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;**** **** **** **** **** ; ; BLHeli program for controlling brushless motors in helicopters and multirotors ; ; Copyright 2011, 2012 Steffen Skaug ; This program is distributed under the terms of the GNU General Public License ; ; This file is part of BLHeli. ; ; BLHeli is free software: you can redistribute it and/or modify ; it under the terms of the GNU General Public License as published by ; the Free Software Foundation, either version 3 of the License, or ; (at your option) any later version. ; ; BLHeli is distributed in the hope that it will be useful, ; but WITHOUT ANY WARRANTY; without even the implied warranty of ; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ; GNU General Public License for more details. ; ; You should have received a copy of the GNU General Public License ; along with BLHeli. If not, see <http://www.gnu.org/licenses/>.
; ;**** **** **** **** **** ; ; Turnigy K-Force 120A HV hardware definition file ; ;**** **** **** **** ****
;********************* ; Device SiLabs F310 ;********************* $include (c8051f310.inc)
;**** **** **** **** **** ; Uses internal calibrated oscillator set to 24Mhz ;**** **** **** **** ****
;**** **** **** **** **** ; Constant definitions ;**** **** **** **** **** CSEG AT 1A40h Eep_ESC_Layout: DB "#TgyKF120AHV# " ; ESC layout tag CSEG AT 1A50h Eep_ESC_MCU: DB "#BLHELI#F310# " ; Project and MCU tag (16 Bytes)
MCU_50MHZ EQU 0 ; Set to 1 if MCU can run at 50MHz ONE_S_CAPABLE EQU 0 ; Set to 1 if ESC can operate at 1S PORT3_EXIST EQU 1 ; Set to 1 if MCU has port3 COMP1_USED EQU 1 ; Set to 1 if MCU has comparator 1 and it is being used LOCK_BYTE_ADDRESS_16K EQU 3DFFh ; Address of lock byte if 16k flash size LOCK_BYTE_ADDRESS_8K EQU 1FFFh ; Address of lock byte if 8k flash size HIGH_BEC_VOLTAGE EQU 0 ; Set to 1 or more if high BEC voltage is supported DAMPED_MODE_ENABLE EQU 0 ; Damped mode disabled NFETON_DELAY EQU 10 ; Wait delay from pfets off to nfets on PFETON_DELAY EQU 10 ; Wait delay from nfets off to pfets on HIGH_DRIVER_PRECHG_TIME EQU 0 ; Time between commutations use to precharge the high side driver (for all nfet ESCs) ADC_LIMIT_L EQU 48 ; Power supply measurement ADC value for which main motor power is limited (low byte) ADC_LIMIT_H EQU 0 ; Power supply measurement ADC value for which main motor power is limited (2 MSBs) TEMP_LIMIT EQU 168 ; Temperature measurement ADC value for which main motor power is limited (low byte, assuming high byte is 1) TEMP_LIMIT_STEP EQU 5 ; Temperature measurement ADC value increment for which main motor power is further limited
;**** **** **** **** **** ; ESC specific defaults ;**** **** **** **** **** DEFAULT_PGM_MAIN_SPOOLUP_TIME EQU 16 ; Main motor spoolup time DEFAULT_PGM_MAIN_STARTUP_PWR EQU 7 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50 DEFAULT_PGM_TAIL_STARTUP_PWR EQU 7 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50 DEFAULT_PGM_MULTI_STARTUP_PWR EQU 7 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50
;**** **** **** **** **** ; Bootloader definitions ;**** **** **** **** **** RTX_PORT EQU P0 ; Receive/Transmit port RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL RTX_PIN EQU 3 ; RTX pin
SIGNATURE_001 EQU 0f3h ; Device signature SIGNATURE_002 EQU 010h
;********************* ; PORT 0 definitions * ;********************* ; EQU 7 ;i ; EQU 6 ;i ; EQU 5 ;i ; EQU 4 ;i Rcp_In EQU 3 ;i ; EQU 2 ;i ; EQU 1 ;i Vref EQU 0 ;i
P0_DIGITAL EQU NOT(1 SHL Vref) P0_INIT EQU 0FFh P0_PUSHPULL EQU 0 P0_SKIP EQU NOT(1 SHL Rcp_In) AND 0FFh
MACRO Get_Rcp_Capture_Values mov Temp1, PCA0CPL0 ; Get PCA capture values mov Temp2, PCA0CPH0 ENDM MACRO Read_Rcp_Int mov A, P0 jnb Flags3.PGM_RCP_PWM_POL, ($+4) ; Is pwm polarity negative? cpl A ; Yes - invert ENDM MACRO Rcp_Int_Enable orl PCA0CPM0, #01h ; Interrupt enabled ENDM MACRO Rcp_Int_Disable anl PCA0CPM0, #0FEh ; Interrupt disabled ENDM MACRO Rcp_Int_First anl PCA0CPM0, #0CFh jb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity positive? orl PCA0CPM0, #20h ; Capture rising edge jnb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity negative? orl PCA0CPM0, #10h ; Capture falling edge ENDM MACRO Rcp_Int_Second anl PCA0CPM0, #0CFh jb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity positive? orl PCA0CPM0, #10h ; Capture falling edge jnb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity negative? orl PCA0CPM0, #20h ; Capture rising edge ENDM MACRO Rcp_Clear_Int_Flag clr CCF0 ; Clear interrupt flag ENDM
;********************* ; PORT 1 definitions * ;********************* CnFET EQU 7 ;o CpFET EQU 6 ;o BnFET EQU 5 ;o BpFET EQU 4 ;o AnFET EQU 3 ;o ApFET EQU 2 ;o Adc_Ip EQU 1 ;i ; EQU 0 ;i
P1_DIGITAL EQU (1 SHL AnFET)+(1 SHL BnFET)+(1 SHL CnFET)+(1 SHL ApFET)+(1 SHL BpFET)+(1 SHL CpFET) P1_INIT EQU (1 SHL Adc_Ip) P1_PUSHPULL EQU (1 SHL AnFET)+(1 SHL BnFET)+(1 SHL CnFET)+(1 SHL ApFET)+(1 SHL BpFET)+(1 SHL CpFET) P1_SKIP EQU 0
;********************* ; PORT 2 definitions * ;********************* ; EQU 7 ;i Mux_C EQU 6 ;i ; EQU 5 ;i Mux_B EQU 4 ;i CompCom EQU 3 ;i Mux_A EQU 2 ;i LED EQU 1 ;o ; EQU 0 ;i
P2_DIGITAL EQU (1 SHL LED) P2_INIT EQU 0FDh P2_PUSHPULL EQU 02h P2_SKIP EQU 0
MACRO AnFET_on mov A, Current_Pwm_Limited jz ($+12) jb Flags3.PGM_DIR_REV, ($+5) setb P1.AnFET jnb Flags3.PGM_DIR_REV, ($+5) setb P1.CnFET ENDM MACRO AnFET_off jb Flags3.PGM_DIR_REV, ($+5) clr P1.AnFET jnb Flags3.PGM_DIR_REV, ($+5) clr P1.CnFET ENDM MACRO BnFET_on mov A, Current_Pwm_Limited jz ($+4) setb P1.BnFET ENDM MACRO BnFET_off clr P1.BnFET ENDM MACRO CnFET_on mov A, Current_Pwm_Limited jz ($+12) jb Flags3.PGM_DIR_REV, ($+5) setb P1.CnFET jnb Flags3.PGM_DIR_REV, ($+5) setb P1.AnFET ENDM MACRO CnFET_off jb Flags3.PGM_DIR_REV, ($+5) clr P1.CnFET jnb Flags3.PGM_DIR_REV, ($+5) clr P1.AnFET ENDM MACRO All_nFETs_Off clr P1.AnFET clr P1.BnFET clr P1.CnFET ENDM
MACRO ApFET_on jb Flags3.PGM_DIR_REV, ($+5) setb P1.ApFET jnb Flags3.PGM_DIR_REV, ($+5) setb P1.CpFET ENDM MACRO ApFET_off jb Flags3.PGM_DIR_REV, ($+5) clr P1.ApFET jnb Flags3.PGM_DIR_REV, ($+5) clr P1.CpFET ENDM MACRO BpFET_on setb P1.BpFET ENDM MACRO BpFET_off clr P1.BpFET ENDM MACRO CpFET_on jb Flags3.PGM_DIR_REV, ($+5) setb P1.CpFET jnb Flags3.PGM_DIR_REV, ($+5) setb P1.ApFET ENDM MACRO CpFET_off jb Flags3.PGM_DIR_REV, ($+5) clr P1.CpFET jnb Flags3.PGM_DIR_REV, ($+5) clr P1.ApFET ENDM MACRO All_pFETs_Off clr P1.ApFET clr P1.BpFET clr P1.CpFET ENDM MACRO All_pFETs_On setb P1.ApFET setb P1.BpFET setb P1.CpFET ENDM
MACRO Set_Comp_Phase_A jb Flags3.PGM_DIR_REV, ($+6) mov CPT1MX, #22h ; Set comparator multiplexer to phase A jnb Flags3.PGM_DIR_REV, ($+6) mov CPT1MX, #23h ENDM MACRO Set_Comp_Phase_B mov CPT0MX, #33h ; Set comparator multiplexer to phase B mov CPT1MX, #00h ; Set mux to identifyable value ENDM MACRO Set_Comp_Phase_C jb Flags3.PGM_DIR_REV, ($+6) mov CPT1MX, #23h ; Set comparator multiplexer to phase C jnb Flags3.PGM_DIR_REV, ($+6) mov CPT1MX, #22h ENDM MACRO Read_Comp_Out mov A, CPT1MX jnz read_comp1 mov A, CPT0CN ; Read comparator 0 output jmp read_comp_exit read_comp1: mov A, CPT1CN ; Read comparator 1 output read_comp_exit: ENDM
;********************* ; PORT 3 definitions * ;********************* ; EQU 4 ;i ; EQU 3 ;i ; EQU 2 ;i ; EQU 1 ;i DebugPin EQU 0 ;o
P3_DIGITAL EQU 0FFh P3_INIT EQU 0FFh P3_PUSHPULL EQU (1 SHL DebugPin)
;********************** ; MCU specific macros * ;********************** MACRO Interrupt_Table_Definition CSEG AT 0 ; Code segment start jmp reset CSEG AT 0Bh ; Timer0 interrupt jmp t0_int CSEG AT 2Bh ; Timer2 interrupt jmp t2_int CSEG AT 5Bh ; PCA interrupt jmp pca_int CSEG AT 73h ; Timer3 interrupt jmp t3_int ENDM
MACRO Initialize_Xbar mov XBR1, #41h ; Xbar enabled, CEX0 routed to pin Rcp_In ENDM
MACRO Initialize_Adc mov REF0CN, #0Eh ; Set vdd (3.3V) as reference. Enable temp sensor and bias mov ADC0CF, #58h ; ADC clock 2MHz mov AMX0P, #Adc_Ip ; Select positive input mov AMX0N, #1Fh ; Select negative input as ground mov ADC0CN, #80h ; ADC enabled ENDM MACRO Set_Adc_Ip_Volt mov AMX0P, #Adc_Ip ; Select positive input ENDM MACRO Set_Adc_Ip_Temp mov AMX0P, #1Eh ; Select temp sensor input ENDM MACRO Start_Adc mov ADC0CN, #90h ; ADC start ENDM MACRO Get_Adc_Status mov A, ADC0CN ENDM MACRO Read_Adc_Result mov Temp1, ADC0L mov Temp2, ADC0H ENDM MACRO Stop_Adc ENDM MACRO Set_RPM_Out ENDM MACRO Clear_RPM_Out ENDM MACRO Set_MCU_Clk_25MHz ENDM MACRO Set_MCU_Clk_50MHz ENDM
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