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BLHeli_S: Tabs after operators

master
Mathias Rasmussen 4 years ago
parent
a382249f72
commit
3df25e4614
1 changed files with 145 additions and 145 deletions
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  1. 290
      BLHeli_S SiLabs/BLHeli_S.asm

290
BLHeli_S SiLabs/BLHeli_S.asm
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@ -640,7 +640,7 @@ t1_int_msb_fail:
mov DPTR, #0 ; Set pointer to start mov DPTR, #0 ; Set pointer to start
setb IE_EX0 ; Enable int0 interrupts setb IE_EX0 ; Enable int0 interrupts
setb IE_EX1 ; Enable int1 interrupts setb IE_EX1 ; Enable int1 interrupts
ajmp int0_int_outside_range
ajmp int0_int_outside_range
t1_int_decode_msb: t1_int_decode_msb:
; Decode DShot data Msb. Use more code space to save time (by not using loop) ; Decode DShot data Msb. Use more code space to save time (by not using loop)
@ -654,7 +654,7 @@ t1_int_lsb_fail:
mov DPTR, #0 ; Set pointer to start mov DPTR, #0 ; Set pointer to start
setb IE_EX0 ; Enable int0 interrupts setb IE_EX0 ; Enable int0 interrupts
setb IE_EX1 ; Enable int1 interrupts setb IE_EX1 ; Enable int1 interrupts
ajmp int0_int_outside_range
ajmp int0_int_outside_range
t1_int_decode_lsb: t1_int_decode_lsb:
; Decode DShot data Lsb ; Decode DShot data Lsb
@ -679,13 +679,13 @@ t1_int_decode_lsb:
mov DPTR, #0 ; Set pointer to start mov DPTR, #0 ; Set pointer to start
setb IE_EX0 ; Enable int0 interrupts setb IE_EX0 ; Enable int0 interrupts
setb IE_EX1 ; Enable int1 interrupts setb IE_EX1 ; Enable int1 interrupts
ajmp int0_int_outside_range
ajmp int0_int_outside_range
t1_int_xor_ok: t1_int_xor_ok:
; Swap to be LSB aligned to 12 bits (and invert) ; Swap to be LSB aligned to 12 bits (and invert)
mov A, Temp4 mov A, Temp4
cpl A cpl A
swap A
swap A
anl A, #0F0h ; Low nibble of high byte anl A, #0F0h ; Low nibble of high byte
mov Temp2, A mov Temp2, A
mov A, Temp3 mov A, Temp3
@ -696,7 +696,7 @@ t1_int_xor_ok:
mov Temp3, A mov Temp3, A
mov A, Temp4 ; High nibble of high byte mov A, Temp4 ; High nibble of high byte
cpl A cpl A
swap A
swap A
anl A, #0Fh anl A, #0Fh
mov Temp4, A mov Temp4, A
; Subtract 96 (still 12 bits) ; Subtract 96 (still 12 bits)
@ -723,7 +723,7 @@ t1_int_xor_ok:
mov Temp2, A mov Temp2, A
clr C clr C
subb A, Dshot_Cmd
subb A, Dshot_Cmd
jz t1_dshot_inc_cmd_cnt jz t1_dshot_inc_cmd_cnt
t1_dshot_set_cmd: t1_dshot_set_cmd:
@ -881,7 +881,7 @@ t1_int_frame_fail:
mov DPTR, #0 ; Set pointer to start mov DPTR, #0 ; Set pointer to start
setb IE_EX0 ; Enable int0 interrupts setb IE_EX0 ; Enable int0 interrupts
setb IE_EX1 ; Enable int1 interrupts setb IE_EX1 ; Enable int1 interrupts
ajmp int0_int_outside_range
ajmp int0_int_outside_range
;**** **** **** **** **** **** **** **** **** **** **** **** **** ;**** **** **** **** **** **** **** **** **** **** **** **** ****
@ -997,7 +997,7 @@ int0_int_not_dshot:
; Multishot - Multiply by 2 and add 1/16 and 1/32 ; Multishot - Multiply by 2 and add 1/16 and 1/32
mov A, Temp1 ; Divide by 16 mov A, Temp1 ; Divide by 16
swap A
swap A
anl A, #0Fh anl A, #0Fh
mov Temp3, A mov Temp3, A
mov A, Temp2 mov A, Temp2
@ -1116,9 +1116,9 @@ int0_int_fall_gain_done:
clr C clr C
mov A, Temp4 ; Is pulse 2235us or higher? mov A, Temp4 ; Is pulse 2235us or higher?
IF MCU_48MHZ == 0 IF MCU_48MHZ == 0
subb A, #09h
subb A, #09h
ELSE ELSE
subb A, #12h
subb A, #12h
ENDIF ENDIF
jnc int0_int_outside_range ; Yes - ignore pulse jnc int0_int_outside_range ; Yes - ignore pulse
@ -1126,15 +1126,15 @@ ENDIF
clr C clr C
mov A, Temp3 mov A, Temp3
IF MCU_48MHZ == 0 IF MCU_48MHZ == 0
subb A, #9Ah
subb A, #9Ah
ELSE ELSE
subb A, #34h
subb A, #34h
ENDIF ENDIF
mov A, Temp4 mov A, Temp4
IF MCU_48MHZ == 0 IF MCU_48MHZ == 0
subb A, #03h
subb A, #03h
ELSE ELSE
subb A, #07h
subb A, #07h
ENDIF ENDIF
jnc int0_int_check_full_range ; No - proceed jnc int0_int_check_full_range ; No - proceed
@ -1782,7 +1782,7 @@ temp_average_updated:
subb A, #(TEMP_LIMIT_STEP/2) ; Is temperature below second limit subb A, #(TEMP_LIMIT_STEP/2) ; Is temperature below second limit
jc temp_check_exit ; Yes - exit jc temp_check_exit ; Yes - exit
mov Pwm_Limit, #128 ; No - limit pwm
mov Pwm_Limit, #128 ; No - limit pwm
clr C clr C
subb A, #(TEMP_LIMIT_STEP/2) ; Is temperature below third limit subb A, #(TEMP_LIMIT_STEP/2) ; Is temperature below third limit
@ -1794,7 +1794,7 @@ temp_average_updated:
subb A, #(TEMP_LIMIT_STEP/2) ; Is temperature below final limit subb A, #(TEMP_LIMIT_STEP/2) ; Is temperature below final limit
jc temp_check_exit ; Yes - exit jc temp_check_exit ; Yes - exit
mov Pwm_Limit, #0 ; No - limit pwm
mov Pwm_Limit, #0 ; No - limit pwm
temp_check_exit: temp_check_exit:
ret ret
@ -2119,7 +2119,7 @@ calc_next_comm_timing_fast:
swap A swap A
mov Temp7, A mov Temp7, A
mov A, Temp3 mov A, Temp3
swap A
swap A
anl A, #0Fh anl A, #0Fh
orl A, Temp7 orl A, Temp7
mov Temp5, A mov Temp5, A
@ -2158,7 +2158,7 @@ calc_next_comm_timing_fast:
mov Temp7, A mov Temp7, A
mov Temp4, #0 mov Temp4, #0
mov A, Temp3 mov A, Temp3
swap A
swap A
anl A, #0Fh anl A, #0Fh
orl A, Temp7 orl A, Temp7
mov Temp3, A mov Temp3, A
@ -2707,7 +2707,7 @@ wait_for_comm:
Set_Pwms_Off Set_Pwms_Off
wait_for_comm_wait: wait_for_comm_wait:
jnb Flags0.T3_PENDING, ($+5)
jnb Flags0.T3_PENDING, ($+5)
ajmp wait_for_comm_wait ajmp wait_for_comm_wait
; Setup next wait time ; Setup next wait time
@ -3122,7 +3122,7 @@ decode_settings:
mov A, @Temp1 mov A, @Temp1
dec A dec A
mov DPTR, #STARTUP_POWER_TABLE mov DPTR, #STARTUP_POWER_TABLE
movc A, @A+DPTR
movc A, @A+DPTR
mov Temp1, #Pgm_Startup_Pwr_Decoded mov Temp1, #Pgm_Startup_Pwr_Decoded
mov @Temp1, A mov @Temp1, A
; Decode low rpm power slope ; Decode low rpm power slope
@ -3373,8 +3373,8 @@ test_throttle_gain_mult:
average_throttle: average_throttle:
setb Flags2.RCP_FULL_RANGE ; Set range to 1000-2020us setb Flags2.RCP_FULL_RANGE ; Set range to 1000-2020us
call find_throttle_gains ; Set throttle gains call find_throttle_gains ; Set throttle gains
call wait30ms
call wait30ms
call wait30ms
call wait30ms
mov Temp3, #0 mov Temp3, #0
mov Temp4, #0 mov Temp4, #0
mov Temp5, #16 ; Average 16 measurments mov Temp5, #16 ; Average 16 measurments
@ -3384,7 +3384,7 @@ average_throttle_meas:
add A, Temp3 add A, Temp3
mov Temp3, A mov Temp3, A
mov A, #0 mov A, #0
addc A, Temp4
addc A, Temp4
mov Temp4, A mov Temp4, A
djnz Temp5, average_throttle_meas djnz Temp5, average_throttle_meas
@ -3497,11 +3497,11 @@ pgm_start:
mov Temp1, A ; Clear Temp1 mov Temp1, A ; Clear Temp1
clear_ram: clear_ram:
mov @Temp1, A ; Clear RAM mov @Temp1, A ; Clear RAM
djnz Temp1, clear_ram ; Is A not zero? - jump
djnz Temp1, clear_ram ; Is A not zero? - jump
; Set default programmed parameters ; Set default programmed parameters
call set_default_parameters call set_default_parameters
; Read all programmed parameters ; Read all programmed parameters
call read_all_eeprom_parameters
call read_all_eeprom_parameters
; Set beep strength ; Set beep strength
mov Temp1, #Pgm_Beep_Strength mov Temp1, #Pgm_Beep_Strength
mov Beep_Strength, @Temp1 mov Beep_Strength, @Temp1
@ -3509,13 +3509,13 @@ pgm_start:
mov Initial_Arm, #1 mov Initial_Arm, #1
; Initializing beep ; Initializing beep
clr IE_EA ; Disable interrupts explicitly clr IE_EA ; Disable interrupts explicitly
call wait200ms
call beep_f1
call wait30ms
call beep_f2
call wait30ms
call beep_f3
call wait30ms
call wait200ms
call beep_f1
call wait30ms
call beep_f2
call wait30ms
call beep_f3
call wait30ms
call led_control call led_control
@ -3584,7 +3584,7 @@ ENDIF
mov Stall_Cnt, #0 mov Stall_Cnt, #0
; Initialize RC pulse ; Initialize RC pulse
clr Flags2.RCP_UPDATED ; Clear updated flag clr Flags2.RCP_UPDATED ; Clear updated flag
call wait200ms
call wait200ms
; Clear all shot flags ; Clear all shot flags
clr Flags2.RCP_ONESHOT125 ; Clear OneShot125 flag clr Flags2.RCP_ONESHOT125 ; Clear OneShot125 flag
clr Flags2.RCP_ONESHOT42 ; Clear OneShot42 flag clr Flags2.RCP_ONESHOT42 ; Clear OneShot42 flag
@ -3594,7 +3594,7 @@ ENDIF
mov Dshot_Cmd_Cnt, #0 ; Clear Dshot command count mov Dshot_Cmd_Cnt, #0 ; Clear Dshot command count
; Test whether signal is regular pwm ; Test whether signal is regular pwm
mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter
call wait100ms ; Wait for new RC pulse
call wait100ms ; Wait for new RC pulse
clr C clr C
mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("900-2235us") mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("900-2235us")
subb A, #10 subb A, #10
@ -3604,7 +3604,7 @@ ENDIF
; Test whether signal is OneShot125 ; Test whether signal is OneShot125
setb Flags2.RCP_ONESHOT125 ; Set OneShot125 flag setb Flags2.RCP_ONESHOT125 ; Set OneShot125 flag
mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter
call wait100ms ; Wait for new RC pulse
call wait100ms ; Wait for new RC pulse
clr C clr C
mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("900-2235us") mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("900-2235us")
subb A, #10 subb A, #10
@ -3615,7 +3615,7 @@ ENDIF
clr Flags2.RCP_ONESHOT125 clr Flags2.RCP_ONESHOT125
setb Flags2.RCP_ONESHOT42 ; Set OneShot42 flag setb Flags2.RCP_ONESHOT42 ; Set OneShot42 flag
mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter
call wait100ms ; Wait for new RC pulse
call wait100ms ; Wait for new RC pulse
clr C clr C
mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("900-2235us") mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("900-2235us")
subb A, #10 subb A, #10
@ -3645,7 +3645,7 @@ ENDIF
clr Flags2.RCP_ONESHOT42 clr Flags2.RCP_ONESHOT42
setb Flags2.RCP_DSHOT setb Flags2.RCP_DSHOT
mov Rcp_Outside_Range_Cnt, #10 ; Set out of range counter mov Rcp_Outside_Range_Cnt, #10 ; Set out of range counter
call wait100ms ; Wait for new RC pulse
call wait100ms ; Wait for new RC pulse
mov DShot_Pwm_Thr, #16 ; Load DShot regular pwm threshold mov DShot_Pwm_Thr, #16 ; Load DShot regular pwm threshold
clr C clr C
mov A, Rcp_Outside_Range_Cnt ; Check if pulses were accepted mov A, Rcp_Outside_Range_Cnt ; Check if pulses were accepted
@ -3665,7 +3665,7 @@ ENDIF
mov DShot_Frame_Length_Thr, #40 ; Load DShot frame length criteria mov DShot_Frame_Length_Thr, #40 ; Load DShot frame length criteria
; Test whether signal is DShot300 ; Test whether signal is DShot300
mov Rcp_Outside_Range_Cnt, #10 ; Set out of range counter mov Rcp_Outside_Range_Cnt, #10 ; Set out of range counter
call wait100ms ; Wait for new RC pulse
call wait100ms ; Wait for new RC pulse
mov DShot_Pwm_Thr, #32 ; Load DShot regular pwm threshold mov DShot_Pwm_Thr, #32 ; Load DShot regular pwm threshold
clr C clr C
mov A, Rcp_Outside_Range_Cnt ; Check if pulses were accepted mov A, Rcp_Outside_Range_Cnt ; Check if pulses were accepted
@ -3685,7 +3685,7 @@ ENDIF
mov DShot_Frame_Length_Thr, #20 ; Load DShot frame length criteria mov DShot_Frame_Length_Thr, #20 ; Load DShot frame length criteria
; Test whether signal is DShot600 ; Test whether signal is DShot600
mov Rcp_Outside_Range_Cnt, #10 ; Set out of range counter mov Rcp_Outside_Range_Cnt, #10 ; Set out of range counter
call wait100ms ; Wait for new RC pulse
call wait100ms ; Wait for new RC pulse
mov DShot_Pwm_Thr, #16 ; Load DShot regular pwm threshold mov DShot_Pwm_Thr, #16 ; Load DShot regular pwm threshold
clr C clr C
mov A, Rcp_Outside_Range_Cnt ; Check if pulses were accepted mov A, Rcp_Outside_Range_Cnt ; Check if pulses were accepted
@ -3707,7 +3707,7 @@ ENDIF
clr Flags2.RCP_DSHOT clr Flags2.RCP_DSHOT
setb Flags2.RCP_MULTISHOT ; Set Multishot flag setb Flags2.RCP_MULTISHOT ; Set Multishot flag
mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter
call wait100ms ; Wait for new RC pulse
call wait100ms ; Wait for new RC pulse
clr C clr C
mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("900-2235us") mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("900-2235us")
subb A, #10 subb A, #10
@ -3717,17 +3717,17 @@ ENDIF
validate_rcp_start: validate_rcp_start:
; Validate RC pulse ; Validate RC pulse
call wait3ms ; Wait for new RC pulse
call wait3ms ; Wait for new RC pulse
jb Flags2.RCP_UPDATED, ($+6) ; Is there an updated RC pulse available - proceed jb Flags2.RCP_UPDATED, ($+6) ; Is there an updated RC pulse available - proceed
ljmp init_no_signal ; Go back to detect input signal ljmp init_no_signal ; Go back to detect input signal
; Beep arm sequence start signal ; Beep arm sequence start signal
clr IE_EA ; Disable all interrupts clr IE_EA ; Disable all interrupts
call beep_f1 ; Signal that RC pulse is ready
call beep_f1
call beep_f1
call beep_f1 ; Signal that RC pulse is ready
call beep_f1
call beep_f1
setb IE_EA ; Enable all interrupts setb IE_EA ; Enable all interrupts
call wait200ms
call wait200ms
; Arming sequence start ; Arming sequence start
arming_start: arming_start:
@ -3736,7 +3736,7 @@ arming_start:
ljmp program_by_tx_checked ; Disable tx programming if bidirectional operation ljmp program_by_tx_checked ; Disable tx programming if bidirectional operation
call wait3ms
call wait3ms
mov Temp1, #Pgm_Enable_TX_Program ; Start programming mode entry if enabled mov Temp1, #Pgm_Enable_TX_Program ; Start programming mode entry if enabled
mov A, @Temp1 mov A, @Temp1
clr C clr C
@ -3762,7 +3762,7 @@ arming_check:
throttle_high_cal: throttle_high_cal:
setb Flags2.RCP_FULL_RANGE ; Set range to 1000-2020us setb Flags2.RCP_FULL_RANGE ; Set range to 1000-2020us
call find_throttle_gains ; Set throttle gains call find_throttle_gains ; Set throttle gains
call wait100ms ; Wait for new throttle value
call wait100ms ; Wait for new throttle value
clr IE_EA ; Disable interrupts (freeze New_Rcp value) clr IE_EA ; Disable interrupts (freeze New_Rcp value)
clr Flags2.RCP_FULL_RANGE ; Set programmed range clr Flags2.RCP_FULL_RANGE ; Set programmed range
call find_throttle_gains ; Set throttle gains call find_throttle_gains ; Set throttle gains
@ -3772,9 +3772,9 @@ throttle_high_cal:
setb IE_EA ; Enable interrupts setb IE_EA ; Enable interrupts
jc program_by_tx_checked ; No - branch jc program_by_tx_checked ; No - branch
call wait1ms
call wait1ms
clr IE_EA ; Disable all interrupts clr IE_EA ; Disable all interrupts
call beep_f4
call beep_f4
setb IE_EA ; Enable all interrupts setb IE_EA ; Enable all interrupts
djnz Temp8, throttle_high_cal ; Continue to wait djnz Temp8, throttle_high_cal ; Continue to wait
@ -3783,7 +3783,7 @@ throttle_high_cal:
mov A, Temp8 mov A, Temp8
mov Temp1, #Pgm_Max_Throttle ; Store mov Temp1, #Pgm_Max_Throttle ; Store
mov @Temp1, A mov @Temp1, A
call wait200ms
call wait200ms
call success_beep call success_beep
throttle_low_cal_start: throttle_low_cal_start:
@ -3791,7 +3791,7 @@ throttle_low_cal_start:
throttle_low_cal: throttle_low_cal:
setb Flags2.RCP_FULL_RANGE ; Set range to 1000-2020us setb Flags2.RCP_FULL_RANGE ; Set range to 1000-2020us
call find_throttle_gains ; Set throttle gains call find_throttle_gains ; Set throttle gains
call wait100ms
call wait100ms
clr IE_EA ; Disable interrupts (freeze New_Rcp value) clr IE_EA ; Disable interrupts (freeze New_Rcp value)
clr Flags2.RCP_FULL_RANGE ; Set programmed range clr Flags2.RCP_FULL_RANGE ; Set programmed range
call find_throttle_gains ; Set throttle gains call find_throttle_gains ; Set throttle gains
@ -3801,11 +3801,11 @@ throttle_low_cal:
setb IE_EA ; Enable interrupts setb IE_EA ; Enable interrupts
jnc throttle_low_cal_start ; No - start over jnc throttle_low_cal_start ; No - start over
call wait1ms
call wait1ms
clr IE_EA ; Disable all interrupts clr IE_EA ; Disable all interrupts
call beep_f1
call wait10ms
call beep_f1
call beep_f1
call wait10ms
call beep_f1
setb IE_EA ; Enable all interrupts setb IE_EA ; Enable all interrupts
djnz Temp8, throttle_low_cal ; Continue to wait djnz Temp8, throttle_low_cal ; Continue to wait
@ -3830,12 +3830,12 @@ program_by_tx_entry_limit:
mov @Temp1, A mov @Temp1, A
program_by_tx_entry_store: program_by_tx_entry_store:
call wait200ms
call erase_and_store_all_in_eeprom
call wait200ms
call erase_and_store_all_in_eeprom
call success_beep_inverted call success_beep_inverted
program_by_tx_entry_wait: program_by_tx_entry_wait:
call wait100ms
call wait100ms
call find_throttle_gains ; Set throttle gains call find_throttle_gains ; Set throttle gains
ljmp init_no_signal ; Go back ljmp init_no_signal ; Go back
@ -3843,7 +3843,7 @@ program_by_tx_checked:
; Initialize flash keys to invalid values ; Initialize flash keys to invalid values
mov Flash_Key_1, #0 mov Flash_Key_1, #0
mov Flash_Key_2, #0 mov Flash_Key_2, #0
call wait100ms ; Wait for new throttle value
call wait100ms ; Wait for new throttle value
clr C clr C
mov A, New_Rcp ; Load new RC pulse value mov A, New_Rcp ; Load new RC pulse value
subb A, #1 ; Below stop? subb A, #1 ; Below stop?
@ -3854,11 +3854,11 @@ program_by_tx_checked:
arm_end_beep: arm_end_beep:
; Beep arm sequence end signal ; Beep arm sequence end signal
clr IE_EA ; Disable all interrupts clr IE_EA ; Disable all interrupts
call beep_f4 ; Signal that rcpulse is ready
call beep_f4
call beep_f4
call beep_f4 ; Signal that rcpulse is ready
call beep_f4
call beep_f4
setb IE_EA ; Enable all interrupts setb IE_EA ; Enable all interrupts
call wait200ms
call wait200ms
; Clear initial arm variable ; Clear initial arm variable
mov Initial_Arm, #0 mov Initial_Arm, #0
@ -3908,14 +3908,14 @@ beep_delay_set:
mov Temp1, #Pgm_Beacon_Strength mov Temp1, #Pgm_Beacon_Strength
mov Beep_Strength, @Temp1 mov Beep_Strength, @Temp1
clr IE_EA ; Disable all interrupts clr IE_EA ; Disable all interrupts
call beep_f4 ; Signal that there is no signal
call beep_f4 ; Signal that there is no signal
setb IE_EA ; Enable all interrupts setb IE_EA ; Enable all interrupts
mov Temp1, #Pgm_Beep_Strength mov Temp1, #Pgm_Beep_Strength
mov Beep_Strength, @Temp1 mov Beep_Strength, @Temp1
call wait100ms ; Wait for new RC pulse to be measured
call wait100ms ; Wait for new RC pulse to be measured
wait_for_power_on_no_beep: wait_for_power_on_no_beep:
call wait10ms
call wait10ms
mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value
jnz wait_for_power_on_not_missing ; If it is not zero - proceed jnz wait_for_power_on_not_missing ; If it is not zero - proceed
@ -3935,111 +3935,111 @@ wait_for_power_on_not_missing:
ljmp wait_for_power_on_loop ; If not Dshot command - start over ljmp wait_for_power_on_loop ; If not Dshot command - start over
wait_for_power_on_nonzero: wait_for_power_on_nonzero:
lcall wait100ms ; Wait to see if start pulse was only a glitch
lcall wait100ms ; Wait to see if start pulse was only a glitch
mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value
jnz ($+5) ; If it is not zero - proceed jnz ($+5) ; If it is not zero - proceed
ljmp init_no_signal ; If it is zero (pulses missing) - go back to detect input signal ljmp init_no_signal ; If it is zero (pulses missing) - go back to detect input signal
mov Dshot_Cmd, #0 mov Dshot_Cmd, #0
mov Dshot_Cmd_Cnt, #0 mov Dshot_Cmd_Cnt, #0
ljmp init_start
ljmp init_start
check_dshot_cmd: check_dshot_cmd:
clr C clr C
mov A, Dshot_Cmd mov A, Dshot_Cmd
subb A, #1
subb A, #1
jnz dshot_beep_2 jnz dshot_beep_2
clr IE_EA clr IE_EA
call switch_power_off ; Switch power off in case braking is set call switch_power_off ; Switch power off in case braking is set
mov Temp1, #Pgm_Beacon_Strength mov Temp1, #Pgm_Beacon_Strength
mov Beep_Strength, @Temp1 mov Beep_Strength, @Temp1
call beep_f1
call beep_f1
mov Temp1, #Pgm_Beep_Strength mov Temp1, #Pgm_Beep_Strength
mov Beep_Strength, @Temp1 mov Beep_Strength, @Temp1
setb IE_EA setb IE_EA
call wait100ms
call wait100ms
jmp clear_dshot_cmd jmp clear_dshot_cmd
dshot_beep_2: dshot_beep_2:
clr C clr C
mov A, Dshot_Cmd mov A, Dshot_Cmd
subb A, #2
subb A, #2
jnz dshot_beep_3 jnz dshot_beep_3
clr IE_EA clr IE_EA
call switch_power_off ; Switch power off in case braking is set call switch_power_off ; Switch power off in case braking is set
mov Temp1, #Pgm_Beacon_Strength mov Temp1, #Pgm_Beacon_Strength
mov Beep_Strength, @Temp1 mov Beep_Strength, @Temp1
call beep_f2
call beep_f2
mov Temp1, #Pgm_Beep_Strength mov Temp1, #Pgm_Beep_Strength
mov Beep_Strength, @Temp1 mov Beep_Strength, @Temp1
setb IE_EA setb IE_EA
call wait100ms
call wait100ms
jmp clear_dshot_cmd jmp clear_dshot_cmd
dshot_beep_3: dshot_beep_3:
clr C clr C
mov A, Dshot_Cmd mov A, Dshot_Cmd
subb A, #3
subb A, #3
jnz dshot_beep_4 jnz dshot_beep_4
clr IE_EA clr IE_EA
call switch_power_off ; Switch power off in case braking is set call switch_power_off ; Switch power off in case braking is set
mov Temp1, #Pgm_Beacon_Strength mov Temp1, #Pgm_Beacon_Strength
mov Beep_Strength, @Temp1 mov Beep_Strength, @Temp1
call beep_f3
call beep_f3
mov Temp1, #Pgm_Beep_Strength mov Temp1, #Pgm_Beep_Strength
mov Beep_Strength, @Temp1 mov Beep_Strength, @Temp1
setb IE_EA setb IE_EA
call wait100ms
call wait100ms
jmp clear_dshot_cmd jmp clear_dshot_cmd
dshot_beep_4: dshot_beep_4:
clr C clr C
mov A, Dshot_Cmd mov A, Dshot_Cmd
subb A, #4
subb A, #4
jnz dshot_beep_5 jnz dshot_beep_5
clr IE_EA clr IE_EA
call switch_power_off ; Switch power off in case braking is set call switch_power_off ; Switch power off in case braking is set
mov Temp1, #Pgm_Beacon_Strength mov Temp1, #Pgm_Beacon_Strength
mov Beep_Strength, @Temp1 mov Beep_Strength, @Temp1
call beep_f4
call beep_f4
mov Temp1, #Pgm_Beep_Strength mov Temp1, #Pgm_Beep_Strength
mov Beep_Strength, @Temp1 mov Beep_Strength, @Temp1
setb IE_EA setb IE_EA
call wait100ms
call wait100ms
jmp clear_dshot_cmd jmp clear_dshot_cmd
dshot_beep_5: dshot_beep_5:
clr C clr C
mov A, Dshot_Cmd mov A, Dshot_Cmd
subb A, #5
subb A, #5
jnz dshot_direction_1 jnz dshot_direction_1
clr IE_EA clr IE_EA
call switch_power_off ; Switch power off in case braking is set call switch_power_off ; Switch power off in case braking is set
mov Temp1, #Pgm_Beacon_Strength mov Temp1, #Pgm_Beacon_Strength
mov Beep_Strength, @Temp1 mov Beep_Strength, @Temp1
call beep_f4
call beep_f4
mov Temp1, #Pgm_Beep_Strength mov Temp1, #Pgm_Beep_Strength
mov Beep_Strength, @Temp1 mov Beep_Strength, @Temp1
setb IE_EA setb IE_EA
call wait100ms
call wait100ms
jmp clear_dshot_cmd jmp clear_dshot_cmd
dshot_direction_1: dshot_direction_1:
clr C clr C
mov A, Dshot_Cmd mov A, Dshot_Cmd
subb A, #7
subb A, #7
jnz dshot_direction_2 jnz dshot_direction_2
clr C clr C
mov A, Dshot_Cmd_Cnt mov A, Dshot_Cmd_Cnt
subb A, #6 ; Needs to receive it 6 times in a row
subb A, #6 ; Needs to receive it 6 times in a row
jnc ($+4) ; Same as "jc dont_clear_dshot_cmd" jnc ($+4) ; Same as "jc dont_clear_dshot_cmd"
ajmp wait_for_power_on_not_missing
ajmp wait_for_power_on_not_missing
mov A, #1 mov A, #1
jnb Flags3.PGM_BIDIR, ($+5) jnb Flags3.PGM_BIDIR, ($+5)
@ -4053,35 +4053,35 @@ dshot_direction_1:
dshot_direction_2: dshot_direction_2:
clr C clr C
mov A, Dshot_Cmd mov A, Dshot_Cmd
subb A, #8
subb A, #8
jnz dshot_direction_bidir_off jnz dshot_direction_bidir_off
clr C clr C
mov A, Dshot_Cmd_Cnt mov A, Dshot_Cmd_Cnt
subb A, #6 ; Needs to receive it 6 times in a row
subb A, #6 ; Needs to receive it 6 times in a row
jnc ($+4) ; Same as "jc dont_clear_dshot_cmd" jnc ($+4) ; Same as "jc dont_clear_dshot_cmd"
ajmp wait_for_power_on_not_missing
ajmp wait_for_power_on_not_missing
mov A, #2 mov A, #2
jnb Flags3.PGM_BIDIR, ($+5) jnb Flags3.PGM_BIDIR, ($+5)
mov A, #4 mov A, #4
mov Temp1, #Pgm_Direction mov Temp1, #Pgm_Direction
mov @Temp1, A mov @Temp1, A
setb Flags3.PGM_DIR_REV
setb Flags3.PGM_BIDIR_REV
setb Flags3.PGM_DIR_REV
setb Flags3.PGM_BIDIR_REV
jmp clear_dshot_cmd jmp clear_dshot_cmd
dshot_direction_bidir_off: dshot_direction_bidir_off:
clr C clr C
mov A, Dshot_Cmd mov A, Dshot_Cmd
subb A, #9
subb A, #9
jnz dshot_direction_bidir_on jnz dshot_direction_bidir_on
clr C clr C
mov A, Dshot_Cmd_Cnt mov A, Dshot_Cmd_Cnt
subb A, #6 ; Needs to receive it 6 times in a row
subb A, #6 ; Needs to receive it 6 times in a row
jnc ($+4) ; Same as "jc dont_clear_dshot_cmd" jnc ($+4) ; Same as "jc dont_clear_dshot_cmd"
ajmp wait_for_power_on_not_missing
ajmp wait_for_power_on_not_missing
jnb Flags3.PGM_BIDIR, dshot_direction_bidir_on jnb Flags3.PGM_BIDIR, dshot_direction_bidir_on
@ -4096,14 +4096,14 @@ dshot_direction_bidir_off:
dshot_direction_bidir_on: dshot_direction_bidir_on:
clr C clr C
mov A, Dshot_Cmd mov A, Dshot_Cmd
subb A, #10
subb A, #10
jnz dshot_direction_normal jnz dshot_direction_normal
clr C clr C
mov A, Dshot_Cmd_Cnt mov A, Dshot_Cmd_Cnt
subb A, #6 ; Needs to receive it 6 times in a row
subb A, #6 ; Needs to receive it 6 times in a row
jnc ($+4) ; Same as "jc dont_clear_dshot_cmd" jnc ($+4) ; Same as "jc dont_clear_dshot_cmd"
ajmp wait_for_power_on_not_missing
ajmp wait_for_power_on_not_missing
jb Flags3.PGM_BIDIR, dshot_direction_normal jb Flags3.PGM_BIDIR, dshot_direction_normal
@ -4117,14 +4117,14 @@ dshot_direction_bidir_on:
dshot_direction_normal: dshot_direction_normal:
clr C clr C
mov A, Dshot_Cmd mov A, Dshot_Cmd
subb A, #20
subb A, #20
jnz dshot_direction_reverse jnz dshot_direction_reverse
clr C clr C
mov A, Dshot_Cmd_Cnt mov A, Dshot_Cmd_Cnt
subb A, #6 ; Needs to receive it 6 times in a row
subb A, #6 ; Needs to receive it 6 times in a row
jnc ($+4) ; Same as "jc dont_clear_dshot_cmd" jnc ($+4) ; Same as "jc dont_clear_dshot_cmd"
ajmp wait_for_power_on_not_missing
ajmp wait_for_power_on_not_missing
clr IE_EA ; DPTR used in interrupts clr IE_EA ; DPTR used in interrupts
mov DPTR, #Eep_Pgm_Direction ; Read from flash mov DPTR, #Eep_Pgm_Direction ; Read from flash
@ -4145,12 +4145,12 @@ dshot_direction_normal:
dshot_direction_reverse: ; Temporary reverse dshot_direction_reverse: ; Temporary reverse
clr C clr C
mov A, Dshot_Cmd mov A, Dshot_Cmd
subb A, #21
subb A, #21
jnz dshot_save_settings jnz dshot_save_settings
clr C clr C
mov A, Dshot_Cmd_Cnt mov A, Dshot_Cmd_Cnt
subb A, #6 ; Needs to receive it 6 times in a row
subb A, #6 ; Needs to receive it 6 times in a row
jc dont_clear_dshot_cmd jc dont_clear_dshot_cmd
clr IE_EA ; DPTR used in interrupts clr IE_EA ; DPTR used in interrupts
@ -4181,17 +4181,17 @@ dshot_direction_reverse: ; Temporary reverse
dshot_save_settings: dshot_save_settings:
clr C clr C
mov A, Dshot_Cmd mov A, Dshot_Cmd
subb A, #12
subb A, #12
jnz clear_dshot_cmd jnz clear_dshot_cmd
mov Flash_Key_1, #0A5h ; Initialize flash keys to valid values mov Flash_Key_1, #0A5h ; Initialize flash keys to valid values
mov Flash_Key_2, #0F1h mov Flash_Key_2, #0F1h
clr C clr C
mov A, Dshot_Cmd_Cnt mov A, Dshot_Cmd_Cnt
subb A, #6 ; Needs to receive it 6 times in a row
subb A, #6 ; Needs to receive it 6 times in a row
jc dont_clear_dshot_cmd jc dont_clear_dshot_cmd
call erase_and_store_all_in_eeprom
call erase_and_store_all_in_eeprom
setb IE_EA setb IE_EA
clear_dshot_cmd: clear_dshot_cmd:
@ -4210,7 +4210,7 @@ dont_clear_dshot_cmd:
;**** **** **** **** **** **** **** **** **** **** **** **** **** ;**** **** **** **** **** **** **** **** **** **** **** **** ****
init_start: init_start:
clr IE_EA clr IE_EA
call switch_power_off
call switch_power_off
clr A clr A
setb IE_EA setb IE_EA
clr A clr A
@ -4222,8 +4222,8 @@ init_start:
; Motor start beginning ; Motor start beginning
;**** **** **** **** **** ;**** **** **** **** ****
mov Adc_Conversion_Cnt, #8 ; Make sure a temp reading is done mov Adc_Conversion_Cnt, #8 ; Make sure a temp reading is done
call wait1ms
call start_adc_conversion
call wait1ms
call start_adc_conversion
read_initial_temp: read_initial_temp:
jnb ADC0CN0_ADINT, read_initial_temp jnb ADC0CN0_ADINT, read_initial_temp
Read_Adc_Result ; Read initial temperature Read_Adc_Result ; Read initial temperature
@ -4233,11 +4233,11 @@ read_initial_temp:
mov Temp1, A ; Yes - set average temperature value to zero mov Temp1, A ; Yes - set average temperature value to zero
mov Current_Average_Temp, Temp1 ; Set initial average temperature mov Current_Average_Temp, Temp1 ; Set initial average temperature
call check_temp_voltage_and_limit_power
call check_temp_voltage_and_limit_power
mov Adc_Conversion_Cnt, #8 ; Make sure a temp reading is done next time mov Adc_Conversion_Cnt, #8 ; Make sure a temp reading is done next time
; Set up start operating conditions ; Set up start operating conditions
clr IE_EA ; Disable interrupts clr IE_EA ; Disable interrupts
call set_startup_pwm
call set_startup_pwm
mov Pwm_Limit, Pwm_Limit_Beg mov Pwm_Limit, Pwm_Limit_Beg
mov Pwm_Limit_By_Rpm, Pwm_Limit_Beg mov Pwm_Limit_By_Rpm, Pwm_Limit_Beg
setb IE_EA setb IE_EA
@ -4254,11 +4254,11 @@ ENDIF
init_start_bidir_done: init_start_bidir_done:
setb Flags1.STARTUP_PHASE ; Set startup phase flag setb Flags1.STARTUP_PHASE ; Set startup phase flag
mov Startup_Cnt, #0 ; Reset counter mov Startup_Cnt, #0 ; Reset counter
call comm5comm6 ; Initialize commutation
call comm6comm1
call initialize_timing ; Initialize timing
call comm5comm6 ; Initialize commutation
call comm6comm1
call initialize_timing ; Initialize timing
call calc_next_comm_timing ; Set virtual commutation point call calc_next_comm_timing ; Set virtual commutation point
call initialize_timing ; Initialize timing
call initialize_timing ; Initialize timing
call calc_next_comm_timing call calc_next_comm_timing
call initialize_timing ; Initialize timing call initialize_timing ; Initialize timing
@ -4273,12 +4273,12 @@ init_start_bidir_done:
; Run 1 = B(p-on) + C(n-pwm) - comparator A evaluated ; Run 1 = B(p-on) + C(n-pwm) - comparator A evaluated
; Out_cA changes from low to high ; Out_cA changes from low to high
run1: run1:
call wait_for_comp_out_high ; Wait for high
call wait_for_comp_out_high ; Wait for high
; setup_comm_wait ; Setup wait time from zero cross to commutation ; setup_comm_wait ; Setup wait time from zero cross to commutation
; evaluate_comparator_integrity ; Check whether comparator reading has been normal ; evaluate_comparator_integrity ; Check whether comparator reading has been normal
call wait_for_comm ; Wait from zero cross to commutation
call comm1comm2 ; Commutate
call calc_next_comm_timing ; Calculate next timing and wait advance timing wait
call wait_for_comm ; Wait from zero cross to commutation
call comm1comm2 ; Commutate
call calc_next_comm_timing ; Calculate next timing and wait advance timing wait
; wait_advance_timing ; Wait advance timing and start zero cross wait ; wait_advance_timing ; Wait advance timing and start zero cross wait
; calc_new_wait_times ; calc_new_wait_times
; wait_before_zc_scan ; Wait zero cross wait and start zero cross timeout ; wait_before_zc_scan ; Wait zero cross wait and start zero cross timeout
@ -4286,16 +4286,16 @@ run1:
; Run 2 = A(p-on) + C(n-pwm) - comparator B evaluated ; Run 2 = A(p-on) + C(n-pwm) - comparator B evaluated
; Out_cB changes from high to low ; Out_cB changes from high to low
run2: run2:
call wait_for_comp_out_low
call wait_for_comp_out_low
; setup_comm_wait ; setup_comm_wait
; evaluate_comparator_integrity ; evaluate_comparator_integrity
jb Flags1.HIGH_RPM, ($+6) ; Skip if high rpm jb Flags1.HIGH_RPM, ($+6) ; Skip if high rpm
lcall set_pwm_limit_low_rpm
lcall set_pwm_limit_low_rpm
jnb Flags1.HIGH_RPM, ($+6) ; Do if high rpm jnb Flags1.HIGH_RPM, ($+6) ; Do if high rpm
lcall set_pwm_limit_high_rpm
call wait_for_comm
call comm2comm3
call calc_next_comm_timing
lcall set_pwm_limit_high_rpm
call wait_for_comm
call comm2comm3
call calc_next_comm_timing
; wait_advance_timing ; wait_advance_timing
; calc_new_wait_times ; calc_new_wait_times
; wait_before_zc_scan ; wait_before_zc_scan
@ -4303,12 +4303,12 @@ run2:
; Run 3 = A(p-on) + B(n-pwm) - comparator C evaluated ; Run 3 = A(p-on) + B(n-pwm) - comparator C evaluated
; Out_cC changes from low to high ; Out_cC changes from low to high
run3: run3:
call wait_for_comp_out_high
call wait_for_comp_out_high
; setup_comm_wait ; setup_comm_wait
; evaluate_comparator_integrity ; evaluate_comparator_integrity
call wait_for_comm
call comm3comm4
call calc_next_comm_timing
call wait_for_comm
call comm3comm4
call calc_next_comm_timing
; wait_advance_timing ; wait_advance_timing
; calc_new_wait_times ; calc_new_wait_times
; wait_before_zc_scan ; wait_before_zc_scan
@ -4316,12 +4316,12 @@ run3:
; Run 4 = C(p-on) + B(n-pwm) - comparator A evaluated ; Run 4 = C(p-on) + B(n-pwm) - comparator A evaluated
; Out_cA changes from high to low ; Out_cA changes from high to low
run4: run4:
call wait_for_comp_out_low
call wait_for_comp_out_low
; setup_comm_wait ; setup_comm_wait
; evaluate_comparator_integrity ; evaluate_comparator_integrity
call wait_for_comm
call comm4comm5
call calc_next_comm_timing
call wait_for_comm
call comm4comm5
call calc_next_comm_timing
; wait_advance_timing ; wait_advance_timing
; calc_new_wait_times ; calc_new_wait_times
; wait_before_zc_scan ; wait_before_zc_scan
@ -4329,12 +4329,12 @@ run4:
; Run 5 = C(p-on) + A(n-pwm) - comparator B evaluated ; Run 5 = C(p-on) + A(n-pwm) - comparator B evaluated
; Out_cB changes from low to high ; Out_cB changes from low to high
run5: run5:
call wait_for_comp_out_high
call wait_for_comp_out_high
; setup_comm_wait ; setup_comm_wait
; evaluate_comparator_integrity ; evaluate_comparator_integrity
call wait_for_comm
call comm5comm6
call calc_next_comm_timing
call wait_for_comm
call comm5comm6
call calc_next_comm_timing
; wait_advance_timing ; wait_advance_timing
; calc_new_wait_times ; calc_new_wait_times
; wait_before_zc_scan ; wait_before_zc_scan
@ -4342,14 +4342,14 @@ run5:
; Run 6 = B(p-on) + A(n-pwm) - comparator C evaluated ; Run 6 = B(p-on) + A(n-pwm) - comparator C evaluated
; Out_cC changes from high to low ; Out_cC changes from high to low
run6: run6:
call start_adc_conversion
call wait_for_comp_out_low
call start_adc_conversion
call wait_for_comp_out_low
; setup_comm_wait ; setup_comm_wait
; evaluate_comparator_integrity ; evaluate_comparator_integrity
call wait_for_comm
call comm6comm1
call check_temp_voltage_and_limit_power
call calc_next_comm_timing
call wait_for_comm
call comm6comm1
call check_temp_voltage_and_limit_power
call calc_next_comm_timing
; wait_advance_timing ; wait_advance_timing
; calc_new_wait_times ; calc_new_wait_times
; wait_before_zc_scan ; wait_before_zc_scan
@ -4398,7 +4398,7 @@ normal_run_checks:
clr Flags1.INITIAL_RUN_PHASE ; Clear initial run phase flag clr Flags1.INITIAL_RUN_PHASE ; Clear initial run phase flag
setb Flags1.MOTOR_STARTED ; Set motor started setb Flags1.MOTOR_STARTED ; Set motor started
jmp run1 ; Continue with normal run
jmp run1 ; Continue with normal run
initial_run_check_startup_rot: initial_run_check_startup_rot:
mov Initial_Run_Rot_Cntd, A ; Not zero - store counter mov Initial_Run_Rot_Cntd, A ; Not zero - store counter
@ -4491,7 +4491,7 @@ run_to_wait_for_power_on:
run_to_wait_for_power_on_stall_done: run_to_wait_for_power_on_stall_done:
clr IE_EA clr IE_EA
call switch_power_off
call switch_power_off
mov Flags0, #0 ; Clear flags0 mov Flags0, #0 ; Clear flags0
mov Flags1, #0 ; Clear flags1 mov Flags1, #0 ; Clear flags1
IF MCU_48MHZ == 1 IF MCU_48MHZ == 1
@ -4499,7 +4499,7 @@ IF MCU_48MHZ == 1
ENDIF ENDIF
setb IE_EA setb IE_EA
call wait100ms ; Wait for pwm to be stopped call wait100ms ; Wait for pwm to be stopped
call switch_power_off
call switch_power_off
mov Temp1, #Pgm_Brake_On_Stop mov Temp1, #Pgm_Brake_On_Stop
mov A, @Temp1 mov A, @Temp1
jz run_to_wait_for_power_on_brake_done jz run_to_wait_for_power_on_brake_done

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