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;**** **** **** **** ****;; BLHeli program for controlling brushless motors in helicopters and multirotors;; Copyright 2011, 2012 Steffen Skaug; This program is distributed under the terms of the GNU General Public License;; This file is part of BLHeli.;; BLHeli is free software: you can redistribute it and/or modify; it under the terms of the GNU General Public License as published by; the Free Software Foundation, either version 3 of the License, or; (at your option) any later version.;; BLHeli is distributed in the hope that it will be useful,; but WITHOUT ANY WARRANTY; without even the implied warranty of; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the; GNU General Public License for more details.;; You should have received a copy of the GNU General Public License; along with BLHeli. If not, see <http://www.gnu.org/licenses/>.
;;**** **** **** **** ****;; BLHeliTxPgm Atmel ; ;**** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Read all eeprom parameters routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****read_all_eeprom_parameters: .IF MODE == 0 ; Main ; Check initialized signature ldi ZL, low(Eep_Initialized_L) ldi ZH, high(Eep_Initialized_L) xcall read_eeprom_byte cpi Temp1, 0xA5 breq PC+2 rjmp read_eeprom_store_defaults
ldi ZL, low(Eep_Initialized_H) ldi ZH, high(Eep_Initialized_H) xcall read_eeprom_byte cpi Temp1, 0x5A breq PC+2 rjmp read_eeprom_store_defaults
.ENDIF.IF MODE == 1 ; Tail ; Check initialized signature ldi ZL, low(Eep_Initialized_L) ldi ZH, high(Eep_Initialized_L) xcall read_eeprom_byte cpi Temp1, 0x5A breq PC+2 rjmp read_eeprom_store_defaults
ldi ZL, low(Eep_Initialized_H) ldi ZH, high(Eep_Initialized_H) xcall read_eeprom_byte cpi Temp1, 0xA5 breq PC+2 rjmp read_eeprom_store_defaults
.ENDIF.IF MODE == 2 ; Multi ; Check initialized signature ldi ZL, low(Eep_Initialized_L) ldi ZH, high(Eep_Initialized_L) xcall read_eeprom_byte cpi Temp1, 0x55 breq PC+2 rjmp read_eeprom_store_defaults
ldi ZL, low(Eep_Initialized_H) ldi ZH, high(Eep_Initialized_H) xcall read_eeprom_byte cpi Temp1, 0xAA breq PC+2 rjmp read_eeprom_store_defaults
.ENDIF ; Read eeprom ldi Temp4, 10 ; 10 parameters ldi XL, low(Pgm_Gov_P_Gain) ldi XH, high(Pgm_Gov_P_Gain).IF MODE == 0 || MODE ==2 ldi ZL, low(Eep_Pgm_Gov_P_Gain) ldi ZH, high(Eep_Pgm_Gov_P_Gain).ENDIF.IF MODE == 1 ldi ZL, low(_Eep_Pgm_Gov_P_Gain) ldi ZH, high(_Eep_Pgm_Gov_P_Gain).ENDIFread_eeprom_block1: xcall read_eeprom_byte st X+, Temp1 adiw Z, 1 dec Temp4 brne read_eeprom_block1
ldi Temp4, 25 ; 25 parameters ldi XL, low(Pgm_Enable_TX_Program) ldi XH, high(Pgm_Enable_TX_Program) ldi ZL, low(Eep_Enable_TX_Program) ldi ZH, high(Eep_Enable_TX_Program)read_eeprom_block2: xcall read_eeprom_byte st X+, Temp1 adiw Z, 1 dec Temp4 brne read_eeprom_block2
rjmp read_eeprom_exit
read_eeprom_store_defaults: xcall set_default_parameters xcall store_all_in_eeprom read_eeprom_exit: ldi ZL, low(Eep_Dummy) ; Set pointer to uncritical area ldi ZH, high(Eep_Dummy) ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Read eeprom byte routine;; Assumes data in Temp1 and address in Z ;;**** **** **** **** **** **** **** **** **** **** **** **** ****read_eeprom_byte: ; Wait for completion of previous write Check_Eeprom_Ready rjmp read_eeprom_byte
; Set up address in address register Set_Eeprom_Address ZL, ZH ; Start eeprom read sbi EECR, EERE in Temp1, EEDR ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Store all parameter values in EEPROM routine;; Assumes interrupts to be off;;**** **** **** **** **** **** **** **** **** **** **** **** ****store_all_in_eeprom: ; Clear initialized signature xcall clear_eeprom_signature ; Write eeprom ldi Temp4, 10 ; 10 parameters ldi XL, low(Pgm_Gov_P_Gain) ldi XH, high(Pgm_Gov_P_Gain).IF MODE == 0 || MODE ==2 ldi ZL, low(Eep_Pgm_Gov_P_Gain) ldi ZH, high(Eep_Pgm_Gov_P_Gain).ENDIF.IF MODE == 1 ldi ZL, low(_Eep_Pgm_Gov_P_Gain) ldi ZH, high(_Eep_Pgm_Gov_P_Gain).ENDIFwrite_eeprom_block1: ld Temp1, X+ xcall write_eeprom_byte adiw Z, 1 dec Temp4 brne write_eeprom_block1
ldi Temp4, 25 ; 25 parameters ldi XL, low(Pgm_Enable_TX_Program) ldi XH, high(Pgm_Enable_TX_Program) ldi ZL, low(Eep_Enable_TX_Program) ldi ZH, high(Eep_Enable_TX_Program)write_eeprom_block2: ld Temp1, X+ xcall write_eeprom_byte adiw Z, 1 dec Temp4 brne write_eeprom_block2
; Write initialized signature xcall write_eeprom_signature ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Write eeprom byte routine;; Assumes data in Temp1 and address in Z ;;**** **** **** **** **** **** **** **** **** **** **** **** ****write_eeprom_byte: ; Wait for completion of previous write Check_Eeprom_Ready rjmp write_eeprom_byte
; Set up address in address register out EEDR, Temp1 Set_Eeprom_Address ZL, ZH ; Set write enables and start writing Start_Eeprom_Write ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Clear eeprom signature routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****clear_eeprom_signature: ldi ZL, low(Eep_Initialized_L) ldi ZH, high(Eep_Initialized_L) ldi Temp1, 0xFF xcall write_eeprom_byte
ldi ZL, low(Eep_Initialized_H) ldi ZH, high(Eep_Initialized_H) ldi Temp1, 0xFF xcall write_eeprom_byte ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Write eeprom signature routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****write_eeprom_signature: .IF MODE == 0 ; Main ldi ZL, low(Eep_Initialized_L) ldi ZH, high(Eep_Initialized_L) ldi Temp1, 0xA5 xcall write_eeprom_byte
ldi ZL, low(Eep_Initialized_H) ldi ZH, high(Eep_Initialized_H) ldi Temp1, 0x5A xcall write_eeprom_byte.ENDIF.IF MODE == 1 ; Tail ldi ZL, low(Eep_Initialized_L) ldi ZH, high(Eep_Initialized_L) ldi Temp1, 0x5A xcall write_eeprom_byte
ldi ZL, low(Eep_Initialized_H) ldi ZH, high(Eep_Initialized_H) ldi Temp1, 0xA5 xcall write_eeprom_byte.ENDIF.IF MODE == 2 ; Multi ldi ZL, low(Eep_Initialized_L) ldi ZH, high(Eep_Initialized_L) ldi Temp1, 0x55 xcall write_eeprom_byte
ldi ZL, low(Eep_Initialized_H) ldi ZH, high(Eep_Initialized_H) ldi Temp1, 0xAA xcall write_eeprom_byte.ENDIF ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Store new parameter value in ram routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****store_new_value_in_ram: lds Temp4, Tx_Pgm_Func_No ; Function no lds Temp1, Tx_Pgm_Paraval_No ; Parameter value no.IF MODE == 0 cpi Temp4, 1 brne PC+3 sts Pgm_Gov_P_Gain, Temp1
cpi Temp4, 2 brne PC+3 sts Pgm_Gov_I_Gain, Temp1
cpi Temp4, 3 brne PC+3 sts Pgm_Gov_Mode, Temp1
cpi Temp4, 4 brne PC+3 sts Pgm_Gov_Range, Temp1
cpi Temp4, 5 brne PC+3 sts Pgm_Low_Voltage_Lim, Temp1
cpi Temp4, 6 brne PC+3 sts Pgm_Startup_Pwr, Temp1
cpi Temp4, 7 brne PC+3 sts Pgm_Comm_Timing, Temp1
cpi Temp4, 8 brne PC+3 sts Pgm_Pwm_Freq, Temp1
cpi Temp4, 9 brne PC+3 sts Pgm_Demag_Comp, Temp1
cpi Temp4, 10 brne PC+3 sts Pgm_Direction, Temp1
cpi Temp4, 11 brne PC+3 sts Pgm_Input_Pol, Temp1.ENDIF.IF MODE == 1 cpi Temp4, 1 brne PC+3 sts Pgm_Motor_Gain, Temp1
cpi Temp4, 2 brne PC+3 sts Pgm_Motor_Idle, Temp1
cpi Temp4, 3 brne PC+3 sts Pgm_Startup_Pwr, Temp1
cpi Temp4, 4 brne PC+3 sts Pgm_Comm_Timing, Temp1
cpi Temp4, 5 brne PC+3 sts Pgm_Pwm_Freq, Temp1
cpi Temp4, 6 brne PC+3 sts Pgm_Pwm_Dither, Temp1
cpi Temp4, 7 brne PC+3 sts Pgm_Demag_Comp, Temp1
cpi Temp4, 8 brne PC+3 sts Pgm_Direction, Temp1
cpi Temp4, 9 brne PC+3 sts Pgm_Input_Pol, Temp1.ENDIF.IF MODE == 2 cpi Temp4, 1 brne PC+3 sts Pgm_Gov_P_Gain, Temp1
cpi Temp4, 2 brne PC+3 sts Pgm_Gov_I_Gain, Temp1
cpi Temp4, 3 brne PC+3 sts Pgm_Gov_Mode, Temp1
cpi Temp4, 4 brne PC+3 sts Pgm_Motor_Gain, Temp1
cpi Temp4, 5 brne PC+3 sts Pgm_Startup_Pwr, Temp1
cpi Temp4, 6 brne PC+3 sts Pgm_Comm_Timing, Temp1
cpi Temp4, 7 brne PC+3 sts Pgm_Pwm_Freq, Temp1
cpi Temp4, 8 brne PC+3 sts Pgm_Pwm_Dither, Temp1
cpi Temp4, 9 brne PC+3 sts Pgm_Demag_Comp, Temp1
cpi Temp4, 10 brne PC+3 sts Pgm_Direction, Temp1
cpi Temp4, 11 brne PC+3 sts Pgm_Input_Pol, Temp1.ENDIF ret
;**;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Wait 1 second routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****wait1s: ldi Temp3, 5wait1s_loop: xcall wait200ms dec Temp3 brne wait1s_loop ret
;**;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Success beep routine;; Assumes interrupts to be off;;**** **** **** **** **** **** **** **** **** **** **** **** ****success_beep: xcall beep_f1 xcall beep_f2 xcall beep_f3 xcall beep_f4 xcall wait10ms xcall beep_f1 xcall beep_f2 xcall beep_f3 xcall beep_f4 xcall wait10ms xcall beep_f1 xcall beep_f2 xcall beep_f3 xcall beep_f4 ret
;**;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Success beep inverted routine;; Assumes interrupts to be off;;**** **** **** **** **** **** **** **** **** **** **** **** ****success_beep_inverted: xcall beep_f4 xcall beep_f3 xcall beep_f2 xcall beep_f1 xcall wait10ms xcall beep_f4 xcall beep_f3 xcall beep_f2 xcall beep_f1 xcall wait10ms xcall beep_f4 xcall beep_f3 xcall beep_f2 xcall beep_f1 ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Function and parameter value beep routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****function_paraval_beep: lds Temp7, Tx_Pgm_Func_No ; Function no lds Temp8, Tx_Pgm_Paraval_No ; Parameter value nofunction_beep: xcall beep_f1 xcall beep_f1 xcall beep_f1 xcall wait10ms dec Temp7 brne function_beepparaval_beep: xcall beep_f4 xcall wait10ms dec Temp8 brne paraval_beep ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Program by TX routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****program_by_tx: ; Programming mode entry beeps cli xcall success_beep sei xcall wait1s xcall wait1s ; Start at function 1, parameter value 1 ldi XH, 1 sts Tx_Pgm_Func_No, XHparaval_no_entry: ldi XH, 1 sts Tx_Pgm_Paraval_No, XHbeep_no_entry: sts Tx_Pgm_Beep_No, Zerofunc_paraval: cli xcall function_paraval_beep sei ldi XH, 5 ; Wait is 5x 200ms mov Temp5, XH func_paraval_wait: lds Temp6, New_Rcp ; Load RC pulse xcall wait200ms lds XH, New_Rcp cp Temp6, XH ; Is RC pulse stable? (Avoid issues from 3in1 interference) brne func_paraval_wait ; No - branch cpi XH, RCP_STOP ; Below stop? brcs func_paraval_store ; Yes - branch
cpi XH, RCP_MAX ; Below max? brcs function_next ; Yes - branch
rjmp func_paraval_cont_wait ; No - branch
func_paraval_store: xcall store_new_value_in_ram ; Yes - store new value in RAM cli ; Disable all interrupts xcall store_all_in_eeprom ; Store all values in EEPROM xcall success_beep ; Beep success Enable_Watchdog XH ; Generate hardware reset from watchdog xcall wait1s
func_paraval_cont_wait: dec Temp5 brne func_paraval_wait lds XH, Tx_Pgm_Beep_No ; Check number of beeps inc XH sts Tx_Pgm_Beep_No, XH cpi XH, 3 ; Three beeps done? brcc paraval_next ; Yes - Next parameter value
rjmp func_paraval ; No - go back
paraval_next: xcall wait1s lds XH, Tx_Pgm_Paraval_No ; Parameter value no inc XH sts Tx_Pgm_Paraval_No, XH cli .IF MODE == 0 lds XH, Tx_Pgm_Func_No ; Decode number of parameters dec XH ldi ZL, low(TX_PGM_PARAMS_MAIN<<1) ldi ZH, high(TX_PGM_PARAMS_MAIN<<1) add ZL, XH adc ZH, Zero lpm Temp1, Z.ENDIF.IF MODE == 1 lds XH, Tx_Pgm_Func_No ; Decode number of parameters dec XH ldi ZL, low(TX_PGM_PARAMS_TAIL<<1) ldi ZH, high(TX_PGM_PARAMS_TAIL<<1) add ZL, XH adc ZH, Zero lpm Temp1, Z.ENDIF.IF MODE == 2 lds XH, Tx_Pgm_Func_No ; Decode number of parameters dec XH ldi ZL, low(TX_PGM_PARAMS_MULTI<<1) ldi ZH, high(TX_PGM_PARAMS_MULTI<<1) add ZL, XH adc ZH, Zero lpm Temp1, Z.ENDIF sei inc Temp1 lds XH, Tx_Pgm_Paraval_No cp XH, Temp1 brcc function_next ; Last parameter value? rjmp beep_no_entry ; No - go back
function_next: ; Yes - Next function value xcall wait1s xcall wait1s lds XH, Tx_Pgm_Func_No ; Function value no inc XH sts Tx_Pgm_Func_No, XH.IF MODE == 0 lds XH, Tx_Pgm_Func_No cpi XH, 12 ; Main has 11 functions .ENDIF.IF MODE == 1 lds XH, Tx_Pgm_Func_No cpi XH, 10 ; Tail has 9 functions .ENDIF.IF MODE == 2 lds XH, Tx_Pgm_Func_No cpi XH, 12 ; Multi has 11 functions .ENDIF brcc program_by_tx_exit ; Last function value? rjmp paraval_no_entry ; No - go back
program_by_tx_exit: xcall set_default_parameters ; Load all defaults cli ; Disable all interrupts xcall store_all_in_eeprom ; Erase flash and program Enable_Watchdog XH ; Generate hardware reset from watchdog xcall wait1s
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