Steffen Skaug
12 years ago
108 changed files with 3635 additions and 317 deletions
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297SiLabs/Align_RCE_BL35P.inc
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BINSiLabs/BLHeli programming by TX SiLabs Rev10.x.pdf
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BINSiLabs/BLHeli supported SiLabs ESCs.pdf
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46SiLabs/BLHeli.asm
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291SiLabs/H_King_10A.inc
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440SiLabs/Hex files/ALIGN_RCE_BL35P_MAIN_REV10_2.HEX
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432SiLabs/Hex files/ALIGN_RCE_BL35P_MULTI_REV10_2.HEX
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426SiLabs/Hex files/ALIGN_RCE_BL35P_TAIL_REV10_2.HEX
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4SiLabs/Hex files/DP_3A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/DP_3A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/DP_3A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/HIMODEL_COOL_22A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/HIMODEL_COOL_22A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/HIMODEL_COOL_22A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/HIMODEL_COOL_33A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/HIMODEL_COOL_33A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/HIMODEL_COOL_33A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/HIMODEL_COOL_41A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/HIMODEL_COOL_41A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/HIMODEL_COOL_41A_TAIL_REV10_2.HEX
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440SiLabs/Hex files/H_KING_10A_MAIN_REV10_2.HEX
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432SiLabs/Hex files/H_KING_10A_MULTI_REV10_2.HEX
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425SiLabs/Hex files/H_KING_10A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/RCTIMER_6A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/RCTIMER_6A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/RCTIMER_6A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/SKYWALKER_20A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/SKYWALKER_20A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/SKYWALKER_20A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/SKYWALKER_40A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/SKYWALKER_40A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/SKYWALKER_40A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/SUPERMICRO_3P5A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/SUPERMICRO_3P5A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/SUPERMICRO_3P5A_TAIL_REV10_2.HEX
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18SiLabs/Hex files/TURNIGY_AE_20A_MAIN_REV10_2.HEX
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18SiLabs/Hex files/TURNIGY_AE_20A_MULTI_REV10_2.HEX
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18SiLabs/Hex files/TURNIGY_AE_20A_TAIL_REV10_2.HEX
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18SiLabs/Hex files/TURNIGY_AE_25A_MAIN_REV10_2.HEX
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18SiLabs/Hex files/TURNIGY_AE_25A_MULTI_REV10_2.HEX
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18SiLabs/Hex files/TURNIGY_AE_25A_TAIL_REV10_2.HEX
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18SiLabs/Hex files/TURNIGY_AE_30A_MAIN_REV10_2.HEX
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18SiLabs/Hex files/TURNIGY_AE_30A_MULTI_REV10_2.HEX
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18SiLabs/Hex files/TURNIGY_AE_30A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_AE_45A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_AE_45A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_AE_45A_TAIL_REV10_2.HEX
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10SiLabs/Hex files/TURNIGY_KFORCE_120A_HV_MAIN_REV10_2.HEX
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10SiLabs/Hex files/TURNIGY_KFORCE_120A_HV_MULTI_REV10_2.HEX
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10SiLabs/Hex files/TURNIGY_KFORCE_120A_HV_TAIL_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_KFORCE_40A_MAIN _REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_KFORCE_40A_MULTI _REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_KFORCE_40A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_10A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_10A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_10A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_12A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_12A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_12A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_18A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_18A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_18A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_25A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_25A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_25A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_30A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_30A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_30A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_40A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_40A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_40A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_60A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_60A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_60A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_6A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_6A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_6A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_80A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_80A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/TURNIGY_PLUSH_80A_TAIL_REV10_2.HEX
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10SiLabs/Hex files/XP_12A_MAIN_REV10_2.HEX
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10SiLabs/Hex files/XP_12A_MULTI_REV10_2.HEX
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10SiLabs/Hex files/XP_12A_TAIL_REV10_2.HEX
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10SiLabs/Hex files/XP_18A_MAIN_REV10_2.HEX
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10SiLabs/Hex files/XP_18A_MULTI_REV10_2.HEX
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10SiLabs/Hex files/XP_18A_TAIL_REV10_2.HEX
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10SiLabs/Hex files/XP_25A_MAIN_REV10_2.HEX
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10SiLabs/Hex files/XP_25A_MULTI_REV10_2.HEX
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10SiLabs/Hex files/XP_25A_TAIL_REV10_2.HEX
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4SiLabs/Hex files/XP_3A_MAIN_REV10_2.HEX
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4SiLabs/Hex files/XP_3A_MULTI_REV10_2.HEX
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4SiLabs/Hex files/XP_3A_TAIL_REV10_2.HEX
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10SiLabs/Hex files/XP_7A_FAST_MAIN_REV10_2.HEX
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10SiLabs/Hex files/XP_7A_FAST_MULTI_REV10_2.HEX
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10SiLabs/Hex files/XP_7A_FAST_TAIL_REV10_2.HEX
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10SiLabs/Hex files/XP_7A_MAIN_REV10_2.HEX
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10SiLabs/Hex files/XP_7A_MULTI_REV10_2.HEX
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10SiLabs/Hex files/XP_7A_TAIL_REV10_2.HEX
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93SiLabs/MakeHexfiles.bat
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8SiLabs/Turnigy_AE_20A.inc
@ -0,0 +1,297 @@ |
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;**** **** **** **** **** |
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; |
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; BLHeli program for controlling brushless motors in helicopters |
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; |
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; Copyright 2011, 2012 Steffen Skaug |
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; This program is distributed under the terms of the GNU General Public License |
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; |
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; This file is part of BLHeli. |
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; |
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; BLHeli is free software: you can redistribute it and/or modify |
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; it under the terms of the GNU General Public License as published by |
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; the Free Software Foundation, either version 3 of the License, or |
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; (at your option) any later version. |
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; |
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; BLHeli is distributed in the hope that it will be useful, |
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; but WITHOUT ANY WARRANTY; without even the implied warranty of |
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; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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; GNU General Public License for more details. |
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; |
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; You should have received a copy of the GNU General Public License |
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; along with BLHeli. If not, see <http://www.gnu.org/licenses/>. |
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; |
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;**** **** **** **** **** |
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; |
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; Align RCE-BL35P 35A hardware definition file |
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; |
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;**** **** **** **** **** |
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;********************* |
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; Device SiLabs F330 |
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;********************* |
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$include (c8051f330.inc) |
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;**** **** **** **** **** |
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; Uses internal calibrated oscillator set to 24Mhz |
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;**** **** **** **** **** |
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;**** **** **** **** **** |
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; Constant definitions |
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;**** **** **** **** **** |
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CSEG AT 1A40h |
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Eep_ESC_Layout: DB "#AlignBL35P# " ; ESC layout tag |
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CSEG AT 1A50h |
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Eep_ESC_MCU: DB "#BLHELI#F330# " ; Project and MCU tag (16 Bytes) |
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PORT3_EXIST EQU 0 ; Set to 1 if MCU has port3 |
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COMP1_USED EQU 0 ; Set to 1 if MCU has comparator 1 and it is being used |
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DUAL_BEC_VOLTAGE EQU 1 ; Set to 1 if dual BEC voltage is supported |
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DAMPED_MODE_ENABLE EQU 1 ; Damped mode disabled |
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NFETON_DELAY EQU 6 ; Wait delay from pfets off to nfets on |
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PFETON_DELAY EQU 8 ; Wait delay from nfets off to pfets on |
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COMP_PWM_HIGH_ON_DELAY EQU 30 ; Wait delay from pwm on until comparator can be read (for high pwm frequency) |
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COMP_PWM_HIGH_OFF_DELAY EQU 60 ; Wait delay from pwm off until comparator can be read (for high pwm frequency) |
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COMP_PWM_LOW_ON_DELAY EQU 10 ; Wait delay from pwm on until comparator can be read (for low pwm frequency) |
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COMP_PWM_LOW_OFF_DELAY EQU 20 ; Wait delay from pwm off until comparator can be read (for low pwm frequency) |
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ADC_LIMIT_L EQU 85 ; Power supply measurement ADC value for which main motor power is limited (low byte) |
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ADC_LIMIT_H EQU 0 ; Power supply measurement ADC value for which main motor power is limited (2 MSBs) |
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TEMP_LIMIT EQU 109 ; Temperature measurement ADC value for which main motor power is limited (low byte, assuming high byte is 1) |
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TEMP_LIMIT_STEP EQU 4 ; Temperature measurement ADC value increment for which main motor power is further limited |
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MAIN_SPOOLUP_TIME EQU 10 ; Main motor spoolup time |
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;**** **** **** **** **** |
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; ESC specific defaults |
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;**** **** **** **** **** |
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DEFAULT_PGM_MAIN_STARTUP_PWR EQU 9 ; 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 |
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DEFAULT_PGM_TAIL_STARTUP_PWR EQU 9 ; 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 |
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DEFAULT_PGM_MULTI_STARTUP_PWR EQU 9 ; 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 |
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DEFAULT_PGM_MAIN_STARTUP_METHOD EQU 2 ; 1=Stepped 2=Direct |
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DEFAULT_PGM_TAIL_STARTUP_METHOD EQU 2 ; 1=Stepped 2=Direct |
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DEFAULT_PGM_MULTI_STARTUP_METHOD EQU 2 ; 1=Stepped 2=Direct |
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;********************* |
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; PORT 0 definitions * |
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;********************* |
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Mux_A EQU 7 ;i |
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Comp_Com EQU 6 ;i |
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Rcp_In EQU 5 ;i |
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; EQU 4 ;i |
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AnFET EQU 3 ;o |
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BpFET EQU 2 ;o |
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Bec_4p5V EQU 1 ;o |
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ApFET EQU 0 ;o |
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P0_DIGITAL EQU NOT((1 SHL Mux_A)+(1 SHL Comp_Com)) AND 0FFh |
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P0_INIT EQU NOT((1 SHL AnFET)+(1 SHL ApFET)+(1 SHL BpFET)+(1 SHL Bec_4p5V)) |
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P0_PUSHPULL EQU (1 SHL AnFET)+(1 SHL ApFET)+(1 SHL BpFET)+(1 SHL Bec_4p5V) |
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P0_SKIP EQU NOT(1 SHL Rcp_In) |
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MACRO Read_Rcp_Int |
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mov A, P0 |
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jnb Flags3.PGM_RCP_PWM_POL, ($+4) ; Is pwm polarity negative? |
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cpl A ; Yes - invert |
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ENDM |
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MACRO Rcp_Int_Enable |
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orl PCA0CPM0, #01h ; Interrupt enabled |
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ENDM |
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MACRO Rcp_Int_Disable |
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anl PCA0CPM0, #0FEh ; Interrupt disabled |
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ENDM |
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MACRO Rcp_Int_First |
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anl PCA0CPM0, #0CFh |
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jb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity positive? |
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orl PCA0CPM0, #20h ; Capture rising edge |
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jnb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity negative? |
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orl PCA0CPM0, #10h ; Capture falling edge |
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ENDM |
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MACRO Rcp_Int_Second |
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anl PCA0CPM0, #0CFh |
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jb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity positive? |
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orl PCA0CPM0, #10h ; Capture falling edge |
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jnb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity negative? |
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orl PCA0CPM0, #20h ; Capture rising edge |
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ENDM |
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MACRO Rcp_Clear_Int_Flag |
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clr CCF0 ; Clear interrupt flag |
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ENDM |
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;********************* |
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; PORT 1 definitions * |
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;********************* |
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CpFET EQU 7 ;o |
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; EQU 6 ;i |
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CnFET EQU 5 ;o |
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BnFET EQU 4 ;o |
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Mux_C EQU 3 ;i |
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; EQU 2 ;i |
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Mux_B EQU 1 ;i |
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; EQU 0 ;i |
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P1_DIGITAL EQU NOT((1 SHL Mux_B)+(1 SHL Mux_C)) AND 0FFh |
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P1_INIT EQU NOT((1 SHL BnFET+(1 SHL CnFET))+(1 SHL CpFET)) AND 0FFh |
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P1_PUSHPULL EQU (1 SHL BnFET)+(1 SHL CnFET)+(1 SHL CpFET) |
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P1_SKIP EQU 0 |
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MACRO AnFET_on |
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mov A, Current_Pwm_Limited |
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jz ($+12) |
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jb Flags3.PGM_DIR_REV, ($+5) |
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setb P0.AnFET |
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jnb Flags3.PGM_DIR_REV, ($+5) |
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setb P1.CnFET |
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ENDM |
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MACRO AnFET_off |
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jb Flags3.PGM_DIR_REV, ($+5) |
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clr P0.AnFET |
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jnb Flags3.PGM_DIR_REV, ($+5) |
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clr P1.CnFET |
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ENDM |
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MACRO BnFET_on |
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mov A, Current_Pwm_Limited |
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jz ($+4) |
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setb P1.BnFET |
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ENDM |
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MACRO BnFET_off |
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clr P1.BnFET |
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ENDM |
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MACRO CnFET_on |
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mov A, Current_Pwm_Limited |
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jz ($+12) |
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jb Flags3.PGM_DIR_REV, ($+5) |
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setb P1.CnFET |
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jnb Flags3.PGM_DIR_REV, ($+5) |
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setb P0.AnFET |
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ENDM |
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MACRO CnFET_off |
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jb Flags3.PGM_DIR_REV, ($+5) |
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clr P1.CnFET |
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jnb Flags3.PGM_DIR_REV, ($+5) |
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clr P0.AnFET |
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ENDM |
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MACRO All_nFETs_Off |
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clr P0.AnFET |
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clr P1.BnFET |
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clr P1.CnFET |
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ENDM |
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MACRO ApFET_on |
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jb Flags3.PGM_DIR_REV, ($+5) |
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setb P0.ApFET |
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jnb Flags3.PGM_DIR_REV, ($+5) |
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setb P1.CpFET |
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ENDM |
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MACRO ApFET_off |
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jb Flags3.PGM_DIR_REV, ($+5) |
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clr P0.ApFET |
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jnb Flags3.PGM_DIR_REV, ($+5) |
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clr P1.CpFET |
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ENDM |
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MACRO BpFET_on |
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setb P0.BpFET |
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ENDM |
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MACRO BpFET_off |
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clr P0.BpFET |
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ENDM |
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MACRO CpFET_on |
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jb Flags3.PGM_DIR_REV, ($+5) |
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setb P1.CpFET |
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jnb Flags3.PGM_DIR_REV, ($+5) |
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setb P0.ApFET |
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ENDM |
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MACRO CpFET_off |
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jb Flags3.PGM_DIR_REV, ($+5) |
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clr P1.CpFET |
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jnb Flags3.PGM_DIR_REV, ($+5) |
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clr P0.ApFET |
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ENDM |
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MACRO All_pFETs_Off |
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clr P0.ApFET |
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clr P0.BpFET |
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clr P1.CpFET |
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ENDM |
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MACRO All_pFETs_On |
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setb P0.ApFET |
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setb P0.BpFET |
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setb P1.CpFET |
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ENDM |
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MACRO Set_Comp_Phase_A |
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jb Flags3.PGM_DIR_REV, ($+6) |
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mov CPT0MX, #33h ; Set comparator multiplexer to phase A |
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jnb Flags3.PGM_DIR_REV, ($+6) |
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mov CPT0MX, #53h |
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ENDM |
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MACRO Set_Comp_Phase_B |
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mov CPT0MX, #43h ; Set comparator multiplexer to phase B |
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ENDM |
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MACRO Set_Comp_Phase_C |
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jb Flags3.PGM_DIR_REV, ($+6) |
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mov CPT0MX, #53h ; Set comparator multiplexer to phase C |
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jnb Flags3.PGM_DIR_REV, ($+6) |
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mov CPT0MX, #33h |
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ENDM |
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MACRO Read_Comp_Out |
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mov A, CPT0CN ; Read comparator output |
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cpl A ; Invert output |
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ENDM |
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;********************* |
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; PORT 2 definitions * |
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;********************* |
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DebugPin EQU 0 ;o |
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P2_PUSHPULL EQU (1 SHL DebugPin) |
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;********************** |
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; MCU specific macros * |
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;********************** |
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MACRO Interrupt_Table_Definition |
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CSEG AT 0 ; Code segment start |
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jmp reset |
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CSEG AT 0Bh ; Timer0 interrupt |
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jmp t0_int |
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CSEG AT 2Bh ; Timer2 interrupt |
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jmp t2_int |
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CSEG AT 5Bh ; PCA interrupt |
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jmp pca_int |
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CSEG AT 73h ; Timer3 interrupt |
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jmp t3_int |
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ENDM |
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MACRO Initialize_Adc |
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mov REF0CN, #0Eh ; Set vdd (3.3V) as reference. Enable temp sensor and bias |
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mov ADC0CF, #58h ; ADC clock 2MHz |
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mov AMX0P, #(8+Mux_B) ; Select positive input (use comparator input B) |
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mov AMX0N, #11h ; Select negative input as ground |
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mov ADC0CN, #80h ; ADC enabled |
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ENDM |
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MACRO Set_Adc_Ip_Volt |
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mov AMX0P, #(8+Mux_B) ; Select positive input (use comparator input B) |
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ENDM |
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MACRO Set_Adc_Ip_Temp |
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mov AMX0P, #10h ; Select temp sensor input |
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ENDM |
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MACRO Start_Adc |
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mov ADC0CN, #90h ; ADC start |
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ENDM |
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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_BEC_Hi |
|||
clr P0.Bec_4p5V |
|||
ENDM |
|||
MACRO Set_BEC_Lo |
|||
setb P0.Bec_4p5V |
|||
ENDM |
@ -0,0 +1,291 @@ |
|||
;**** **** **** **** **** |
|||
; |
|||
; BLHeli program for controlling brushless motors in helicopters |
|||
; |
|||
; 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/>. |
|||
; |
|||
;**** **** **** **** **** |
|||
; |
|||
; H-King 10A hardware definition file |
|||
; |
|||
;**** **** **** **** **** |
|||
|
|||
|
|||
|
|||
;********************* |
|||
; Device SiLabs F330 |
|||
;********************* |
|||
$include (c8051f330.inc) |
|||
|
|||
;**** **** **** **** **** |
|||
; Uses internal calibrated oscillator set to 24Mhz |
|||
;**** **** **** **** **** |
|||
|
|||
;**** **** **** **** **** |
|||
; Constant definitions |
|||
;**** **** **** **** **** |
|||
CSEG AT 1A40h |
|||
Eep_ESC_Layout: DB "#HKing10A# " ; ESC layout tag |
|||
CSEG AT 1A50h |
|||
Eep_ESC_MCU: DB "#BLHELI#F330# " ; Project and MCU tag (16 Bytes) |
|||
|
|||
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 |
|||
DUAL_BEC_VOLTAGE EQU 0 ; Set to 1 if dual BEC voltage is supported |
|||
DAMPED_MODE_ENABLE EQU 1 ; 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 |
|||
COMP_PWM_HIGH_ON_DELAY EQU 30 ; Wait delay from pwm on until comparator can be read (for high pwm frequency) |
|||
COMP_PWM_HIGH_OFF_DELAY EQU 60 ; Wait delay from pwm off until comparator can be read (for high pwm frequency) |
|||
COMP_PWM_LOW_ON_DELAY EQU 10 ; Wait delay from pwm on until comparator can be read (for low pwm frequency) |
|||
COMP_PWM_LOW_OFF_DELAY EQU 20 ; Wait delay from pwm off until comparator can be read (for low pwm frequency) |
|||
ADC_LIMIT_L EQU 117 ; 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 |
|||
MAIN_SPOOLUP_TIME EQU 7 ; Main motor spoolup time |
|||
|
|||
;**** **** **** **** **** |
|||
; ESC specific defaults |
|||
;**** **** **** **** **** |
|||
DEFAULT_PGM_MAIN_STARTUP_PWR EQU 11 ; 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 11 ; 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 11 ; 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_MAIN_STARTUP_METHOD EQU 2 ; 1=Stepped 2=Direct |
|||
DEFAULT_PGM_TAIL_STARTUP_METHOD EQU 2 ; 1=Stepped 2=Direct |
|||
DEFAULT_PGM_MULTI_STARTUP_METHOD EQU 2 ; 1=Stepped 2=Direct |
|||
|
|||
|
|||
;********************* |
|||
; PORT 0 definitions * |
|||
;********************* |
|||
; EQU 7 ;i |
|||
; EQU 6 ;i |
|||
Mux_C EQU 5 ;i |
|||
Rcp_In EQU 4 ;i |
|||
Mux_B EQU 3 ;i |
|||
; EQU 2 ;i |
|||
Mux_A EQU 1 ;i |
|||
Comp_Com EQU 0 ;i |
|||
|
|||
P0_DIGITAL EQU NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com)) AND 0FFh |
|||
P0_INIT EQU 0FFh |
|||
P0_PUSHPULL EQU 00h |
|||
P0_SKIP EQU NOT(1 SHL Rcp_In) |
|||
|
|||
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 |
|||
AnFET EQU 2 ;o |
|||
BnFET EQU 1 ;o |
|||
CnFET EQU 0 ;o |
|||
|
|||
P1_DIGITAL EQU 0FFh |
|||
P1_INIT EQU NOT((1 SHL AnFET)+(1 SHL BnFET)+(1 SHL CnFET)+(1 SHL ApFET)+(1 SHL BpFET)+(1 SHL CpFET)) AND 0FFh |
|||
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) |
|||
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 CPT0MX, #00h ; Set comparator multiplexer to phase A |
|||
jnb Flags3.PGM_DIR_REV, ($+6) |
|||
mov CPT0MX, #20h |
|||
ENDM |
|||
MACRO Set_Comp_Phase_B |
|||
mov CPT0MX, #10h ; Set comparator multiplexer to phase B |
|||
ENDM |
|||
MACRO Set_Comp_Phase_C |
|||
jb Flags3.PGM_DIR_REV, ($+6) |
|||
mov CPT0MX, #20h ; Set comparator multiplexer to phase C |
|||
jnb Flags3.PGM_DIR_REV, ($+6) |
|||
mov CPT0MX, #00h |
|||
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_Adc |
|||
mov REF0CN, #0Eh ; Set vdd (3.3V) as reference. Enable temp sensor and bias |
|||
mov ADC0CF, #58h ; ADC clock 2MHz |
|||
mov AMX0P, #Mux_B ; Select positive input (use comparator input B) |
|||
mov AMX0N, #11h ; Select negative input as ground |
|||
mov ADC0CN, #80h ; ADC enabled |
|||
ENDM |
|||
MACRO Set_Adc_Ip_Volt |
|||
mov AMX0P, #Mux_B ; Select positive input (use comparator input B) |
|||
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 |
@ -0,0 +1,440 @@ |
|||
:0300000002125990 |
|||
:03000B000200C12F |
|||
:03002B000203EBE2 |
|||
:03005B0002059704 |
|||
:0300730002058DF6 |
|||
:1000800002030406080C10182030406080020304AC |
|||
:1000900006080C101820304080FF0406080C1018C9 |
|||
:1000A0002030406080A0C000000001010003020277 |
|||
:1000B000010D0D040206020D0505050D06030502DE |
|||
:1000C00002C2AFC0D0C0E0205A0D302F02E473301E |
|||
:1000D000600280F90203D7306306C283C294C295DE |
|||
:1000E00085258AC25AE525F4700221CA056130606F |
|||
:1000F00013206A19758B00D0E0D0D0C283C294C29D |
|||
:1001000095D2AF32C283C294C2950201BAD26EC2F6 |
|||
:100110006FE565601CC3E5611495654014C26ED23D |
|||
:100120006FC3E561956450030201BA756100020175 |
|||
:10013000BA206C14C283C294C2957408D5E0FDD273 |
|||
:1001400080D282D2970201BAD26FC283C294C29582 |
|||
:10015000E53D20E23420E1127408D5E0FD20740270 |
|||
:10016000D297307402D2800201BA20E0127408D50E |
|||
:10017000E0FD207402D297307402D2800201BA747A |
|||
:1001800008D5E0FDD2820201BA20E11F20E00A7406 |
|||
:1001900008D5E0FDD2820201BA7408D5E0FD2074D2 |
|||
:1001A00002D280307402D2970201BA7408D5E0FD01 |
|||
:1001B000207402D280307402D297758B00D0E0D0C8 |
|||
:1001C000D0C283C294C295D2AF32D0E0D0D0D2AFE9 |
|||
:1001D0003261D7E525600A207402D283307402D2DE |
|||
:1001E00095C29461D7E5256002D294207402C2952D |
|||
:1001F000307402C28361D7E525600A207402D2956B |
|||
:10020000307402D283207402C283307402C29561BA |
|||
:10021000D7207402C280307402C297E525600A209C |
|||
:100220007402D283307402D295207402C297307463 |
|||
:1002300002C280C29461D7207402C280307402C2AC |
|||
:1002400097207402C297307402C2807406D5E0FD14 |
|||
:10025000E525600A207402D283307402D295C294DC |
|||
:1002600061D7207402C280307402C297E525600A0B |
|||
:10027000207402D283307402D295C282C29461D7B4 |
|||
:10028000207402C280307402C297C2827406D5E024 |
|||
:10029000FDE525600A207402D283307402D295C233 |
|||
:1002A0009461D7C282E5256002D294207402C28094 |
|||
:1002B000307402C297207402C295307402C2836106 |
|||
:1002C000D7C282207402C280307402C2977406D5ED |
|||
:1002D000E0FDE5256002D294207402C295307402DC |
|||
:1002E000C28361D7C282E5256002D294207402C223 |
|||
:1002F00097307402C280207402C295307402C283A7 |
|||
:1003000061D7C282207402C297307402C280740620 |
|||
:10031000D5E0FDE5256002D294207402C2953074C8 |
|||
:1003200002C28361D7207402C297307402C280E592 |
|||
:1003300025600A207402D295307402D283C28220D2 |
|||
:100340007402C283307402C29561D7207402C297CE |
|||
:10035000307402C280C2827406D5E0FDE525600AD1 |
|||
:10036000207402D295307402D283207402C283308A |
|||
:100370007402C29561D7207402C297307402C280A1 |
|||
:10038000E525600A207402D295307402D28320746D |
|||
:1003900002C280307402C297207402C28330740299 |
|||
:1003A000C29561D7207402C297307402C280207453 |
|||
:1003B00002C280307402C2977406D5E0FDE5256064 |
|||
:1003C0000A207402D295307402D283207402C28350 |
|||
:1003D000307402C29561D7E525F4F58A758B0075F6 |
|||
:1003E0006000D25AD0E0D0D0D2AF32C2AFC0D0C0BD |
|||
:1003F000E0D2D3C2CEE528600A740F552E604915AD |
|||
:1004000028814878007900E580307501F430E502F4 |
|||
:1004100078FF53DACF20750343DA2030750343DACF |
|||
:1004200010C2D8C269E580307501F430E50279FF69 |
|||
:10043000C3E89970CE305903752840740F552E606B |
|||
:10044000037528408858D268E52960041529815B26 |
|||
:10045000740F552E600543DA01C2D820680281E08E |
|||
:10046000E558F8C268740F552E60367982B70431AA |
|||
:0F047000C3E894F0400374F0F8E8C4540F28F880 |
|||
:10047F007984B7030281A1C313C313872120080214 |
|||
:10048F00C313200A06C3C898F881A128F850037433 |
|||
:10049F00FFF8C3E8955F5003E55FF8E52C5406704D |
|||
:1004AF0030882230630AC3E522955C4003855C22C5 |
|||
:1004BF007882B6041CC3E5229524401278A096409A |
|||
:1004CF000DE52426F52450097524FF0204E085224A |
|||
:1004DF002420CF09D0E0D0D0C2D3D2AF32C2CF7850 |
|||
:1004EF0001E5286008740F552E70021528C3E558D2 |
|||
:1004FF0094014005755B00A10FE55B046002055B8D |
|||
:10050F007982B7020EE548601EC3E5229432401788 |
|||
:10051F008547227982B7030FE548600BC3E5229424 |
|||
:10052F00324004798E8722C3E52395226008400468 |
|||
:10053F001523A1450523D8C8056270021562D5633E |
|||
:10054F00347563017803C3E562941E4028C3E562E6 |
|||
:10055F00946450087801756303020577C3E56294CC |
|||
:10056F009650057801756301E55DC3285005755DEB |
|||
:10057F00FFA184F55DD0E0D0D0C2D3D2AF32C2AFED |
|||
:10058F0053917FC258D2AF32C2AFC0D0C0E0C0F0DB |
|||
:10059F00D2D3A8FBA9FCC2D8306902A1FA53DACF93 |
|||
:1005AF0020750343DA1030750343DA20D269E580F2 |
|||
:1005BF00307501F420E502A1CE88268927E1735317 |
|||
:1005CF00DACF20750343DA2030750343DA10C2D82F |
|||
:1005DF00C269740F552E7002E1597800E5803075AD |
|||
:1005EF0001F430E502E1598858E15953DACF20750B |
|||
:1005FF000343DA2030750343DA10C269205902C170 |
|||
:10060F00A353DACF20750343DA1030750343DA2092 |
|||
:10061F00C2D8D26988538954C3E89551F8E99552E5 |
|||
:10062F00F9E4FB7AFAC3E89468E994015008E4D23C |
|||
:10063F00E3FB7A0FC176C3E894D0E994025008E443 |
|||
:10064F00D2E2FB7A1EC176C3E894A0E99405500864 |
|||
:10065F00E4D2E1FB7A3CC176C3E89498E994085060 |
|||
:10066F0006E4D2E0FB7A78C3E89555FCE99556FD90 |
|||
:10067F0030E708ECF42401FCEDF4FD755700700829 |
|||
:10068F00C3EC9A500375570188558956A853A9543E |
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:101C600022AB6EA86FBB01057984021CCABB0205BA |
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:101C70007985021CCABB03057995021CCABB040501 |
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:101C80007986021CCABB0505798F021CCABB0605F2 |
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:101C90007990021CCABB07057992021CCABB0805D1 |
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:101CA000799B021CCABB09057993021CCABB0A05B1 |
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:101CB0007987021CCABB0B05799C021CCABB0C05A8 |
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:101CC0007988021CCA7989021CCAE8F7227C0512AD |
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:101CD000074BDCFB22C2AF12075A120760120766DD |
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:101CE00012076C12073F12075A120760120766129A |
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:101CF000076C12073F12075A120760120766120795 |
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:101D00006CD2AF22C2AF12076C12076612076012C4 |
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:101D1000075A12073F12076C120766120760120774 |
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:101D20005A12073F12076C12076612076012075A11 |
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:101D3000D2AF22AE6EAF6FC2AF12075A12075A125D |
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:101D4000075A12073FDEF212076C12073FDFF8D284 |
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:101D5000AF2291D591CD91CD756E01756F017570E2 |
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:101D600000B1337C05AD5812074BC3ED955870F5A3 |
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:101D7000C3E55894014009C3E55894FF4032A18E51 |
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:101D800091611217D891D5C2AF75EF1291CDDCD504 |
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:101D90000570C3E5709403500280C691CD056FE5D0 |
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:101DA0006E149000B193F808C3E56F98500280AEAE |
|||
:101DB00091CD91CD056EC3E56E940E5002809C12BC |
|||
:0C1DC00010471217D8C2AF75EF1291CD7A |
|||
:00000001FF |
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