diff --git a/Vendor specific versions/EMAX/EMAX_BLHeli_V1.1.a51 b/Vendor specific versions/EMAX/EMAX_BLHeli_V1.1.a51
new file mode 100644
index 00000000..631d45f6
--- /dev/null
+++ b/Vendor specific versions/EMAX/EMAX_BLHeli_V1.1.a51
@@ -0,0 +1,13753 @@
+$NOMOD51
+;**** **** **** **** ****
+;
+; 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 .
+;
+;**** **** **** **** ****
+;
+; The software was initially designed for use with Eflite mCP X, but is now adapted to a copters/planes in general
+;
+; The software was inspired by and started from from Bernard Konze's BLMC: http://home.versanet.de/~bkonze/blc_6a/blc_6a.htm
+; And also Simon Kirby's TGY: https://github.com/sim-/tgy
+;
+; This file is best viewed with tab width set to 5
+;
+; The input signal can be positive 1kHz, 2kHz, 4kHz or 8kHz PWM (taken from the "resistor tap" on mCPx)
+; And the input signal can be PPM (1-2ms) at rates up to several hundred Hz.
+; The code adapts itself to the various input modes/frequencies
+; The code ESC can also be programmed to accept inverted input signal.
+;
+; The first lines of the software must be modified according to the chosen environment:
+; Uncomment the selected ESC and main/tail/multi mode
+; BESC EQU "ESC"_"mode"
+;
+;**** **** **** **** ****
+; Revision history:
+; - Rev1.0: Initial revision based upon BLHeli for AVR controllers
+; - Rev2.0: Changed "Eeprom" initialization, layout and defaults
+; Various changes and improvements to comparator reading. Now using timer1 for time from pwm on/off
+; Beeps are made louder
+; Added programmable low voltage limit
+; Added programmable damped tail mode (only for 1S ESCs)
+; Added programmable motor rotation direction
+; - Rev2.1: (minor changes by 4712)
+; Added Disable TX Programming by PC Setup Application
+; therfore changed EEPROM_LAYOUT_REVISION = 8
+; Added Vdd Monitor as reset source when writing to "EEProm"
+; Changed for use of batch file to assemble, link and make hex files
+; - Rev2.2: (minor changes by 4712)
+; Added Disable Throttle Re-Arming every motor start by PC Setup Application
+; - Rev2.3: (minor changes by 4712)
+; Added bugfixed (2x CLR C before j(n)c operations)thx Steffen!
+; - Rev2.4: Revisions 2.1 to 2.3 integrated
+; - Rev3.0: Added PPM (1050us-1866us) as accepted input signal
+; Added startup rpm as a programming parameter
+; Added startup acceleration as a programming parameter
+; Added option for using voltage measurements to compensate motor power
+; Added governor target by setup as a governor mode option
+; Governor is kept active regardless of rpm
+; Smooth governor spoolup/down in arm and setup modes
+; Increased governor P and I gain programming ranges
+; Increased and changed low voltage limit programming range
+; Disabled tx programming entry for all but the first arming sequence after power on
+; Made it possible to skip parameters in tx programming by setting throttle midstick
+; Made it default not to rearm for every restart
+; - Rev3.1: Fixed bug that prevented chosen parameter to be set in tx programming
+; - Rev3.2: ...also updated the EEPROM revision parameter
+; - Rev3.3: Fixed negative number bug in voltage compensation
+; Fixed bug in startup power calculation for non-default power
+; Prevented possibility for voltage compensation fighting low voltage limiting
+; Applied overall spoolup control to ensure soft spoolup in any mode
+; Added a delay of 3 seconds from initiation of main motor stop until new startup is allowed
+; Reduced beep power to reduce power consumption for very strong motors/ESCs
+; - Rev3.4: Fixed bug that prevented full power in governor arm and setup modes
+; Increased NFETON_DELAY for XP_7A and XP_12A to allow for more powerful fets
+; Increased initial spoolup power, and linked to startup power
+; - Rev4.0: Fixed bug that made tail tx program beeps very weak
+; Added thermal protection feature
+; Governor P and I gain ranges are extended up to 8.0x gain
+; Startup sequence is aborted upon zero throttle
+; Avoided voltage compensation function induced latency for tail when voltage compensation is not enabled
+; Improved input signal frequency detection robustness
+; - Rev4.1: Increased thermal protection temperature limits
+; - Rev5.0: Added multi(copter) operating mode. TAIL define changed to MODE with three modes: MAIN, TAIL and MULTI
+; Added programmable commutation timing
+; Added a damped light mode that has less damping, but that can be used with all escs
+; Added programmable damping force
+; Added thermal protection for startup too
+; Added wait beeps when waiting more than 30 sec for throttle above zero (after having been armed)
+; Modified tail idling to provide option for very low speeds
+; Changed PPM range to 1150-1830us
+; Arming sequence is dropped for PPM input, unless it is governor arm mode
+; Loss of input signal will immediately stop the motor for PPM input
+; Bug corrected in Turnigy Plush 6A voltage measurement setup
+; FET switching delays are set for original fets. Stronger/doubled/tripled etc fets may require faster pfet off switching
+; Miscellaneous other changes
+; - Rev6.0: Reverted comparator reading routine to rev5.0 equivalent, in order to avoid tail motor stops
+; Added governor range programmability
+; Implemented startup retry sequence with varying startup power for multi mode
+; In damped light mode, damping is now applied to the active nfet phase for fully damped capable ESCs
+; - Rev6.1: Added input signal qualification criteria for PPM, to avoid triggering on noise spikes (fix for plush hardware)
+; Changed main and multi mode stop criteria. Will now be in run mode, even if RC pulse input is zero
+; Fixed bug in commutation that caused rough running in damped light mode
+; Miscellaneous other changes
+; - Rev7.0 Added direct startup mode programmability
+; Added throttle calibration. Min>=1000us and Max<=2000us. Difference must be >520us, otherwise max is shifted so that difference=520us
+; Added programmable throttle change rate
+; Added programmable beep strength, beacon strength and beacon delay
+; Reduced power step to full power significantly
+; Miscellaneous other changes
+; - Rev8.0 Added a 2 second delay after power up, to wait for receiver initialization
+; Added a programming option for disabling low voltage limit, and made it default for MULTI
+; Added programable demag compensation, using the concept of SimonK
+; Improved robustness against noisy input signal
+; Refined direct startup
+; Removed voltage compensation
+; Miscellaneous other changes
+; - Rev9.0 Increased programming range for startup power, and made it's default ESC dependent
+; Made default startup method ESC dependent
+; Even more smooth and gentle spoolup for MAIN, to suit larger helis
+; Improved transition from stepped startup to run
+; Refined direct startup
+; - Rev9.1 Fixed bug that changed FW revision after throttle calibration or TX programming
+; - Rev9.2 Altered timing of throttle calibration in order to work with MultiWii calibration firmware
+; Reduced main spoolup time to around 5 seconds
+; Changed default beacon delay to 3 minutes
+; - Rev9.3 Fixed bug in Plush 60/80A temperature reading, that caused failure in operation above 4S
+; Corrected temperature limit for HiModel cool 22/33/41A, RCTimer 6A, Skywalker 20/40A, Turnigy AE45A, Plush 40/60/80A. Limit was previously set too high
+; - Rev9.4 Improved timing for increased maximum rpm limit
+; - Rev10.0 Added closed loop mode for multi
+; Added high/low BEC voltage option (for the ESCs where HW supports it)
+; Added method of resetting all programmed parameter values to defaults by TX programming
+; Added Turnigy K-force 40A and Turnigy K-force 120A HV ESCs
+; Enabled fully damped mode for several ESCs
+; Extended startup power range downwards to enable very smooth start for large heli main motors
+; Extended damping force with a highest setting
+; Corrected temperature limits for F310 chips (Plush 40A and AE 45A)
+; Implemented temperature reading average in order to avoid problems with ADC noise on Skywalkers
+; Increased switching delays for XP 7A fast, in order to avoid cross conduction of N and P fets
+; Miscellaneous other changes
+; - Rev10.1 Relaxed RC signal jitter requirement during frequency measurement
+; Corrected bug that prevented using governor low
+; Enabled vdd monitor always, in order to reduce likelihood of accidental overwriting of adjustments
+; Fixed bug that caused stop for PPM input above 2048us, and moved upper accepted limit to 2160us
+; - Rev10.2 Corrected temperature limit for AE20-30/XP7-25, where limit was too high
+; Corrected temperature limit for 120HV, where limit was too low
+; Fixed bug that caused AE20/25/30A not to run in reverse
+;
+;
+;**** **** **** **** ****
+; Up to 8K Bytes of In-System Self-Programmable Flash
+; 768 Bytes Internal SRAM
+;
+;**** **** **** **** ****
+; Master clock is internal 24MHz oscillator
+; Timer 0 (167/500ns counts) always counts up and is used for
+; - PWM generation
+; Timer 1 (167/500ns counts) always counts up and is not used
+; - Time from pwm on/off event
+; Timer 2 (500ns counts) always counts up and is used for
+; - RC pulse timeout/skip counts and commutation times
+; Timer 3 (500ns counts) always counts up and is used for
+; - Commutation timeouts
+; PCA0 (500ns counts) always counts up and is used for
+; - RC pulse measurement
+;
+;**** **** **** **** ****
+; Interrupt handling
+; The F330/2 does not disable interrupts when entering an interrupt routine.
+; Also some interrupt flags need to be cleared by software
+; The code disables interrupts in interrupt routines, in order to avoid nested interrupts
+; - Interrupts are disabled during beeps, to avoid audible interference from interrupts
+; - RC pulse interrupts are periodically disabled in order to reduce interference with pwm interrupts.
+;
+;**** **** **** **** ****
+; Motor control:
+; - Brushless motor control with 6 states for each electrical 360 degrees
+; - An advance timing of 0deg has zero cross 30deg after one commutation and 30deg before the next
+; - Timing advance in this implementation is set to 15deg nominally
+; - "Damped" commutation schemes are available, where more than one pfet is on when pwm is off. This will absorb energy from bemf and make step settling more damped.
+; Motor sequence starting from zero crossing:
+; - Timer wait: Wt_Comm 15deg ; Time to wait from zero cross to actual commutation
+; - Timer wait: Wt_Advance 15deg ; Time to wait for timing advance. Nominal commutation point is after this
+; - Timer wait: Wt_Zc_Scan 7.5deg ; Time to wait before looking for zero cross
+; - Scan for zero cross 22.5deg , Nominal, with some motor variations
+;
+; Motor startup in stepper mode:
+; Initial motor rotations are done with the motor controlled as a stepper motor.
+; In this stepper motor mode comparator information is not used.
+; Settle phase is the first, where there are a few commutations with increasing step length, in order to settle the motor in a predefined position.
+; Stepper phase comes next, where there is a step length decrease sequence.
+; Direct startup is the last phase, for synchronization before normal bemf commutation run begins.
+; Motor startup in direct mode:
+; Direct startup is the only phase, before normal bemf commutation run begins.
+;
+;**** **** **** **** ****
+; List of enumerated supported ESCs and modes (main, tail or multi)
+XP_3A_Main EQU 1
+XP_3A_Tail EQU 2
+XP_3A_Multi EQU 3
+XP_7A_Main EQU 4
+XP_7A_Tail EQU 5
+XP_7A_Multi EQU 6
+XP_7A_Fast_Main EQU 7
+XP_7A_Fast_Tail EQU 8
+XP_7A_Fast_Multi EQU 9
+XP_12A_Main EQU 10
+XP_12A_Tail EQU 11
+XP_12A_Multi EQU 12
+XP_18A_Main EQU 13
+XP_18A_Tail EQU 14
+XP_18A_Multi EQU 15
+XP_25A_Main EQU 16
+XP_25A_Tail EQU 17
+XP_25A_Multi EQU 18
+DP_3A_Main EQU 19
+DP_3A_Tail EQU 20
+DP_3A_Multi EQU 21
+Supermicro_3p5A_Main EQU 22
+Supermicro_3p5A_Tail EQU 23
+Supermicro_3p5A_Multi EQU 24
+Turnigy_Plush_6A_Main EQU 25
+Turnigy_Plush_6A_Tail EQU 26
+Turnigy_Plush_6A_Multi EQU 27
+Turnigy_Plush_10A_Main EQU 28
+Turnigy_Plush_10A_Tail EQU 29
+Turnigy_Plush_10A_Multi EQU 30
+Turnigy_Plush_12A_Main EQU 31
+Turnigy_Plush_12A_Tail EQU 32
+Turnigy_Plush_12A_Multi EQU 33
+Turnigy_Plush_18A_Main EQU 34
+Turnigy_Plush_18A_Tail EQU 35
+Turnigy_Plush_18A_Multi EQU 36
+Turnigy_Plush_25A_Main EQU 37
+Turnigy_Plush_25A_Tail EQU 38
+Turnigy_Plush_25A_Multi EQU 39
+Turnigy_Plush_30A_Main EQU 40
+Turnigy_Plush_30A_Tail EQU 41
+Turnigy_Plush_30A_Multi EQU 42
+Turnigy_Plush_40A_Main EQU 43
+Turnigy_Plush_40A_Tail EQU 44
+Turnigy_Plush_40A_Multi EQU 45
+Turnigy_Plush_60A_Main EQU 46
+Turnigy_Plush_60A_Tail EQU 47
+Turnigy_Plush_60A_Multi EQU 48
+Turnigy_Plush_80A_Main EQU 49
+Turnigy_Plush_80A_Tail EQU 50
+Turnigy_Plush_80A_Multi EQU 51
+Turnigy_AE_20A_Main EQU 52
+Turnigy_AE_20A_Tail EQU 53
+Turnigy_AE_20A_Multi EQU 54
+Turnigy_AE_25A_Main EQU 55
+Turnigy_AE_25A_Tail EQU 56
+Turnigy_AE_25A_Multi EQU 57
+Turnigy_AE_30A_Main EQU 58
+Turnigy_AE_30A_Tail EQU 59
+Turnigy_AE_30A_Multi EQU 60
+Turnigy_AE_45A_Main EQU 61
+Turnigy_AE_45A_Tail EQU 62
+Turnigy_AE_45A_Multi EQU 63
+Turnigy_KForce_40A_Main EQU 64
+Turnigy_KForce_40A_Tail EQU 65
+Turnigy_KForce_40A_Multi EQU 66
+Turnigy_KForce_120A_HV_Main EQU 67
+Turnigy_KForce_120A_HV_Tail EQU 68
+Turnigy_KForce_120A_HV_Multi EQU 69
+Skywalker_20A_Main EQU 70
+Skywalker_20A_Tail EQU 71
+Skywalker_20A_Multi EQU 72
+Skywalker_40A_Main EQU 73
+Skywalker_40A_Tail EQU 74
+Skywalker_40A_Multi EQU 75
+HiModel_Cool_22A_Main EQU 76
+HiModel_Cool_22A_Tail EQU 77
+HiModel_Cool_22A_Multi EQU 78
+HiModel_Cool_33A_Main EQU 79
+HiModel_Cool_33A_Tail EQU 80
+HiModel_Cool_33A_Multi EQU 81
+HiModel_Cool_41A_Main EQU 82
+HiModel_Cool_41A_Tail EQU 83
+HiModel_Cool_41A_Multi EQU 84
+RCTimer_6A_Main EQU 85
+RCTimer_6A_Tail EQU 86
+RCTimer_6A_Multi EQU 87
+Align_RCE_BL15X_Main EQU 88
+Align_RCE_BL15X_Tail EQU 89
+Align_RCE_BL15X_Multi EQU 90
+Align_RCE_BL35X_Main EQU 91
+Align_RCE_BL35X_Tail EQU 92
+Align_RCE_BL35X_Multi EQU 93
+Align_RCE_BL35P_Main EQU 94
+Align_RCE_BL35P_Tail EQU 95
+Align_RCE_BL35P_Multi EQU 96
+H_King_10A_Main EQU 97
+H_King_10A_Tail EQU 98
+H_King_10A_Multi EQU 99
+
+;**** **** **** **** ****
+; Select the ESC and mode to use (or unselect all for use with external batch compile file)
+;BESC EQU XP_3A_Main
+;BESC EQU XP_3A_Tail
+;BESC EQU XP_3A_Multi
+;BESC EQU XP_7A_Main
+;BESC EQU XP_7A_Tail
+;BESC EQU XP_7A_Multi
+;BESC EQU XP_7A_Fast_Main
+;BESC EQU XP_7A_Fast_Tail
+;BESC EQU XP_7A_Fast_Multi
+;BESC EQU XP_12A_Main
+;BESC EQU XP_12A_Tail
+;BESC EQU XP_12A_Multi
+;BESC EQU XP_18A_Main
+;BESC EQU XP_18A_Tail
+BESC EQU XP_18A_Multi
+;BESC EQU XP_25A_Main
+;BESC EQU XP_25A_Tail
+;BESC EQU XP_25A_Multi
+;BESC EQU DP_3A_Main
+;BESC EQU DP_3A_Tail
+;BESC EQU DP_3A_Multi
+;BESC EQU Supermicro_3p5A_Main
+;BESC EQU Supermicro_3p5A_Tail
+;BESC EQU Supermicro_3p5A_Multi
+;BESC EQU Turnigy_Plush_6A_Main
+;BESC EQU Turnigy_Plush_6A_Tail
+;BESC EQU Turnigy_Plush_6A_Multi
+;BESC EQU Turnigy_Plush_10A_Main
+;BESC EQU Turnigy_Plush_10A_Tail
+;BESC EQU Turnigy_Plush_10A_Multi
+;BESC EQU Turnigy_Plush_12A_Main
+;BESC EQU Turnigy_Plush_12A_Tail
+;BESC EQU Turnigy_Plush_12A_Multi
+;BESC EQU Turnigy_Plush_18A_Main
+;BESC EQU Turnigy_Plush_18A_Tail
+;BESC EQU Turnigy_Plush_18A_Multi
+;BESC EQU Turnigy_Plush_25A_Main
+;BESC EQU Turnigy_Plush_25A_Tail
+;BESC EQU Turnigy_Plush_25A_Multi
+;BESC EQU Turnigy_Plush_30A_Main
+;BESC EQU Turnigy_Plush_30A_Tail
+;BESC EQU Turnigy_Plush_30A_Multi
+;BESC EQU Turnigy_Plush_40A_Main
+;BESC EQU Turnigy_Plush_40A_Tail
+;BESC EQU Turnigy_Plush_40A_Multi
+;BESC EQU Turnigy_Plush_60A_Main
+;BESC EQU Turnigy_Plush_60A_Tail
+;BESC EQU Turnigy_Plush_60A_Multi
+;BESC EQU Turnigy_Plush_80A_Main
+;BESC EQU Turnigy_Plush_80A_Tail
+;BESC EQU Turnigy_Plush_80A_Multi
+;BESC EQU Turnigy_AE_20A_Main
+;BESC EQU Turnigy_AE_20A_Tail
+;BESC EQU Turnigy_AE_20A_Multi
+;BESC EQU Turnigy_AE_25A_Main
+;BESC EQU Turnigy_AE_25A_Tail
+;BESC EQU Turnigy_AE_25A_Multi
+;BESC EQU Turnigy_AE_30A_Main
+;BESC EQU Turnigy_AE_30A_Tail
+;BESC EQU Turnigy_AE_30A_Multi
+;BESC EQU Turnigy_AE_45A_Main
+;BESC EQU Turnigy_AE_45A_Tail
+;BESC EQU Turnigy_AE_45A_Multi
+;BESC EQU Turnigy_KForce_40A_Main
+;BESC EQU Turnigy_KForce_40A_Tail
+;BESC EQU Turnigy_KForce_40A_Multi
+;BESC EQU Turnigy_KForce_120A_HV_Main
+;BESC EQU Turnigy_KForce_120A_HV_Tail
+;BESC EQU Turnigy_KForce_120A_HV_Multi
+;BESC EQU Skywalker_20A_Main
+;BESC EQU Skywalker_20A_Tail
+;BESC EQU Skywalker_20A_Multi
+;BESC EQU Skywalker_40A_Main
+;BESC EQU Skywalker_40A_Tail
+;BESC EQU Skywalker_40A_Multi
+;BESC EQU HiModel_Cool_22A_Main
+;BESC EQU HiModel_Cool_22A_Tail
+;BESC EQU HiModel_Cool_22A_Multi
+;BESC EQU HiModel_Cool_33A_Main
+;BESC EQU HiModel_Cool_33A_Tail
+;BESC EQU HiModel_Cool_33A_Multi
+;BESC EQU HiModel_Cool_41A_Main
+;BESC EQU HiModel_Cool_41A_Tail
+;BESC EQU HiModel_Cool_41A_Multi
+;BESC EQU RCTimer_6A_Main
+;BESC EQU RCTimer_6A_Tail
+;BESC EQU RCTimer_6A_Multi
+;BESC EQU Align_RCE_BL15X_Main
+;BESC EQU Align_RCE_BL15X_Tail
+;BESC EQU Align_RCE_BL15X_Multi
+;BESC EQU Align_RCE_BL35X_Main
+;BESC EQU Align_RCE_BL35X_Tail
+;BESC EQU Align_RCE_BL35X_Multi
+;BESC EQU Align_RCE_BL35P_Main
+;BESC EQU Align_RCE_BL35P_Tail
+;BESC EQU Align_RCE_BL35P_Multi
+;BESC EQU H_King_10A_Main
+;BESC EQU H_King_10A_Tail
+;BESC EQU H_King_10A_Multi
+
+
+;**** **** **** **** ****
+; ESC selection statements
+IF BESC == XP_3A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (XP_3A.inc) ; Select XP 3A pinout
+ENDIF
+
+IF BESC == XP_3A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (XP_3A.inc) ; Select XP 3A pinout
+ENDIF
+
+IF BESC == XP_3A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (XP_3A.inc) ; Select XP 3A pinout
+ENDIF
+
+IF BESC == XP_7A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (XP_7A.inc) ; Select XP 7A pinout
+ENDIF
+
+IF BESC == XP_7A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (XP_7A.inc) ; Select XP 7A pinout
+ENDIF
+
+IF BESC == XP_7A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (XP_7A.inc) ; Select XP 7A pinout
+ENDIF
+
+IF BESC == XP_7A_Fast_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout
+ENDIF
+
+IF BESC == XP_7A_Fast_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout
+ENDIF
+
+IF BESC == XP_7A_Fast_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout
+ENDIF
+
+IF BESC == XP_12A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (XP_12A.inc) ; Select XP 12A pinout
+ENDIF
+
+IF BESC == XP_12A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (XP_12A.inc) ; Select XP 12A pinout
+ENDIF
+
+IF BESC == XP_12A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (XP_12A.inc) ; Select XP 12A pinout
+ENDIF
+
+IF BESC == XP_18A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (XP_18A.inc) ; Select XP 18A pinout
+ENDIF
+
+IF BESC == XP_18A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (XP_18A.inc) ; Select XP 18A pinout
+ENDIF
+
+IF BESC == XP_18A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (XP_18A.inc) ; Select XP 18A pinout
+ENDIF
+
+IF BESC == XP_25A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (XP_25A.inc) ; Select XP 25A pinout
+ENDIF
+
+IF BESC == XP_25A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (XP_25A.inc) ; Select XP 25A pinout
+ENDIF
+
+IF BESC == XP_25A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (XP_25A.inc) ; Select XP 25A pinout
+ENDIF
+
+IF BESC == DP_3A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (DP_3A.inc) ; Select DP 3A pinout
+ENDIF
+
+IF BESC == DP_3A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (DP_3A.inc) ; Select DP 3A pinout
+ENDIF
+
+IF BESC == DP_3A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (DP_3A.inc) ; Select DP 3A pinout
+ENDIF
+
+IF BESC == Supermicro_3p5A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinout
+ENDIF
+
+IF BESC == Supermicro_3p5A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinout
+ENDIF
+
+IF BESC == Supermicro_3p5A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_6A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_6A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_6A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_10A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_10A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_10A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_12A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_12A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_12A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_18A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_18A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_18A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_25A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_25A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_25A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_30A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_30A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_30A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_40A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_40A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_40A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_60A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_60A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_60A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_80A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_80A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_80A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_20A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_20A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_20A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_25A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_25A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_25A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_30A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_30A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_30A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_45A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_45A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_45A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinout
+ENDIF
+
+IF BESC == Turnigy_KForce_40A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinout
+ENDIF
+
+IF BESC == Turnigy_KForce_40A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinout
+ENDIF
+
+IF BESC == Turnigy_KForce_40A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinout
+ENDIF
+
+IF BESC == Turnigy_KForce_120A_HV_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinout
+ENDIF
+
+IF BESC == Turnigy_KForce_120A_HV_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinout
+ENDIF
+
+IF BESC == Turnigy_KForce_120A_HV_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinout
+ENDIF
+
+IF BESC == Skywalker_20A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Skywalker_20A.inc) ; Select Skywalker 20A pinout
+ENDIF
+
+IF BESC == Skywalker_20A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Skywalker_20A.inc) ; Select Skywalker 20A pinout
+ENDIF
+
+IF BESC == Skywalker_20A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Skywalker_20A.inc) ; Select Skywalker 20A pinout
+ENDIF
+
+IF BESC == Skywalker_40A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Skywalker_40A.inc) ; Select Skywalker 40A pinout
+ENDIF
+
+IF BESC == Skywalker_40A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Skywalker_40A.inc) ; Select Skywalker 40A pinout
+ENDIF
+
+IF BESC == Skywalker_40A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Skywalker_40A.inc) ; Select Skywalker 40A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_22A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_22A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_22A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_33A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_33A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_33A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_41A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_41A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_41A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinout
+ENDIF
+
+IF BESC == RCTimer_6A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (RCTimer_6A.inc) ; Select RC Timer 6A pinout
+ENDIF
+
+IF BESC == RCTimer_6A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (RCTimer_6A.inc) ; Select RC Timer 6A pinout
+ENDIF
+
+IF BESC == RCTimer_6A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (RCTimer_6A.inc) ; Select RC Timer 6A pinout
+ENDIF
+
+IF BESC == Align_RCE_BL15X_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinout
+ENDIF
+
+IF BESC == Align_RCE_BL15X_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinout
+ENDIF
+
+IF BESC == Align_RCE_BL15X_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinout
+ENDIF
+
+IF BESC == Align_RCE_BL35X_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinout
+ENDIF
+
+IF BESC == Align_RCE_BL35X_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinout
+ENDIF
+
+IF BESC == Align_RCE_BL35X_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinout
+ENDIF
+
+IF BESC == Align_RCE_BL35P_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinout
+ENDIF
+
+IF BESC == Align_RCE_BL35P_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinout
+ENDIF
+
+IF BESC == Align_RCE_BL35P_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinout
+ENDIF
+
+IF BESC == H_King_10A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (H_King_10A.inc) ; Select H-King 10A pinout
+ENDIF
+
+IF BESC == H_King_10A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (H_King_10A.inc) ; Select H-King 10A pinout
+ENDIF
+
+IF BESC == H_King_10A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (H_King_10A.inc) ; Select H-King 10A pinout
+ENDIF
+
+;**** **** **** **** ****
+; TX programming defaults
+;
+; Parameter dependencies:
+; - Governor P gain, I gain and Range is only used if one of the three governor modes is selected
+; - Governor setup target is only used if Setup governor mode is selected (or closed loop mode is on for multi)
+; - Startup rpm and startup accel is only used if stepped startup method is selected
+; - Damping force is only used if DampedLight or Damped is selected
+;
+; Main
+DEFAULT_PGM_MAIN_P_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0
+DEFAULT_PGM_MAIN_I_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0
+DEFAULT_PGM_MAIN_GOVERNOR_MODE EQU 1 ; 1=Tx 2=Arm 3=Setup 4=Off
+DEFAULT_PGM_MAIN_GOVERNOR_RANGE EQU 1 ; 1=High 2=Low
+DEFAULT_PGM_MAIN_LOW_VOLTAGE_LIM EQU 4 ; 1=Off 2=3.0V/c 3=3.1V/c 4=3.2V/c 5=3.3V/c 6=3.4V/c
+DEFAULT_PGM_MAIN_STARTUP_RPM EQU 3 ; 1=0.67 2=0.8 3=1.00 4=1.25 5=1.5
+DEFAULT_PGM_MAIN_STARTUP_ACCEL EQU 1 ; 1=0.4 2=0.7 3=1.0 4=1.5 5=2.3
+DEFAULT_PGM_MAIN_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
+DEFAULT_PGM_MAIN_THROTTLE_RATE EQU 13 ; 1=2 2=3 3=4 4=6 5=8 6=12 7=16 8=24 9=32 10=48 11=64 12=128 13=255
+DEFAULT_PGM_MAIN_DAMPING_FORCE EQU 1 ; 1=VeryLow 2=Low 3=MediumLow 4=MediumHigh 5=High 6=Highest
+DEFAULT_PGM_MAIN_PWM_FREQ EQU 2 ; 1=High 2=Low 3=DampedLight
+DEFAULT_PGM_MAIN_DEMAG_COMP EQU 1 ; 1=Disabled 2=15/0 3=15/7.5 4=7.5/7.5 5=7.5/15 (degrees blind advance / power off)
+DEFAULT_PGM_MAIN_DIRECTION_REV EQU 1 ; 1=Normal 2=Reversed
+DEFAULT_PGM_MAIN_RCP_PWM_POL EQU 1 ; 1=Positive 2=Negative
+DEFAULT_PGM_MAIN_GOV_SETUP_TARGET EQU 180 ; Target for governor in setup mode. Corresponds to 70% throttle
+DEFAULT_PGM_MAIN_REARM_START EQU 0 ; 1=Enabled 0=Disabled
+DEFAULT_PGM_MAIN_BEEP_STRENGTH EQU 80 ; Beep strength
+DEFAULT_PGM_MAIN_BEACON_STRENGTH EQU 100 ; Beacon strength
+DEFAULT_PGM_MAIN_BEACON_DELAY EQU 2 ; 1=30s 2=1m 3=2m 4=3m 5=Infinite
+; Tail
+DEFAULT_PGM_TAIL_GAIN EQU 3 ; 1=0.75 2=0.88 3=1.00 4=1.12 5=1.25
+DEFAULT_PGM_TAIL_IDLE_SPEED EQU 4 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
+DEFAULT_PGM_TAIL_STARTUP_RPM EQU 3 ; 1=0.67 2=0.8 3=1.00 4=1.25 5=1.5
+DEFAULT_PGM_TAIL_STARTUP_ACCEL EQU 5 ; 1=0.4 2=0.7 3=1.0 4=1.5 5=2.3
+DEFAULT_PGM_TAIL_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
+DEFAULT_PGM_TAIL_THROTTLE_RATE EQU 13 ; 1=2 2=3 3=4 4=6 5=8 6=12 7=16 8=24 9=32 10=48 11=64 12=128 13=255
+DEFAULT_PGM_TAIL_DAMPING_FORCE EQU 5 ; 1=VeryLow 2=Low 3=MediumLow 4=MediumHigh 5=High 6=Highest
+IF DAMPED_MODE_ENABLE == 1
+DEFAULT_PGM_TAIL_PWM_FREQ EQU 1 ; 1=High 2=Low 3=DampedLight 4=Damped
+ELSE
+DEFAULT_PGM_TAIL_PWM_FREQ EQU 1 ; 1=High 2=Low 3=DampedLight
+ENDIF
+DEFAULT_PGM_TAIL_DEMAG_COMP EQU 1 ; 1=Disabled 2=15/0 3=15/7.5 4=7.5/7.5 5=7.5/15 (degrees blind advance / power off)
+DEFAULT_PGM_TAIL_DIRECTION_REV EQU 1 ; 1=Normal 2=Reversed
+DEFAULT_PGM_TAIL_RCP_PWM_POL EQU 1 ; 1=Positive 2=Negative
+DEFAULT_PGM_TAIL_BEEP_STRENGTH EQU 250 ; Beep strength
+DEFAULT_PGM_TAIL_BEACON_STRENGTH EQU 250 ; Beacon strength
+DEFAULT_PGM_TAIL_BEACON_DELAY EQU 4 ; 1=30s 2=1m 3=2m 4=3m 5=Infinite
+; Multi
+DEFAULT_PGM_MULTI_FIRST_KEYWORD EQU 66h ;增加首个关键字 2013.8.27
+DEFAULT_PGM_MULTI_P_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0
+DEFAULT_PGM_MULTI_I_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0
+DEFAULT_PGM_MULTI_GOVERNOR_MODE EQU 1 ; 1=Off 2=LoRange 3=MidRange 4=HiRange
+DEFAULT_PGM_MULTI_GAIN EQU 3 ; 1=0.75 2=0.88 3=1.00 4=1.12 5=1.25
+DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM EQU 2
+;DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM EQU 1 ; 1=Off 2=3.0V/c 3=3.1V/c 4=3.2V/c 5=3.3V/c 6=3.4V/c
+DEFAULT_PGM_MULTI_LOW_VOLTAGE_CTL EQU 1 ;增加低压保护控制方式默认值 1=功率逐渐降到31% 2=关闭输出
+DEFAULT_PGM_MULTI_STARTUP_RPM EQU 1 ; 1=0.67 2=0.8 3=1.00 4=1.25 5=1.5
+DEFAULT_PGM_MULTI_STARTUP_ACCEL EQU 5 ; 1=0.4 2=0.7 3=1.0 4=1.5 5=2.3
+DEFAULT_PGM_MULTI_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
+DEFAULT_PGM_MULTI_THROTTLE_RATE EQU 13 ; 1=2 2=3 3=4 4=6 5=8 6=12 7=16 8=24 9=32 10=48 11=64 12=128 13=255
+DEFAULT_PGM_MULTI_DAMPING_FORCE EQU 1 ; 1=VeryLow 2=Low 3=MediumLow 4=MediumHigh 5=High 6=Highest
+IF DAMPED_MODE_ENABLE == 1
+DEFAULT_PGM_MULTI_PWM_FREQ EQU 1 ; 1=Low 2=High
+ELSE
+DEFAULT_PGM_MULTI_PWM_FREQ EQU 1 ; 1=Low 2=High
+ENDIF
+DEFAULT_PGM_MULTI_DEMAG_COMP EQU 2 ; 1=Disabled 2=15/0 3=15/7.5 4=7.5/7.5 5=7.5/15 (degrees blind advance / power off)
+DEFAULT_PGM_MULTI_DIRECTION_REV EQU 1 ; 1=Normal 2=Reversed
+DEFAULT_PGM_MULTI_RCP_PWM_POL EQU 1 ; 1=Positive 2=Negative
+;DEFAULT_PGM_MULTI_BEEP_STRENGTH EQU 40 ; Beep strength
+;DEFAULT_PGM_MULTI_BEACON_STRENGTH EQU 80 ; Beacon strength 等待摇杆操作声强
+;DEFAULT_PGM_MULTI_BEACON_DELAY EQU 4 ; 1=30s 2=1m 3=2m 4=3m 5=Infinite
+DEFAULT_PGM_MULTI_BEEP_STRENGTH EQU 80 ; Beep strength 上电到一次信号拉到最低声强
+DEFAULT_PGM_MULTI_BEACON_STRENGTH EQU 100 ; Beacon strength 等待摇杆操作声强
+DEFAULT_PGM_MULTI_BEACON_DELAY EQU 2 ; 1=30s 2=1m 3=2m 4=3m 5=Infinite 等待摇杆操作时间
+; Common
+DEFAULT_PGM_ENABLE_TX_PROGRAM EQU 1 ; 1=Enabled 0=Disabled
+DEFAULT_PGM_PPM_MIN_THROTTLE EQU 37 ; 4*37+1000=1148
+DEFAULT_PGM_PPM_MAX_THROTTLE EQU 208 ; 4*208+1000=1832
+DEFAULT_PGM_BEC_VOLTAGE_HIGH EQU 0 ; 0=Low 1= High
+
+;**** **** **** **** ****
+; Constant definitions for main
+IF MODE == 0
+
+GOV_SPOOLRATE EQU 1 ; Number of steps for governor requested pwm per 32ms
+
+RCP_TIMEOUT_PPM EQU 10 ; Number of timer2H overflows (about 32ms) before considering rc pulse lost
+RCP_TIMEOUT EQU 64 ; Number of timer2L overflows (about 128us) before considering rc pulse lost
+RCP_SKIP_RATE EQU 32 ; Number of timer2L overflows (about 128us) before reenabling rc pulse detection
+RCP_MIN EQU 0 ; This is minimum RC pulse length
+RCP_MAX EQU 254 ; This is maximum RC pulse length
+RCP_VALIDATE EQU 2 ; Require minimum this pulse length to validate RC pulse
+RCP_STOP EQU 1 ; Stop motor at or below this pulse length
+RCP_STOP_LIMIT EQU 3 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
+
+PWM_SETTLE EQU 50 ; PWM used when in start settling phase (also max power during direct start)
+PWM_STEPPER EQU 80 ; PWM used when in start stepper phase
+
+COMM_TIME_RED EQU 8 ; Fixed reduction (in us) for commutation wait (to account for fixed delays)
+COMM_TIME_MIN EQU 1 ; Minimum time (in us) for commutation wait
+
+TEMP_CHECK_RATE EQU 8 ; Number of adc conversions for each check of temperature (the other conversions are used for voltage)
+
+ENDIF
+; Constant definitions for tail
+IF MODE == 1
+
+GOV_SPOOLRATE EQU 1 ; Number of steps for governor requested pwm per 32ms
+RCP_TIMEOUT_PPM EQU 10 ; Number of timer2H overflows (about 32ms) before considering rc pulse lost
+RCP_TIMEOUT EQU 24 ; Number of timer2L overflows (about 128us) before considering rc pulse lost
+RCP_SKIP_RATE EQU 6 ; Number of timer2L overflows (about 128us) before reenabling rc pulse detection
+RCP_MIN EQU 0 ; This is minimum RC pulse length
+RCP_MAX EQU 255 ; This is maximum RC pulse length
+RCP_VALIDATE EQU 2 ; Require minimum this pulse length to validate RC pulse
+RCP_STOP EQU 1 ; Stop motor at or below this pulse length
+RCP_STOP_LIMIT EQU 130 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
+
+PWM_SETTLE EQU 50 ; PWM used when in start settling phase (also max power during direct start)
+PWM_STEPPER EQU 120 ; PWM used when in start stepper phase
+
+COMM_TIME_RED EQU 8 ; Fixed reduction (in us) for commutation wait (to account for fixed delays)
+COMM_TIME_MIN EQU 1 ; Minimum time (in us) for commutation wait
+
+TEMP_CHECK_RATE EQU 8 ; Number of adc conversions for each check of temperature (the other conversions are used for voltage)
+
+ENDIF
+; Constant definitions for multi
+IF MODE == 2
+
+GOV_SPOOLRATE EQU 1 ; Number of steps for governor requested pwm per 32ms
+
+RCP_TIMEOUT_PPM EQU 64 ; Number of timer2H overflows (about 32ms) before considering rc pulse lost
+RCP_TIMEOUT EQU 40 ; Number of timer2L overflows (about 128us) before considering rc pulse lost
+RCP_SKIP_RATE EQU 6 ; Number of timer2L overflows (about 128us) before reenabling rc pulse detection
+RCP_MIN EQU 0 ; This is minimum RC pulse length
+RCP_MAX EQU 255 ; This is maximum RC pulse length
+RCP_VALIDATE EQU 2 ; Require minimum this pulse length to validate RC pulse
+RCP_STOP EQU 1 ; Stop motor at or below this pulse length
+;//////RCP_STOP_LIMIT EQU 20 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
+
+PWM_SETTLE EQU 50 ; PWM used when in start settling phase (also max power during direct start)
+PWM_STEPPER EQU 120 ; PWM used when in start stepper phase
+
+COMM_TIME_RED EQU 8 ; Fixed reduction (in us) for commutation wait (to account for fixed delays)
+COMM_TIME_MIN EQU 1 ; Minimum time (in us) for commutation wait
+
+TEMP_CHECK_RATE EQU 8 ; Number of adc conversions for each check of temperature (the other conversions are used for voltage)
+
+ENDIF
+
+;**** **** **** **** ****
+; Temporary register definitions
+Temp1 EQU R0
+Temp2 EQU R1
+Temp3 EQU R2
+Temp4 EQU R3
+Temp5 EQU R4
+Temp6 EQU R5
+Temp7 EQU R6
+Temp8 EQU R7
+
+;**** **** **** **** ****
+; Register definitions
+DSEG AT 20h ; Variables segment
+
+Bit_Access: DS 1 ; Variable at bit accessible address (for non interrupt routines)
+Bit_Access_Int: DS 1 ; Variable at bit accessible address (for interrupts)
+
+Requested_Pwm: DS 1 ; Requested pwm (from RC pulse value)
+Governor_Req_Pwm: DS 1 ; Governor requested pwm (sets governor target)
+Current_Pwm: DS 1 ; Current pwm
+Current_Pwm_Limited: DS 1 ; Current pwm that is limited (applied to the motor output)
+Rcp_Prev_Edge_L: DS 1 ; RC pulse previous edge timer3 timestamp (lo byte)
+Rcp_Prev_Edge_H: DS 1 ; RC pulse previous edge timer3 timestamp (hi byte)
+Rcp_Timeout_Cnt: DS 1 ; RC pulse timeout counter (decrementing)
+Rcp_Skip_Cnt: DS 1 ; RC pulse skip counter (decrementing)
+Rcp_Edge_Cnt: DS 1 ; RC pulse edge counter
+Rcp_Stop_Limit: DS 1 ;增加刹车速度
+
+Flags0: DS 1 ; State flags. Reset upon init_start
+T3_PENDING EQU 0 ; Timer3 pending flag
+RCP_MEAS_PWM_FREQ EQU 1 ; Measure RC pulse pwm frequency
+PWM_ON EQU 2 ; Set in on part of pwm cycle
+DEMAG_DETECTED EQU 3 ; Set when excessive demag time is detected
+DEMAG_CUT_POWER EQU 4 ; Set when demag compensation cuts power
+; EQU 5
+PROGRAM_FUNC_FLAG EQU 6
+SUCCESS_BEEP_FLAG EQU 7
+
+Flags1: DS 1 ; State flags. Reset upon init_start
+MOTOR_SPINNING EQU 0 ; Set when in motor is spinning
+SETTLE_PHASE EQU 1 ; Set when in motor start settling phase
+STEPPER_PHASE EQU 2 ; Set when in motor start stepper motor phase
+DIRECT_STARTUP_PHASE EQU 3 ; Set when in direct startup phase
+INITIAL_RUN_PHASE EQU 4 ; Set when in initial run phase, before synchronized run is achieved
+; EQU 5
+; EQU 6
+LOW_LIMIT_STOP EQU 7
+
+Flags2: DS 1 ; State flags. NOT reset upon init_start
+RCP_UPDATED EQU 0 ; New RC pulse length value available
+RCP_EDGE_NO EQU 1 ; RC pulse edge no. 0=rising, 1=falling
+PGM_PWMOFF_DAMPED EQU 2 ; Programmed pwm off damped mode. Set when fully damped or damped light mode is selected
+PGM_PWMOFF_DAMPED_FULL EQU 3 ; Programmed pwm off fully damped mode. Set when all pfets shall be on in pwm_off period
+PGM_PWMOFF_DAMPED_LIGHT EQU 4 ; Programmed pwm off damped light mode. Set when only 2 pfets shall be on in pwm_off period
+PGM_PWM_HIGH_FREQ EQU 5 ; Progremmed pwm high frequency
+CURR_PWMOFF_DAMPED EQU 6 ; Currently running pwm off cycle is damped
+CURR_PWMOFF_COMP_ABLE EQU 7 ; Currently running pwm off cycle is usable for comparator
+
+Flags3: DS 1 ; State flags. NOT reset upon init_start
+RCP_PWM_FREQ_1KHZ EQU 0 ; RC pulse pwm frequency is 1kHz
+RCP_PWM_FREQ_2KHZ EQU 1 ; RC pulse pwm frequency is 2kHz
+RCP_PWM_FREQ_4KHZ EQU 2 ; RC pulse pwm frequency is 4kHz
+RCP_PWM_FREQ_8KHZ EQU 3 ; RC pulse pwm frequency is 8kHz
+PGM_DIR_REV EQU 4 ; Programmed direction. 0=normal, 1=reversed
+PGM_RCP_PWM_POL EQU 5 ; Programmed RC pulse pwm polarity. 0=positive, 1=negative
+FULL_THROTTLE_RANGE EQU 6 ; When set full throttle range is used (1000-2000us) and stored calibration values are ignored
+ERRO_DATA EQU 7 ;增加编程卡数据错误标志 2013.8.27
+;**** **** **** **** ****
+; RAM definitions
+DSEG AT 30h ; Ram data segment, direct addressing
+OS_FLAG: DS 1
+Initial_Arm: DS 1 ; Variable that is set during the first arm sequence after power on
+;Pca_First_Int: DS 1
+Power_On_Wait_Cnt_L: DS 1 ; Power on wait counter (lo byte)
+Power_On_Wait_Cnt_H: DS 1 ; Power on wait counter (hi byte)
+Pgm_Pulse_Cnt: DS 1
+;Stepper_Step_Beg_L: DS 1 ; Stepper phase step time at the beginning (lo byte)
+;Stepper_Step_Beg_H: DS 1 ; Stepper phase step time at the beginning (hi byte)
+;Stepper_Step_End_L: DS 1 ; Stepper phase step time at the end (lo byte)
+;Stepper_Step_End_H: DS 1 ; Stepper phase step time at the end (hi byte)
+Startup_Rot_Cnt: DS 1 ; Startup phase rotations counter
+Direct_Startup_Ok_Cnt: DS 1 ; Direct startup phase ok comparator waits counter (incrementing)
+
+Prev_Comm_L: DS 1 ; Previous commutation timer3 timestamp (lo byte)
+Prev_Comm_H: DS 1 ; Previous commutation timer3 timestamp (hi byte)
+Comm_Period4x_L: DS 1 ; Timer3 counts between the last 4 commutations (lo byte)
+Comm_Period4x_H: DS 1 ; Timer3 counts between the last 4 commutations (hi byte)
+Comm_Phase: DS 1 ; Current commutation phase
+Comp_Wait_Reads: DS 1 ; Comparator wait comparator reads
+
+Gov_Target_L: DS 1 ; Governor target (lo byte)
+Gov_Target_H: DS 1 ; Governor target (hi byte)
+Gov_Integral_L: DS 1 ; Governor integral error (lo byte)
+Gov_Integral_H: DS 1 ; Governor integral error (hi byte)
+Gov_Integral_X: DS 1 ; Governor integral error (ex byte)
+Gov_Proportional_L: DS 1 ; Governor proportional error (lo byte)
+Gov_Proportional_H: DS 1 ; Governor proportional error (hi byte)
+Gov_Prop_Pwm: DS 1 ; Governor calculated new pwm based upon proportional error
+Gov_Arm_Target: DS 1 ; Governor arm target value
+Gov_Active: DS 1 ; Governor active (enabled when speed is above minimum)
+
+Wt_Advance_L: DS 1 ; Timer3 counts for commutation advance timing (lo byte)
+Wt_Advance_H: DS 1 ; Timer3 counts for commutation advance timing (hi byte)
+Wt_Zc_Scan_L: DS 1 ; Timer3 counts from commutation to zero cross scan (lo byte)
+Wt_Zc_Scan_H: DS 1 ; Timer3 counts from commutation to zero cross scan (hi byte)
+Wt_Comm_L: DS 1 ; Timer3 counts from zero cross to commutation (lo byte)
+Wt_Comm_H: DS 1 ; Timer3 counts from zero cross to commutation (hi byte)
+;Wt_Stepper_Step_L: DS 1 ; Timer3 counts for stepper step (lo byte)
+;Wt_Stepper_Step_H: DS 1 ; Timer3 counts for stepper step (hi byte)
+
+Rcp_PrePrev_Edge_L: DS 1 ; RC pulse pre previous edge pca timestamp (lo byte)
+Rcp_PrePrev_Edge_H: DS 1 ; RC pulse pre previous edge pca timestamp (hi byte)
+Rcp_Edge_L: DS 1 ; RC pulse edge pca timestamp (lo byte)
+Rcp_Edge_H: DS 1 ; RC pulse edge pca timestamp (hi byte)
+Rcp_Prev_Period_L: DS 1 ; RC pulse previous period (lo byte)
+Rcp_Prev_Period_H: DS 1 ; RC pulse previous period (hi byte)
+Rcp_Period_Diff_Accepted: DS 1 ; RC pulse period difference acceptable
+New_Rcp: DS 1 ; New RC pulse value in pca counts
+Prev_Rcp_Pwm_Freq: DS 1 ; Previous RC pulse pwm frequency (used during pwm frequency measurement)
+Curr_Rcp_Pwm_Freq: DS 1 ; Current RC pulse pwm frequency (used during pwm frequency measurement)
+Rcp_Stop_Cnt: DS 1 ; Counter for RC pulses below stop value
+
+Pwm_Limit: DS 1 ; Maximum allowed pwm
+Pwm_Limit_Spoolup: DS 1 ; Maximum allowed pwm during spoolup of main
+Pwm_Spoolup_Beg: DS 1 ; Pwm to begin main spoolup with
+Pwm_Motor_Idle: DS 1 ; Motor idle speed pwm
+Pwm_On_Cnt: DS 1 ; Pwm on event counter (used to increase pwm off time for low pwm)
+Pwm_Off_Cnt: DS 1 ; Pwm off event counter (used to run some pwm cycles without damping)
+
+Spoolup_Limit_Cnt: DS 1 ; Interrupt count for spoolup limit
+Spoolup_Limit_Skip: DS 1 ; Interrupt skips for spoolup limit increment (0=no skips, 1=skip one etc)
+
+Damping_Period: DS 1 ; Damping on/off period
+Damping_On: DS 1 ; Damping on part of damping period
+
+;Lipo_Adc_Reference_L: DS 1 ; Voltage reference adc value (lo byte)
+;Lipo_Adc_Reference_H: DS 1 ; Voltage reference adc value (hi byte)
+Lipo_Adc_Limit_L: DS 1 ; Low voltage limit adc value (lo byte)
+Lipo_Adc_Limit_H: DS 1 ; Low voltage limit adc value (hi byte)
+Adc_Conversion_Cnt: DS 1 ; Adc conversion counter
+Lipo_Cell_Count: DS 1 ;增加电池节数累计变量 2013.5.29
+Limit_Count: DS 1 ;增加逐渐递减计数变量 2013.7.5
+
+Current_Average_Temp: DS 1 ; Current average temperature (lo byte ADC reading, assuming hi byte is 1)
+
+Ppm_Throttle_Gain: DS 1 ; Gain to be applied to RCP value for PPM input
+Beep_Strength: DS 1 ; Strength of beeps
+
+Tx_Pgm_Func_No: DS 1 ; Function number when doing programming by tx
+Tx_Pgm_Paraval_No: DS 1 ; Parameter value number when doing programming by tx
+Tx_Pgm_Beep_No: DS 1 ; Beep number when doing programming by tx
+Commu_Data_Buffer: DS 1 ;编程卡接收，发送数据暂存 2013.8.27
+Commu_Sum: DS 1 ;增加编程卡校验和 2013.8.27
+Min_Throttle: DS 1
+
+; Indirect addressing data segment
+ISEG AT 080h
+Pgm_Fir_Key: DS 1 ;增加首个关键字 2013.8.27
+Pgm_Gov_P_Gain: DS 1 ; Programmed governor P gain
+Pgm_Gov_I_Gain: DS 1 ; Programmed governor I gain
+Pgm_Gov_Mode: DS 1 ; Programmed governor mode
+
+Pgm_Low_Voltage_Lim: DS 1 ; Programmed low voltage limit
+Pgm_Low_Voltage_Ctl: DS 1 ;增加低压保护控制方式编程项 2013.7.5
+Pgm_Motor_Gain: DS 1 ; Programmed motor gain
+Pgm_Motor_Idle: DS 1 ; Programmed motor idle speed
+Pgm_Startup_Pwr: DS 1 ; Programmed startup power
+Pgm_Pwm_Freq: DS 1 ; Programmed pwm frequency
+Pgm_Direction_Rev: DS 1 ; Programmed rotation direction
+Pgm_Input_Pol: DS 1 ; Programmed input pwm polarity
+Initialized_L_Dummy: DS 1 ; Place holder
+Initialized_H_Dummy: DS 1 ; Place holder
+Pgm_Enable_TX_Program: DS 1 ; Programmed enable/disable value for TX programming
+Pgm_Main_Rearm_Start: DS 1 ; Programmed enable/disable re-arming main every start
+Pgm_Gov_Setup_Target: DS 1 ; Programmed main governor setup target
+Pgm_Startup_Rpm: DS 1 ; Programmed startup rpm
+Pgm_Startup_Accel: DS 1 ; Programmed startup acceleration
+Pgm_Volt_Comp_Dummy: DS 1 ; Place holder
+Pgm_Comm_Timing: DS 1 ; Programmed commutation timing
+Pgm_Damping_Force: DS 1 ; Programmed damping force
+Pgm_Gov_Range: DS 1 ; Programmed governor range
+;Pgm_Startup_Method: DS 1 ; Programmed startup method
+Pgm_Ppm_Min_Throttle: DS 1 ; Programmed throttle minimum
+Pgm_Ppm_Max_Throttle: DS 1 ; Programmed throttle maximum
+Pgm_Beep_Strength: DS 1 ; Programmed beep strength
+Pgm_Beacon_Strength: DS 1 ; Programmed beacon strength
+Pgm_Beacon_Delay: DS 1 ; Programmed beacon delay
+Pgm_Throttle_Rate: DS 1 ; Programmed throttle rate
+Pgm_Demag_Comp: DS 1 ; Programmed demag compensation
+Pgm_BEC_Voltage_High: DS 1 ; Programmed BEC voltage
+
+Pgm_Gov_P_Gain_Decoded: DS 1 ; Programmed governor decoded P gain
+Pgm_Gov_I_Gain_Decoded: DS 1 ; Programmed governor decoded I gain
+Pgm_Throttle_Rate_Decoded: DS 1 ; Programmed throttle rate decoded
+Pgm_Startup_Pwr_Decoded: DS 1 ; Programmed startup power decoded
+Pgm_Demag_Comp_Wait_Decoded: DS 1 ; Programmed demag compensation wait decoded
+Pgm_Demag_Comp_Power_Decoded: DS 1 ; Programmed demag compensation power cut decoded
+
+
+; Indirect addressing data segment
+ISEG AT 0D0h
+Tag_Temporary_Storage: DS 48 ; Temporary storage for tags when updating "Eeprom"
+
+
+;**** **** **** **** ****
+CSEG AT 1A00h ; "Eeprom" segment
+EEPROM_FW_MAIN_REVISION EQU 10 ; Main revision of the firmware
+EEPROM_FW_SUB_REVISION EQU 2 ; Sub revision of the firmware
+EEPROM_LAYOUT_REVISION EQU 16 ; Revision of the EEPROM layout
+
+Eep_FW_Main_Revision: DB EEPROM_FW_MAIN_REVISION ; EEPROM firmware main revision number
+Eep_FW_Sub_Revision: DB EEPROM_FW_SUB_REVISION ; EEPROM firmware sub revision number
+Eep_Layout_Revision: DB EEPROM_LAYOUT_REVISION ; EEPROM layout revision number
+
+IF MODE == 0
+Eep_Pgm_Gov_P_Gain: DB DEFAULT_PGM_MAIN_P_GAIN ; EEPROM copy of programmed governor P gain
+Eep_Pgm_Gov_I_Gain: DB DEFAULT_PGM_MAIN_I_GAIN ; EEPROM copy of programmed governor I gain
+Eep_Pgm_Gov_Mode: DB DEFAULT_PGM_MAIN_GOVERNOR_MODE ; EEPROM copy of programmed governor mode
+
+Eep_Pgm_Low_Voltage_Lim: DB DEFAULT_PGM_MAIN_LOW_VOLTAGE_LIM ; EEPROM copy of programmed low voltage limit
+_Eep_Pgm_Motor_Gain: DB 0FFh
+_Eep_Pgm_Motor_Idle: DB 0FFh
+Eep_Pgm_Startup_Pwr: DB DEFAULT_PGM_MAIN_STARTUP_PWR ; EEPROM copy of programmed startup power
+Eep_Pgm_Pwm_Freq: DB DEFAULT_PGM_MAIN_PWM_FREQ ; EEPROM copy of programmed pwm frequency
+Eep_Pgm_Direction_Rev: DB DEFAULT_PGM_MAIN_DIRECTION_REV ; EEPROM copy of programmed rotation direction
+Eep_Pgm_Input_Pol: DB DEFAULT_PGM_MAIN_RCP_PWM_POL ; EEPROM copy of programmed input polarity
+Eep_Initialized_L: DB 0A5h ; EEPROM initialized signature low byte
+Eep_Initialized_H: DB 05Ah ; EEPROM initialized signature high byte
+Eep_Enable_TX_Program: DB DEFAULT_PGM_ENABLE_TX_PROGRAM ; EEPROM TX programming enable
+Eep_Main_Rearm_Start: DB DEFAULT_PGM_MAIN_REARM_START ; EEPROM re-arming main enable
+Eep_Pgm_Gov_Setup_Target: DB DEFAULT_PGM_MAIN_GOV_SETUP_TARGET ; EEPROM main governor setup target
+Eep_Pgm_Startup_Rpm: DB DEFAULT_PGM_MAIN_STARTUP_RPM ; EEPROM copy of programmed startup rpm
+Eep_Pgm_Startup_Accel: DB DEFAULT_PGM_MAIN_STARTUP_ACCEL ; EEPROM copy of programmed startup acceleration
+_Eep_Pgm_Volt_Comp: DB 0FFh
+Eep_Pgm_Comm_Timing: DB DEFAULT_PGM_MAIN_COMM_TIMING ; EEPROM copy of programmed commutation timing
+Eep_Pgm_Damping_Force: DB DEFAULT_PGM_MAIN_DAMPING_FORCE ; EEPROM copy of programmed damping force
+Eep_Pgm_Gov_Range: DB DEFAULT_PGM_MAIN_GOVERNOR_RANGE ; EEPROM copy of programmed governor range
+Eep_Pgm_Startup_Method: DB DEFAULT_PGM_MAIN_STARTUP_METHOD ; EEPROM copy of programmed startup method
+Eep_Pgm_Ppm_Min_Throttle: DB DEFAULT_PGM_PPM_MIN_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1148)
+Eep_Pgm_Ppm_Max_Throttle: DB DEFAULT_PGM_PPM_MAX_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1832)
+Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_MAIN_BEEP_STRENGTH ; EEPROM copy of programmed beep strength
+Eep_Pgm_Beacon_Strength: DB DEFAULT_PGM_MAIN_BEACON_STRENGTH ; EEPROM copy of programmed beacon strength
+Eep_Pgm_Beacon_Delay: DB DEFAULT_PGM_MAIN_BEACON_DELAY ; EEPROM copy of programmed beacon delay
+Eep_Pgm_Throttle_Rate: DB DEFAULT_PGM_MAIN_THROTTLE_RATE ; EEPROM copy of programmed throttle rate
+Eep_Pgm_Demag_Comp: DB DEFAULT_PGM_MAIN_DEMAG_COMP ; EEPROM copy of programmed demag compensation
+Eep_Pgm_BEC_Voltage_High: DB DEFAULT_PGM_BEC_VOLTAGE_HIGH ; EEPROM copy of programmed BEC voltage
+ENDIF
+
+IF MODE == 1
+_Eep_Pgm_Gov_P_Gain: DB 0FFh
+_Eep_Pgm_Gov_I_Gain: DB 0FFh
+_Eep_Pgm_Gov_Mode: DB 0FFh
+
+_Eep_Pgm_Low_Voltage_Lim: DB 0FFh
+Eep_Pgm_Motor_Gain: DB DEFAULT_PGM_TAIL_GAIN ; EEPROM copy of programmed tail gain
+Eep_Pgm_Motor_Idle: DB DEFAULT_PGM_TAIL_IDLE_SPEED ; EEPROM copy of programmed tail idle speed
+Eep_Pgm_Startup_Pwr: DB DEFAULT_PGM_TAIL_STARTUP_PWR ; EEPROM copy of programmed startup power
+Eep_Pgm_Pwm_Freq: DB DEFAULT_PGM_TAIL_PWM_FREQ ; EEPROM copy of programmed pwm frequency
+Eep_Pgm_Direction_Rev: DB DEFAULT_PGM_TAIL_DIRECTION_REV ; EEPROM copy of programmed rotation direction
+Eep_Pgm_Input_Pol: DB DEFAULT_PGM_TAIL_RCP_PWM_POL ; EEPROM copy of programmed input polarity
+Eep_Initialized_L: DB 05Ah ; EEPROM initialized signature low byte
+Eep_Initialized_H: DB 0A5h ; EEPROM initialized signature high byte
+Eep_Enable_TX_Program: DB DEFAULT_PGM_ENABLE_TX_PROGRAM ; EEPROM TX programming enable
+_Eep_Main_Rearm_Start: DB 0FFh
+_Eep_Pgm_Gov_Setup_Target: DB 0FFh
+Eep_Pgm_Startup_Rpm: DB DEFAULT_PGM_TAIL_STARTUP_RPM ; EEPROM copy of programmed startup rpm
+Eep_Pgm_Startup_Accel: DB DEFAULT_PGM_TAIL_STARTUP_ACCEL ; EEPROM copy of programmed startup acceleration
+_Eep_Pgm_Volt_Comp: DB 0FFh
+Eep_Pgm_Comm_Timing: DB DEFAULT_PGM_TAIL_COMM_TIMING ; EEPROM copy of programmed commutation timing
+Eep_Pgm_Damping_Force: DB DEFAULT_PGM_TAIL_DAMPING_FORCE ; EEPROM copy of programmed damping force
+_Eep_Pgm_Gov_Range: DB 0FFh
+Eep_Pgm_Startup_Method: DB DEFAULT_PGM_TAIL_STARTUP_METHOD ; EEPROM copy of programmed startup method
+Eep_Pgm_Ppm_Min_Throttle: DB DEFAULT_PGM_PPM_MIN_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1148)
+Eep_Pgm_Ppm_Max_Throttle: DB DEFAULT_PGM_PPM_MAX_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1832)
+Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_TAIL_BEEP_STRENGTH ; EEPROM copy of programmed beep strength
+Eep_Pgm_Beacon_Strength: DB DEFAULT_PGM_TAIL_BEACON_STRENGTH ; EEPROM copy of programmed beacon strength
+Eep_Pgm_Beacon_Delay: DB DEFAULT_PGM_TAIL_BEACON_DELAY ; EEPROM copy of programmed beacon delay
+Eep_Pgm_Throttle_Rate: DB DEFAULT_PGM_TAIL_THROTTLE_RATE ; EEPROM copy of programmed throttle rate
+Eep_Pgm_Demag_Comp: DB DEFAULT_PGM_TAIL_DEMAG_COMP ; EEPROM copy of programmed demag compensation
+Eep_Pgm_BEC_Voltage_High: DB DEFAULT_PGM_BEC_VOLTAGE_HIGH ; EEPROM copy of programmed BEC voltage
+ENDIF
+
+IF MODE == 2
+Eep_Pgm_Fir_Key: DB DEFAULT_PGM_MULTI_FIRST_KEYWORD ;增加首个关键字 2013.8.27
+Eep_Pgm_Gov_P_Gain: DB DEFAULT_PGM_MULTI_P_GAIN ; EEPROM copy of programmed closed loop P gain
+Eep_Pgm_Gov_I_Gain: DB DEFAULT_PGM_MULTI_I_GAIN ; EEPROM copy of programmed closed loop I gain
+Eep_Pgm_Gov_Mode: DB DEFAULT_PGM_MULTI_GOVERNOR_MODE ; EEPROM copy of programmed closed loop mode
+
+Eep_Pgm_Low_Voltage_Lim: DB DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM ; EEPROM copy of programmed low voltage limit
+Eep_Pgm_Low_Voltage_Ctl: DB DEFAULT_PGM_MULTI_LOW_VOLTAGE_CTL ; 增加低压保护控制编程
+Eep_Pgm_Motor_Gain: DB DEFAULT_PGM_MULTI_GAIN ; EEPROM copy of programmed tail gain
+_Eep_Pgm_Motor_Idle: DB 0FFh ; EEPROM copy of programmed tail idle speed
+Eep_Pgm_Startup_Pwr: DB DEFAULT_PGM_MULTI_STARTUP_PWR ; EEPROM copy of programmed startup power
+Eep_Pgm_Pwm_Freq: DB DEFAULT_PGM_MULTI_PWM_FREQ ; EEPROM copy of programmed pwm frequency
+Eep_Pgm_Direction_Rev: DB DEFAULT_PGM_MULTI_DIRECTION_REV ; EEPROM copy of programmed rotation direction
+Eep_Pgm_Input_Pol: DB DEFAULT_PGM_MULTI_RCP_PWM_POL ; EEPROM copy of programmed input polarity
+Eep_Initialized_L: DB 055h ; EEPROM initialized signature low byte
+Eep_Initialized_H: DB 0AAh ; EEPROM initialized signature high byte
+Eep_Enable_TX_Program: DB DEFAULT_PGM_ENABLE_TX_PROGRAM ; EEPROM TX programming enable
+_Eep_Main_Rearm_Start: DB 0FFh
+_Eep_Pgm_Gov_Setup_Target: DB 0FFh
+Eep_Pgm_Startup_Rpm: DB DEFAULT_PGM_MULTI_STARTUP_RPM ; EEPROM copy of programmed startup rpm
+Eep_Pgm_Startup_Accel: DB DEFAULT_PGM_MULTI_STARTUP_ACCEL ; EEPROM copy of programmed startup acceleration
+_Eep_Pgm_Volt_Comp: DB 0FFh
+Eep_Pgm_Comm_Timing: DB DEFAULT_PGM_MULTI_COMM_TIMING ; EEPROM copy of programmed commutation timing
+Eep_Pgm_Damping_Force: DB DEFAULT_PGM_MULTI_DAMPING_FORCE ; EEPROM copy of programmed damping force
+_Eep_Pgm_Gov_Range: DB 0FFh
+;Eep_Pgm_Startup_Method: DB DEFAULT_PGM_MULTI_STARTUP_METHOD ; EEPROM copy of programmed startup method
+Eep_Pgm_Ppm_Min_Throttle: DB DEFAULT_PGM_PPM_MIN_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1148)
+Eep_Pgm_Ppm_Max_Throttle: DB DEFAULT_PGM_PPM_MAX_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1832)
+Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_MULTI_BEEP_STRENGTH ; EEPROM copy of programmed beep strength
+Eep_Pgm_Beacon_Strength: DB DEFAULT_PGM_MULTI_BEACON_STRENGTH ; EEPROM copy of programmed beacon strength
+Eep_Pgm_Beacon_Delay: DB DEFAULT_PGM_MULTI_BEACON_DELAY ; EEPROM copy of programmed beacon delay
+Eep_Pgm_Throttle_Rate: DB DEFAULT_PGM_MULTI_THROTTLE_RATE ; EEPROM copy of programmed throttle rate
+Eep_Pgm_Demag_Comp: DB DEFAULT_PGM_MULTI_DEMAG_COMP ; EEPROM copy of programmed demag compensation
+Eep_Pgm_BEC_Voltage_High: DB DEFAULT_PGM_BEC_VOLTAGE_HIGH ; EEPROM copy of programmed BEC voltage
+ENDIF
+
+
+Eep_Dummy: DB 0FFh ; EEPROM address for safety reason
+
+CSEG AT 1A60h
+Eep_Name: DB " " ; Name tag (16 Bytes)
+
+;**** **** **** **** ****
+ Interrupt_Table_Definition ; SiLabs interrupts
+CSEG AT 80h ; Code segment after interrupt vectors
+
+;**** **** **** **** ****
+
+; Table definitions
+GOV_GAIN_TABLE: DB 02h, 03h, 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 60h, 80h
+THROTTLE_RATE_TABLE: DB 02h, 03h, 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 80h, 0FFh
+STARTUP_POWER_TABLE: DB 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 60h, 80h, 0A0h, 0C0h
+DEMAG_WAIT_TABLE: DB 0, 0, 0, 1, 1
+DEMAG_POWER_TABLE: DB 0, 3, 2, 2, 1
+
+;FINISH_KEYWORD_TABLE: DB 066h, 08h, 08h, 03h, 01h, 00h, 02h, 00h
+; DB 09h, 01h, 00h, 00h, 00h, 00h, 00h, 00h
+; DB 0B4h, 00h, 04h, 00h, 02h, 00h, 00h, 025h
+; DB 0D0h, 050h, 064h, 01h, 0Dh, 01h, 00h, 00h ;增加编程默认值表 2013.7.30 ;//////////////////////////////////////////
+; DB 00h, 00h, 00h, 00h, 00h, 00h, 00h, 00h
+; DB 00h, 00h, 00h, 00h, 00h, 00h, 00h, 00h
+
+IF MODE == 0
+TX_PGM_PARAMS_MAIN: DB 13, 13, 4, 2, 6, 2, 13, 5, 5, 5, 13, 6, 3, 5, 2, 2
+ENDIF
+IF MODE == 1
+ IF DAMPED_MODE_ENABLE == 1
+TX_PGM_PARAMS_TAIL: DB 5, 5, 2, 13, 5, 5, 5, 13, 6, 4, 5, 2, 2
+ ENDIF
+ IF DAMPED_MODE_ENABLE == 0
+TX_PGM_PARAMS_TAIL: DB 5, 5, 2, 13, 5, 5, 5, 13, 6, 3, 5, 2, 2
+ ENDIF
+ENDIF
+IF MODE == 2
+ IF DAMPED_MODE_ENABLE == 1
+;///////TX_PGM_PARAMS_MULTI: DB 13, 13, 4, 5, 6, 2, 13, 5, 5, 5, 13, 6, 4, 5, 2, 2
+ TX_PGM_PARAMS_MULTI: DB 6, 5, 13, 4, 2, 4, 2
+ ENDIF
+ IF DAMPED_MODE_ENABLE == 0
+;///////TX_PGM_PARAMS_MULTI: DB 13, 13, 4, 5, 6, 2, 13, 5, 5, 5, 13, 6, 3, 5, 2, 2
+ TX_PGM_PARAMS_MULTI: DB 6, 5, 13, 4, 2, 4, 2
+ ENDIF
+ENDIF
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Timer0 interrupt routine
+;
+; Assumptions: DPTR register must be set to desired pwm_nfet_on label
+; Requirements: Temp variables can NOT be used since PWSW.3 is not set
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+t0_int: ; Used for pwm control
+ clr EA ; Disable all interrupts
+ push PSW ; Preserve registers through interrupt
+ push ACC
+ ; Check if pwm is on
+ jb Flags0.PWM_ON, t0_int_pwm_off ; Is pwm on?
+
+ ; Pwm on cycle.
+ jnb Current_Pwm_Limited.7, t0_int_pwm_on_low_pwm ; Jump for low pwm (<50%)
+
+t0_int_pwm_on_execute:
+ clr A
+ jmp @A+DPTR ; No - jump to pwm on routines. DPTR should be set to one of the pwm_nfet_on labels
+
+t0_int_pwm_on_low_pwm:
+ ; Do not execute pwm when stopped
+ jnb Flags1.MOTOR_SPINNING, t0_int_pwm_on_stopped
+
+IF MODE == 0 OR MODE == 2 ; Main or multi
+ jmp t0_int_pwm_on_execute
+ENDIF
+IF MODE == 1 ; Tail
+ ; Skip pwm on cycles for very low pwm
+ inc Pwm_On_Cnt ; Increment event counter
+ clr C
+ mov A, #5 ; Only skip for very low pwm
+ subb A, Current_Pwm_Limited ; Check skipping shall be done (for low pwm only)
+ jc t0_int_pwm_on_execute
+
+ subb A, Pwm_On_Cnt ; Check if on cycle is to be skipped
+ jc t0_int_pwm_on_execute
+
+ mov TL0, #120 ; Write start point for timer
+ mov A, Current_Pwm_Limited
+ jnz ($+5)
+ mov TL0, #0 ; Write start point for timer (long time for zero pwm)
+ jmp t0_int_pwm_on_exit_no_timer_update
+ENDIF
+
+t0_int_pwm_on_stopped:
+ jmp t0_int_pwm_on_exit
+
+
+t0_int_pwm_off:
+ jnb Flags1.DIRECT_STARTUP_PHASE, t0_int_pwm_off_start_checked
+ All_nFETs_Off ; Switch off all nfets early during direct start, for a smooth start
+t0_int_pwm_off_start_checked:
+ ; Pwm off cycle
+ mov TL0, Current_Pwm_Limited ; Load new timer setting
+ ; Clear pwm on flag
+ clr Flags0.PWM_ON
+ ; Set full PWM (on all the time) if current PWM near max. This will give full power, but at the cost of a small "jump" in power
+ mov A, Current_Pwm_Limited ; Load current pwm
+ cpl A ; Full pwm?
+ jnz ($+4) ; No - branch
+ ajmp t0_int_pwm_off_fullpower_exit ; Yes - exit
+
+ inc Pwm_Off_Cnt ; Increment event counter
+ ; Do not execute pwm when stopped
+ jnb Flags1.MOTOR_SPINNING, t0_int_pwm_off_stopped
+
+ ; If damped operation, set pFETs on in pwm_off
+ jb Flags2.PGM_PWMOFF_DAMPED, t0_int_pwm_off_damped ; Damped operation?
+
+ ; Separate exit commands here for minimum delay
+ mov TL1, #0 ; Reset timer1
+ pop ACC ; Restore preserved registers
+ pop PSW
+ All_nFETs_Off ; Switch off all nfets
+ setb EA ; Enable all interrupts
+ reti
+
+t0_int_pwm_off_stopped:
+ All_nFETs_Off ; Switch off all nfets
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_damped:
+ setb Flags2.CURR_PWMOFF_DAMPED ; Set damped status
+ clr Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator unusable status
+ mov A, Damping_On
+ jz t0_int_pwm_off_do_damped ; Highest damping - apply damping always
+
+ clr C
+ mov A, Pwm_Off_Cnt ; Is damped on number reached?
+ dec A
+ subb A, Damping_On
+ jc t0_int_pwm_off_do_damped ; No - apply damping
+
+ clr Flags2.CURR_PWMOFF_DAMPED ; Set non damped status
+ setb Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator usable status
+ clr C
+ mov A, Pwm_Off_Cnt
+ subb A, Damping_Period ; Is damped period number reached?
+ jnc t0_int_pwm_off_clr_cnt ; Yes - Proceed
+
+ jmp t0_int_pwm_off_exit ; No - Branch
+
+t0_int_pwm_off_clr_cnt:
+ mov Pwm_Off_Cnt, #0 ; Yes - clear counter
+ jmp t0_int_pwm_off_exit ; Not damped cycle - exit
+
+t0_int_pwm_off_do_damped:
+ ; Delay to allow nFETs to go off before pFETs are turned on (only in full damped mode)
+ jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, t0_int_pwm_off_damped_light ; If damped light operation - branch
+
+; All_pFETs_Off ; Switch off all nfets
+; mov A, #PFETON_DELAY
+; djnz ACC, $
+; All_nFETs_On ; Switch on all pfets
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_damped_light:
+IF DAMPED_MODE_ENABLE == 1
+ setb Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator usable status always for damped light mode on fully damped capable escs
+ENDIF
+ All_nFETs_Off ; Switch off all nfets
+ mov A, Comm_Phase ; Turn on pfets according to commutation phase
+ jb ACC.2, t0_int_pwm_off_comm_4_5_6
+ jb ACC.1, t0_int_pwm_off_comm_2_3
+
+IF DAMPED_MODE_ENABLE == 0
+ AnFET_On ; Comm phase 1 - turn on A
+ELSE
+ mov A, #PFETON_DELAY
+ djnz ACC, $
+ CnFET_On ; Comm phase 1 - turn on C
+ENDIF
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_comm_2_3:
+ jb ACC.0, t0_int_pwm_off_comm_3
+IF DAMPED_MODE_ENABLE == 0
+ BnFET_On ; Comm phase 2 - turn on B
+ELSE
+ mov A, #PFETON_DELAY
+ djnz ACC, $
+ CnFET_On ; Comm phase 2 - turn on C
+ENDIF
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_comm_3:
+IF DAMPED_MODE_ENABLE == 0
+ CnFET_On ; Comm phase 3 - turn on C
+ELSE
+ mov A, #PFETON_DELAY
+ djnz ACC, $
+ BnFET_On ; Comm phase 3 - turn on B
+ENDIF
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_comm_4_5_6:
+ jb ACC.1, t0_int_pwm_off_comm_6
+ jb ACC.0, t0_int_pwm_off_comm_5
+
+IF DAMPED_MODE_ENABLE == 0
+ AnFET_On ; Comm phase 4 - turn on A
+ELSE
+ mov A, #PFETON_DELAY
+ djnz ACC, $
+ BnFET_On ; Comm phase 4 - turn on B
+ENDIF
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_comm_5:
+IF DAMPED_MODE_ENABLE == 0
+ BnFET_On ; Comm phase 5 - turn on B
+ELSE
+ mov A, #PFETON_DELAY
+ djnz ACC, $
+ AnFET_On ; Comm phase 5 - turn on A
+ENDIF
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_comm_6:
+IF DAMPED_MODE_ENABLE == 0
+ CnFET_On ; Comm phase 6 - turn on C
+ELSE
+ mov A, #PFETON_DELAY
+ djnz ACC, $
+ AnFET_On ; Comm phase 6 - turn on A
+ENDIF
+
+t0_int_pwm_off_exit: ; Exit from pwm off cycle
+ mov TL1, #0 ; Reset timer1
+ pop ACC ; Restore preserved registers
+ pop PSW
+ All_nFETs_Off ; Switch off all nfets
+ setb EA ; Enable all interrupts
+ reti
+
+t0_int_pwm_off_fullpower_exit: ; Exit from pwm off cycle, leaving power on
+ pop ACC ; Restore preserved registers
+ pop PSW
+ setb EA ; Enable all interrupts
+ reti
+
+
+
+pwm_nofet_on: ; Dummy pwm on cycle
+ ajmp t0_int_pwm_on_exit
+
+pwm_afet_on: ; Pwm on cycle afet on (bfet off)
+ AnFET_on
+ BnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_bfet_on: ; Pwm on cycle bfet on (cfet off)
+ BnFET_on
+ CnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_cfet_on: ; Pwm on cycle cfet on (afet off)
+ CnFET_on
+ AnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_anfet_bpfet_on_fast: ; Pwm on cycle anfet on (bnfet off) and bpfet on (used in damped state 6)
+ ApFET_off
+ AnFET_on ; Switch nFETs
+ CpFET_off
+ BnFET_off
+ ajmp t0_int_pwm_on_exit
+pwm_anfet_bpfet_on_safe: ; Pwm on cycle anfet on (bnfet off) and bpfet on (used in damped state 6)
+ ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
+ ApFET_off
+ CpFET_off
+ mov A, #NFETON_DELAY ; Set full delay
+ djnz ACC, $
+ AnFET_on ; Switch nFETs
+ BnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_anfet_cpfet_on_fast: ; Pwm on cycle anfet on (bnfet off) and cpfet on (used in damped state 5)
+ ApFET_off
+ AnFET_on ; Switch nFETs
+ BpFET_off
+ BnFET_off
+ ajmp t0_int_pwm_on_exit
+pwm_anfet_cpfet_on_safe: ; Pwm on cycle anfet on (bnfet off) and cpfet on (used in damped state 5)
+ ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
+ ApFET_off
+ BpFET_off
+ mov A, #NFETON_DELAY ; Set full delay
+ djnz ACC, $
+ AnFET_on ; Switch nFETs
+ BnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_bnfet_cpfet_on_fast: ; Pwm on cycle bnfet on (cnfet off) and cpfet on (used in damped state 4)
+ BpFET_off
+ BnFET_on ; Switch nFETs
+ ApFET_off
+ CnFET_off
+ ajmp t0_int_pwm_on_exit
+pwm_bnfet_cpfet_on_safe: ; Pwm on cycle bnfet on (cnfet off) and cpfet on (used in damped state 4)
+ ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
+ BpFET_off
+ ApFET_off
+ mov A, #NFETON_DELAY ; Set full delay
+ djnz ACC, $
+ BnFET_on ; Switch nFETs
+ CnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_bnfet_apfet_on_fast: ; Pwm on cycle bnfet on (cnfet off) and apfet on (used in damped state 3)
+ BpFET_off
+ BnFET_on ; Switch nFETs
+ CpFET_off
+ CnFET_off
+ ajmp t0_int_pwm_on_exit
+pwm_bnfet_apfet_on_safe: ; Pwm on cycle bnfet on (cnfet off) and apfet on (used in damped state 3)
+ ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
+ BpFET_off
+ CpFET_off
+ mov A, #NFETON_DELAY ; Set full delay
+ djnz ACC, $
+ BnFET_on ; Switch nFETs
+ CnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_cnfet_apfet_on_fast: ; Pwm on cycle cnfet on (anfet off) and apfet on (used in damped state 2)
+ CpFET_off
+ CnFET_on ; Switch nFETs
+ BpFET_off
+ AnFET_off
+ ajmp t0_int_pwm_on_exit
+pwm_cnfet_apfet_on_safe: ; Pwm on cycle cnfet on (anfet off) and apfet on (used in damped state 2)
+ ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
+ CpFET_off
+ BpFET_off
+ mov A, #NFETON_DELAY ; Set full delay
+ djnz ACC, $
+ CnFET_on ; Switch nFETs
+ AnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_cnfet_bpfet_on_fast: ; Pwm on cycle cnfet on (anfet off) and bpfet on (used in damped state 1)
+ CpFET_off
+ CnFET_on ; Switch nFETs
+ ApFET_off
+ AnFET_off
+ ajmp t0_int_pwm_on_exit
+pwm_cnfet_bpfet_on_safe: ; Pwm on cycle cnfet on (anfet off) and bpfet on (used in damped state 1)
+ ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
+ CpFET_off
+ ApFET_off
+ mov A, #NFETON_DELAY ; Set full delay
+ djnz ACC, $
+ CnFET_on ; Switch nFETs
+ AnFET_off
+ ajmp t0_int_pwm_on_exit
+
+t0_int_pwm_on_exit:
+ ; Set timer for coming on cycle length
+ mov A, Current_Pwm_Limited ; Load current pwm
+ cpl A ; cpl is 255-x
+ mov TL0, A ; Write start point for timer
+ ; Set other variables
+ mov TL1, #0 ; Reset timer1
+ mov Pwm_On_Cnt, #0 ; Reset pwm on event counter
+ setb Flags0.PWM_ON ; Set pwm on flag
+t0_int_pwm_on_exit_no_timer_update:
+ ; Exit interrupt
+ pop ACC ; Restore preserved registers
+ pop PSW
+ setb EA ; Enable all interrupts
+ reti
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Timer2 interrupt routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+t2_int: ; Happens every 128us for low byte and every 32ms for high byte
+ clr EA ; Disable all interrupts
+ push PSW ; Preserve registers through interrupt
+ push ACC
+ setb PSW.3 ; Select register bank 1 for interrupt routines
+ ; Clear low byte interrupt flag
+ clr TF2L ; Clear interrupt flag
+ ; Check RC pulse timeout counter
+ mov A, Rcp_Timeout_Cnt ; RC pulse timeout count zero?
+ jz t2_int_pulses_absent ; Yes - pulses are absent
+
+ ; Decrement timeout counter (if PWM)
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jz t2_int_skip_start ; If no flag is set (PPM) - branch
+
+; dec Rcp_Timeout_Cnt ; No - decrement
+ ajmp t2_int_skip_start
+
+t2_int_pulses_absent:
+ ; Timeout counter has reached zero, pulses are absent
+ mov Temp1, #RCP_MIN ; RCP_MIN as default
+ mov Temp2, #RCP_MIN
+ Read_Rcp_Int ; Look at value of Rcp_In
+ jnb ACC.Rcp_In, ($+5) ; Is it high?
+ mov Temp1, #RCP_MAX ; Yes - set RCP_MAX
+ Rcp_Int_First ; Set interrupt trig to first again
+ Rcp_Clear_Int_Flag ; Clear interrupt flag
+ clr Flags2.RCP_EDGE_NO ; Set first edge flag
+ Read_Rcp_Int ; Look once more at value of Rcp_In
+ jnb ACC.Rcp_In, ($+5) ; Is it high?
+ mov Temp2, #RCP_MAX ; Yes - set RCP_MAX
+ clr C
+ mov A, Temp1
+ subb A, Temp2 ; Compare the two readings of Rcp_In
+ jnz t2_int_pulses_absent ; Go back if they are not equal
+
+ jnb Flags0.RCP_MEAS_PWM_FREQ, ($+6) ; Is measure RCP pwm frequency flag set?
+
+ mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; Yes - set timeout count to start value
+; mov Pgm_Pulse_Cnt, #0 ;清除PCA中断计数
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jz t2_int_ppm_timeout_set ; If no flag is set (PPM) - branch
+
+; mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; For PWM, set timeout count to start value
+
+t2_int_ppm_timeout_set:
+ mov New_Rcp, Temp1 ; Store new pulse length
+ setb Flags2.RCP_UPDATED ; Set updated flag
+
+
+t2_int_skip_start:
+ ; Check RC pulse skip counter
+ mov A, Rcp_Skip_Cnt
+ jz t2_int_skip_end ; If RC pulse skip count is zero - end skipping RC pulse detection
+
+ ; Decrement skip counter (only if edge counter is zero)
+ dec Rcp_Skip_Cnt ; Decrement
+ ajmp t2_int_rcp_update_start
+
+t2_int_skip_end:
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jz t2_int_rcp_update_start ; If no flag is set (PPM) - branch
+
+ ; Skip counter has reached zero, start looking for RC pulses again
+; Rcp_Int_Enable ; Enable RC pulse interrupt
+; Rcp_Clear_Int_Flag ; Clear interrupt flag
+
+t2_int_rcp_update_start:
+ ; Process updated RC pulse
+ jb Flags2.RCP_UPDATED, ($+5) ; Is there an updated RC pulse available?
+ ajmp t2_int_pwm_exit ; No - exit
+
+ mov A, New_Rcp ; Load new pulse value
+ mov Temp1, A
+ clr Flags2.RCP_UPDATED ; Flag that pulse has been evaluated
+ ; Use a gain of 1.0625x for pwm input if not governor mode
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jz t2_int_pwm_min_run ; If no flag is set (PPM) - branch
+;;*****************************************************
+;; Closed loop mode 选择
+;;*****************************************************
+;IF MODE <= 1 ; Main or tail
+; mov Temp2, #Pgm_Gov_Mode ; Governor mode?
+; cjne @Temp2, #4, t2_int_pwm_min_run; Yes - branch
+;ENDIF
+;IF MODE == 2 ; Multi
+;;读取Closed loop mode
+; mov Temp2, #Pgm_Gov_Mode ; Closed loop mode?
+; cjne @Temp2, #4, t2_int_pwm_min_run; Yes - branch
+;ENDIF
+
+; ; Limit the maximum value to avoid wrap when scaled to pwm range
+;;Closed loop mode = 第1项 Off
+; clr C
+; mov A, Temp1
+; subb A, #240 ; 240 = (255/1.0625) Needs to be updated according to multiplication factor below
+; jc t2_int_rcp_update_mult
+
+; mov A, #240 ; Set requested pwm to max
+; mov Temp1, A
+
+;t2_int_rcp_update_mult:
+; ; Multiply by 1.0625 (optional adjustment gyro gain)
+; mov A, Temp1
+; swap A ; After this "0.0625"
+; anl A, #0Fh
+; add A, Temp1
+; mov Temp1, A
+; ; Adjust tail gain
+;;读取 Multi gain
+; mov Temp2, #Pgm_Motor_Gain
+; cjne @Temp2, #3, ($+5) ; Is gain 1?
+; ajmp t2_int_pwm_min_run ; Yes - skip adjustment
+;;Multi gain = 第2选项
+; clr C
+; rrc A ; After this "0.5"
+; clr C
+; rrc A ; After this "0.25"
+; mov Bit_Access_Int, @Temp2 ; (Temp2 has #Pgm_Motor_Gain)
+; jb Bit_Access_Int.0, t2_int_rcp_gain_corr ; Branch if bit 0 in gain is set
+;;Multi gain = 第4选项
+; clr C
+; rrc A ; After this "0.125"
+
+;t2_int_rcp_gain_corr:
+; jb Bit_Access_Int.2, t2_int_rcp_gain_pos ; Branch if bit 2 in gain is set
+;;Multi gain = 第1选项
+; clr C
+; xch A, Temp1
+; subb A, Temp1 ; Apply negative correction
+; mov Temp1, A
+; ajmp t2_int_pwm_min_run
+;;Multi gain = 第5选项
+;t2_int_rcp_gain_pos:
+; add A, Temp1 ; Apply positive correction
+; mov Temp1, A
+; jnc t2_int_pwm_min_run ; Above max?
+
+; mov A, #0FFh ; Yes - limit
+; mov Temp1, A
+;;Multi gain = 第3选项
+t2_int_pwm_min_run:
+ ; Limit minimum pwm
+ clr C
+ mov A, Temp1
+ subb A, Pwm_Motor_Idle ; Is requested pwm lower than minimum?
+ jnc t2_int_pwm_update ; No - branch
+
+ mov A, Pwm_Motor_Idle ; Yes - limit pwm to Pwm_Motor_Idle
+ mov Temp1, A
+
+t2_int_pwm_update:
+ ; Check if any startup phase flags are set
+ mov A, Flags1
+ anl A, #((1 SHL SETTLE_PHASE)+(1 SHL STEPPER_PHASE))
+ jnz t2_int_pwm_exit ; Exit if any startup phase set (pwm controlled by set_startup_pwm)
+
+ ; Update requested_pwm
+ mov Requested_Pwm, Temp1 ; Set requested pwm
+ ; Limit pwm during direct start
+ jnb Flags1.DIRECT_STARTUP_PHASE, t2_int_current_pwm_update
+
+ clr C
+ mov A, Requested_Pwm ; Limit pwm during direct start
+ subb A, Pwm_Limit
+ jc ($+7)
+
+ mov Requested_Pwm, Pwm_Limit
+ ajmp t2_int_current_pwm_update
+
+ mov A, Requested_Pwm
+ add A, #11
+ mov Requested_Pwm, A
+
+t2_int_current_pwm_update:
+IF MODE <= 1 ; Main or tail
+ mov Temp1, #Pgm_Gov_Mode ; Governor mode?
+ cjne @Temp1, #4, t2_int_pwm_exit ; Yes - branch
+ENDIF
+IF MODE == 2 ; Multi
+;读取Closed loop mode
+ mov Temp1, #Pgm_Gov_Mode ; Closed loop mode?
+ cjne @Temp1, #1, t2_int_pwm_exit ; Yes - branch
+ENDIF
+
+ ; Update current pwm, with limited throttle change rate
+;Closed loop mode = Off
+ clr C
+ mov A, Requested_Pwm
+ subb A, Current_Pwm ; Is requested pwm larger than current pwm?
+ jc t2_int_set_current_pwm ; No - proceed
+
+ mov Temp1, #Pgm_Throttle_Rate_Decoded
+ subb A, @Temp1 ; Is difference larger than throttle change rate?
+ jc t2_int_set_current_pwm ; No - proceed
+
+ mov A, Current_Pwm ; Increase current pwm by throttle change rate
+ add A, @Temp1
+ mov Current_Pwm, A
+ jnc t2_int_current_pwm_done ; Is result above max?
+
+ mov Current_Pwm, #0FFh ; Yes - limit
+ jmp t2_int_current_pwm_done
+
+t2_int_set_current_pwm:
+ mov Current_Pwm, Requested_Pwm ; Set equal as default
+t2_int_current_pwm_done:
+IF MODE == 1 ; Tail
+ ; If tail, then set current_pwm_limited
+ mov Current_Pwm_Limited, Current_Pwm ; Default not limited
+ clr C
+ mov A, Current_Pwm ; Check against limit
+ subb A, Pwm_Limit
+ jc ($+5) ; If current pwm below limit - branch
+
+ mov Current_Pwm_Limited, Pwm_Limit ; Limit pwm
+ENDIF
+IF MODE == 2 ; Multi
+ ; If multi, then set current_pwm_limited
+ mov Current_Pwm_Limited, Current_Pwm ; Default not limited
+ clr C
+ mov A, Current_Pwm ; Check against limit
+ subb A, Pwm_Limit
+ jc ($+5) ; If current pwm below limit - branch
+
+ mov Current_Pwm_Limited, Pwm_Limit ; Limit pwm
+ENDIF
+
+t2_int_pwm_exit:
+ ; Check if high byte flag is set
+ jb TF2H, t2h_int
+ pop ACC ; Restore preserved registers
+ pop PSW
+ clr PSW.3 ; Select register bank 0 for main program routines
+ setb EA ; Enable all interrupts
+ reti
+
+t2h_int:
+ ; High byte interrupt (happens every 32ms)
+ clr TF2H ; Clear interrupt flag
+ mov Temp1, #GOV_SPOOLRATE ; Load governor spool rate
+ ; Check RC pulse timeout counter (used here for PPM only)
+ mov A, Rcp_Timeout_Cnt ; RC pulse timeout count zero?
+ jz t2h_int_rcp_stop_check ; Yes - do not decrement
+
+ ; Decrement timeout counter (if PPM)
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jnz t2h_int_rcp_stop_check ; If a flag is set (PWM) - branch
+
+ dec Rcp_Timeout_Cnt ; No flag set (PPM) - decrement
+
+t2h_int_rcp_stop_check:
+ ; Check RC pulse against stop value
+ clr C
+ mov A, New_Rcp ; Load new pulse value
+ subb A, #RCP_STOP
+; subb A, #(RCP_STOP+2) ; Check if pulse is below stop value
+ jc t2h_int_rcp_stop
+
+ ; RC pulse higher than stop value, reset stop counter
+ mov Rcp_Stop_Cnt, #0 ; Reset rcp stop counter
+ ajmp t2h_int_rcp_gov_pwm
+
+t2h_int_rcp_stop:
+ ; RC pulse less than stop value, increment stop counter
+ mov A, Rcp_Stop_Cnt ; Load rcp stop counter
+ inc A ; Check if counter is max
+ jz t2h_int_rcp_gov_pwm ; Branch if counter is equal to max
+
+ inc Rcp_Stop_Cnt ; Increment stop counter
+
+t2h_int_rcp_gov_pwm:
+IF MODE == 0 ; Main
+ mov Temp2, #Pgm_Gov_Mode ; Governor target by arm mode?
+ cjne @Temp2, #2, t2h_int_rcp_gov_by_setup ; No - branch
+
+ mov A, Gov_Active ; Is governor active?
+ jz t2h_int_rcp_gov_by_tx ; No - branch (this ensures soft spoolup by tx)
+
+ clr C
+ mov A, Requested_Pwm
+ subb A, #50 ; Is requested pwm below 20%?
+ jc t2h_int_rcp_gov_by_tx ; Yes - branch (this enables a soft spooldown)
+
+ mov Requested_Pwm, Gov_Arm_Target ; Yes - load arm target
+
+t2h_int_rcp_gov_by_setup:
+ mov Temp2, #Pgm_Gov_Mode ; Governor target by setup mode?
+ cjne @Temp2, #3, t2h_int_rcp_gov_by_tx ; No - branch
+
+ mov A, Gov_Active ; Is governor active?
+ jz t2h_int_rcp_gov_by_tx ; No - branch (this ensures soft spoolup by tx)
+
+ clr C
+ mov A, Requested_Pwm
+ subb A, #50 ; Is requested pwm below 20%?
+ jc t2h_int_rcp_gov_by_tx ; Yes - branch (this enables a soft spooldown)
+;读取Pgm_Gov_Setup_Target
+ mov Temp2, #Pgm_Gov_Setup_Target ; Gov by setup - load setup target
+ mov Requested_Pwm, @Temp2
+
+t2h_int_rcp_gov_by_tx:
+ clr C
+ mov A, Governor_Req_Pwm
+ subb A, Requested_Pwm ; Is governor requested pwm equal to requested pwm?
+ jz t2h_int_rcp_gov_pwm_done ; Yes - branch
+
+ jc t2h_int_rcp_gov_pwm_inc ; No - if lower, then increment
+
+ dec Governor_Req_Pwm ; No - if higher, then decrement
+ ajmp t2h_int_rcp_gov_pwm_done
+
+t2h_int_rcp_gov_pwm_inc:
+ inc Governor_Req_Pwm ; Increment
+
+t2h_int_rcp_gov_pwm_done:
+ djnz Temp1, t2h_int_rcp_gov_pwm ; If not number of steps processed - go back
+
+ inc Spoolup_Limit_Cnt ; Increment spoolup count
+
+ jnz ($+4) ; Wrapped?
+
+ dec Spoolup_Limit_Cnt ; Yes - decrement
+
+ djnz Spoolup_Limit_Skip, t2h_int_rcp_exit ; Jump if skip count is not reached
+
+ mov Spoolup_Limit_Skip, #1 ; Reset skip count. Default is fast spoolup
+ mov Temp1, #3 ; Default fast increase
+
+ clr C
+ mov A, Spoolup_Limit_Cnt
+ subb A, #(3*MAIN_SPOOLUP_TIME) ; No spoolup until "30"*32ms
+ jc t2h_int_rcp_exit
+
+ clr C
+ mov A, Spoolup_Limit_Cnt
+ subb A, #(10*MAIN_SPOOLUP_TIME) ; Slow spoolup until "100"*32ms
+ jnc t2h_int_rcp_limit_middle_ramp
+
+ mov Temp1, #1 ; Slow initial spoolup
+ mov Spoolup_Limit_Skip, #3
+ jmp t2h_int_rcp_set_limit
+
+t2h_int_rcp_limit_middle_ramp:
+ clr C
+ mov A, Spoolup_Limit_Cnt
+ subb A, #(15*MAIN_SPOOLUP_TIME) ; Faster spoolup until "150"*32ms
+ jnc t2h_int_rcp_set_limit
+
+ mov Temp1, #1 ; Faster middle spoolup
+ mov Spoolup_Limit_Skip, #1
+
+t2h_int_rcp_set_limit:
+ mov A, Pwm_Limit_Spoolup ; Increment spoolup pwm
+ clr C
+ add A, Temp1
+ jnc t2h_int_rcp_no_limit ; If below 255 - branch
+
+ mov Pwm_Limit_Spoolup, #0FFh
+ ajmp t2h_int_rcp_exit
+
+t2h_int_rcp_no_limit:
+ mov Pwm_Limit_Spoolup, A
+ENDIF
+IF MODE == 2 ; Multi
+ mov A, Pwm_Limit_Spoolup ; Increment spoolup pwm, for a 0.8 seconds spoolup
+ clr C
+ add A, #10
+ jnc t2h_int_rcp_no_limit ; If below 255 - branch
+
+ mov Pwm_Limit_Spoolup, #0FFh
+ ajmp t2h_int_rcp_exit
+
+t2h_int_rcp_no_limit:
+ mov Pwm_Limit_Spoolup, A
+ENDIF
+
+t2h_int_rcp_exit:
+ pop ACC ; Restore preserved registers
+ pop PSW
+ clr PSW.3 ; Select register bank 0 for main program routines
+ setb EA ; Enable all interrupts
+ reti
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Timer3 interrupt routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+t3_int: ; Used for commutation timing
+ clr EA ; Disable all interrupts
+ anl TMR3CN, #07Fh ; Clear interrupt flag
+ clr Flags0.T3_PENDING ; Flag that timer has wrapped
+ setb EA ; Enable all interrupts
+ reti
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; PCA interrupt routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+pca_int: ; Used for RC pulse timing
+ clr EA ; Disable all interrupts
+ push PSW ; Preserve registers through interrupt
+ push ACC
+ push B
+ setb PSW.3 ; Select register bank 1 for interrupt routines
+
+; mov A, Pca_First_Int
+; cjne A, #1, ($+5)
+; inc Pgm_Pulse_Cnt
+ ; Get PCA0 capture values
+ mov Temp1, PCA0CPL0
+ mov Temp2, PCA0CPH0
+ ; Clear interrupt flag
+ Rcp_Clear_Int_Flag
+ ; Check which edge it is
+ jnb Flags2.RCP_EDGE_NO, ($+5) ; Is it a first edge trig?
+ ajmp pca_int_second_meas_pwm_freq ; No - branch to second
+
+ Rcp_Int_Second ; Yes - set second edge trig
+ setb Flags2.RCP_EDGE_NO ; Set second edge flag
+ ; Read RC signal level
+ Read_Rcp_Int
+ ; Test RC signal level
+ jb ACC.Rcp_In, ($+5) ; Is it high?
+ ajmp pca_int_fail_minimum ; No - jump to fail minimum
+
+ ; RC pulse was high, store RC pulse start timestamp
+ mov Rcp_Prev_Edge_L, Temp1
+ mov Rcp_Prev_Edge_H, Temp2
+ ajmp pca_int_exit ; Exit
+
+pca_int_fail_minimum:
+ ; Prepare for next interrupt
+ Rcp_Int_First ; Set interrupt trig to first again
+ Rcp_Clear_Int_Flag ; Clear interrupt flag
+ clr Flags2.RCP_EDGE_NO ; Set first edge flag
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ anl A, Flags3 ; Check pwm frequency flags
+ jnz ($+4) ; If a flag is set (PWM) - proceed
+
+ ajmp pca_int_set_timeout ; If PPM - ignore trig as noise
+
+ mov Temp1, #RCP_MIN ; Set RC pulse value to minimum
+ Read_Rcp_Int ; Test RC signal level again
+ jnb ACC.Rcp_In, ($+5) ; Is it high?
+ ajmp pca_int_set_timeout ; Yes - set new timeout and exit
+
+ mov New_Rcp, Temp1 ; Store new pulse length
+ ajmp pca_int_set_timeout ; Set new timeout and exit
+
+pca_int_second_meas_pwm_freq:
+ ; Prepare for next interrupt
+ Rcp_Int_First ; Set first edge trig
+ clr Flags2.RCP_EDGE_NO ; Set first edge flag
+ ; Check if pwm frequency shall be measured
+ jb Flags0.RCP_MEAS_PWM_FREQ, ($+5) ; Is measure RCP pwm frequency flag set?
+ ajmp pca_int_fall ; No - skip measurements
+
+ ; Set second edge trig only during pwm frequency measurement
+ Rcp_Int_Second ; Set second edge trig
+ Rcp_Clear_Int_Flag ; Clear interrupt flag
+ setb Flags2.RCP_EDGE_NO ; Set second edge flag
+ ; Store edge data to RAM
+ mov Rcp_Edge_L, Temp1
+ mov Rcp_Edge_H, Temp2
+ ; Calculate pwm frequency
+ clr C
+ mov A, Temp1
+ subb A, Rcp_PrePrev_Edge_L
+ mov Temp1, A ;存低字节差
+ mov A, Temp2
+ subb A, Rcp_PrePrev_Edge_H
+ mov Temp2, A ;存高字节差
+; clr A
+; mov Temp4, A
+ ; Check if pwm frequency is 8kHz
+ mov Temp3, #250 ; Set default period tolerance requirement
+; clr C
+; mov A, Temp1
+; subb A, #low(360) ; If below 180us, 8kHz pwm is assumed
+; mov A, Temp2
+; subb A, #high(360)
+; jnc pca_int_check_4kHz
+
+; clr A
+; setb ACC.RCP_PWM_FREQ_8KHZ
+; mov Temp4, A
+; mov Temp3, #15 ; Set period tolerance requirement
+; ajmp pca_int_restore_edge
+
+;pca_int_check_4kHz:
+; ; Check if pwm frequency is 4kHz
+; clr C
+; mov A, Temp1
+; subb A, #low(720) ; If below 360us, 4kHz pwm is assumed
+; mov A, Temp2
+; subb A, #high(720)
+; jnc pca_int_check_2kHz
+
+; clr A
+; setb ACC.RCP_PWM_FREQ_4KHZ
+; mov Temp4, A
+; mov Temp3, #30 ; Set period tolerance requirement
+; ajmp pca_int_restore_edge
+
+;pca_int_check_2kHz:
+; ; Check if pwm frequency is 2kHz
+; clr C
+; mov A, Temp1
+; subb A, #low(1440) ; If below 720us, 2kHz pwm is assumed
+; mov A, Temp2
+; subb A, #high(1440)
+; jnc pca_int_check_1kHz
+
+; clr A
+; setb ACC.RCP_PWM_FREQ_2KHZ
+; mov Temp4, A
+; mov Temp3, #60 ; Set period tolerance requirement
+; ajmp pca_int_restore_edge
+
+;pca_int_check_1kHz:
+ ; Check if pwm frequency is 1kHz
+ clr C
+ mov A, Temp1
+ subb A, #low(2200) ; If below 1100us, 1kHz pwm is assumed
+ mov A, Temp2
+ subb A, #high(2200)
+ jnc pca_int_restore_edge
+
+ ajmp pca_int_set_timeout
+; clr A
+; setb ACC.RCP_PWM_FREQ_1KHZ
+; mov Temp4, A
+; mov Temp3, #120 ; Set period tolerance requirement
+
+pca_int_restore_edge:
+ ; Calculate difference between this period and previous period
+ clr C
+ mov A, Temp1
+ subb A, Rcp_Prev_Period_L
+ mov Temp5, A
+ mov A, Temp2
+ subb A, Rcp_Prev_Period_H
+ mov Temp6, A
+ ; Make positive
+ jnb ACC.7, pca_int_check_diff
+ mov A, Temp5
+ cpl A
+ add A, #1
+ mov Temp5, A
+ mov A, Temp6
+ cpl A
+ mov Temp6, A
+
+pca_int_check_diff:
+ ; Check difference
+ mov Rcp_Period_Diff_Accepted, #0 ; Set not accepted as default
+ jnz pca_int_store_data ; Check if high byte is zero
+
+ clr C
+ mov A, Temp5
+ subb A, Temp3 ; Check difference
+ jnc pca_int_store_data
+
+ mov Rcp_Period_Diff_Accepted, #1 ; Set accepted
+
+pca_int_store_data:
+ ; Store previous period
+ mov Rcp_Prev_Period_L, Temp1
+ mov Rcp_Prev_Period_H, Temp2
+ ; Restore edge data from RAM
+ mov Temp1, Rcp_Edge_L
+ mov Temp2, Rcp_Edge_H
+ ; Store pre previous edge
+ mov Rcp_PrePrev_Edge_L, Temp1
+ mov Rcp_PrePrev_Edge_H, Temp2
+
+pca_int_fall:
+ clr A
+ mov Temp4, A
+ ; RC pulse edge was second, calculate new pulse length
+ clr C
+ mov A, Temp1
+ subb A, Rcp_Prev_Edge_L
+ mov Temp1, A
+ mov A, Temp2
+ subb A, Rcp_Prev_Edge_H
+ mov Temp2, A
+
+ jb Flags0.RCP_MEAS_PWM_FREQ, rcp_skip_oneshot ;........................
+ mov A, Temp2
+ mov Temp6, A
+ mov A, Temp1
+ mov Temp5, A
+
+ ; Check if 270us or above (in order to ignore false pulses)
+ clr C
+ mov A, Temp5
+ subb A, #28
+ mov A, Temp6
+ subb A, #2
+ jc pca_int_ppm_below_full_range_oneshot
+ ajmp rcp_skip_oneshot
+
+pca_int_ppm_below_full_range_oneshot:
+ ; Check if below 110us (in order to ignore false pulses)
+ mov A, Temp6
+ jnz pca_int_ppm_check_full_range
+ clr C
+ mov A, Temp5
+ subb A,#220
+ jnc pca_int_ppm_check_full_range
+
+rcp_skip_oneshot: ; ......................................
+
+; jnb Flags3.RCP_PWM_FREQ_8KHZ, ($+5) ; Is RC input pwm frequency 8kHz?
+; ajmp pca_int_pwm_divide_done ; Yes - branch forward
+
+; jnb Flags3.RCP_PWM_FREQ_4KHZ, ($+5) ; Is RC input pwm frequency 4kHz?
+; ajmp pca_int_pwm_divide ; Yes - branch forward
+ mov OS_FLAG, #0 ;...................................
+ mov A, Temp2 ; No - 2kHz. Divide by 2 again
+ clr C
+ rrc A
+ mov Temp2, A
+ mov A, Temp1
+ rrc A
+ mov Temp1, A
+
+; jnb Flags3.RCP_PWM_FREQ_2KHZ, ($+5) ; Is RC input pwm frequency 2kHz?
+; ajmp pca_int_pwm_divide ; Yes - branch forward
+
+ mov A, Temp2 ; No - 1kHz. Divide by 2 again
+ clr C
+ rrc A
+ mov Temp2, A
+ mov A, Temp1
+ rrc A
+ mov Temp1, A
+
+ clr C
+ mov A, Temp1
+ subb A, #250 ; If below 500us,
+ mov A, Temp2
+ subb A, #0
+ jnc ($+9)
+
+ mov A, Initial_Arm
+ cjne A, #1, ($+5)
+
+ ajmp pca_int_pwm_divide
+
+; jnb Flags3.RCP_PWM_FREQ_1KHZ, ($+5) ; Is RC input pwm frequency 1kHz?
+; ajmp pca_int_pwm_divide ; Yes - branch forward
+
+ mov A, Temp2 ; No - PPM. Divide by 2 (to bring range to 256) and move to Temp5/6
+ clr C
+ rrc A
+ mov Temp6, A
+ mov A, Temp1
+ rrc A
+ mov Temp5, A
+ ; Skip range limitation if pwm frequency measurement
+ jb Flags0.RCP_MEAS_PWM_FREQ, pca_int_ppm_check_full_range
+
+ ; Check if 2160us or above (in order to ignore false pulses)
+ clr C
+ mov A, Temp5 ; Is pulse 2160us or higher?
+ subb A, #28
+ mov A, Temp6
+ subb A, #2
+ jc ($+5) ; No - proceed
+
+ ljmp pca_int_set_timeout ; Yes - ignore pulse
+
+ ; Check if below 800us (in order to ignore false pulses)
+ mov A, Temp6
+ jnz pca_int_ppm_check_full_range
+
+ clr C
+ mov A, Temp5 ; Is pulse below 800us?
+ subb A, #200
+ jnc pca_int_ppm_check_full_range ; No - proceed
+
+ jmp pca_int_exit ; Yes - ignore pulse
+
+pca_int_ppm_check_full_range:
+ ; Calculate "1000us" plus throttle minimum
+ mov A, #0 ; Set 1000us as default minimum
+ jb Flags3.FULL_THROTTLE_RANGE, pca_int_ppm_calculate ; Check if full range is chosen
+
+ mov Temp1, #Pgm_Ppm_Min_Throttle ; Min throttle value is in 4us units
+ mov A, @Temp1
+
+pca_int_ppm_calculate:
+ add A, #250
+ mov Temp7, A
+ clr A
+ addc A, #0
+ mov Temp8, A
+
+ clr C
+ mov A, Temp5 ; Subtract minimum
+ subb A, Temp7
+ mov Temp5, A
+ mov A, Temp6
+ subb A, Temp8
+ mov Temp6, A
+ jnc pca_int_ppm_neg_checked ; Is result negative?
+
+ mov Temp1, #RCP_MIN ; Yes - set to minimum
+ mov Temp2, #0
+ ajmp pca_int_pwm_divide_done
+
+pca_int_ppm_neg_checked:
+ clr C ; Check that RC pulse is within legal range (1000+4*255=2020)
+ mov A, Temp5
+ subb A, #RCP_MAX
+ mov A, Temp6
+ subb A, #0
+ jc pca_int_ppm_max_checked
+
+ mov Temp1, #RCP_MAX
+ mov Temp2, #0
+ ajmp pca_int_pwm_divide_done
+
+pca_int_ppm_max_checked:
+ mov A, Temp5 ; Multiply throttle value by gain
+ mov B, Ppm_Throttle_Gain
+ mul AB
+ xch A, B
+ mov C, B.7 ; Multiply result by 2 (unity gain is 128)
+ rlc A
+ mov Temp1, A ; Transfer to Temp1/2
+ mov Temp2, #0
+ jc pca_int_ppm_limit_after_mult
+
+ jmp pca_int_limited
+
+pca_int_ppm_limit_after_mult:
+ mov Temp1, #RCP_MAX
+ mov Temp2, #0
+ jmp pca_int_limited
+
+pca_int_pwm_divide:
+ mov A, OS_FLAG
+ jnz pca_int_pwm_divide_done ;.............................
+;480us
+ clr C
+ mov A, Temp1
+ subb A, #240
+ mov A, Temp2
+ subb A, #0
+ jnc pca_int_set_timeout
+;40us
+ clr C
+ mov A, Temp1
+ subb A, #20
+ mov A, Temp2
+ subb A, #0
+ jc pca_int_set_timeout
+
+ clr A
+ setb ACC.RCP_PWM_FREQ_1KHZ
+ mov Temp4, A
+; mov Rcp_Period_Diff_Accepted, #1
+ ajmp pca_int_limited
+
+pca_int_pwm_divide_done:
+ ; Check that RC pulse is within legal range
+ clr C
+ mov A, Temp1
+ subb A, #RCP_MAX
+ mov A, Temp2
+ subb A, #0
+ jc pca_int_limited
+
+ mov Temp1, #RCP_MAX
+
+pca_int_limited:
+ ; RC pulse value accepted
+ mov New_Rcp, Temp1 ; Store new pulse length
+ setb Flags2.RCP_UPDATED ; Set updated flag
+; jb Flags0.RCP_MEAS_PWM_FREQ, ($+5) ; Is measure RCP pwm frequency flag set?
+; ajmp pca_int_set_timeout ; No - skip measurements
+
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ cpl A
+ anl A, Flags3 ; Clear all pwm frequency flags
+ orl A, Temp4 ; Store pwm frequency value in flags
+ mov Flags3, A
+
+pca_int_set_timeout:
+ mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; Set timeout count to start value
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ anl A, Flags3 ; Check pwm frequency flags
+ jnz pca_int_ppm_timeout_set ; If a flag is set - branch
+
+ mov Rcp_Timeout_Cnt, #RCP_TIMEOUT_PPM ; No flag set means PPM. Set timeout count
+
+pca_int_ppm_timeout_set:
+; jnb Flags0.RCP_MEAS_PWM_FREQ, ($+5) ; Is measure RCP pwm frequency flag set?
+; ajmp pca_int_exit ; Yes - exit
+
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jz pca_int_exit ; If no flag is set (PPM) - branch
+
+; Rcp_Int_Disable ; Disable RC pulse interrupt
+
+pca_int_exit: ; Exit interrupt routine
+ mov Rcp_Skip_Cnt, #RCP_SKIP_RATE ; Load number of skips
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ anl A, Flags3 ; Check pwm frequency flags
+ jnz ($+5) ; If a flag is set (PWM) - branch
+
+ mov Rcp_Skip_Cnt, #10 ; Load number of skips
+
+ pop B ; Restore preserved registers
+ pop ACC
+ pop PSW
+ clr PSW.3 ; Select register bank 0 for main program routines
+ setb EA ; Enable all interrupts
+ reti
+
+
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Wait xms ~(x*4*250) (Different entry points)
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+wait1ms:
+ mov Temp2, #1
+ ajmp waitxms_o
+
+wait3ms:
+ mov Temp2, #3
+ ajmp waitxms_o
+
+wait10ms:
+ mov Temp2, #10
+ ajmp waitxms_o
+
+wait30ms:
+ mov Temp2, #30
+ ajmp waitxms_o
+
+wait100ms:
+ mov Temp2, #100
+ ajmp waitxms_o
+
+wait200ms:
+ mov Temp2, #200
+ ajmp waitxms_o
+
+waitxms_o: ; Outer loop
+ mov Temp1, #23
+waitxms_m: ; Middle loop
+ clr A
+ djnz ACC, $ ; Inner loop (42.7us - 1024 cycles)
+ djnz Temp1, waitxms_m
+ djnz Temp2, waitxms_o
+ ret
+;**;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Wait 1 second routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+wait1s:
+ mov Temp5, #5
+wait1s_loop:
+ call wait200ms
+ djnz Temp5, wait1s_loop
+ ret
+
+
+;**;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Success beep routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+success_beep:
+ clr EA ; Disable all interrupts
+ call beep_f1
+ call beep_f2
+ call beep_f3
+; call beep_f4
+ call wait10ms
+ call beep_f1
+ call beep_f2
+ call beep_f3
+; call beep_f4
+; call wait10ms
+; call beep_f1
+; call beep_f2
+; call beep_f3
+; call beep_f4
+ setb EA ; Enable all interrupts
+ ret
+
+
+;**;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Success beep inverted routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+success_beep_inverted:
+ clr EA ; Disable all interrupts
+; call beep_f4
+ call beep_f3
+ call beep_f2
+ call beep_f1
+ call wait10ms
+; call beep_f4
+ call beep_f3
+ call beep_f2
+ call beep_f1
+ call wait10ms
+; call beep_f4
+; call beep_f3
+; call beep_f2
+; call beep_f1
+ setb EA ; Enable all interrupts
+ ret
+
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Function and parameter value beep routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+function_paraval_beep:
+ mov Temp7, Tx_Pgm_Func_No ; Function no
+ mov Temp8, Tx_Pgm_Paraval_No ; Parameter value no
+ clr EA ; Disable all interrupts
+;//////function_beep:
+;////// call beep_f1
+;////// call beep_f1
+;////// call beep_f1
+;////// call wait10ms
+;////// djnz Temp7, function_beep
+;//////paraval_beep:
+;////// call beep_f4
+;////// call wait10ms
+;////// djnz Temp8, paraval_beep
+;function_beep:
+ jnb Flags0.PROGRAM_FUNC_FLAG,paraval_beep ;跳到参数选项叫
+function_no_6:
+ clr C
+ mov A,Temp7
+ subb A,#5
+ jc function_below_beep
+ jz function_beep
+ mov Temp7, A
+function_beep:
+ call beep_f3
+ call beep_f3
+ call beep_f3
+ call beep_f3
+ call beep_f3
+ call wait30ms
+
+ cjne Temp7,#5,($+5)
+ ajmp fun_par_end
+
+
+function_below_beep:
+ call beep_f1
+ call beep_f1
+ call beep_f1
+ call wait100ms
+ djnz Temp7, function_below_beep
+ ajmp fun_par_end
+
+paraval_beep:
+ clr A
+ mov Temp7,A
+
+ clr C
+ mov A,Temp8
+ subb A,#10 ;参数数 - 10
+ jc paraval_no_7 ;<10
+ inc Temp7 ;>=10
+ inc Temp7
+ jz paraval_below_beep
+ mov Temp8,A ;>=存差
+ ajmp paraval_below_beep
+
+paraval_no_7:
+ clr C
+ mov A,Temp8
+ subb A,#5
+ jc paraval_no_below
+ inc Temp7
+ jz paraval_below_beep
+ mov Temp8,A ;>=存差
+
+paraval_below_beep:
+ call beep_f2
+ call beep_f2
+ call beep_f2
+ call wait30ms
+ djnz Temp7,paraval_below_beep
+ cjne Temp8,#10,($+5)
+ ajmp fun_par_end
+ cjne Temp8,#5,($+5)
+ ajmp fun_par_end
+
+paraval_no_below:
+ call wait100ms
+ call beep_f4
+ call wait100ms
+ djnz Temp8, paraval_no_below
+fun_par_end:
+ setb EA ; Enable all interrupts
+
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 接收一个数据（一个字节）
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+receive_a_byte:
+ mov Temp8,#0
+ mov Commu_Data_Buffer, #0
+ mov Temp4, #8
+wait_high:
+
+ Read_Rcp_Int
+ ; Test RC signal level
+ jb ACC.Rcp_In,start_t2
+
+ jnb TF1, wait_high
+
+; setb Flags3.ERRO_DATA
+; ajmp receive_exit
+
+start_t2:
+ mov TL0, #00h
+ mov TH0, #00h
+ setb TR0 ;启动T0
+wait_low:
+ Read_Rcp_Int
+ ; Test RC signal level
+ jnb ACC.Rcp_In, measure_wide
+
+ jnb TF1, wait_low
+
+; setb Flags3.ERRO_DATA
+; ajmp receive_exit
+
+measure_wide:
+ clr TR0 ;停止T0
+; mov Temp1, TL0
+; mov Temp2, TH0
+
+; mov New_Rcp, Temp1
+ mov New_Rcp, TL0
+ clr C
+ mov A, New_Rcp
+ subb A, #20 ;40us
+ jc receive_a_erro_byte ;<80us 错误字节
+
+ clr C
+ mov A, New_Rcp
+ subb A, #78 ;156us
+ jnc receive_bit_one ;>160us 进行位1判断
+
+ mov A, Temp8 ;取0
+ rl A
+ mov Temp8, A
+ ajmp receive_a_byte_exit
+
+receive_bit_one:
+ clr C
+ mov A, New_Rcp
+ subb A, #102 ;240us
+ jc receive_a_erro_byte ;160< New_Rcp <240us 错误字节
+
+ clr C
+ mov A, New_Rcp
+ subb A, #204 ;400us
+ jnc receive_a_erro_byte ;>400us 错误字节
+
+ mov A, Temp8 ;取1
+ rl A
+ inc A
+ mov Temp8, A
+ ajmp receive_a_byte_exit
+
+receive_a_erro_byte:
+ setb Flags3.ERRO_DATA
+
+receive_a_byte_exit:
+ jnb TF1, ($+7)
+
+ setb Flags3.ERRO_DATA
+ ajmp ($+6)
+
+ djnz Temp4, wait_high
+ mov Commu_Data_Buffer, Temp8
+receive_exit:
+ ret
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 接收一组数据
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+receive_bytes:
+ mov Temp5, #48
+ mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+ mov Commu_Data_Buffer, #0
+wait_receive_bytes:
+ call receive_a_byte
+ mov @Temp2, Commu_Data_Buffer
+ inc Temp2
+ djnz Temp5, wait_receive_bytes
+
+ ret
+
+store_tags:
+; call store_tags
+ mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+ mov Temp5, #48
+store_tag:
+ cjne Temp5, #45, store_two
+ mov Temp1, #Pgm_Gov_Mode
+ jmp store_eep
+store_two:
+ cjne Temp5, #44, store_three
+ mov Temp1, #Pgm_Low_Voltage_Lim
+ jmp store_eep
+store_three:
+ cjne Temp5, #43, store_four
+ mov Temp1, #Pgm_Low_Voltage_Ctl
+ jmp store_eep
+store_four:
+ cjne Temp5, #40, store_five
+ mov Temp1, #Pgm_Startup_Pwr
+ jmp store_eep
+store_five:
+ cjne Temp5, #39, store_six
+ mov Temp1, #Pgm_Pwm_Freq
+ jmp store_eep
+store_six:
+ cjne Temp5, #28, store_seven
+ mov Temp1, #Pgm_Comm_Timing
+ jmp store_eep
+store_seven:
+ cjne Temp5, #27, store_next
+ mov Temp1, #Pgm_Damping_Force
+
+store_eep:
+ mov Commu_Data_Buffer, @Temp2
+;setb P1.7
+ mov @Temp1, Commu_Data_Buffer
+
+ call erase_and_store_all_in_eeprom
+ clr EA
+
+store_next:
+ inc Temp2
+ djnz Temp5, store_tag
+
+ ret
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 发送一个数据（一个字节）
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+send_a_byte:
+ clr EA
+ setb TR0 ;启动T0
+ mov Temp4, #8
+ mov A, Commu_Data_Buffer ;读取要发送的数据
+wait_send_a_byte:
+ setb P0.7 ;发送高电平
+
+; mov A, Commu_Data_Buffer ;读取要发送的数据
+ jnb ACC.7, low_value ;($+8)
+
+ mov TL0, #067h ;发送1脉宽长
+ ajmp high_value ;($+5)
+
+low_value:
+ mov TL0, #0CDh ;发送0脉宽长
+
+high_value:
+ mov TH0, #0FFh
+
+ clr TF0 ;清T0溢出标志
+ jnb TF0, $ ;等待T0溢出 高电平发送完成
+
+ clr P0.7 ;发送低电平
+ mov TL0, #0CDh ;
+ mov TH0, #0FFh
+
+ clr TF0 ;清T0溢出标志
+ jnb TF0, $ ;等待T0溢出 低电平发送完成
+
+ rl A ;发送下一位
+; mov Commu_Data_Buffer, A
+ djnz Temp4, wait_send_a_byte
+
+ ret
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 发送一组数据
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+send_bytes:
+ clr P0.7
+; mov A, P0MDOUT
+; orl A, #080h
+ mov P0MDOUT, #80h ;设置成推挽输出
+ mov Temp5, #48
+; mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+ mov Temp1, #Pgm_Fir_Key
+wait_send_bytes:
+ mov Commu_Data_Buffer, @Temp1
+ inc Temp1
+
+ call send_a_byte ;逐个字节发送
+
+ djnz Temp5, wait_send_bytes
+
+; mov A, P0MDOUT
+; anl A, #07Fh
+ mov P0MDOUT, #7Fh ;设置成漏极输出
+ setb P0.7
+
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 编程卡校验和
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+get_commu_buffers_sum:
+ mov Commu_Sum, #0
+ mov Temp5, #48
+ mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+wait_get_commu_buffers_sum:
+ mov A, @Temp2
+ clr C
+ addc A, Commu_Sum
+ mov Commu_Sum, A
+ inc Temp2
+ djnz Temp5, wait_get_commu_buffers_sum
+
+ ret
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 清零校验和
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+set_commu_sum_to_zero:
+ mov Temp8, #0
+ mov Temp5, #47
+ mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+wait_set_commu_sum_to_zero:
+ mov A, @Temp2
+ clr C
+ addc A, Temp8
+ mov Temp8, A
+ inc Temp2
+
+ djnz Temp5, wait_set_commu_sum_to_zero
+
+ cpl A
+ inc A
+ mov @Temp2, A ;写最后一个字节
+
+ ret
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 读取EEPROM参数
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;check_parameters:
+; mov Temp5, #48 ; Number of tags
+; mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+; mov Temp1, #Bit_Access
+; mov DPTR, #Eep_ESC_Layout ; Set flash address
+;read_eep:
+; call read_eeprom_byte
+; mov A, Bit_Access
+; mov @Temp2, A ; Write to RAM
+; inc Temp2
+; inc DPTR
+; djnz Temp5, read_eep
+
+; call get_commu_buffers_sum
+
+; mov A, Commu_Sum
+; jnz set_parameters_default
+;;读取首字节
+; mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+; mov Temp1, #Bit_Access
+; mov DPTR, #Eep_ESC_Layout ; Set flash address
+; call read_eeprom_byte
+; mov A, Bit_Access
+; cjne A, #66h, set_parameters_default
+;;设置默认参数
+;set_parameters_default:
+; mov Temp5, #48
+; mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+; mov DPTR, #FINISH_KEYWORD_TABLE
+;wait_set_parameters_default:
+; clr A
+; movc A, @A+DPTR
+; mov @Temp2, A
+; inc Temp2
+; inc DPTR
+; djnz Temp5, wait_set_parameters_default
+
+; call set_commu_sum_to_zero
+
+; ret
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 编程卡编程函数
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+program_by_card:
+; clr EA
+ mov Commu_Data_Buffer, #0
+ call wait10ms
+ clr Flags3.ERRO_DATA ;清错误字节标志
+
+ mov TL1, #00h
+ mov TH1, #00h
+ setb TR1 ; 启动T1
+ clr TF1 ;清T1溢出标志
+
+ call receive_a_byte ;读取一个字节（关键字）
+
+ jb Flags3.ERRO_DATA, program_by_card ;接收到错误字节，则重新接收
+
+ mov A, Commu_Data_Buffer ;读接收到的字节
+ cjne A, #05h, receive_next_keyword ;判断是否关键字 0x05
+ call wait3ms
+
+ call send_bytes
+
+ ljmp program_by_card
+
+receive_next_keyword:
+
+ cjne A, #09h, program_by_card ;判断是否关键字 0x09
+ mov Commu_Data_Buffer, #0
+ mov TL1, #00h
+ mov TH1, #00h
+ setb TR1 ;启动T1
+ clr TF1 ;清T1溢出标志
+
+ call receive_bytes ;读取一组数据
+
+ call get_commu_buffers_sum
+ mov A, Commu_Sum ;读取校验和
+ jnz program_by_card ;判断校验和
+
+ mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+ mov A, @Temp2 ;读取首字节
+ cjne A, #66h, program_by_card ;判断首字节
+
+ call wait1ms
+ clr P0.7
+; mov A, P0MDOUT
+; orl A, #080h ;设置成推挽输出
+ mov P0MDOUT, #080h
+ mov Commu_Data_Buffer, #088h
+
+ call send_a_byte ;逐个字节发送
+; mov A, P0MDOUT
+; anl A, #07Fh ;设置成漏极输出
+ mov P0MDOUT, #07Fh
+ setb P0.7
+ call store_tags ;存一组数据
+; call erase_and_store_all_in_eeprom
+; clr EA
+;clr P1.7
+ ljmp program_by_card
+
+ ret
+
+
+
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Beeper routines (4 different entry points)
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+beep_f1: ; Entry point 1, load beeper frequency 1 settings
+ mov Temp3, #18 ; Off wait loop length
+ mov Temp4, #100 ; Number of beep pulses Mos开关次数
+ ajmp beep
+
+beep_f2: ; Entry point 2, load beeper frequency 2 settings
+ mov Temp3, #14
+ mov Temp4, #120 ;Mos开关次数
+ ajmp beep
+
+beep_f3: ; Entry point 3, load beeper frequency 3 settings
+ mov Temp3, #12
+ mov Temp4, #160 ;Mos开关次数
+ ajmp beep
+
+beep_f4: ; Entry point 4, load beeper frequency 4 settings
+ mov Temp3, #9
+ mov Temp4, #180 ;Mos开关次数
+ ajmp beep
+
+beep: ; Beep loop start
+ mov Temp5, Current_Pwm_Limited ; Store value
+ mov Current_Pwm_Limited, #1 ; Set to a nonzero value
+ mov Temp2, #2 ; Must be an even number (or direction will change)
+beep_onoff:
+ cpl Flags3.PGM_DIR_REV ; Toggle between using A fet and C fet 切换A、C up导通
+ clr A
+ BpFET_off ; BpFET off
+ djnz ACC, $ ; Allow some time after pfet is turned off
+ BnFET_on ; BnFET on (in order to charge the driver of the BpFET)
+ djnz ACC, $ ; Let the nfet be turned on a while
+ BnFET_off ; BnFET off again
+ djnz ACC, $ ; Allow some time after nfet is turned off
+ BpFET_on ; BpFET on
+ djnz ACC, $ ; Allow some time after pfet is turned on
+ ; Turn on nfet
+ AnFET_on ; AnFET on
+ mov A, Beep_Strength
+ djnz ACC, $
+ ; Turn off nfet
+ AnFET_off ; AnFET off
+ mov A, #100 ; 25祍 off
+ djnz ACC, $
+ djnz Temp2, beep_onoff
+ ; Copy variable
+ mov A, Temp3
+ mov Temp1, A
+beep_off: ; Fets off loop
+ djnz ACC, $
+ djnz Temp1, beep_off
+
+beep_recharge_done:
+ djnz Temp4, beep
+ BpFET_off ; BpFET off
+ mov Current_Pwm_Limited, Temp5 ; Restore value
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Division 16bit unsigned by 16bit unsigned
+;
+; Dividend shall be in Temp2/Temp1, divisor in Temp4/Temp3
+; Result will be in Temp2/Temp1
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+div_u16_by_u16:
+ clr C
+ mov Temp5, #0
+ mov Temp6, #0
+ mov B, #0
+div_u16_by_u16_div1:
+ inc B ; Increment counter for each left shift
+ mov A, Temp3 ; Shift left the divisor
+ rlc A
+ mov Temp3, A
+ mov A, Temp4
+ rlc A
+ mov Temp4, A
+ jnc div_u16_by_u16_div1 ; Repeat until carry flag is set from high-byte
+div_u16_by_u16_div2:
+ mov A, Temp4 ; Shift right the divisor
+ rrc A
+ mov Temp4, A
+ mov A, Temp3
+ rrc A
+ mov Temp3, A
+ clr C
+ mov A, Temp2 ; Make a safe copy of the dividend
+ mov Temp8, A
+ mov A, Temp1
+ mov Temp7, A
+ mov A, Temp1 ; Move low-byte of dividend into accumulator
+ subb A, Temp3 ; Dividend - shifted divisor = result bit (no factor, only 0 or 1)
+ mov Temp1, A ; Save updated dividend
+ mov A, Temp2 ; Move high-byte of dividend into accumulator
+ subb A, Temp4 ; Subtract high-byte of divisor (all together 16-bit substraction)
+ mov Temp2, A ; Save updated high-byte back in high-byte of divisor
+ jnc div_u16_by_u16_div3 ; If carry flag is NOT set, result is 1
+ mov A, Temp8 ; Otherwise result is 0, save copy of divisor to undo subtraction
+ mov Temp2, A
+ mov A, Temp7
+ mov Temp1, A
+div_u16_by_u16_div3:
+ cpl C ; Invert carry, so it can be directly copied into result
+ mov A, Temp5
+ rlc A ; Shift carry flag into temporary result
+ mov Temp5, A
+ mov A, Temp6
+ rlc A
+ mov Temp6,A
+ djnz B, div_u16_by_u16_div2 ;Now count backwards and repeat until "B" is zero
+ mov A, Temp6 ; Move result to Temp2/Temp1
+ mov Temp2, A
+ mov A, Temp5
+ mov Temp1, A
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Multiplication 16bit signed by 8bit unsigned
+;
+; Multiplicand shall be in Temp2/Temp1, multiplicator in Temp3
+; Result will be in Temp2/Temp1. Result will divided by 16
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+mult_s16_by_u8_div_16:
+ mov A, Temp1 ; Read input to math registers
+ mov B, Temp2
+ mov Bit_Access, Temp3
+ setb PSW.4 ; Select register bank 2 for math routines
+ mov Temp1, A ; Store in math registers
+ mov Temp2, B
+ mov Temp4, #0 ; Set sign in Temp4 and test sign
+ jnb B.7, mult_s16_by_u8_positive
+
+ mov Temp4, #0FFh
+ cpl A
+ add A, #1
+ mov Temp1, A
+ mov A, Temp2
+ cpl A
+ addc A, #0
+ mov Temp2, A
+mult_s16_by_u8_positive:
+ mov A, Temp1 ; Multiply LSB with multiplicator
+ mov B, Bit_Access
+ mul AB
+ mov Temp6, B ; Place MSB in Temp6
+ mov Temp1, A ; Place LSB in Temp1 (result)
+ mov A, Temp2 ; Multiply MSB with multiplicator
+ mov B, Bit_Access
+ mul AB
+ mov Temp8, B ; Place in Temp8/7
+ mov Temp7, A
+ mov A, Temp6 ; Add up
+ add A, Temp7
+ mov Temp2, A
+ mov A, #0
+ addc A, Temp8
+ mov Temp3, A
+ mov Temp5, #4 ; Set number of divisions
+mult_s16_by_u8_div_loop:
+ clr C ; Rotate right
+ mov A, Temp3
+ rrc A
+ mov Temp3, A
+ mov A, Temp2
+ rrc A
+ mov Temp2, A
+ mov A, Temp1
+ rrc A
+ mov Temp1, A
+ djnz Temp5, mult_s16_by_u8_div_loop
+
+ mov B, Temp4 ; Test sign
+ jnb B.7, mult_s16_by_u8_exit
+
+ mov A, Temp1
+ cpl A
+ add A, #1
+ mov Temp1, A
+ mov A, Temp2
+ cpl A
+ addc A, #0
+ mov Temp2, A
+
+mult_s16_by_u8_exit:
+ mov A, Temp1 ; Store output
+ mov B, Temp2
+ clr PSW.4 ; Select normal register bank
+ mov Temp1, A
+ mov Temp2, B
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Calculate governor routines
+;
+; No assumptions
+;
+; Governs headspeed based upon the Comm_Period4x variable and pwm
+; The governor task is split into several routines in order to distribute processing time
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+; First governor routine - calculate governor target
+IF MODE <= 1 ; Main or tail
+calc_governor_target:
+ mov Temp1, #Pgm_Gov_Mode ; Governor mode?
+ cjne @Temp1, #4, governor_speed_check ; Yes
+ jmp calc_governor_target_exit ; No
+
+governor_speed_check:
+ ; Stop governor for stop RC pulse
+ clr C
+ mov A, New_Rcp ; Check RC pulse against stop value
+ subb A, #RCP_STOP ; Is pulse below stop value?
+ jc governor_deactivate ; Yes - deactivate
+
+ ; Skip speed check if governor is alrady active
+ mov A, Gov_Active
+ jnz governor_target_calc
+
+ ; Check speed (do not run governor for low speeds)
+ mov Temp1, #05h ; Default high range activation limit value (~62500 eRPM)
+ clr C
+ mov Temp2, #Pgm_Gov_Range
+ cjne @Temp2, #2, ($+5)
+
+ mov Temp1, #12h ; Low range activation limit value (~17400 eRPM)
+
+ clr C
+ mov A, Comm_Period4x_L
+ subb A, #00h
+ mov A, Comm_Period4x_H
+ subb A, Temp1
+ jc governor_activate ; If speed above min limit - run governor
+
+governor_deactivate:
+ mov Current_Pwm, Requested_Pwm ; Set current pwm to requested
+ clr A
+ mov Gov_Target_L, A ; Set target to zero
+ mov Gov_Target_H, A
+ mov Gov_Integral_L, A ; Set integral to zero
+ mov Gov_Integral_H, A
+ mov Gov_Integral_X, A
+ mov Gov_Active, A
+ jmp calc_governor_target_exit
+
+governor_activate:
+ mov Gov_Active, #1
+governor_target_calc:
+ ; Governor calculations
+ clr C
+ mov Temp2, #Pgm_Gov_Range
+ mov A, @Temp2 ; Check high or low range (Temp2 has #Pgm_Gov_Range)
+ subb A, #2
+ jz calc_governor_target_low
+
+ mov A, Governor_Req_Pwm ; Load governor requested pwm
+ cpl A ; Calculate 255-pwm (invert pwm)
+ ; Calculate comm period target (1 + 2*((255-Requested_Pwm)/256) - 0.25)
+ rlc A ; Msb to carry
+ rlc A ; To bit0
+ mov Temp2, A ; Now 1 lsb is valid for H
+ rrc A
+ mov Temp1, A ; Now 7 msbs are valid for L
+ mov A, Temp2
+ anl A, #01h ; Calculate H byte
+ inc A ; Add 1
+ mov Temp2, A
+ mov A, Temp1
+ anl A, #0FEh ; Calculate L byte
+ clr C
+ subb A, #40h ; Subtract 0.25
+ mov Temp1, A
+ mov A, Temp2
+ subb A, #0
+ mov Temp2, A
+ jmp calc_governor_store_target
+
+calc_governor_target_low:
+ mov A, Governor_Req_Pwm ; Load governor requested pwm
+ cpl A ; Calculate 255-pwm (invert pwm)
+ ; Calculate comm period target (2 + 8*((255-Requested_Pwm)/256) - 0.25)
+ rlc A ; Msb to carry
+ rlc A ; To bit0
+ rlc A ; To bit1
+ rlc A ; To bit2
+ mov Temp2, A ; Now 3 lsbs are valid for H
+ rrc A
+ mov Temp1, A ; Now 4 msbs are valid for L
+ mov A, Temp2
+ anl A, #07h ; Calculate H byte
+ inc A ; Add 1
+ inc A ; Add 1 more
+ mov Temp2, A
+ mov A, Temp1
+ anl A, #0F8h ; Calculate L byte
+ clr C
+ subb A, #40h ; Subtract 0.25
+ mov Temp1, A
+ mov A, Temp2
+ subb A, #0
+ mov Temp2, A
+
+calc_governor_store_target:
+ ; Store governor target
+ mov Gov_Target_L, Temp1
+ mov Gov_Target_H, Temp2
+calc_governor_target_exit:
+ ret
+ENDIF
+IF MODE == 2 ; Multi
+calc_governor_target:
+;读取 Closed loop mode
+ mov Temp1, #Pgm_Gov_Mode ; Closed loop mode?
+ cjne @Temp1, #1, governor_target_calc ; Yes - branch
+;Closed loop mode = 第4项 Off
+ jmp calc_governor_target_exit ; No
+
+governor_target_calc:
+ ; Stop governor for stop RC pulse
+ clr C
+ mov A, New_Rcp ; Check RC pulse against stop value
+ subb A, #RCP_STOP ; Is pulse below stop value?
+ jc governor_deactivate ; Yes - deactivate
+
+ jmp governor_activate ; No - activate
+
+governor_deactivate:
+ mov Current_Pwm, Requested_Pwm ; Set current pwm to requested
+ clr A
+ mov Gov_Target_L, A ; Set target to zero
+ mov Gov_Target_H, A
+ mov Gov_Integral_L, A ; Set integral to zero
+ mov Gov_Integral_H, A
+ mov Gov_Integral_X, A
+ mov Gov_Active, A
+ jmp calc_governor_target_exit
+
+governor_activate:
+ mov Temp1, #Pgm_Gov_Mode ; Store gov mode
+ mov A, @Temp1
+ mov Temp5, A
+ mov Gov_Active, #1
+ mov A, Requested_Pwm ; Load requested pwm
+ mov Governor_Req_Pwm, A ; Set governor requested pwm
+ ; Calculate comm period target 2*(51000/Requested_Pwm)
+ mov Temp1, #38h ; Load 51000
+ mov Temp2, #0C7h
+ mov Temp3, Comm_Period4x_L ; Load comm period
+ mov Temp4, Comm_Period4x_H
+ ; Set speed range. Bare Comm_Period4x corresponds to 400k rpm, because it is 500n units
+;Closed loop mode = 第1项 HiRange
+ clr C
+ mov A, Temp4
+ rrc A
+ mov Temp4, A
+ mov A, Temp3
+ rrc A
+ mov Temp3, A ; 200k eRPM range here
+ ; Check range
+ mov A, Temp5
+ dec A
+ dec A
+ dec A
+ dec A
+ jz governor_activate_range_set ; 200k eRPM? - branch
+;Closed loop mode = 第2项 MidRange
+governor_activate_100k:
+ clr C
+ mov A, Temp4
+ rrc A
+ mov Temp4, A
+ mov A, Temp3
+ rrc A
+ mov Temp3, A ; 100k eRPM range here
+ mov A, Temp5 ; Check range again
+ dec A
+ dec A
+ dec A
+ jz governor_activate_range_set ; 100k eRPM? - branch
+;Closed loop mode = 第3项 LoRange
+governor_activate_50k:
+ clr C
+ mov A, Temp4
+ rrc A
+ mov Temp4, A
+ mov A, Temp3
+ rrc A
+ mov Temp3, A ; 50k eRPM range here
+governor_activate_range_set:
+ call div_u16_by_u16
+ ; Store governor target
+ mov Gov_Target_L, Temp1
+ mov Gov_Target_H, Temp2
+calc_governor_target_exit:
+ ret
+ENDIF
+
+; Second governor routine - calculate governor proportional error
+calc_governor_prop_error:
+ ; Exit if governor is inactive
+ mov A, Gov_Active
+ jz calc_governor_prop_error_exit
+
+IF MODE <= 1 ; Main or tail
+ ; Load comm period and divide by 2
+ clr C
+ mov A, Comm_Period4x_H
+ rrc A
+ mov Temp2, A
+ mov A, Comm_Period4x_L
+ rrc A
+ mov Temp1, A
+ ; Calculate error
+ clr C
+ mov A, Gov_Target_L
+ subb A, Temp1
+ mov Temp1, A
+ mov A, Gov_Target_H
+ subb A, Temp2
+ mov Temp2, A
+ENDIF
+IF MODE == 2 ; Multi
+ ; Calculate error
+ clr C
+ mov A, Gov_Target_L
+ subb A, Governor_Req_Pwm
+ mov Temp1, A
+ mov A, Gov_Target_H
+ subb A, #0
+ mov Temp2, A
+ENDIF
+ ; Check error and limit
+ jnc governor_check_prop_limit_pos ; Check carry
+
+ clr C
+ mov A, Temp1
+ subb A, #80h ; Is error too negative?
+ mov A, Temp2
+ subb A, #0FFh
+ jc governor_limit_prop_error_neg ; Yes - limit
+ jmp governor_store_prop_error
+
+governor_check_prop_limit_pos:
+ clr C
+ mov A, Temp1
+ subb A, #7Fh ; Is error too positive?
+ mov A, Temp2
+ subb A, #00h
+ jnc governor_limit_prop_error_pos ; Yes - limit
+ jmp governor_store_prop_error
+
+governor_limit_prop_error_pos:
+ mov Temp1, #7Fh ; Limit to max positive (2's complement)
+ mov Temp2, #00h
+ jmp governor_store_prop_error
+
+governor_limit_prop_error_neg:
+ mov Temp1, #80h ; Limit to max negative (2's complement)
+ mov Temp2, #0FFh
+
+governor_store_prop_error:
+ ; Store proportional
+ mov Gov_Proportional_L, Temp1
+ mov Gov_Proportional_H, Temp2
+calc_governor_prop_error_exit:
+ ret
+
+
+; Third governor routine - calculate governor integral error
+calc_governor_int_error:
+ ; Exit if governor is inactive
+ mov A, Gov_Active
+ jz calc_governor_int_error_exit
+
+ ; Add proportional to integral
+ mov A, Gov_Proportional_L
+ add A, Gov_Integral_L
+ mov Temp1, A
+ mov A, Gov_Proportional_H
+ addc A, Gov_Integral_H
+ mov Temp2, A
+ mov Bit_Access, Gov_Proportional_H ; Sign extend high byte
+ clr A
+ jnb Bit_Access.7, ($+4)
+ cpl A
+ addc A, Gov_Integral_X
+ mov Temp3, A
+ ; Check integral and limit
+ jnb ACC.7, governor_check_int_limit_pos ; Check sign bit
+
+ clr C
+ mov A, Temp3
+ subb A, #0F0h ; Is error too negative?
+ jc governor_limit_int_error_neg ; Yes - limit
+ jmp governor_check_pwm
+
+governor_check_int_limit_pos:
+ clr C
+ mov A, Temp3
+ subb A, #0Fh ; Is error too positive?
+ jnc governor_limit_int_error_pos ; Yes - limit
+ jmp governor_check_pwm
+
+governor_limit_int_error_pos:
+ mov Temp1, #0FFh ; Limit to max positive (2's complement)
+ mov Temp2, #0FFh
+ mov Temp3, #0Fh
+ jmp governor_check_pwm
+
+governor_limit_int_error_neg:
+ mov Temp1, #00h ; Limit to max negative (2's complement)
+ mov Temp2, #00h
+ mov Temp3, #0F0h
+
+governor_check_pwm:
+ ; Check current pwm
+ clr C
+ mov A, Current_Pwm
+ subb A, Pwm_Limit ; Is current pwm at or above pwm limit?
+ jnc governor_int_max_pwm ; Yes - branch
+
+ mov A, Current_Pwm ; Is current pwm at zero?
+ jz governor_int_min_pwm ; Yes - branch
+
+ ajmp governor_store_int_error ; No - store integral error
+
+governor_int_max_pwm:
+ mov A, Gov_Proportional_H
+ jb ACC.7, calc_governor_int_error_exit ; Is proportional error negative - branch (high byte is always zero)
+ ajmp governor_store_int_error ; Positive - store integral error
+
+governor_int_min_pwm:
+ mov A, Gov_Proportional_H
+ jnb ACC.7, calc_governor_int_error_exit ; Is proportional error positive - branch (high byte is always zero)
+
+governor_store_int_error:
+ ; Store integral
+ mov Gov_Integral_L, Temp1
+ mov Gov_Integral_H, Temp2
+ mov Gov_Integral_X, Temp3
+calc_governor_int_error_exit:
+ ret
+
+
+; Fourth governor routine - calculate governor proportional correction
+calc_governor_prop_correction:
+ ; Exit if governor is inactive
+ mov A, Gov_Active
+ jnz calc_governor_prop_corr
+ jmp calc_governor_prop_corr_exit
+
+calc_governor_prop_corr:
+ ; Load proportional gain
+ mov Temp1, #Pgm_Gov_P_Gain_Decoded; Load proportional gain
+ mov A, @Temp1
+ mov Temp3, A ; Store in Temp3
+ ; Load proportional
+ clr C
+ mov A, Gov_Proportional_L ; Nominal multiply by 2
+ rlc A
+ mov Temp1, A
+ mov A, Gov_Proportional_H
+ rlc A
+ mov Temp2, A
+ ; Apply gain
+ call mult_s16_by_u8_div_16
+ ; Check error and limit (to low byte)
+ mov A, Temp2
+ jnb ACC.7, governor_check_prop_corr_limit_pos ; Check sign bit
+
+ clr C
+ mov A, Temp1
+ subb A, #80h ; Is error too negative?
+ mov A, Temp2
+ subb A, #0FFh
+ jc governor_limit_prop_corr_neg ; Yes - limit
+ ajmp governor_apply_prop_corr
+
+governor_check_prop_corr_limit_pos:
+ clr C
+ mov A, Temp1
+ subb A, #7Fh ; Is error too positive?
+ mov A, Temp2
+ subb A, #00h
+ jnc governor_limit_prop_corr_pos ; Yes - limit
+ ajmp governor_apply_prop_corr
+
+governor_limit_prop_corr_pos:
+ mov Temp1, #7Fh ; Limit to max positive (2's complement)
+ mov Temp2, #00h
+ ajmp governor_apply_prop_corr
+
+governor_limit_prop_corr_neg:
+ mov Temp1, #80h ; Limit to max negative (2's complement)
+ mov Temp2, #0FFh
+
+governor_apply_prop_corr:
+ ; Test proportional sign
+ mov A, Temp1
+ jb ACC.7, governor_corr_neg_prop ; If proportional negative - go to correct negative
+
+ ; Subtract positive proportional
+ clr C
+ mov A, Governor_Req_Pwm
+ subb A, Temp1
+ mov Temp1, A
+ ; Check result
+ jc governor_corr_prop_min_pwm ; Is result negative?
+
+ clr C
+ mov A, Temp1 ; Is result below pwm min?
+ subb A, #1
+ jc governor_corr_prop_min_pwm ; Yes
+ jmp governor_store_prop_corr ; No - store proportional correction
+
+governor_corr_prop_min_pwm:
+ mov Temp1, #1 ; Load minimum pwm
+ jmp governor_store_prop_corr
+
+governor_corr_neg_prop:
+ ; Add negative proportional
+ mov A, Temp1
+ cpl A
+ add A, #1
+ add A, Governor_Req_Pwm
+ mov Temp1, A
+ ; Check result
+ jc governor_corr_prop_max_pwm ; Is result above max?
+ jmp governor_store_prop_corr ; No - store proportional correction
+
+governor_corr_prop_max_pwm:
+ mov Temp1, #255 ; Load maximum pwm
+governor_store_prop_corr:
+ ; Store proportional pwm
+ mov Gov_Prop_Pwm, Temp1
+calc_governor_prop_corr_exit:
+ ret
+
+
+; Fifth governor routine - calculate governor integral correction
+calc_governor_int_correction:
+ ; Exit if governor is inactive
+ mov A, Gov_Active
+ jnz calc_governor_int_corr
+ jmp calc_governor_int_corr_exit
+
+calc_governor_int_corr:
+ ; Load integral gain
+ mov Temp1, #Pgm_Gov_I_Gain_Decoded; Load integral gain
+ mov A, @Temp1
+ mov Temp3, A ; Store in Temp3
+ ; Load integral
+ mov Temp1, Gov_Integral_H
+ mov Temp2, Gov_Integral_X
+ ; Apply gain
+ call mult_s16_by_u8_div_16
+ ; Check integral and limit
+ mov A, Temp2
+ jnb ACC.7, governor_check_int_corr_limit_pos ; Check sign bit
+
+ clr C
+ mov A, Temp1
+ subb A, #01h ; Is integral too negative?
+ mov A, Temp2
+ subb A, #0FFh
+ jc governor_limit_int_corr_neg ; Yes - limit
+ jmp governor_apply_int_corr
+
+governor_check_int_corr_limit_pos:
+ clr C
+ mov A, Temp1
+ subb A, #0FFh ; Is integral too positive?
+ mov A, Temp2
+ subb A, #00h
+ jnc governor_limit_int_corr_pos ; Yes - limit
+ jmp governor_apply_int_corr
+
+governor_limit_int_corr_pos:
+ mov Temp1, #0FFh ; Limit to max positive (2's complement)
+ mov Temp2, #00h
+ jmp governor_apply_int_corr
+
+governor_limit_int_corr_neg:
+ mov Temp1, #01h ; Limit to max negative (2's complement)
+ mov Temp2, #0FFh
+
+governor_apply_int_corr:
+ ; Test integral sign
+ mov A, Temp2
+ jb ACC.7, governor_corr_neg_int ; If integral negative - go to correct negative
+
+ ; Subtract positive integral
+ clr C
+ mov A, Gov_Prop_Pwm
+ subb A, Temp1
+ mov Temp1, A
+ ; Check result
+ jc governor_corr_int_min_pwm ; Is result negative?
+
+ clr C
+ mov A, Temp1 ; Is result below pwm min?
+ subb A, #1
+ jc governor_corr_int_min_pwm ; Yes
+ jmp governor_store_int_corr ; No - store correction
+
+governor_corr_int_min_pwm:
+ mov Temp1, #0 ; Load minimum pwm
+ jmp governor_store_int_corr
+
+governor_corr_neg_int:
+ ; Add negative integral
+ mov A, Temp1
+ cpl A
+ add A, #1
+ add A, Gov_Prop_Pwm
+ mov Temp1, A
+ ; Check result
+ jc governor_corr_int_max_pwm ; Is result above max?
+ jmp governor_store_int_corr ; No - store correction
+
+governor_corr_int_max_pwm:
+ mov Temp1, #255 ; Load maximum pwm
+governor_store_int_corr:
+ ; Store current pwm
+ mov Current_Pwm, Temp1
+calc_governor_int_corr_exit:
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Measure lipo cells
+;
+; No assumptions
+;
+; Measure voltage and calculate lipo cells
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+measure_lipo_cells:
+IF MODE == 1 ; Tail
+ ; If tail, then exit
+ jmp measure_lipo_exit
+ENDIF
+measure_lipo_start:
+ ; Load programmed low voltage limit
+;读取Low voltage limit
+ mov Lipo_Cell_Count, #0 ;2013.8.23 防止接收机拿掉后再接上时，电池检测出错
+ mov Temp1, #Pgm_Low_Voltage_Lim ; Load limit
+ mov A, @Temp1
+ mov Bit_Access, A ; Store in Bit_Access
+ ; Set commutation to BpFET on
+; call comm5comm6
+ CnFET_off ; Cn off
+ BnFET_on ; Bn on
+ Set_Comp_Phase_C ; Set comparator to phase C
+ mov Comm_Phase, #6
+ ; Start adc
+ Start_Adc
+ ; Wait for ADC conversion to complete
+ Get_Adc_Status
+ jb AD0BUSY, measure_lipo_cells
+ ; Read ADC result
+ Read_Adc_Result
+ ; Stop ADC
+ Stop_Adc
+ ; Switch power off
+ call switch_power_off
+ ; Set limit step
+ mov Lipo_Adc_Limit_L, #ADC_LIMIT_L
+ mov Lipo_Adc_Limit_H, #ADC_LIMIT_H
+ clr C
+ mov A, #ADC_LIMIT_H ; Divide 2.8V value by 2
+ rrc A
+ mov Temp6, A
+ mov A, #ADC_LIMIT_L
+ rrc A
+ mov Temp5, A
+ mov A, #ADC_LIMIT_L ; Calculate 1.4+2.8V=4.2V value
+ add A, Temp5
+ add A, #3 ;加宽一节电池电压范围 4.3V 2013.8.16
+ mov Temp5, A
+ mov A, #ADC_LIMIT_H
+ addc A, Temp6
+ mov Temp6, A
+ mov A, Temp5 ; Copy step
+ mov Temp3, A
+ mov A, Temp6
+ mov Temp4, A
+;***************************************************
+; Lipo节数检测
+;***************************************************
+measure_lipo_cell_loop:
+ ; Check voltage against xS lower limit
+ inc Lipo_Cell_Count ;增加电池节数累加 2013.5.29
+ clr C
+ mov A, Temp1
+ subb A, Temp3 ; Voltage above limit?
+ mov A, Temp2
+ subb A, Temp4
+ jc measure_lipo_adjust ; No - branch 读取到电压范围
+
+ ; Set xS voltage limit
+ mov A, Lipo_Adc_Limit_L
+ add A, #ADC_LIMIT_L
+ mov Lipo_Adc_Limit_L, A
+ mov A, Lipo_Adc_Limit_H
+ addc A, #ADC_LIMIT_H
+ mov Lipo_Adc_Limit_H, A
+ ; Set (x+1)S lower limit
+ mov A, Temp3
+ add A, Temp5 ; Add step
+ mov Temp3, A
+ mov A, Temp4
+ addc A, Temp6
+ mov Temp4, A
+ jmp measure_lipo_cell_loop ; Check for one more battery cell
+
+measure_lipo_adjust:
+ mov Temp7, Lipo_Adc_Limit_L
+ mov Temp8, Lipo_Adc_Limit_H
+ ; Calculate 3.125%
+ clr C
+ mov A, Lipo_Adc_Limit_H
+ rrc A
+ mov Temp2, A
+ mov A, Lipo_Adc_Limit_L
+ rrc A
+ mov Temp1, A ; After this 50%
+ clr C
+ mov A, Temp2
+ rrc A
+ mov Temp2, A
+ mov A, Temp1
+ rrc A
+ mov Temp1, A ; After this 25%
+; mov A, Lipo_Adc_Limit_L ; Set adc reference for voltage compensation
+; add A, Temp1 ;低压低字节+低压低字节偏移量
+; mov Lipo_Adc_Reference_L, A ;存低压低字节
+; mov A, Lipo_Adc_Limit_H
+; addc A, Temp2 ;低压高字节+低压高字节偏移量
+; mov Lipo_Adc_Reference_H, A ;存低压高字节
+; ; Divide three times to get to 3.125% 6.25% 2013.5.30
+ mov Temp3, #2 ;3
+measure_lipo_divide_loop:
+ clr C
+ mov A, Temp2
+ rrc A
+ mov Temp2, A
+ mov A, Temp1
+ rrc A
+ mov Temp1, A
+ djnz Temp3, measure_lipo_divide_loop
+
+ ; Add the programmed number of 0.1V (or 3.125% increments)
+ mov Temp3, Bit_Access ; Load programmed limit (Bit_Access has Pgm_Low_Voltage_Lim)
+; dec Temp3
+; mov A,Temp3 ;增加判断指令，如果没有这条指令能判断？？？？
+; jnz measure_lipo_limit_on ; Is low voltage limiting on?
+
+ cjne Temp3, #4, measure_lipo_limit_on
+
+ mov Lipo_Adc_Limit_L, #0 ; No - set limit to zero
+ mov Lipo_Adc_Limit_H, #0
+ jmp measure_lipo_exit
+
+measure_lipo_limit_on:
+ dec Temp3
+ mov A, Temp3
+ jz measure_lipo_update
+;Bit_Access>2时，低压保护值=基值+偏移量
+;Low voltage limit > 第2项时
+measure_lipo_add_loop:
+ clr C
+ mov A, Temp7 ; Add 3.125%
+ add A, Temp1
+ mov Temp7, A
+ mov A, Temp8
+ addc A, Temp2
+ mov Temp8, A
+; clr C
+; mov A, Temp7 ; Add 3.125%
+; add A, Temp1
+; mov Temp7, A
+; mov A, Temp8
+; addc A, Temp2
+; mov Temp8, A
+ djnz Temp3, measure_lipo_add_loop
+;存低压保护值
+;Low voltage limit = 第2项 3.0V
+measure_lipo_update:
+ ; Set ADC limit
+ mov Lipo_Adc_Limit_L, Temp7
+ mov Lipo_Adc_Limit_H, Temp8
+measure_lipo_exit:
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Start ADC conversion
+;
+; No assumptions
+;
+; Start conversion used for measuring power supply voltage
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+start_adc_conversion:
+ ; Start adc
+ Start_Adc
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Check temperature, power supply voltage and limit power
+;
+; No assumptions
+;
+; Used to limit main motor power in order to maintain the required voltage
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+check_temp_voltage_and_limit_power:
+ ; Load programmed low voltage limit
+ mov Temp1, #Pgm_Low_Voltage_Lim ;读低压保护选项
+ mov A, @Temp1
+ mov Temp8, A ; Store in Temp8
+ ; Wait for ADC conversion to complete
+ Get_Adc_Status
+ jb AD0BUSY, check_temp_voltage_and_limit_power
+ ; Read ADC result
+ Read_Adc_Result ;读AD值
+ ; Stop ADC
+ Stop_Adc ;禁止AD转换
+
+ inc Adc_Conversion_Cnt ; Increment conversion counter
+ clr C
+ mov A, Adc_Conversion_Cnt ; Is conversion count equal to temp rate?
+ subb A, #TEMP_CHECK_RATE
+ jc check_voltage_start ; No - check voltage AD转换次数 < 8次 ？
+
+ mov Adc_Conversion_Cnt, #0 ; Yes - temperature check. Reset counter
+ mov A, Temp2 ; Is temperature reading below 256?
+ jnz temp_average_inc_dec ; No - proceed
+
+ mov A, Current_Average_Temp ; Yes - decrement average
+ jz temp_average_updated ; Already zero - no change
+ jmp temp_average_dec ; Decrement
+
+temp_average_inc_dec:
+ clr C
+ mov A, Temp1 ; Check if current temperature is above or below average
+ subb A, Current_Average_Temp
+ jz temp_average_updated_load_acc ; Equal - no change
+
+ mov A, Current_Average_Temp ; Above - increment average
+ jnc temp_average_inc
+
+ jz temp_average_updated ; Below - decrement average if average is not already zero
+temp_average_dec:
+ dec A ; Decrement average
+ jmp temp_average_updated
+
+temp_average_inc:
+ inc A ; Increment average
+ jz temp_average_dec
+ jmp temp_average_updated
+
+temp_average_updated_load_acc:
+ mov A, Current_Average_Temp
+temp_average_updated:
+ mov Current_Average_Temp, A
+ clr C
+ subb A, #TEMP_LIMIT ; Is temperature below first limit?
+ mov Temp1, A
+ jc temp_check_exit ; Yes - exit
+
+ mov Pwm_Limit, #192 ; No - limit pwm
+
+ clr C
+ mov A, Temp1 ; Is temperature below second limit
+ subb A, #TEMP_LIMIT_STEP
+ mov Temp1, A
+ jc temp_check_exit ; Yes - exit
+
+ mov Pwm_Limit, #128 ; No - limit pwm
+
+ clr C
+ mov A, Temp1 ; Is temperature below third limit
+ subb A, #TEMP_LIMIT_STEP
+ mov Temp1, A
+ jc temp_check_exit ; Yes - exit
+
+ mov Pwm_Limit, #64 ; No - limit pwm
+
+ clr C
+ mov A, Temp1 ; Is temperature below final limit
+ subb A, #TEMP_LIMIT_STEP
+ mov Temp1, A
+ jc temp_check_exit ; Yes - exit
+
+ mov Pwm_Limit, #16 ; No - limit pwm 2013.8.5最高温度时速度由0改成16
+
+temp_check_exit:
+ Set_Adc_Ip_Volt ; Select adc input for next conversion
+ ret
+
+check_voltage_start:
+IF MODE == 0 OR MODE == 2 ; Main or multi
+ ; Check if low voltage limiting is enabled
+ mov A, Temp8
+ clr C
+ subb A, #4 ; Is low voltage limit disabled?
+ jz check_voltage_good ; Yes - voltage declared good
+
+ ; Check if ADC is saturated
+ clr C
+ mov A, Temp1 ;读取AD值低字节
+ subb A, #0FFh
+ mov A, Temp2 ;读取AD值高字节
+ subb A, #03h ;判断AD是否超出10位AD范围
+ jnc check_voltage_good ; ADC saturated, can not make judgement
+
+ ; Check voltage against limit
+ clr C
+ mov A, Temp1
+ subb A, Lipo_Adc_Limit_L
+ mov A, Temp2
+ subb A, Lipo_Adc_Limit_H
+ jnc check_voltage_good ; If voltage above limit - branch 电压值 > 低压设置值
+
+ mov Temp1, #Pgm_Low_Voltage_Ctl ;读低压保护控制方式选项
+ mov A, @Temp1
+ clr C
+ subb A, #1 ;
+ jz check_voltage_next_way
+
+ mov A, Pwm_Limit
+ subb A, #5
+ jnc check_limit_count
+ setb LOW_LIMIT_STOP ;设置低压保护控制方式2 低压停止标志
+ ljmp run_to_wait_for_power_on
+
+check_voltage_next_way:
+ ; Decrease pwm limit
+ mov A, Pwm_Limit
+ subb A, #80 ;更改低压保护方式 2013.05.31
+;////// jz check_voltage_lim ; If limit zero - branch
+ jc check_voltage_lim ; If limit <100 - branch
+check_limit_count:
+ mov A, Limit_Count
+ jz ($+6)
+ dec Limit_Count ;递减低压保护变量 2013.7.5
+ ajmp check_voltage_lim
+
+ mov Limit_Count, #5 ; 2013.7.5
+ dec Pwm_Limit ; Decrement limit
+ jmp check_voltage_lim
+;Low voltage limit = 第1项
+check_voltage_good:
+ ; Increase pwm limit
+ mov Limit_Count, #5 ; 2013.7.5
+ mov A, Pwm_Limit
+ cpl A
+ jz check_voltage_lim ; If limit max - branch
+
+ inc Pwm_Limit ; Increment limit
+
+check_voltage_lim:
+ mov Temp1, Pwm_Limit ; Set limit
+ clr C
+ mov A, Current_Pwm
+ subb A, Temp1
+ jnc check_voltage_spoolup_lim ; If current pwm above limit - branch and limit
+
+ mov Temp1, Current_Pwm ; Set current pwm (no limiting)
+
+check_voltage_spoolup_lim:
+ mov Current_Pwm_Limited, Temp1 ;取小值
+ ; Slow spoolup
+ clr C
+ mov A, Current_Pwm_Limited
+ subb A, Pwm_Limit_Spoolup
+ jc check_voltage_exit ; If current pwm below limit - branch
+
+ mov Current_Pwm_Limited, Pwm_Limit_Spoolup ;取小值
+ mov A, Pwm_Limit_Spoolup ; Check if spoolup limit is max
+ cpl A
+ jz check_voltage_exit ; If max - branch
+
+ mov Pwm_Limit, Pwm_Limit_Spoolup ; Set pwm limit to spoolup limit during ramp (to avoid governor integral buildup)
+
+check_voltage_exit:
+ENDIF
+ ; Set adc mux for next conversion
+ clr C
+ mov A, Adc_Conversion_Cnt ; Is next conversion for temperature?
+ cjne A, #(TEMP_CHECK_RATE-1), ($+6)
+
+ Set_Adc_Ip_Temp ; Select temp sensor for next conversion
+
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Set startup PWM routine
+;
+; No assumptions
+;
+; Used for pwm control during startup
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+set_startup_pwm:
+ ; Set pwm values according to startup phase flags
+ jnb Flags1.SETTLE_PHASE, ($+5) ; Is it motor start settle phase? 是否启动定位？
+ mov Temp1, #PWM_SETTLE ; Yes - set settle power
+ jnb Flags1.STEPPER_PHASE, ($+5) ; Is it motor start stepper phase? 是否步进启动？
+ mov Temp1, #PWM_STEPPER ; Yes - set stepper power
+
+ ; Update pwm variables if any startup phase flag is set
+ mov A, Flags1
+ anl A, #((1 SHL SETTLE_PHASE)+(1 SHL STEPPER_PHASE))
+ jz startup_pwm_exit ; If no startup phase set - exit
+
+ ; Adjust startup power
+ mov A, Temp1 ; Multiply startup power by programmed value
+ mov Temp2, #Pgm_Startup_Pwr_Decoded
+ mov B, @Temp2
+ mul AB
+ xch A, B
+ mov C, B.7 ; Multiply result by 2 (unity gain is 128)
+ rlc A
+ mov Temp1, A ; Transfer to Temp1
+ clr C
+ mov A, Temp1 ; Check against limit
+ subb A, Pwm_Limit
+ jc startup_pwm_set_pwm ; If pwm below limit - branch
+
+ mov Temp1, Pwm_Limit ; Limit pwm
+
+startup_pwm_set_pwm:
+ ; Set pwm variables
+ mov Requested_Pwm, Temp1 ; Update requested pwm
+ mov Current_Pwm, Temp1 ; Update current pwm
+ mov Current_Pwm_Limited, Temp1 ; Update limited version of current pwm
+ jnb Flags1.SETTLE_PHASE, startup_pwm_exit ; Is it motor start settle phase?
+
+ clr C ; Yes - update spoolup beginning pwm (will use PWM_SETTLE or PWM_SETTLE/2)
+ mov A, Temp1
+ mov Pwm_Spoolup_Beg, A
+
+startup_pwm_exit:
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Initialize all timings routine
+;
+; No assumptions
+;
+; Part of initialization before motor start
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+initialize_all_timings:
+ ; Load programmed startup rpm
+;读取Startup rpm
+; mov Temp1, #Pgm_Startup_Rpm ; Load startup rpm
+; mov A, @Temp1
+; mov Temp8, A ; Store in Temp8
+ ; Check startup rpm setting and set step accordingly
+; clr C
+; mov A, Temp8
+; subb A, #5
+; jnc stepper_step_high
+; clr C
+; mov A, Temp8
+; subb A, #4
+; jnc stepper_step_med_high
+; clr C
+; mov A, Temp8
+; subb A, #3
+; jnc stepper_step_med
+; clr C
+; mov A, Temp8
+; subb A, #2
+; jnc stepper_step_med_low
+; clr C
+; mov A, Temp8
+; subb A, #1
+; jnc stepper_step_low
+;Startup_Rpm = 第5项
+;stepper_step_high:
+; mov Stepper_Step_Beg_L, #low(2000 SHL 1)
+; mov Stepper_Step_Beg_H, #high(2000 SHL 1)
+; mov Stepper_Step_End_L, #low(670 SHL 1)
+; mov Stepper_Step_End_H, #high(670 SHL 1)
+; ajmp stepper_step_set
+;Startup_Rpm = 第4项
+;stepper_step_med_high:
+; mov Stepper_Step_Beg_L, #low(2400 SHL 1)
+; mov Stepper_Step_Beg_H, #high(2400 SHL 1)
+; mov Stepper_Step_End_L, #low(800 SHL 1)
+; mov Stepper_Step_End_H, #high(800 SHL 1)
+; ajmp stepper_step_set
+;Startup_Rpm = 第3项
+;stepper_step_med:
+; mov Stepper_Step_Beg_L, #low(3000 SHL 1) ; ~3300 eRPM
+; mov Stepper_Step_Beg_H, #high(3000 SHL 1)
+; mov Stepper_Step_End_L, #low(1000 SHL 1) ; ~10000 eRPM
+; mov Stepper_Step_End_H, #high(1000 SHL 1)
+; ajmp stepper_step_set
+;Startup_Rpm = 第2项
+;stepper_step_med_low:
+; mov Stepper_Step_Beg_L, #low(3750 SHL 1)
+; mov Stepper_Step_Beg_H, #high(3750 SHL 1)
+; mov Stepper_Step_End_L, #low(1250 SHL 1)
+; mov Stepper_Step_End_H, #high(1250 SHL 1)
+; ajmp stepper_step_set
+;Startup_Rpm = 第1项
+;stepper_step_low:
+; mov Stepper_Step_Beg_L, #low(4500 SHL 1)
+; mov Stepper_Step_Beg_H, #high(4500 SHL 1)
+; mov Stepper_Step_End_L, #low(1500 SHL 1)
+; mov Stepper_Step_End_H, #high(1500 SHL 1)
+; ajmp stepper_step_set
+
+;stepper_step_set:
+; mov Wt_Stepper_Step_L, Stepper_Step_Beg_L ; Initialize stepper step time
+; mov Wt_Stepper_Step_H, Stepper_Step_Beg_H
+ mov Comm_Period4x_L, #00h ; Set commutation period registers
+ mov Comm_Period4x_H, #08h
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Calculate next commutation timing routine
+;
+; No assumptions
+;
+; Called immediately after each commutation
+; Also sets up timer 1 to wait advance timing
+; Two entry points are used
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;calc_next_comm_timing_start: ; Entry point for startup
+; mov Temp1, Wt_Stepper_Step_L ; Set up stepper step wait
+; mov Temp2, Wt_Stepper_Step_H
+; jmp read_timer
+
+calc_next_comm_timing: ; Entry point for run phase
+ mov Temp1, Wt_Advance_L ; Set up advance timing wait
+ mov Temp2, Wt_Advance_H
+read_timer:
+ ; Set up next wait
+ mov TMR3CN, #00h ; Timer3 disabled
+ clr C
+ clr A
+ subb A, Temp1 ; Set wait to zero cross scan value
+ mov TMR3L, A
+ clr A
+ subb A, Temp2
+ mov TMR3H, A
+ mov TMR3CN, #04h ; Timer3 enabled
+ setb Flags0.T3_PENDING
+ ; Read commutation time
+ mov TMR2CN, #20h ; Timer2 disabled
+ mov Temp1, TMR2L ; Load timer value
+ mov Temp2, TMR2H
+ mov TMR2CN, #24h ; Timer2 enabled
+ ; Calculate this commutation time
+ mov Temp3, Prev_Comm_L
+ mov Temp4, Prev_Comm_H
+ mov Prev_Comm_L, Temp1 ; Store timestamp as previous commutation
+ mov Prev_Comm_H, Temp2
+ clr C
+ mov A, Temp1
+ subb A, Temp3 ; Calculate the new commutation time
+ mov Temp1, A
+ mov A, Temp2
+ subb A, Temp4
+ mov Temp2, A
+ ; Calculate next zero cross scan timeout
+ mov Temp3, Comm_Period4x_L ; Comm_Period4x(-l-h-x) holds the time of 4 commutations
+ mov Temp4, Comm_Period4x_H
+ clr C
+ mov A, Temp4
+ rrc A ; Divide by 2
+ mov Temp6, A
+ mov A, Temp3
+ rrc A
+ mov Temp5, A
+ clr C
+ mov A, Temp6
+ rrc A ; Divide by 2 again
+ mov Temp6, A
+ mov A, Temp5
+ rrc A
+ mov Temp5, A
+ clr C
+ mov A, Temp3
+ subb A, Temp5 ; Subtract a quarter
+ mov Temp3, A
+ mov A, Temp4
+ subb A, Temp6
+ mov Temp4, A
+
+ mov A, Temp3
+ add A, Temp1 ; Add the new time
+ mov Temp3, A
+ mov A, Temp4
+ addc A, Temp2
+ mov Temp4, A
+ mov Comm_Period4x_L, Temp3 ; Store Comm_Period4x_X
+ mov Comm_Period4x_H, Temp4
+ jc calc_next_comm_slow ; If period larger than 0xffff - go to slow case
+
+ ret
+
+calc_next_comm_slow:
+ mov Comm_Period4x_L, #0FFh ; Set commutation period registers to very slow timing (0xffff)
+ mov Comm_Period4x_H, #0FFh
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Wait advance timing routine
+;
+; No assumptions
+;
+; Waits for the advance timing to elapse
+; Also sets up timer 1 to wait the zero cross scan wait time
+; And has a separate entry point for just setting up zero cross scan wait
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+wait_advance_timing:
+ jnb Flags0.T3_PENDING, ($+5)
+ ajmp wait_advance_timing
+
+setup_zc_scan_wait:
+ mov TMR3CN, #00h ; Timer3 disabled
+ clr C
+ clr A
+ subb A, Wt_Zc_Scan_L ; Set wait to zero cross scan value
+ mov TMR3L, A
+ clr A
+ subb A, Wt_Zc_Scan_H
+ mov TMR3H, A
+ mov TMR3CN, #04h ; Timer3 enabled
+ setb Flags0.T3_PENDING
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Calculate new wait times routine
+;
+; No assumptions
+;
+; Calculates new wait times
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+calc_new_wait_times:
+ ; Load programmed commutation timing
+;读取Commutation timing
+ mov Temp1, #Pgm_Comm_Timing ; Load timing setting
+ mov A, @Temp1
+ mov Temp8, A ; Store in Temp8
+ mov Temp7, #(COMM_TIME_RED SHL 1)
+ jnb Flags0.DEMAG_DETECTED, calc_new_wait_check_startup ; Demag detected?
+
+ mov Temp8, #5 ; Yes - set high timing
+
+calc_new_wait_check_startup:
+ jnb Flags1.DIRECT_STARTUP_PHASE, calc_new_wait_dir_start_set ; Set timing for direct start
+
+ mov Temp8, #3 ; Set medium timing
+ mov Temp7, #0 ; Set no comm time reduction
+
+calc_new_wait_dir_start_set:
+ ; Load current commutation timing
+ mov Temp2, Comm_Period4x_H ; Load Comm_Period4x
+ mov Temp1, Comm_Period4x_L
+ mov Temp3, #4 ; Divide 4 times
+divide_wait_times:
+ clr C
+ mov A, Temp2
+ rrc A ; Divide by 2
+ mov Temp2, A
+ mov A, Temp1
+ rrc A
+ mov Temp1, A
+ djnz Temp3, divide_wait_times
+
+ clr C
+ mov A, Temp1
+ subb A, Temp7
+ mov Temp1, A
+ mov A, Temp2
+ subb A, #0
+ mov Temp2, A
+ jc load_min_time ; Check that result is still positive
+
+ clr C
+ mov A, Temp1
+ subb A, #(COMM_TIME_MIN SHL 1)
+ mov A, Temp2
+ subb A, #0
+ jnc adjust_timing ; Check that result is still above minumum
+
+load_min_time:
+ mov Temp1, #(COMM_TIME_MIN SHL 1)
+ clr A
+ mov Temp2, A
+
+adjust_timing:
+ mov A, Temp2 ; Copy values
+ mov Temp4, A
+ mov A, Temp1
+ mov Temp3, A
+ clr C
+ mov A, Temp2
+ rrc A ; Divide by 2
+ mov Temp6, A
+ mov A, Temp1
+ rrc A
+ mov Temp5, A
+ clr C
+ mov A, Temp8 ; (Temp8 has Pgm_Comm_Timing)
+ subb A, #3 ; Is timing normal?
+ jz store_times_decrease ; Yes - branch
+
+ mov A, Temp8
+ jb ACC.0, adjust_timing_two_steps ; If an odd number - branch
+;Commutation timing = 第2、4项
+ mov A, Temp1 ; Add 7.5?and store in Temp1/2
+ add A, Temp5
+ mov Temp1, A
+ mov A, Temp2
+ addc A, Temp6
+ mov Temp2, A
+ mov A, Temp5 ; Store 7.5?in Temp3/4
+ mov Temp3, A
+ mov A, Temp6
+ mov Temp4, A
+ jmp store_times_up_or_down
+;Commutation timing = 第1、5项
+adjust_timing_two_steps:
+ mov A, Temp1 ; Add 15?and store in Temp1/2
+ add A, Temp1
+ mov Temp1, A
+ mov A, Temp2
+ addc A, Temp2
+ mov Temp2, A
+ mov Temp3, #(COMM_TIME_MIN SHL 1) ; Store minimum time in Temp3/4
+ clr A
+ mov Temp4, A
+
+store_times_up_or_down:
+ clr C
+ mov A, Temp8
+ subb A, #3 ; Is timing higher than normal?
+ jc store_times_decrease ; No - branch
+;Commutation timing = 第4、5项
+store_times_increase:
+ mov Wt_Comm_L, Temp3 ; Now commutation time (~60? divided by 4 (~15?nominal)
+ mov Wt_Comm_H, Temp4
+ mov Wt_Advance_L, Temp1 ; New commutation advance time (~15?nominal)
+ mov Wt_Advance_H, Temp2
+ mov Wt_Zc_Scan_L, Temp5 ; Use this value for zero cross scan delay (7.5?
+ mov Wt_Zc_Scan_H, Temp6
+ ret
+;Commutation timing = 第1、2、3项
+store_times_decrease:
+ mov Wt_Comm_L, Temp1 ; Now commutation time (~60? divided by 4 (~15?nominal)
+ mov Wt_Comm_H, Temp2
+ mov Wt_Advance_L, Temp3 ; New commutation advance time (~15?nominal)
+ mov Wt_Advance_H, Temp4
+ mov Wt_Zc_Scan_L, Temp5 ; Use this value for zero cross scan delay (7.5?
+ mov Wt_Zc_Scan_H, Temp6
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Wait before zero cross scan routine
+;
+; No assumptions
+;
+; Waits for the zero cross scan wait time to elapse
+; Also sets up timer 1 to wait the zero cross scan timeout time
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+wait_before_zc_scan:
+ jnb Flags0.T3_PENDING, ($+5)
+ ajmp wait_before_zc_scan
+
+ mov TMR3CN, #00h ; Timer3 disabled
+ clr C
+ clr A
+ subb A, Comm_Period4x_L ; Set wait to zero comm period 4x value
+ mov TMR3L, A
+ clr A
+ subb A, Comm_Period4x_H
+ mov TMR3H, A
+ mov TMR3CN, #04h ; Timer3 enabled
+ setb Flags0.T3_PENDING
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Wait for comparator to go low/high routines
+;
+; No assumptions
+;
+; Waits for the zero cross scan wait time to elapse
+; Then scans for comparator going low/high
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+wait_for_comp_out_low:
+ mov Comp_Wait_Reads, #0
+ mov Bit_Access, #00h ; Desired comparator output
+ jmp wait_for_comp_out_start
+
+wait_for_comp_out_high:
+ mov Comp_Wait_Reads, #0
+ mov Bit_Access, #40h ; Desired comparator output
+
+wait_for_comp_out_start:
+ setb EA ; Enable interrupts
+ inc Comp_Wait_Reads
+ jb Flags0.T3_PENDING, ($+4) ; Has zero cross scan timeout elapsed?
+ ret ; Yes - return
+
+ ; Set default comparator response times
+ mov CPT0MD, #0 ; Set fast response (100ns) as default
+IF COMP1_USED==1
+ mov CPT1MD, #0 ; Set fast response (100ns) as default
+ENDIF
+ ; Select number of comparator readings based upon current rotation speed
+ mov A, Comm_Period4x_H ; Load rotation period
+ clr C
+ rrc A ; Divide by 4
+ clr C
+ rrc A
+ mov Temp1, A
+ inc Temp1 ; Add one to be sure it is always larger than zero
+ jz comp_wait_on_comp_able ; If minimum number of readings - jump directly to reading
+ ; For damped mode, do fewer comparator readings (since comparator info is primarily only available in the pwm on period)
+ jnb Flags2.PGM_PWMOFF_DAMPED, comp_wait_set_max_readings
+
+ clr C
+ rrc A ; Divide by 4 again
+ clr C
+ rrc A
+ mov Temp1, A
+ inc Temp1 ; Add one to be sure it is always larger than zero
+
+comp_wait_set_max_readings:
+ clr C
+ mov A, Temp1 ; Limit to a max of 10
+ subb A, #10
+ jc ($+4)
+
+ mov Temp1, #10
+
+ jnb Flags2.PGM_PWM_HIGH_FREQ, comp_wait_set_response_time ; Jump if pwm frequency is low
+
+ clr C
+ mov A, Temp1 ; Limit to a max of 4
+ subb A, #4
+ jc ($+4)
+
+ mov Temp1, #4
+
+comp_wait_set_response_time:
+ clr C
+ mov A, Comm_Period4x_H ; Is Comm_Period4x_H less than 1ms?
+ subb A, #8
+ jc comp_wait_on_comp_able ; Yes - jump
+
+ mov CPT0MD, #2 ; Set medium response (300ns)
+IF COMP1_USED==1
+ mov CPT1MD, #2 ; Set medium response (300ns)
+ENDIF
+ clr C
+ mov A, Comm_Period4x_H ; Is Comm_Period4x_H less than 2ms?
+ subb A, #16
+ jc comp_wait_on_comp_able ; Yes - jump
+
+ mov CPT0MD, #3 ; Set slow response (1000ns)
+IF COMP1_USED==1
+ mov CPT1MD, #3 ; Set slow response (1000ns)
+ENDIF
+
+comp_wait_on_comp_able:
+ jb Flags0.T3_PENDING, ($+6) ; Has zero cross scan timeout elapsed?
+ setb EA ; Enable interrupts
+ ret ; Yes - return
+
+ mov Temp2, #COMP_PWM_HIGH_ON_DELAY ; Wait time after pwm has been switched on (motor wire electrical settling)
+ jb Flags2.PGM_PWM_HIGH_FREQ, ($+5)
+ mov Temp2, #COMP_PWM_LOW_ON_DELAY
+ setb EA ; Enable interrupts
+ nop ; Allocate only just enough time to capture interrupt
+ nop
+ clr EA ; Disable interrupts
+ jb Flags0.PWM_ON, pwm_wait_startup ; If pwm on - proceed
+
+ mov Temp2, #COMP_PWM_HIGH_OFF_DELAY ; Wait time after pwm has been switched off (motor wire electrical settling)
+ jb Flags2.PGM_PWM_HIGH_FREQ, ($+5)
+ mov Temp2, #COMP_PWM_LOW_OFF_DELAY
+ jnb Flags2.CURR_PWMOFF_COMP_ABLE, comp_wait_on_comp_able ; If comparator is not usable in pwm off - go back
+
+pwm_wait_startup:
+ jnb Flags1.DIRECT_STARTUP_PHASE, pwm_wait ; Set a long delay from pwm on/off events during direct startup
+
+ mov Temp2, #120
+pwm_wait:
+ clr C
+ mov A, TL1
+ subb A, Temp2
+IF DAMPED_MODE_ENABLE==0
+ jc comp_wait_on_comp_able ; Re-evaluate pwm cycle for slower escs
+ENDIF
+IF DAMPED_MODE_ENABLE==1 ; Assume same pwm cycle for fast escs
+ jb Flags1.DIRECT_STARTUP_PHASE, ($+5)
+ jc pwm_wait
+ jc comp_wait_on_comp_able ; Re-evaluate pwm cycle during direct start
+ENDIF
+
+comp_read:
+ Read_Comp_Out ; Read comparator output
+ cpl A
+ anl A, #40h
+ cjne A, Bit_Access, ($+5) ; If comparator output is correct - proceed
+
+ ajmp wait_for_comp_out_start ; If comparator output is not correct - go back and restart
+
+ djnz Temp1, comp_wait_on_comp_able ; Decrement readings counter - repeat comparator reading if not zero
+
+ setb EA ; Enable interrupts
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Evaluate comparator integrity
+;
+; No assumptions
+;
+; Checks comparator signal behaviour versus expected behaviour
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+evaluate_comparator_integrity:
+ clr Flags0.DEMAG_DETECTED ; Clear demag detected flag
+ ; Check if demag compensation is enabled
+;读取Demag compensation
+ mov Temp1, #Pgm_Demag_Comp ; Load programmed demag compensation
+ mov A, @Temp1
+ dec A
+ jz eval_comp_no_demag
+
+ ; Check if a demag situation has occurred
+ mov A, Comp_Wait_Reads ; Check if there were no waits (there shall be some). If none a demag situation has occurred
+ dec A
+ jnz eval_comp_no_demag
+;Demag compensation = 第2项
+ setb Flags0.DEMAG_DETECTED ; Set demag detected flag
+;Demag compensation = 第1项
+eval_comp_no_demag:
+ jnb Flags1.DIRECT_STARTUP_PHASE, eval_comp_check_timeout
+
+ inc Direct_Startup_Ok_Cnt ; Increment ok counter
+ jb Flags0.T3_PENDING, eval_comp_exit
+
+ mov Direct_Startup_Ok_Cnt, #0 ; Reset ok counter
+ jmp eval_comp_exit
+
+eval_comp_check_timeout:
+ jb Flags0.T3_PENDING, eval_comp_exit ; Has timeout elapsed?
+ dec SP ; Routine exit without "ret" command
+ dec SP
+ ljmp run_to_wait_for_power_on ; Yes - exit run mode
+
+eval_comp_exit:
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Setup commutation timing routine
+;
+; No assumptions
+;
+; Sets up and starts wait from commutation to zero cross
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+setup_comm_wait:
+ mov TMR3CN, #00h ; Timer3 disabled
+ clr C
+ clr A
+ subb A, Wt_Comm_L ; Set wait commutation value
+ mov TMR3L, A
+ clr A
+ subb A, Wt_Comm_H
+ mov TMR3H, A
+ mov TMR3CN, #04h ; Timer3 enabled
+ setb Flags0.T3_PENDING
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Wait for commutation routine
+;
+; No assumptions
+;
+; Waits from zero cross to commutation
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+wait_for_comm:
+ ; Store motor power
+ mov Temp7, Current_Pwm_Limited
+ ; Check if a demag situation has occurred
+ jnb Flags0.DEMAG_DETECTED, wait_for_comm_wait; Demag detected?
+
+ ; Load programmed demag compensation
+ mov Temp1, #Pgm_Demag_Comp_Power_Decoded ; Yes - load programmed demag compensation power decoded
+ mov A, @Temp1
+ mov Temp8, A ; Store in Temp8
+
+ ; Check for first power off
+ cjne Temp8, #1, wait_for_comm_blind
+
+ setb Flags0.DEMAG_CUT_POWER ; Turn off motor power
+ mov Current_Pwm_Limited, #0
+ All_nFETs_off
+
+ ; Wait a blind wait
+wait_for_comm_blind:
+ call setup_zc_scan_wait ; Setup a zero cross scan wait (7.5 deg)
+wait_demag_default_zc1:
+ jnb Flags0.DEMAG_CUT_POWER, ($+6) ; Cut motor power if set
+ mov Current_Pwm_Limited, #0
+ jnb Flags0.T3_PENDING, ($+5)
+ ajmp wait_demag_default_zc1
+
+ ; Check for second power off
+ cjne Temp8, #2, wait_for_comm_second_blind_wait
+
+ setb Flags0.DEMAG_CUT_POWER ; Turn off motor power
+ mov Current_Pwm_Limited, #0
+ All_nFETs_off
+
+ ; Check for another blind wait
+wait_for_comm_second_blind_wait:
+ mov Temp1, #Pgm_Demag_Comp_Wait_Decoded ; Yes - load programmed demag compensation wait decoded
+ cjne @Temp1, #1, wait_for_comm_power3
+
+ call setup_zc_scan_wait ; Setup a zero cross scan wait (7.5 deg)
+wait_demag_default_zc2:
+ jnb Flags0.DEMAG_CUT_POWER, ($+6) ; Cut motor power if set
+ mov Current_Pwm_Limited, #0
+ jnb Flags0.T3_PENDING, ($+5)
+ ajmp wait_demag_default_zc2
+
+wait_for_comm_power3:
+ ; Check for third power off
+ cjne Temp8, #3, wait_for_comm_setup
+
+ setb Flags0.DEMAG_CUT_POWER ; Turn off motor power
+ mov Current_Pwm_Limited, #0
+ All_nFETs_off
+
+wait_for_comm_setup:
+ call setup_comm_wait ; Setup commutation wait
+wait_for_comm_wait:
+ jnb Flags0.DEMAG_CUT_POWER, ($+6) ; Cut motor power if set
+ mov Current_Pwm_Limited, #0
+ jnb Flags0.T3_PENDING, ($+5)
+ ajmp wait_for_comm_wait
+
+ jnb Flags0.DEMAG_DETECTED, wait_for_comm_exit ; Was there a demag situation?
+
+ clr Flags0.DEMAG_CUT_POWER ; Restore motor power again
+ mov Current_Pwm_Limited, Temp7
+
+wait_for_comm_exit:
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Commutation routines
+;
+; No assumptions
+;
+; Performs commutation switching
+; Damped routines uses all pfets on when in pwm off to dampen the motor
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;******************************************************
+; 关B down 并 开A down或Cdown
+;******************************************************
+comm1comm2:
+ clr EA ; Disable all interrupts
+ BpFET_off ; Bp off
+ jb Flags2.PGM_PWMOFF_DAMPED, comm12_damp
+ jmp comm12_nondamp
+comm12_damp:
+IF DAMPED_MODE_ENABLE == 0
+ mov DPTR, #pwm_cnfet_apfet_on_fast
+ jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, comm12_nondamp
+ENDIF
+IF DAMPED_MODE_ENABLE == 1
+ mov DPTR, #pwm_cnfet_apfet_on_safe
+ENDIF
+ jnb Flags2.CURR_PWMOFF_DAMPED, comm12_nondamp ; If pwm off not damped - branch
+ CpFET_off
+ mov A, #NFETON_DELAY ; Delay
+ djnz ACC, $
+comm12_nondamp:
+ ApFET_on ; Ap on
+ Set_Comp_Phase_B ; Set comparator to phase B
+ mov Comm_Phase, #2
+ setb EA ; Enable all interrupts
+ ret
+
+comm2comm3:
+ clr EA ; Disable all interrupts
+ jb Flags2.PGM_PWMOFF_DAMPED, comm23_damp
+ jmp comm23_nondamp
+comm23_damp:
+IF DAMPED_MODE_ENABLE == 0
+ mov DPTR, #pwm_bnfet_apfet_on_fast
+ENDIF
+IF DAMPED_MODE_ENABLE == 1
+ mov DPTR, #pwm_bnfet_apfet_on_safe
+ENDIF
+ jnb Flags2.CURR_PWMOFF_DAMPED, comm23_nfet ; If pwm off not damped - branch
+ BpFET_off
+ CpFET_off
+ mov A, #NFETON_DELAY ; Delay
+ djnz ACC, $
+ jmp comm23_nfet
+comm23_nondamp:
+ mov DPTR, #pwm_bfet_on
+comm23_nfet:
+ CnFET_off ; Cn off
+ jnb Flags0.PWM_ON, comm23_cp ; Is pwm on?
+ BnFET_on ; Yes - Bn on
+comm23_cp:
+ Set_Comp_Phase_C ; Set comparator to phase C
+ mov Comm_Phase, #3
+ setb EA ; Enable all interrupts
+ ret
+
+comm3comm4:
+ clr EA ; Disable all interrupts
+ ApFET_off ; Ap off
+ jb Flags2.PGM_PWMOFF_DAMPED, comm34_damp
+ jmp comm34_nondamp
+comm34_damp:
+IF DAMPED_MODE_ENABLE == 0
+ mov DPTR, #pwm_bnfet_cpfet_on_fast
+ jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, comm34_nondamp
+ENDIF
+IF DAMPED_MODE_ENABLE == 1
+ mov DPTR, #pwm_bnfet_cpfet_on_safe
+ENDIF
+ jnb Flags2.CURR_PWMOFF_DAMPED, comm34_nondamp ; If pwm off not damped - branch
+ BpFET_off
+ mov A, #NFETON_DELAY ; Delay
+ djnz ACC, $
+comm34_nondamp:
+ CpFET_on ; Cp on
+ Set_Comp_Phase_A ; Set comparator to phase A
+ mov Comm_Phase, #4
+ setb EA ; Enable all interrupts
+ ret
+
+comm4comm5:
+ clr EA ; Disable all interrupts
+ jb Flags2.PGM_PWMOFF_DAMPED, comm45_damp
+ jmp comm45_nondamp
+comm45_damp:
+IF DAMPED_MODE_ENABLE == 0
+ mov DPTR, #pwm_anfet_cpfet_on_fast
+ENDIF
+IF DAMPED_MODE_ENABLE == 1
+ mov DPTR, #pwm_anfet_cpfet_on_safe
+ENDIF
+ jnb Flags2.CURR_PWMOFF_DAMPED, comm45_nfet ; If pwm off not damped - branch
+ ApFET_off
+ BpFET_off
+ mov A, #NFETON_DELAY ; Delay
+ djnz ACC, $
+ jmp comm45_nfet
+comm45_nondamp:
+ mov DPTR, #pwm_afet_on
+comm45_nfet:
+ BnFET_off ; Bn off
+ jnb Flags0.PWM_ON, comm45_cp ; Is pwm on?
+ AnFET_on ; Yes - An on
+comm45_cp:
+ Set_Comp_Phase_B ; Set comparator to phase B
+ mov Comm_Phase, #5
+ setb EA ; Enable all interrupts
+ ret
+
+comm5comm6:
+ clr EA ; Disable all interrupts
+ CpFET_off ; Cp off
+ jb Flags2.PGM_PWMOFF_DAMPED, comm56_damp
+ jmp comm56_nondamp
+comm56_damp:
+IF DAMPED_MODE_ENABLE == 0
+ mov DPTR, #pwm_anfet_bpfet_on_fast
+ jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, comm56_nondamp
+ENDIF
+IF DAMPED_MODE_ENABLE == 1
+ mov DPTR, #pwm_anfet_bpfet_on_safe
+ENDIF
+ jnb Flags2.CURR_PWMOFF_DAMPED, comm56_nondamp ; If pwm off not damped - branch
+ ApFET_off
+ mov A, #NFETON_DELAY ; Delay
+ djnz ACC, $
+comm56_nondamp:
+ BpFET_on ; Bp on
+ Set_Comp_Phase_C ; Set comparator to phase C
+ mov Comm_Phase, #6
+ setb EA ; Enable all interrupts
+ ret
+
+comm6comm1:
+ clr EA ; Disable all interrupts
+ jb Flags2.PGM_PWMOFF_DAMPED, comm61_damp
+ jmp comm61_nondamp
+comm61_damp:
+IF DAMPED_MODE_ENABLE == 0
+ mov DPTR, #pwm_cnfet_bpfet_on_fast
+ENDIF
+IF DAMPED_MODE_ENABLE == 1
+ mov DPTR, #pwm_cnfet_bpfet_on_safe
+ENDIF
+ jnb Flags2.CURR_PWMOFF_DAMPED, comm61_nfet ; If pwm off not damped - branch
+ ApFET_off
+ CpFET_off
+ mov A, #NFETON_DELAY ; Delay
+ djnz ACC, $
+ jmp comm61_nfet
+comm61_nondamp:
+ mov DPTR, #pwm_cfet_on
+comm61_nfet:
+ AnFET_off ; An off
+ jnb Flags0.PWM_ON, comm61_cp ; Is pwm on?
+ CnFET_on ; Yes - Cn on
+comm61_cp:
+ Set_Comp_Phase_A ; Set comparator to phase A
+ mov Comm_Phase, #1
+ setb EA ; Enable all interrupts
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Switch power off routine
+;
+; No assumptions
+;
+; Switches all fets off
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+switch_power_off:
+ mov DPTR, #pwm_nofet_on ; Set DPTR register to pwm_nofet_on label
+ All_pFETs_Off ; Turn off all pfets
+ All_nFETs_Off ; Turn off all nfets
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Decrement stepper step routine
+;
+; No assumptions
+;
+; Decrements the stepper step
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;decrement_stepper_step:
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, Stepper_Step_End_L ; Minimum Stepper_Step_End
+; mov A, Wt_Stepper_Step_H
+; subb A, Stepper_Step_End_H
+; jnc decrement_step ; Branch if same or higher than minimum
+; ret
+
+;decrement_step:
+ ; Load programmed startup acceleration
+;读取Startup acceleration
+; mov Temp1, #Pgm_Startup_Accel ; Load startup accel
+; mov A, @Temp1
+; mov Temp8, A ; Store in Temp8
+ ; Check acceleration setting and set step size accordingly
+; clr C
+; mov A, Temp8
+; subb A, #5
+; jnc dec_step_high
+; clr C
+; mov A, Temp8
+; subb A, #4
+; jnc dec_step_med_high
+; clr C
+; mov A, Temp8
+; subb A, #3
+; jnc dec_step_med
+; clr C
+; mov A, Temp8
+; subb A, #2
+; jnc dec_step_med_low
+; clr C
+; mov A, Temp8
+; subb A, #1
+; jnc dec_step_low
+;Start acceleration = 第5项
+;dec_step_high:
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, #low(30 SHL 1)
+; mov Temp1, A
+; jmp decrement_step_exit
+;Start acceleration = 第4项
+;dec_step_med_high:
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, #low(20 SHL 1)
+; mov Temp1, A
+; jmp decrement_step_exit
+;Start acceleration = 第3项
+;dec_step_med:
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, #low(13 SHL 1)
+; mov Temp1, A
+; jmp decrement_step_exit
+;Start acceleration = 第2项
+;dec_step_med_low:
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, #low(9 SHL 1)
+; mov Temp1, A
+; jmp decrement_step_exit
+;Start acceleration = 第1项
+;dec_step_low:
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, #low(5 SHL 1)
+; mov Temp1, A
+; jmp decrement_step_exit
+
+;decrement_step_exit:
+; mov A, Wt_Stepper_Step_H
+; subb A, #0
+; mov Temp2, A
+; mov Wt_Stepper_Step_L, Temp1
+; mov Wt_Stepper_Step_H, Temp2
+; ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Stepper timer wait
+;
+; No assumptions
+;
+; Waits for the stepper step timer to elapse
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;stepper_timer_wait:
+; jnb Flags0.T3_PENDING, ($+6) ; Timer pending?
+; ljmp stepper_timer_wait ; Yes, go back
+; ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Set default parameters
+;
+; No assumptions
+;
+; Sets default programming parameters
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+set_default_parameters:
+IF MODE == 0 ; Main
+ mov Temp1, #Pgm_Gov_P_Gain
+ mov @Temp1, #DEFAULT_PGM_MAIN_P_GAIN
+ mov Temp1, #Pgm_Gov_I_Gain
+ mov @Temp1, #DEFAULT_PGM_MAIN_I_GAIN
+ mov Temp1, #Pgm_Gov_Mode
+ mov @Temp1, #DEFAULT_PGM_MAIN_GOVERNOR_MODE
+ mov Temp1, #Pgm_Gov_Range
+ mov @Temp1, #DEFAULT_PGM_MAIN_GOVERNOR_RANGE
+ mov Temp1, #Pgm_Low_Voltage_Lim
+ mov @Temp1, #DEFAULT_PGM_MAIN_LOW_VOLTAGE_LIM
+ mov Temp1, #Pgm_Startup_Pwr
+ mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_PWR
+ mov Temp1, #Pgm_Startup_Rpm
+ mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_RPM
+ mov Temp1, #Pgm_Startup_Accel
+ mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_ACCEL
+ mov Temp1, #Pgm_Startup_Method
+ mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_METHOD
+ mov Temp1, #Pgm_Comm_Timing
+ mov @Temp1, #DEFAULT_PGM_MAIN_COMM_TIMING
+ mov Temp1, #Pgm_Throttle_Rate
+ mov @Temp1, #DEFAULT_PGM_MAIN_THROTTLE_RATE
+ mov Temp1, #Pgm_Damping_Force
+ mov @Temp1, #DEFAULT_PGM_MAIN_DAMPING_FORCE
+ mov Temp1, #Pgm_Pwm_Freq
+ mov @Temp1, #DEFAULT_PGM_MAIN_PWM_FREQ
+ mov Temp1, #Pgm_Demag_Comp
+ mov @Temp1, #DEFAULT_PGM_MAIN_DEMAG_COMP
+ mov Temp1, #Pgm_Direction_Rev
+ mov @Temp1, #DEFAULT_PGM_MAIN_DIRECTION_REV
+ mov Temp1, #Pgm_Input_Pol
+ mov @Temp1, #DEFAULT_PGM_MAIN_RCP_PWM_POL
+ mov Temp1, #Pgm_Motor_Idle
+ mov @Temp1, #0
+ENDIF
+IF MODE == 1 ; Tail
+ mov Temp1, #Pgm_Motor_Gain
+ mov @Temp1, #DEFAULT_PGM_TAIL_GAIN
+ mov Temp1, #Pgm_Motor_Idle
+ mov @Temp1, #DEFAULT_PGM_TAIL_IDLE_SPEED
+ mov Temp1, #Pgm_Startup_Pwr
+ mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_PWR
+ mov Temp1, #Pgm_Startup_Rpm
+ mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_RPM
+ mov Temp1, #Pgm_Startup_Accel
+ mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_ACCEL
+ mov Temp1, #Pgm_Startup_Method
+ mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_METHOD
+ mov Temp1, #Pgm_Comm_Timing
+ mov @Temp1, #DEFAULT_PGM_TAIL_COMM_TIMING
+ mov Temp1, #Pgm_Throttle_Rate
+ mov @Temp1, #DEFAULT_PGM_TAIL_THROTTLE_RATE
+ mov Temp1, #Pgm_Damping_Force
+ mov @Temp1, #DEFAULT_PGM_TAIL_DAMPING_FORCE
+ mov Temp1, #Pgm_Pwm_Freq
+ mov @Temp1, #DEFAULT_PGM_TAIL_PWM_FREQ
+ mov Temp1, #Pgm_Demag_Comp
+ mov @Temp1, #DEFAULT_PGM_TAIL_DEMAG_COMP
+ mov Temp1, #Pgm_Direction_Rev
+ mov @Temp1, #DEFAULT_PGM_TAIL_DIRECTION_REV
+ mov Temp1, #Pgm_Input_Pol
+ mov @Temp1, #DEFAULT_PGM_TAIL_RCP_PWM_POL
+ mov Temp1, #Pgm_Gov_Mode
+ mov @Temp1, #4
+ENDIF
+IF MODE == 2 ; Multi
+ mov Temp1, #Pgm_Fir_Key ;2013.8.27 增加关键字默认值
+ mov @Temp1, #DEFAULT_PGM_MULTI_FIRST_KEYWORD
+ mov Temp1, #Pgm_Gov_P_Gain
+ mov @Temp1, #DEFAULT_PGM_MAIN_P_GAIN ;Pgm_Gov_P_Gain=9 P增益
+ mov Temp1, #Pgm_Gov_I_Gain
+ mov @Temp1, #DEFAULT_PGM_MAIN_I_GAIN ;Pgm_Gov_I_Gain=9 I增益
+ mov Temp1, #Pgm_Gov_Mode
+ mov @Temp1, #DEFAULT_PGM_MAIN_GOVERNOR_MODE ;Pgm_Gov_Mode=4
+ mov Temp1, #Pgm_Motor_Gain
+ mov @Temp1, #DEFAULT_PGM_MULTI_GAIN ;gm_Motor_Gain=3
+ mov Temp1, #Pgm_Low_Voltage_Lim
+ mov @Temp1, #DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM ;Pgm_Low_Voltage_Lim=1 低压保护：1=Off 2=3.0V/c 3=3.1V/c 4=3.2V/c 5=3.3V/c 6=3.4V/c
+ mov Temp1, #Pgm_Low_Voltage_Ctl
+ mov @Temp1, #DEFAULT_PGM_MULTI_LOW_VOLTAGE_CTL ;Pgm_Low_Voltage_Ctl=1 低压保护: 1=功率逐渐降低到31% 2=关闭输出
+ mov Temp1, #Pgm_Startup_Pwr
+ mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_PWR ;Pgm_Startup_Pwr=10
+ mov Temp1, #Pgm_Startup_Rpm
+ mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_RPM ;Pgm_Startup_Rpm=1 启动转速：1=0.67 2=0.8 3=1.00 4=1.25 5=1.5
+ mov Temp1, #Pgm_Startup_Accel
+ mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_ACCEL ;Pgm_Startup_Accel=5
+; mov Temp1, #Pgm_Startup_Method
+; mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_METHOD ;Pgm_Startup_Method=2 启动方式：1=步进启动 2=直接启动
+ mov Temp1, #Pgm_Comm_Timing
+ mov @Temp1, #DEFAULT_PGM_MULTI_COMM_TIMING ;Pgm_Comm_Timing=3 进角时间：1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
+ mov Temp1, #Pgm_Throttle_Rate
+ mov @Temp1, #DEFAULT_PGM_MULTI_THROTTLE_RATE ;Pgm_Throttle_Rate=13 油门范围：1=2 2=3 3=4 4=6 5=8 6=12 7=16 8=24 9=32 10=48 11=64 12=128 13=255
+ mov Temp1, #Pgm_Damping_Force
+ mov @Temp1, #DEFAULT_PGM_MULTI_DAMPING_FORCE ;Pgm_Damping_Force=6 刹车力度：1=VeryLow 2=Low 3=MediumLow 4=MediumHigh 5=High 6=Highest
+ mov Temp1, #Pgm_Pwm_Freq
+ mov @Temp1, #DEFAULT_PGM_MULTI_PWM_FREQ ;Pgm_Pwm_Freq=1 1=Low 2=High 3=DampedLight 4=Damped
+ mov Temp1, #Pgm_Demag_Comp
+ mov @Temp1, #DEFAULT_PGM_MULTI_DEMAG_COMP ;Pgm_Demag_Comp=2 1=Disabled 2=15/0 3=15/7.5 4=7.5/7.5 5=7.5/15 (degrees blind advance / power off)
+ mov Temp1, #Pgm_Direction_Rev
+ mov @Temp1, #DEFAULT_PGM_MULTI_DIRECTION_REV ;Pgm_Direction_Rev=1 方向设置：1=正转 2=反转
+ mov Temp1, #Pgm_Input_Pol
+ mov @Temp1, #DEFAULT_PGM_MULTI_RCP_PWM_POL ;Pgm_Input_Pol=1 接收信号极性设置：1=Positive（正） 2=Negative（负）
+ mov Temp1, #Pgm_Motor_Idle
+ mov @Temp1, #0 ;Pgm_Motor_Idle=0
+ENDIF
+ mov Temp1, #Pgm_Enable_TX_Program
+ mov @Temp1, #DEFAULT_PGM_ENABLE_TX_PROGRAM ;Pgm_Enable_TX_Program=1 1=Enabled 0=Disabled
+ mov Temp1, #Pgm_Main_Rearm_Start
+ mov @Temp1, #DEFAULT_PGM_MAIN_REARM_START ;Pgm_Main_Rearm_Start=0 1=Enabled 0=Disabled
+ mov Temp1, #Pgm_Gov_Setup_Target
+ mov @Temp1, #DEFAULT_PGM_MAIN_GOV_SETUP_TARGET ;Pgm_Gov_Setup_Target=180 Target for governor in setup mode. Corresponds to 70% throttle
+ mov Temp1, #Pgm_Ppm_Min_Throttle
+ mov @Temp1, #DEFAULT_PGM_PPM_MIN_THROTTLE ;Pgm_Ppm_Min_Throttle=37 最小油门：4*37+1000=1148
+ mov Temp1, #Pgm_Ppm_Max_Throttle
+ mov @Temp1, #DEFAULT_PGM_PPM_MAX_THROTTLE ;Pgm_Ppm_Max_Throttle=208 最大油门：4*208+1000=1832
+ mov Temp1, #Pgm_Beep_Strength
+ mov @Temp1, #DEFAULT_PGM_MAIN_BEEP_STRENGTH ;Pgm_Beep_Strength=120 声强设置
+ mov Temp1, #Pgm_Beacon_Strength
+ mov @Temp1, #DEFAULT_PGM_MAIN_BEACON_STRENGTH ;Pgm_Beacon_Strength=200 灯亮长Beacon strength？？？？
+ mov Temp1, #Pgm_Beacon_Delay
+ mov @Temp1, #DEFAULT_PGM_MAIN_BEACON_DELAY ;Pgm_Beacon_Delay=4 灯亮时间？？？？1=30s 2=1m 3=2m 4=3m 5=Infinite
+ mov Temp1, #Pgm_BEC_Voltage_High
+ mov @Temp1, #DEFAULT_PGM_BEC_VOLTAGE_HIGH ;Pgm_BEC_Voltage_High=0 0=Low 1= High
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Decode parameters
+;
+; No assumptions
+;
+; Decodes programming parameters
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+decode_parameters:
+ ; Load programmed damping force
+;读取Damping force
+ mov Temp1, #Pgm_Damping_Force; Load damping force
+ mov A, @Temp1
+ mov Temp8, A ; Store in Temp8
+ ; Decode damping
+;Damping force = 第1项
+ clr Flags2.PGM_PWMOFF_DAMPED
+ clr Flags2.PGM_PWMOFF_DAMPED_LIGHT
+ clr Flags2.PGM_PWMOFF_DAMPED_FULL
+ clr Flags2.CURR_PWMOFF_DAMPED
+ setb Flags2.CURR_PWMOFF_COMP_ABLE
+; mov Damping_Period, #9 ; Set default
+; mov Damping_On, #1
+ mov Rcp_Stop_Limit,#40
+ clr C
+ cjne Temp8, #1, decode_damping_2 ; Look for 2
+ jmp decode_damping_done
+
+;Damping force = 第2项
+decode_damping_2:
+ setb Flags2.PGM_PWMOFF_DAMPED
+; setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+; clr Flags2.PGM_PWMOFF_DAMPED_FULL
+ setb Flags2.CURR_PWMOFF_DAMPED
+ clr Flags2.CURR_PWMOFF_COMP_ABLE
+ mov Damping_Period, #5
+ mov Damping_On, #1
+ mov Rcp_Stop_Limit,#60
+ clr C
+ cjne Temp8, #2, decode_damping_3 ; Look for 3
+ jmp decode_damping_done
+
+;Damping force = 第3项
+decode_damping_3:
+; setb Flags2.PGM_PWMOFF_DAMPED
+ setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+; clr Flags2.PGM_PWMOFF_DAMPED_FULL
+; setb Flags2.CURR_PWMOFF_DAMPED
+; clr Flags2.CURR_PWMOFF_COMP_ABLE
+ mov Damping_Period, #5
+ mov Damping_On, #2
+ mov Rcp_Stop_Limit,#30
+ clr C
+ cjne Temp8, #3, decode_damping_4 ; Look for 4
+ jmp decode_damping_done
+
+;Damping force = 第4项
+decode_damping_4:
+; setb Flags2.PGM_PWMOFF_DAMPED
+; setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+; clr Flags2.PGM_PWMOFF_DAMPED_FULL
+; setb Flags2.CURR_PWMOFF_DAMPED
+; clr Flags2.CURR_PWMOFF_COMP_ABLE
+ mov Damping_Period, #5
+ mov Damping_On, #3
+ mov Rcp_Stop_Limit,#25
+ clr C
+ cjne Temp8, #4, decode_damping_5 ; Look for 5
+ jmp decode_damping_done
+
+;Damping force = 第5项
+decode_damping_5:
+; setb Flags2.PGM_PWMOFF_DAMPED
+; setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+ setb Flags2.PGM_PWMOFF_DAMPED_FULL
+; setb Flags2.CURR_PWMOFF_DAMPED
+; clr Flags2.CURR_PWMOFF_COMP_ABLE
+ mov Damping_Period, #5
+ mov Damping_On, #4
+ mov Rcp_Stop_Limit,#20
+ clr C
+ cjne Temp8, #5, decode_damping_6; Look for 6
+ jmp decode_damping_done
+
+;Damping force = 第6项
+decode_damping_6:
+; setb Flags2.PGM_PWMOFF_DAMPED
+; setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+; setb Flags2.PGM_PWMOFF_DAMPED_FULL
+; setb Flags2.CURR_PWMOFF_DAMPED
+; clr Flags2.CURR_PWMOFF_COMP_ABLE
+ mov Damping_Period, #5
+ mov Damping_On, #5
+ mov Rcp_Stop_Limit,#10
+
+;***********************************************
+; 读取编程PWM频率(1)
+;带硬刹/软刹
+;***********************************************
+decode_damping_done:
+ ; Load programmed pwm frequency
+;读取Pwm frequency
+ mov Temp1, #Pgm_Pwm_Freq ; Load pwm freq
+ mov A, @Temp1
+ mov Temp8, A ; Store in Temp8
+IF MODE == 0 ; Main
+ clr Flags2.PGM_PWMOFF_DAMPED_LIGHT
+ clr C
+ cjne Temp8, #3, ($+5)
+ setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+ clr Flags2.PGM_PWMOFF_DAMPED_FULL
+ENDIF
+IF MODE >= 1 ; Tail or multi
+;////// clr Flags2.PGM_PWMOFF_DAMPED_LIGHT
+;////// clr C
+;////// cjne Temp8, #3, ($+5)
+;Pwm frequency = 第3项
+;////// setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+;////// clr Flags2.PGM_PWMOFF_DAMPED_FULL
+;////// clr C
+;////// cjne Temp8, #4, ($+5)
+;Pwm frequency = 第4项
+;////// setb Flags2.PGM_PWMOFF_DAMPED_FULL
+ENDIF
+;Pwm frequency = 第1项
+;////// clr Flags2.PGM_PWMOFF_DAMPED ; Set damped flag if fully damped or damped light is set
+;////// mov A, #((1 SHL PGM_PWMOFF_DAMPED_FULL)+(1 SHL PGM_PWMOFF_DAMPED_LIGHT))
+;////// anl A, Flags2 ; Check if any damped mode is set
+;////// jz ($+4)
+;Pwm frequency = 第2项
+;////// setb Flags2.PGM_PWMOFF_DAMPED
+;Pwm frequency = 第1项
+;////// clr Flags2.CURR_PWMOFF_DAMPED ; Set non damped status as start
+;////// jz ($+4)
+;Pwm frequency = 第2项
+;////// setb Flags2.CURR_PWMOFF_DAMPED ; Set non damped status as start if damped
+;Pwm frequency = 第1项
+;////// setb Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator usable status
+;////// jz ($+4)
+;Pwm frequency = 第2项
+;////// clr Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator not usable status if damped
+;***********************************************
+; 读取编程电机旋转方向
+;***********************************************
+;读取Rotation direction
+;Rotation direction = 第1项
+ clr Flags3.PGM_DIR_REV
+ mov Temp1, #Pgm_Direction_Rev
+ mov A, @Temp1
+ jnb ACC.1, ($+5)
+;Rotation direction = 第2项
+ setb Flags3.PGM_DIR_REV
+;***********************************************
+; 读取编程输入信号RC PWM脉冲有效极性
+;***********************************************
+;读取Input pwm polarity
+;Input pwm polarity = 第1项
+ clr Flags3.PGM_RCP_PWM_POL
+ mov Temp1, #Pgm_Input_Pol
+ mov A, @Temp1
+ jnb ACC.1, ($+5)
+;Input pwm polarity = 第2项
+ setb Flags3.PGM_RCP_PWM_POL
+;***********************************************
+; 读取编程PWM频率(2)
+;不带硬刹/软刹
+;***********************************************
+ clr C
+ mov A, Temp8
+ subb A, #1
+ jz decode_pwm_freq_low
+;Pwm frequency = 第1项
+ mov CKCON, #01h ; Timer0 set for clk/4 (22kHz pwm)
+ setb Flags2.PGM_PWM_HIGH_FREQ
+ jmp decode_pwm_freq_end
+;Pwm frequency = 第2项
+decode_pwm_freq_low:
+ mov CKCON, #00h ; Timer0 set for clk/12 (8kHz pwm)
+ clr Flags2.PGM_PWM_HIGH_FREQ
+
+decode_pwm_freq_end:
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Decode governor gain
+;
+; No assumptions
+;
+; Decodes governor gains
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+decode_governor_gains:
+ ; Decode governor gains
+;读取 Closed loop P gain
+ mov Temp1, #Pgm_Gov_P_Gain ; Decode governor P gain
+ mov A, @Temp1
+ dec A
+ mov DPTR, #GOV_GAIN_TABLE
+ movc A, @A+DPTR
+ mov Temp1, #Pgm_Gov_P_Gain_Decoded
+ mov @Temp1, A
+;读取 Closed loop I gain
+ mov Temp1, #Pgm_Gov_I_Gain ; Decode governor P gain
+ mov A, @Temp1
+ dec A
+ mov DPTR, #GOV_GAIN_TABLE
+ movc A, @A+DPTR
+ mov Temp1, #Pgm_Gov_I_Gain_Decoded
+ mov @Temp1, A
+ call switch_power_off ; Reset DPTR
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Decode throttle rate
+;
+; No assumptions
+;
+; Decodes throttle rate
+;
+;读取中点油门范围
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+decode_throttle_rate:
+ ; Decode throttle rate
+;读取 Throttle change rate
+ mov Temp1, #Pgm_Throttle_Rate
+ mov A, @Temp1
+ dec A
+ mov DPTR, #THROTTLE_RATE_TABLE
+ movc A, @A+DPTR
+ mov Temp1, #Pgm_Throttle_Rate_Decoded
+ mov @Temp1, A
+ call switch_power_off ; Reset DPTR
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Decode startup power
+;
+; No assumptions
+;
+; Decodes startup power
+;
+;编程启动力度
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+decode_startup_power:
+ ; Decode startup power
+;读取 Startup power
+ mov Temp1, #Pgm_Startup_Pwr
+ mov A, @Temp1
+ dec A
+ mov DPTR, #STARTUP_POWER_TABLE
+ movc A, @A+DPTR
+ mov Temp1, #Pgm_Startup_Pwr_Decoded
+ mov @Temp1, A
+ call switch_power_off ; Reset DPTR
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Decode demag compensation
+;
+; No assumptions
+;
+; Decodes throttle rate
+;
+;编程demag compensation参数
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+decode_demag_comp:
+ ; Decode demag compensation
+;读取Demag compensation
+ mov Temp1, #Pgm_Demag_Comp
+ mov A, @Temp1
+ dec A
+ mov DPTR, #DEMAG_WAIT_TABLE
+ movc A, @A+DPTR
+ mov Temp1, #Pgm_Demag_Comp_Wait_Decoded
+ mov @Temp1, A
+ mov Temp1, #Pgm_Demag_Comp
+ mov A, @Temp1
+ dec A
+ mov DPTR, #DEMAG_POWER_TABLE
+ movc A, @A+DPTR
+ mov Temp1, #Pgm_Demag_Comp_Power_Decoded
+ mov @Temp1, A
+ call switch_power_off ; Reset DPTR
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Set BEC voltage
+;
+; No assumptions
+;
+; Sets the BEC output voltage low or high
+;
+;读取 BEC
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+set_bec_voltage:
+ ; Set bec voltage
+IF DUAL_BEC_VOLTAGE == 1
+ Set_BEC_Lo ; Set default to low
+;读取 Pgm_BEC_Voltage_High
+ mov Temp1, #Pgm_BEC_Voltage_High
+ mov A, @Temp1
+ jz set_bec_voltage_exit
+
+ Set_BEC_Hi ; Set to high
+
+set_bec_voltage_exit:
+ENDIF
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Find throttle gain
+;
+; The difference between max and min throttle must be more than 520us (a Pgm_Ppm_xxx_Throttle difference of 130)
+;
+; Finds throttle gain from throttle calibration values
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+find_throttle_gain:
+ ; Load programmed minimum and maximum throttle
+;读取Pgm_Ppm_Min_Throttle和Pgm_Ppm_Max_Throttle增量
+ mov Temp1, #Pgm_Ppm_Min_Throttle
+ mov A, @Temp1
+ mov Temp3, A
+ mov Temp1, #Pgm_Ppm_Max_Throttle
+ mov A, @Temp1
+ mov Temp4, A
+ ; Check if full range is chosen
+ jnb Flags3.FULL_THROTTLE_RANGE, find_throttle_gain_calculate
+
+ mov Temp3, #0
+ mov Temp4, #255
+
+find_throttle_gain_calculate:
+ ; Calculate difference
+ clr C
+ mov A, Temp4
+ subb A, Temp3
+ mov Temp5, A
+ ; Check that difference is minimum 130
+ clr C
+ subb A, #130
+ jnc ($+4)
+
+ mov Temp5, #130
+
+ ; Find gain
+ mov Ppm_Throttle_Gain, #0
+test_gain:
+ inc Ppm_Throttle_Gain
+ mov A, Temp5
+ mov B, Ppm_Throttle_Gain ; A has difference, B has gain
+ mul AB
+ clr C
+ mov A, B
+ subb A, #128
+ jc test_gain
+ ret
+
+
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Main program start
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+
+reset:
+ ; Select register bank 0 for main program routines
+ clr PSW.3 ; Select register bank 0 for main program routines
+ ; Disable the WDT.
+ anl PCA0MD, #NOT(40h) ; Clear watchdog enable bit
+ ; Initialize stack
+ mov SP, #0c0h ; Stack = 64 upper bytes of RAM
+ ; Initialize VDD monitor
+ orl VDM0CN, #080h ; Enable the VDD monitor
+
+ mov Temp2, #3
+wait_100us:
+ djnz ACC, $
+ djnz Temp2,wait_100us
+
+; call wait1ms ; Wait at least 100us
+ mov RSTSRC, #02h ; Set VDD monitor as a reset source (PORSF)
+ ; Set clock frequency
+ orl OSCICN, #03h ; Set clock divider to 1
+ mov A, OSCICL
+ add A, #04h ; 24.5MHz to 24MHz (~0.5% per step)
+ jc reset_cal_done ; Is carry set? - skip next instruction
+
+ mov OSCICL, A
+
+reset_cal_done:
+ ; Ports initialization
+ mov P0, #P0_INIT
+ mov P0MDOUT, #P0_PUSHPULL
+ mov P0MDIN, #P0_DIGITAL
+ mov P0SKIP, #P0_SKIP
+ mov P1, #P1_INIT
+ mov P1MDOUT, #P1_PUSHPULL
+ mov P1MDIN, #P1_DIGITAL
+ mov P1SKIP, #P1_SKIP
+IF PORT3_EXIST == 1
+ mov P2, #P2_INIT
+ENDIF
+ mov P2MDOUT, #P2_PUSHPULL
+IF PORT3_EXIST == 1
+ mov P2MDIN, #P2_DIGITAL
+ mov P2SKIP, #P2_SKIP
+ mov P3, #P3_INIT
+ mov P3MDOUT, #P3_PUSHPULL
+ mov P3MDIN, #P3_DIGITAL
+ENDIF
+ mov XBR1, #41h ; Xbar enabled, CEX0 routed to pin Rcp_In
+ ; Switch power off
+ call switch_power_off
+ ; Clear RAM
+ clr A ; Clear accumulator
+ mov Temp1, A ; Clear Temp1
+clear_ram:
+ mov @Temp1, A ; Clear RAM
+ djnz Temp1, clear_ram ; Is A not zero? - jump
+ ; Set default programmed parameters
+ call set_default_parameters
+ ; Read all programmed parameters
+ call read_all_eeprom_parameters
+ ; Decode parameters
+ call decode_parameters
+ ; Decode governor gains
+ call decode_governor_gains
+ ; Decode throttle rate
+ call decode_throttle_rate
+ ; Decode startup power
+ call decode_startup_power
+ ; Decode demag compensation
+ call decode_demag_comp
+ ; Set BEC voltage
+ call set_bec_voltage
+ ; Find throttle gain from stored min and max settings
+ call find_throttle_gain
+ ; Set beep strength
+;读取超强设置
+ mov Temp1, #Pgm_Beep_Strength
+ mov Beep_Strength, @Temp1
+ ; Switch power off
+ call switch_power_off
+ ; Timer control
+ mov TCON, #50h ; Timer0 and timer1 enabled
+ ; Timer mode
+ mov TMOD, #02h ; Timer0 as 8bit
+ ; Timer2: clk/12 for 128us and 32ms interrupts
+ mov TMR2CN, #24h ; Timer2 enabled, low counter interrups enabled
+ ; Timer3: clk/12 for commutation timing
+ mov TMR3CN, #04h ; Timer3 enabled
+ ; PCA
+ mov PCA0CN, #40h ; PCA enabled
+ ; Initializing beep 上电叫3声
+ call wait1s
+ call wait1s
+
+ ; Enable interrupts
+ mov IE, #22h ; Enable timer0 and timer2 interrupts
+ mov IP, #02h ; High priority to timer0 interrupts
+ mov EIE1, #90h ; Enable timer3 and PCA0 interrupts
+ mov EIP1, #10h ; High priority to PCA interrupts
+ ; Initialize comparator
+ mov CPT0CN, #80h ; Comparator enabled, no hysteresis
+ mov CPT0MD, #03h ; Comparator response time 1us
+IF COMP1_USED==1
+ mov CPT1CN, #80h ; Comparator enabled, no hysteresis
+ mov CPT1MD, #03h ; Comparator response time 1us
+ENDIF
+ ; Initialize ADC
+ Initialize_Adc ; Initialize ADC operation
+ call wait1ms
+ setb EA ; Enable all interrupts
+ ; Measure number of lipo cells
+ call Measure_Lipo_Cells ; Measure number of lipo cells
+ ; Initialize rc pulse
+ Rcp_Int_Enable ; Enable interrupt
+ Rcp_Int_First ; Enable interrupt and set to first edge
+ Rcp_Clear_Int_Flag ; Clear interrupt flag
+ clr Flags2.RCP_EDGE_NO ; Set first edge flag
+ call wait200ms
+ ; Set initial arm variable
+ mov Initial_Arm, #1
+ mov OS_FLAG, #1
+; mov Pca_First_Int, #1
+
+ ; Measure PWM frequency
+measure_pwm_freq_init:
+ setb Flags0.RCP_MEAS_PWM_FREQ ; Set measure pwm frequency flag
+; clr C ;2014.08.08 信号滤波
+; mov A, Pgm_Pulse_Cnt ;2014.08.08 信号滤波
+; subb A, #5 ;2014.08.08 信号滤波
+; jc measure_pwm_freq_init ;2014.08.08 信号滤波
+; mov Pca_First_Int, #0 ;2014.08.08 信号滤波
+; call wait200ms
+measure_pwm_freq_start:
+ mov Temp3, #5 ; Number of pulses to measure
+; mov Temp3, #1
+measure_pwm_freq_loop:
+ ; Check if period diff was accepted
+ mov A, Rcp_Period_Diff_Accepted
+; jnz ($+4)
+
+ jnz measure_pwm
+ call wait3ms
+ mov A, New_RCP
+ clr C
+ subb A,#230
+ jc ($+7)
+ mov Pgm_Pulse_Cnt, #0
+; mov Temp3, #5
+ ajmp measure_pwm_freq_start
+
+ mov A, New_RCP
+ clr C
+ subb A,#30
+ jnc ($+7)
+ mov Pgm_Pulse_Cnt, #0
+; mov Temp3, #5
+ ajmp measure_pwm_freq_start
+
+ inc Pgm_Pulse_Cnt
+ mov A, Pgm_Pulse_Cnt
+ clr C
+ subb A, #5
+ jnc ($+6)
+ mov Temp3, #5 ; Reset number of pulses to measure
+ ajmp measure_pwm_freq_loop
+; mov Temp3, #1
+measure_pwm:
+ call wait3ms ; Wait for next pulse (NB: Uses Temp1/2!)
+ mov A, New_Rcp ; Load value
+ clr C
+ subb A, #RCP_VALIDATE ; Higher than validate level?
+ jc measure_pwm_freq_start ; No - start over
+
+ mov A, Flags3 ; Check pwm frequency flags
+; anl A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ anl A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ mov Prev_Rcp_Pwm_Freq, Curr_Rcp_Pwm_Freq ; Store as previous flags for next pulse
+ mov Curr_Rcp_Pwm_Freq, A ; Store current flags for next pulse
+ cjne A, Prev_Rcp_Pwm_Freq, measure_pwm_freq_start ; Go back if new flags not same as previous
+
+ djnz Temp3, measure_pwm_freq_loop ; Go back if not required number of pulses seen
+
+ ; Clear measure pwm frequency flag
+ clr Flags0.RCP_MEAS_PWM_FREQ
+ ; Set up RC pulse interrupts after pwm frequency measurement
+ Rcp_Int_First ; Enable interrupt and set to first edge
+ Rcp_Clear_Int_Flag ; Clear interrupt flag
+ clr Flags2.RCP_EDGE_NO ; Set first edge flag
+ call wait100ms ; Wait for new RC pulse
+
+ ; Validate RC pulse
+;Pgm_Main_Rearm_Start = 第1项 enabled
+validate_rcp_start:
+ call wait3ms ; Wait for next pulse (NB: Uses Temp1/2!)
+ mov Temp1, #RCP_VALIDATE ; Set validate level as default
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ anl A, Flags3 ; Check pwm frequency flags
+ jnz ($+4) ; If a flag is set (PWM) - branch
+
+ mov Temp1, #0 ; Set level to zero for PPM (any level will be accepted)
+
+ clr C
+ mov A, New_Rcp ; Load value
+ subb A, Temp1 ; Higher than validate level?
+ jc validate_rcp_start ; No - start over
+
+ ; Beep arm sequence start signal
+;上电检测到信号后叫第1声（信号准备就绪）
+;////// clr EA ; Disable all interrupts
+;////// call beep_f1 ; Signal that RC pulse is ready
+;////// call beep_f1
+;////// call beep_f1
+;////// setb EA ; Enable all interrupts
+ call wait200ms
+
+ ; Arming sequence start
+ mov Gov_Arm_Target, #0 ; Clear governor arm target
+arming_start:
+ call wait3ms
+;读取Pgm_Enable_TX_Program
+ mov Temp1, #Pgm_Enable_TX_Program; Yes - start programming mode entry if enabled
+ mov A, @Temp1
+ clr C
+ subb A, #1 ; Is TX programming enabled?
+ jnc arming_initial_arm_check ; Yes - proceed
+
+ jmp program_by_tx_checked ; No - branch
+;Pgm_Enable_TX_Program = 1 enabled
+arming_initial_arm_check:
+ mov A, Initial_Arm ; Yes - check if it is initial arm sequence
+ clr C
+ subb A, #1 ; Is it the initial arm sequence?
+ jnc arming_ppm_check ; Yes - proceed
+
+ jmp wait_for_power_on ; No - branch
+
+arming_ppm_check:
+ mov Temp1, #Pgm_Ppm_Min_Throttle ; Store
+ mov A, @Temp1
+ mov Min_Throttle, A
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ anl A, Flags3 ; Check pwm frequency flags
+ jz throttle_high_cal_start ; If no flag is set (PPM) - branch
+
+ ; PWM tx program entry
+; clr C
+; mov A, New_Rcp ; Load new RC pulse value
+; subb A, #200 ; Is RC pulse max?
+; jc program_by_tx_entry_wait_pwm ; Yes - proceed
+; subb A, #RCP_MAX ; Is RC pulse max?
+; jnc program_by_tx_entry_pwm ; Yes - proceed
+
+; jmp program_by_tx_checked ; No - branch
+
+;program_by_tx_entry_pwm:
+; clr EA ; Disable all interrupts
+; call beep_f4
+; setb EA ; Enable all interrupts
+; call wait100ms
+; clr C
+; mov A, New_Rcp ; Load new RC pulse value
+; subb A, #RCP_STOP ; Below stop?
+; subb A, #200
+; jnc program_by_tx_entry_pwm ; No - start over
+
+;program_by_tx_entry_wait_pwm:
+
+ clr EA
+ call beep_f2
+ call beep_f3
+ call beep_f1
+
+ mov TMOD, #11h ;T0/T1 工作方式1
+ mov CKCON, #02h ;T0/T1 48分频
+ mov P0MDIN, #80h
+ mov P0SKIP, #0FFh
+ call program_by_card ; Yes - enter programming mode
+; ajmp program_by_card_entry
+
+;program_by_tx_entry_wait_pwm:
+; clr EA ; Disable all interrupts
+; call beep_f1
+; call wait10ms
+; call beep_f1
+; setb EA ; Enable all interrupts
+; call wait100ms
+; clr C
+; mov A, New_Rcp ; Load new RC pulse value
+; subb A, #RCP_MAX ; At or above max?
+; jc program_by_tx_entry_wait_pwm ; No - start over
+
+; call program_by_tx ; Yes - enter programming mode
+; jmp program_by_tx_checked
+
+ ; PPM throttle calibration and tx program entry
+;计算PPM最大，最小油门并存储
+throttle_high_cal_start:
+ mov Temp8, #5 ; Set 3 seconds wait time
+throttle_high_cal:
+ setb Flags3.FULL_THROTTLE_RANGE ; Set range to 1000-2020us
+ call Find_Throttle_Gain ; Set throttle gain
+ call wait100ms ; Wait for new throttle value
+ clr EA ; Disable interrupts (freeze New_Rcp value)
+ clr Flags3.FULL_THROTTLE_RANGE ; Set programmed range
+ call Find_Throttle_Gain ; Set throttle gain
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, #220 ; Is RC pulse above midstick? 1840
+ setb EA ; Enable interrupts
+ jc ($+6)
+ djnz Temp8, throttle_high_cal
+ ajmp throttle_high_cal_save
+
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, Min_Throttle ; Is RC pulse above midstick? 1148
+ jnc ($+4)
+ ajmp arm_target_updated ; No - branch 检测低油门
+
+ clr EA
+ call beep_f1;
+ call wait100ms
+ setb EA
+ ajmp throttle_high_cal_start
+
+throttle_high_cal_save:
+; call wait1s
+ clr C
+ mov A, New_Rcp ; Limit to max 250
+ subb A, #5 ; Subtract about 2% and ensure that it is 250 or lower
+ mov Temp1, #Pgm_Ppm_Max_Throttle ; Store
+ mov @Temp1, A
+ call set_commu_sum_to_zero ;////////////////////////////////////**************************
+ call erase_and_store_all_in_eeprom
+ clr EA
+ call beep_f1;/////////////////////////////////////////成功存储最大油门叫声
+ call beep_f1;/////////////////////////////////////////成功存储最大油门叫声
+ call wait30ms;/////////////////////////////////////////成功存储最大油门叫声
+ call beep_f4;/////////////////////////////////////////成功存储最大油门叫声
+ call beep_f4;/////////////////////////////////////////成功存储最大油门叫声
+ setb EA
+
+ call wait1s
+ call wait1s
+wait_loop_1:
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, #215 ;Is RC pulse above midstick?
+ jnc program_by_tx_entry_wait_ppm
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, #60 ;Is RC pulse above midstick?
+ jnc wait_loop_1
+ ajmp throttle_low_cal_start
+
+ ;PPM编程模式
+program_by_tx_entry_wait_ppm:
+ call program_by_tx ; Yes - enter programming mode 成功进入编程模式
+
+;最小油门设置及退出
+throttle_low_cal_start:
+ mov Temp8, #5 ; Set 3 seconds wait time
+throttle_low_cal:
+; call wait1s
+ setb Flags3.FULL_THROTTLE_RANGE ; Set range to 1000-2020us
+ call Find_Throttle_Gain ; Set throttle gain
+ call wait100ms
+ clr EA ; Disable interrupts (freeze New_Rcp value)
+ clr Flags3.FULL_THROTTLE_RANGE ; Set programmed range
+ call Find_Throttle_Gain ; Set throttle gain
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, #60 ; Below midstick?
+ setb EA ; Enable interrupts
+ jnc throttle_low_cal_start ; No - start over 在中点油门以上，则继续等待，直到检测到在中点油门以下
+ djnz Temp8, throttle_low_cal ; Yes - continue to wait
+; call wait3ms
+ mov A, New_Rcp
+ add A, #5 ; Add about 2%
+ mov Temp1, #Pgm_Ppm_Min_Throttle ; Store
+ mov @Temp1, A
+ call set_commu_sum_to_zero ;////////////////////////////////////**************************
+ call erase_and_store_all_in_eeprom
+
+; clr EA ; Disable all interrupts
+; mov RSTSRC, #12h ; Generate hardware reset 强制复位系统
+
+ ; Set default programmed parameters
+; call set_default_parameters
+ ; Read all programmed parameters
+ call read_all_eeprom_parameters
+ ; Decode parameters
+ call decode_parameters
+ ; Decode governor gains
+ call decode_governor_gains
+ ; Decode throttle rate
+ call decode_throttle_rate
+ ; Decode startup power
+ call decode_startup_power
+ ; Decode demag compensation
+ call decode_demag_comp
+ ; Set BEC voltage
+ call set_bec_voltage
+ ; Find throttle gain from stored min and max settings
+ call find_throttle_gain
+
+program_by_tx_checked:
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, Gov_Arm_Target ; Is RC pulse larger than arm target?
+ jc arm_target_updated ; No - do not update
+
+ mov Gov_Arm_Target, New_Rcp ; Yes - update arm target
+
+arm_target_updated:
+ call wait100ms ; Wait for new throttle value
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, #RCP_STOP ; Below stop?
+ jc arm_end_beep ; Yes - proceed ;最小油门计算好 及 编程结束叫声
+ jmp arm_target_updated ; No - start over
+
+;上电检测到信号后叫第2声（信号检测结束）
+arm_end_beep:
+;改变上电叫方式
+ clr EA ; Disable all interrupts
+ call beep_f1
+ call beep_f1
+ call beep_f1
+ call wait1s
+ ; Beep arm sequence end signal
+
+;*************************************************
+; 增加Lipo节数叫声 2013.5.29
+;*************************************************
+ mov Temp8,Lipo_Cell_Count ;
+lipo_cell_beep:
+ call beep_f1
+ call beep_f1
+ call wait30ms
+ djnz Temp8,lipo_cell_beep
+ call wait200ms
+ call wait200ms
+;///// call beep_f4 ; Signal that rcpulse is ready
+;///// call beep_f4
+;///// call beep_f4
+;改变信号检测OK叫声方式 2013.5.29
+ call beep_f1
+ call wait30ms
+ call wait30ms
+ call beep_f2
+ call wait30ms
+ call wait30ms
+ call beep_f3
+ call wait30ms
+ call wait30ms
+ setb EA ; Enable all interrupts
+ call wait100ms
+
+ ; Measure number of lipo cells
+ call Measure_Lipo_Cells ; Measure number of lipo cells
+
+ ; Clear initial arm variable
+ mov Initial_Arm, #0
+
+ ; Armed and waiting for power on
+wait_for_power_on:
+ clr LOW_LIMIT_STOP ; 清低压保护控制方式2 停止标志
+;////// clr A
+;////// mov Power_On_Wait_Cnt_L, A ; Clear wait counter
+;////// mov Power_On_Wait_Cnt_H, A
+wait_for_power_on_loop:
+ mov Temp8, #50
+;////// inc Power_On_Wait_Cnt_L ; Increment low wait counter
+;////// mov A, Power_On_Wait_Cnt_L
+;////// cpl A
+;////// jnz wait_for_power_on_no_beep; Counter wrapping (about 1 sec)?
+
+;////// inc Power_On_Wait_Cnt_H ; Increment high wait counter
+;********************************************************
+; 读取油门最低未操作等待叫声时间
+;********************************************************
+;读取Pgm_Beacon_Delay
+;////// mov Temp1, #Pgm_Beacon_Delay
+;////// mov A, @Temp1
+;////// mov Temp1, #40 ; Approximately 30 sec
+;////// dec A
+;////// jz beep_delay_set
+
+;////// mov Temp1, #80 ; Approximately 1 min
+;////// dec A
+;////// jz beep_delay_set
+
+;////// mov Temp1, #160 ; Approximately 2 min
+;////// dec A
+;////// jz beep_delay_set
+
+;////// mov Temp1, #240 ; Approximately 3 min
+;////// dec A
+;////// jz beep_delay_set
+
+;////// mov Power_On_Wait_Cnt_H, #0 ; Reset counter for infinite delay
+
+;//////beep_delay_set:
+;////// clr C
+;////// mov A, Power_On_Wait_Cnt_H
+;////// subb A, Temp1 ; Check against chosen delay
+;////// jc wait_for_power_on_no_beep; Has delay elapsed?
+;********************************************************
+; 读取油门最低未操作等待叫声声强设置
+;********************************************************
+;////// dec Power_On_Wait_Cnt_H ; Decrement high wait counter
+;读取Pgm_Beacon_Strength
+;////// mov Temp1, #Pgm_Beacon_Strength
+;////// mov Beep_Strength, @Temp1
+;////// clr EA ; Disable all interrupts
+;////// All_pFETs_Off;///////////////////////////////////////*****************************
+;////// call beep_f4 ; Signal that there is no signal
+;////// setb EA ; Enable all interrupts
+;读取Pgm_Beep_Strength
+;////// mov Temp1, #Pgm_Beep_Strength
+;////// mov Beep_Strength, @Temp1
+;////// call wait100ms ; Wait for new RC pulse to be measured
+
+wait_for_power_on_no_beep:
+ call wait3ms
+ mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
+ jnz wait_for_power_on_ppm_not_missing ; If it is not zero - proceed
+
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jnz wait_for_power_on_ppm_not_missing ; If a flag is set (PWM) - branch
+
+ jmp measure_pwm_freq_init ; If ppm and pulses missing - go back to measure pwm frequency
+
+wait_for_power_on_ppm_not_missing:
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+; subb A, #RCP_STOP ; Higher than stop (plus some hysteresis)?
+ subb A, #(RCP_STOP+7) ; Higher than stop (plus some hysteresis)?
+ jc wait_for_power_on ; No - start over
+ djnz Temp8, wait_for_power_on_no_beep
+ jb LOW_LIMIT_STOP, wait_for_power_on_loop
+ call wait100ms ; Wait to see if start pulse was only a glitch
+ mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
+ jnz ($+5) ; If it is not zero - proceed
+
+ ljmp measure_pwm_freq_init ; If it is zero (pulses missing) - go back to measure pwm frequency
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Start entry point
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+init_start:
+ setb ET0
+ call switch_power_off
+ clr A
+ mov Requested_Pwm, A ; Set requested pwm to zero
+ mov Governor_Req_Pwm, A ; Set governor requested pwm to zero
+ mov Current_Pwm, A ; Set current pwm to zero
+ mov Current_Pwm_Limited, A ; Set limited current pwm to zero
+ mov Pwm_Limit, #0FFh ; Set pwm limit to max
+ mov Temp1, #Pgm_Motor_Idle
+ mov Pwm_Motor_Idle, @Temp1 ; Set idle pwm to programmed value
+ mov Gov_Target_L, A ; Set target to zero
+ mov Gov_Target_H, A
+ mov Gov_Integral_L, A ; Set integral to zero
+ mov Gov_Integral_H, A
+ mov Gov_Integral_X, A
+ mov Adc_Conversion_Cnt, A
+ mov Gov_Active, A
+ mov Flags0, A ; Clear flags0
+ mov Flags1, A ; Clear flags1
+ mov Rcp_Stop_Cnt, A ; Set RC pulse stop count to zero
+ mov Rcp_Stop_Limit, A
+ mov Lipo_Cell_Count, A
+ mov Limit_Count, A
+ mov New_Rcp, #Rcp_MIN
+ call initialize_all_timings ; Initialize timing
+ ;**** **** **** **** ****
+ ; Settle phase beginning
+ ;**** **** **** **** ****
+ mov Adc_Conversion_Cnt, #TEMP_CHECK_RATE ; Make sure a temp reading is done
+ Set_Adc_Ip_Temp
+ call wait1ms
+ call start_adc_conversion
+read_initial_temp:
+ Get_Adc_Status
+ jb AD0BUSY, read_initial_temp
+ Read_Adc_Result ; Read initial temperature
+ mov A, Temp2
+ jnz ($+3) ; Is reading below 256?
+
+ mov Temp1, A ; Yes - set average temperature value to zero
+
+ mov Current_Average_Temp, Temp1 ; Set initial average temperature
+ call check_temp_voltage_and_limit_power
+ mov Adc_Conversion_Cnt, #TEMP_CHECK_RATE ; Make sure a temp reading is done next time
+ Set_Adc_Ip_Temp
+
+ ; Go to the desired startup mode
+; mov Temp1, #Pgm_Startup_Method
+; mov A, @Temp1
+; jnb ACC.0, direct_method_start
+
+; jmp stepper_method_start
+
+direct_method_start:
+ ; Set up start operating conditions
+ mov Temp1, #Pgm_Pwm_Freq
+ mov A, @Temp1
+ mov Temp7, A ; Store setting in Temp7
+ mov @Temp1, #1 ; Set nondamped low frequency pwm mode
+ call decode_parameters ; (Decode_parameters uses Temp1 and Temp8)
+ mov Temp1, #Pgm_Pwm_Freq
+ mov A, Temp7
+ mov @Temp1, A ; Restore settings
+ ; Set max allowed power
+ setb Flags1.SETTLE_PHASE ; Set settle phase power as max
+ clr EA ; Disable interrupts to avoid that Requested_Pwm is overwritten
+ call set_startup_pwm
+ mov Pwm_Limit, Requested_Pwm
+ mov Pwm_Limit_Spoolup, Requested_Pwm
+ setb EA
+ clr Flags1.SETTLE_PHASE
+ mov Current_Pwm_Limited, #0 ; Set low pwm again after calling set_startup_pwm
+ mov Spoolup_Limit_Cnt, #0
+ mov Spoolup_Limit_Skip, #1
+ ; Begin startup sequence
+ setb Flags1.MOTOR_SPINNING ; Set motor spinning flag
+ setb Flags1.DIRECT_STARTUP_PHASE ; Set direct startup phase flag
+ mov Direct_Startup_Ok_Cnt, #0 ; Reset ok counter
+ call comm5comm6 ; Initialize commutation
+ call comm6comm1
+ call calc_next_comm_timing ; Set virtual commutation point
+ call initialize_all_timings ; Initialize timing
+ jmp run1
+
+
+;stepper_method_start:
+; ; Set up start operating conditions
+; mov Temp1, #Pgm_Pwm_Freq
+; mov A, @Temp1
+; mov Temp7, A ; Store setting in Temp7
+; mov @Temp1, #3 ; Set damped light mode
+; mov Temp1, #Pgm_Damping_Force
+; mov A, @Temp1
+; mov Temp6, A ; Store setting in Temp6
+; mov @Temp1, #5 ; Set high damping force
+; call decode_parameters ; (Decode_parameters uses Temp1 and Temp8)
+; mov Temp1, #Pgm_Pwm_Freq
+; mov A, Temp7
+; mov @Temp1, A ; Restore settings
+; mov Temp1, #Pgm_Damping_Force
+; mov A, Temp6
+; mov @Temp1, A
+ ; Begin startup sequence
+; setb Flags1.MOTOR_SPINNING ; Set motor spinning flag
+; setb Flags1.SETTLE_PHASE ; Set motor start settling phase flag
+; setb Flags2.CURR_PWMOFF_DAMPED; Set damped status, in order to ensure that pfets will be turned off in an initial pwm on
+; call comm5comm6 ; Initialize commutation
+; call comm6comm1
+; call set_startup_pwm
+; call wait1ms
+; call comm1comm2
+; call wait1ms
+; call wait1ms
+; call comm2comm3
+; call wait3ms
+; call comm3comm4
+; call wait3ms
+; call wait3ms
+; call comm4comm5
+; call wait10ms ; Settle rotor
+; call comm5comm6
+; call wait3ms
+; call wait1ms
+; clr Flags1.SETTLE_PHASE ; Clear settling phase flag
+; setb Flags1.STEPPER_PHASE ; Set motor start stepper phase flag
+
+; ;**** **** **** **** ****
+; ; Stepper phase beginning
+; ;**** **** **** **** ****
+;stepper_rot_beg:
+; call start_adc_conversion
+; call check_temp_voltage_and_limit_power
+; call set_startup_pwm
+; mov Adc_Conversion_Cnt, #TEMP_CHECK_RATE ; Make sure a temp reading is done next time
+; Set_Adc_Ip_Temp
+
+; call comm6comm1 ; Commutate
+; call calc_next_comm_timing_start ; Update timing and set timer
+; call calc_new_wait_times
+; call decrement_stepper_step
+; call stepper_timer_wait
+
+; call comm1comm2
+; call calc_next_comm_timing_start
+; call calc_new_wait_times
+; call decrement_stepper_step
+; call stepper_timer_wait
+
+; call comm2comm3
+; call calc_next_comm_timing_start
+; call calc_new_wait_times
+; call decrement_stepper_step
+; call stepper_timer_wait
+
+; call comm3comm4
+; call calc_next_comm_timing_start
+; call calc_new_wait_times
+; call decrement_stepper_step
+; call stepper_timer_wait
+
+; call comm4comm5
+; call calc_next_comm_timing_start
+; call calc_new_wait_times
+; call decrement_stepper_step
+; call stepper_timer_wait
+
+; call comm5comm6
+; call calc_next_comm_timing_start
+; call calc_new_wait_times
+; call decrement_stepper_step
+; ; Check stepper step versus end criteria
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, Stepper_Step_End_L ; Minimum Stepper_Step_End
+; mov A, Wt_Stepper_Step_H
+; subb A, Stepper_Step_End_H
+; jc stepper_rot_exit ; Branch if lower than minimum
+
+; ; Wait for step
+; call stepper_timer_wait
+; clr C
+; mov A, New_Rcp ; Load new pulse value
+; subb A, #RCP_STOP ; Check if pulse is below stop value
+; jnc stepper_rot_beg
+
+; jmp run_to_wait_for_power_on
+
+;stepper_rot_exit:
+; ; Wait for step
+; call stepper_timer_wait
+; ; Clear stepper phase
+; clr Flags1.STEPPER_PHASE ; Clear motor start stepper phase flag
+; ; Set dondamped low pwm frequency
+; mov Temp1, #Pgm_Pwm_Freq
+; mov A, @Temp1
+; mov Temp7, A ; Store setting in Temp7
+; mov @Temp1, #2 ; Set nondamped low frequency pwm mode
+; call decode_parameters ; (Decode_parameters uses Temp1 and Temp8)
+; mov Temp1, #Pgm_Pwm_Freq
+; mov A, Temp7
+; mov @Temp1, A ; Restore settings
+; ; Set spoolup power variables (power is now controlled from RCP)
+; mov Pwm_Limit, Requested_Pwm
+; mov Pwm_Limit_Spoolup, Pwm_Spoolup_Beg
+; mov Current_Pwm_Limited, Pwm_Spoolup_Beg
+; mov Spoolup_Limit_Cnt, #0
+; mov Spoolup_Limit_Skip, #1
+; ; Set direct startup phase to aquire sync quickly
+; setb Flags1.DIRECT_STARTUP_PHASE ; Set direct startup phase flag
+; mov Direct_Startup_Ok_Cnt, #0 ; Reset ok counter
+; clr EA ; Disable interrupts
+; ApFET_off ; Ap off. Turn off unused pfets (to turn off damping fets that might be on)
+; CpFET_off ; Cp off
+; mov A, #45 ; 8us delay for pfets to go off
+; djnz ACC, $
+; setb EA ; Enable interrupts
+; call comm6comm1
+; call calc_next_comm_timing ; Calculate next timing and start advance timing wait
+; call wait_advance_timing ; Wait advance timing and start zero cross wait
+; call calc_new_wait_times
+; call wait_before_zc_scan ; Wait zero cross wait and start zero cross timeout
+; mov Adc_Conversion_Cnt, #0 ; Make sure a voltage reading is done next time
+; Set_Adc_Ip_Volt ; Set adc measurement to voltage
+; jmp run1
+
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Run entry point
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+damped_transition:
+ ; Transition from nondamped to damped if applicable
+ call decode_parameters ; Set programmed parameters
+ call comm6comm1
+ mov Adc_Conversion_Cnt, #0 ; Make sure a voltage reading is done next time
+ Set_Adc_Ip_Volt ; Set adc measurement to voltage
+
+; Run 1 = B(p-on) + C(n-pwm) - comparator A evaluated
+; Out_cA changes from high to low
+run1:
+ call wait_for_comp_out_high ; Wait zero cross wait and wait for high
+ call evaluate_comparator_integrity ; Check whether comparator reading has been normal
+ call setup_comm_wait ; Setup wait time from zero cross to commutation
+ call calc_governor_target ; Calculate governor target
+ call wait_for_comm ; Wait from zero cross to commutation
+ call comm1comm2 ; Commutate
+ call calc_next_comm_timing ; Calculate next timing and start advance timing wait
+ call wait_advance_timing ; Wait advance timing and start zero cross wait
+ call calc_new_wait_times
+ call wait_before_zc_scan ; Wait zero cross wait and start zero cross timeout
+
+; Run 2 = A(p-on) + C(n-pwm) - comparator B evaluated
+; Out_cB changes from low to high
+run2:
+ call wait_for_comp_out_low
+ call evaluate_comparator_integrity
+ call setup_comm_wait
+ call calc_governor_prop_error
+ call wait_for_comm
+ call comm2comm3
+ call calc_next_comm_timing
+ call wait_advance_timing
+ call calc_new_wait_times
+ call wait_before_zc_scan
+
+; Run 3 = A(p-on) + B(n-pwm) - comparator C evaluated
+; Out_cC changes from high to low
+run3:
+ call wait_for_comp_out_high
+ call evaluate_comparator_integrity
+ call setup_comm_wait
+ call calc_governor_int_error
+ call wait_for_comm
+ call comm3comm4
+ call calc_next_comm_timing
+ call wait_advance_timing
+ call calc_new_wait_times
+ call wait_before_zc_scan
+
+; Run 4 = C(p-on) + B(n-pwm) - comparator A evaluated
+; Out_cA changes from low to high
+run4:
+ call wait_for_comp_out_low
+ call evaluate_comparator_integrity
+ call setup_comm_wait
+ call calc_governor_prop_correction
+ call wait_for_comm
+ call comm4comm5
+ call calc_next_comm_timing
+ call wait_advance_timing
+ call calc_new_wait_times
+ call wait_before_zc_scan
+
+; Run 5 = C(p-on) + A(n-pwm) - comparator B evaluated
+; Out_cB changes from high to low
+run5:
+ call wait_for_comp_out_high
+ call evaluate_comparator_integrity
+ call setup_comm_wait
+ call calc_governor_int_correction
+ call wait_for_comm
+ call comm5comm6
+ call calc_next_comm_timing
+ call wait_advance_timing
+ call calc_new_wait_times
+ call wait_before_zc_scan
+
+; Run 6 = B(p-on) + A(n-pwm) - comparator C evaluated
+; Out_cC changes from low to high
+run6:
+ call wait_for_comp_out_low
+ call start_adc_conversion
+ call evaluate_comparator_integrity
+ call setup_comm_wait
+ call check_temp_voltage_and_limit_power
+ call wait_for_comm
+ call comm6comm1
+ call calc_next_comm_timing
+ call wait_advance_timing
+ call calc_new_wait_times
+ call wait_before_zc_scan
+
+ ; Check if it is direct startup
+ jnb Flags1.DIRECT_STARTUP_PHASE, normal_run_checks
+
+ ; Set spoolup power variables
+IF MODE == 0 OR MODE == 2
+ mov Pwm_Limit, Pwm_Spoolup_Beg ; Set initial max power
+ mov Pwm_Limit_Spoolup, Pwm_Spoolup_Beg ; Set initial slow spoolup power
+ENDIF
+IF MODE == 1
+ mov Pwm_Limit, #0FFh ; Allow full power
+ mov Pwm_Limit_Spoolup, #0FFh
+ENDIF
+ mov Spoolup_Limit_Cnt, #0
+ mov Spoolup_Limit_Skip, #1
+ ; Check startup ok counter
+ clr C
+ mov A, Direct_Startup_Ok_Cnt ; Load ok counter
+ subb A, #100 ; Is counter above requirement?
+ jc direct_start_check_rcp ; No - proceed
+
+ clr Flags1.DIRECT_STARTUP_PHASE ; Clear direct startup phase flag
+ setb Flags1.INITIAL_RUN_PHASE ; Set initial run phase flag
+ mov Startup_Rot_Cnt, #20 ; Set startup rotation count
+ jmp normal_run_checks
+
+direct_start_check_rcp:
+ clr C
+ mov A, New_Rcp ; Load new pulse value
+ subb A, #RCP_STOP ; Check if pulse is below stop value
+ jc ($+5)
+
+ ljmp run1 ; Continue to run
+
+ jmp run_to_wait_for_power_on
+
+
+normal_run_checks:
+ ; Check if it is initial run phase
+ jnb Flags1.INITIAL_RUN_PHASE, initial_run_phase_done; If not initial run phase - branch
+
+ ; Decrement startup rotaton count
+ mov A, Startup_Rot_Cnt
+ dec A
+ ; Check number of nondamped rotations
+ jnz normal_run_check_startup_rot ; Branch if counter is not zero
+
+ clr Flags1.INITIAL_RUN_PHASE ; Clear initial run phase flag
+ ljmp damped_transition ; Do damped transition if counter is zero
+
+normal_run_check_startup_rot:
+ mov Startup_Rot_Cnt, A ; Not zero - store counter
+
+ clr C
+ mov A, New_Rcp ; Load new pulse value
+ subb A, #RCP_STOP ; Check if pulse is below stop value
+ jc ($+5)
+
+ ljmp run1 ; Continue to run
+
+ jmp run_to_wait_for_power_on
+
+
+initial_run_phase_done:
+ ; Exit run loop after a given time
+ clr C
+ mov A, Rcp_Stop_Cnt ; Load stop RC pulse counter value
+;///// subb A, #RCP_STOP_LIMIT ; Is number of stop RC pulses above limit?
+ subb A, Rcp_Stop_Limit ; Is number of stop RC pulses above limit?
+ jnc run_to_wait_for_power_on ; Yes, go back to wait for poweron
+
+run6_check_rcp_timeout:
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jnz run6_check_speed ; If a flag is set (PWM) - branch
+
+ mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
+ jz run_to_wait_for_power_on ; If it is zero - go back to wait for poweron
+
+run6_check_speed:
+ clr C
+ mov A, Comm_Period4x_H ; Is Comm_Period4x more than 32ms (~1220 eRPM)?
+ subb A, #0F0h
+ jnc run_to_wait_for_power_on ; Yes - go back to motor start
+ jmp run1 ; Go back to run 1
+
+
+run_to_wait_for_power_on:
+
+ call switch_power_off
+ mov Temp1, #Pgm_Pwm_Freq
+ mov A, @Temp1
+ mov Temp7, A ; Store setting in Temp7
+ mov @Temp1, #1 ; Set low pwm mode (in order to turn off damping)
+ call decode_parameters ; (Decode_parameters uses Temp1 and Temp8)
+ mov Temp1, #Pgm_Pwm_Freq
+ mov A, Temp7
+ mov @Temp1, A ; Restore settings
+ clr A
+ mov Requested_Pwm, A ; Set requested pwm to zero
+ mov Governor_Req_Pwm, A ; Set governor requested pwm to zero
+ mov Current_Pwm, A ; Set current pwm to zero
+ mov Current_Pwm_Limited, A ; Set limited current pwm to zero
+ mov Pwm_Motor_Idle, A ; Set motor idle to zero
+ clr Flags1.MOTOR_SPINNING ; Clear motor spinning flag
+ call wait1ms ; Wait for pwm to be stopped
+ call switch_power_off
+ call wait10ms
+ clr ET0
+ jb Flags2.PGM_PWMOFF_DAMPED, light_damp
+ ajmp damp_exit
+
+light_damp:
+ jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, ($+7)
+ setb P1.BnFET
+ ajmp damp_exit
+ jb Flags2.PGM_PWMOFF_DAMPED_FULL, high_damp
+ A_B_nFETs_On
+ ajmp damp_exit
+high_damp:
+ All_nFETs_On
+damp_exit:
+
+IF MODE == 0 ; Main
+ mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ anl A, Flags3 ; Check pwm frequency flags
+ jnz run_to_next_state_main ; If a flag is set (PWM) - branch
+
+ mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
+ jnz run_to_next_state_main ; If it is not zero - branch
+
+ jmp measure_pwm_freq_init ; If it is zero (pulses missing) - go back to measure pwm frequency
+
+run_to_next_state_main:
+ mov Temp1, #Pgm_Startup_Method ; Check if it is stepped startup
+ mov A, @Temp1
+ jnb ACC.0, run_to_next_state_main_wait_done ; If direct startup - jump
+
+ call wait1s ; 3 second delay before new startup (in stepped mode)
+ call wait1s
+ call wait1s
+run_to_next_state_main_wait_done:
+;读取Pgm_Main_Rearm_Start
+ mov Temp1, #Pgm_Main_Rearm_Start
+ mov A, @Temp1
+ clr C
+ subb A, #1 ; Is re-armed start enabled?
+ jc jmp_wait_for_power_on ; No - do like tail and start immediately
+
+ jmp validate_rcp_start ; Yes - go back to validate RC pulse
+;Pgm_Main_Rearm_Start = 第2项 disabled
+jmp_wait_for_power_on:
+ jmp wait_for_power_on ; Go back to wait for power on
+ENDIF
+IF MODE >= 1 ; Tail or multi
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jnz jmp_wait_for_power_on ; If a flag is set (PWM) - branch
+
+ mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
+ jnz jmp_wait_for_power_on ; If it is not zero - go back to wait for poweron
+
+ jmp measure_pwm_freq_init ; If it is zero (pulses missing) - go back to measure pwm frequency
+
+jmp_wait_for_power_on:
+ jmp wait_for_power_on_loop ; Go back to wait for power on
+ENDIF
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+
+$include (BLHeliTxPgm.inc) ; Include source code for programming the ESC with the TX
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+
+
+
+
+END$NOMOD51
+;**** **** **** **** ****
+;
+; 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 .
+;
+;**** **** **** **** ****
+;
+; The software was initially designed for use with Eflite mCP X, but is now adapted to a copters/planes in general
+;
+; The software was inspired by and started from from Bernard Konze's BLMC: http://home.versanet.de/~bkonze/blc_6a/blc_6a.htm
+; And also Simon Kirby's TGY: https://github.com/sim-/tgy
+;
+; This file is best viewed with tab width set to 5
+;
+; The input signal can be positive 1kHz, 2kHz, 4kHz or 8kHz PWM (taken from the "resistor tap" on mCPx)
+; And the input signal can be PPM (1-2ms) at rates up to several hundred Hz.
+; The code adapts itself to the various input modes/frequencies
+; The code ESC can also be programmed to accept inverted input signal.
+;
+; The first lines of the software must be modified according to the chosen environment:
+; Uncomment the selected ESC and main/tail/multi mode
+; BESC EQU "ESC"_"mode"
+;
+;**** **** **** **** ****
+; Revision history:
+; - Rev1.0: Initial revision based upon BLHeli for AVR controllers
+; - Rev2.0: Changed "Eeprom" initialization, layout and defaults
+; Various changes and improvements to comparator reading. Now using timer1 for time from pwm on/off
+; Beeps are made louder
+; Added programmable low voltage limit
+; Added programmable damped tail mode (only for 1S ESCs)
+; Added programmable motor rotation direction
+; - Rev2.1: (minor changes by 4712)
+; Added Disable TX Programming by PC Setup Application
+; therfore changed EEPROM_LAYOUT_REVISION = 8
+; Added Vdd Monitor as reset source when writing to "EEProm"
+; Changed for use of batch file to assemble, link and make hex files
+; - Rev2.2: (minor changes by 4712)
+; Added Disable Throttle Re-Arming every motor start by PC Setup Application
+; - Rev2.3: (minor changes by 4712)
+; Added bugfixed (2x CLR C before j(n)c operations)thx Steffen!
+; - Rev2.4: Revisions 2.1 to 2.3 integrated
+; - Rev3.0: Added PPM (1050us-1866us) as accepted input signal
+; Added startup rpm as a programming parameter
+; Added startup acceleration as a programming parameter
+; Added option for using voltage measurements to compensate motor power
+; Added governor target by setup as a governor mode option
+; Governor is kept active regardless of rpm
+; Smooth governor spoolup/down in arm and setup modes
+; Increased governor P and I gain programming ranges
+; Increased and changed low voltage limit programming range
+; Disabled tx programming entry for all but the first arming sequence after power on
+; Made it possible to skip parameters in tx programming by setting throttle midstick
+; Made it default not to rearm for every restart
+; - Rev3.1: Fixed bug that prevented chosen parameter to be set in tx programming
+; - Rev3.2: ...also updated the EEPROM revision parameter
+; - Rev3.3: Fixed negative number bug in voltage compensation
+; Fixed bug in startup power calculation for non-default power
+; Prevented possibility for voltage compensation fighting low voltage limiting
+; Applied overall spoolup control to ensure soft spoolup in any mode
+; Added a delay of 3 seconds from initiation of main motor stop until new startup is allowed
+; Reduced beep power to reduce power consumption for very strong motors/ESCs
+; - Rev3.4: Fixed bug that prevented full power in governor arm and setup modes
+; Increased NFETON_DELAY for XP_7A and XP_12A to allow for more powerful fets
+; Increased initial spoolup power, and linked to startup power
+; - Rev4.0: Fixed bug that made tail tx program beeps very weak
+; Added thermal protection feature
+; Governor P and I gain ranges are extended up to 8.0x gain
+; Startup sequence is aborted upon zero throttle
+; Avoided voltage compensation function induced latency for tail when voltage compensation is not enabled
+; Improved input signal frequency detection robustness
+; - Rev4.1: Increased thermal protection temperature limits
+; - Rev5.0: Added multi(copter) operating mode. TAIL define changed to MODE with three modes: MAIN, TAIL and MULTI
+; Added programmable commutation timing
+; Added a damped light mode that has less damping, but that can be used with all escs
+; Added programmable damping force
+; Added thermal protection for startup too
+; Added wait beeps when waiting more than 30 sec for throttle above zero (after having been armed)
+; Modified tail idling to provide option for very low speeds
+; Changed PPM range to 1150-1830us
+; Arming sequence is dropped for PPM input, unless it is governor arm mode
+; Loss of input signal will immediately stop the motor for PPM input
+; Bug corrected in Turnigy Plush 6A voltage measurement setup
+; FET switching delays are set for original fets. Stronger/doubled/tripled etc fets may require faster pfet off switching
+; Miscellaneous other changes
+; - Rev6.0: Reverted comparator reading routine to rev5.0 equivalent, in order to avoid tail motor stops
+; Added governor range programmability
+; Implemented startup retry sequence with varying startup power for multi mode
+; In damped light mode, damping is now applied to the active nfet phase for fully damped capable ESCs
+; - Rev6.1: Added input signal qualification criteria for PPM, to avoid triggering on noise spikes (fix for plush hardware)
+; Changed main and multi mode stop criteria. Will now be in run mode, even if RC pulse input is zero
+; Fixed bug in commutation that caused rough running in damped light mode
+; Miscellaneous other changes
+; - Rev7.0 Added direct startup mode programmability
+; Added throttle calibration. Min>=1000us and Max<=2000us. Difference must be >520us, otherwise max is shifted so that difference=520us
+; Added programmable throttle change rate
+; Added programmable beep strength, beacon strength and beacon delay
+; Reduced power step to full power significantly
+; Miscellaneous other changes
+; - Rev8.0 Added a 2 second delay after power up, to wait for receiver initialization
+; Added a programming option for disabling low voltage limit, and made it default for MULTI
+; Added programable demag compensation, using the concept of SimonK
+; Improved robustness against noisy input signal
+; Refined direct startup
+; Removed voltage compensation
+; Miscellaneous other changes
+; - Rev9.0 Increased programming range for startup power, and made it's default ESC dependent
+; Made default startup method ESC dependent
+; Even more smooth and gentle spoolup for MAIN, to suit larger helis
+; Improved transition from stepped startup to run
+; Refined direct startup
+; - Rev9.1 Fixed bug that changed FW revision after throttle calibration or TX programming
+; - Rev9.2 Altered timing of throttle calibration in order to work with MultiWii calibration firmware
+; Reduced main spoolup time to around 5 seconds
+; Changed default beacon delay to 3 minutes
+; - Rev9.3 Fixed bug in Plush 60/80A temperature reading, that caused failure in operation above 4S
+; Corrected temperature limit for HiModel cool 22/33/41A, RCTimer 6A, Skywalker 20/40A, Turnigy AE45A, Plush 40/60/80A. Limit was previously set too high
+; - Rev9.4 Improved timing for increased maximum rpm limit
+; - Rev10.0 Added closed loop mode for multi
+; Added high/low BEC voltage option (for the ESCs where HW supports it)
+; Added method of resetting all programmed parameter values to defaults by TX programming
+; Added Turnigy K-force 40A and Turnigy K-force 120A HV ESCs
+; Enabled fully damped mode for several ESCs
+; Extended startup power range downwards to enable very smooth start for large heli main motors
+; Extended damping force with a highest setting
+; Corrected temperature limits for F310 chips (Plush 40A and AE 45A)
+; Implemented temperature reading average in order to avoid problems with ADC noise on Skywalkers
+; Increased switching delays for XP 7A fast, in order to avoid cross conduction of N and P fets
+; Miscellaneous other changes
+; - Rev10.1 Relaxed RC signal jitter requirement during frequency measurement
+; Corrected bug that prevented using governor low
+; Enabled vdd monitor always, in order to reduce likelihood of accidental overwriting of adjustments
+; Fixed bug that caused stop for PPM input above 2048us, and moved upper accepted limit to 2160us
+; - Rev10.2 Corrected temperature limit for AE20-30/XP7-25, where limit was too high
+; Corrected temperature limit for 120HV, where limit was too low
+; Fixed bug that caused AE20/25/30A not to run in reverse
+;
+;
+;**** **** **** **** ****
+; Up to 8K Bytes of In-System Self-Programmable Flash
+; 768 Bytes Internal SRAM
+;
+;**** **** **** **** ****
+; Master clock is internal 24MHz oscillator
+; Timer 0 (167/500ns counts) always counts up and is used for
+; - PWM generation
+; Timer 1 (167/500ns counts) always counts up and is not used
+; - Time from pwm on/off event
+; Timer 2 (500ns counts) always counts up and is used for
+; - RC pulse timeout/skip counts and commutation times
+; Timer 3 (500ns counts) always counts up and is used for
+; - Commutation timeouts
+; PCA0 (500ns counts) always counts up and is used for
+; - RC pulse measurement
+;
+;**** **** **** **** ****
+; Interrupt handling
+; The F330/2 does not disable interrupts when entering an interrupt routine.
+; Also some interrupt flags need to be cleared by software
+; The code disables interrupts in interrupt routines, in order to avoid nested interrupts
+; - Interrupts are disabled during beeps, to avoid audible interference from interrupts
+; - RC pulse interrupts are periodically disabled in order to reduce interference with pwm interrupts.
+;
+;**** **** **** **** ****
+; Motor control:
+; - Brushless motor control with 6 states for each electrical 360 degrees
+; - An advance timing of 0deg has zero cross 30deg after one commutation and 30deg before the next
+; - Timing advance in this implementation is set to 15deg nominally
+; - "Damped" commutation schemes are available, where more than one pfet is on when pwm is off. This will absorb energy from bemf and make step settling more damped.
+; Motor sequence starting from zero crossing:
+; - Timer wait: Wt_Comm 15deg ; Time to wait from zero cross to actual commutation
+; - Timer wait: Wt_Advance 15deg ; Time to wait for timing advance. Nominal commutation point is after this
+; - Timer wait: Wt_Zc_Scan 7.5deg ; Time to wait before looking for zero cross
+; - Scan for zero cross 22.5deg , Nominal, with some motor variations
+;
+; Motor startup in stepper mode:
+; Initial motor rotations are done with the motor controlled as a stepper motor.
+; In this stepper motor mode comparator information is not used.
+; Settle phase is the first, where there are a few commutations with increasing step length, in order to settle the motor in a predefined position.
+; Stepper phase comes next, where there is a step length decrease sequence.
+; Direct startup is the last phase, for synchronization before normal bemf commutation run begins.
+; Motor startup in direct mode:
+; Direct startup is the only phase, before normal bemf commutation run begins.
+;
+;**** **** **** **** ****
+; List of enumerated supported ESCs and modes (main, tail or multi)
+XP_3A_Main EQU 1
+XP_3A_Tail EQU 2
+XP_3A_Multi EQU 3
+XP_7A_Main EQU 4
+XP_7A_Tail EQU 5
+XP_7A_Multi EQU 6
+XP_7A_Fast_Main EQU 7
+XP_7A_Fast_Tail EQU 8
+XP_7A_Fast_Multi EQU 9
+XP_12A_Main EQU 10
+XP_12A_Tail EQU 11
+XP_12A_Multi EQU 12
+XP_18A_Main EQU 13
+XP_18A_Tail EQU 14
+XP_18A_Multi EQU 15
+XP_25A_Main EQU 16
+XP_25A_Tail EQU 17
+XP_25A_Multi EQU 18
+DP_3A_Main EQU 19
+DP_3A_Tail EQU 20
+DP_3A_Multi EQU 21
+Supermicro_3p5A_Main EQU 22
+Supermicro_3p5A_Tail EQU 23
+Supermicro_3p5A_Multi EQU 24
+Turnigy_Plush_6A_Main EQU 25
+Turnigy_Plush_6A_Tail EQU 26
+Turnigy_Plush_6A_Multi EQU 27
+Turnigy_Plush_10A_Main EQU 28
+Turnigy_Plush_10A_Tail EQU 29
+Turnigy_Plush_10A_Multi EQU 30
+Turnigy_Plush_12A_Main EQU 31
+Turnigy_Plush_12A_Tail EQU 32
+Turnigy_Plush_12A_Multi EQU 33
+Turnigy_Plush_18A_Main EQU 34
+Turnigy_Plush_18A_Tail EQU 35
+Turnigy_Plush_18A_Multi EQU 36
+Turnigy_Plush_25A_Main EQU 37
+Turnigy_Plush_25A_Tail EQU 38
+Turnigy_Plush_25A_Multi EQU 39
+Turnigy_Plush_30A_Main EQU 40
+Turnigy_Plush_30A_Tail EQU 41
+Turnigy_Plush_30A_Multi EQU 42
+Turnigy_Plush_40A_Main EQU 43
+Turnigy_Plush_40A_Tail EQU 44
+Turnigy_Plush_40A_Multi EQU 45
+Turnigy_Plush_60A_Main EQU 46
+Turnigy_Plush_60A_Tail EQU 47
+Turnigy_Plush_60A_Multi EQU 48
+Turnigy_Plush_80A_Main EQU 49
+Turnigy_Plush_80A_Tail EQU 50
+Turnigy_Plush_80A_Multi EQU 51
+Turnigy_AE_20A_Main EQU 52
+Turnigy_AE_20A_Tail EQU 53
+Turnigy_AE_20A_Multi EQU 54
+Turnigy_AE_25A_Main EQU 55
+Turnigy_AE_25A_Tail EQU 56
+Turnigy_AE_25A_Multi EQU 57
+Turnigy_AE_30A_Main EQU 58
+Turnigy_AE_30A_Tail EQU 59
+Turnigy_AE_30A_Multi EQU 60
+Turnigy_AE_45A_Main EQU 61
+Turnigy_AE_45A_Tail EQU 62
+Turnigy_AE_45A_Multi EQU 63
+Turnigy_KForce_40A_Main EQU 64
+Turnigy_KForce_40A_Tail EQU 65
+Turnigy_KForce_40A_Multi EQU 66
+Turnigy_KForce_120A_HV_Main EQU 67
+Turnigy_KForce_120A_HV_Tail EQU 68
+Turnigy_KForce_120A_HV_Multi EQU 69
+Skywalker_20A_Main EQU 70
+Skywalker_20A_Tail EQU 71
+Skywalker_20A_Multi EQU 72
+Skywalker_40A_Main EQU 73
+Skywalker_40A_Tail EQU 74
+Skywalker_40A_Multi EQU 75
+HiModel_Cool_22A_Main EQU 76
+HiModel_Cool_22A_Tail EQU 77
+HiModel_Cool_22A_Multi EQU 78
+HiModel_Cool_33A_Main EQU 79
+HiModel_Cool_33A_Tail EQU 80
+HiModel_Cool_33A_Multi EQU 81
+HiModel_Cool_41A_Main EQU 82
+HiModel_Cool_41A_Tail EQU 83
+HiModel_Cool_41A_Multi EQU 84
+RCTimer_6A_Main EQU 85
+RCTimer_6A_Tail EQU 86
+RCTimer_6A_Multi EQU 87
+Align_RCE_BL15X_Main EQU 88
+Align_RCE_BL15X_Tail EQU 89
+Align_RCE_BL15X_Multi EQU 90
+Align_RCE_BL35X_Main EQU 91
+Align_RCE_BL35X_Tail EQU 92
+Align_RCE_BL35X_Multi EQU 93
+Align_RCE_BL35P_Main EQU 94
+Align_RCE_BL35P_Tail EQU 95
+Align_RCE_BL35P_Multi EQU 96
+H_King_10A_Main EQU 97
+H_King_10A_Tail EQU 98
+H_King_10A_Multi EQU 99
+
+;**** **** **** **** ****
+; Select the ESC and mode to use (or unselect all for use with external batch compile file)
+;BESC EQU XP_3A_Main
+;BESC EQU XP_3A_Tail
+;BESC EQU XP_3A_Multi
+;BESC EQU XP_7A_Main
+;BESC EQU XP_7A_Tail
+;BESC EQU XP_7A_Multi
+;BESC EQU XP_7A_Fast_Main
+;BESC EQU XP_7A_Fast_Tail
+;BESC EQU XP_7A_Fast_Multi
+;BESC EQU XP_12A_Main
+;BESC EQU XP_12A_Tail
+;BESC EQU XP_12A_Multi
+;BESC EQU XP_18A_Main
+;BESC EQU XP_18A_Tail
+BESC EQU XP_18A_Multi
+;BESC EQU XP_25A_Main
+;BESC EQU XP_25A_Tail
+;BESC EQU XP_25A_Multi
+;BESC EQU DP_3A_Main
+;BESC EQU DP_3A_Tail
+;BESC EQU DP_3A_Multi
+;BESC EQU Supermicro_3p5A_Main
+;BESC EQU Supermicro_3p5A_Tail
+;BESC EQU Supermicro_3p5A_Multi
+;BESC EQU Turnigy_Plush_6A_Main
+;BESC EQU Turnigy_Plush_6A_Tail
+;BESC EQU Turnigy_Plush_6A_Multi
+;BESC EQU Turnigy_Plush_10A_Main
+;BESC EQU Turnigy_Plush_10A_Tail
+;BESC EQU Turnigy_Plush_10A_Multi
+;BESC EQU Turnigy_Plush_12A_Main
+;BESC EQU Turnigy_Plush_12A_Tail
+;BESC EQU Turnigy_Plush_12A_Multi
+;BESC EQU Turnigy_Plush_18A_Main
+;BESC EQU Turnigy_Plush_18A_Tail
+;BESC EQU Turnigy_Plush_18A_Multi
+;BESC EQU Turnigy_Plush_25A_Main
+;BESC EQU Turnigy_Plush_25A_Tail
+;BESC EQU Turnigy_Plush_25A_Multi
+;BESC EQU Turnigy_Plush_30A_Main
+;BESC EQU Turnigy_Plush_30A_Tail
+;BESC EQU Turnigy_Plush_30A_Multi
+;BESC EQU Turnigy_Plush_40A_Main
+;BESC EQU Turnigy_Plush_40A_Tail
+;BESC EQU Turnigy_Plush_40A_Multi
+;BESC EQU Turnigy_Plush_60A_Main
+;BESC EQU Turnigy_Plush_60A_Tail
+;BESC EQU Turnigy_Plush_60A_Multi
+;BESC EQU Turnigy_Plush_80A_Main
+;BESC EQU Turnigy_Plush_80A_Tail
+;BESC EQU Turnigy_Plush_80A_Multi
+;BESC EQU Turnigy_AE_20A_Main
+;BESC EQU Turnigy_AE_20A_Tail
+;BESC EQU Turnigy_AE_20A_Multi
+;BESC EQU Turnigy_AE_25A_Main
+;BESC EQU Turnigy_AE_25A_Tail
+;BESC EQU Turnigy_AE_25A_Multi
+;BESC EQU Turnigy_AE_30A_Main
+;BESC EQU Turnigy_AE_30A_Tail
+;BESC EQU Turnigy_AE_30A_Multi
+;BESC EQU Turnigy_AE_45A_Main
+;BESC EQU Turnigy_AE_45A_Tail
+;BESC EQU Turnigy_AE_45A_Multi
+;BESC EQU Turnigy_KForce_40A_Main
+;BESC EQU Turnigy_KForce_40A_Tail
+;BESC EQU Turnigy_KForce_40A_Multi
+;BESC EQU Turnigy_KForce_120A_HV_Main
+;BESC EQU Turnigy_KForce_120A_HV_Tail
+;BESC EQU Turnigy_KForce_120A_HV_Multi
+;BESC EQU Skywalker_20A_Main
+;BESC EQU Skywalker_20A_Tail
+;BESC EQU Skywalker_20A_Multi
+;BESC EQU Skywalker_40A_Main
+;BESC EQU Skywalker_40A_Tail
+;BESC EQU Skywalker_40A_Multi
+;BESC EQU HiModel_Cool_22A_Main
+;BESC EQU HiModel_Cool_22A_Tail
+;BESC EQU HiModel_Cool_22A_Multi
+;BESC EQU HiModel_Cool_33A_Main
+;BESC EQU HiModel_Cool_33A_Tail
+;BESC EQU HiModel_Cool_33A_Multi
+;BESC EQU HiModel_Cool_41A_Main
+;BESC EQU HiModel_Cool_41A_Tail
+;BESC EQU HiModel_Cool_41A_Multi
+;BESC EQU RCTimer_6A_Main
+;BESC EQU RCTimer_6A_Tail
+;BESC EQU RCTimer_6A_Multi
+;BESC EQU Align_RCE_BL15X_Main
+;BESC EQU Align_RCE_BL15X_Tail
+;BESC EQU Align_RCE_BL15X_Multi
+;BESC EQU Align_RCE_BL35X_Main
+;BESC EQU Align_RCE_BL35X_Tail
+;BESC EQU Align_RCE_BL35X_Multi
+;BESC EQU Align_RCE_BL35P_Main
+;BESC EQU Align_RCE_BL35P_Tail
+;BESC EQU Align_RCE_BL35P_Multi
+;BESC EQU H_King_10A_Main
+;BESC EQU H_King_10A_Tail
+;BESC EQU H_King_10A_Multi
+
+
+;**** **** **** **** ****
+; ESC selection statements
+IF BESC == XP_3A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (XP_3A.inc) ; Select XP 3A pinout
+ENDIF
+
+IF BESC == XP_3A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (XP_3A.inc) ; Select XP 3A pinout
+ENDIF
+
+IF BESC == XP_3A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (XP_3A.inc) ; Select XP 3A pinout
+ENDIF
+
+IF BESC == XP_7A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (XP_7A.inc) ; Select XP 7A pinout
+ENDIF
+
+IF BESC == XP_7A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (XP_7A.inc) ; Select XP 7A pinout
+ENDIF
+
+IF BESC == XP_7A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (XP_7A.inc) ; Select XP 7A pinout
+ENDIF
+
+IF BESC == XP_7A_Fast_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout
+ENDIF
+
+IF BESC == XP_7A_Fast_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout
+ENDIF
+
+IF BESC == XP_7A_Fast_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout
+ENDIF
+
+IF BESC == XP_12A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (XP_12A.inc) ; Select XP 12A pinout
+ENDIF
+
+IF BESC == XP_12A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (XP_12A.inc) ; Select XP 12A pinout
+ENDIF
+
+IF BESC == XP_12A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (XP_12A.inc) ; Select XP 12A pinout
+ENDIF
+
+IF BESC == XP_18A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (XP_18A.inc) ; Select XP 18A pinout
+ENDIF
+
+IF BESC == XP_18A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (XP_18A.inc) ; Select XP 18A pinout
+ENDIF
+
+IF BESC == XP_18A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (XP_18A.inc) ; Select XP 18A pinout
+ENDIF
+
+IF BESC == XP_25A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (XP_25A.inc) ; Select XP 25A pinout
+ENDIF
+
+IF BESC == XP_25A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (XP_25A.inc) ; Select XP 25A pinout
+ENDIF
+
+IF BESC == XP_25A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (XP_25A.inc) ; Select XP 25A pinout
+ENDIF
+
+IF BESC == DP_3A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (DP_3A.inc) ; Select DP 3A pinout
+ENDIF
+
+IF BESC == DP_3A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (DP_3A.inc) ; Select DP 3A pinout
+ENDIF
+
+IF BESC == DP_3A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (DP_3A.inc) ; Select DP 3A pinout
+ENDIF
+
+IF BESC == Supermicro_3p5A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinout
+ENDIF
+
+IF BESC == Supermicro_3p5A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinout
+ENDIF
+
+IF BESC == Supermicro_3p5A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_6A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_6A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_6A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_10A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_10A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_10A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_12A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_12A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_12A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_18A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_18A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_18A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_25A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_25A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_25A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_30A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_30A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_30A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_40A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_40A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_40A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_60A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_60A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_60A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_80A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_80A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinout
+ENDIF
+
+IF BESC == Turnigy_Plush_80A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_20A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_20A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_20A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_25A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_25A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_25A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_30A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_30A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_30A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_45A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_45A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinout
+ENDIF
+
+IF BESC == Turnigy_AE_45A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinout
+ENDIF
+
+IF BESC == Turnigy_KForce_40A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinout
+ENDIF
+
+IF BESC == Turnigy_KForce_40A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinout
+ENDIF
+
+IF BESC == Turnigy_KForce_40A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinout
+ENDIF
+
+IF BESC == Turnigy_KForce_120A_HV_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinout
+ENDIF
+
+IF BESC == Turnigy_KForce_120A_HV_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinout
+ENDIF
+
+IF BESC == Turnigy_KForce_120A_HV_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinout
+ENDIF
+
+IF BESC == Skywalker_20A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Skywalker_20A.inc) ; Select Skywalker 20A pinout
+ENDIF
+
+IF BESC == Skywalker_20A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Skywalker_20A.inc) ; Select Skywalker 20A pinout
+ENDIF
+
+IF BESC == Skywalker_20A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Skywalker_20A.inc) ; Select Skywalker 20A pinout
+ENDIF
+
+IF BESC == Skywalker_40A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Skywalker_40A.inc) ; Select Skywalker 40A pinout
+ENDIF
+
+IF BESC == Skywalker_40A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Skywalker_40A.inc) ; Select Skywalker 40A pinout
+ENDIF
+
+IF BESC == Skywalker_40A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Skywalker_40A.inc) ; Select Skywalker 40A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_22A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_22A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_22A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_33A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_33A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_33A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_41A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_41A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinout
+ENDIF
+
+IF BESC == HiModel_Cool_41A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinout
+ENDIF
+
+IF BESC == RCTimer_6A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (RCTimer_6A.inc) ; Select RC Timer 6A pinout
+ENDIF
+
+IF BESC == RCTimer_6A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (RCTimer_6A.inc) ; Select RC Timer 6A pinout
+ENDIF
+
+IF BESC == RCTimer_6A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (RCTimer_6A.inc) ; Select RC Timer 6A pinout
+ENDIF
+
+IF BESC == Align_RCE_BL15X_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinout
+ENDIF
+
+IF BESC == Align_RCE_BL15X_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinout
+ENDIF
+
+IF BESC == Align_RCE_BL15X_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinout
+ENDIF
+
+IF BESC == Align_RCE_BL35X_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinout
+ENDIF
+
+IF BESC == Align_RCE_BL35X_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinout
+ENDIF
+
+IF BESC == Align_RCE_BL35X_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinout
+ENDIF
+
+IF BESC == Align_RCE_BL35P_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinout
+ENDIF
+
+IF BESC == Align_RCE_BL35P_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinout
+ENDIF
+
+IF BESC == Align_RCE_BL35P_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinout
+ENDIF
+
+IF BESC == H_King_10A_Main
+MODE EQU 0 ; Choose mode. Set to 0 for main motor
+$include (H_King_10A.inc) ; Select H-King 10A pinout
+ENDIF
+
+IF BESC == H_King_10A_Tail
+MODE EQU 1 ; Choose mode. Set to 1 for tail motor
+$include (H_King_10A.inc) ; Select H-King 10A pinout
+ENDIF
+
+IF BESC == H_King_10A_Multi
+MODE EQU 2 ; Choose mode. Set to 2 for multirotor
+$include (H_King_10A.inc) ; Select H-King 10A pinout
+ENDIF
+
+;**** **** **** **** ****
+; TX programming defaults
+;
+; Parameter dependencies:
+; - Governor P gain, I gain and Range is only used if one of the three governor modes is selected
+; - Governor setup target is only used if Setup governor mode is selected (or closed loop mode is on for multi)
+; - Startup rpm and startup accel is only used if stepped startup method is selected
+; - Damping force is only used if DampedLight or Damped is selected
+;
+; Main
+DEFAULT_PGM_MAIN_P_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0
+DEFAULT_PGM_MAIN_I_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0
+DEFAULT_PGM_MAIN_GOVERNOR_MODE EQU 1 ; 1=Tx 2=Arm 3=Setup 4=Off
+DEFAULT_PGM_MAIN_GOVERNOR_RANGE EQU 1 ; 1=High 2=Low
+DEFAULT_PGM_MAIN_LOW_VOLTAGE_LIM EQU 4 ; 1=Off 2=3.0V/c 3=3.1V/c 4=3.2V/c 5=3.3V/c 6=3.4V/c
+DEFAULT_PGM_MAIN_STARTUP_RPM EQU 3 ; 1=0.67 2=0.8 3=1.00 4=1.25 5=1.5
+DEFAULT_PGM_MAIN_STARTUP_ACCEL EQU 1 ; 1=0.4 2=0.7 3=1.0 4=1.5 5=2.3
+DEFAULT_PGM_MAIN_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
+DEFAULT_PGM_MAIN_THROTTLE_RATE EQU 13 ; 1=2 2=3 3=4 4=6 5=8 6=12 7=16 8=24 9=32 10=48 11=64 12=128 13=255
+DEFAULT_PGM_MAIN_DAMPING_FORCE EQU 1 ; 1=VeryLow 2=Low 3=MediumLow 4=MediumHigh 5=High 6=Highest
+DEFAULT_PGM_MAIN_PWM_FREQ EQU 2 ; 1=High 2=Low 3=DampedLight
+DEFAULT_PGM_MAIN_DEMAG_COMP EQU 1 ; 1=Disabled 2=15/0 3=15/7.5 4=7.5/7.5 5=7.5/15 (degrees blind advance / power off)
+DEFAULT_PGM_MAIN_DIRECTION_REV EQU 1 ; 1=Normal 2=Reversed
+DEFAULT_PGM_MAIN_RCP_PWM_POL EQU 1 ; 1=Positive 2=Negative
+DEFAULT_PGM_MAIN_GOV_SETUP_TARGET EQU 180 ; Target for governor in setup mode. Corresponds to 70% throttle
+DEFAULT_PGM_MAIN_REARM_START EQU 0 ; 1=Enabled 0=Disabled
+DEFAULT_PGM_MAIN_BEEP_STRENGTH EQU 80 ; Beep strength
+DEFAULT_PGM_MAIN_BEACON_STRENGTH EQU 100 ; Beacon strength
+DEFAULT_PGM_MAIN_BEACON_DELAY EQU 2 ; 1=30s 2=1m 3=2m 4=3m 5=Infinite
+; Tail
+DEFAULT_PGM_TAIL_GAIN EQU 3 ; 1=0.75 2=0.88 3=1.00 4=1.12 5=1.25
+DEFAULT_PGM_TAIL_IDLE_SPEED EQU 4 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
+DEFAULT_PGM_TAIL_STARTUP_RPM EQU 3 ; 1=0.67 2=0.8 3=1.00 4=1.25 5=1.5
+DEFAULT_PGM_TAIL_STARTUP_ACCEL EQU 5 ; 1=0.4 2=0.7 3=1.0 4=1.5 5=2.3
+DEFAULT_PGM_TAIL_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
+DEFAULT_PGM_TAIL_THROTTLE_RATE EQU 13 ; 1=2 2=3 3=4 4=6 5=8 6=12 7=16 8=24 9=32 10=48 11=64 12=128 13=255
+DEFAULT_PGM_TAIL_DAMPING_FORCE EQU 5 ; 1=VeryLow 2=Low 3=MediumLow 4=MediumHigh 5=High 6=Highest
+IF DAMPED_MODE_ENABLE == 1
+DEFAULT_PGM_TAIL_PWM_FREQ EQU 1 ; 1=High 2=Low 3=DampedLight 4=Damped
+ELSE
+DEFAULT_PGM_TAIL_PWM_FREQ EQU 1 ; 1=High 2=Low 3=DampedLight
+ENDIF
+DEFAULT_PGM_TAIL_DEMAG_COMP EQU 1 ; 1=Disabled 2=15/0 3=15/7.5 4=7.5/7.5 5=7.5/15 (degrees blind advance / power off)
+DEFAULT_PGM_TAIL_DIRECTION_REV EQU 1 ; 1=Normal 2=Reversed
+DEFAULT_PGM_TAIL_RCP_PWM_POL EQU 1 ; 1=Positive 2=Negative
+DEFAULT_PGM_TAIL_BEEP_STRENGTH EQU 250 ; Beep strength
+DEFAULT_PGM_TAIL_BEACON_STRENGTH EQU 250 ; Beacon strength
+DEFAULT_PGM_TAIL_BEACON_DELAY EQU 4 ; 1=30s 2=1m 3=2m 4=3m 5=Infinite
+; Multi
+DEFAULT_PGM_MULTI_FIRST_KEYWORD EQU 66h ;增加首个关键字 2013.8.27
+DEFAULT_PGM_MULTI_P_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0
+DEFAULT_PGM_MULTI_I_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0
+DEFAULT_PGM_MULTI_GOVERNOR_MODE EQU 1 ; 1=Off 2=LoRange 3=MidRange 4=HiRange
+DEFAULT_PGM_MULTI_GAIN EQU 3 ; 1=0.75 2=0.88 3=1.00 4=1.12 5=1.25
+DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM EQU 2
+;DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM EQU 1 ; 1=Off 2=3.0V/c 3=3.1V/c 4=3.2V/c 5=3.3V/c 6=3.4V/c
+DEFAULT_PGM_MULTI_LOW_VOLTAGE_CTL EQU 1 ;增加低压保护控制方式默认值 1=功率逐渐降到31% 2=关闭输出
+DEFAULT_PGM_MULTI_STARTUP_RPM EQU 1 ; 1=0.67 2=0.8 3=1.00 4=1.25 5=1.5
+DEFAULT_PGM_MULTI_STARTUP_ACCEL EQU 5 ; 1=0.4 2=0.7 3=1.0 4=1.5 5=2.3
+DEFAULT_PGM_MULTI_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
+DEFAULT_PGM_MULTI_THROTTLE_RATE EQU 13 ; 1=2 2=3 3=4 4=6 5=8 6=12 7=16 8=24 9=32 10=48 11=64 12=128 13=255
+DEFAULT_PGM_MULTI_DAMPING_FORCE EQU 1 ; 1=VeryLow 2=Low 3=MediumLow 4=MediumHigh 5=High 6=Highest
+IF DAMPED_MODE_ENABLE == 1
+DEFAULT_PGM_MULTI_PWM_FREQ EQU 1 ; 1=Low 2=High
+ELSE
+DEFAULT_PGM_MULTI_PWM_FREQ EQU 1 ; 1=Low 2=High
+ENDIF
+DEFAULT_PGM_MULTI_DEMAG_COMP EQU 2 ; 1=Disabled 2=15/0 3=15/7.5 4=7.5/7.5 5=7.5/15 (degrees blind advance / power off)
+DEFAULT_PGM_MULTI_DIRECTION_REV EQU 1 ; 1=Normal 2=Reversed
+DEFAULT_PGM_MULTI_RCP_PWM_POL EQU 1 ; 1=Positive 2=Negative
+;DEFAULT_PGM_MULTI_BEEP_STRENGTH EQU 40 ; Beep strength
+;DEFAULT_PGM_MULTI_BEACON_STRENGTH EQU 80 ; Beacon strength 等待摇杆操作声强
+;DEFAULT_PGM_MULTI_BEACON_DELAY EQU 4 ; 1=30s 2=1m 3=2m 4=3m 5=Infinite
+DEFAULT_PGM_MULTI_BEEP_STRENGTH EQU 80 ; Beep strength 上电到一次信号拉到最低声强
+DEFAULT_PGM_MULTI_BEACON_STRENGTH EQU 100 ; Beacon strength 等待摇杆操作声强
+DEFAULT_PGM_MULTI_BEACON_DELAY EQU 2 ; 1=30s 2=1m 3=2m 4=3m 5=Infinite 等待摇杆操作时间
+; Common
+DEFAULT_PGM_ENABLE_TX_PROGRAM EQU 1 ; 1=Enabled 0=Disabled
+DEFAULT_PGM_PPM_MIN_THROTTLE EQU 37 ; 4*37+1000=1148
+DEFAULT_PGM_PPM_MAX_THROTTLE EQU 208 ; 4*208+1000=1832
+DEFAULT_PGM_BEC_VOLTAGE_HIGH EQU 0 ; 0=Low 1= High
+
+;**** **** **** **** ****
+; Constant definitions for main
+IF MODE == 0
+
+GOV_SPOOLRATE EQU 1 ; Number of steps for governor requested pwm per 32ms
+
+RCP_TIMEOUT_PPM EQU 10 ; Number of timer2H overflows (about 32ms) before considering rc pulse lost
+RCP_TIMEOUT EQU 64 ; Number of timer2L overflows (about 128us) before considering rc pulse lost
+RCP_SKIP_RATE EQU 32 ; Number of timer2L overflows (about 128us) before reenabling rc pulse detection
+RCP_MIN EQU 0 ; This is minimum RC pulse length
+RCP_MAX EQU 254 ; This is maximum RC pulse length
+RCP_VALIDATE EQU 2 ; Require minimum this pulse length to validate RC pulse
+RCP_STOP EQU 1 ; Stop motor at or below this pulse length
+RCP_STOP_LIMIT EQU 3 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
+
+PWM_SETTLE EQU 50 ; PWM used when in start settling phase (also max power during direct start)
+PWM_STEPPER EQU 80 ; PWM used when in start stepper phase
+
+COMM_TIME_RED EQU 8 ; Fixed reduction (in us) for commutation wait (to account for fixed delays)
+COMM_TIME_MIN EQU 1 ; Minimum time (in us) for commutation wait
+
+TEMP_CHECK_RATE EQU 8 ; Number of adc conversions for each check of temperature (the other conversions are used for voltage)
+
+ENDIF
+; Constant definitions for tail
+IF MODE == 1
+
+GOV_SPOOLRATE EQU 1 ; Number of steps for governor requested pwm per 32ms
+RCP_TIMEOUT_PPM EQU 10 ; Number of timer2H overflows (about 32ms) before considering rc pulse lost
+RCP_TIMEOUT EQU 24 ; Number of timer2L overflows (about 128us) before considering rc pulse lost
+RCP_SKIP_RATE EQU 6 ; Number of timer2L overflows (about 128us) before reenabling rc pulse detection
+RCP_MIN EQU 0 ; This is minimum RC pulse length
+RCP_MAX EQU 255 ; This is maximum RC pulse length
+RCP_VALIDATE EQU 2 ; Require minimum this pulse length to validate RC pulse
+RCP_STOP EQU 1 ; Stop motor at or below this pulse length
+RCP_STOP_LIMIT EQU 130 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
+
+PWM_SETTLE EQU 50 ; PWM used when in start settling phase (also max power during direct start)
+PWM_STEPPER EQU 120 ; PWM used when in start stepper phase
+
+COMM_TIME_RED EQU 8 ; Fixed reduction (in us) for commutation wait (to account for fixed delays)
+COMM_TIME_MIN EQU 1 ; Minimum time (in us) for commutation wait
+
+TEMP_CHECK_RATE EQU 8 ; Number of adc conversions for each check of temperature (the other conversions are used for voltage)
+
+ENDIF
+; Constant definitions for multi
+IF MODE == 2
+
+GOV_SPOOLRATE EQU 1 ; Number of steps for governor requested pwm per 32ms
+
+RCP_TIMEOUT_PPM EQU 64 ; Number of timer2H overflows (about 32ms) before considering rc pulse lost
+RCP_TIMEOUT EQU 40 ; Number of timer2L overflows (about 128us) before considering rc pulse lost
+RCP_SKIP_RATE EQU 6 ; Number of timer2L overflows (about 128us) before reenabling rc pulse detection
+RCP_MIN EQU 0 ; This is minimum RC pulse length
+RCP_MAX EQU 255 ; This is maximum RC pulse length
+RCP_VALIDATE EQU 2 ; Require minimum this pulse length to validate RC pulse
+RCP_STOP EQU 1 ; Stop motor at or below this pulse length
+;//////RCP_STOP_LIMIT EQU 20 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
+
+PWM_SETTLE EQU 50 ; PWM used when in start settling phase (also max power during direct start)
+PWM_STEPPER EQU 120 ; PWM used when in start stepper phase
+
+COMM_TIME_RED EQU 8 ; Fixed reduction (in us) for commutation wait (to account for fixed delays)
+COMM_TIME_MIN EQU 1 ; Minimum time (in us) for commutation wait
+
+TEMP_CHECK_RATE EQU 8 ; Number of adc conversions for each check of temperature (the other conversions are used for voltage)
+
+ENDIF
+
+;**** **** **** **** ****
+; Temporary register definitions
+Temp1 EQU R0
+Temp2 EQU R1
+Temp3 EQU R2
+Temp4 EQU R3
+Temp5 EQU R4
+Temp6 EQU R5
+Temp7 EQU R6
+Temp8 EQU R7
+
+;**** **** **** **** ****
+; Register definitions
+DSEG AT 20h ; Variables segment
+
+Bit_Access: DS 1 ; Variable at bit accessible address (for non interrupt routines)
+Bit_Access_Int: DS 1 ; Variable at bit accessible address (for interrupts)
+
+Requested_Pwm: DS 1 ; Requested pwm (from RC pulse value)
+Governor_Req_Pwm: DS 1 ; Governor requested pwm (sets governor target)
+Current_Pwm: DS 1 ; Current pwm
+Current_Pwm_Limited: DS 1 ; Current pwm that is limited (applied to the motor output)
+Rcp_Prev_Edge_L: DS 1 ; RC pulse previous edge timer3 timestamp (lo byte)
+Rcp_Prev_Edge_H: DS 1 ; RC pulse previous edge timer3 timestamp (hi byte)
+Rcp_Timeout_Cnt: DS 1 ; RC pulse timeout counter (decrementing)
+Rcp_Skip_Cnt: DS 1 ; RC pulse skip counter (decrementing)
+Rcp_Edge_Cnt: DS 1 ; RC pulse edge counter
+Rcp_Stop_Limit: DS 1 ;增加刹车速度
+
+Flags0: DS 1 ; State flags. Reset upon init_start
+T3_PENDING EQU 0 ; Timer3 pending flag
+RCP_MEAS_PWM_FREQ EQU 1 ; Measure RC pulse pwm frequency
+PWM_ON EQU 2 ; Set in on part of pwm cycle
+DEMAG_DETECTED EQU 3 ; Set when excessive demag time is detected
+DEMAG_CUT_POWER EQU 4 ; Set when demag compensation cuts power
+; EQU 5
+PROGRAM_FUNC_FLAG EQU 6
+SUCCESS_BEEP_FLAG EQU 7
+
+Flags1: DS 1 ; State flags. Reset upon init_start
+MOTOR_SPINNING EQU 0 ; Set when in motor is spinning
+SETTLE_PHASE EQU 1 ; Set when in motor start settling phase
+STEPPER_PHASE EQU 2 ; Set when in motor start stepper motor phase
+DIRECT_STARTUP_PHASE EQU 3 ; Set when in direct startup phase
+INITIAL_RUN_PHASE EQU 4 ; Set when in initial run phase, before synchronized run is achieved
+; EQU 5
+; EQU 6
+LOW_LIMIT_STOP EQU 7
+
+Flags2: DS 1 ; State flags. NOT reset upon init_start
+RCP_UPDATED EQU 0 ; New RC pulse length value available
+RCP_EDGE_NO EQU 1 ; RC pulse edge no. 0=rising, 1=falling
+PGM_PWMOFF_DAMPED EQU 2 ; Programmed pwm off damped mode. Set when fully damped or damped light mode is selected
+PGM_PWMOFF_DAMPED_FULL EQU 3 ; Programmed pwm off fully damped mode. Set when all pfets shall be on in pwm_off period
+PGM_PWMOFF_DAMPED_LIGHT EQU 4 ; Programmed pwm off damped light mode. Set when only 2 pfets shall be on in pwm_off period
+PGM_PWM_HIGH_FREQ EQU 5 ; Progremmed pwm high frequency
+CURR_PWMOFF_DAMPED EQU 6 ; Currently running pwm off cycle is damped
+CURR_PWMOFF_COMP_ABLE EQU 7 ; Currently running pwm off cycle is usable for comparator
+
+Flags3: DS 1 ; State flags. NOT reset upon init_start
+RCP_PWM_FREQ_1KHZ EQU 0 ; RC pulse pwm frequency is 1kHz
+RCP_PWM_FREQ_2KHZ EQU 1 ; RC pulse pwm frequency is 2kHz
+RCP_PWM_FREQ_4KHZ EQU 2 ; RC pulse pwm frequency is 4kHz
+RCP_PWM_FREQ_8KHZ EQU 3 ; RC pulse pwm frequency is 8kHz
+PGM_DIR_REV EQU 4 ; Programmed direction. 0=normal, 1=reversed
+PGM_RCP_PWM_POL EQU 5 ; Programmed RC pulse pwm polarity. 0=positive, 1=negative
+FULL_THROTTLE_RANGE EQU 6 ; When set full throttle range is used (1000-2000us) and stored calibration values are ignored
+ERRO_DATA EQU 7 ;增加编程卡数据错误标志 2013.8.27
+;**** **** **** **** ****
+; RAM definitions
+DSEG AT 30h ; Ram data segment, direct addressing
+OS_FLAG: DS 1
+Initial_Arm: DS 1 ; Variable that is set during the first arm sequence after power on
+;Pca_First_Int: DS 1
+Power_On_Wait_Cnt_L: DS 1 ; Power on wait counter (lo byte)
+Power_On_Wait_Cnt_H: DS 1 ; Power on wait counter (hi byte)
+Pgm_Pulse_Cnt: DS 1
+;Stepper_Step_Beg_L: DS 1 ; Stepper phase step time at the beginning (lo byte)
+;Stepper_Step_Beg_H: DS 1 ; Stepper phase step time at the beginning (hi byte)
+;Stepper_Step_End_L: DS 1 ; Stepper phase step time at the end (lo byte)
+;Stepper_Step_End_H: DS 1 ; Stepper phase step time at the end (hi byte)
+Startup_Rot_Cnt: DS 1 ; Startup phase rotations counter
+Direct_Startup_Ok_Cnt: DS 1 ; Direct startup phase ok comparator waits counter (incrementing)
+
+Prev_Comm_L: DS 1 ; Previous commutation timer3 timestamp (lo byte)
+Prev_Comm_H: DS 1 ; Previous commutation timer3 timestamp (hi byte)
+Comm_Period4x_L: DS 1 ; Timer3 counts between the last 4 commutations (lo byte)
+Comm_Period4x_H: DS 1 ; Timer3 counts between the last 4 commutations (hi byte)
+Comm_Phase: DS 1 ; Current commutation phase
+Comp_Wait_Reads: DS 1 ; Comparator wait comparator reads
+
+Gov_Target_L: DS 1 ; Governor target (lo byte)
+Gov_Target_H: DS 1 ; Governor target (hi byte)
+Gov_Integral_L: DS 1 ; Governor integral error (lo byte)
+Gov_Integral_H: DS 1 ; Governor integral error (hi byte)
+Gov_Integral_X: DS 1 ; Governor integral error (ex byte)
+Gov_Proportional_L: DS 1 ; Governor proportional error (lo byte)
+Gov_Proportional_H: DS 1 ; Governor proportional error (hi byte)
+Gov_Prop_Pwm: DS 1 ; Governor calculated new pwm based upon proportional error
+Gov_Arm_Target: DS 1 ; Governor arm target value
+Gov_Active: DS 1 ; Governor active (enabled when speed is above minimum)
+
+Wt_Advance_L: DS 1 ; Timer3 counts for commutation advance timing (lo byte)
+Wt_Advance_H: DS 1 ; Timer3 counts for commutation advance timing (hi byte)
+Wt_Zc_Scan_L: DS 1 ; Timer3 counts from commutation to zero cross scan (lo byte)
+Wt_Zc_Scan_H: DS 1 ; Timer3 counts from commutation to zero cross scan (hi byte)
+Wt_Comm_L: DS 1 ; Timer3 counts from zero cross to commutation (lo byte)
+Wt_Comm_H: DS 1 ; Timer3 counts from zero cross to commutation (hi byte)
+;Wt_Stepper_Step_L: DS 1 ; Timer3 counts for stepper step (lo byte)
+;Wt_Stepper_Step_H: DS 1 ; Timer3 counts for stepper step (hi byte)
+
+Rcp_PrePrev_Edge_L: DS 1 ; RC pulse pre previous edge pca timestamp (lo byte)
+Rcp_PrePrev_Edge_H: DS 1 ; RC pulse pre previous edge pca timestamp (hi byte)
+Rcp_Edge_L: DS 1 ; RC pulse edge pca timestamp (lo byte)
+Rcp_Edge_H: DS 1 ; RC pulse edge pca timestamp (hi byte)
+Rcp_Prev_Period_L: DS 1 ; RC pulse previous period (lo byte)
+Rcp_Prev_Period_H: DS 1 ; RC pulse previous period (hi byte)
+Rcp_Period_Diff_Accepted: DS 1 ; RC pulse period difference acceptable
+New_Rcp: DS 1 ; New RC pulse value in pca counts
+Prev_Rcp_Pwm_Freq: DS 1 ; Previous RC pulse pwm frequency (used during pwm frequency measurement)
+Curr_Rcp_Pwm_Freq: DS 1 ; Current RC pulse pwm frequency (used during pwm frequency measurement)
+Rcp_Stop_Cnt: DS 1 ; Counter for RC pulses below stop value
+
+Pwm_Limit: DS 1 ; Maximum allowed pwm
+Pwm_Limit_Spoolup: DS 1 ; Maximum allowed pwm during spoolup of main
+Pwm_Spoolup_Beg: DS 1 ; Pwm to begin main spoolup with
+Pwm_Motor_Idle: DS 1 ; Motor idle speed pwm
+Pwm_On_Cnt: DS 1 ; Pwm on event counter (used to increase pwm off time for low pwm)
+Pwm_Off_Cnt: DS 1 ; Pwm off event counter (used to run some pwm cycles without damping)
+
+Spoolup_Limit_Cnt: DS 1 ; Interrupt count for spoolup limit
+Spoolup_Limit_Skip: DS 1 ; Interrupt skips for spoolup limit increment (0=no skips, 1=skip one etc)
+
+Damping_Period: DS 1 ; Damping on/off period
+Damping_On: DS 1 ; Damping on part of damping period
+
+;Lipo_Adc_Reference_L: DS 1 ; Voltage reference adc value (lo byte)
+;Lipo_Adc_Reference_H: DS 1 ; Voltage reference adc value (hi byte)
+Lipo_Adc_Limit_L: DS 1 ; Low voltage limit adc value (lo byte)
+Lipo_Adc_Limit_H: DS 1 ; Low voltage limit adc value (hi byte)
+Adc_Conversion_Cnt: DS 1 ; Adc conversion counter
+Lipo_Cell_Count: DS 1 ;增加电池节数累计变量 2013.5.29
+Limit_Count: DS 1 ;增加逐渐递减计数变量 2013.7.5
+
+Current_Average_Temp: DS 1 ; Current average temperature (lo byte ADC reading, assuming hi byte is 1)
+
+Ppm_Throttle_Gain: DS 1 ; Gain to be applied to RCP value for PPM input
+Beep_Strength: DS 1 ; Strength of beeps
+
+Tx_Pgm_Func_No: DS 1 ; Function number when doing programming by tx
+Tx_Pgm_Paraval_No: DS 1 ; Parameter value number when doing programming by tx
+Tx_Pgm_Beep_No: DS 1 ; Beep number when doing programming by tx
+Commu_Data_Buffer: DS 1 ;编程卡接收，发送数据暂存 2013.8.27
+Commu_Sum: DS 1 ;增加编程卡校验和 2013.8.27
+Min_Throttle: DS 1
+
+; Indirect addressing data segment
+ISEG AT 080h
+Pgm_Fir_Key: DS 1 ;增加首个关键字 2013.8.27
+Pgm_Gov_P_Gain: DS 1 ; Programmed governor P gain
+Pgm_Gov_I_Gain: DS 1 ; Programmed governor I gain
+Pgm_Gov_Mode: DS 1 ; Programmed governor mode
+
+Pgm_Low_Voltage_Lim: DS 1 ; Programmed low voltage limit
+Pgm_Low_Voltage_Ctl: DS 1 ;增加低压保护控制方式编程项 2013.7.5
+Pgm_Motor_Gain: DS 1 ; Programmed motor gain
+Pgm_Motor_Idle: DS 1 ; Programmed motor idle speed
+Pgm_Startup_Pwr: DS 1 ; Programmed startup power
+Pgm_Pwm_Freq: DS 1 ; Programmed pwm frequency
+Pgm_Direction_Rev: DS 1 ; Programmed rotation direction
+Pgm_Input_Pol: DS 1 ; Programmed input pwm polarity
+Initialized_L_Dummy: DS 1 ; Place holder
+Initialized_H_Dummy: DS 1 ; Place holder
+Pgm_Enable_TX_Program: DS 1 ; Programmed enable/disable value for TX programming
+Pgm_Main_Rearm_Start: DS 1 ; Programmed enable/disable re-arming main every start
+Pgm_Gov_Setup_Target: DS 1 ; Programmed main governor setup target
+Pgm_Startup_Rpm: DS 1 ; Programmed startup rpm
+Pgm_Startup_Accel: DS 1 ; Programmed startup acceleration
+Pgm_Volt_Comp_Dummy: DS 1 ; Place holder
+Pgm_Comm_Timing: DS 1 ; Programmed commutation timing
+Pgm_Damping_Force: DS 1 ; Programmed damping force
+Pgm_Gov_Range: DS 1 ; Programmed governor range
+;Pgm_Startup_Method: DS 1 ; Programmed startup method
+Pgm_Ppm_Min_Throttle: DS 1 ; Programmed throttle minimum
+Pgm_Ppm_Max_Throttle: DS 1 ; Programmed throttle maximum
+Pgm_Beep_Strength: DS 1 ; Programmed beep strength
+Pgm_Beacon_Strength: DS 1 ; Programmed beacon strength
+Pgm_Beacon_Delay: DS 1 ; Programmed beacon delay
+Pgm_Throttle_Rate: DS 1 ; Programmed throttle rate
+Pgm_Demag_Comp: DS 1 ; Programmed demag compensation
+Pgm_BEC_Voltage_High: DS 1 ; Programmed BEC voltage
+
+Pgm_Gov_P_Gain_Decoded: DS 1 ; Programmed governor decoded P gain
+Pgm_Gov_I_Gain_Decoded: DS 1 ; Programmed governor decoded I gain
+Pgm_Throttle_Rate_Decoded: DS 1 ; Programmed throttle rate decoded
+Pgm_Startup_Pwr_Decoded: DS 1 ; Programmed startup power decoded
+Pgm_Demag_Comp_Wait_Decoded: DS 1 ; Programmed demag compensation wait decoded
+Pgm_Demag_Comp_Power_Decoded: DS 1 ; Programmed demag compensation power cut decoded
+
+
+; Indirect addressing data segment
+ISEG AT 0D0h
+Tag_Temporary_Storage: DS 48 ; Temporary storage for tags when updating "Eeprom"
+
+
+;**** **** **** **** ****
+CSEG AT 1A00h ; "Eeprom" segment
+EEPROM_FW_MAIN_REVISION EQU 10 ; Main revision of the firmware
+EEPROM_FW_SUB_REVISION EQU 2 ; Sub revision of the firmware
+EEPROM_LAYOUT_REVISION EQU 16 ; Revision of the EEPROM layout
+
+Eep_FW_Main_Revision: DB EEPROM_FW_MAIN_REVISION ; EEPROM firmware main revision number
+Eep_FW_Sub_Revision: DB EEPROM_FW_SUB_REVISION ; EEPROM firmware sub revision number
+Eep_Layout_Revision: DB EEPROM_LAYOUT_REVISION ; EEPROM layout revision number
+
+IF MODE == 0
+Eep_Pgm_Gov_P_Gain: DB DEFAULT_PGM_MAIN_P_GAIN ; EEPROM copy of programmed governor P gain
+Eep_Pgm_Gov_I_Gain: DB DEFAULT_PGM_MAIN_I_GAIN ; EEPROM copy of programmed governor I gain
+Eep_Pgm_Gov_Mode: DB DEFAULT_PGM_MAIN_GOVERNOR_MODE ; EEPROM copy of programmed governor mode
+
+Eep_Pgm_Low_Voltage_Lim: DB DEFAULT_PGM_MAIN_LOW_VOLTAGE_LIM ; EEPROM copy of programmed low voltage limit
+_Eep_Pgm_Motor_Gain: DB 0FFh
+_Eep_Pgm_Motor_Idle: DB 0FFh
+Eep_Pgm_Startup_Pwr: DB DEFAULT_PGM_MAIN_STARTUP_PWR ; EEPROM copy of programmed startup power
+Eep_Pgm_Pwm_Freq: DB DEFAULT_PGM_MAIN_PWM_FREQ ; EEPROM copy of programmed pwm frequency
+Eep_Pgm_Direction_Rev: DB DEFAULT_PGM_MAIN_DIRECTION_REV ; EEPROM copy of programmed rotation direction
+Eep_Pgm_Input_Pol: DB DEFAULT_PGM_MAIN_RCP_PWM_POL ; EEPROM copy of programmed input polarity
+Eep_Initialized_L: DB 0A5h ; EEPROM initialized signature low byte
+Eep_Initialized_H: DB 05Ah ; EEPROM initialized signature high byte
+Eep_Enable_TX_Program: DB DEFAULT_PGM_ENABLE_TX_PROGRAM ; EEPROM TX programming enable
+Eep_Main_Rearm_Start: DB DEFAULT_PGM_MAIN_REARM_START ; EEPROM re-arming main enable
+Eep_Pgm_Gov_Setup_Target: DB DEFAULT_PGM_MAIN_GOV_SETUP_TARGET ; EEPROM main governor setup target
+Eep_Pgm_Startup_Rpm: DB DEFAULT_PGM_MAIN_STARTUP_RPM ; EEPROM copy of programmed startup rpm
+Eep_Pgm_Startup_Accel: DB DEFAULT_PGM_MAIN_STARTUP_ACCEL ; EEPROM copy of programmed startup acceleration
+_Eep_Pgm_Volt_Comp: DB 0FFh
+Eep_Pgm_Comm_Timing: DB DEFAULT_PGM_MAIN_COMM_TIMING ; EEPROM copy of programmed commutation timing
+Eep_Pgm_Damping_Force: DB DEFAULT_PGM_MAIN_DAMPING_FORCE ; EEPROM copy of programmed damping force
+Eep_Pgm_Gov_Range: DB DEFAULT_PGM_MAIN_GOVERNOR_RANGE ; EEPROM copy of programmed governor range
+Eep_Pgm_Startup_Method: DB DEFAULT_PGM_MAIN_STARTUP_METHOD ; EEPROM copy of programmed startup method
+Eep_Pgm_Ppm_Min_Throttle: DB DEFAULT_PGM_PPM_MIN_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1148)
+Eep_Pgm_Ppm_Max_Throttle: DB DEFAULT_PGM_PPM_MAX_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1832)
+Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_MAIN_BEEP_STRENGTH ; EEPROM copy of programmed beep strength
+Eep_Pgm_Beacon_Strength: DB DEFAULT_PGM_MAIN_BEACON_STRENGTH ; EEPROM copy of programmed beacon strength
+Eep_Pgm_Beacon_Delay: DB DEFAULT_PGM_MAIN_BEACON_DELAY ; EEPROM copy of programmed beacon delay
+Eep_Pgm_Throttle_Rate: DB DEFAULT_PGM_MAIN_THROTTLE_RATE ; EEPROM copy of programmed throttle rate
+Eep_Pgm_Demag_Comp: DB DEFAULT_PGM_MAIN_DEMAG_COMP ; EEPROM copy of programmed demag compensation
+Eep_Pgm_BEC_Voltage_High: DB DEFAULT_PGM_BEC_VOLTAGE_HIGH ; EEPROM copy of programmed BEC voltage
+ENDIF
+
+IF MODE == 1
+_Eep_Pgm_Gov_P_Gain: DB 0FFh
+_Eep_Pgm_Gov_I_Gain: DB 0FFh
+_Eep_Pgm_Gov_Mode: DB 0FFh
+
+_Eep_Pgm_Low_Voltage_Lim: DB 0FFh
+Eep_Pgm_Motor_Gain: DB DEFAULT_PGM_TAIL_GAIN ; EEPROM copy of programmed tail gain
+Eep_Pgm_Motor_Idle: DB DEFAULT_PGM_TAIL_IDLE_SPEED ; EEPROM copy of programmed tail idle speed
+Eep_Pgm_Startup_Pwr: DB DEFAULT_PGM_TAIL_STARTUP_PWR ; EEPROM copy of programmed startup power
+Eep_Pgm_Pwm_Freq: DB DEFAULT_PGM_TAIL_PWM_FREQ ; EEPROM copy of programmed pwm frequency
+Eep_Pgm_Direction_Rev: DB DEFAULT_PGM_TAIL_DIRECTION_REV ; EEPROM copy of programmed rotation direction
+Eep_Pgm_Input_Pol: DB DEFAULT_PGM_TAIL_RCP_PWM_POL ; EEPROM copy of programmed input polarity
+Eep_Initialized_L: DB 05Ah ; EEPROM initialized signature low byte
+Eep_Initialized_H: DB 0A5h ; EEPROM initialized signature high byte
+Eep_Enable_TX_Program: DB DEFAULT_PGM_ENABLE_TX_PROGRAM ; EEPROM TX programming enable
+_Eep_Main_Rearm_Start: DB 0FFh
+_Eep_Pgm_Gov_Setup_Target: DB 0FFh
+Eep_Pgm_Startup_Rpm: DB DEFAULT_PGM_TAIL_STARTUP_RPM ; EEPROM copy of programmed startup rpm
+Eep_Pgm_Startup_Accel: DB DEFAULT_PGM_TAIL_STARTUP_ACCEL ; EEPROM copy of programmed startup acceleration
+_Eep_Pgm_Volt_Comp: DB 0FFh
+Eep_Pgm_Comm_Timing: DB DEFAULT_PGM_TAIL_COMM_TIMING ; EEPROM copy of programmed commutation timing
+Eep_Pgm_Damping_Force: DB DEFAULT_PGM_TAIL_DAMPING_FORCE ; EEPROM copy of programmed damping force
+_Eep_Pgm_Gov_Range: DB 0FFh
+Eep_Pgm_Startup_Method: DB DEFAULT_PGM_TAIL_STARTUP_METHOD ; EEPROM copy of programmed startup method
+Eep_Pgm_Ppm_Min_Throttle: DB DEFAULT_PGM_PPM_MIN_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1148)
+Eep_Pgm_Ppm_Max_Throttle: DB DEFAULT_PGM_PPM_MAX_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1832)
+Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_TAIL_BEEP_STRENGTH ; EEPROM copy of programmed beep strength
+Eep_Pgm_Beacon_Strength: DB DEFAULT_PGM_TAIL_BEACON_STRENGTH ; EEPROM copy of programmed beacon strength
+Eep_Pgm_Beacon_Delay: DB DEFAULT_PGM_TAIL_BEACON_DELAY ; EEPROM copy of programmed beacon delay
+Eep_Pgm_Throttle_Rate: DB DEFAULT_PGM_TAIL_THROTTLE_RATE ; EEPROM copy of programmed throttle rate
+Eep_Pgm_Demag_Comp: DB DEFAULT_PGM_TAIL_DEMAG_COMP ; EEPROM copy of programmed demag compensation
+Eep_Pgm_BEC_Voltage_High: DB DEFAULT_PGM_BEC_VOLTAGE_HIGH ; EEPROM copy of programmed BEC voltage
+ENDIF
+
+IF MODE == 2
+Eep_Pgm_Fir_Key: DB DEFAULT_PGM_MULTI_FIRST_KEYWORD ;增加首个关键字 2013.8.27
+Eep_Pgm_Gov_P_Gain: DB DEFAULT_PGM_MULTI_P_GAIN ; EEPROM copy of programmed closed loop P gain
+Eep_Pgm_Gov_I_Gain: DB DEFAULT_PGM_MULTI_I_GAIN ; EEPROM copy of programmed closed loop I gain
+Eep_Pgm_Gov_Mode: DB DEFAULT_PGM_MULTI_GOVERNOR_MODE ; EEPROM copy of programmed closed loop mode
+
+Eep_Pgm_Low_Voltage_Lim: DB DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM ; EEPROM copy of programmed low voltage limit
+Eep_Pgm_Low_Voltage_Ctl: DB DEFAULT_PGM_MULTI_LOW_VOLTAGE_CTL ; 增加低压保护控制编程
+Eep_Pgm_Motor_Gain: DB DEFAULT_PGM_MULTI_GAIN ; EEPROM copy of programmed tail gain
+_Eep_Pgm_Motor_Idle: DB 0FFh ; EEPROM copy of programmed tail idle speed
+Eep_Pgm_Startup_Pwr: DB DEFAULT_PGM_MULTI_STARTUP_PWR ; EEPROM copy of programmed startup power
+Eep_Pgm_Pwm_Freq: DB DEFAULT_PGM_MULTI_PWM_FREQ ; EEPROM copy of programmed pwm frequency
+Eep_Pgm_Direction_Rev: DB DEFAULT_PGM_MULTI_DIRECTION_REV ; EEPROM copy of programmed rotation direction
+Eep_Pgm_Input_Pol: DB DEFAULT_PGM_MULTI_RCP_PWM_POL ; EEPROM copy of programmed input polarity
+Eep_Initialized_L: DB 055h ; EEPROM initialized signature low byte
+Eep_Initialized_H: DB 0AAh ; EEPROM initialized signature high byte
+Eep_Enable_TX_Program: DB DEFAULT_PGM_ENABLE_TX_PROGRAM ; EEPROM TX programming enable
+_Eep_Main_Rearm_Start: DB 0FFh
+_Eep_Pgm_Gov_Setup_Target: DB 0FFh
+Eep_Pgm_Startup_Rpm: DB DEFAULT_PGM_MULTI_STARTUP_RPM ; EEPROM copy of programmed startup rpm
+Eep_Pgm_Startup_Accel: DB DEFAULT_PGM_MULTI_STARTUP_ACCEL ; EEPROM copy of programmed startup acceleration
+_Eep_Pgm_Volt_Comp: DB 0FFh
+Eep_Pgm_Comm_Timing: DB DEFAULT_PGM_MULTI_COMM_TIMING ; EEPROM copy of programmed commutation timing
+Eep_Pgm_Damping_Force: DB DEFAULT_PGM_MULTI_DAMPING_FORCE ; EEPROM copy of programmed damping force
+_Eep_Pgm_Gov_Range: DB 0FFh
+;Eep_Pgm_Startup_Method: DB DEFAULT_PGM_MULTI_STARTUP_METHOD ; EEPROM copy of programmed startup method
+Eep_Pgm_Ppm_Min_Throttle: DB DEFAULT_PGM_PPM_MIN_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1148)
+Eep_Pgm_Ppm_Max_Throttle: DB DEFAULT_PGM_PPM_MAX_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1832)
+Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_MULTI_BEEP_STRENGTH ; EEPROM copy of programmed beep strength
+Eep_Pgm_Beacon_Strength: DB DEFAULT_PGM_MULTI_BEACON_STRENGTH ; EEPROM copy of programmed beacon strength
+Eep_Pgm_Beacon_Delay: DB DEFAULT_PGM_MULTI_BEACON_DELAY ; EEPROM copy of programmed beacon delay
+Eep_Pgm_Throttle_Rate: DB DEFAULT_PGM_MULTI_THROTTLE_RATE ; EEPROM copy of programmed throttle rate
+Eep_Pgm_Demag_Comp: DB DEFAULT_PGM_MULTI_DEMAG_COMP ; EEPROM copy of programmed demag compensation
+Eep_Pgm_BEC_Voltage_High: DB DEFAULT_PGM_BEC_VOLTAGE_HIGH ; EEPROM copy of programmed BEC voltage
+ENDIF
+
+
+Eep_Dummy: DB 0FFh ; EEPROM address for safety reason
+
+CSEG AT 1A60h
+Eep_Name: DB " " ; Name tag (16 Bytes)
+
+;**** **** **** **** ****
+ Interrupt_Table_Definition ; SiLabs interrupts
+CSEG AT 80h ; Code segment after interrupt vectors
+
+;**** **** **** **** ****
+
+; Table definitions
+GOV_GAIN_TABLE: DB 02h, 03h, 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 60h, 80h
+THROTTLE_RATE_TABLE: DB 02h, 03h, 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 80h, 0FFh
+STARTUP_POWER_TABLE: DB 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 60h, 80h, 0A0h, 0C0h
+DEMAG_WAIT_TABLE: DB 0, 0, 0, 1, 1
+DEMAG_POWER_TABLE: DB 0, 3, 2, 2, 1
+
+;FINISH_KEYWORD_TABLE: DB 066h, 08h, 08h, 03h, 01h, 00h, 02h, 00h
+; DB 09h, 01h, 00h, 00h, 00h, 00h, 00h, 00h
+; DB 0B4h, 00h, 04h, 00h, 02h, 00h, 00h, 025h
+; DB 0D0h, 050h, 064h, 01h, 0Dh, 01h, 00h, 00h ;增加编程默认值表 2013.7.30 ;//////////////////////////////////////////
+; DB 00h, 00h, 00h, 00h, 00h, 00h, 00h, 00h
+; DB 00h, 00h, 00h, 00h, 00h, 00h, 00h, 00h
+
+IF MODE == 0
+TX_PGM_PARAMS_MAIN: DB 13, 13, 4, 2, 6, 2, 13, 5, 5, 5, 13, 6, 3, 5, 2, 2
+ENDIF
+IF MODE == 1
+ IF DAMPED_MODE_ENABLE == 1
+TX_PGM_PARAMS_TAIL: DB 5, 5, 2, 13, 5, 5, 5, 13, 6, 4, 5, 2, 2
+ ENDIF
+ IF DAMPED_MODE_ENABLE == 0
+TX_PGM_PARAMS_TAIL: DB 5, 5, 2, 13, 5, 5, 5, 13, 6, 3, 5, 2, 2
+ ENDIF
+ENDIF
+IF MODE == 2
+ IF DAMPED_MODE_ENABLE == 1
+;///////TX_PGM_PARAMS_MULTI: DB 13, 13, 4, 5, 6, 2, 13, 5, 5, 5, 13, 6, 4, 5, 2, 2
+ TX_PGM_PARAMS_MULTI: DB 6, 5, 13, 4, 2, 4, 2
+ ENDIF
+ IF DAMPED_MODE_ENABLE == 0
+;///////TX_PGM_PARAMS_MULTI: DB 13, 13, 4, 5, 6, 2, 13, 5, 5, 5, 13, 6, 3, 5, 2, 2
+ TX_PGM_PARAMS_MULTI: DB 6, 5, 13, 4, 2, 4, 2
+ ENDIF
+ENDIF
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Timer0 interrupt routine
+;
+; Assumptions: DPTR register must be set to desired pwm_nfet_on label
+; Requirements: Temp variables can NOT be used since PWSW.3 is not set
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+t0_int: ; Used for pwm control
+ clr EA ; Disable all interrupts
+ push PSW ; Preserve registers through interrupt
+ push ACC
+ ; Check if pwm is on
+ jb Flags0.PWM_ON, t0_int_pwm_off ; Is pwm on?
+
+ ; Pwm on cycle.
+ jnb Current_Pwm_Limited.7, t0_int_pwm_on_low_pwm ; Jump for low pwm (<50%)
+
+t0_int_pwm_on_execute:
+ clr A
+ jmp @A+DPTR ; No - jump to pwm on routines. DPTR should be set to one of the pwm_nfet_on labels
+
+t0_int_pwm_on_low_pwm:
+ ; Do not execute pwm when stopped
+ jnb Flags1.MOTOR_SPINNING, t0_int_pwm_on_stopped
+
+IF MODE == 0 OR MODE == 2 ; Main or multi
+ jmp t0_int_pwm_on_execute
+ENDIF
+IF MODE == 1 ; Tail
+ ; Skip pwm on cycles for very low pwm
+ inc Pwm_On_Cnt ; Increment event counter
+ clr C
+ mov A, #5 ; Only skip for very low pwm
+ subb A, Current_Pwm_Limited ; Check skipping shall be done (for low pwm only)
+ jc t0_int_pwm_on_execute
+
+ subb A, Pwm_On_Cnt ; Check if on cycle is to be skipped
+ jc t0_int_pwm_on_execute
+
+ mov TL0, #120 ; Write start point for timer
+ mov A, Current_Pwm_Limited
+ jnz ($+5)
+ mov TL0, #0 ; Write start point for timer (long time for zero pwm)
+ jmp t0_int_pwm_on_exit_no_timer_update
+ENDIF
+
+t0_int_pwm_on_stopped:
+ jmp t0_int_pwm_on_exit
+
+
+t0_int_pwm_off:
+ jnb Flags1.DIRECT_STARTUP_PHASE, t0_int_pwm_off_start_checked
+ All_nFETs_Off ; Switch off all nfets early during direct start, for a smooth start
+t0_int_pwm_off_start_checked:
+ ; Pwm off cycle
+ mov TL0, Current_Pwm_Limited ; Load new timer setting
+ ; Clear pwm on flag
+ clr Flags0.PWM_ON
+ ; Set full PWM (on all the time) if current PWM near max. This will give full power, but at the cost of a small "jump" in power
+ mov A, Current_Pwm_Limited ; Load current pwm
+ cpl A ; Full pwm?
+ jnz ($+4) ; No - branch
+ ajmp t0_int_pwm_off_fullpower_exit ; Yes - exit
+
+ inc Pwm_Off_Cnt ; Increment event counter
+ ; Do not execute pwm when stopped
+ jnb Flags1.MOTOR_SPINNING, t0_int_pwm_off_stopped
+
+ ; If damped operation, set pFETs on in pwm_off
+ jb Flags2.PGM_PWMOFF_DAMPED, t0_int_pwm_off_damped ; Damped operation?
+
+ ; Separate exit commands here for minimum delay
+ mov TL1, #0 ; Reset timer1
+ pop ACC ; Restore preserved registers
+ pop PSW
+ All_nFETs_Off ; Switch off all nfets
+ setb EA ; Enable all interrupts
+ reti
+
+t0_int_pwm_off_stopped:
+ All_nFETs_Off ; Switch off all nfets
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_damped:
+ setb Flags2.CURR_PWMOFF_DAMPED ; Set damped status
+ clr Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator unusable status
+ mov A, Damping_On
+ jz t0_int_pwm_off_do_damped ; Highest damping - apply damping always
+
+ clr C
+ mov A, Pwm_Off_Cnt ; Is damped on number reached?
+ dec A
+ subb A, Damping_On
+ jc t0_int_pwm_off_do_damped ; No - apply damping
+
+ clr Flags2.CURR_PWMOFF_DAMPED ; Set non damped status
+ setb Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator usable status
+ clr C
+ mov A, Pwm_Off_Cnt
+ subb A, Damping_Period ; Is damped period number reached?
+ jnc t0_int_pwm_off_clr_cnt ; Yes - Proceed
+
+ jmp t0_int_pwm_off_exit ; No - Branch
+
+t0_int_pwm_off_clr_cnt:
+ mov Pwm_Off_Cnt, #0 ; Yes - clear counter
+ jmp t0_int_pwm_off_exit ; Not damped cycle - exit
+
+t0_int_pwm_off_do_damped:
+ ; Delay to allow nFETs to go off before pFETs are turned on (only in full damped mode)
+ jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, t0_int_pwm_off_damped_light ; If damped light operation - branch
+
+; All_pFETs_Off ; Switch off all nfets
+; mov A, #PFETON_DELAY
+; djnz ACC, $
+; All_nFETs_On ; Switch on all pfets
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_damped_light:
+IF DAMPED_MODE_ENABLE == 1
+ setb Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator usable status always for damped light mode on fully damped capable escs
+ENDIF
+ All_nFETs_Off ; Switch off all nfets
+ mov A, Comm_Phase ; Turn on pfets according to commutation phase
+ jb ACC.2, t0_int_pwm_off_comm_4_5_6
+ jb ACC.1, t0_int_pwm_off_comm_2_3
+
+IF DAMPED_MODE_ENABLE == 0
+ AnFET_On ; Comm phase 1 - turn on A
+ELSE
+ mov A, #PFETON_DELAY
+ djnz ACC, $
+ CnFET_On ; Comm phase 1 - turn on C
+ENDIF
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_comm_2_3:
+ jb ACC.0, t0_int_pwm_off_comm_3
+IF DAMPED_MODE_ENABLE == 0
+ BnFET_On ; Comm phase 2 - turn on B
+ELSE
+ mov A, #PFETON_DELAY
+ djnz ACC, $
+ CnFET_On ; Comm phase 2 - turn on C
+ENDIF
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_comm_3:
+IF DAMPED_MODE_ENABLE == 0
+ CnFET_On ; Comm phase 3 - turn on C
+ELSE
+ mov A, #PFETON_DELAY
+ djnz ACC, $
+ BnFET_On ; Comm phase 3 - turn on B
+ENDIF
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_comm_4_5_6:
+ jb ACC.1, t0_int_pwm_off_comm_6
+ jb ACC.0, t0_int_pwm_off_comm_5
+
+IF DAMPED_MODE_ENABLE == 0
+ AnFET_On ; Comm phase 4 - turn on A
+ELSE
+ mov A, #PFETON_DELAY
+ djnz ACC, $
+ BnFET_On ; Comm phase 4 - turn on B
+ENDIF
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_comm_5:
+IF DAMPED_MODE_ENABLE == 0
+ BnFET_On ; Comm phase 5 - turn on B
+ELSE
+ mov A, #PFETON_DELAY
+ djnz ACC, $
+ AnFET_On ; Comm phase 5 - turn on A
+ENDIF
+ jmp t0_int_pwm_off_exit
+
+t0_int_pwm_off_comm_6:
+IF DAMPED_MODE_ENABLE == 0
+ CnFET_On ; Comm phase 6 - turn on C
+ELSE
+ mov A, #PFETON_DELAY
+ djnz ACC, $
+ AnFET_On ; Comm phase 6 - turn on A
+ENDIF
+
+t0_int_pwm_off_exit: ; Exit from pwm off cycle
+ mov TL1, #0 ; Reset timer1
+ pop ACC ; Restore preserved registers
+ pop PSW
+ All_nFETs_Off ; Switch off all nfets
+ setb EA ; Enable all interrupts
+ reti
+
+t0_int_pwm_off_fullpower_exit: ; Exit from pwm off cycle, leaving power on
+ pop ACC ; Restore preserved registers
+ pop PSW
+ setb EA ; Enable all interrupts
+ reti
+
+
+
+pwm_nofet_on: ; Dummy pwm on cycle
+ ajmp t0_int_pwm_on_exit
+
+pwm_afet_on: ; Pwm on cycle afet on (bfet off)
+ AnFET_on
+ BnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_bfet_on: ; Pwm on cycle bfet on (cfet off)
+ BnFET_on
+ CnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_cfet_on: ; Pwm on cycle cfet on (afet off)
+ CnFET_on
+ AnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_anfet_bpfet_on_fast: ; Pwm on cycle anfet on (bnfet off) and bpfet on (used in damped state 6)
+ ApFET_off
+ AnFET_on ; Switch nFETs
+ CpFET_off
+ BnFET_off
+ ajmp t0_int_pwm_on_exit
+pwm_anfet_bpfet_on_safe: ; Pwm on cycle anfet on (bnfet off) and bpfet on (used in damped state 6)
+ ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
+ ApFET_off
+ CpFET_off
+ mov A, #NFETON_DELAY ; Set full delay
+ djnz ACC, $
+ AnFET_on ; Switch nFETs
+ BnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_anfet_cpfet_on_fast: ; Pwm on cycle anfet on (bnfet off) and cpfet on (used in damped state 5)
+ ApFET_off
+ AnFET_on ; Switch nFETs
+ BpFET_off
+ BnFET_off
+ ajmp t0_int_pwm_on_exit
+pwm_anfet_cpfet_on_safe: ; Pwm on cycle anfet on (bnfet off) and cpfet on (used in damped state 5)
+ ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
+ ApFET_off
+ BpFET_off
+ mov A, #NFETON_DELAY ; Set full delay
+ djnz ACC, $
+ AnFET_on ; Switch nFETs
+ BnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_bnfet_cpfet_on_fast: ; Pwm on cycle bnfet on (cnfet off) and cpfet on (used in damped state 4)
+ BpFET_off
+ BnFET_on ; Switch nFETs
+ ApFET_off
+ CnFET_off
+ ajmp t0_int_pwm_on_exit
+pwm_bnfet_cpfet_on_safe: ; Pwm on cycle bnfet on (cnfet off) and cpfet on (used in damped state 4)
+ ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
+ BpFET_off
+ ApFET_off
+ mov A, #NFETON_DELAY ; Set full delay
+ djnz ACC, $
+ BnFET_on ; Switch nFETs
+ CnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_bnfet_apfet_on_fast: ; Pwm on cycle bnfet on (cnfet off) and apfet on (used in damped state 3)
+ BpFET_off
+ BnFET_on ; Switch nFETs
+ CpFET_off
+ CnFET_off
+ ajmp t0_int_pwm_on_exit
+pwm_bnfet_apfet_on_safe: ; Pwm on cycle bnfet on (cnfet off) and apfet on (used in damped state 3)
+ ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
+ BpFET_off
+ CpFET_off
+ mov A, #NFETON_DELAY ; Set full delay
+ djnz ACC, $
+ BnFET_on ; Switch nFETs
+ CnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_cnfet_apfet_on_fast: ; Pwm on cycle cnfet on (anfet off) and apfet on (used in damped state 2)
+ CpFET_off
+ CnFET_on ; Switch nFETs
+ BpFET_off
+ AnFET_off
+ ajmp t0_int_pwm_on_exit
+pwm_cnfet_apfet_on_safe: ; Pwm on cycle cnfet on (anfet off) and apfet on (used in damped state 2)
+ ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
+ CpFET_off
+ BpFET_off
+ mov A, #NFETON_DELAY ; Set full delay
+ djnz ACC, $
+ CnFET_on ; Switch nFETs
+ AnFET_off
+ ajmp t0_int_pwm_on_exit
+
+pwm_cnfet_bpfet_on_fast: ; Pwm on cycle cnfet on (anfet off) and bpfet on (used in damped state 1)
+ CpFET_off
+ CnFET_on ; Switch nFETs
+ ApFET_off
+ AnFET_off
+ ajmp t0_int_pwm_on_exit
+pwm_cnfet_bpfet_on_safe: ; Pwm on cycle cnfet on (anfet off) and bpfet on (used in damped state 1)
+ ; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
+ CpFET_off
+ ApFET_off
+ mov A, #NFETON_DELAY ; Set full delay
+ djnz ACC, $
+ CnFET_on ; Switch nFETs
+ AnFET_off
+ ajmp t0_int_pwm_on_exit
+
+t0_int_pwm_on_exit:
+ ; Set timer for coming on cycle length
+ mov A, Current_Pwm_Limited ; Load current pwm
+ cpl A ; cpl is 255-x
+ mov TL0, A ; Write start point for timer
+ ; Set other variables
+ mov TL1, #0 ; Reset timer1
+ mov Pwm_On_Cnt, #0 ; Reset pwm on event counter
+ setb Flags0.PWM_ON ; Set pwm on flag
+t0_int_pwm_on_exit_no_timer_update:
+ ; Exit interrupt
+ pop ACC ; Restore preserved registers
+ pop PSW
+ setb EA ; Enable all interrupts
+ reti
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Timer2 interrupt routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+t2_int: ; Happens every 128us for low byte and every 32ms for high byte
+ clr EA ; Disable all interrupts
+ push PSW ; Preserve registers through interrupt
+ push ACC
+ setb PSW.3 ; Select register bank 1 for interrupt routines
+ ; Clear low byte interrupt flag
+ clr TF2L ; Clear interrupt flag
+ ; Check RC pulse timeout counter
+ mov A, Rcp_Timeout_Cnt ; RC pulse timeout count zero?
+ jz t2_int_pulses_absent ; Yes - pulses are absent
+
+ ; Decrement timeout counter (if PWM)
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jz t2_int_skip_start ; If no flag is set (PPM) - branch
+
+; dec Rcp_Timeout_Cnt ; No - decrement
+ ajmp t2_int_skip_start
+
+t2_int_pulses_absent:
+ ; Timeout counter has reached zero, pulses are absent
+ mov Temp1, #RCP_MIN ; RCP_MIN as default
+ mov Temp2, #RCP_MIN
+ Read_Rcp_Int ; Look at value of Rcp_In
+ jnb ACC.Rcp_In, ($+5) ; Is it high?
+ mov Temp1, #RCP_MAX ; Yes - set RCP_MAX
+ Rcp_Int_First ; Set interrupt trig to first again
+ Rcp_Clear_Int_Flag ; Clear interrupt flag
+ clr Flags2.RCP_EDGE_NO ; Set first edge flag
+ Read_Rcp_Int ; Look once more at value of Rcp_In
+ jnb ACC.Rcp_In, ($+5) ; Is it high?
+ mov Temp2, #RCP_MAX ; Yes - set RCP_MAX
+ clr C
+ mov A, Temp1
+ subb A, Temp2 ; Compare the two readings of Rcp_In
+ jnz t2_int_pulses_absent ; Go back if they are not equal
+
+ jnb Flags0.RCP_MEAS_PWM_FREQ, ($+6) ; Is measure RCP pwm frequency flag set?
+
+ mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; Yes - set timeout count to start value
+; mov Pgm_Pulse_Cnt, #0 ;清除PCA中断计数
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jz t2_int_ppm_timeout_set ; If no flag is set (PPM) - branch
+
+; mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; For PWM, set timeout count to start value
+
+t2_int_ppm_timeout_set:
+ mov New_Rcp, Temp1 ; Store new pulse length
+ setb Flags2.RCP_UPDATED ; Set updated flag
+
+
+t2_int_skip_start:
+ ; Check RC pulse skip counter
+ mov A, Rcp_Skip_Cnt
+ jz t2_int_skip_end ; If RC pulse skip count is zero - end skipping RC pulse detection
+
+ ; Decrement skip counter (only if edge counter is zero)
+ dec Rcp_Skip_Cnt ; Decrement
+ ajmp t2_int_rcp_update_start
+
+t2_int_skip_end:
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jz t2_int_rcp_update_start ; If no flag is set (PPM) - branch
+
+ ; Skip counter has reached zero, start looking for RC pulses again
+; Rcp_Int_Enable ; Enable RC pulse interrupt
+; Rcp_Clear_Int_Flag ; Clear interrupt flag
+
+t2_int_rcp_update_start:
+ ; Process updated RC pulse
+ jb Flags2.RCP_UPDATED, ($+5) ; Is there an updated RC pulse available?
+ ajmp t2_int_pwm_exit ; No - exit
+
+ mov A, New_Rcp ; Load new pulse value
+ mov Temp1, A
+ clr Flags2.RCP_UPDATED ; Flag that pulse has been evaluated
+ ; Use a gain of 1.0625x for pwm input if not governor mode
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jz t2_int_pwm_min_run ; If no flag is set (PPM) - branch
+;;*****************************************************
+;; Closed loop mode 选择
+;;*****************************************************
+;IF MODE <= 1 ; Main or tail
+; mov Temp2, #Pgm_Gov_Mode ; Governor mode?
+; cjne @Temp2, #4, t2_int_pwm_min_run; Yes - branch
+;ENDIF
+;IF MODE == 2 ; Multi
+;;读取Closed loop mode
+; mov Temp2, #Pgm_Gov_Mode ; Closed loop mode?
+; cjne @Temp2, #4, t2_int_pwm_min_run; Yes - branch
+;ENDIF
+
+; ; Limit the maximum value to avoid wrap when scaled to pwm range
+;;Closed loop mode = 第1项 Off
+; clr C
+; mov A, Temp1
+; subb A, #240 ; 240 = (255/1.0625) Needs to be updated according to multiplication factor below
+; jc t2_int_rcp_update_mult
+
+; mov A, #240 ; Set requested pwm to max
+; mov Temp1, A
+
+;t2_int_rcp_update_mult:
+; ; Multiply by 1.0625 (optional adjustment gyro gain)
+; mov A, Temp1
+; swap A ; After this "0.0625"
+; anl A, #0Fh
+; add A, Temp1
+; mov Temp1, A
+; ; Adjust tail gain
+;;读取 Multi gain
+; mov Temp2, #Pgm_Motor_Gain
+; cjne @Temp2, #3, ($+5) ; Is gain 1?
+; ajmp t2_int_pwm_min_run ; Yes - skip adjustment
+;;Multi gain = 第2选项
+; clr C
+; rrc A ; After this "0.5"
+; clr C
+; rrc A ; After this "0.25"
+; mov Bit_Access_Int, @Temp2 ; (Temp2 has #Pgm_Motor_Gain)
+; jb Bit_Access_Int.0, t2_int_rcp_gain_corr ; Branch if bit 0 in gain is set
+;;Multi gain = 第4选项
+; clr C
+; rrc A ; After this "0.125"
+
+;t2_int_rcp_gain_corr:
+; jb Bit_Access_Int.2, t2_int_rcp_gain_pos ; Branch if bit 2 in gain is set
+;;Multi gain = 第1选项
+; clr C
+; xch A, Temp1
+; subb A, Temp1 ; Apply negative correction
+; mov Temp1, A
+; ajmp t2_int_pwm_min_run
+;;Multi gain = 第5选项
+;t2_int_rcp_gain_pos:
+; add A, Temp1 ; Apply positive correction
+; mov Temp1, A
+; jnc t2_int_pwm_min_run ; Above max?
+
+; mov A, #0FFh ; Yes - limit
+; mov Temp1, A
+;;Multi gain = 第3选项
+t2_int_pwm_min_run:
+ ; Limit minimum pwm
+ clr C
+ mov A, Temp1
+ subb A, Pwm_Motor_Idle ; Is requested pwm lower than minimum?
+ jnc t2_int_pwm_update ; No - branch
+
+ mov A, Pwm_Motor_Idle ; Yes - limit pwm to Pwm_Motor_Idle
+ mov Temp1, A
+
+t2_int_pwm_update:
+ ; Check if any startup phase flags are set
+ mov A, Flags1
+ anl A, #((1 SHL SETTLE_PHASE)+(1 SHL STEPPER_PHASE))
+ jnz t2_int_pwm_exit ; Exit if any startup phase set (pwm controlled by set_startup_pwm)
+
+ ; Update requested_pwm
+ mov Requested_Pwm, Temp1 ; Set requested pwm
+ ; Limit pwm during direct start
+ jnb Flags1.DIRECT_STARTUP_PHASE, t2_int_current_pwm_update
+
+ clr C
+ mov A, Requested_Pwm ; Limit pwm during direct start
+ subb A, Pwm_Limit
+ jc ($+7)
+
+ mov Requested_Pwm, Pwm_Limit
+ ajmp t2_int_current_pwm_update
+
+ mov A, Requested_Pwm
+ add A, #11
+ mov Requested_Pwm, A
+
+t2_int_current_pwm_update:
+IF MODE <= 1 ; Main or tail
+ mov Temp1, #Pgm_Gov_Mode ; Governor mode?
+ cjne @Temp1, #4, t2_int_pwm_exit ; Yes - branch
+ENDIF
+IF MODE == 2 ; Multi
+;读取Closed loop mode
+ mov Temp1, #Pgm_Gov_Mode ; Closed loop mode?
+ cjne @Temp1, #1, t2_int_pwm_exit ; Yes - branch
+ENDIF
+
+ ; Update current pwm, with limited throttle change rate
+;Closed loop mode = Off
+ clr C
+ mov A, Requested_Pwm
+ subb A, Current_Pwm ; Is requested pwm larger than current pwm?
+ jc t2_int_set_current_pwm ; No - proceed
+
+ mov Temp1, #Pgm_Throttle_Rate_Decoded
+ subb A, @Temp1 ; Is difference larger than throttle change rate?
+ jc t2_int_set_current_pwm ; No - proceed
+
+ mov A, Current_Pwm ; Increase current pwm by throttle change rate
+ add A, @Temp1
+ mov Current_Pwm, A
+ jnc t2_int_current_pwm_done ; Is result above max?
+
+ mov Current_Pwm, #0FFh ; Yes - limit
+ jmp t2_int_current_pwm_done
+
+t2_int_set_current_pwm:
+ mov Current_Pwm, Requested_Pwm ; Set equal as default
+t2_int_current_pwm_done:
+IF MODE == 1 ; Tail
+ ; If tail, then set current_pwm_limited
+ mov Current_Pwm_Limited, Current_Pwm ; Default not limited
+ clr C
+ mov A, Current_Pwm ; Check against limit
+ subb A, Pwm_Limit
+ jc ($+5) ; If current pwm below limit - branch
+
+ mov Current_Pwm_Limited, Pwm_Limit ; Limit pwm
+ENDIF
+IF MODE == 2 ; Multi
+ ; If multi, then set current_pwm_limited
+ mov Current_Pwm_Limited, Current_Pwm ; Default not limited
+ clr C
+ mov A, Current_Pwm ; Check against limit
+ subb A, Pwm_Limit
+ jc ($+5) ; If current pwm below limit - branch
+
+ mov Current_Pwm_Limited, Pwm_Limit ; Limit pwm
+ENDIF
+
+t2_int_pwm_exit:
+ ; Check if high byte flag is set
+ jb TF2H, t2h_int
+ pop ACC ; Restore preserved registers
+ pop PSW
+ clr PSW.3 ; Select register bank 0 for main program routines
+ setb EA ; Enable all interrupts
+ reti
+
+t2h_int:
+ ; High byte interrupt (happens every 32ms)
+ clr TF2H ; Clear interrupt flag
+ mov Temp1, #GOV_SPOOLRATE ; Load governor spool rate
+ ; Check RC pulse timeout counter (used here for PPM only)
+ mov A, Rcp_Timeout_Cnt ; RC pulse timeout count zero?
+ jz t2h_int_rcp_stop_check ; Yes - do not decrement
+
+ ; Decrement timeout counter (if PPM)
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jnz t2h_int_rcp_stop_check ; If a flag is set (PWM) - branch
+
+ dec Rcp_Timeout_Cnt ; No flag set (PPM) - decrement
+
+t2h_int_rcp_stop_check:
+ ; Check RC pulse against stop value
+ clr C
+ mov A, New_Rcp ; Load new pulse value
+ subb A, #RCP_STOP
+; subb A, #(RCP_STOP+2) ; Check if pulse is below stop value
+ jc t2h_int_rcp_stop
+
+ ; RC pulse higher than stop value, reset stop counter
+ mov Rcp_Stop_Cnt, #0 ; Reset rcp stop counter
+ ajmp t2h_int_rcp_gov_pwm
+
+t2h_int_rcp_stop:
+ ; RC pulse less than stop value, increment stop counter
+ mov A, Rcp_Stop_Cnt ; Load rcp stop counter
+ inc A ; Check if counter is max
+ jz t2h_int_rcp_gov_pwm ; Branch if counter is equal to max
+
+ inc Rcp_Stop_Cnt ; Increment stop counter
+
+t2h_int_rcp_gov_pwm:
+IF MODE == 0 ; Main
+ mov Temp2, #Pgm_Gov_Mode ; Governor target by arm mode?
+ cjne @Temp2, #2, t2h_int_rcp_gov_by_setup ; No - branch
+
+ mov A, Gov_Active ; Is governor active?
+ jz t2h_int_rcp_gov_by_tx ; No - branch (this ensures soft spoolup by tx)
+
+ clr C
+ mov A, Requested_Pwm
+ subb A, #50 ; Is requested pwm below 20%?
+ jc t2h_int_rcp_gov_by_tx ; Yes - branch (this enables a soft spooldown)
+
+ mov Requested_Pwm, Gov_Arm_Target ; Yes - load arm target
+
+t2h_int_rcp_gov_by_setup:
+ mov Temp2, #Pgm_Gov_Mode ; Governor target by setup mode?
+ cjne @Temp2, #3, t2h_int_rcp_gov_by_tx ; No - branch
+
+ mov A, Gov_Active ; Is governor active?
+ jz t2h_int_rcp_gov_by_tx ; No - branch (this ensures soft spoolup by tx)
+
+ clr C
+ mov A, Requested_Pwm
+ subb A, #50 ; Is requested pwm below 20%?
+ jc t2h_int_rcp_gov_by_tx ; Yes - branch (this enables a soft spooldown)
+;读取Pgm_Gov_Setup_Target
+ mov Temp2, #Pgm_Gov_Setup_Target ; Gov by setup - load setup target
+ mov Requested_Pwm, @Temp2
+
+t2h_int_rcp_gov_by_tx:
+ clr C
+ mov A, Governor_Req_Pwm
+ subb A, Requested_Pwm ; Is governor requested pwm equal to requested pwm?
+ jz t2h_int_rcp_gov_pwm_done ; Yes - branch
+
+ jc t2h_int_rcp_gov_pwm_inc ; No - if lower, then increment
+
+ dec Governor_Req_Pwm ; No - if higher, then decrement
+ ajmp t2h_int_rcp_gov_pwm_done
+
+t2h_int_rcp_gov_pwm_inc:
+ inc Governor_Req_Pwm ; Increment
+
+t2h_int_rcp_gov_pwm_done:
+ djnz Temp1, t2h_int_rcp_gov_pwm ; If not number of steps processed - go back
+
+ inc Spoolup_Limit_Cnt ; Increment spoolup count
+
+ jnz ($+4) ; Wrapped?
+
+ dec Spoolup_Limit_Cnt ; Yes - decrement
+
+ djnz Spoolup_Limit_Skip, t2h_int_rcp_exit ; Jump if skip count is not reached
+
+ mov Spoolup_Limit_Skip, #1 ; Reset skip count. Default is fast spoolup
+ mov Temp1, #3 ; Default fast increase
+
+ clr C
+ mov A, Spoolup_Limit_Cnt
+ subb A, #(3*MAIN_SPOOLUP_TIME) ; No spoolup until "30"*32ms
+ jc t2h_int_rcp_exit
+
+ clr C
+ mov A, Spoolup_Limit_Cnt
+ subb A, #(10*MAIN_SPOOLUP_TIME) ; Slow spoolup until "100"*32ms
+ jnc t2h_int_rcp_limit_middle_ramp
+
+ mov Temp1, #1 ; Slow initial spoolup
+ mov Spoolup_Limit_Skip, #3
+ jmp t2h_int_rcp_set_limit
+
+t2h_int_rcp_limit_middle_ramp:
+ clr C
+ mov A, Spoolup_Limit_Cnt
+ subb A, #(15*MAIN_SPOOLUP_TIME) ; Faster spoolup until "150"*32ms
+ jnc t2h_int_rcp_set_limit
+
+ mov Temp1, #1 ; Faster middle spoolup
+ mov Spoolup_Limit_Skip, #1
+
+t2h_int_rcp_set_limit:
+ mov A, Pwm_Limit_Spoolup ; Increment spoolup pwm
+ clr C
+ add A, Temp1
+ jnc t2h_int_rcp_no_limit ; If below 255 - branch
+
+ mov Pwm_Limit_Spoolup, #0FFh
+ ajmp t2h_int_rcp_exit
+
+t2h_int_rcp_no_limit:
+ mov Pwm_Limit_Spoolup, A
+ENDIF
+IF MODE == 2 ; Multi
+ mov A, Pwm_Limit_Spoolup ; Increment spoolup pwm, for a 0.8 seconds spoolup
+ clr C
+ add A, #10
+ jnc t2h_int_rcp_no_limit ; If below 255 - branch
+
+ mov Pwm_Limit_Spoolup, #0FFh
+ ajmp t2h_int_rcp_exit
+
+t2h_int_rcp_no_limit:
+ mov Pwm_Limit_Spoolup, A
+ENDIF
+
+t2h_int_rcp_exit:
+ pop ACC ; Restore preserved registers
+ pop PSW
+ clr PSW.3 ; Select register bank 0 for main program routines
+ setb EA ; Enable all interrupts
+ reti
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Timer3 interrupt routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+t3_int: ; Used for commutation timing
+ clr EA ; Disable all interrupts
+ anl TMR3CN, #07Fh ; Clear interrupt flag
+ clr Flags0.T3_PENDING ; Flag that timer has wrapped
+ setb EA ; Enable all interrupts
+ reti
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; PCA interrupt routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+pca_int: ; Used for RC pulse timing
+ clr EA ; Disable all interrupts
+ push PSW ; Preserve registers through interrupt
+ push ACC
+ push B
+ setb PSW.3 ; Select register bank 1 for interrupt routines
+
+; mov A, Pca_First_Int
+; cjne A, #1, ($+5)
+; inc Pgm_Pulse_Cnt
+ ; Get PCA0 capture values
+ mov Temp1, PCA0CPL0
+ mov Temp2, PCA0CPH0
+ ; Clear interrupt flag
+ Rcp_Clear_Int_Flag
+ ; Check which edge it is
+ jnb Flags2.RCP_EDGE_NO, ($+5) ; Is it a first edge trig?
+ ajmp pca_int_second_meas_pwm_freq ; No - branch to second
+
+ Rcp_Int_Second ; Yes - set second edge trig
+ setb Flags2.RCP_EDGE_NO ; Set second edge flag
+ ; Read RC signal level
+ Read_Rcp_Int
+ ; Test RC signal level
+ jb ACC.Rcp_In, ($+5) ; Is it high?
+ ajmp pca_int_fail_minimum ; No - jump to fail minimum
+
+ ; RC pulse was high, store RC pulse start timestamp
+ mov Rcp_Prev_Edge_L, Temp1
+ mov Rcp_Prev_Edge_H, Temp2
+ ajmp pca_int_exit ; Exit
+
+pca_int_fail_minimum:
+ ; Prepare for next interrupt
+ Rcp_Int_First ; Set interrupt trig to first again
+ Rcp_Clear_Int_Flag ; Clear interrupt flag
+ clr Flags2.RCP_EDGE_NO ; Set first edge flag
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ anl A, Flags3 ; Check pwm frequency flags
+ jnz ($+4) ; If a flag is set (PWM) - proceed
+
+ ajmp pca_int_set_timeout ; If PPM - ignore trig as noise
+
+ mov Temp1, #RCP_MIN ; Set RC pulse value to minimum
+ Read_Rcp_Int ; Test RC signal level again
+ jnb ACC.Rcp_In, ($+5) ; Is it high?
+ ajmp pca_int_set_timeout ; Yes - set new timeout and exit
+
+ mov New_Rcp, Temp1 ; Store new pulse length
+ ajmp pca_int_set_timeout ; Set new timeout and exit
+
+pca_int_second_meas_pwm_freq:
+ ; Prepare for next interrupt
+ Rcp_Int_First ; Set first edge trig
+ clr Flags2.RCP_EDGE_NO ; Set first edge flag
+ ; Check if pwm frequency shall be measured
+ jb Flags0.RCP_MEAS_PWM_FREQ, ($+5) ; Is measure RCP pwm frequency flag set?
+ ajmp pca_int_fall ; No - skip measurements
+
+ ; Set second edge trig only during pwm frequency measurement
+ Rcp_Int_Second ; Set second edge trig
+ Rcp_Clear_Int_Flag ; Clear interrupt flag
+ setb Flags2.RCP_EDGE_NO ; Set second edge flag
+ ; Store edge data to RAM
+ mov Rcp_Edge_L, Temp1
+ mov Rcp_Edge_H, Temp2
+ ; Calculate pwm frequency
+ clr C
+ mov A, Temp1
+ subb A, Rcp_PrePrev_Edge_L
+ mov Temp1, A ;存低字节差
+ mov A, Temp2
+ subb A, Rcp_PrePrev_Edge_H
+ mov Temp2, A ;存高字节差
+; clr A
+; mov Temp4, A
+ ; Check if pwm frequency is 8kHz
+ mov Temp3, #250 ; Set default period tolerance requirement
+; clr C
+; mov A, Temp1
+; subb A, #low(360) ; If below 180us, 8kHz pwm is assumed
+; mov A, Temp2
+; subb A, #high(360)
+; jnc pca_int_check_4kHz
+
+; clr A
+; setb ACC.RCP_PWM_FREQ_8KHZ
+; mov Temp4, A
+; mov Temp3, #15 ; Set period tolerance requirement
+; ajmp pca_int_restore_edge
+
+;pca_int_check_4kHz:
+; ; Check if pwm frequency is 4kHz
+; clr C
+; mov A, Temp1
+; subb A, #low(720) ; If below 360us, 4kHz pwm is assumed
+; mov A, Temp2
+; subb A, #high(720)
+; jnc pca_int_check_2kHz
+
+; clr A
+; setb ACC.RCP_PWM_FREQ_4KHZ
+; mov Temp4, A
+; mov Temp3, #30 ; Set period tolerance requirement
+; ajmp pca_int_restore_edge
+
+;pca_int_check_2kHz:
+; ; Check if pwm frequency is 2kHz
+; clr C
+; mov A, Temp1
+; subb A, #low(1440) ; If below 720us, 2kHz pwm is assumed
+; mov A, Temp2
+; subb A, #high(1440)
+; jnc pca_int_check_1kHz
+
+; clr A
+; setb ACC.RCP_PWM_FREQ_2KHZ
+; mov Temp4, A
+; mov Temp3, #60 ; Set period tolerance requirement
+; ajmp pca_int_restore_edge
+
+;pca_int_check_1kHz:
+ ; Check if pwm frequency is 1kHz
+ clr C
+ mov A, Temp1
+ subb A, #low(2200) ; If below 1100us, 1kHz pwm is assumed
+ mov A, Temp2
+ subb A, #high(2200)
+ jnc pca_int_restore_edge
+
+ ajmp pca_int_set_timeout
+; clr A
+; setb ACC.RCP_PWM_FREQ_1KHZ
+; mov Temp4, A
+; mov Temp3, #120 ; Set period tolerance requirement
+
+pca_int_restore_edge:
+ ; Calculate difference between this period and previous period
+ clr C
+ mov A, Temp1
+ subb A, Rcp_Prev_Period_L
+ mov Temp5, A
+ mov A, Temp2
+ subb A, Rcp_Prev_Period_H
+ mov Temp6, A
+ ; Make positive
+ jnb ACC.7, pca_int_check_diff
+ mov A, Temp5
+ cpl A
+ add A, #1
+ mov Temp5, A
+ mov A, Temp6
+ cpl A
+ mov Temp6, A
+
+pca_int_check_diff:
+ ; Check difference
+ mov Rcp_Period_Diff_Accepted, #0 ; Set not accepted as default
+ jnz pca_int_store_data ; Check if high byte is zero
+
+ clr C
+ mov A, Temp5
+ subb A, Temp3 ; Check difference
+ jnc pca_int_store_data
+
+ mov Rcp_Period_Diff_Accepted, #1 ; Set accepted
+
+pca_int_store_data:
+ ; Store previous period
+ mov Rcp_Prev_Period_L, Temp1
+ mov Rcp_Prev_Period_H, Temp2
+ ; Restore edge data from RAM
+ mov Temp1, Rcp_Edge_L
+ mov Temp2, Rcp_Edge_H
+ ; Store pre previous edge
+ mov Rcp_PrePrev_Edge_L, Temp1
+ mov Rcp_PrePrev_Edge_H, Temp2
+
+pca_int_fall:
+ clr A
+ mov Temp4, A
+ ; RC pulse edge was second, calculate new pulse length
+ clr C
+ mov A, Temp1
+ subb A, Rcp_Prev_Edge_L
+ mov Temp1, A
+ mov A, Temp2
+ subb A, Rcp_Prev_Edge_H
+ mov Temp2, A
+
+ jb Flags0.RCP_MEAS_PWM_FREQ, rcp_skip_oneshot ;........................
+ mov A, Temp2
+ mov Temp6, A
+ mov A, Temp1
+ mov Temp5, A
+
+ ; Check if 270us or above (in order to ignore false pulses)
+ clr C
+ mov A, Temp5
+ subb A, #28
+ mov A, Temp6
+ subb A, #2
+ jc pca_int_ppm_below_full_range_oneshot
+ ajmp rcp_skip_oneshot
+
+pca_int_ppm_below_full_range_oneshot:
+ ; Check if below 110us (in order to ignore false pulses)
+ mov A, Temp6
+ jnz pca_int_ppm_check_full_range
+ clr C
+ mov A, Temp5
+ subb A,#220
+ jnc pca_int_ppm_check_full_range
+
+rcp_skip_oneshot: ; ......................................
+
+; jnb Flags3.RCP_PWM_FREQ_8KHZ, ($+5) ; Is RC input pwm frequency 8kHz?
+; ajmp pca_int_pwm_divide_done ; Yes - branch forward
+
+; jnb Flags3.RCP_PWM_FREQ_4KHZ, ($+5) ; Is RC input pwm frequency 4kHz?
+; ajmp pca_int_pwm_divide ; Yes - branch forward
+ mov OS_FLAG, #0 ;...................................
+ mov A, Temp2 ; No - 2kHz. Divide by 2 again
+ clr C
+ rrc A
+ mov Temp2, A
+ mov A, Temp1
+ rrc A
+ mov Temp1, A
+
+; jnb Flags3.RCP_PWM_FREQ_2KHZ, ($+5) ; Is RC input pwm frequency 2kHz?
+; ajmp pca_int_pwm_divide ; Yes - branch forward
+
+ mov A, Temp2 ; No - 1kHz. Divide by 2 again
+ clr C
+ rrc A
+ mov Temp2, A
+ mov A, Temp1
+ rrc A
+ mov Temp1, A
+
+ clr C
+ mov A, Temp1
+ subb A, #250 ; If below 500us,
+ mov A, Temp2
+ subb A, #0
+ jnc ($+9)
+
+ mov A, Initial_Arm
+ cjne A, #1, ($+5)
+
+ ajmp pca_int_pwm_divide
+
+; jnb Flags3.RCP_PWM_FREQ_1KHZ, ($+5) ; Is RC input pwm frequency 1kHz?
+; ajmp pca_int_pwm_divide ; Yes - branch forward
+
+ mov A, Temp2 ; No - PPM. Divide by 2 (to bring range to 256) and move to Temp5/6
+ clr C
+ rrc A
+ mov Temp6, A
+ mov A, Temp1
+ rrc A
+ mov Temp5, A
+ ; Skip range limitation if pwm frequency measurement
+ jb Flags0.RCP_MEAS_PWM_FREQ, pca_int_ppm_check_full_range
+
+ ; Check if 2160us or above (in order to ignore false pulses)
+ clr C
+ mov A, Temp5 ; Is pulse 2160us or higher?
+ subb A, #28
+ mov A, Temp6
+ subb A, #2
+ jc ($+5) ; No - proceed
+
+ ljmp pca_int_set_timeout ; Yes - ignore pulse
+
+ ; Check if below 800us (in order to ignore false pulses)
+ mov A, Temp6
+ jnz pca_int_ppm_check_full_range
+
+ clr C
+ mov A, Temp5 ; Is pulse below 800us?
+ subb A, #200
+ jnc pca_int_ppm_check_full_range ; No - proceed
+
+ jmp pca_int_exit ; Yes - ignore pulse
+
+pca_int_ppm_check_full_range:
+ ; Calculate "1000us" plus throttle minimum
+ mov A, #0 ; Set 1000us as default minimum
+ jb Flags3.FULL_THROTTLE_RANGE, pca_int_ppm_calculate ; Check if full range is chosen
+
+ mov Temp1, #Pgm_Ppm_Min_Throttle ; Min throttle value is in 4us units
+ mov A, @Temp1
+
+pca_int_ppm_calculate:
+ add A, #250
+ mov Temp7, A
+ clr A
+ addc A, #0
+ mov Temp8, A
+
+ clr C
+ mov A, Temp5 ; Subtract minimum
+ subb A, Temp7
+ mov Temp5, A
+ mov A, Temp6
+ subb A, Temp8
+ mov Temp6, A
+ jnc pca_int_ppm_neg_checked ; Is result negative?
+
+ mov Temp1, #RCP_MIN ; Yes - set to minimum
+ mov Temp2, #0
+ ajmp pca_int_pwm_divide_done
+
+pca_int_ppm_neg_checked:
+ clr C ; Check that RC pulse is within legal range (1000+4*255=2020)
+ mov A, Temp5
+ subb A, #RCP_MAX
+ mov A, Temp6
+ subb A, #0
+ jc pca_int_ppm_max_checked
+
+ mov Temp1, #RCP_MAX
+ mov Temp2, #0
+ ajmp pca_int_pwm_divide_done
+
+pca_int_ppm_max_checked:
+ mov A, Temp5 ; Multiply throttle value by gain
+ mov B, Ppm_Throttle_Gain
+ mul AB
+ xch A, B
+ mov C, B.7 ; Multiply result by 2 (unity gain is 128)
+ rlc A
+ mov Temp1, A ; Transfer to Temp1/2
+ mov Temp2, #0
+ jc pca_int_ppm_limit_after_mult
+
+ jmp pca_int_limited
+
+pca_int_ppm_limit_after_mult:
+ mov Temp1, #RCP_MAX
+ mov Temp2, #0
+ jmp pca_int_limited
+
+pca_int_pwm_divide:
+ mov A, OS_FLAG
+ jnz pca_int_pwm_divide_done ;.............................
+;480us
+ clr C
+ mov A, Temp1
+ subb A, #240
+ mov A, Temp2
+ subb A, #0
+ jnc pca_int_set_timeout
+;40us
+ clr C
+ mov A, Temp1
+ subb A, #20
+ mov A, Temp2
+ subb A, #0
+ jc pca_int_set_timeout
+
+ clr A
+ setb ACC.RCP_PWM_FREQ_1KHZ
+ mov Temp4, A
+; mov Rcp_Period_Diff_Accepted, #1
+ ajmp pca_int_limited
+
+pca_int_pwm_divide_done:
+ ; Check that RC pulse is within legal range
+ clr C
+ mov A, Temp1
+ subb A, #RCP_MAX
+ mov A, Temp2
+ subb A, #0
+ jc pca_int_limited
+
+ mov Temp1, #RCP_MAX
+
+pca_int_limited:
+ ; RC pulse value accepted
+ mov New_Rcp, Temp1 ; Store new pulse length
+ setb Flags2.RCP_UPDATED ; Set updated flag
+; jb Flags0.RCP_MEAS_PWM_FREQ, ($+5) ; Is measure RCP pwm frequency flag set?
+; ajmp pca_int_set_timeout ; No - skip measurements
+
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ cpl A
+ anl A, Flags3 ; Clear all pwm frequency flags
+ orl A, Temp4 ; Store pwm frequency value in flags
+ mov Flags3, A
+
+pca_int_set_timeout:
+ mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; Set timeout count to start value
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ anl A, Flags3 ; Check pwm frequency flags
+ jnz pca_int_ppm_timeout_set ; If a flag is set - branch
+
+ mov Rcp_Timeout_Cnt, #RCP_TIMEOUT_PPM ; No flag set means PPM. Set timeout count
+
+pca_int_ppm_timeout_set:
+; jnb Flags0.RCP_MEAS_PWM_FREQ, ($+5) ; Is measure RCP pwm frequency flag set?
+; ajmp pca_int_exit ; Yes - exit
+
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jz pca_int_exit ; If no flag is set (PPM) - branch
+
+; Rcp_Int_Disable ; Disable RC pulse interrupt
+
+pca_int_exit: ; Exit interrupt routine
+ mov Rcp_Skip_Cnt, #RCP_SKIP_RATE ; Load number of skips
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ anl A, Flags3 ; Check pwm frequency flags
+ jnz ($+5) ; If a flag is set (PWM) - branch
+
+ mov Rcp_Skip_Cnt, #10 ; Load number of skips
+
+ pop B ; Restore preserved registers
+ pop ACC
+ pop PSW
+ clr PSW.3 ; Select register bank 0 for main program routines
+ setb EA ; Enable all interrupts
+ reti
+
+
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Wait xms ~(x*4*250) (Different entry points)
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+wait1ms:
+ mov Temp2, #1
+ ajmp waitxms_o
+
+wait3ms:
+ mov Temp2, #3
+ ajmp waitxms_o
+
+wait10ms:
+ mov Temp2, #10
+ ajmp waitxms_o
+
+wait30ms:
+ mov Temp2, #30
+ ajmp waitxms_o
+
+wait100ms:
+ mov Temp2, #100
+ ajmp waitxms_o
+
+wait200ms:
+ mov Temp2, #200
+ ajmp waitxms_o
+
+waitxms_o: ; Outer loop
+ mov Temp1, #23
+waitxms_m: ; Middle loop
+ clr A
+ djnz ACC, $ ; Inner loop (42.7us - 1024 cycles)
+ djnz Temp1, waitxms_m
+ djnz Temp2, waitxms_o
+ ret
+;**;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Wait 1 second routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+wait1s:
+ mov Temp5, #5
+wait1s_loop:
+ call wait200ms
+ djnz Temp5, wait1s_loop
+ ret
+
+
+;**;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Success beep routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+success_beep:
+ clr EA ; Disable all interrupts
+ call beep_f1
+ call beep_f2
+ call beep_f3
+; call beep_f4
+ call wait10ms
+ call beep_f1
+ call beep_f2
+ call beep_f3
+; call beep_f4
+; call wait10ms
+; call beep_f1
+; call beep_f2
+; call beep_f3
+; call beep_f4
+ setb EA ; Enable all interrupts
+ ret
+
+
+;**;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Success beep inverted routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+success_beep_inverted:
+ clr EA ; Disable all interrupts
+; call beep_f4
+ call beep_f3
+ call beep_f2
+ call beep_f1
+ call wait10ms
+; call beep_f4
+ call beep_f3
+ call beep_f2
+ call beep_f1
+ call wait10ms
+; call beep_f4
+; call beep_f3
+; call beep_f2
+; call beep_f1
+ setb EA ; Enable all interrupts
+ ret
+
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Function and parameter value beep routine
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+function_paraval_beep:
+ mov Temp7, Tx_Pgm_Func_No ; Function no
+ mov Temp8, Tx_Pgm_Paraval_No ; Parameter value no
+ clr EA ; Disable all interrupts
+;//////function_beep:
+;////// call beep_f1
+;////// call beep_f1
+;////// call beep_f1
+;////// call wait10ms
+;////// djnz Temp7, function_beep
+;//////paraval_beep:
+;////// call beep_f4
+;////// call wait10ms
+;////// djnz Temp8, paraval_beep
+;function_beep:
+ jnb Flags0.PROGRAM_FUNC_FLAG,paraval_beep ;跳到参数选项叫
+function_no_6:
+ clr C
+ mov A,Temp7
+ subb A,#5
+ jc function_below_beep
+ jz function_beep
+ mov Temp7, A
+function_beep:
+ call beep_f3
+ call beep_f3
+ call beep_f3
+ call beep_f3
+ call beep_f3
+ call wait30ms
+
+ cjne Temp7,#5,($+5)
+ ajmp fun_par_end
+
+
+function_below_beep:
+ call beep_f1
+ call beep_f1
+ call beep_f1
+ call wait100ms
+ djnz Temp7, function_below_beep
+ ajmp fun_par_end
+
+paraval_beep:
+ clr A
+ mov Temp7,A
+
+ clr C
+ mov A,Temp8
+ subb A,#10 ;参数数 - 10
+ jc paraval_no_7 ;<10
+ inc Temp7 ;>=10
+ inc Temp7
+ jz paraval_below_beep
+ mov Temp8,A ;>=存差
+ ajmp paraval_below_beep
+
+paraval_no_7:
+ clr C
+ mov A,Temp8
+ subb A,#5
+ jc paraval_no_below
+ inc Temp7
+ jz paraval_below_beep
+ mov Temp8,A ;>=存差
+
+paraval_below_beep:
+ call beep_f2
+ call beep_f2
+ call beep_f2
+ call wait30ms
+ djnz Temp7,paraval_below_beep
+ cjne Temp8,#10,($+5)
+ ajmp fun_par_end
+ cjne Temp8,#5,($+5)
+ ajmp fun_par_end
+
+paraval_no_below:
+ call wait100ms
+ call beep_f4
+ call wait100ms
+ djnz Temp8, paraval_no_below
+fun_par_end:
+ setb EA ; Enable all interrupts
+
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 接收一个数据（一个字节）
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+receive_a_byte:
+ mov Temp8,#0
+ mov Commu_Data_Buffer, #0
+ mov Temp4, #8
+wait_high:
+
+ Read_Rcp_Int
+ ; Test RC signal level
+ jb ACC.Rcp_In,start_t2
+
+ jnb TF1, wait_high
+
+; setb Flags3.ERRO_DATA
+; ajmp receive_exit
+
+start_t2:
+ mov TL0, #00h
+ mov TH0, #00h
+ setb TR0 ;启动T0
+wait_low:
+ Read_Rcp_Int
+ ; Test RC signal level
+ jnb ACC.Rcp_In, measure_wide
+
+ jnb TF1, wait_low
+
+; setb Flags3.ERRO_DATA
+; ajmp receive_exit
+
+measure_wide:
+ clr TR0 ;停止T0
+; mov Temp1, TL0
+; mov Temp2, TH0
+
+; mov New_Rcp, Temp1
+ mov New_Rcp, TL0
+ clr C
+ mov A, New_Rcp
+ subb A, #20 ;40us
+ jc receive_a_erro_byte ;<80us 错误字节
+
+ clr C
+ mov A, New_Rcp
+ subb A, #78 ;156us
+ jnc receive_bit_one ;>160us 进行位1判断
+
+ mov A, Temp8 ;取0
+ rl A
+ mov Temp8, A
+ ajmp receive_a_byte_exit
+
+receive_bit_one:
+ clr C
+ mov A, New_Rcp
+ subb A, #102 ;240us
+ jc receive_a_erro_byte ;160< New_Rcp <240us 错误字节
+
+ clr C
+ mov A, New_Rcp
+ subb A, #204 ;400us
+ jnc receive_a_erro_byte ;>400us 错误字节
+
+ mov A, Temp8 ;取1
+ rl A
+ inc A
+ mov Temp8, A
+ ajmp receive_a_byte_exit
+
+receive_a_erro_byte:
+ setb Flags3.ERRO_DATA
+
+receive_a_byte_exit:
+ jnb TF1, ($+7)
+
+ setb Flags3.ERRO_DATA
+ ajmp ($+6)
+
+ djnz Temp4, wait_high
+ mov Commu_Data_Buffer, Temp8
+receive_exit:
+ ret
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 接收一组数据
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+receive_bytes:
+ mov Temp5, #48
+ mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+ mov Commu_Data_Buffer, #0
+wait_receive_bytes:
+ call receive_a_byte
+ mov @Temp2, Commu_Data_Buffer
+ inc Temp2
+ djnz Temp5, wait_receive_bytes
+
+ ret
+
+store_tags:
+; call store_tags
+ mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+ mov Temp5, #48
+store_tag:
+ cjne Temp5, #45, store_two
+ mov Temp1, #Pgm_Gov_Mode
+ jmp store_eep
+store_two:
+ cjne Temp5, #44, store_three
+ mov Temp1, #Pgm_Low_Voltage_Lim
+ jmp store_eep
+store_three:
+ cjne Temp5, #43, store_four
+ mov Temp1, #Pgm_Low_Voltage_Ctl
+ jmp store_eep
+store_four:
+ cjne Temp5, #40, store_five
+ mov Temp1, #Pgm_Startup_Pwr
+ jmp store_eep
+store_five:
+ cjne Temp5, #39, store_six
+ mov Temp1, #Pgm_Pwm_Freq
+ jmp store_eep
+store_six:
+ cjne Temp5, #28, store_seven
+ mov Temp1, #Pgm_Comm_Timing
+ jmp store_eep
+store_seven:
+ cjne Temp5, #27, store_next
+ mov Temp1, #Pgm_Damping_Force
+
+store_eep:
+ mov Commu_Data_Buffer, @Temp2
+;setb P1.7
+ mov @Temp1, Commu_Data_Buffer
+
+ call erase_and_store_all_in_eeprom
+ clr EA
+
+store_next:
+ inc Temp2
+ djnz Temp5, store_tag
+
+ ret
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 发送一个数据（一个字节）
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+send_a_byte:
+ clr EA
+ setb TR0 ;启动T0
+ mov Temp4, #8
+ mov A, Commu_Data_Buffer ;读取要发送的数据
+wait_send_a_byte:
+ setb P0.7 ;发送高电平
+
+; mov A, Commu_Data_Buffer ;读取要发送的数据
+ jnb ACC.7, low_value ;($+8)
+
+ mov TL0, #067h ;发送1脉宽长
+ ajmp high_value ;($+5)
+
+low_value:
+ mov TL0, #0CDh ;发送0脉宽长
+
+high_value:
+ mov TH0, #0FFh
+
+ clr TF0 ;清T0溢出标志
+ jnb TF0, $ ;等待T0溢出 高电平发送完成
+
+ clr P0.7 ;发送低电平
+ mov TL0, #0CDh ;
+ mov TH0, #0FFh
+
+ clr TF0 ;清T0溢出标志
+ jnb TF0, $ ;等待T0溢出 低电平发送完成
+
+ rl A ;发送下一位
+; mov Commu_Data_Buffer, A
+ djnz Temp4, wait_send_a_byte
+
+ ret
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 发送一组数据
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+send_bytes:
+ clr P0.7
+; mov A, P0MDOUT
+; orl A, #080h
+ mov P0MDOUT, #80h ;设置成推挽输出
+ mov Temp5, #48
+; mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+ mov Temp1, #Pgm_Fir_Key
+wait_send_bytes:
+ mov Commu_Data_Buffer, @Temp1
+ inc Temp1
+
+ call send_a_byte ;逐个字节发送
+
+ djnz Temp5, wait_send_bytes
+
+; mov A, P0MDOUT
+; anl A, #07Fh
+ mov P0MDOUT, #7Fh ;设置成漏极输出
+ setb P0.7
+
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 编程卡校验和
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+get_commu_buffers_sum:
+ mov Commu_Sum, #0
+ mov Temp5, #48
+ mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+wait_get_commu_buffers_sum:
+ mov A, @Temp2
+ clr C
+ addc A, Commu_Sum
+ mov Commu_Sum, A
+ inc Temp2
+ djnz Temp5, wait_get_commu_buffers_sum
+
+ ret
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 清零校验和
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+set_commu_sum_to_zero:
+ mov Temp8, #0
+ mov Temp5, #47
+ mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+wait_set_commu_sum_to_zero:
+ mov A, @Temp2
+ clr C
+ addc A, Temp8
+ mov Temp8, A
+ inc Temp2
+
+ djnz Temp5, wait_set_commu_sum_to_zero
+
+ cpl A
+ inc A
+ mov @Temp2, A ;写最后一个字节
+
+ ret
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 读取EEPROM参数
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;check_parameters:
+; mov Temp5, #48 ; Number of tags
+; mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+; mov Temp1, #Bit_Access
+; mov DPTR, #Eep_ESC_Layout ; Set flash address
+;read_eep:
+; call read_eeprom_byte
+; mov A, Bit_Access
+; mov @Temp2, A ; Write to RAM
+; inc Temp2
+; inc DPTR
+; djnz Temp5, read_eep
+
+; call get_commu_buffers_sum
+
+; mov A, Commu_Sum
+; jnz set_parameters_default
+;;读取首字节
+; mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+; mov Temp1, #Bit_Access
+; mov DPTR, #Eep_ESC_Layout ; Set flash address
+; call read_eeprom_byte
+; mov A, Bit_Access
+; cjne A, #66h, set_parameters_default
+;;设置默认参数
+;set_parameters_default:
+; mov Temp5, #48
+; mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+; mov DPTR, #FINISH_KEYWORD_TABLE
+;wait_set_parameters_default:
+; clr A
+; movc A, @A+DPTR
+; mov @Temp2, A
+; inc Temp2
+; inc DPTR
+; djnz Temp5, wait_set_parameters_default
+
+; call set_commu_sum_to_zero
+
+; ret
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; 编程卡编程函数
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+program_by_card:
+; clr EA
+ mov Commu_Data_Buffer, #0
+ call wait10ms
+ clr Flags3.ERRO_DATA ;清错误字节标志
+
+ mov TL1, #00h
+ mov TH1, #00h
+ setb TR1 ; 启动T1
+ clr TF1 ;清T1溢出标志
+
+ call receive_a_byte ;读取一个字节（关键字）
+
+ jb Flags3.ERRO_DATA, program_by_card ;接收到错误字节，则重新接收
+
+ mov A, Commu_Data_Buffer ;读接收到的字节
+ cjne A, #05h, receive_next_keyword ;判断是否关键字 0x05
+ call wait3ms
+
+ call send_bytes
+
+ ljmp program_by_card
+
+receive_next_keyword:
+
+ cjne A, #09h, program_by_card ;判断是否关键字 0x09
+ mov Commu_Data_Buffer, #0
+ mov TL1, #00h
+ mov TH1, #00h
+ setb TR1 ;启动T1
+ clr TF1 ;清T1溢出标志
+
+ call receive_bytes ;读取一组数据
+
+ call get_commu_buffers_sum
+ mov A, Commu_Sum ;读取校验和
+ jnz program_by_card ;判断校验和
+
+ mov Temp2, #Tag_Temporary_Storage ; Set RAM address
+ mov A, @Temp2 ;读取首字节
+ cjne A, #66h, program_by_card ;判断首字节
+
+ call wait1ms
+ clr P0.7
+; mov A, P0MDOUT
+; orl A, #080h ;设置成推挽输出
+ mov P0MDOUT, #080h
+ mov Commu_Data_Buffer, #088h
+
+ call send_a_byte ;逐个字节发送
+; mov A, P0MDOUT
+; anl A, #07Fh ;设置成漏极输出
+ mov P0MDOUT, #07Fh
+ setb P0.7
+ call store_tags ;存一组数据
+; call erase_and_store_all_in_eeprom
+; clr EA
+;clr P1.7
+ ljmp program_by_card
+
+ ret
+
+
+
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Beeper routines (4 different entry points)
+;
+; No assumptions
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+beep_f1: ; Entry point 1, load beeper frequency 1 settings
+ mov Temp3, #18 ; Off wait loop length
+ mov Temp4, #100 ; Number of beep pulses Mos开关次数
+ ajmp beep
+
+beep_f2: ; Entry point 2, load beeper frequency 2 settings
+ mov Temp3, #14
+ mov Temp4, #120 ;Mos开关次数
+ ajmp beep
+
+beep_f3: ; Entry point 3, load beeper frequency 3 settings
+ mov Temp3, #12
+ mov Temp4, #160 ;Mos开关次数
+ ajmp beep
+
+beep_f4: ; Entry point 4, load beeper frequency 4 settings
+ mov Temp3, #9
+ mov Temp4, #180 ;Mos开关次数
+ ajmp beep
+
+beep: ; Beep loop start
+ mov Temp5, Current_Pwm_Limited ; Store value
+ mov Current_Pwm_Limited, #1 ; Set to a nonzero value
+ mov Temp2, #2 ; Must be an even number (or direction will change)
+beep_onoff:
+ cpl Flags3.PGM_DIR_REV ; Toggle between using A fet and C fet 切换A、C up导通
+ clr A
+ BpFET_off ; BpFET off
+ djnz ACC, $ ; Allow some time after pfet is turned off
+ BnFET_on ; BnFET on (in order to charge the driver of the BpFET)
+ djnz ACC, $ ; Let the nfet be turned on a while
+ BnFET_off ; BnFET off again
+ djnz ACC, $ ; Allow some time after nfet is turned off
+ BpFET_on ; BpFET on
+ djnz ACC, $ ; Allow some time after pfet is turned on
+ ; Turn on nfet
+ AnFET_on ; AnFET on
+ mov A, Beep_Strength
+ djnz ACC, $
+ ; Turn off nfet
+ AnFET_off ; AnFET off
+ mov A, #100 ; 25祍 off
+ djnz ACC, $
+ djnz Temp2, beep_onoff
+ ; Copy variable
+ mov A, Temp3
+ mov Temp1, A
+beep_off: ; Fets off loop
+ djnz ACC, $
+ djnz Temp1, beep_off
+
+beep_recharge_done:
+ djnz Temp4, beep
+ BpFET_off ; BpFET off
+ mov Current_Pwm_Limited, Temp5 ; Restore value
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Division 16bit unsigned by 16bit unsigned
+;
+; Dividend shall be in Temp2/Temp1, divisor in Temp4/Temp3
+; Result will be in Temp2/Temp1
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+div_u16_by_u16:
+ clr C
+ mov Temp5, #0
+ mov Temp6, #0
+ mov B, #0
+div_u16_by_u16_div1:
+ inc B ; Increment counter for each left shift
+ mov A, Temp3 ; Shift left the divisor
+ rlc A
+ mov Temp3, A
+ mov A, Temp4
+ rlc A
+ mov Temp4, A
+ jnc div_u16_by_u16_div1 ; Repeat until carry flag is set from high-byte
+div_u16_by_u16_div2:
+ mov A, Temp4 ; Shift right the divisor
+ rrc A
+ mov Temp4, A
+ mov A, Temp3
+ rrc A
+ mov Temp3, A
+ clr C
+ mov A, Temp2 ; Make a safe copy of the dividend
+ mov Temp8, A
+ mov A, Temp1
+ mov Temp7, A
+ mov A, Temp1 ; Move low-byte of dividend into accumulator
+ subb A, Temp3 ; Dividend - shifted divisor = result bit (no factor, only 0 or 1)
+ mov Temp1, A ; Save updated dividend
+ mov A, Temp2 ; Move high-byte of dividend into accumulator
+ subb A, Temp4 ; Subtract high-byte of divisor (all together 16-bit substraction)
+ mov Temp2, A ; Save updated high-byte back in high-byte of divisor
+ jnc div_u16_by_u16_div3 ; If carry flag is NOT set, result is 1
+ mov A, Temp8 ; Otherwise result is 0, save copy of divisor to undo subtraction
+ mov Temp2, A
+ mov A, Temp7
+ mov Temp1, A
+div_u16_by_u16_div3:
+ cpl C ; Invert carry, so it can be directly copied into result
+ mov A, Temp5
+ rlc A ; Shift carry flag into temporary result
+ mov Temp5, A
+ mov A, Temp6
+ rlc A
+ mov Temp6,A
+ djnz B, div_u16_by_u16_div2 ;Now count backwards and repeat until "B" is zero
+ mov A, Temp6 ; Move result to Temp2/Temp1
+ mov Temp2, A
+ mov A, Temp5
+ mov Temp1, A
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Multiplication 16bit signed by 8bit unsigned
+;
+; Multiplicand shall be in Temp2/Temp1, multiplicator in Temp3
+; Result will be in Temp2/Temp1. Result will divided by 16
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+mult_s16_by_u8_div_16:
+ mov A, Temp1 ; Read input to math registers
+ mov B, Temp2
+ mov Bit_Access, Temp3
+ setb PSW.4 ; Select register bank 2 for math routines
+ mov Temp1, A ; Store in math registers
+ mov Temp2, B
+ mov Temp4, #0 ; Set sign in Temp4 and test sign
+ jnb B.7, mult_s16_by_u8_positive
+
+ mov Temp4, #0FFh
+ cpl A
+ add A, #1
+ mov Temp1, A
+ mov A, Temp2
+ cpl A
+ addc A, #0
+ mov Temp2, A
+mult_s16_by_u8_positive:
+ mov A, Temp1 ; Multiply LSB with multiplicator
+ mov B, Bit_Access
+ mul AB
+ mov Temp6, B ; Place MSB in Temp6
+ mov Temp1, A ; Place LSB in Temp1 (result)
+ mov A, Temp2 ; Multiply MSB with multiplicator
+ mov B, Bit_Access
+ mul AB
+ mov Temp8, B ; Place in Temp8/7
+ mov Temp7, A
+ mov A, Temp6 ; Add up
+ add A, Temp7
+ mov Temp2, A
+ mov A, #0
+ addc A, Temp8
+ mov Temp3, A
+ mov Temp5, #4 ; Set number of divisions
+mult_s16_by_u8_div_loop:
+ clr C ; Rotate right
+ mov A, Temp3
+ rrc A
+ mov Temp3, A
+ mov A, Temp2
+ rrc A
+ mov Temp2, A
+ mov A, Temp1
+ rrc A
+ mov Temp1, A
+ djnz Temp5, mult_s16_by_u8_div_loop
+
+ mov B, Temp4 ; Test sign
+ jnb B.7, mult_s16_by_u8_exit
+
+ mov A, Temp1
+ cpl A
+ add A, #1
+ mov Temp1, A
+ mov A, Temp2
+ cpl A
+ addc A, #0
+ mov Temp2, A
+
+mult_s16_by_u8_exit:
+ mov A, Temp1 ; Store output
+ mov B, Temp2
+ clr PSW.4 ; Select normal register bank
+ mov Temp1, A
+ mov Temp2, B
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Calculate governor routines
+;
+; No assumptions
+;
+; Governs headspeed based upon the Comm_Period4x variable and pwm
+; The governor task is split into several routines in order to distribute processing time
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+; First governor routine - calculate governor target
+IF MODE <= 1 ; Main or tail
+calc_governor_target:
+ mov Temp1, #Pgm_Gov_Mode ; Governor mode?
+ cjne @Temp1, #4, governor_speed_check ; Yes
+ jmp calc_governor_target_exit ; No
+
+governor_speed_check:
+ ; Stop governor for stop RC pulse
+ clr C
+ mov A, New_Rcp ; Check RC pulse against stop value
+ subb A, #RCP_STOP ; Is pulse below stop value?
+ jc governor_deactivate ; Yes - deactivate
+
+ ; Skip speed check if governor is alrady active
+ mov A, Gov_Active
+ jnz governor_target_calc
+
+ ; Check speed (do not run governor for low speeds)
+ mov Temp1, #05h ; Default high range activation limit value (~62500 eRPM)
+ clr C
+ mov Temp2, #Pgm_Gov_Range
+ cjne @Temp2, #2, ($+5)
+
+ mov Temp1, #12h ; Low range activation limit value (~17400 eRPM)
+
+ clr C
+ mov A, Comm_Period4x_L
+ subb A, #00h
+ mov A, Comm_Period4x_H
+ subb A, Temp1
+ jc governor_activate ; If speed above min limit - run governor
+
+governor_deactivate:
+ mov Current_Pwm, Requested_Pwm ; Set current pwm to requested
+ clr A
+ mov Gov_Target_L, A ; Set target to zero
+ mov Gov_Target_H, A
+ mov Gov_Integral_L, A ; Set integral to zero
+ mov Gov_Integral_H, A
+ mov Gov_Integral_X, A
+ mov Gov_Active, A
+ jmp calc_governor_target_exit
+
+governor_activate:
+ mov Gov_Active, #1
+governor_target_calc:
+ ; Governor calculations
+ clr C
+ mov Temp2, #Pgm_Gov_Range
+ mov A, @Temp2 ; Check high or low range (Temp2 has #Pgm_Gov_Range)
+ subb A, #2
+ jz calc_governor_target_low
+
+ mov A, Governor_Req_Pwm ; Load governor requested pwm
+ cpl A ; Calculate 255-pwm (invert pwm)
+ ; Calculate comm period target (1 + 2*((255-Requested_Pwm)/256) - 0.25)
+ rlc A ; Msb to carry
+ rlc A ; To bit0
+ mov Temp2, A ; Now 1 lsb is valid for H
+ rrc A
+ mov Temp1, A ; Now 7 msbs are valid for L
+ mov A, Temp2
+ anl A, #01h ; Calculate H byte
+ inc A ; Add 1
+ mov Temp2, A
+ mov A, Temp1
+ anl A, #0FEh ; Calculate L byte
+ clr C
+ subb A, #40h ; Subtract 0.25
+ mov Temp1, A
+ mov A, Temp2
+ subb A, #0
+ mov Temp2, A
+ jmp calc_governor_store_target
+
+calc_governor_target_low:
+ mov A, Governor_Req_Pwm ; Load governor requested pwm
+ cpl A ; Calculate 255-pwm (invert pwm)
+ ; Calculate comm period target (2 + 8*((255-Requested_Pwm)/256) - 0.25)
+ rlc A ; Msb to carry
+ rlc A ; To bit0
+ rlc A ; To bit1
+ rlc A ; To bit2
+ mov Temp2, A ; Now 3 lsbs are valid for H
+ rrc A
+ mov Temp1, A ; Now 4 msbs are valid for L
+ mov A, Temp2
+ anl A, #07h ; Calculate H byte
+ inc A ; Add 1
+ inc A ; Add 1 more
+ mov Temp2, A
+ mov A, Temp1
+ anl A, #0F8h ; Calculate L byte
+ clr C
+ subb A, #40h ; Subtract 0.25
+ mov Temp1, A
+ mov A, Temp2
+ subb A, #0
+ mov Temp2, A
+
+calc_governor_store_target:
+ ; Store governor target
+ mov Gov_Target_L, Temp1
+ mov Gov_Target_H, Temp2
+calc_governor_target_exit:
+ ret
+ENDIF
+IF MODE == 2 ; Multi
+calc_governor_target:
+;读取 Closed loop mode
+ mov Temp1, #Pgm_Gov_Mode ; Closed loop mode?
+ cjne @Temp1, #1, governor_target_calc ; Yes - branch
+;Closed loop mode = 第4项 Off
+ jmp calc_governor_target_exit ; No
+
+governor_target_calc:
+ ; Stop governor for stop RC pulse
+ clr C
+ mov A, New_Rcp ; Check RC pulse against stop value
+ subb A, #RCP_STOP ; Is pulse below stop value?
+ jc governor_deactivate ; Yes - deactivate
+
+ jmp governor_activate ; No - activate
+
+governor_deactivate:
+ mov Current_Pwm, Requested_Pwm ; Set current pwm to requested
+ clr A
+ mov Gov_Target_L, A ; Set target to zero
+ mov Gov_Target_H, A
+ mov Gov_Integral_L, A ; Set integral to zero
+ mov Gov_Integral_H, A
+ mov Gov_Integral_X, A
+ mov Gov_Active, A
+ jmp calc_governor_target_exit
+
+governor_activate:
+ mov Temp1, #Pgm_Gov_Mode ; Store gov mode
+ mov A, @Temp1
+ mov Temp5, A
+ mov Gov_Active, #1
+ mov A, Requested_Pwm ; Load requested pwm
+ mov Governor_Req_Pwm, A ; Set governor requested pwm
+ ; Calculate comm period target 2*(51000/Requested_Pwm)
+ mov Temp1, #38h ; Load 51000
+ mov Temp2, #0C7h
+ mov Temp3, Comm_Period4x_L ; Load comm period
+ mov Temp4, Comm_Period4x_H
+ ; Set speed range. Bare Comm_Period4x corresponds to 400k rpm, because it is 500n units
+;Closed loop mode = 第1项 HiRange
+ clr C
+ mov A, Temp4
+ rrc A
+ mov Temp4, A
+ mov A, Temp3
+ rrc A
+ mov Temp3, A ; 200k eRPM range here
+ ; Check range
+ mov A, Temp5
+ dec A
+ dec A
+ dec A
+ dec A
+ jz governor_activate_range_set ; 200k eRPM? - branch
+;Closed loop mode = 第2项 MidRange
+governor_activate_100k:
+ clr C
+ mov A, Temp4
+ rrc A
+ mov Temp4, A
+ mov A, Temp3
+ rrc A
+ mov Temp3, A ; 100k eRPM range here
+ mov A, Temp5 ; Check range again
+ dec A
+ dec A
+ dec A
+ jz governor_activate_range_set ; 100k eRPM? - branch
+;Closed loop mode = 第3项 LoRange
+governor_activate_50k:
+ clr C
+ mov A, Temp4
+ rrc A
+ mov Temp4, A
+ mov A, Temp3
+ rrc A
+ mov Temp3, A ; 50k eRPM range here
+governor_activate_range_set:
+ call div_u16_by_u16
+ ; Store governor target
+ mov Gov_Target_L, Temp1
+ mov Gov_Target_H, Temp2
+calc_governor_target_exit:
+ ret
+ENDIF
+
+; Second governor routine - calculate governor proportional error
+calc_governor_prop_error:
+ ; Exit if governor is inactive
+ mov A, Gov_Active
+ jz calc_governor_prop_error_exit
+
+IF MODE <= 1 ; Main or tail
+ ; Load comm period and divide by 2
+ clr C
+ mov A, Comm_Period4x_H
+ rrc A
+ mov Temp2, A
+ mov A, Comm_Period4x_L
+ rrc A
+ mov Temp1, A
+ ; Calculate error
+ clr C
+ mov A, Gov_Target_L
+ subb A, Temp1
+ mov Temp1, A
+ mov A, Gov_Target_H
+ subb A, Temp2
+ mov Temp2, A
+ENDIF
+IF MODE == 2 ; Multi
+ ; Calculate error
+ clr C
+ mov A, Gov_Target_L
+ subb A, Governor_Req_Pwm
+ mov Temp1, A
+ mov A, Gov_Target_H
+ subb A, #0
+ mov Temp2, A
+ENDIF
+ ; Check error and limit
+ jnc governor_check_prop_limit_pos ; Check carry
+
+ clr C
+ mov A, Temp1
+ subb A, #80h ; Is error too negative?
+ mov A, Temp2
+ subb A, #0FFh
+ jc governor_limit_prop_error_neg ; Yes - limit
+ jmp governor_store_prop_error
+
+governor_check_prop_limit_pos:
+ clr C
+ mov A, Temp1
+ subb A, #7Fh ; Is error too positive?
+ mov A, Temp2
+ subb A, #00h
+ jnc governor_limit_prop_error_pos ; Yes - limit
+ jmp governor_store_prop_error
+
+governor_limit_prop_error_pos:
+ mov Temp1, #7Fh ; Limit to max positive (2's complement)
+ mov Temp2, #00h
+ jmp governor_store_prop_error
+
+governor_limit_prop_error_neg:
+ mov Temp1, #80h ; Limit to max negative (2's complement)
+ mov Temp2, #0FFh
+
+governor_store_prop_error:
+ ; Store proportional
+ mov Gov_Proportional_L, Temp1
+ mov Gov_Proportional_H, Temp2
+calc_governor_prop_error_exit:
+ ret
+
+
+; Third governor routine - calculate governor integral error
+calc_governor_int_error:
+ ; Exit if governor is inactive
+ mov A, Gov_Active
+ jz calc_governor_int_error_exit
+
+ ; Add proportional to integral
+ mov A, Gov_Proportional_L
+ add A, Gov_Integral_L
+ mov Temp1, A
+ mov A, Gov_Proportional_H
+ addc A, Gov_Integral_H
+ mov Temp2, A
+ mov Bit_Access, Gov_Proportional_H ; Sign extend high byte
+ clr A
+ jnb Bit_Access.7, ($+4)
+ cpl A
+ addc A, Gov_Integral_X
+ mov Temp3, A
+ ; Check integral and limit
+ jnb ACC.7, governor_check_int_limit_pos ; Check sign bit
+
+ clr C
+ mov A, Temp3
+ subb A, #0F0h ; Is error too negative?
+ jc governor_limit_int_error_neg ; Yes - limit
+ jmp governor_check_pwm
+
+governor_check_int_limit_pos:
+ clr C
+ mov A, Temp3
+ subb A, #0Fh ; Is error too positive?
+ jnc governor_limit_int_error_pos ; Yes - limit
+ jmp governor_check_pwm
+
+governor_limit_int_error_pos:
+ mov Temp1, #0FFh ; Limit to max positive (2's complement)
+ mov Temp2, #0FFh
+ mov Temp3, #0Fh
+ jmp governor_check_pwm
+
+governor_limit_int_error_neg:
+ mov Temp1, #00h ; Limit to max negative (2's complement)
+ mov Temp2, #00h
+ mov Temp3, #0F0h
+
+governor_check_pwm:
+ ; Check current pwm
+ clr C
+ mov A, Current_Pwm
+ subb A, Pwm_Limit ; Is current pwm at or above pwm limit?
+ jnc governor_int_max_pwm ; Yes - branch
+
+ mov A, Current_Pwm ; Is current pwm at zero?
+ jz governor_int_min_pwm ; Yes - branch
+
+ ajmp governor_store_int_error ; No - store integral error
+
+governor_int_max_pwm:
+ mov A, Gov_Proportional_H
+ jb ACC.7, calc_governor_int_error_exit ; Is proportional error negative - branch (high byte is always zero)
+ ajmp governor_store_int_error ; Positive - store integral error
+
+governor_int_min_pwm:
+ mov A, Gov_Proportional_H
+ jnb ACC.7, calc_governor_int_error_exit ; Is proportional error positive - branch (high byte is always zero)
+
+governor_store_int_error:
+ ; Store integral
+ mov Gov_Integral_L, Temp1
+ mov Gov_Integral_H, Temp2
+ mov Gov_Integral_X, Temp3
+calc_governor_int_error_exit:
+ ret
+
+
+; Fourth governor routine - calculate governor proportional correction
+calc_governor_prop_correction:
+ ; Exit if governor is inactive
+ mov A, Gov_Active
+ jnz calc_governor_prop_corr
+ jmp calc_governor_prop_corr_exit
+
+calc_governor_prop_corr:
+ ; Load proportional gain
+ mov Temp1, #Pgm_Gov_P_Gain_Decoded; Load proportional gain
+ mov A, @Temp1
+ mov Temp3, A ; Store in Temp3
+ ; Load proportional
+ clr C
+ mov A, Gov_Proportional_L ; Nominal multiply by 2
+ rlc A
+ mov Temp1, A
+ mov A, Gov_Proportional_H
+ rlc A
+ mov Temp2, A
+ ; Apply gain
+ call mult_s16_by_u8_div_16
+ ; Check error and limit (to low byte)
+ mov A, Temp2
+ jnb ACC.7, governor_check_prop_corr_limit_pos ; Check sign bit
+
+ clr C
+ mov A, Temp1
+ subb A, #80h ; Is error too negative?
+ mov A, Temp2
+ subb A, #0FFh
+ jc governor_limit_prop_corr_neg ; Yes - limit
+ ajmp governor_apply_prop_corr
+
+governor_check_prop_corr_limit_pos:
+ clr C
+ mov A, Temp1
+ subb A, #7Fh ; Is error too positive?
+ mov A, Temp2
+ subb A, #00h
+ jnc governor_limit_prop_corr_pos ; Yes - limit
+ ajmp governor_apply_prop_corr
+
+governor_limit_prop_corr_pos:
+ mov Temp1, #7Fh ; Limit to max positive (2's complement)
+ mov Temp2, #00h
+ ajmp governor_apply_prop_corr
+
+governor_limit_prop_corr_neg:
+ mov Temp1, #80h ; Limit to max negative (2's complement)
+ mov Temp2, #0FFh
+
+governor_apply_prop_corr:
+ ; Test proportional sign
+ mov A, Temp1
+ jb ACC.7, governor_corr_neg_prop ; If proportional negative - go to correct negative
+
+ ; Subtract positive proportional
+ clr C
+ mov A, Governor_Req_Pwm
+ subb A, Temp1
+ mov Temp1, A
+ ; Check result
+ jc governor_corr_prop_min_pwm ; Is result negative?
+
+ clr C
+ mov A, Temp1 ; Is result below pwm min?
+ subb A, #1
+ jc governor_corr_prop_min_pwm ; Yes
+ jmp governor_store_prop_corr ; No - store proportional correction
+
+governor_corr_prop_min_pwm:
+ mov Temp1, #1 ; Load minimum pwm
+ jmp governor_store_prop_corr
+
+governor_corr_neg_prop:
+ ; Add negative proportional
+ mov A, Temp1
+ cpl A
+ add A, #1
+ add A, Governor_Req_Pwm
+ mov Temp1, A
+ ; Check result
+ jc governor_corr_prop_max_pwm ; Is result above max?
+ jmp governor_store_prop_corr ; No - store proportional correction
+
+governor_corr_prop_max_pwm:
+ mov Temp1, #255 ; Load maximum pwm
+governor_store_prop_corr:
+ ; Store proportional pwm
+ mov Gov_Prop_Pwm, Temp1
+calc_governor_prop_corr_exit:
+ ret
+
+
+; Fifth governor routine - calculate governor integral correction
+calc_governor_int_correction:
+ ; Exit if governor is inactive
+ mov A, Gov_Active
+ jnz calc_governor_int_corr
+ jmp calc_governor_int_corr_exit
+
+calc_governor_int_corr:
+ ; Load integral gain
+ mov Temp1, #Pgm_Gov_I_Gain_Decoded; Load integral gain
+ mov A, @Temp1
+ mov Temp3, A ; Store in Temp3
+ ; Load integral
+ mov Temp1, Gov_Integral_H
+ mov Temp2, Gov_Integral_X
+ ; Apply gain
+ call mult_s16_by_u8_div_16
+ ; Check integral and limit
+ mov A, Temp2
+ jnb ACC.7, governor_check_int_corr_limit_pos ; Check sign bit
+
+ clr C
+ mov A, Temp1
+ subb A, #01h ; Is integral too negative?
+ mov A, Temp2
+ subb A, #0FFh
+ jc governor_limit_int_corr_neg ; Yes - limit
+ jmp governor_apply_int_corr
+
+governor_check_int_corr_limit_pos:
+ clr C
+ mov A, Temp1
+ subb A, #0FFh ; Is integral too positive?
+ mov A, Temp2
+ subb A, #00h
+ jnc governor_limit_int_corr_pos ; Yes - limit
+ jmp governor_apply_int_corr
+
+governor_limit_int_corr_pos:
+ mov Temp1, #0FFh ; Limit to max positive (2's complement)
+ mov Temp2, #00h
+ jmp governor_apply_int_corr
+
+governor_limit_int_corr_neg:
+ mov Temp1, #01h ; Limit to max negative (2's complement)
+ mov Temp2, #0FFh
+
+governor_apply_int_corr:
+ ; Test integral sign
+ mov A, Temp2
+ jb ACC.7, governor_corr_neg_int ; If integral negative - go to correct negative
+
+ ; Subtract positive integral
+ clr C
+ mov A, Gov_Prop_Pwm
+ subb A, Temp1
+ mov Temp1, A
+ ; Check result
+ jc governor_corr_int_min_pwm ; Is result negative?
+
+ clr C
+ mov A, Temp1 ; Is result below pwm min?
+ subb A, #1
+ jc governor_corr_int_min_pwm ; Yes
+ jmp governor_store_int_corr ; No - store correction
+
+governor_corr_int_min_pwm:
+ mov Temp1, #0 ; Load minimum pwm
+ jmp governor_store_int_corr
+
+governor_corr_neg_int:
+ ; Add negative integral
+ mov A, Temp1
+ cpl A
+ add A, #1
+ add A, Gov_Prop_Pwm
+ mov Temp1, A
+ ; Check result
+ jc governor_corr_int_max_pwm ; Is result above max?
+ jmp governor_store_int_corr ; No - store correction
+
+governor_corr_int_max_pwm:
+ mov Temp1, #255 ; Load maximum pwm
+governor_store_int_corr:
+ ; Store current pwm
+ mov Current_Pwm, Temp1
+calc_governor_int_corr_exit:
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Measure lipo cells
+;
+; No assumptions
+;
+; Measure voltage and calculate lipo cells
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+measure_lipo_cells:
+IF MODE == 1 ; Tail
+ ; If tail, then exit
+ jmp measure_lipo_exit
+ENDIF
+measure_lipo_start:
+ ; Load programmed low voltage limit
+;读取Low voltage limit
+ mov Lipo_Cell_Count, #0 ;2013.8.23 防止接收机拿掉后再接上时，电池检测出错
+ mov Temp1, #Pgm_Low_Voltage_Lim ; Load limit
+ mov A, @Temp1
+ mov Bit_Access, A ; Store in Bit_Access
+ ; Set commutation to BpFET on
+; call comm5comm6
+ CnFET_off ; Cn off
+ BnFET_on ; Bn on
+ Set_Comp_Phase_C ; Set comparator to phase C
+ mov Comm_Phase, #6
+ ; Start adc
+ Start_Adc
+ ; Wait for ADC conversion to complete
+ Get_Adc_Status
+ jb AD0BUSY, measure_lipo_cells
+ ; Read ADC result
+ Read_Adc_Result
+ ; Stop ADC
+ Stop_Adc
+ ; Switch power off
+ call switch_power_off
+ ; Set limit step
+ mov Lipo_Adc_Limit_L, #ADC_LIMIT_L
+ mov Lipo_Adc_Limit_H, #ADC_LIMIT_H
+ clr C
+ mov A, #ADC_LIMIT_H ; Divide 2.8V value by 2
+ rrc A
+ mov Temp6, A
+ mov A, #ADC_LIMIT_L
+ rrc A
+ mov Temp5, A
+ mov A, #ADC_LIMIT_L ; Calculate 1.4+2.8V=4.2V value
+ add A, Temp5
+ add A, #3 ;加宽一节电池电压范围 4.3V 2013.8.16
+ mov Temp5, A
+ mov A, #ADC_LIMIT_H
+ addc A, Temp6
+ mov Temp6, A
+ mov A, Temp5 ; Copy step
+ mov Temp3, A
+ mov A, Temp6
+ mov Temp4, A
+;***************************************************
+; Lipo节数检测
+;***************************************************
+measure_lipo_cell_loop:
+ ; Check voltage against xS lower limit
+ inc Lipo_Cell_Count ;增加电池节数累加 2013.5.29
+ clr C
+ mov A, Temp1
+ subb A, Temp3 ; Voltage above limit?
+ mov A, Temp2
+ subb A, Temp4
+ jc measure_lipo_adjust ; No - branch 读取到电压范围
+
+ ; Set xS voltage limit
+ mov A, Lipo_Adc_Limit_L
+ add A, #ADC_LIMIT_L
+ mov Lipo_Adc_Limit_L, A
+ mov A, Lipo_Adc_Limit_H
+ addc A, #ADC_LIMIT_H
+ mov Lipo_Adc_Limit_H, A
+ ; Set (x+1)S lower limit
+ mov A, Temp3
+ add A, Temp5 ; Add step
+ mov Temp3, A
+ mov A, Temp4
+ addc A, Temp6
+ mov Temp4, A
+ jmp measure_lipo_cell_loop ; Check for one more battery cell
+
+measure_lipo_adjust:
+ mov Temp7, Lipo_Adc_Limit_L
+ mov Temp8, Lipo_Adc_Limit_H
+ ; Calculate 3.125%
+ clr C
+ mov A, Lipo_Adc_Limit_H
+ rrc A
+ mov Temp2, A
+ mov A, Lipo_Adc_Limit_L
+ rrc A
+ mov Temp1, A ; After this 50%
+ clr C
+ mov A, Temp2
+ rrc A
+ mov Temp2, A
+ mov A, Temp1
+ rrc A
+ mov Temp1, A ; After this 25%
+; mov A, Lipo_Adc_Limit_L ; Set adc reference for voltage compensation
+; add A, Temp1 ;低压低字节+低压低字节偏移量
+; mov Lipo_Adc_Reference_L, A ;存低压低字节
+; mov A, Lipo_Adc_Limit_H
+; addc A, Temp2 ;低压高字节+低压高字节偏移量
+; mov Lipo_Adc_Reference_H, A ;存低压高字节
+; ; Divide three times to get to 3.125% 6.25% 2013.5.30
+ mov Temp3, #2 ;3
+measure_lipo_divide_loop:
+ clr C
+ mov A, Temp2
+ rrc A
+ mov Temp2, A
+ mov A, Temp1
+ rrc A
+ mov Temp1, A
+ djnz Temp3, measure_lipo_divide_loop
+
+ ; Add the programmed number of 0.1V (or 3.125% increments)
+ mov Temp3, Bit_Access ; Load programmed limit (Bit_Access has Pgm_Low_Voltage_Lim)
+; dec Temp3
+; mov A,Temp3 ;增加判断指令，如果没有这条指令能判断？？？？
+; jnz measure_lipo_limit_on ; Is low voltage limiting on?
+
+ cjne Temp3, #4, measure_lipo_limit_on
+
+ mov Lipo_Adc_Limit_L, #0 ; No - set limit to zero
+ mov Lipo_Adc_Limit_H, #0
+ jmp measure_lipo_exit
+
+measure_lipo_limit_on:
+ dec Temp3
+ mov A, Temp3
+ jz measure_lipo_update
+;Bit_Access>2时，低压保护值=基值+偏移量
+;Low voltage limit > 第2项时
+measure_lipo_add_loop:
+ clr C
+ mov A, Temp7 ; Add 3.125%
+ add A, Temp1
+ mov Temp7, A
+ mov A, Temp8
+ addc A, Temp2
+ mov Temp8, A
+; clr C
+; mov A, Temp7 ; Add 3.125%
+; add A, Temp1
+; mov Temp7, A
+; mov A, Temp8
+; addc A, Temp2
+; mov Temp8, A
+ djnz Temp3, measure_lipo_add_loop
+;存低压保护值
+;Low voltage limit = 第2项 3.0V
+measure_lipo_update:
+ ; Set ADC limit
+ mov Lipo_Adc_Limit_L, Temp7
+ mov Lipo_Adc_Limit_H, Temp8
+measure_lipo_exit:
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Start ADC conversion
+;
+; No assumptions
+;
+; Start conversion used for measuring power supply voltage
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+start_adc_conversion:
+ ; Start adc
+ Start_Adc
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Check temperature, power supply voltage and limit power
+;
+; No assumptions
+;
+; Used to limit main motor power in order to maintain the required voltage
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+check_temp_voltage_and_limit_power:
+ ; Load programmed low voltage limit
+ mov Temp1, #Pgm_Low_Voltage_Lim ;读低压保护选项
+ mov A, @Temp1
+ mov Temp8, A ; Store in Temp8
+ ; Wait for ADC conversion to complete
+ Get_Adc_Status
+ jb AD0BUSY, check_temp_voltage_and_limit_power
+ ; Read ADC result
+ Read_Adc_Result ;读AD值
+ ; Stop ADC
+ Stop_Adc ;禁止AD转换
+
+ inc Adc_Conversion_Cnt ; Increment conversion counter
+ clr C
+ mov A, Adc_Conversion_Cnt ; Is conversion count equal to temp rate?
+ subb A, #TEMP_CHECK_RATE
+ jc check_voltage_start ; No - check voltage AD转换次数 < 8次 ？
+
+ mov Adc_Conversion_Cnt, #0 ; Yes - temperature check. Reset counter
+ mov A, Temp2 ; Is temperature reading below 256?
+ jnz temp_average_inc_dec ; No - proceed
+
+ mov A, Current_Average_Temp ; Yes - decrement average
+ jz temp_average_updated ; Already zero - no change
+ jmp temp_average_dec ; Decrement
+
+temp_average_inc_dec:
+ clr C
+ mov A, Temp1 ; Check if current temperature is above or below average
+ subb A, Current_Average_Temp
+ jz temp_average_updated_load_acc ; Equal - no change
+
+ mov A, Current_Average_Temp ; Above - increment average
+ jnc temp_average_inc
+
+ jz temp_average_updated ; Below - decrement average if average is not already zero
+temp_average_dec:
+ dec A ; Decrement average
+ jmp temp_average_updated
+
+temp_average_inc:
+ inc A ; Increment average
+ jz temp_average_dec
+ jmp temp_average_updated
+
+temp_average_updated_load_acc:
+ mov A, Current_Average_Temp
+temp_average_updated:
+ mov Current_Average_Temp, A
+ clr C
+ subb A, #TEMP_LIMIT ; Is temperature below first limit?
+ mov Temp1, A
+ jc temp_check_exit ; Yes - exit
+
+ mov Pwm_Limit, #192 ; No - limit pwm
+
+ clr C
+ mov A, Temp1 ; Is temperature below second limit
+ subb A, #TEMP_LIMIT_STEP
+ mov Temp1, A
+ jc temp_check_exit ; Yes - exit
+
+ mov Pwm_Limit, #128 ; No - limit pwm
+
+ clr C
+ mov A, Temp1 ; Is temperature below third limit
+ subb A, #TEMP_LIMIT_STEP
+ mov Temp1, A
+ jc temp_check_exit ; Yes - exit
+
+ mov Pwm_Limit, #64 ; No - limit pwm
+
+ clr C
+ mov A, Temp1 ; Is temperature below final limit
+ subb A, #TEMP_LIMIT_STEP
+ mov Temp1, A
+ jc temp_check_exit ; Yes - exit
+
+ mov Pwm_Limit, #16 ; No - limit pwm 2013.8.5最高温度时速度由0改成16
+
+temp_check_exit:
+ Set_Adc_Ip_Volt ; Select adc input for next conversion
+ ret
+
+check_voltage_start:
+IF MODE == 0 OR MODE == 2 ; Main or multi
+ ; Check if low voltage limiting is enabled
+ mov A, Temp8
+ clr C
+ subb A, #4 ; Is low voltage limit disabled?
+ jz check_voltage_good ; Yes - voltage declared good
+
+ ; Check if ADC is saturated
+ clr C
+ mov A, Temp1 ;读取AD值低字节
+ subb A, #0FFh
+ mov A, Temp2 ;读取AD值高字节
+ subb A, #03h ;判断AD是否超出10位AD范围
+ jnc check_voltage_good ; ADC saturated, can not make judgement
+
+ ; Check voltage against limit
+ clr C
+ mov A, Temp1
+ subb A, Lipo_Adc_Limit_L
+ mov A, Temp2
+ subb A, Lipo_Adc_Limit_H
+ jnc check_voltage_good ; If voltage above limit - branch 电压值 > 低压设置值
+
+ mov Temp1, #Pgm_Low_Voltage_Ctl ;读低压保护控制方式选项
+ mov A, @Temp1
+ clr C
+ subb A, #1 ;
+ jz check_voltage_next_way
+
+ mov A, Pwm_Limit
+ subb A, #5
+ jnc check_limit_count
+ setb LOW_LIMIT_STOP ;设置低压保护控制方式2 低压停止标志
+ ljmp run_to_wait_for_power_on
+
+check_voltage_next_way:
+ ; Decrease pwm limit
+ mov A, Pwm_Limit
+ subb A, #80 ;更改低压保护方式 2013.05.31
+;////// jz check_voltage_lim ; If limit zero - branch
+ jc check_voltage_lim ; If limit <100 - branch
+check_limit_count:
+ mov A, Limit_Count
+ jz ($+6)
+ dec Limit_Count ;递减低压保护变量 2013.7.5
+ ajmp check_voltage_lim
+
+ mov Limit_Count, #5 ; 2013.7.5
+ dec Pwm_Limit ; Decrement limit
+ jmp check_voltage_lim
+;Low voltage limit = 第1项
+check_voltage_good:
+ ; Increase pwm limit
+ mov Limit_Count, #5 ; 2013.7.5
+ mov A, Pwm_Limit
+ cpl A
+ jz check_voltage_lim ; If limit max - branch
+
+ inc Pwm_Limit ; Increment limit
+
+check_voltage_lim:
+ mov Temp1, Pwm_Limit ; Set limit
+ clr C
+ mov A, Current_Pwm
+ subb A, Temp1
+ jnc check_voltage_spoolup_lim ; If current pwm above limit - branch and limit
+
+ mov Temp1, Current_Pwm ; Set current pwm (no limiting)
+
+check_voltage_spoolup_lim:
+ mov Current_Pwm_Limited, Temp1 ;取小值
+ ; Slow spoolup
+ clr C
+ mov A, Current_Pwm_Limited
+ subb A, Pwm_Limit_Spoolup
+ jc check_voltage_exit ; If current pwm below limit - branch
+
+ mov Current_Pwm_Limited, Pwm_Limit_Spoolup ;取小值
+ mov A, Pwm_Limit_Spoolup ; Check if spoolup limit is max
+ cpl A
+ jz check_voltage_exit ; If max - branch
+
+ mov Pwm_Limit, Pwm_Limit_Spoolup ; Set pwm limit to spoolup limit during ramp (to avoid governor integral buildup)
+
+check_voltage_exit:
+ENDIF
+ ; Set adc mux for next conversion
+ clr C
+ mov A, Adc_Conversion_Cnt ; Is next conversion for temperature?
+ cjne A, #(TEMP_CHECK_RATE-1), ($+6)
+
+ Set_Adc_Ip_Temp ; Select temp sensor for next conversion
+
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Set startup PWM routine
+;
+; No assumptions
+;
+; Used for pwm control during startup
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+set_startup_pwm:
+ ; Set pwm values according to startup phase flags
+ jnb Flags1.SETTLE_PHASE, ($+5) ; Is it motor start settle phase? 是否启动定位？
+ mov Temp1, #PWM_SETTLE ; Yes - set settle power
+ jnb Flags1.STEPPER_PHASE, ($+5) ; Is it motor start stepper phase? 是否步进启动？
+ mov Temp1, #PWM_STEPPER ; Yes - set stepper power
+
+ ; Update pwm variables if any startup phase flag is set
+ mov A, Flags1
+ anl A, #((1 SHL SETTLE_PHASE)+(1 SHL STEPPER_PHASE))
+ jz startup_pwm_exit ; If no startup phase set - exit
+
+ ; Adjust startup power
+ mov A, Temp1 ; Multiply startup power by programmed value
+ mov Temp2, #Pgm_Startup_Pwr_Decoded
+ mov B, @Temp2
+ mul AB
+ xch A, B
+ mov C, B.7 ; Multiply result by 2 (unity gain is 128)
+ rlc A
+ mov Temp1, A ; Transfer to Temp1
+ clr C
+ mov A, Temp1 ; Check against limit
+ subb A, Pwm_Limit
+ jc startup_pwm_set_pwm ; If pwm below limit - branch
+
+ mov Temp1, Pwm_Limit ; Limit pwm
+
+startup_pwm_set_pwm:
+ ; Set pwm variables
+ mov Requested_Pwm, Temp1 ; Update requested pwm
+ mov Current_Pwm, Temp1 ; Update current pwm
+ mov Current_Pwm_Limited, Temp1 ; Update limited version of current pwm
+ jnb Flags1.SETTLE_PHASE, startup_pwm_exit ; Is it motor start settle phase?
+
+ clr C ; Yes - update spoolup beginning pwm (will use PWM_SETTLE or PWM_SETTLE/2)
+ mov A, Temp1
+ mov Pwm_Spoolup_Beg, A
+
+startup_pwm_exit:
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Initialize all timings routine
+;
+; No assumptions
+;
+; Part of initialization before motor start
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+initialize_all_timings:
+ ; Load programmed startup rpm
+;读取Startup rpm
+; mov Temp1, #Pgm_Startup_Rpm ; Load startup rpm
+; mov A, @Temp1
+; mov Temp8, A ; Store in Temp8
+ ; Check startup rpm setting and set step accordingly
+; clr C
+; mov A, Temp8
+; subb A, #5
+; jnc stepper_step_high
+; clr C
+; mov A, Temp8
+; subb A, #4
+; jnc stepper_step_med_high
+; clr C
+; mov A, Temp8
+; subb A, #3
+; jnc stepper_step_med
+; clr C
+; mov A, Temp8
+; subb A, #2
+; jnc stepper_step_med_low
+; clr C
+; mov A, Temp8
+; subb A, #1
+; jnc stepper_step_low
+;Startup_Rpm = 第5项
+;stepper_step_high:
+; mov Stepper_Step_Beg_L, #low(2000 SHL 1)
+; mov Stepper_Step_Beg_H, #high(2000 SHL 1)
+; mov Stepper_Step_End_L, #low(670 SHL 1)
+; mov Stepper_Step_End_H, #high(670 SHL 1)
+; ajmp stepper_step_set
+;Startup_Rpm = 第4项
+;stepper_step_med_high:
+; mov Stepper_Step_Beg_L, #low(2400 SHL 1)
+; mov Stepper_Step_Beg_H, #high(2400 SHL 1)
+; mov Stepper_Step_End_L, #low(800 SHL 1)
+; mov Stepper_Step_End_H, #high(800 SHL 1)
+; ajmp stepper_step_set
+;Startup_Rpm = 第3项
+;stepper_step_med:
+; mov Stepper_Step_Beg_L, #low(3000 SHL 1) ; ~3300 eRPM
+; mov Stepper_Step_Beg_H, #high(3000 SHL 1)
+; mov Stepper_Step_End_L, #low(1000 SHL 1) ; ~10000 eRPM
+; mov Stepper_Step_End_H, #high(1000 SHL 1)
+; ajmp stepper_step_set
+;Startup_Rpm = 第2项
+;stepper_step_med_low:
+; mov Stepper_Step_Beg_L, #low(3750 SHL 1)
+; mov Stepper_Step_Beg_H, #high(3750 SHL 1)
+; mov Stepper_Step_End_L, #low(1250 SHL 1)
+; mov Stepper_Step_End_H, #high(1250 SHL 1)
+; ajmp stepper_step_set
+;Startup_Rpm = 第1项
+;stepper_step_low:
+; mov Stepper_Step_Beg_L, #low(4500 SHL 1)
+; mov Stepper_Step_Beg_H, #high(4500 SHL 1)
+; mov Stepper_Step_End_L, #low(1500 SHL 1)
+; mov Stepper_Step_End_H, #high(1500 SHL 1)
+; ajmp stepper_step_set
+
+;stepper_step_set:
+; mov Wt_Stepper_Step_L, Stepper_Step_Beg_L ; Initialize stepper step time
+; mov Wt_Stepper_Step_H, Stepper_Step_Beg_H
+ mov Comm_Period4x_L, #00h ; Set commutation period registers
+ mov Comm_Period4x_H, #08h
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Calculate next commutation timing routine
+;
+; No assumptions
+;
+; Called immediately after each commutation
+; Also sets up timer 1 to wait advance timing
+; Two entry points are used
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;calc_next_comm_timing_start: ; Entry point for startup
+; mov Temp1, Wt_Stepper_Step_L ; Set up stepper step wait
+; mov Temp2, Wt_Stepper_Step_H
+; jmp read_timer
+
+calc_next_comm_timing: ; Entry point for run phase
+ mov Temp1, Wt_Advance_L ; Set up advance timing wait
+ mov Temp2, Wt_Advance_H
+read_timer:
+ ; Set up next wait
+ mov TMR3CN, #00h ; Timer3 disabled
+ clr C
+ clr A
+ subb A, Temp1 ; Set wait to zero cross scan value
+ mov TMR3L, A
+ clr A
+ subb A, Temp2
+ mov TMR3H, A
+ mov TMR3CN, #04h ; Timer3 enabled
+ setb Flags0.T3_PENDING
+ ; Read commutation time
+ mov TMR2CN, #20h ; Timer2 disabled
+ mov Temp1, TMR2L ; Load timer value
+ mov Temp2, TMR2H
+ mov TMR2CN, #24h ; Timer2 enabled
+ ; Calculate this commutation time
+ mov Temp3, Prev_Comm_L
+ mov Temp4, Prev_Comm_H
+ mov Prev_Comm_L, Temp1 ; Store timestamp as previous commutation
+ mov Prev_Comm_H, Temp2
+ clr C
+ mov A, Temp1
+ subb A, Temp3 ; Calculate the new commutation time
+ mov Temp1, A
+ mov A, Temp2
+ subb A, Temp4
+ mov Temp2, A
+ ; Calculate next zero cross scan timeout
+ mov Temp3, Comm_Period4x_L ; Comm_Period4x(-l-h-x) holds the time of 4 commutations
+ mov Temp4, Comm_Period4x_H
+ clr C
+ mov A, Temp4
+ rrc A ; Divide by 2
+ mov Temp6, A
+ mov A, Temp3
+ rrc A
+ mov Temp5, A
+ clr C
+ mov A, Temp6
+ rrc A ; Divide by 2 again
+ mov Temp6, A
+ mov A, Temp5
+ rrc A
+ mov Temp5, A
+ clr C
+ mov A, Temp3
+ subb A, Temp5 ; Subtract a quarter
+ mov Temp3, A
+ mov A, Temp4
+ subb A, Temp6
+ mov Temp4, A
+
+ mov A, Temp3
+ add A, Temp1 ; Add the new time
+ mov Temp3, A
+ mov A, Temp4
+ addc A, Temp2
+ mov Temp4, A
+ mov Comm_Period4x_L, Temp3 ; Store Comm_Period4x_X
+ mov Comm_Period4x_H, Temp4
+ jc calc_next_comm_slow ; If period larger than 0xffff - go to slow case
+
+ ret
+
+calc_next_comm_slow:
+ mov Comm_Period4x_L, #0FFh ; Set commutation period registers to very slow timing (0xffff)
+ mov Comm_Period4x_H, #0FFh
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Wait advance timing routine
+;
+; No assumptions
+;
+; Waits for the advance timing to elapse
+; Also sets up timer 1 to wait the zero cross scan wait time
+; And has a separate entry point for just setting up zero cross scan wait
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+wait_advance_timing:
+ jnb Flags0.T3_PENDING, ($+5)
+ ajmp wait_advance_timing
+
+setup_zc_scan_wait:
+ mov TMR3CN, #00h ; Timer3 disabled
+ clr C
+ clr A
+ subb A, Wt_Zc_Scan_L ; Set wait to zero cross scan value
+ mov TMR3L, A
+ clr A
+ subb A, Wt_Zc_Scan_H
+ mov TMR3H, A
+ mov TMR3CN, #04h ; Timer3 enabled
+ setb Flags0.T3_PENDING
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Calculate new wait times routine
+;
+; No assumptions
+;
+; Calculates new wait times
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+calc_new_wait_times:
+ ; Load programmed commutation timing
+;读取Commutation timing
+ mov Temp1, #Pgm_Comm_Timing ; Load timing setting
+ mov A, @Temp1
+ mov Temp8, A ; Store in Temp8
+ mov Temp7, #(COMM_TIME_RED SHL 1)
+ jnb Flags0.DEMAG_DETECTED, calc_new_wait_check_startup ; Demag detected?
+
+ mov Temp8, #5 ; Yes - set high timing
+
+calc_new_wait_check_startup:
+ jnb Flags1.DIRECT_STARTUP_PHASE, calc_new_wait_dir_start_set ; Set timing for direct start
+
+ mov Temp8, #3 ; Set medium timing
+ mov Temp7, #0 ; Set no comm time reduction
+
+calc_new_wait_dir_start_set:
+ ; Load current commutation timing
+ mov Temp2, Comm_Period4x_H ; Load Comm_Period4x
+ mov Temp1, Comm_Period4x_L
+ mov Temp3, #4 ; Divide 4 times
+divide_wait_times:
+ clr C
+ mov A, Temp2
+ rrc A ; Divide by 2
+ mov Temp2, A
+ mov A, Temp1
+ rrc A
+ mov Temp1, A
+ djnz Temp3, divide_wait_times
+
+ clr C
+ mov A, Temp1
+ subb A, Temp7
+ mov Temp1, A
+ mov A, Temp2
+ subb A, #0
+ mov Temp2, A
+ jc load_min_time ; Check that result is still positive
+
+ clr C
+ mov A, Temp1
+ subb A, #(COMM_TIME_MIN SHL 1)
+ mov A, Temp2
+ subb A, #0
+ jnc adjust_timing ; Check that result is still above minumum
+
+load_min_time:
+ mov Temp1, #(COMM_TIME_MIN SHL 1)
+ clr A
+ mov Temp2, A
+
+adjust_timing:
+ mov A, Temp2 ; Copy values
+ mov Temp4, A
+ mov A, Temp1
+ mov Temp3, A
+ clr C
+ mov A, Temp2
+ rrc A ; Divide by 2
+ mov Temp6, A
+ mov A, Temp1
+ rrc A
+ mov Temp5, A
+ clr C
+ mov A, Temp8 ; (Temp8 has Pgm_Comm_Timing)
+ subb A, #3 ; Is timing normal?
+ jz store_times_decrease ; Yes - branch
+
+ mov A, Temp8
+ jb ACC.0, adjust_timing_two_steps ; If an odd number - branch
+;Commutation timing = 第2、4项
+ mov A, Temp1 ; Add 7.5?and store in Temp1/2
+ add A, Temp5
+ mov Temp1, A
+ mov A, Temp2
+ addc A, Temp6
+ mov Temp2, A
+ mov A, Temp5 ; Store 7.5?in Temp3/4
+ mov Temp3, A
+ mov A, Temp6
+ mov Temp4, A
+ jmp store_times_up_or_down
+;Commutation timing = 第1、5项
+adjust_timing_two_steps:
+ mov A, Temp1 ; Add 15?and store in Temp1/2
+ add A, Temp1
+ mov Temp1, A
+ mov A, Temp2
+ addc A, Temp2
+ mov Temp2, A
+ mov Temp3, #(COMM_TIME_MIN SHL 1) ; Store minimum time in Temp3/4
+ clr A
+ mov Temp4, A
+
+store_times_up_or_down:
+ clr C
+ mov A, Temp8
+ subb A, #3 ; Is timing higher than normal?
+ jc store_times_decrease ; No - branch
+;Commutation timing = 第4、5项
+store_times_increase:
+ mov Wt_Comm_L, Temp3 ; Now commutation time (~60? divided by 4 (~15?nominal)
+ mov Wt_Comm_H, Temp4
+ mov Wt_Advance_L, Temp1 ; New commutation advance time (~15?nominal)
+ mov Wt_Advance_H, Temp2
+ mov Wt_Zc_Scan_L, Temp5 ; Use this value for zero cross scan delay (7.5?
+ mov Wt_Zc_Scan_H, Temp6
+ ret
+;Commutation timing = 第1、2、3项
+store_times_decrease:
+ mov Wt_Comm_L, Temp1 ; Now commutation time (~60? divided by 4 (~15?nominal)
+ mov Wt_Comm_H, Temp2
+ mov Wt_Advance_L, Temp3 ; New commutation advance time (~15?nominal)
+ mov Wt_Advance_H, Temp4
+ mov Wt_Zc_Scan_L, Temp5 ; Use this value for zero cross scan delay (7.5?
+ mov Wt_Zc_Scan_H, Temp6
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Wait before zero cross scan routine
+;
+; No assumptions
+;
+; Waits for the zero cross scan wait time to elapse
+; Also sets up timer 1 to wait the zero cross scan timeout time
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+wait_before_zc_scan:
+ jnb Flags0.T3_PENDING, ($+5)
+ ajmp wait_before_zc_scan
+
+ mov TMR3CN, #00h ; Timer3 disabled
+ clr C
+ clr A
+ subb A, Comm_Period4x_L ; Set wait to zero comm period 4x value
+ mov TMR3L, A
+ clr A
+ subb A, Comm_Period4x_H
+ mov TMR3H, A
+ mov TMR3CN, #04h ; Timer3 enabled
+ setb Flags0.T3_PENDING
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Wait for comparator to go low/high routines
+;
+; No assumptions
+;
+; Waits for the zero cross scan wait time to elapse
+; Then scans for comparator going low/high
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+wait_for_comp_out_low:
+ mov Comp_Wait_Reads, #0
+ mov Bit_Access, #00h ; Desired comparator output
+ jmp wait_for_comp_out_start
+
+wait_for_comp_out_high:
+ mov Comp_Wait_Reads, #0
+ mov Bit_Access, #40h ; Desired comparator output
+
+wait_for_comp_out_start:
+ setb EA ; Enable interrupts
+ inc Comp_Wait_Reads
+ jb Flags0.T3_PENDING, ($+4) ; Has zero cross scan timeout elapsed?
+ ret ; Yes - return
+
+ ; Set default comparator response times
+ mov CPT0MD, #0 ; Set fast response (100ns) as default
+IF COMP1_USED==1
+ mov CPT1MD, #0 ; Set fast response (100ns) as default
+ENDIF
+ ; Select number of comparator readings based upon current rotation speed
+ mov A, Comm_Period4x_H ; Load rotation period
+ clr C
+ rrc A ; Divide by 4
+ clr C
+ rrc A
+ mov Temp1, A
+ inc Temp1 ; Add one to be sure it is always larger than zero
+ jz comp_wait_on_comp_able ; If minimum number of readings - jump directly to reading
+ ; For damped mode, do fewer comparator readings (since comparator info is primarily only available in the pwm on period)
+ jnb Flags2.PGM_PWMOFF_DAMPED, comp_wait_set_max_readings
+
+ clr C
+ rrc A ; Divide by 4 again
+ clr C
+ rrc A
+ mov Temp1, A
+ inc Temp1 ; Add one to be sure it is always larger than zero
+
+comp_wait_set_max_readings:
+ clr C
+ mov A, Temp1 ; Limit to a max of 10
+ subb A, #10
+ jc ($+4)
+
+ mov Temp1, #10
+
+ jnb Flags2.PGM_PWM_HIGH_FREQ, comp_wait_set_response_time ; Jump if pwm frequency is low
+
+ clr C
+ mov A, Temp1 ; Limit to a max of 4
+ subb A, #4
+ jc ($+4)
+
+ mov Temp1, #4
+
+comp_wait_set_response_time:
+ clr C
+ mov A, Comm_Period4x_H ; Is Comm_Period4x_H less than 1ms?
+ subb A, #8
+ jc comp_wait_on_comp_able ; Yes - jump
+
+ mov CPT0MD, #2 ; Set medium response (300ns)
+IF COMP1_USED==1
+ mov CPT1MD, #2 ; Set medium response (300ns)
+ENDIF
+ clr C
+ mov A, Comm_Period4x_H ; Is Comm_Period4x_H less than 2ms?
+ subb A, #16
+ jc comp_wait_on_comp_able ; Yes - jump
+
+ mov CPT0MD, #3 ; Set slow response (1000ns)
+IF COMP1_USED==1
+ mov CPT1MD, #3 ; Set slow response (1000ns)
+ENDIF
+
+comp_wait_on_comp_able:
+ jb Flags0.T3_PENDING, ($+6) ; Has zero cross scan timeout elapsed?
+ setb EA ; Enable interrupts
+ ret ; Yes - return
+
+ mov Temp2, #COMP_PWM_HIGH_ON_DELAY ; Wait time after pwm has been switched on (motor wire electrical settling)
+ jb Flags2.PGM_PWM_HIGH_FREQ, ($+5)
+ mov Temp2, #COMP_PWM_LOW_ON_DELAY
+ setb EA ; Enable interrupts
+ nop ; Allocate only just enough time to capture interrupt
+ nop
+ clr EA ; Disable interrupts
+ jb Flags0.PWM_ON, pwm_wait_startup ; If pwm on - proceed
+
+ mov Temp2, #COMP_PWM_HIGH_OFF_DELAY ; Wait time after pwm has been switched off (motor wire electrical settling)
+ jb Flags2.PGM_PWM_HIGH_FREQ, ($+5)
+ mov Temp2, #COMP_PWM_LOW_OFF_DELAY
+ jnb Flags2.CURR_PWMOFF_COMP_ABLE, comp_wait_on_comp_able ; If comparator is not usable in pwm off - go back
+
+pwm_wait_startup:
+ jnb Flags1.DIRECT_STARTUP_PHASE, pwm_wait ; Set a long delay from pwm on/off events during direct startup
+
+ mov Temp2, #120
+pwm_wait:
+ clr C
+ mov A, TL1
+ subb A, Temp2
+IF DAMPED_MODE_ENABLE==0
+ jc comp_wait_on_comp_able ; Re-evaluate pwm cycle for slower escs
+ENDIF
+IF DAMPED_MODE_ENABLE==1 ; Assume same pwm cycle for fast escs
+ jb Flags1.DIRECT_STARTUP_PHASE, ($+5)
+ jc pwm_wait
+ jc comp_wait_on_comp_able ; Re-evaluate pwm cycle during direct start
+ENDIF
+
+comp_read:
+ Read_Comp_Out ; Read comparator output
+ cpl A
+ anl A, #40h
+ cjne A, Bit_Access, ($+5) ; If comparator output is correct - proceed
+
+ ajmp wait_for_comp_out_start ; If comparator output is not correct - go back and restart
+
+ djnz Temp1, comp_wait_on_comp_able ; Decrement readings counter - repeat comparator reading if not zero
+
+ setb EA ; Enable interrupts
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Evaluate comparator integrity
+;
+; No assumptions
+;
+; Checks comparator signal behaviour versus expected behaviour
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+evaluate_comparator_integrity:
+ clr Flags0.DEMAG_DETECTED ; Clear demag detected flag
+ ; Check if demag compensation is enabled
+;读取Demag compensation
+ mov Temp1, #Pgm_Demag_Comp ; Load programmed demag compensation
+ mov A, @Temp1
+ dec A
+ jz eval_comp_no_demag
+
+ ; Check if a demag situation has occurred
+ mov A, Comp_Wait_Reads ; Check if there were no waits (there shall be some). If none a demag situation has occurred
+ dec A
+ jnz eval_comp_no_demag
+;Demag compensation = 第2项
+ setb Flags0.DEMAG_DETECTED ; Set demag detected flag
+;Demag compensation = 第1项
+eval_comp_no_demag:
+ jnb Flags1.DIRECT_STARTUP_PHASE, eval_comp_check_timeout
+
+ inc Direct_Startup_Ok_Cnt ; Increment ok counter
+ jb Flags0.T3_PENDING, eval_comp_exit
+
+ mov Direct_Startup_Ok_Cnt, #0 ; Reset ok counter
+ jmp eval_comp_exit
+
+eval_comp_check_timeout:
+ jb Flags0.T3_PENDING, eval_comp_exit ; Has timeout elapsed?
+ dec SP ; Routine exit without "ret" command
+ dec SP
+ ljmp run_to_wait_for_power_on ; Yes - exit run mode
+
+eval_comp_exit:
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Setup commutation timing routine
+;
+; No assumptions
+;
+; Sets up and starts wait from commutation to zero cross
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+setup_comm_wait:
+ mov TMR3CN, #00h ; Timer3 disabled
+ clr C
+ clr A
+ subb A, Wt_Comm_L ; Set wait commutation value
+ mov TMR3L, A
+ clr A
+ subb A, Wt_Comm_H
+ mov TMR3H, A
+ mov TMR3CN, #04h ; Timer3 enabled
+ setb Flags0.T3_PENDING
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Wait for commutation routine
+;
+; No assumptions
+;
+; Waits from zero cross to commutation
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+wait_for_comm:
+ ; Store motor power
+ mov Temp7, Current_Pwm_Limited
+ ; Check if a demag situation has occurred
+ jnb Flags0.DEMAG_DETECTED, wait_for_comm_wait; Demag detected?
+
+ ; Load programmed demag compensation
+ mov Temp1, #Pgm_Demag_Comp_Power_Decoded ; Yes - load programmed demag compensation power decoded
+ mov A, @Temp1
+ mov Temp8, A ; Store in Temp8
+
+ ; Check for first power off
+ cjne Temp8, #1, wait_for_comm_blind
+
+ setb Flags0.DEMAG_CUT_POWER ; Turn off motor power
+ mov Current_Pwm_Limited, #0
+ All_nFETs_off
+
+ ; Wait a blind wait
+wait_for_comm_blind:
+ call setup_zc_scan_wait ; Setup a zero cross scan wait (7.5 deg)
+wait_demag_default_zc1:
+ jnb Flags0.DEMAG_CUT_POWER, ($+6) ; Cut motor power if set
+ mov Current_Pwm_Limited, #0
+ jnb Flags0.T3_PENDING, ($+5)
+ ajmp wait_demag_default_zc1
+
+ ; Check for second power off
+ cjne Temp8, #2, wait_for_comm_second_blind_wait
+
+ setb Flags0.DEMAG_CUT_POWER ; Turn off motor power
+ mov Current_Pwm_Limited, #0
+ All_nFETs_off
+
+ ; Check for another blind wait
+wait_for_comm_second_blind_wait:
+ mov Temp1, #Pgm_Demag_Comp_Wait_Decoded ; Yes - load programmed demag compensation wait decoded
+ cjne @Temp1, #1, wait_for_comm_power3
+
+ call setup_zc_scan_wait ; Setup a zero cross scan wait (7.5 deg)
+wait_demag_default_zc2:
+ jnb Flags0.DEMAG_CUT_POWER, ($+6) ; Cut motor power if set
+ mov Current_Pwm_Limited, #0
+ jnb Flags0.T3_PENDING, ($+5)
+ ajmp wait_demag_default_zc2
+
+wait_for_comm_power3:
+ ; Check for third power off
+ cjne Temp8, #3, wait_for_comm_setup
+
+ setb Flags0.DEMAG_CUT_POWER ; Turn off motor power
+ mov Current_Pwm_Limited, #0
+ All_nFETs_off
+
+wait_for_comm_setup:
+ call setup_comm_wait ; Setup commutation wait
+wait_for_comm_wait:
+ jnb Flags0.DEMAG_CUT_POWER, ($+6) ; Cut motor power if set
+ mov Current_Pwm_Limited, #0
+ jnb Flags0.T3_PENDING, ($+5)
+ ajmp wait_for_comm_wait
+
+ jnb Flags0.DEMAG_DETECTED, wait_for_comm_exit ; Was there a demag situation?
+
+ clr Flags0.DEMAG_CUT_POWER ; Restore motor power again
+ mov Current_Pwm_Limited, Temp7
+
+wait_for_comm_exit:
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Commutation routines
+;
+; No assumptions
+;
+; Performs commutation switching
+; Damped routines uses all pfets on when in pwm off to dampen the motor
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;******************************************************
+; 关B down 并 开A down或Cdown
+;******************************************************
+comm1comm2:
+ clr EA ; Disable all interrupts
+ BpFET_off ; Bp off
+ jb Flags2.PGM_PWMOFF_DAMPED, comm12_damp
+ jmp comm12_nondamp
+comm12_damp:
+IF DAMPED_MODE_ENABLE == 0
+ mov DPTR, #pwm_cnfet_apfet_on_fast
+ jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, comm12_nondamp
+ENDIF
+IF DAMPED_MODE_ENABLE == 1
+ mov DPTR, #pwm_cnfet_apfet_on_safe
+ENDIF
+ jnb Flags2.CURR_PWMOFF_DAMPED, comm12_nondamp ; If pwm off not damped - branch
+ CpFET_off
+ mov A, #NFETON_DELAY ; Delay
+ djnz ACC, $
+comm12_nondamp:
+ ApFET_on ; Ap on
+ Set_Comp_Phase_B ; Set comparator to phase B
+ mov Comm_Phase, #2
+ setb EA ; Enable all interrupts
+ ret
+
+comm2comm3:
+ clr EA ; Disable all interrupts
+ jb Flags2.PGM_PWMOFF_DAMPED, comm23_damp
+ jmp comm23_nondamp
+comm23_damp:
+IF DAMPED_MODE_ENABLE == 0
+ mov DPTR, #pwm_bnfet_apfet_on_fast
+ENDIF
+IF DAMPED_MODE_ENABLE == 1
+ mov DPTR, #pwm_bnfet_apfet_on_safe
+ENDIF
+ jnb Flags2.CURR_PWMOFF_DAMPED, comm23_nfet ; If pwm off not damped - branch
+ BpFET_off
+ CpFET_off
+ mov A, #NFETON_DELAY ; Delay
+ djnz ACC, $
+ jmp comm23_nfet
+comm23_nondamp:
+ mov DPTR, #pwm_bfet_on
+comm23_nfet:
+ CnFET_off ; Cn off
+ jnb Flags0.PWM_ON, comm23_cp ; Is pwm on?
+ BnFET_on ; Yes - Bn on
+comm23_cp:
+ Set_Comp_Phase_C ; Set comparator to phase C
+ mov Comm_Phase, #3
+ setb EA ; Enable all interrupts
+ ret
+
+comm3comm4:
+ clr EA ; Disable all interrupts
+ ApFET_off ; Ap off
+ jb Flags2.PGM_PWMOFF_DAMPED, comm34_damp
+ jmp comm34_nondamp
+comm34_damp:
+IF DAMPED_MODE_ENABLE == 0
+ mov DPTR, #pwm_bnfet_cpfet_on_fast
+ jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, comm34_nondamp
+ENDIF
+IF DAMPED_MODE_ENABLE == 1
+ mov DPTR, #pwm_bnfet_cpfet_on_safe
+ENDIF
+ jnb Flags2.CURR_PWMOFF_DAMPED, comm34_nondamp ; If pwm off not damped - branch
+ BpFET_off
+ mov A, #NFETON_DELAY ; Delay
+ djnz ACC, $
+comm34_nondamp:
+ CpFET_on ; Cp on
+ Set_Comp_Phase_A ; Set comparator to phase A
+ mov Comm_Phase, #4
+ setb EA ; Enable all interrupts
+ ret
+
+comm4comm5:
+ clr EA ; Disable all interrupts
+ jb Flags2.PGM_PWMOFF_DAMPED, comm45_damp
+ jmp comm45_nondamp
+comm45_damp:
+IF DAMPED_MODE_ENABLE == 0
+ mov DPTR, #pwm_anfet_cpfet_on_fast
+ENDIF
+IF DAMPED_MODE_ENABLE == 1
+ mov DPTR, #pwm_anfet_cpfet_on_safe
+ENDIF
+ jnb Flags2.CURR_PWMOFF_DAMPED, comm45_nfet ; If pwm off not damped - branch
+ ApFET_off
+ BpFET_off
+ mov A, #NFETON_DELAY ; Delay
+ djnz ACC, $
+ jmp comm45_nfet
+comm45_nondamp:
+ mov DPTR, #pwm_afet_on
+comm45_nfet:
+ BnFET_off ; Bn off
+ jnb Flags0.PWM_ON, comm45_cp ; Is pwm on?
+ AnFET_on ; Yes - An on
+comm45_cp:
+ Set_Comp_Phase_B ; Set comparator to phase B
+ mov Comm_Phase, #5
+ setb EA ; Enable all interrupts
+ ret
+
+comm5comm6:
+ clr EA ; Disable all interrupts
+ CpFET_off ; Cp off
+ jb Flags2.PGM_PWMOFF_DAMPED, comm56_damp
+ jmp comm56_nondamp
+comm56_damp:
+IF DAMPED_MODE_ENABLE == 0
+ mov DPTR, #pwm_anfet_bpfet_on_fast
+ jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, comm56_nondamp
+ENDIF
+IF DAMPED_MODE_ENABLE == 1
+ mov DPTR, #pwm_anfet_bpfet_on_safe
+ENDIF
+ jnb Flags2.CURR_PWMOFF_DAMPED, comm56_nondamp ; If pwm off not damped - branch
+ ApFET_off
+ mov A, #NFETON_DELAY ; Delay
+ djnz ACC, $
+comm56_nondamp:
+ BpFET_on ; Bp on
+ Set_Comp_Phase_C ; Set comparator to phase C
+ mov Comm_Phase, #6
+ setb EA ; Enable all interrupts
+ ret
+
+comm6comm1:
+ clr EA ; Disable all interrupts
+ jb Flags2.PGM_PWMOFF_DAMPED, comm61_damp
+ jmp comm61_nondamp
+comm61_damp:
+IF DAMPED_MODE_ENABLE == 0
+ mov DPTR, #pwm_cnfet_bpfet_on_fast
+ENDIF
+IF DAMPED_MODE_ENABLE == 1
+ mov DPTR, #pwm_cnfet_bpfet_on_safe
+ENDIF
+ jnb Flags2.CURR_PWMOFF_DAMPED, comm61_nfet ; If pwm off not damped - branch
+ ApFET_off
+ CpFET_off
+ mov A, #NFETON_DELAY ; Delay
+ djnz ACC, $
+ jmp comm61_nfet
+comm61_nondamp:
+ mov DPTR, #pwm_cfet_on
+comm61_nfet:
+ AnFET_off ; An off
+ jnb Flags0.PWM_ON, comm61_cp ; Is pwm on?
+ CnFET_on ; Yes - Cn on
+comm61_cp:
+ Set_Comp_Phase_A ; Set comparator to phase A
+ mov Comm_Phase, #1
+ setb EA ; Enable all interrupts
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Switch power off routine
+;
+; No assumptions
+;
+; Switches all fets off
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+switch_power_off:
+ mov DPTR, #pwm_nofet_on ; Set DPTR register to pwm_nofet_on label
+ All_pFETs_Off ; Turn off all pfets
+ All_nFETs_Off ; Turn off all nfets
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Decrement stepper step routine
+;
+; No assumptions
+;
+; Decrements the stepper step
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;decrement_stepper_step:
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, Stepper_Step_End_L ; Minimum Stepper_Step_End
+; mov A, Wt_Stepper_Step_H
+; subb A, Stepper_Step_End_H
+; jnc decrement_step ; Branch if same or higher than minimum
+; ret
+
+;decrement_step:
+ ; Load programmed startup acceleration
+;读取Startup acceleration
+; mov Temp1, #Pgm_Startup_Accel ; Load startup accel
+; mov A, @Temp1
+; mov Temp8, A ; Store in Temp8
+ ; Check acceleration setting and set step size accordingly
+; clr C
+; mov A, Temp8
+; subb A, #5
+; jnc dec_step_high
+; clr C
+; mov A, Temp8
+; subb A, #4
+; jnc dec_step_med_high
+; clr C
+; mov A, Temp8
+; subb A, #3
+; jnc dec_step_med
+; clr C
+; mov A, Temp8
+; subb A, #2
+; jnc dec_step_med_low
+; clr C
+; mov A, Temp8
+; subb A, #1
+; jnc dec_step_low
+;Start acceleration = 第5项
+;dec_step_high:
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, #low(30 SHL 1)
+; mov Temp1, A
+; jmp decrement_step_exit
+;Start acceleration = 第4项
+;dec_step_med_high:
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, #low(20 SHL 1)
+; mov Temp1, A
+; jmp decrement_step_exit
+;Start acceleration = 第3项
+;dec_step_med:
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, #low(13 SHL 1)
+; mov Temp1, A
+; jmp decrement_step_exit
+;Start acceleration = 第2项
+;dec_step_med_low:
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, #low(9 SHL 1)
+; mov Temp1, A
+; jmp decrement_step_exit
+;Start acceleration = 第1项
+;dec_step_low:
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, #low(5 SHL 1)
+; mov Temp1, A
+; jmp decrement_step_exit
+
+;decrement_step_exit:
+; mov A, Wt_Stepper_Step_H
+; subb A, #0
+; mov Temp2, A
+; mov Wt_Stepper_Step_L, Temp1
+; mov Wt_Stepper_Step_H, Temp2
+; ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Stepper timer wait
+;
+; No assumptions
+;
+; Waits for the stepper step timer to elapse
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;stepper_timer_wait:
+; jnb Flags0.T3_PENDING, ($+6) ; Timer pending?
+; ljmp stepper_timer_wait ; Yes, go back
+; ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Set default parameters
+;
+; No assumptions
+;
+; Sets default programming parameters
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+set_default_parameters:
+IF MODE == 0 ; Main
+ mov Temp1, #Pgm_Gov_P_Gain
+ mov @Temp1, #DEFAULT_PGM_MAIN_P_GAIN
+ mov Temp1, #Pgm_Gov_I_Gain
+ mov @Temp1, #DEFAULT_PGM_MAIN_I_GAIN
+ mov Temp1, #Pgm_Gov_Mode
+ mov @Temp1, #DEFAULT_PGM_MAIN_GOVERNOR_MODE
+ mov Temp1, #Pgm_Gov_Range
+ mov @Temp1, #DEFAULT_PGM_MAIN_GOVERNOR_RANGE
+ mov Temp1, #Pgm_Low_Voltage_Lim
+ mov @Temp1, #DEFAULT_PGM_MAIN_LOW_VOLTAGE_LIM
+ mov Temp1, #Pgm_Startup_Pwr
+ mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_PWR
+ mov Temp1, #Pgm_Startup_Rpm
+ mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_RPM
+ mov Temp1, #Pgm_Startup_Accel
+ mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_ACCEL
+ mov Temp1, #Pgm_Startup_Method
+ mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_METHOD
+ mov Temp1, #Pgm_Comm_Timing
+ mov @Temp1, #DEFAULT_PGM_MAIN_COMM_TIMING
+ mov Temp1, #Pgm_Throttle_Rate
+ mov @Temp1, #DEFAULT_PGM_MAIN_THROTTLE_RATE
+ mov Temp1, #Pgm_Damping_Force
+ mov @Temp1, #DEFAULT_PGM_MAIN_DAMPING_FORCE
+ mov Temp1, #Pgm_Pwm_Freq
+ mov @Temp1, #DEFAULT_PGM_MAIN_PWM_FREQ
+ mov Temp1, #Pgm_Demag_Comp
+ mov @Temp1, #DEFAULT_PGM_MAIN_DEMAG_COMP
+ mov Temp1, #Pgm_Direction_Rev
+ mov @Temp1, #DEFAULT_PGM_MAIN_DIRECTION_REV
+ mov Temp1, #Pgm_Input_Pol
+ mov @Temp1, #DEFAULT_PGM_MAIN_RCP_PWM_POL
+ mov Temp1, #Pgm_Motor_Idle
+ mov @Temp1, #0
+ENDIF
+IF MODE == 1 ; Tail
+ mov Temp1, #Pgm_Motor_Gain
+ mov @Temp1, #DEFAULT_PGM_TAIL_GAIN
+ mov Temp1, #Pgm_Motor_Idle
+ mov @Temp1, #DEFAULT_PGM_TAIL_IDLE_SPEED
+ mov Temp1, #Pgm_Startup_Pwr
+ mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_PWR
+ mov Temp1, #Pgm_Startup_Rpm
+ mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_RPM
+ mov Temp1, #Pgm_Startup_Accel
+ mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_ACCEL
+ mov Temp1, #Pgm_Startup_Method
+ mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_METHOD
+ mov Temp1, #Pgm_Comm_Timing
+ mov @Temp1, #DEFAULT_PGM_TAIL_COMM_TIMING
+ mov Temp1, #Pgm_Throttle_Rate
+ mov @Temp1, #DEFAULT_PGM_TAIL_THROTTLE_RATE
+ mov Temp1, #Pgm_Damping_Force
+ mov @Temp1, #DEFAULT_PGM_TAIL_DAMPING_FORCE
+ mov Temp1, #Pgm_Pwm_Freq
+ mov @Temp1, #DEFAULT_PGM_TAIL_PWM_FREQ
+ mov Temp1, #Pgm_Demag_Comp
+ mov @Temp1, #DEFAULT_PGM_TAIL_DEMAG_COMP
+ mov Temp1, #Pgm_Direction_Rev
+ mov @Temp1, #DEFAULT_PGM_TAIL_DIRECTION_REV
+ mov Temp1, #Pgm_Input_Pol
+ mov @Temp1, #DEFAULT_PGM_TAIL_RCP_PWM_POL
+ mov Temp1, #Pgm_Gov_Mode
+ mov @Temp1, #4
+ENDIF
+IF MODE == 2 ; Multi
+ mov Temp1, #Pgm_Fir_Key ;2013.8.27 增加关键字默认值
+ mov @Temp1, #DEFAULT_PGM_MULTI_FIRST_KEYWORD
+ mov Temp1, #Pgm_Gov_P_Gain
+ mov @Temp1, #DEFAULT_PGM_MAIN_P_GAIN ;Pgm_Gov_P_Gain=9 P增益
+ mov Temp1, #Pgm_Gov_I_Gain
+ mov @Temp1, #DEFAULT_PGM_MAIN_I_GAIN ;Pgm_Gov_I_Gain=9 I增益
+ mov Temp1, #Pgm_Gov_Mode
+ mov @Temp1, #DEFAULT_PGM_MAIN_GOVERNOR_MODE ;Pgm_Gov_Mode=4
+ mov Temp1, #Pgm_Motor_Gain
+ mov @Temp1, #DEFAULT_PGM_MULTI_GAIN ;gm_Motor_Gain=3
+ mov Temp1, #Pgm_Low_Voltage_Lim
+ mov @Temp1, #DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM ;Pgm_Low_Voltage_Lim=1 低压保护：1=Off 2=3.0V/c 3=3.1V/c 4=3.2V/c 5=3.3V/c 6=3.4V/c
+ mov Temp1, #Pgm_Low_Voltage_Ctl
+ mov @Temp1, #DEFAULT_PGM_MULTI_LOW_VOLTAGE_CTL ;Pgm_Low_Voltage_Ctl=1 低压保护: 1=功率逐渐降低到31% 2=关闭输出
+ mov Temp1, #Pgm_Startup_Pwr
+ mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_PWR ;Pgm_Startup_Pwr=10
+ mov Temp1, #Pgm_Startup_Rpm
+ mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_RPM ;Pgm_Startup_Rpm=1 启动转速：1=0.67 2=0.8 3=1.00 4=1.25 5=1.5
+ mov Temp1, #Pgm_Startup_Accel
+ mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_ACCEL ;Pgm_Startup_Accel=5
+; mov Temp1, #Pgm_Startup_Method
+; mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_METHOD ;Pgm_Startup_Method=2 启动方式：1=步进启动 2=直接启动
+ mov Temp1, #Pgm_Comm_Timing
+ mov @Temp1, #DEFAULT_PGM_MULTI_COMM_TIMING ;Pgm_Comm_Timing=3 进角时间：1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
+ mov Temp1, #Pgm_Throttle_Rate
+ mov @Temp1, #DEFAULT_PGM_MULTI_THROTTLE_RATE ;Pgm_Throttle_Rate=13 油门范围：1=2 2=3 3=4 4=6 5=8 6=12 7=16 8=24 9=32 10=48 11=64 12=128 13=255
+ mov Temp1, #Pgm_Damping_Force
+ mov @Temp1, #DEFAULT_PGM_MULTI_DAMPING_FORCE ;Pgm_Damping_Force=6 刹车力度：1=VeryLow 2=Low 3=MediumLow 4=MediumHigh 5=High 6=Highest
+ mov Temp1, #Pgm_Pwm_Freq
+ mov @Temp1, #DEFAULT_PGM_MULTI_PWM_FREQ ;Pgm_Pwm_Freq=1 1=Low 2=High 3=DampedLight 4=Damped
+ mov Temp1, #Pgm_Demag_Comp
+ mov @Temp1, #DEFAULT_PGM_MULTI_DEMAG_COMP ;Pgm_Demag_Comp=2 1=Disabled 2=15/0 3=15/7.5 4=7.5/7.5 5=7.5/15 (degrees blind advance / power off)
+ mov Temp1, #Pgm_Direction_Rev
+ mov @Temp1, #DEFAULT_PGM_MULTI_DIRECTION_REV ;Pgm_Direction_Rev=1 方向设置：1=正转 2=反转
+ mov Temp1, #Pgm_Input_Pol
+ mov @Temp1, #DEFAULT_PGM_MULTI_RCP_PWM_POL ;Pgm_Input_Pol=1 接收信号极性设置：1=Positive（正） 2=Negative（负）
+ mov Temp1, #Pgm_Motor_Idle
+ mov @Temp1, #0 ;Pgm_Motor_Idle=0
+ENDIF
+ mov Temp1, #Pgm_Enable_TX_Program
+ mov @Temp1, #DEFAULT_PGM_ENABLE_TX_PROGRAM ;Pgm_Enable_TX_Program=1 1=Enabled 0=Disabled
+ mov Temp1, #Pgm_Main_Rearm_Start
+ mov @Temp1, #DEFAULT_PGM_MAIN_REARM_START ;Pgm_Main_Rearm_Start=0 1=Enabled 0=Disabled
+ mov Temp1, #Pgm_Gov_Setup_Target
+ mov @Temp1, #DEFAULT_PGM_MAIN_GOV_SETUP_TARGET ;Pgm_Gov_Setup_Target=180 Target for governor in setup mode. Corresponds to 70% throttle
+ mov Temp1, #Pgm_Ppm_Min_Throttle
+ mov @Temp1, #DEFAULT_PGM_PPM_MIN_THROTTLE ;Pgm_Ppm_Min_Throttle=37 最小油门：4*37+1000=1148
+ mov Temp1, #Pgm_Ppm_Max_Throttle
+ mov @Temp1, #DEFAULT_PGM_PPM_MAX_THROTTLE ;Pgm_Ppm_Max_Throttle=208 最大油门：4*208+1000=1832
+ mov Temp1, #Pgm_Beep_Strength
+ mov @Temp1, #DEFAULT_PGM_MAIN_BEEP_STRENGTH ;Pgm_Beep_Strength=120 声强设置
+ mov Temp1, #Pgm_Beacon_Strength
+ mov @Temp1, #DEFAULT_PGM_MAIN_BEACON_STRENGTH ;Pgm_Beacon_Strength=200 灯亮长Beacon strength？？？？
+ mov Temp1, #Pgm_Beacon_Delay
+ mov @Temp1, #DEFAULT_PGM_MAIN_BEACON_DELAY ;Pgm_Beacon_Delay=4 灯亮时间？？？？1=30s 2=1m 3=2m 4=3m 5=Infinite
+ mov Temp1, #Pgm_BEC_Voltage_High
+ mov @Temp1, #DEFAULT_PGM_BEC_VOLTAGE_HIGH ;Pgm_BEC_Voltage_High=0 0=Low 1= High
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Decode parameters
+;
+; No assumptions
+;
+; Decodes programming parameters
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+decode_parameters:
+ ; Load programmed damping force
+;读取Damping force
+ mov Temp1, #Pgm_Damping_Force; Load damping force
+ mov A, @Temp1
+ mov Temp8, A ; Store in Temp8
+ ; Decode damping
+;Damping force = 第1项
+ clr Flags2.PGM_PWMOFF_DAMPED
+ clr Flags2.PGM_PWMOFF_DAMPED_LIGHT
+ clr Flags2.PGM_PWMOFF_DAMPED_FULL
+ clr Flags2.CURR_PWMOFF_DAMPED
+ setb Flags2.CURR_PWMOFF_COMP_ABLE
+; mov Damping_Period, #9 ; Set default
+; mov Damping_On, #1
+ mov Rcp_Stop_Limit,#40
+ clr C
+ cjne Temp8, #1, decode_damping_2 ; Look for 2
+ jmp decode_damping_done
+
+;Damping force = 第2项
+decode_damping_2:
+ setb Flags2.PGM_PWMOFF_DAMPED
+; setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+; clr Flags2.PGM_PWMOFF_DAMPED_FULL
+ setb Flags2.CURR_PWMOFF_DAMPED
+ clr Flags2.CURR_PWMOFF_COMP_ABLE
+ mov Damping_Period, #5
+ mov Damping_On, #1
+ mov Rcp_Stop_Limit,#60
+ clr C
+ cjne Temp8, #2, decode_damping_3 ; Look for 3
+ jmp decode_damping_done
+
+;Damping force = 第3项
+decode_damping_3:
+; setb Flags2.PGM_PWMOFF_DAMPED
+ setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+; clr Flags2.PGM_PWMOFF_DAMPED_FULL
+; setb Flags2.CURR_PWMOFF_DAMPED
+; clr Flags2.CURR_PWMOFF_COMP_ABLE
+ mov Damping_Period, #5
+ mov Damping_On, #2
+ mov Rcp_Stop_Limit,#30
+ clr C
+ cjne Temp8, #3, decode_damping_4 ; Look for 4
+ jmp decode_damping_done
+
+;Damping force = 第4项
+decode_damping_4:
+; setb Flags2.PGM_PWMOFF_DAMPED
+; setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+; clr Flags2.PGM_PWMOFF_DAMPED_FULL
+; setb Flags2.CURR_PWMOFF_DAMPED
+; clr Flags2.CURR_PWMOFF_COMP_ABLE
+ mov Damping_Period, #5
+ mov Damping_On, #3
+ mov Rcp_Stop_Limit,#25
+ clr C
+ cjne Temp8, #4, decode_damping_5 ; Look for 5
+ jmp decode_damping_done
+
+;Damping force = 第5项
+decode_damping_5:
+; setb Flags2.PGM_PWMOFF_DAMPED
+; setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+ setb Flags2.PGM_PWMOFF_DAMPED_FULL
+; setb Flags2.CURR_PWMOFF_DAMPED
+; clr Flags2.CURR_PWMOFF_COMP_ABLE
+ mov Damping_Period, #5
+ mov Damping_On, #4
+ mov Rcp_Stop_Limit,#20
+ clr C
+ cjne Temp8, #5, decode_damping_6; Look for 6
+ jmp decode_damping_done
+
+;Damping force = 第6项
+decode_damping_6:
+; setb Flags2.PGM_PWMOFF_DAMPED
+; setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+; setb Flags2.PGM_PWMOFF_DAMPED_FULL
+; setb Flags2.CURR_PWMOFF_DAMPED
+; clr Flags2.CURR_PWMOFF_COMP_ABLE
+ mov Damping_Period, #5
+ mov Damping_On, #5
+ mov Rcp_Stop_Limit,#10
+
+;***********************************************
+; 读取编程PWM频率(1)
+;带硬刹/软刹
+;***********************************************
+decode_damping_done:
+ ; Load programmed pwm frequency
+;读取Pwm frequency
+ mov Temp1, #Pgm_Pwm_Freq ; Load pwm freq
+ mov A, @Temp1
+ mov Temp8, A ; Store in Temp8
+IF MODE == 0 ; Main
+ clr Flags2.PGM_PWMOFF_DAMPED_LIGHT
+ clr C
+ cjne Temp8, #3, ($+5)
+ setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+ clr Flags2.PGM_PWMOFF_DAMPED_FULL
+ENDIF
+IF MODE >= 1 ; Tail or multi
+;////// clr Flags2.PGM_PWMOFF_DAMPED_LIGHT
+;////// clr C
+;////// cjne Temp8, #3, ($+5)
+;Pwm frequency = 第3项
+;////// setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
+;////// clr Flags2.PGM_PWMOFF_DAMPED_FULL
+;////// clr C
+;////// cjne Temp8, #4, ($+5)
+;Pwm frequency = 第4项
+;////// setb Flags2.PGM_PWMOFF_DAMPED_FULL
+ENDIF
+;Pwm frequency = 第1项
+;////// clr Flags2.PGM_PWMOFF_DAMPED ; Set damped flag if fully damped or damped light is set
+;////// mov A, #((1 SHL PGM_PWMOFF_DAMPED_FULL)+(1 SHL PGM_PWMOFF_DAMPED_LIGHT))
+;////// anl A, Flags2 ; Check if any damped mode is set
+;////// jz ($+4)
+;Pwm frequency = 第2项
+;////// setb Flags2.PGM_PWMOFF_DAMPED
+;Pwm frequency = 第1项
+;////// clr Flags2.CURR_PWMOFF_DAMPED ; Set non damped status as start
+;////// jz ($+4)
+;Pwm frequency = 第2项
+;////// setb Flags2.CURR_PWMOFF_DAMPED ; Set non damped status as start if damped
+;Pwm frequency = 第1项
+;////// setb Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator usable status
+;////// jz ($+4)
+;Pwm frequency = 第2项
+;////// clr Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator not usable status if damped
+;***********************************************
+; 读取编程电机旋转方向
+;***********************************************
+;读取Rotation direction
+;Rotation direction = 第1项
+ clr Flags3.PGM_DIR_REV
+ mov Temp1, #Pgm_Direction_Rev
+ mov A, @Temp1
+ jnb ACC.1, ($+5)
+;Rotation direction = 第2项
+ setb Flags3.PGM_DIR_REV
+;***********************************************
+; 读取编程输入信号RC PWM脉冲有效极性
+;***********************************************
+;读取Input pwm polarity
+;Input pwm polarity = 第1项
+ clr Flags3.PGM_RCP_PWM_POL
+ mov Temp1, #Pgm_Input_Pol
+ mov A, @Temp1
+ jnb ACC.1, ($+5)
+;Input pwm polarity = 第2项
+ setb Flags3.PGM_RCP_PWM_POL
+;***********************************************
+; 读取编程PWM频率(2)
+;不带硬刹/软刹
+;***********************************************
+ clr C
+ mov A, Temp8
+ subb A, #1
+ jz decode_pwm_freq_low
+;Pwm frequency = 第1项
+ mov CKCON, #01h ; Timer0 set for clk/4 (22kHz pwm)
+ setb Flags2.PGM_PWM_HIGH_FREQ
+ jmp decode_pwm_freq_end
+;Pwm frequency = 第2项
+decode_pwm_freq_low:
+ mov CKCON, #00h ; Timer0 set for clk/12 (8kHz pwm)
+ clr Flags2.PGM_PWM_HIGH_FREQ
+
+decode_pwm_freq_end:
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Decode governor gain
+;
+; No assumptions
+;
+; Decodes governor gains
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+decode_governor_gains:
+ ; Decode governor gains
+;读取 Closed loop P gain
+ mov Temp1, #Pgm_Gov_P_Gain ; Decode governor P gain
+ mov A, @Temp1
+ dec A
+ mov DPTR, #GOV_GAIN_TABLE
+ movc A, @A+DPTR
+ mov Temp1, #Pgm_Gov_P_Gain_Decoded
+ mov @Temp1, A
+;读取 Closed loop I gain
+ mov Temp1, #Pgm_Gov_I_Gain ; Decode governor P gain
+ mov A, @Temp1
+ dec A
+ mov DPTR, #GOV_GAIN_TABLE
+ movc A, @A+DPTR
+ mov Temp1, #Pgm_Gov_I_Gain_Decoded
+ mov @Temp1, A
+ call switch_power_off ; Reset DPTR
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Decode throttle rate
+;
+; No assumptions
+;
+; Decodes throttle rate
+;
+;读取中点油门范围
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+decode_throttle_rate:
+ ; Decode throttle rate
+;读取 Throttle change rate
+ mov Temp1, #Pgm_Throttle_Rate
+ mov A, @Temp1
+ dec A
+ mov DPTR, #THROTTLE_RATE_TABLE
+ movc A, @A+DPTR
+ mov Temp1, #Pgm_Throttle_Rate_Decoded
+ mov @Temp1, A
+ call switch_power_off ; Reset DPTR
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Decode startup power
+;
+; No assumptions
+;
+; Decodes startup power
+;
+;编程启动力度
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+decode_startup_power:
+ ; Decode startup power
+;读取 Startup power
+ mov Temp1, #Pgm_Startup_Pwr
+ mov A, @Temp1
+ dec A
+ mov DPTR, #STARTUP_POWER_TABLE
+ movc A, @A+DPTR
+ mov Temp1, #Pgm_Startup_Pwr_Decoded
+ mov @Temp1, A
+ call switch_power_off ; Reset DPTR
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Decode demag compensation
+;
+; No assumptions
+;
+; Decodes throttle rate
+;
+;编程demag compensation参数
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+decode_demag_comp:
+ ; Decode demag compensation
+;读取Demag compensation
+ mov Temp1, #Pgm_Demag_Comp
+ mov A, @Temp1
+ dec A
+ mov DPTR, #DEMAG_WAIT_TABLE
+ movc A, @A+DPTR
+ mov Temp1, #Pgm_Demag_Comp_Wait_Decoded
+ mov @Temp1, A
+ mov Temp1, #Pgm_Demag_Comp
+ mov A, @Temp1
+ dec A
+ mov DPTR, #DEMAG_POWER_TABLE
+ movc A, @A+DPTR
+ mov Temp1, #Pgm_Demag_Comp_Power_Decoded
+ mov @Temp1, A
+ call switch_power_off ; Reset DPTR
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Set BEC voltage
+;
+; No assumptions
+;
+; Sets the BEC output voltage low or high
+;
+;读取 BEC
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+set_bec_voltage:
+ ; Set bec voltage
+IF DUAL_BEC_VOLTAGE == 1
+ Set_BEC_Lo ; Set default to low
+;读取 Pgm_BEC_Voltage_High
+ mov Temp1, #Pgm_BEC_Voltage_High
+ mov A, @Temp1
+ jz set_bec_voltage_exit
+
+ Set_BEC_Hi ; Set to high
+
+set_bec_voltage_exit:
+ENDIF
+ ret
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Find throttle gain
+;
+; The difference between max and min throttle must be more than 520us (a Pgm_Ppm_xxx_Throttle difference of 130)
+;
+; Finds throttle gain from throttle calibration values
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+find_throttle_gain:
+ ; Load programmed minimum and maximum throttle
+;读取Pgm_Ppm_Min_Throttle和Pgm_Ppm_Max_Throttle增量
+ mov Temp1, #Pgm_Ppm_Min_Throttle
+ mov A, @Temp1
+ mov Temp3, A
+ mov Temp1, #Pgm_Ppm_Max_Throttle
+ mov A, @Temp1
+ mov Temp4, A
+ ; Check if full range is chosen
+ jnb Flags3.FULL_THROTTLE_RANGE, find_throttle_gain_calculate
+
+ mov Temp3, #0
+ mov Temp4, #255
+
+find_throttle_gain_calculate:
+ ; Calculate difference
+ clr C
+ mov A, Temp4
+ subb A, Temp3
+ mov Temp5, A
+ ; Check that difference is minimum 130
+ clr C
+ subb A, #130
+ jnc ($+4)
+
+ mov Temp5, #130
+
+ ; Find gain
+ mov Ppm_Throttle_Gain, #0
+test_gain:
+ inc Ppm_Throttle_Gain
+ mov A, Temp5
+ mov B, Ppm_Throttle_Gain ; A has difference, B has gain
+ mul AB
+ clr C
+ mov A, B
+ subb A, #128
+ jc test_gain
+ ret
+
+
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Main program start
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+
+reset:
+ ; Select register bank 0 for main program routines
+ clr PSW.3 ; Select register bank 0 for main program routines
+ ; Disable the WDT.
+ anl PCA0MD, #NOT(40h) ; Clear watchdog enable bit
+ ; Initialize stack
+ mov SP, #0c0h ; Stack = 64 upper bytes of RAM
+ ; Initialize VDD monitor
+ orl VDM0CN, #080h ; Enable the VDD monitor
+
+ mov Temp2, #3
+wait_100us:
+ djnz ACC, $
+ djnz Temp2,wait_100us
+
+; call wait1ms ; Wait at least 100us
+ mov RSTSRC, #02h ; Set VDD monitor as a reset source (PORSF)
+ ; Set clock frequency
+ orl OSCICN, #03h ; Set clock divider to 1
+ mov A, OSCICL
+ add A, #04h ; 24.5MHz to 24MHz (~0.5% per step)
+ jc reset_cal_done ; Is carry set? - skip next instruction
+
+ mov OSCICL, A
+
+reset_cal_done:
+ ; Ports initialization
+ mov P0, #P0_INIT
+ mov P0MDOUT, #P0_PUSHPULL
+ mov P0MDIN, #P0_DIGITAL
+ mov P0SKIP, #P0_SKIP
+ mov P1, #P1_INIT
+ mov P1MDOUT, #P1_PUSHPULL
+ mov P1MDIN, #P1_DIGITAL
+ mov P1SKIP, #P1_SKIP
+IF PORT3_EXIST == 1
+ mov P2, #P2_INIT
+ENDIF
+ mov P2MDOUT, #P2_PUSHPULL
+IF PORT3_EXIST == 1
+ mov P2MDIN, #P2_DIGITAL
+ mov P2SKIP, #P2_SKIP
+ mov P3, #P3_INIT
+ mov P3MDOUT, #P3_PUSHPULL
+ mov P3MDIN, #P3_DIGITAL
+ENDIF
+ mov XBR1, #41h ; Xbar enabled, CEX0 routed to pin Rcp_In
+ ; Switch power off
+ call switch_power_off
+ ; Clear RAM
+ clr A ; Clear accumulator
+ mov Temp1, A ; Clear Temp1
+clear_ram:
+ mov @Temp1, A ; Clear RAM
+ djnz Temp1, clear_ram ; Is A not zero? - jump
+ ; Set default programmed parameters
+ call set_default_parameters
+ ; Read all programmed parameters
+ call read_all_eeprom_parameters
+ ; Decode parameters
+ call decode_parameters
+ ; Decode governor gains
+ call decode_governor_gains
+ ; Decode throttle rate
+ call decode_throttle_rate
+ ; Decode startup power
+ call decode_startup_power
+ ; Decode demag compensation
+ call decode_demag_comp
+ ; Set BEC voltage
+ call set_bec_voltage
+ ; Find throttle gain from stored min and max settings
+ call find_throttle_gain
+ ; Set beep strength
+;读取超强设置
+ mov Temp1, #Pgm_Beep_Strength
+ mov Beep_Strength, @Temp1
+ ; Switch power off
+ call switch_power_off
+ ; Timer control
+ mov TCON, #50h ; Timer0 and timer1 enabled
+ ; Timer mode
+ mov TMOD, #02h ; Timer0 as 8bit
+ ; Timer2: clk/12 for 128us and 32ms interrupts
+ mov TMR2CN, #24h ; Timer2 enabled, low counter interrups enabled
+ ; Timer3: clk/12 for commutation timing
+ mov TMR3CN, #04h ; Timer3 enabled
+ ; PCA
+ mov PCA0CN, #40h ; PCA enabled
+ ; Initializing beep 上电叫3声
+ call wait1s
+ call wait1s
+
+ ; Enable interrupts
+ mov IE, #22h ; Enable timer0 and timer2 interrupts
+ mov IP, #02h ; High priority to timer0 interrupts
+ mov EIE1, #90h ; Enable timer3 and PCA0 interrupts
+ mov EIP1, #10h ; High priority to PCA interrupts
+ ; Initialize comparator
+ mov CPT0CN, #80h ; Comparator enabled, no hysteresis
+ mov CPT0MD, #03h ; Comparator response time 1us
+IF COMP1_USED==1
+ mov CPT1CN, #80h ; Comparator enabled, no hysteresis
+ mov CPT1MD, #03h ; Comparator response time 1us
+ENDIF
+ ; Initialize ADC
+ Initialize_Adc ; Initialize ADC operation
+ call wait1ms
+ setb EA ; Enable all interrupts
+ ; Measure number of lipo cells
+ call Measure_Lipo_Cells ; Measure number of lipo cells
+ ; Initialize rc pulse
+ Rcp_Int_Enable ; Enable interrupt
+ Rcp_Int_First ; Enable interrupt and set to first edge
+ Rcp_Clear_Int_Flag ; Clear interrupt flag
+ clr Flags2.RCP_EDGE_NO ; Set first edge flag
+ call wait200ms
+ ; Set initial arm variable
+ mov Initial_Arm, #1
+ mov OS_FLAG, #1
+; mov Pca_First_Int, #1
+
+ ; Measure PWM frequency
+measure_pwm_freq_init:
+ setb Flags0.RCP_MEAS_PWM_FREQ ; Set measure pwm frequency flag
+; clr C ;2014.08.08 信号滤波
+; mov A, Pgm_Pulse_Cnt ;2014.08.08 信号滤波
+; subb A, #5 ;2014.08.08 信号滤波
+; jc measure_pwm_freq_init ;2014.08.08 信号滤波
+; mov Pca_First_Int, #0 ;2014.08.08 信号滤波
+; call wait200ms
+measure_pwm_freq_start:
+ mov Temp3, #5 ; Number of pulses to measure
+; mov Temp3, #1
+measure_pwm_freq_loop:
+ ; Check if period diff was accepted
+ mov A, Rcp_Period_Diff_Accepted
+; jnz ($+4)
+
+ jnz measure_pwm
+ call wait3ms
+ mov A, New_RCP
+ clr C
+ subb A,#230
+ jc ($+7)
+ mov Pgm_Pulse_Cnt, #0
+; mov Temp3, #5
+ ajmp measure_pwm_freq_start
+
+ mov A, New_RCP
+ clr C
+ subb A,#30
+ jnc ($+7)
+ mov Pgm_Pulse_Cnt, #0
+; mov Temp3, #5
+ ajmp measure_pwm_freq_start
+
+ inc Pgm_Pulse_Cnt
+ mov A, Pgm_Pulse_Cnt
+ clr C
+ subb A, #5
+ jnc ($+6)
+ mov Temp3, #5 ; Reset number of pulses to measure
+ ajmp measure_pwm_freq_loop
+; mov Temp3, #1
+measure_pwm:
+ call wait3ms ; Wait for next pulse (NB: Uses Temp1/2!)
+ mov A, New_Rcp ; Load value
+ clr C
+ subb A, #RCP_VALIDATE ; Higher than validate level?
+ jc measure_pwm_freq_start ; No - start over
+
+ mov A, Flags3 ; Check pwm frequency flags
+; anl A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ anl A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ mov Prev_Rcp_Pwm_Freq, Curr_Rcp_Pwm_Freq ; Store as previous flags for next pulse
+ mov Curr_Rcp_Pwm_Freq, A ; Store current flags for next pulse
+ cjne A, Prev_Rcp_Pwm_Freq, measure_pwm_freq_start ; Go back if new flags not same as previous
+
+ djnz Temp3, measure_pwm_freq_loop ; Go back if not required number of pulses seen
+
+ ; Clear measure pwm frequency flag
+ clr Flags0.RCP_MEAS_PWM_FREQ
+ ; Set up RC pulse interrupts after pwm frequency measurement
+ Rcp_Int_First ; Enable interrupt and set to first edge
+ Rcp_Clear_Int_Flag ; Clear interrupt flag
+ clr Flags2.RCP_EDGE_NO ; Set first edge flag
+ call wait100ms ; Wait for new RC pulse
+
+ ; Validate RC pulse
+;Pgm_Main_Rearm_Start = 第1项 enabled
+validate_rcp_start:
+ call wait3ms ; Wait for next pulse (NB: Uses Temp1/2!)
+ mov Temp1, #RCP_VALIDATE ; Set validate level as default
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ anl A, Flags3 ; Check pwm frequency flags
+ jnz ($+4) ; If a flag is set (PWM) - branch
+
+ mov Temp1, #0 ; Set level to zero for PPM (any level will be accepted)
+
+ clr C
+ mov A, New_Rcp ; Load value
+ subb A, Temp1 ; Higher than validate level?
+ jc validate_rcp_start ; No - start over
+
+ ; Beep arm sequence start signal
+;上电检测到信号后叫第1声（信号准备就绪）
+;////// clr EA ; Disable all interrupts
+;////// call beep_f1 ; Signal that RC pulse is ready
+;////// call beep_f1
+;////// call beep_f1
+;////// setb EA ; Enable all interrupts
+ call wait200ms
+
+ ; Arming sequence start
+ mov Gov_Arm_Target, #0 ; Clear governor arm target
+arming_start:
+ call wait3ms
+;读取Pgm_Enable_TX_Program
+ mov Temp1, #Pgm_Enable_TX_Program; Yes - start programming mode entry if enabled
+ mov A, @Temp1
+ clr C
+ subb A, #1 ; Is TX programming enabled?
+ jnc arming_initial_arm_check ; Yes - proceed
+
+ jmp program_by_tx_checked ; No - branch
+;Pgm_Enable_TX_Program = 1 enabled
+arming_initial_arm_check:
+ mov A, Initial_Arm ; Yes - check if it is initial arm sequence
+ clr C
+ subb A, #1 ; Is it the initial arm sequence?
+ jnc arming_ppm_check ; Yes - proceed
+
+ jmp wait_for_power_on ; No - branch
+
+arming_ppm_check:
+ mov Temp1, #Pgm_Ppm_Min_Throttle ; Store
+ mov A, @Temp1
+ mov Min_Throttle, A
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
+ anl A, Flags3 ; Check pwm frequency flags
+ jz throttle_high_cal_start ; If no flag is set (PPM) - branch
+
+ ; PWM tx program entry
+; clr C
+; mov A, New_Rcp ; Load new RC pulse value
+; subb A, #200 ; Is RC pulse max?
+; jc program_by_tx_entry_wait_pwm ; Yes - proceed
+; subb A, #RCP_MAX ; Is RC pulse max?
+; jnc program_by_tx_entry_pwm ; Yes - proceed
+
+; jmp program_by_tx_checked ; No - branch
+
+;program_by_tx_entry_pwm:
+; clr EA ; Disable all interrupts
+; call beep_f4
+; setb EA ; Enable all interrupts
+; call wait100ms
+; clr C
+; mov A, New_Rcp ; Load new RC pulse value
+; subb A, #RCP_STOP ; Below stop?
+; subb A, #200
+; jnc program_by_tx_entry_pwm ; No - start over
+
+;program_by_tx_entry_wait_pwm:
+
+ clr EA
+ call beep_f2
+ call beep_f3
+ call beep_f1
+
+ mov TMOD, #11h ;T0/T1 工作方式1
+ mov CKCON, #02h ;T0/T1 48分频
+ mov P0MDIN, #80h
+ mov P0SKIP, #0FFh
+ call program_by_card ; Yes - enter programming mode
+; ajmp program_by_card_entry
+
+;program_by_tx_entry_wait_pwm:
+; clr EA ; Disable all interrupts
+; call beep_f1
+; call wait10ms
+; call beep_f1
+; setb EA ; Enable all interrupts
+; call wait100ms
+; clr C
+; mov A, New_Rcp ; Load new RC pulse value
+; subb A, #RCP_MAX ; At or above max?
+; jc program_by_tx_entry_wait_pwm ; No - start over
+
+; call program_by_tx ; Yes - enter programming mode
+; jmp program_by_tx_checked
+
+ ; PPM throttle calibration and tx program entry
+;计算PPM最大，最小油门并存储
+throttle_high_cal_start:
+ mov Temp8, #5 ; Set 3 seconds wait time
+throttle_high_cal:
+ setb Flags3.FULL_THROTTLE_RANGE ; Set range to 1000-2020us
+ call Find_Throttle_Gain ; Set throttle gain
+ call wait100ms ; Wait for new throttle value
+ clr EA ; Disable interrupts (freeze New_Rcp value)
+ clr Flags3.FULL_THROTTLE_RANGE ; Set programmed range
+ call Find_Throttle_Gain ; Set throttle gain
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, #220 ; Is RC pulse above midstick? 1840
+ setb EA ; Enable interrupts
+ jc ($+6)
+ djnz Temp8, throttle_high_cal
+ ajmp throttle_high_cal_save
+
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, Min_Throttle ; Is RC pulse above midstick? 1148
+ jnc ($+4)
+ ajmp arm_target_updated ; No - branch 检测低油门
+
+ clr EA
+ call beep_f1;
+ call wait100ms
+ setb EA
+ ajmp throttle_high_cal_start
+
+throttle_high_cal_save:
+; call wait1s
+ clr C
+ mov A, New_Rcp ; Limit to max 250
+ subb A, #5 ; Subtract about 2% and ensure that it is 250 or lower
+ mov Temp1, #Pgm_Ppm_Max_Throttle ; Store
+ mov @Temp1, A
+ call set_commu_sum_to_zero ;////////////////////////////////////**************************
+ call erase_and_store_all_in_eeprom
+ clr EA
+ call beep_f1;/////////////////////////////////////////成功存储最大油门叫声
+ call beep_f1;/////////////////////////////////////////成功存储最大油门叫声
+ call wait30ms;/////////////////////////////////////////成功存储最大油门叫声
+ call beep_f4;/////////////////////////////////////////成功存储最大油门叫声
+ call beep_f4;/////////////////////////////////////////成功存储最大油门叫声
+ setb EA
+
+ call wait1s
+ call wait1s
+wait_loop_1:
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, #215 ;Is RC pulse above midstick?
+ jnc program_by_tx_entry_wait_ppm
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, #60 ;Is RC pulse above midstick?
+ jnc wait_loop_1
+ ajmp throttle_low_cal_start
+
+ ;PPM编程模式
+program_by_tx_entry_wait_ppm:
+ call program_by_tx ; Yes - enter programming mode 成功进入编程模式
+
+;最小油门设置及退出
+throttle_low_cal_start:
+ mov Temp8, #5 ; Set 3 seconds wait time
+throttle_low_cal:
+; call wait1s
+ setb Flags3.FULL_THROTTLE_RANGE ; Set range to 1000-2020us
+ call Find_Throttle_Gain ; Set throttle gain
+ call wait100ms
+ clr EA ; Disable interrupts (freeze New_Rcp value)
+ clr Flags3.FULL_THROTTLE_RANGE ; Set programmed range
+ call Find_Throttle_Gain ; Set throttle gain
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, #60 ; Below midstick?
+ setb EA ; Enable interrupts
+ jnc throttle_low_cal_start ; No - start over 在中点油门以上，则继续等待，直到检测到在中点油门以下
+ djnz Temp8, throttle_low_cal ; Yes - continue to wait
+; call wait3ms
+ mov A, New_Rcp
+ add A, #5 ; Add about 2%
+ mov Temp1, #Pgm_Ppm_Min_Throttle ; Store
+ mov @Temp1, A
+ call set_commu_sum_to_zero ;////////////////////////////////////**************************
+ call erase_and_store_all_in_eeprom
+
+; clr EA ; Disable all interrupts
+; mov RSTSRC, #12h ; Generate hardware reset 强制复位系统
+
+ ; Set default programmed parameters
+; call set_default_parameters
+ ; Read all programmed parameters
+ call read_all_eeprom_parameters
+ ; Decode parameters
+ call decode_parameters
+ ; Decode governor gains
+ call decode_governor_gains
+ ; Decode throttle rate
+ call decode_throttle_rate
+ ; Decode startup power
+ call decode_startup_power
+ ; Decode demag compensation
+ call decode_demag_comp
+ ; Set BEC voltage
+ call set_bec_voltage
+ ; Find throttle gain from stored min and max settings
+ call find_throttle_gain
+
+program_by_tx_checked:
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, Gov_Arm_Target ; Is RC pulse larger than arm target?
+ jc arm_target_updated ; No - do not update
+
+ mov Gov_Arm_Target, New_Rcp ; Yes - update arm target
+
+arm_target_updated:
+ call wait100ms ; Wait for new throttle value
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+ subb A, #RCP_STOP ; Below stop?
+ jc arm_end_beep ; Yes - proceed ;最小油门计算好 及 编程结束叫声
+ jmp arm_target_updated ; No - start over
+
+;上电检测到信号后叫第2声（信号检测结束）
+arm_end_beep:
+;改变上电叫方式
+ clr EA ; Disable all interrupts
+ call beep_f1
+ call beep_f1
+ call beep_f1
+ call wait1s
+ ; Beep arm sequence end signal
+
+;*************************************************
+; 增加Lipo节数叫声 2013.5.29
+;*************************************************
+ mov Temp8,Lipo_Cell_Count ;
+lipo_cell_beep:
+ call beep_f1
+ call beep_f1
+ call wait30ms
+ djnz Temp8,lipo_cell_beep
+ call wait200ms
+ call wait200ms
+;///// call beep_f4 ; Signal that rcpulse is ready
+;///// call beep_f4
+;///// call beep_f4
+;改变信号检测OK叫声方式 2013.5.29
+ call beep_f1
+ call wait30ms
+ call wait30ms
+ call beep_f2
+ call wait30ms
+ call wait30ms
+ call beep_f3
+ call wait30ms
+ call wait30ms
+ setb EA ; Enable all interrupts
+ call wait100ms
+
+ ; Measure number of lipo cells
+ call Measure_Lipo_Cells ; Measure number of lipo cells
+
+ ; Clear initial arm variable
+ mov Initial_Arm, #0
+
+ ; Armed and waiting for power on
+wait_for_power_on:
+ clr LOW_LIMIT_STOP ; 清低压保护控制方式2 停止标志
+;////// clr A
+;////// mov Power_On_Wait_Cnt_L, A ; Clear wait counter
+;////// mov Power_On_Wait_Cnt_H, A
+wait_for_power_on_loop:
+ mov Temp8, #50
+;////// inc Power_On_Wait_Cnt_L ; Increment low wait counter
+;////// mov A, Power_On_Wait_Cnt_L
+;////// cpl A
+;////// jnz wait_for_power_on_no_beep; Counter wrapping (about 1 sec)?
+
+;////// inc Power_On_Wait_Cnt_H ; Increment high wait counter
+;********************************************************
+; 读取油门最低未操作等待叫声时间
+;********************************************************
+;读取Pgm_Beacon_Delay
+;////// mov Temp1, #Pgm_Beacon_Delay
+;////// mov A, @Temp1
+;////// mov Temp1, #40 ; Approximately 30 sec
+;////// dec A
+;////// jz beep_delay_set
+
+;////// mov Temp1, #80 ; Approximately 1 min
+;////// dec A
+;////// jz beep_delay_set
+
+;////// mov Temp1, #160 ; Approximately 2 min
+;////// dec A
+;////// jz beep_delay_set
+
+;////// mov Temp1, #240 ; Approximately 3 min
+;////// dec A
+;////// jz beep_delay_set
+
+;////// mov Power_On_Wait_Cnt_H, #0 ; Reset counter for infinite delay
+
+;//////beep_delay_set:
+;////// clr C
+;////// mov A, Power_On_Wait_Cnt_H
+;////// subb A, Temp1 ; Check against chosen delay
+;////// jc wait_for_power_on_no_beep; Has delay elapsed?
+;********************************************************
+; 读取油门最低未操作等待叫声声强设置
+;********************************************************
+;////// dec Power_On_Wait_Cnt_H ; Decrement high wait counter
+;读取Pgm_Beacon_Strength
+;////// mov Temp1, #Pgm_Beacon_Strength
+;////// mov Beep_Strength, @Temp1
+;////// clr EA ; Disable all interrupts
+;////// All_pFETs_Off;///////////////////////////////////////*****************************
+;////// call beep_f4 ; Signal that there is no signal
+;////// setb EA ; Enable all interrupts
+;读取Pgm_Beep_Strength
+;////// mov Temp1, #Pgm_Beep_Strength
+;////// mov Beep_Strength, @Temp1
+;////// call wait100ms ; Wait for new RC pulse to be measured
+
+wait_for_power_on_no_beep:
+ call wait3ms
+ mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
+ jnz wait_for_power_on_ppm_not_missing ; If it is not zero - proceed
+
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jnz wait_for_power_on_ppm_not_missing ; If a flag is set (PWM) - branch
+
+ jmp measure_pwm_freq_init ; If ppm and pulses missing - go back to measure pwm frequency
+
+wait_for_power_on_ppm_not_missing:
+ clr C
+ mov A, New_Rcp ; Load new RC pulse value
+; subb A, #RCP_STOP ; Higher than stop (plus some hysteresis)?
+ subb A, #(RCP_STOP+7) ; Higher than stop (plus some hysteresis)?
+ jc wait_for_power_on ; No - start over
+ djnz Temp8, wait_for_power_on_no_beep
+ jb LOW_LIMIT_STOP, wait_for_power_on_loop
+ call wait100ms ; Wait to see if start pulse was only a glitch
+ mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
+ jnz ($+5) ; If it is not zero - proceed
+
+ ljmp measure_pwm_freq_init ; If it is zero (pulses missing) - go back to measure pwm frequency
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Start entry point
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+init_start:
+ setb ET0
+ call switch_power_off
+ clr A
+ mov Requested_Pwm, A ; Set requested pwm to zero
+ mov Governor_Req_Pwm, A ; Set governor requested pwm to zero
+ mov Current_Pwm, A ; Set current pwm to zero
+ mov Current_Pwm_Limited, A ; Set limited current pwm to zero
+ mov Pwm_Limit, #0FFh ; Set pwm limit to max
+ mov Temp1, #Pgm_Motor_Idle
+ mov Pwm_Motor_Idle, @Temp1 ; Set idle pwm to programmed value
+ mov Gov_Target_L, A ; Set target to zero
+ mov Gov_Target_H, A
+ mov Gov_Integral_L, A ; Set integral to zero
+ mov Gov_Integral_H, A
+ mov Gov_Integral_X, A
+ mov Adc_Conversion_Cnt, A
+ mov Gov_Active, A
+ mov Flags0, A ; Clear flags0
+ mov Flags1, A ; Clear flags1
+ mov Rcp_Stop_Cnt, A ; Set RC pulse stop count to zero
+ mov Rcp_Stop_Limit, A
+ mov Lipo_Cell_Count, A
+ mov Limit_Count, A
+ mov New_Rcp, #Rcp_MIN
+ call initialize_all_timings ; Initialize timing
+ ;**** **** **** **** ****
+ ; Settle phase beginning
+ ;**** **** **** **** ****
+ mov Adc_Conversion_Cnt, #TEMP_CHECK_RATE ; Make sure a temp reading is done
+ Set_Adc_Ip_Temp
+ call wait1ms
+ call start_adc_conversion
+read_initial_temp:
+ Get_Adc_Status
+ jb AD0BUSY, read_initial_temp
+ Read_Adc_Result ; Read initial temperature
+ mov A, Temp2
+ jnz ($+3) ; Is reading below 256?
+
+ mov Temp1, A ; Yes - set average temperature value to zero
+
+ mov Current_Average_Temp, Temp1 ; Set initial average temperature
+ call check_temp_voltage_and_limit_power
+ mov Adc_Conversion_Cnt, #TEMP_CHECK_RATE ; Make sure a temp reading is done next time
+ Set_Adc_Ip_Temp
+
+ ; Go to the desired startup mode
+; mov Temp1, #Pgm_Startup_Method
+; mov A, @Temp1
+; jnb ACC.0, direct_method_start
+
+; jmp stepper_method_start
+
+direct_method_start:
+ ; Set up start operating conditions
+ mov Temp1, #Pgm_Pwm_Freq
+ mov A, @Temp1
+ mov Temp7, A ; Store setting in Temp7
+ mov @Temp1, #1 ; Set nondamped low frequency pwm mode
+ call decode_parameters ; (Decode_parameters uses Temp1 and Temp8)
+ mov Temp1, #Pgm_Pwm_Freq
+ mov A, Temp7
+ mov @Temp1, A ; Restore settings
+ ; Set max allowed power
+ setb Flags1.SETTLE_PHASE ; Set settle phase power as max
+ clr EA ; Disable interrupts to avoid that Requested_Pwm is overwritten
+ call set_startup_pwm
+ mov Pwm_Limit, Requested_Pwm
+ mov Pwm_Limit_Spoolup, Requested_Pwm
+ setb EA
+ clr Flags1.SETTLE_PHASE
+ mov Current_Pwm_Limited, #0 ; Set low pwm again after calling set_startup_pwm
+ mov Spoolup_Limit_Cnt, #0
+ mov Spoolup_Limit_Skip, #1
+ ; Begin startup sequence
+ setb Flags1.MOTOR_SPINNING ; Set motor spinning flag
+ setb Flags1.DIRECT_STARTUP_PHASE ; Set direct startup phase flag
+ mov Direct_Startup_Ok_Cnt, #0 ; Reset ok counter
+ call comm5comm6 ; Initialize commutation
+ call comm6comm1
+ call calc_next_comm_timing ; Set virtual commutation point
+ call initialize_all_timings ; Initialize timing
+ jmp run1
+
+
+;stepper_method_start:
+; ; Set up start operating conditions
+; mov Temp1, #Pgm_Pwm_Freq
+; mov A, @Temp1
+; mov Temp7, A ; Store setting in Temp7
+; mov @Temp1, #3 ; Set damped light mode
+; mov Temp1, #Pgm_Damping_Force
+; mov A, @Temp1
+; mov Temp6, A ; Store setting in Temp6
+; mov @Temp1, #5 ; Set high damping force
+; call decode_parameters ; (Decode_parameters uses Temp1 and Temp8)
+; mov Temp1, #Pgm_Pwm_Freq
+; mov A, Temp7
+; mov @Temp1, A ; Restore settings
+; mov Temp1, #Pgm_Damping_Force
+; mov A, Temp6
+; mov @Temp1, A
+ ; Begin startup sequence
+; setb Flags1.MOTOR_SPINNING ; Set motor spinning flag
+; setb Flags1.SETTLE_PHASE ; Set motor start settling phase flag
+; setb Flags2.CURR_PWMOFF_DAMPED; Set damped status, in order to ensure that pfets will be turned off in an initial pwm on
+; call comm5comm6 ; Initialize commutation
+; call comm6comm1
+; call set_startup_pwm
+; call wait1ms
+; call comm1comm2
+; call wait1ms
+; call wait1ms
+; call comm2comm3
+; call wait3ms
+; call comm3comm4
+; call wait3ms
+; call wait3ms
+; call comm4comm5
+; call wait10ms ; Settle rotor
+; call comm5comm6
+; call wait3ms
+; call wait1ms
+; clr Flags1.SETTLE_PHASE ; Clear settling phase flag
+; setb Flags1.STEPPER_PHASE ; Set motor start stepper phase flag
+
+; ;**** **** **** **** ****
+; ; Stepper phase beginning
+; ;**** **** **** **** ****
+;stepper_rot_beg:
+; call start_adc_conversion
+; call check_temp_voltage_and_limit_power
+; call set_startup_pwm
+; mov Adc_Conversion_Cnt, #TEMP_CHECK_RATE ; Make sure a temp reading is done next time
+; Set_Adc_Ip_Temp
+
+; call comm6comm1 ; Commutate
+; call calc_next_comm_timing_start ; Update timing and set timer
+; call calc_new_wait_times
+; call decrement_stepper_step
+; call stepper_timer_wait
+
+; call comm1comm2
+; call calc_next_comm_timing_start
+; call calc_new_wait_times
+; call decrement_stepper_step
+; call stepper_timer_wait
+
+; call comm2comm3
+; call calc_next_comm_timing_start
+; call calc_new_wait_times
+; call decrement_stepper_step
+; call stepper_timer_wait
+
+; call comm3comm4
+; call calc_next_comm_timing_start
+; call calc_new_wait_times
+; call decrement_stepper_step
+; call stepper_timer_wait
+
+; call comm4comm5
+; call calc_next_comm_timing_start
+; call calc_new_wait_times
+; call decrement_stepper_step
+; call stepper_timer_wait
+
+; call comm5comm6
+; call calc_next_comm_timing_start
+; call calc_new_wait_times
+; call decrement_stepper_step
+; ; Check stepper step versus end criteria
+; clr C
+; mov A, Wt_Stepper_Step_L
+; subb A, Stepper_Step_End_L ; Minimum Stepper_Step_End
+; mov A, Wt_Stepper_Step_H
+; subb A, Stepper_Step_End_H
+; jc stepper_rot_exit ; Branch if lower than minimum
+
+; ; Wait for step
+; call stepper_timer_wait
+; clr C
+; mov A, New_Rcp ; Load new pulse value
+; subb A, #RCP_STOP ; Check if pulse is below stop value
+; jnc stepper_rot_beg
+
+; jmp run_to_wait_for_power_on
+
+;stepper_rot_exit:
+; ; Wait for step
+; call stepper_timer_wait
+; ; Clear stepper phase
+; clr Flags1.STEPPER_PHASE ; Clear motor start stepper phase flag
+; ; Set dondamped low pwm frequency
+; mov Temp1, #Pgm_Pwm_Freq
+; mov A, @Temp1
+; mov Temp7, A ; Store setting in Temp7
+; mov @Temp1, #2 ; Set nondamped low frequency pwm mode
+; call decode_parameters ; (Decode_parameters uses Temp1 and Temp8)
+; mov Temp1, #Pgm_Pwm_Freq
+; mov A, Temp7
+; mov @Temp1, A ; Restore settings
+; ; Set spoolup power variables (power is now controlled from RCP)
+; mov Pwm_Limit, Requested_Pwm
+; mov Pwm_Limit_Spoolup, Pwm_Spoolup_Beg
+; mov Current_Pwm_Limited, Pwm_Spoolup_Beg
+; mov Spoolup_Limit_Cnt, #0
+; mov Spoolup_Limit_Skip, #1
+; ; Set direct startup phase to aquire sync quickly
+; setb Flags1.DIRECT_STARTUP_PHASE ; Set direct startup phase flag
+; mov Direct_Startup_Ok_Cnt, #0 ; Reset ok counter
+; clr EA ; Disable interrupts
+; ApFET_off ; Ap off. Turn off unused pfets (to turn off damping fets that might be on)
+; CpFET_off ; Cp off
+; mov A, #45 ; 8us delay for pfets to go off
+; djnz ACC, $
+; setb EA ; Enable interrupts
+; call comm6comm1
+; call calc_next_comm_timing ; Calculate next timing and start advance timing wait
+; call wait_advance_timing ; Wait advance timing and start zero cross wait
+; call calc_new_wait_times
+; call wait_before_zc_scan ; Wait zero cross wait and start zero cross timeout
+; mov Adc_Conversion_Cnt, #0 ; Make sure a voltage reading is done next time
+; Set_Adc_Ip_Volt ; Set adc measurement to voltage
+; jmp run1
+
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Run entry point
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+damped_transition:
+ ; Transition from nondamped to damped if applicable
+ call decode_parameters ; Set programmed parameters
+ call comm6comm1
+ mov Adc_Conversion_Cnt, #0 ; Make sure a voltage reading is done next time
+ Set_Adc_Ip_Volt ; Set adc measurement to voltage
+
+; Run 1 = B(p-on) + C(n-pwm) - comparator A evaluated
+; Out_cA changes from high to low
+run1:
+ call wait_for_comp_out_high ; Wait zero cross wait and wait for high
+ call evaluate_comparator_integrity ; Check whether comparator reading has been normal
+ call setup_comm_wait ; Setup wait time from zero cross to commutation
+ call calc_governor_target ; Calculate governor target
+ call wait_for_comm ; Wait from zero cross to commutation
+ call comm1comm2 ; Commutate
+ call calc_next_comm_timing ; Calculate next timing and start advance timing wait
+ call wait_advance_timing ; Wait advance timing and start zero cross wait
+ call calc_new_wait_times
+ call wait_before_zc_scan ; Wait zero cross wait and start zero cross timeout
+
+; Run 2 = A(p-on) + C(n-pwm) - comparator B evaluated
+; Out_cB changes from low to high
+run2:
+ call wait_for_comp_out_low
+ call evaluate_comparator_integrity
+ call setup_comm_wait
+ call calc_governor_prop_error
+ call wait_for_comm
+ call comm2comm3
+ call calc_next_comm_timing
+ call wait_advance_timing
+ call calc_new_wait_times
+ call wait_before_zc_scan
+
+; Run 3 = A(p-on) + B(n-pwm) - comparator C evaluated
+; Out_cC changes from high to low
+run3:
+ call wait_for_comp_out_high
+ call evaluate_comparator_integrity
+ call setup_comm_wait
+ call calc_governor_int_error
+ call wait_for_comm
+ call comm3comm4
+ call calc_next_comm_timing
+ call wait_advance_timing
+ call calc_new_wait_times
+ call wait_before_zc_scan
+
+; Run 4 = C(p-on) + B(n-pwm) - comparator A evaluated
+; Out_cA changes from low to high
+run4:
+ call wait_for_comp_out_low
+ call evaluate_comparator_integrity
+ call setup_comm_wait
+ call calc_governor_prop_correction
+ call wait_for_comm
+ call comm4comm5
+ call calc_next_comm_timing
+ call wait_advance_timing
+ call calc_new_wait_times
+ call wait_before_zc_scan
+
+; Run 5 = C(p-on) + A(n-pwm) - comparator B evaluated
+; Out_cB changes from high to low
+run5:
+ call wait_for_comp_out_high
+ call evaluate_comparator_integrity
+ call setup_comm_wait
+ call calc_governor_int_correction
+ call wait_for_comm
+ call comm5comm6
+ call calc_next_comm_timing
+ call wait_advance_timing
+ call calc_new_wait_times
+ call wait_before_zc_scan
+
+; Run 6 = B(p-on) + A(n-pwm) - comparator C evaluated
+; Out_cC changes from low to high
+run6:
+ call wait_for_comp_out_low
+ call start_adc_conversion
+ call evaluate_comparator_integrity
+ call setup_comm_wait
+ call check_temp_voltage_and_limit_power
+ call wait_for_comm
+ call comm6comm1
+ call calc_next_comm_timing
+ call wait_advance_timing
+ call calc_new_wait_times
+ call wait_before_zc_scan
+
+ ; Check if it is direct startup
+ jnb Flags1.DIRECT_STARTUP_PHASE, normal_run_checks
+
+ ; Set spoolup power variables
+IF MODE == 0 OR MODE == 2
+ mov Pwm_Limit, Pwm_Spoolup_Beg ; Set initial max power
+ mov Pwm_Limit_Spoolup, Pwm_Spoolup_Beg ; Set initial slow spoolup power
+ENDIF
+IF MODE == 1
+ mov Pwm_Limit, #0FFh ; Allow full power
+ mov Pwm_Limit_Spoolup, #0FFh
+ENDIF
+ mov Spoolup_Limit_Cnt, #0
+ mov Spoolup_Limit_Skip, #1
+ ; Check startup ok counter
+ clr C
+ mov A, Direct_Startup_Ok_Cnt ; Load ok counter
+ subb A, #100 ; Is counter above requirement?
+ jc direct_start_check_rcp ; No - proceed
+
+ clr Flags1.DIRECT_STARTUP_PHASE ; Clear direct startup phase flag
+ setb Flags1.INITIAL_RUN_PHASE ; Set initial run phase flag
+ mov Startup_Rot_Cnt, #20 ; Set startup rotation count
+ jmp normal_run_checks
+
+direct_start_check_rcp:
+ clr C
+ mov A, New_Rcp ; Load new pulse value
+ subb A, #RCP_STOP ; Check if pulse is below stop value
+ jc ($+5)
+
+ ljmp run1 ; Continue to run
+
+ jmp run_to_wait_for_power_on
+
+
+normal_run_checks:
+ ; Check if it is initial run phase
+ jnb Flags1.INITIAL_RUN_PHASE, initial_run_phase_done; If not initial run phase - branch
+
+ ; Decrement startup rotaton count
+ mov A, Startup_Rot_Cnt
+ dec A
+ ; Check number of nondamped rotations
+ jnz normal_run_check_startup_rot ; Branch if counter is not zero
+
+ clr Flags1.INITIAL_RUN_PHASE ; Clear initial run phase flag
+ ljmp damped_transition ; Do damped transition if counter is zero
+
+normal_run_check_startup_rot:
+ mov Startup_Rot_Cnt, A ; Not zero - store counter
+
+ clr C
+ mov A, New_Rcp ; Load new pulse value
+ subb A, #RCP_STOP ; Check if pulse is below stop value
+ jc ($+5)
+
+ ljmp run1 ; Continue to run
+
+ jmp run_to_wait_for_power_on
+
+
+initial_run_phase_done:
+ ; Exit run loop after a given time
+ clr C
+ mov A, Rcp_Stop_Cnt ; Load stop RC pulse counter value
+;///// subb A, #RCP_STOP_LIMIT ; Is number of stop RC pulses above limit?
+ subb A, Rcp_Stop_Limit ; Is number of stop RC pulses above limit?
+ jnc run_to_wait_for_power_on ; Yes, go back to wait for poweron
+
+run6_check_rcp_timeout:
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jnz run6_check_speed ; If a flag is set (PWM) - branch
+
+ mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
+ jz run_to_wait_for_power_on ; If it is zero - go back to wait for poweron
+
+run6_check_speed:
+ clr C
+ mov A, Comm_Period4x_H ; Is Comm_Period4x more than 32ms (~1220 eRPM)?
+ subb A, #0F0h
+ jnc run_to_wait_for_power_on ; Yes - go back to motor start
+ jmp run1 ; Go back to run 1
+
+
+run_to_wait_for_power_on:
+
+ call switch_power_off
+ mov Temp1, #Pgm_Pwm_Freq
+ mov A, @Temp1
+ mov Temp7, A ; Store setting in Temp7
+ mov @Temp1, #1 ; Set low pwm mode (in order to turn off damping)
+ call decode_parameters ; (Decode_parameters uses Temp1 and Temp8)
+ mov Temp1, #Pgm_Pwm_Freq
+ mov A, Temp7
+ mov @Temp1, A ; Restore settings
+ clr A
+ mov Requested_Pwm, A ; Set requested pwm to zero
+ mov Governor_Req_Pwm, A ; Set governor requested pwm to zero
+ mov Current_Pwm, A ; Set current pwm to zero
+ mov Current_Pwm_Limited, A ; Set limited current pwm to zero
+ mov Pwm_Motor_Idle, A ; Set motor idle to zero
+ clr Flags1.MOTOR_SPINNING ; Clear motor spinning flag
+ call wait1ms ; Wait for pwm to be stopped
+ call switch_power_off
+ call wait10ms
+ clr ET0
+ jb Flags2.PGM_PWMOFF_DAMPED, light_damp
+ ajmp damp_exit
+
+light_damp:
+ jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, ($+7)
+ setb P1.BnFET
+ ajmp damp_exit
+ jb Flags2.PGM_PWMOFF_DAMPED_FULL, high_damp
+ A_B_nFETs_On
+ ajmp damp_exit
+high_damp:
+ All_nFETs_On
+damp_exit:
+
+IF MODE == 0 ; Main
+ mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+ anl A, Flags3 ; Check pwm frequency flags
+ jnz run_to_next_state_main ; If a flag is set (PWM) - branch
+
+ mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
+ jnz run_to_next_state_main ; If it is not zero - branch
+
+ jmp measure_pwm_freq_init ; If it is zero (pulses missing) - go back to measure pwm frequency
+
+run_to_next_state_main:
+ mov Temp1, #Pgm_Startup_Method ; Check if it is stepped startup
+ mov A, @Temp1
+ jnb ACC.0, run_to_next_state_main_wait_done ; If direct startup - jump
+
+ call wait1s ; 3 second delay before new startup (in stepped mode)
+ call wait1s
+ call wait1s
+run_to_next_state_main_wait_done:
+;读取Pgm_Main_Rearm_Start
+ mov Temp1, #Pgm_Main_Rearm_Start
+ mov A, @Temp1
+ clr C
+ subb A, #1 ; Is re-armed start enabled?
+ jc jmp_wait_for_power_on ; No - do like tail and start immediately
+
+ jmp validate_rcp_start ; Yes - go back to validate RC pulse
+;Pgm_Main_Rearm_Start = 第2项 disabled
+jmp_wait_for_power_on:
+ jmp wait_for_power_on ; Go back to wait for power on
+ENDIF
+IF MODE >= 1 ; Tail or multi
+; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
+; anl A, Flags3 ; Check pwm frequency flags
+; jnz jmp_wait_for_power_on ; If a flag is set (PWM) - branch
+
+ mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
+ jnz jmp_wait_for_power_on ; If it is not zero - go back to wait for poweron
+
+ jmp measure_pwm_freq_init ; If it is zero (pulses missing) - go back to measure pwm frequency
+
+jmp_wait_for_power_on:
+ jmp wait_for_power_on_loop ; Go back to wait for power on
+ENDIF
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+
+$include (BLHeliTxPgm.inc) ; Include source code for programming the ESC with the TX
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+
+
+
+
+END