp1, #DEFAULT_PGM_PPM_CENTER_THROTTLE inc Temp1 mov @Temp1, #0FFh inc Temp1 mov @Temp1, #DEFAULT_PGM_ENABLE_TEMP_PROTENDIFIF MODE == 2 ; Multi mov Temp1, #Pgm_Gov_P_Gain mov @Temp1, #DEFAULT_PGM_MULTI_P_GAIN inc Temp1 mov @Temp1, #DEFAULT_PGM_MULTI_I_GAIN inc Temp1 mov @Temp1, #DEFAULT_PGM_MULTI_GOVERNOR_MODE inc Temp1 mov @Temp1, #DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM inc Temp1 mov @Temp1, #DEFAULT_PGM_MULTI_GAIN inc Temp1 mov @Temp1, #0FFh inc Temp1 mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_PWR inc Temp1 mov @Temp1, #DEFAULT_PGM_MULTI_PWM_FREQ inc Temp1 mov @Temp1, #DEFAULT_PGM_MULTI_DIRECTION inc Temp1 mov @Temp1, #DEFAULT_PGM_MULTI_RCP_PWM_POL
mov Temp1, #Pgm_Enable_TX_Program mov @Temp1, #DEFAULT_PGM_ENABLE_TX_PROGRAM inc Temp1 mov @Temp1, #0FFh ; Main rearm start inc Temp1 mov @Temp1, #0FFh ; Governor setup target inc Temp1 mov @Temp1, #0FFh ; Startup rpm inc Temp1 mov @Temp1, #0FFh ; Startup accel inc Temp1 mov @Temp1, #0FFh ; Voltage comp inc Temp1 mov @Temp1, #DEFAULT_PGM_MULTI_COMM_TIMING inc Temp1 mov @Temp1, #0FFh ; Damping force inc Temp1 mov @Temp1, #0FFh ; Governor range inc Temp1 mov @Temp1, #0FFh ; Startup method inc Temp1 mov @Temp1, #DEFAULT_PGM_PPM_MIN_THROTTLE inc Temp1 mov @Temp1, #DEFAULT_PGM_PPM_MAX_THROTTLE inc Temp1 mov @Temp1, #DEFAULT_PGM_MULTI_BEEP_STRENGTH inc Temp1 mov @Temp1, #DEFAULT_PGM_MULTI_BEACON_STRENGTH inc Temp1 mov @Temp1, #DEFAULT_PGM_MULTI_BEACON_DELAY inc Temp1 mov @Temp1, #0FFh ; Throttle rate inc Temp1 mov @Temp1, #DEFAULT_PGM_MULTI_DEMAG_COMP inc Temp1 mov @Temp1, #DEFAULT_PGM_BEC_VOLTAGE_HIGH inc Temp1 mov @Temp1, #DEFAULT_PGM_PPM_CENTER_THROTTLE inc Temp1 mov @Temp1, #0FFh inc Temp1 mov @Temp1, #DEFAULT_PGM_ENABLE_TEMP_PROTENDIF ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Decode parameters;; No assumptions;; Decodes programming parameters;;**** **** **** **** **** **** **** **** **** **** **** **** ****decode_parameters: ; Load programmed pwm frequency mov Temp1, #Pgm_Pwm_Freq ; Load pwm freq mov A, @Temp1 mov Temp8, A ; Store in Temp8 clr Flags2.PGM_PWMOFF_DAMPEDIF DAMPED_MODE_ENABLE == 1 cjne Temp8, #3, ($+5) setb Flags2.PGM_PWMOFF_DAMPEDENDIF ; Load programmed direction mov Temp1, #Pgm_Direction IF MODE >= 1 ; Tail or multi mov A, @Temp1 clr C subb A, #3 jz decode_params_dir_setENDIF
clr Flags3.PGM_DIR_REV mov A, @Temp1 jnb ACC.1, ($+5) setb Flags3.PGM_DIR_REVdecode_params_dir_set: clr Flags3.PGM_RCP_PWM_POL mov Temp1, #Pgm_Input_Pol mov A, @Temp1 jnb ACC.1, ($+5) setb Flags3.PGM_RCP_PWM_POL clr C mov A, Temp8 subb A, #2 jz decode_pwm_freq_low
mov CKCON, #01h ; Timer0 set for clk/4 (22kHz pwm) setb Flags2.PGM_PWM_HIGH_FREQ jmp decode_pwm_freq_end
decode_pwm_freq_low: mov CKCON, #00h ; Timer0 set for clk/12 (8kHz pwm) clr Flags2.PGM_PWM_HIGH_FREQ
decode_pwm_freq_end: ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Decode governor gain;; No assumptions;; Decodes governor gains;;**** **** **** **** **** **** **** **** **** **** **** **** ****decode_governor_gains: ; Decode governor gains mov Temp1, #Pgm_Gov_P_Gain ; Decode governor P gain mov A, @Temp1 dec A mov DPTR, #GOV_GAIN_TABLE movc A, @A+DPTR mov Temp1, #Pgm_Gov_P_Gain_Decoded mov @Temp1, A mov Temp1, #Pgm_Gov_I_Gain ; Decode governor I gain mov A, @Temp1 dec A mov DPTR, #GOV_GAIN_TABLE movc A, @A+DPTR mov Temp1, #Pgm_Gov_I_Gain_Decoded mov @Temp1, A call switch_power_off ; Reset DPTR ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Decode startup power;; No assumptions;; Decodes startup power;;**** **** **** **** **** **** **** **** **** **** **** **** ****decode_startup_power: ; Decode startup power mov Temp1, #Pgm_Startup_Pwr mov A, @Temp1 dec A mov DPTR, #STARTUP_POWER_TABLE movc A, @A+DPTR mov Temp1, #Pgm_Startup_Pwr_Decoded mov @Temp1, A call switch_power_off ; Reset DPTR ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Decode main spoolup time;; No assumptions;; Decodes main spoolup time;;**** **** **** **** **** **** **** **** **** **** **** **** ****decode_main_spoolup_time:IF MODE == 0 ; Main ; Decode spoolup time mov Temp1, #Pgm_Main_Spoolup_Time mov A, @Temp1 mov Temp1, A ; Store jnz ($+3) ; If not zero - branch inc Temp1
clr C mov A, Temp1 subb A, #17 ; Limit to 17 max jc ($+4)
mov Temp1, #17
mov A, Temp1 add A, Temp1 add A, Temp1 ; Now 3x mov Main_Spoolup_Time_3x, A add A, Main_Spoolup_Time_3x add A, Main_Spoolup_Time_3x add A, Temp1 ; Now 10x mov Main_Spoolup_Time_10x, A add A, Main_Spoolup_Time_3x add A, Temp1 add A, Temp1 ; Now 15x mov Main_Spoolup_Time_15x, AENDIF ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Decode demag compensation;; No assumptions;; Decodes demag comp;;**** **** **** **** **** **** **** **** **** **** **** **** ****decode_demag_comp: ; Decode demag compensation mov Temp1, #Pgm_Demag_Comp mov A, @Temp1 mov Demag_Pwr_Off_Thresh, #255 ; Set default mov Low_Rpm_Pwr_Slope, #12 ; Set default cjne A, #2, decode_demag_high
mov Demag_Pwr_Off_Thresh, #160 ; Settings for demag comp low mov Low_Rpm_Pwr_Slope, #10
decode_demag_high: cjne A, #3, decode_demag_done
mov Demag_Pwr_Off_Thresh, #130 ; Settings for demag comp high mov Low_Rpm_Pwr_Slope, #5
decode_demag_done: ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Set BEC voltage;; No assumptions;; Sets the BEC output voltage low or high;;**** **** **** **** **** **** **** **** **** **** **** **** ****set_bec_voltage: ; Set bec voltageIF HIGH_BEC_VOLTAGE == 1 Set_BEC_Lo ; Set default to low mov Temp1, #Pgm_BEC_Voltage_High mov A, @Temp1 jz set_bec_voltage_exit
Set_BEC_Hi ; Set to high
set_bec_voltage_exit:ENDIFIF HIGH_BEC_VOLTAGE == 2 Set_BEC_0 ; Set default to low mov Temp1, #Pgm_BEC_Voltage_High mov A, @Temp1 cjne A, #1, set_bec_voltage_2
Set_BEC_1 ; Set to level 1
set_bec_voltage_2: cjne A, #2, set_bec_voltage_exit
Set_BEC_2 ; Set to level 2
set_bec_voltage_exit:ENDIF ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Find throttle gain;; The difference between max and min throttle must be more than 520us (a Pgm_Ppm_xxx_Throttle difference of 130);; Finds throttle gain from throttle calibration values;;**** **** **** **** **** **** **** **** **** **** **** **** ****find_throttle_gain: ; Load programmed minimum and maximum throttle mov Temp1, #Pgm_Ppm_Min_Throttle mov A, @Temp1 mov Temp3, A mov Temp1, #Pgm_Ppm_Max_Throttle mov A, @Temp1 mov Temp4, A ; Check if full range is chosen jnb Flags3.FULL_THROTTLE_RANGE, find_throttle_gain_calculate
mov Temp3, #0 mov Temp4, #255
find_throttle_gain_calculate: ; Calculate difference clr C mov A, Temp4 subb A, Temp3 mov Temp5, A ; Check that difference is minimum 130 clr C subb A, #130 jnc ($+4)
mov Temp5, #130
; Find gain mov Ppm_Throttle_Gain, #0test_throttle_gain: inc Ppm_Throttle_Gain mov A, Temp5 mov B, Ppm_Throttle_Gain ; A has difference, B has gain mul AB clr C mov A, B subb A, #128 jc test_throttle_gain ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Average throttle ;; Outputs result in Temp3;; Averages throttle calibration readings;;**** **** **** **** **** **** **** **** **** **** **** **** ****average_throttle: setb Flags3.FULL_THROTTLE_RANGE ; Set range to 1000-2020us call find_throttle_gain ; Set throttle gain call wait30ms mov Temp3, #0 mov Temp4, #0 mov Temp5, #16 ; Average 16 measurmentsaverage_throttle_meas: call wait3ms ; Wait for new RC pulse value mov A, New_Rcp ; Get new RC pulse value add A, Temp3 mov Temp3, A mov A, #0 addc A, Temp4 mov Temp4, A djnz Temp5, average_throttle_meas
mov Temp5, #4 ; Shift 4 timesaverage_throttle_div: clr C mov A, Temp4 ; Shift right rrc A mov Temp4, A mov A, Temp3 rrc A mov Temp3, A djnz Temp5, average_throttle_div
mov Temp7, A ; Copy to Temp7 clr Flags3.FULL_THROTTLE_RANGE call find_throttle_gain ; Set throttle gain ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;**** **** **** **** **** **** **** **** **** **** **** **** ****;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Main program start;;**** **** **** **** **** **** **** **** **** **** **** **** ****;**** **** **** **** **** **** **** **** **** **** **** **** ****;**** **** **** **** **** **** **** **** **** **** **** **** ****
reset: ; Check flash lock byte mov A, RSTSRC jb ACC.6, ($+6) ; Check if flash access error was reset source
mov Bit_Access, #0 ; No - then this is the first try
inc Bit_Access mov DPTR, #LOCK_BYTE_ADDRESS_16K ; First try is for 16k flash size mov A, Bit_Access dec A jz lock_byte_test
mov DPTR, #LOCK_BYTE_ADDRESS_8K ; Second try is for 8k flash size dec A jz lock_byte_test
lock_byte_test: movc A, @A+DPTR ; Read lock byte inc A jz lock_byte_ok ; If lock byte is 0xFF, then start code execution
IF ONE_S_CAPABLE == 0 mov RSTSRC, #12h ; Generate hardware reset and set VDD monitorELSE mov RSTSRC, #10h ; Generate hardware reset and disable VDD monitorENDIF
lock_byte_ok: ; Select register bank 0 for main program routines clr PSW.3 ; Select register bank 0 for main program routines ; Disable the WDT. anl PCA0MD, #NOT(40h) ; Clear watchdog enable bit ; Initialize stack mov SP, #0c0h ; Stack = 64 upper bytes of RAM ; Initialize VDD monitor orl VDM0CN, #080h ; Enable the VDD monitor call wait1ms ; Wait at least 100usIF ONE_S_CAPABLE == 0 mov RSTSRC, #02h ; Set VDD monitor as a reset source (PORSF) if not 1S capable ELSE mov RSTSRC, #00h ; Do not set VDD monitor as a reset source for 1S ESCSs, in order to avoid resets due to it ENDIF ; Set clock frequency orl OSCICN, #03h ; Set clock divider to 1 mov A, OSCICL add A, #04h ; 24.5MHz to 25MHz (~0.5% per step) jb ACC.7, reset_cal_done ; Is carry (7bit) set? - skip next instruction
mov OSCICL, A
reset_cal_done: ; Switch power off call switch_power_off ; Ports initialization mov P0, #P0_INIT mov P0MDOUT, #P0_PUSHPULL mov P0MDIN, #P0_DIGITAL mov P0SKIP, #P0_SKIP mov P1, #P1_INIT mov P1MDOUT, #P1_PUSHPULL mov P1MDIN, #P1_DIGITAL mov P1SKIP, #P1_SKIP IF PORT3_EXIST == 1 mov P2, #P2_INIT ENDIF mov P2MDOUT, #P2_PUSHPULL IF PORT3_EXIST == 1 mov P2MDIN, #P2_DIGITAL mov P2SKIP, #P2_SKIP mov P3, #P3_INIT mov P3MDOUT, #P3_PUSHPULL mov P3MDIN, #P3_DIGITAL ENDIF ; Initialize the XBAR and related functionality Initialize_Xbar ; Set default programmed parameters call set_default_parameters ; Read all programmed parameters call read_all_eeprom_parameters ; Set beep strength mov Temp1, #Pgm_Beep_Strength mov Beep_Strength, @Temp1 ; Initializing beep clr EA ; Disable interrupts explicitly call wait200ms call beep_f1 call wait30ms call beep_f2 call wait30ms call beep_f3 call wait30msIF MODE <= 1 ; Main or tail ; Wait for receiver to initialize call wait1s call wait200ms call wait200ms call wait100msENDIF
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; No signal entry point;;**** **** **** **** **** **** **** **** **** **** **** **** ****init_no_signal: ; Disable interrupts explicitly clr EA ; Clear RAM clr A ; Clear accumulator mov Temp1, A ; Clear Temp1clear_ram: mov @Temp1, A ; Clear RAM djnz Temp1, clear_ram ; Is A not zero? - jump ; Check if input signal is high for more than 10ms mov Temp1, #200input_high_check_1: mov Temp2, #200input_high_check_2: jnb RTX_PORT.RTX_PIN, bootloader_done ; Look for low djnz Temp2, input_high_check_2 djnz Temp1, input_high_check_1
ljmp 1C00h ; Jump to bootloader
bootloader_done: ; Set default programmed parameters call set_default_parameters ; Read all programmed parameters call read_all_eeprom_parameters ; Decode parameters call decode_parameters ; Decode governor gains call decode_governor_gains ; Decode startup power call decode_startup_power ; Decode main spoolup time call decode_main_spoolup_time ; Decode demag compensation call decode_demag_comp ; Set BEC voltage call set_bec_voltage ; Find throttle gain from stored min and max settings call find_throttle_gain ; Set beep strength mov Temp1, #Pgm_Beep_Strength mov Beep_Strength, @Temp1 ; Switch power off call switch_power_off ; Set clock frequencyIF MCU_50MHZ == 1 Set_MCU_Clk_25MHzENDIF ; Timer control mov TCON, #50h ; Timer0 and timer1 enabled ; Timer mode mov TMOD, #12h ; Timer0 as 8bit, timer1 as 16bit ; Timer2: clk/12 for 128us and 32ms interrupts mov TMR2CN, #24h ; Timer2 enabled, low counter interrups enabled ; Timer3: clk/12 for commutation timing mov TMR3CN, #04h ; Timer3 enabled ; PCA mov PCA0CN, #40h ; PCA enabled ; Enable interrupts mov IE, #22h ; Enable timer0 and timer2 interrupts mov IP, #02h ; High priority to timer0 interrupts mov EIE1, #90h ; Enable timer3 and PCA0 interrupts ; Initialize comparator mov CPT0CN, #80h ; Comparator enabled, no hysteresis mov CPT0MD, #00h ; Comparator response time 100nsIF COMP1_USED == 1 mov CPT1CN, #80h ; Comparator enabled, no hysteresis mov CPT1MD, #00h ; Comparator response time 100nsENDIF ; Initialize ADC Initialize_Adc ; Initialize ADC operation call wait1ms setb EA ; Enable all interrupts ; Measure number of lipo cells call Measure_Lipo_Cells ; Measure number of lipo cells ; Initialize rc pulse Rcp_Int_Enable ; Enable interrupt Rcp_Clear_Int_Flag ; Clear interrupt flag clr Flags2.RCP_EDGE_NO ; Set first edge flag call wait200ms ; Set initial arm variable mov Initial_Arm, #1
; Measure PWM frequencymeasure_pwm_freq_init: setb Flags0.RCP_MEAS_PWM_FREQ ; Set measure pwm frequency flag mov Temp4, #3 ; Number of attempts before going back to detect input signalmeasure_pwm_freq_start: mov Temp3, #12 ; Number of pulses to measuremeasure_pwm_freq_loop: ; Check if period diff was accepted mov A, Rcp_Period_Diff_Accepted jnz measure_pwm_freq_wait
mov Temp3, #12 ; Reset number of pulses to measure djnz Temp4, ($+4) ; If it is not zero - proceed ajmp init_no_signal ; Go back to detect input signal
measure_pwm_freq_wait: call wait30ms ; Wait 30ms for new pulse jb Flags2.RCP_UPDATED, ($+5) ; Is there an updated RC pulse available - proceed ajmp init_no_signal ; Go back to detect input signal
clr Flags2.RCP_UPDATED ; Flag that pulse has been evaluated mov A, New_Rcp ; Load value clr C subb A, #RCP_VALIDATE ; Higher than validate level? jc measure_pwm_freq_start ; No - start over
mov A, Flags3 ; Check pwm frequency flags anl A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ)+(1 SHL RCP_PWM_FREQ_12KHZ)) mov Prev_Rcp_Pwm_Freq, Curr_Rcp_Pwm_Freq ; Store as previous flags for next pulse mov Curr_Rcp_Pwm_Freq, A ; Store current flags for next pulse cjne A, Prev_Rcp_Pwm_Freq, measure_pwm_freq_start ; Go back if new flags not same as previous
djnz Temp3, measure_pwm_freq_loop ; Go back if not required number of pulses seen
; Clear measure pwm frequency flag clr Flags0.RCP_MEAS_PWM_FREQ ; Set up RC pulse interrupts after pwm frequency measurement Rcp_Int_First ; Enable interrupt and set to first edge Rcp_Clear_Int_Flag ; Clear interrupt flag clr Flags2.RCP_EDGE_NO ; Set first edge flag ; Test whether signal is OnShot125 clr Flags2.RCP_PPM_ONESHOT125 ; Clear OneShot125 flag mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter call wait100ms ; Wait for new RC pulse jnb Flags2.RCP_PPM, validate_rcp_start ; If flag is not set (PWM) - branch
clr C mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal PPM range (800-2160us) subb A, #10 jc validate_rcp_start
setb Flags2.RCP_PPM_ONESHOT125 ; Set OneShot125 flag
; Validate RC pulsevalidate_rcp_start: call wait3ms ; Wait for next pulse (NB: Uses Temp1/2!) mov Temp1, #RCP_VALIDATE ; Set validate level as default jnb Flags2.RCP_PPM, ($+5) ; If flag is not set (PWM) - branch
mov Temp1, #0 ; Set level to zero for PPM (any level will be accepted)
clr C mov A, New_Rcp ; Load value subb A, Temp1 ; Higher than validate level? jc validate_rcp_start ; No - start over
; Beep arm sequence start signal clr EA ; Disable all interrupts call beep_f1 ; Signal that RC pulse is ready call beep_f1 call beep_f1 setb EA ; Enable all interrupts call wait200ms
; Arming sequence start mov Gov_Arm_Target, #0 ; Clear governor arm targetarming_start:IF MODE >= 1 ; Tail or multi mov Temp1, #Pgm_Direction ; Check if bidirectional operation mov A, @Temp1 cjne A, #3, ($+5)
ajmp program_by_tx_checked ; Disable tx programming if bidirectional operationENDIF
call wait3ms mov Temp1, #Pgm_Enable_TX_Program; Start programming mode entry if enabled mov A, @Temp1 clr C subb A, #1 ; Is TX programming enabled? jnc arming_initial_arm_check ; Yes - proceed
jmp program_by_tx_checked ; No - branch
arming_initial_arm_check: mov A, Initial_Arm ; Yes - check if it is initial arm sequence clr C subb A, #1 ; Is it the initial arm sequence? jnc arming_ppm_check ; Yes - proceed
jmp program_by_tx_checked ; No - branch
arming_ppm_check: jb Flags2.RCP_PPM, throttle_high_cal_start ; If flag is set (PPM) - branch
; PWM tx program entry clr C mov A, New_Rcp ; Load new RC pulse value subb A, #RCP_MAX ; Is RC pulse max? jnc program_by_tx_entry_pwm ; Yes - proceed
jmp program_by_tx_checked ; No - branch
program_by_tx_entry_pwm: clr EA ; Disable all interrupts call beep_f4 setb EA ; Enable all interrupts call wait100ms clr C mov A, New_Rcp ; Load new RC pulse value subb A, #RCP_STOP ; Below stop? jnc program_by_tx_entry_pwm ; No - start over
program_by_tx_entry_wait_pwm: clr EA ; Disable all interrupts call beep_f1 call wait10ms call beep_f1 setb EA ; Enable all interrupts call wait100ms clr C mov A, New_Rcp ; Load new RC pulse value subb A, #RCP_MAX ; At or above max? jc program_by_tx_entry_wait_pwm ; No - start over
jmp program_by_tx ; Yes - enter programming mode
; PPM throttle calibration and tx program entrythrottle_high_cal_start:IF MODE <= 1 ; Main or tail mov Temp8, #5 ; Set 3 seconds wait timeELSE mov Temp8, #2 ; Set 1 seconds wait timeENDIFthrottle_high_cal: setb Flags3.FULL_THROTTLE_RANGE ; Set range to 1000-2020us call find_throttle_gain ; Set throttle gain call wait100ms ; Wait for new throttle value clr EA ; Disable interrupts (freeze New_Rcp value) clr Flags3.FULL_THROTTLE_RANGE ; Set programmed range call find_throttle_gain ; Set throttle gain mov Temp7, New_Rcp ; Store new RC pulse value clr C mov A, New_Rcp ; Load new RC pulse value subb A, #(RCP_MAX/2) ; Is RC pulse above midstick? setb EA ; Enable interrupts jc arm_target_updated ; No - branch
call wait1ms clr EA ; Disable all interrupts call beep_f4 setb EA ; Enable all interrupts djnz Temp8, throttle_high_cal ; Continue to wait
call average_throttle clr C mov A, Temp7 ; Limit to max 250 subb A, #5 ; Subtract about 2% and ensure that it is 250 or lower mov Temp1, #Pgm_Ppm_Max_Throttle ; Store mov @Temp1, A call wait200ms call erase_and_store_all_in_eeprom call success_beep
throttle_low_cal_start: mov Temp8, #10 ; Set 3 seconds wait timethrottle_low_cal: setb Flags3.FULL_THROTTLE_RANGE ; Set range to 1000-2020us call find_throttle_gain ; Set throttle gain call wait100ms clr EA ; Disable interrupts (freeze New_Rcp value) clr Flags3.FULL_THROTTLE_RANGE ; Set programmed range call find_throttle_gain ; Set throttle gain mov Temp7, New_Rcp ; Store new RC pulse value clr C mov A, New_Rcp ; Load new RC pulse value subb A, #(RCP_MAX/2) ; Below midstick? setb EA ; Enable interrupts jnc throttle_low_cal_start ; No - start over
call wait1ms clr EA ; Disable all interrupts call beep_f1 call wait10ms call beep_f1 setb EA ; Enable all interrupts djnz Temp8, throttle_low_cal ; Continue to wait
call average_throttle mov A, Temp7 add A, #5 ; Add about 2% mov Temp1, #Pgm_Ppm_Min_Throttle ; Store mov @Temp1, A call wait200ms call erase_and_store_all_in_eeprom call success_beep_inverted
program_by_tx_entry_wait_ppm: call wait100ms call find_throttle_gain ; Set throttle gain clr C mov A, New_Rcp ; Load new RC pulse value subb A, #RCP_MAX ; At or above max? jc program_by_tx_entry_wait_ppm ; No - start over
jmp program_by_tx ; Yes - enter programming mode
program_by_tx_checked: clr C mov A, New_Rcp ; Load new RC pulse value subb A, Gov_Arm_Target ; Is RC pulse larger than arm target? jc arm_target_updated ; No - do not update
mov Gov_Arm_Target, New_Rcp ; Yes - update arm target
arm_target_updated: call wait100ms ; Wait for new throttle value mov Temp1, #RCP_STOP ; Default stop value mov Temp2, #Pgm_Direction ; Check if bidirectional operation mov A, @Temp2 cjne A, #3, ($+5) ; No - branch
mov Temp1, #(RCP_STOP+4) ; Higher stop value for bidirectional
clr C mov A, New_Rcp ; Load new RC pulse value subb A, Temp1 ; Below stop? jc arm_end_beep ; Yes - proceed
jmp arming_start ; No - start over
arm_end_beep: ; Beep arm sequence end signal clr EA ; Disable all interrupts call beep_f4 ; Signal that rcpulse is ready call beep_f4 call beep_f4 setb EA ; Enable all interrupts call wait200ms
; Clear initial arm variable mov Initial_Arm, #0
; Armed and waiting for power onwait_for_power_on: clr A mov Power_On_Wait_Cnt_L, A ; Clear wait counter mov Power_On_Wait_Cnt_H, A wait_for_power_on_loop: inc Power_On_Wait_Cnt_L ; Increment low wait counter mov A, Power_On_Wait_Cnt_L cpl A jnz wait_for_power_on_no_beep; Counter wrapping (about 1 sec)?
inc Power_On_Wait_Cnt_H ; Increment high wait counter mov Temp1, #Pgm_Beacon_Delay mov A, @Temp1 mov Temp1, #25 ; Approximately 1 min dec A jz beep_delay_set
mov Temp1, #50 ; Approximately 2 min dec A jz beep_delay_set
mov Temp1, #125 ; Approximately 5 min dec A jz beep_delay_set
mov Temp1, #250 ; Approximately 10 min dec A jz beep_delay_set
mov Power_On_Wait_Cnt_H, #0 ; Reset counter for infinite delay
beep_delay_set: clr C mov A, Power_On_Wait_Cnt_H subb A, Temp1 ; Check against chosen delay jc wait_for_power_on_no_beep; Has delay elapsed?
dec Power_On_Wait_Cnt_H ; Decrement high wait counter mov Power_On_Wait_Cnt_L, #180; Set low wait counter mov Temp1, #Pgm_Beacon_Strength mov Beep_Strength, @Temp1 clr EA ; Disable all interrupts call beep_f4 ; Signal that there is no signal setb EA ; Enable all interrupts mov Temp1, #Pgm_Beep_Strength mov Beep_Strength, @Temp1 call wait100ms ; Wait for new RC pulse to be measured
wait_for_power_on_no_beep: call wait10ms mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value jnz wait_for_power_on_ppm_not_missing ; If it is not zero - proceed
jnb Flags2.RCP_PPM, wait_for_power_on_ppm_not_missing ; If flag is not set (PWM) - branch
jmp init_no_signal ; If ppm and pulses missing - go back to detect input signal
wait_for_power_on_ppm_not_missing: mov Temp1, #RCP_STOP jb Flags2.RCP_PPM, ($+5) ; If flag is set (PPM) - branch
mov Temp1, #(RCP_STOP+5) ; Higher than stop (for pwm)
clr C mov A, New_Rcp ; Load new RC pulse value subb A, Temp1 ; Higher than stop (plus some hysteresis)? jc wait_for_power_on_loop ; No - start over
IF MODE >= 1 ; Tail or multi mov Temp1, #Pgm_Direction ; Check if bidirectional operation mov A, @Temp1 clr C subb A, #3 jz wait_for_power_on_check_timeout ; Do not wait if bidirectional operationENDIF
lcall wait100ms ; Wait to see if start pulse was only a glitch
wait_for_power_on_check_timeout: mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value jnz ($+4) ; If it is not zero - proceed
ajmp init_no_signal ; If it is zero (pulses missing) - go back to detect input signal
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Start entry point;;**** **** **** **** **** **** **** **** **** **** **** **** ****init_start: clr EA call switch_power_off clr A mov Requested_Pwm, A ; Set requested pwm to zero mov Governor_Req_Pwm, A ; Set governor requested pwm to zero mov Current_Pwm, A ; Set current pwm to zero mov Current_Pwm_Limited, A ; Set limited current pwm to zero setb EA mov Temp1, #Pgm_Motor_Idle mov Pwm_Motor_Idle, @Temp1 ; Set idle pwm to programmed value mov Gov_Target_L, A ; Set target to zero mov Gov_Target_H, A mov Gov_Integral_L, A ; Set integral to zero mov Gov_Integral_H, A mov Gov_Integral_X, A mov Adc_Conversion_Cnt, A mov Gov_Active, A mov Flags0, A ; Clear flags0 mov Flags1, A ; Clear flags1 mov Demag_Detected_Metric, A ; Clear demag metric call initialize_all_timings ; Initialize timing ;**** **** **** **** **** ; Motor start beginning ;**** **** **** **** **** mov Adc_Conversion_Cnt, #TEMP_CHECK_RATE ; Make sure a temp reading is done Set_Adc_Ip_Temp call wait1ms call start_adc_conversionread_initial_temp: Get_Adc_Status jb AD0BUSY, read_initial_temp Read_Adc_Result ; Read initial temperature mov A, Temp2 jnz ($+3) ; Is reading below 256?
mov Temp1, A ; Yes - set average temperature value to zero
mov Current_Average_Temp, Temp1 ; Set initial average temperature call check_temp_voltage_and_limit_power mov Adc_Conversion_Cnt, #TEMP_CHECK_RATE ; Make sure a temp reading is done next time Set_Adc_Ip_Temp ; Set up start operating conditions mov Temp1, #Pgm_Pwm_Freq mov A, @Temp1 mov Temp7, A ; Store setting in Temp7 mov @Temp1, #2 ; Set nondamped low frequency pwm mode call decode_parameters ; (Decode_parameters uses Temp1 and Temp8) mov Temp1, #Pgm_Pwm_Freq mov A, Temp7 mov @Temp1, A ; Restore settings ; Set max allowed power clr EA ; Disable interrupts to avoid that Requested_Pwm is overwritten mov Pwm_Limit, #0FFh ; Set pwm limit to max call set_startup_pwm mov Pwm_Limit, Requested_Pwm mov Pwm_Limit_Spoolup, Requested_Pwm mov Pwm_Limit_Low_Rpm, Requested_Pwm setb EA mov Requested_Pwm, #1 ; Set low pwm again after calling set_startup_pwm mov Current_Pwm, #1 mov Current_Pwm_Limited, #1 mov Spoolup_Limit_Cnt, Auto_Bailout_Armed mov Spoolup_Limit_Skip, #1 ; Begin startup sequenceIF MCU_50MHZ == 1 Set_MCU_Clk_50MHzENDIF setb Flags1.MOTOR_SPINNING ; Set motor spinning flag setb Flags1.STARTUP_PHASE ; Set startup phase flag mov Startup_Ok_Cnt, #0 ; Reset ok counter call comm5comm6 ; Initialize commutation call comm6comm1 call initialize_all_timings ; Initialize timing call calc_next_comm_timing ; Set virtual commutation point call calc_new_wait_times ; Calculate new wait times jmp run1
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Run entry point;;**** **** **** **** **** **** **** **** **** **** **** **** ****damped_transition: ; Transition from nondamped to damped if applicable call switch_power_off ; Switch off power while changing pwm mode call decode_parameters ; Set programmed parameters mov Adc_Conversion_Cnt, #0 ; Make sure a voltage reading is done next time Set_Adc_Ip_Volt ; Set adc measurement to voltage
; Run 1 = B(p-on) + C(n-pwm) - comparator A evaluated; Out_cA changes from low to highrun1: call wait_for_comp_out_high ; Wait zero cross wait and wait for high call evaluate_comparator_integrity ; Check whether comparator reading has been normal call setup_comm_wait ; Setup wait time from zero cross to commutation call calc_governor_target ; Calculate governor target call wait_for_comm ; Wait from zero cross to commutation call comm1comm2 ; Commutate call calc_next_comm_timing ; Calculate next timing and start advance timing wait call wait_advance_timing ; Wait advance timing and start zero cross wait call calc_new_wait_times call wait_before_zc_scan ; Wait zero cross wait and start zero cross timeout
; Run 2 = A(p-on) + C(n-pwm) - comparator B evaluated; Out_cB changes from high to lowrun2: call wait_for_comp_out_low call evaluate_comparator_integrity call setup_comm_wait call calc_governor_prop_error call set_pwm_limit_low_rpm call wait_for_comm call comm2comm3 call calc_next_comm_timing call wait_advance_timing call calc_new_wait_times call wait_before_zc_scan
; Run 3 = A(p-on) + B(n-pwm) - comparator C evaluated; Out_cC changes from low to highrun3: call wait_for_comp_out_high call evaluate_comparator_integrity call setup_comm_wait call calc_governor_int_error call wait_for_comm call comm3comm4 call calc_next_comm_timing call wait_advance_timing call calc_new_wait_times call wait_before_zc_scan
; Run 4 = C(p-on) + B(n-pwm) - comparator A evaluated; Out_cA changes from high to lowrun4: call wait_for_comp_out_low call evaluate_comparator_integrity call setup_comm_wait call calc_governor_prop_correction call wait_for_comm call comm4comm5 call calc_next_comm_timing call wait_advance_timing call calc_new_wait_times call wait_before_zc_scan
; Run 5 = C(p-on) + A(n-pwm) - comparator B evaluated; Out_cB changes from low to highrun5: call wait_for_comp_out_high call evaluate_comparator_integrity call setup_comm_wait call calc_governor_int_correction call wait_for_comm call comm5comm6 call calc_next_comm_timing call wait_advance_timing call calc_new_wait_times call wait_before_zc_scan
; Run 6 = B(p-on) + A(n-pwm) - comparator C evaluated; Out_cC changes from high to lowrun6: call wait_for_comp_out_low call start_adc_conversion call evaluate_comparator_integrity call setup_comm_wait call check_temp_voltage_and_limit_power call wait_for_comm call comm6comm1 call calc_next_comm_timing call wait_advance_timing call calc_new_wait_times call wait_before_zc_scan
; Check if it is direct startup jnb Flags1.STARTUP_PHASE, normal_run_checks jb Flags1.DIR_CHANGE_BRAKE, normal_run_checks ; If a direction change - branch
; Set spoolup power variables mov Pwm_Limit, Pwm_Spoolup_Beg ; Set initial max power mov Pwm_Limit_Spoolup, Pwm_Spoolup_Beg ; Set initial slow spoolup power mov Spoolup_Limit_Cnt, Auto_Bailout_Armed mov Spoolup_Limit_Skip, #1 ; Check startup ok counter mov Temp2, #50 ; Set nominal startup parameters mov Temp3, #10 clr C mov A, Startup_Ok_Cnt ; Load ok counter subb A, Temp2 ; Is counter above requirement? jc direct_start_check_rcp ; No - proceed
clr Flags1.STARTUP_PHASE ; Clear startup phase flag setb Flags1.INITIAL_RUN_PHASE ; Set initial run phase flag mov Startup_Rot_Cnt, Temp3 ; Set startup rotation countIF MODE == 1 ; Tail mov Pwm_Limit, #0FFh ; Allow full power mov Pwm_Limit_Spoolup, #0FFh ENDIFIF MODE == 2 ; Multi mov Pwm_Limit, Pwm_Spoolup_Beg mov Pwm_Limit_Spoolup, #0FFh mov Pwm_Limit_Low_Rpm, #20hENDIF jmp normal_run_checks
direct_start_check_rcp: clr C mov A, New_Rcp ; Load new pulse value subb A, #RCP_STOP ; Check if pulse is below stop value jc ($+5)
ljmp run1 ; Continue to run
jmp run_to_wait_for_power_on
normal_run_checks: ; Check if it is initial run phase jnb Flags1.INITIAL_RUN_PHASE, initial_run_phase_done ; If not initial run phase - branch jb Flags1.DIR_CHANGE_BRAKE, initial_run_phase_done ; If a direction change - branch
; Decrement startup rotaton count mov A, Startup_Rot_Cnt dec A ; Check number of nondamped rotations jnz normal_run_check_startup_rot ; Branch if counter is not zero
clr Flags1.INITIAL_RUN_PHASE ; Clear initial run phase flagIF MODE == 2 ; Multi mov Pwm_Limit, #0FFhENDIF jmp damped_transition ; Do damped transition if counter is zero
normal_run_check_startup_rot: mov Startup_Rot_Cnt, A ; Not zero - store counter
clr C mov A, New_Rcp ; Load new pulse value subb A, #RCP_STOP ; Check if pulse is below stop value jc ($+5)
ljmp run1 ; Continue to run
jmp run_to_wait_for_power_on
initial_run_phase_done:IF MODE == 0 ; Main ; Check if throttle is zeroed clr C mov A, Rcp_Stop_Cnt ; Load stop RC pulse counter value subb A, #1 ; Is number of stop RC pulses above limit? jc run6_check_rcp_stop_count ; If no - branch
mov Pwm_Limit_Spoolup, Pwm_Spoolup_Beg ; If yes - set initial max powers mov Spoolup_Limit_Cnt, Auto_Bailout_Armed ; And set spoolup parameters mov Spoolup_Limit_Skip, #1
run6_check_rcp_stop_count:ENDIF ; Exit run loop after a given time clr C mov A, Rcp_Stop_Cnt ; Load stop RC pulse counter low byte value subb A, #RCP_STOP_LIMIT ; Is number of stop RC pulses above limit? jnc run_to_wait_for_power_on ; Yes, go back to wait for poweron
run6_check_rcp_timeout: jnb Flags2.RCP_PPM, run6_check_speed ; If flag is not set (PWM) - branch
mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value jz run_to_wait_for_power_on ; If it is zero - go back to wait for poweron
run6_check_speed: clr C mov A, Comm_Period4x_H ; Is Comm_Period4x more than 32ms (~1220 eRPM)? mov Temp1, #0F0h ; Default minimum speed jnb Flags1.DIR_CHANGE_BRAKE, ($+5); Is it a direction change?
mov Temp1, #60h ; Bidirectional minimum speed
subb A, Temp1 jnc run_to_wait_for_power_on ; Yes - go back to motor start jmp run1 ; Go back to run 1
run_to_wait_for_power_on: clr EA call switch_power_off mov Temp1, #Pgm_Pwm_Freq mov A, @Temp1 mov Temp7, A ; Store setting in Temp7 mov @Temp1, #2 ; Set low pwm mode (in order to turn off damping) call decode_parameters ; (Decode_parameters uses Temp1 and Temp8) mov Temp1, #Pgm_Pwm_Freq mov A, Temp7 mov @Temp1, A ; Restore settings clr A mov Requested_Pwm, A ; Set requested pwm to zero mov Governor_Req_Pwm, A ; Set governor requested pwm to zero mov Current_Pwm, A ; Set current pwm to zero mov Current_Pwm_Limited, A ; Set limited current pwm to zero mov Pwm_Motor_Idle, A ; Set motor idle to zero clr Flags1.MOTOR_SPINNING ; Clear motor spinning flagIF MCU_50MHZ == 1 Set_MCU_Clk_25MHzENDIF setb EA call wait1ms ; Wait for pwm to be stopped call switch_power_offIF MODE == 0 ; Main jnb Flags2.RCP_PPM, run_to_next_state_main ; If flag is not set (PWM) - branch
mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value jnz run_to_next_state_main ; If it is not zero - branch
jmp init_no_signal ; If it is zero (pulses missing) - go back to detect input signal
run_to_next_state_main: mov Temp1, #Pgm_Main_Rearm_Start mov A, @Temp1 clr C subb A, #1 ; Is re-armed start enabled? jc jmp_wait_for_power_on ; No - do like tail and start immediately
jmp validate_rcp_start ; Yes - go back to validate RC pulse
jmp_wait_for_power_on: jmp wait_for_power_on ; Go back to wait for power onENDIFIF MODE >= 1 ; Tail or multi jnb Flags2.RCP_PPM, jmp_wait_for_power_on ; If flag is not set (PWM) - branch
mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value jnz jmp_wait_for_power_on ; If it is not zero - go back to wait for poweron
jmp init_no_signal ; If it is zero (pulses missing) - go back to detect input signal
jmp_wait_for_power_on: jmp wait_for_power_on ; Go back to wait for power onENDIF
;**** **** **** **** **** **** **** **** **** **** **** **** ****
$include (BLHeliTxPgm.inc) ; Include source code for programming the ESC with the TX$include (BLHeliBootLoad.inc) ; Include source code for bootloader
;**** **** **** **** **** **** **** **** **** **** **** **** ****
; TEST code size;CSEG AT 1E00h ; Last code segment. Take care that there is enough space!;nop
END
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