BLHeli/SiLabs/Polaris_Thunder_100A.inc

;**** **** **** **** ****
;
; 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/>.
;
;**** **** **** **** ****
;
; Polaris Thunder 100A hardware definition file
;
;**** **** **** **** ****



;*********************
; Device SiLabs F330
;*********************
$include (c8051f330.inc)

;**** **** **** **** ****
; Uses internal calibrated oscillator set to 24Mhz
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; Constant definitions
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CSEG AT 1A40h
Eep_ESC_Layout:		DB	"#PolarisTdr100A#"	; ESC layout tag
CSEG AT 1A50h
Eep_ESC_MCU:			DB	"#BLHELI#F330#   "	; 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	0	; Set to 1 if MCU has port3
COMP1_USED			EQU	0	; Set to 1 if MCU has comparator 1 and it is being used
LOCK_BYTE_ADDRESS_16K	EQU	3FFFh	; Address of lock byte if 16k flash size
LOCK_BYTE_ADDRESS_8K	EQU	1DFFh	; 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	6	; Wait delay from pfets off to nfets on
PFETON_DELAY			EQU	6	; 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 	109	; Temperature measurement ADC value for which main motor power is limited (low byte, assuming high byte is 1)
TEMP_LIMIT_STEP		EQU	4	; Temperature measurement ADC value increment for which main motor power is further limited

;**** **** **** **** ****
; ESC specific defaults
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DEFAULT_PGM_MAIN_SPOOLUP_TIME		EQU 16	; Main motor spoolup time
DEFAULT_PGM_MAIN_STARTUP_PWR 		EQU 8 	; 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 8 	; 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 8 	; 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
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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 	7		; RTX pin

SIGNATURE_001			EQU	0f3h		; Device signature
SIGNATURE_002			EQU	030h


;*********************
; PORT 0 definitions *
;*********************  
Rcp_In		EQU	7	;i
Adc_Ip		EQU	6	;i
Mux_C		EQU	5	;i
;			EQU	4	;i
Mux_B		EQU	3	;i
Comp_Com		EQU	2	;i
Mux_A		EQU	1	;i 
;			EQU	0	;i

P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com)+(1 SHL Adc_Ip)) AND 0FFh
P0_INIT		EQU	0FFh
P0_PUSHPULL	EQU	00h
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 *
;*********************
;			EQU	7	;i
;			EQU	6	;i
CpFET		EQU	5	;o
BpFET		EQU	4	;o
ApFET		EQU	3	;o
CnFET		EQU	2	;o
BnFET		EQU	1	;o
AnFET		EQU	0	;o

P1_DIGITAL	EQU	0FFh
P1_INIT		EQU 	(1 SHL AnFET)+(1 SHL BnFET)+(1 SHL CnFET)		; Setting nFET outputs turn them off
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

MACRO AnFET_on
	mov	A, Current_Pwm_Limited
	jz	($+12)
	jb	Flags3.PGM_DIR_REV, ($+5)
	clr	P1.AnFET
	jnb	Flags3.PGM_DIR_REV, ($+5)
	clr	P1.CnFET
ENDM
MACRO AnFET_off
	jb	Flags3.PGM_DIR_REV, ($+5)
	setb	P1.AnFET
	jnb	Flags3.PGM_DIR_REV, ($+5)
	setb	P1.CnFET
ENDM
MACRO BnFET_on
	mov	A, Current_Pwm_Limited
	jz	($+4)
	clr	P1.BnFET
ENDM
MACRO BnFET_off
	setb	P1.BnFET
ENDM
MACRO CnFET_on
	mov	A, Current_Pwm_Limited
	jz	($+12)
	jb	Flags3.PGM_DIR_REV, ($+5)
	clr	P1.CnFET
	jnb	Flags3.PGM_DIR_REV, ($+5)
	clr	P1.AnFET
ENDM
MACRO CnFET_off
	jb	Flags3.PGM_DIR_REV, ($+5)
	setb	P1.CnFET
	jnb	Flags3.PGM_DIR_REV, ($+5)
	setb	P1.AnFET
ENDM
MACRO All_nFETs_Off
	setb	P1.AnFET
	setb	P1.BnFET
	setb	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, ($+6)
	mov	CPT0MX, #01h	; Set comparator multiplexer to phase A
	jnb	Flags3.PGM_DIR_REV, ($+6)
	mov	CPT0MX, #21h
ENDM
MACRO Set_Comp_Phase_B
	mov	CPT0MX, #11h	; Set comparator multiplexer to phase B
ENDM
MACRO Set_Comp_Phase_C
	jb	Flags3.PGM_DIR_REV, ($+6)
	mov	CPT0MX, #21h	; Set comparator multiplexer to phase C
	jnb	Flags3.PGM_DIR_REV, ($+6)
	mov	CPT0MX, #01h
ENDM
MACRO Read_Comp_Out
	mov	A, CPT0CN		; Read comparator output
	cpl	A			; Invert output
ENDM


;*********************
; PORT 2 definitions *
;*********************
DebugPin		EQU	0	;o

P2_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, #11h	; 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, #10h	; 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