diff --git a/SiLabs/BLHeli supported SiLabs ESCs.pdf b/SiLabs/BLHeli supported SiLabs ESCs.pdf index fc8cd9b1..c7dc5bb2 100644 Binary files a/SiLabs/BLHeli supported SiLabs ESCs.pdf and b/SiLabs/BLHeli supported SiLabs ESCs.pdf differ diff --git a/SiLabs/BLHeli.asm b/SiLabs/BLHeli.asm index 0941aa04..96ba949f 100644 --- a/SiLabs/BLHeli.asm +++ b/SiLabs/BLHeli.asm @@ -489,6 +489,9 @@ F85_3A_Multi EQU 213 ZTW_Spider_Pro_20A_Main EQU 214 ZTW_Spider_Pro_20A_Tail EQU 215 ZTW_Spider_Pro_20A_Multi EQU 216 +ZTW_Spider_Pro_20A_HV_Main EQU 217 +ZTW_Spider_Pro_20A_HV_Tail EQU 218 +ZTW_Spider_Pro_20A_HV_Multi EQU 219 ;**** **** **** **** **** @@ -681,7 +684,7 @@ ZTW_Spider_Pro_20A_Multi EQU 216 ;BESCNO EQU XRotor_20A_Multi ;BESCNO EQU XRotor_40A_Main ;BESCNO EQU XRotor_40A_Tail -;BESCNO EQU XRotor_40A_Multi +;BESCNO EQU XRotor_40A_Multi ;BESCNO EQU MDRX62H_Main ;BESCNO EQU MDRX62H_Tail ;BESCNO EQU MDRX62H_Multi @@ -709,6 +712,9 @@ ZTW_Spider_Pro_20A_Multi EQU 216 ;BESCNO EQU ZTW_Spider_Pro_20A_Main ;BESCNO EQU ZTW_Spider_Pro_20A_Tail ;BESCNO EQU ZTW_Spider_Pro_20A_Multi +;BESCNO EQU ZTW_Spider_Pro_20A_HV_Main +;BESCNO EQU ZTW_Spider_Pro_20A_HV_Tail +;BESCNO EQU ZTW_Spider_Pro_20A_HV_Multi ;**** **** **** **** **** @@ -1793,6 +1799,21 @@ MODE EQU 2 ; Choose mode. Set to 2 for multirotor $include (ZTW_Spider_Pro_20A.inc) ; Select ZTW Spider Pro 20A pinout ENDIF +IF BESCNO == ZTW_Spider_Pro_20A_HV_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (ZTW_Spider_Pro_20A_HV.inc) ; Select ZTW Spider Pro 20A HV pinout +ENDIF + +IF BESCNO == ZTW_Spider_Pro_20A_HV_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (ZTW_Spider_Pro_20A_HV.inc) ; Select ZTW Spider Pro 20A HV pinout +ENDIF + +IF BESCNO == ZTW_Spider_Pro_20A_HV_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (ZTW_Spider_Pro_20A_HV.inc) ; Select ZTW Spider Pro 20A HV pinout +ENDIF + ;**** **** **** **** **** ; TX programming defaults diff --git a/SiLabs/Hex files/ZTW_SPIDER_PRO_20A_HV_MAIN_REV14_3.HEX b/SiLabs/Hex files/ZTW_SPIDER_PRO_20A_HV_MAIN_REV14_3.HEX new file mode 100644 index 00000000..7d795dc8 --- /dev/null +++ b/SiLabs/Hex files/ZTW_SPIDER_PRO_20A_HV_MAIN_REV14_3.HEX @@ -0,0 +1,442 @@ +:030000000219FDE5 +:03000B000200AA46 +:03002B0002019639 +:03005B0002034A53 +:0300730002033055 +:1000800002030406080C10182030406080040608A3 +:100090000C10182030406080A0C000070F1F3F0DDB +:1000A0000D0403060D0503030202C2AF306308C24C +:1000B0006385798AD2AF32C0D0C0E0206227E525BF +:1000C0006002E473E525F4C3334009758A00D26306 +:1000D000F57901D6F58A758B00758D00D262D0E076 +:1000E000D0D0D2AF32C3E526334009758A00D2633F +:1000F000F57901F6F58AC262E526F46038306803C6 +:10010000207213758B00758D00D0E0D0D0C293C2E1 +:1001100097C294D2AF32C293C297C294206E097430 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+:101D80008502A17F308502A184752608AE24AF2587 +:101D9000C3EF13FFEE13FEB1CDB1C9C3EA13308513 +:101DA000024480FA30E703632201C3E52313F523DD +:101DB000E52213F52250066323A0632201D526D91C +:101DC000E52265236523F52222AE24AF250E0FDE22 +:101DD000FEDFFCD20122424C48656C693437316326 +:041DE000F390060175 +:00000001FF diff --git a/SiLabs/MakeHexfiles.bat b/SiLabs/MakeHexfiles.bat index eafd4f3c..dd47e71e 100644 --- a/SiLabs/MakeHexfiles.bat +++ b/SiLabs/MakeHexfiles.bat @@ -167,6 +167,8 @@ SET BESCNAME=F85_3A call:compile SET BESCNAME=ZTW_SPIDER_PRO_20A call:compile +SET BESCNAME=ZTW_SPIDER_PRO_20A_HV +call:compile goto :end diff --git a/SiLabs/ZTW_Spider_Pro_20A_HV.inc b/SiLabs/ZTW_Spider_Pro_20A_HV.inc new file mode 100644 index 00000000..1f95e182 --- /dev/null +++ b/SiLabs/ZTW_Spider_Pro_20A_HV.inc @@ -0,0 +1,314 @@ +;**** **** **** **** **** +; +; BLHeli program for controlling brushless motors in helicopters and multirotors +; +; Copyright 2011, 2012 Steffen Skaug +; This program is distributed under the terms of the GNU General Public License +; +; This file is part of BLHeli. +; +; BLHeli is free software: you can redistribute it and/or modify +; it under the terms of the GNU General Public License as published by +; the Free Software Foundation, either version 3 of the License, or +; (at your option) any later version. +; +; BLHeli is distributed in the hope that it will be useful, +; but WITHOUT ANY WARRANTY; without even the implied warranty of +; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +; GNU General Public License for more details. +; +; You should have received a copy of the GNU General Public License +; along with BLHeli. If not, see . +; +;**** **** **** **** **** +; +; ZTW Spider Pro 20A HV hardware definition file +; +;**** **** **** **** **** + + + +;********************* +; Device SiLabs F390 +;********************* +$include (c8051f390.inc) + +;**** **** **** **** **** +; Uses internal calibrated oscillator set to 24/48Mhz +;**** **** **** **** **** + +;**** **** **** **** **** +; Constant definitions +;**** **** **** **** **** +CSEG AT 1A40h +Eep_ESC_Layout: DB "#ZTWSpPro20AHV# " ; ESC layout tag +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI#F390# " ; Project and MCU tag (16 Bytes) + +MCU_48MHZ EQU 1 ; Set to 1 if MCU can run at 48MHz +ONE_S_CAPABLE EQU 0 ; Set to 1 if ESC can operate at 1S +PORT3_EXIST EQU 0 ; Set to 1 if MCU has port3 +COMP1_USED EQU 0 ; Set to 1 if MCU has comparator 1 and it is being used +LOCK_BYTE_ADDRESS_16K EQU 3FFFh ; Address of lock byte if 16k flash size +LOCK_BYTE_ADDRESS_8K EQU 1FFFh ; Address of lock byte if 8k flash size +HIGH_BEC_VOLTAGE EQU 0 ; Set to 1 or more if high BEC voltage is supported +DAMPED_MODE_ENABLE EQU 1 ; Damped mode enabled +NFETON_DELAY EQU 2 ; Wait delay from pfets off to nfets on +PFETON_DELAY EQU 1 ; Wait delay from nfets off to pfets on +ADC_LIMIT_L EQU 0 ; No divider. Power supply measurement ADC value for which main motor power is limited (low byte) +ADC_LIMIT_H EQU 0 ; No divider. Power supply measurement ADC value for which main motor power is limited (2 MSBs) +TEMP_LIMIT EQU 114 ; Temperature measurement ADC value for which main motor power is limited (low byte, assuming high byte is 1) +TEMP_LIMIT_STEP EQU 4 ; Temperature measurement ADC value increment for which main motor power is further limited + +;**** **** **** **** **** +; ESC specific defaults +;**** **** **** **** **** +DEFAULT_PGM_MAIN_SPOOLUP_TIME EQU 10 ; Main motor spoolup time +DEFAULT_PGM_MAIN_STARTUP_PWR EQU 9 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50 +DEFAULT_PGM_TAIL_STARTUP_PWR EQU 9 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50 +DEFAULT_PGM_MULTI_STARTUP_PWR EQU 9 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50 + +;**** **** **** **** **** +; Bootloader definitions +;**** **** **** **** **** +RTX_PORT EQU P0 ; Receive/Transmit port +RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL +RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL +RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP +RTX_PIN EQU 5 ; RTX pin + +SIGNATURE_001 EQU 0f3h ; Device signature +SIGNATURE_002 EQU 090h + + +;********************* +; PORT 0 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +Rcp_In EQU 5 ;i +; EQU 4 ;i +Mux_A2 EQU 3 ;i +Mux_A1 EQU 2 ;i +Mux_B2 EQU 1 ;i +Mux_B1 EQU 0 ;i + +P0_DIGITAL EQU NOT((1 SHL Mux_A1)+(1 SHL Mux_A2)+(1 SHL Mux_B1)+(1 SHL Mux_B2)) +P0_INIT EQU 0FFh +P0_PUSHPULL EQU 0 +P0_SKIP EQU NOT(1 SHL Rcp_In) + +MACRO Get_Rcp_Capture_Values + mov Temp1, PCA0CPL0 ; Get PCA capture values + mov Temp2, PCA0CPH0 +IF MCU_48MHZ == 1 + mov A, Clock_Set_At_48MHz + jz Get_Rcp_End + clr C + mov A, Temp2 + rrc A + mov Temp2, A + mov A, Temp1 + rrc A + mov Temp1, A +Get_Rcp_End: +ENDIF +ENDM +MACRO Read_Rcp_Int + mov A, P0 + jnb Flags3.PGM_RCP_PWM_POL, ($+4) ; Is pwm polarity negative? + cpl A ; Yes - invert +ENDM +MACRO Rcp_Int_Enable + orl PCA0CPM0, #01h ; Interrupt enabled +ENDM +MACRO Rcp_Int_Disable + anl PCA0CPM0, #0FEh ; Interrupt disabled +ENDM +MACRO Rcp_Int_First + anl PCA0CPM0, #0CFh + jb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity positive? + orl PCA0CPM0, #20h ; Capture rising edge + jnb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity negative? + orl PCA0CPM0, #10h ; Capture falling edge +ENDM +MACRO Rcp_Int_Second + anl PCA0CPM0, #0CFh + jb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity positive? + orl PCA0CPM0, #10h ; Capture falling edge + jnb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity negative? + orl PCA0CPM0, #20h ; Capture rising edge +ENDM +MACRO Rcp_Clear_Int_Flag + clr CCF0 ; Clear interrupt flag +ENDM + + +;********************* +; PORT 1 definitions * +;********************* +CnFET EQU 7 ;o (High side PWM) +CpFET EQU 6 ;o +BpFET EQU 5 ;o +BnFET EQU 4 ;o (High side PWM) +AnFET EQU 3 ;o (High side PWM) +ApFET EQU 2 ;o +Adc_Ip EQU 1 ;i +; EQU 0 ;i + +P1_DIGITAL EQU NOT(1 SHL Adc_Ip) +P1_INIT EQU (1 SHL Adc_Ip) +P1_PUSHPULL EQU (1 SHL AnFET)+(1 SHL BnFET)+(1 SHL CnFET)+(1 SHL ApFET)+(1 SHL BpFET)+(1 SHL CpFET) +P1_SKIP EQU (1 SHL Adc_Ip) + +MACRO AnFET_on + setb P1.AnFET +ENDM +MACRO AnFET_off + clr P1.AnFET +ENDM +MACRO BnFET_on + setb P1.BnFET +ENDM +MACRO BnFET_off + clr P1.BnFET +ENDM +MACRO CnFET_on + setb P1.CnFET +ENDM +MACRO CnFET_off + clr P1.CnFET +ENDM +MACRO All_nFETs_Off + clr P1.AnFET + clr P1.CnFET + clr P1.BnFET +ENDM + +MACRO ApFET_on + setb P1.ApFET +ENDM +MACRO ApFET_off + clr P1.ApFET +ENDM +MACRO BpFET_on + setb P1.BpFET +ENDM +MACRO BpFET_off + clr P1.BpFET +ENDM +MACRO CpFET_on + setb P1.CpFET +ENDM +MACRO CpFET_off + clr P1.CpFET +ENDM +MACRO All_pFETs_On + setb P1.ApFET + setb P1.CpFET + setb P1.BpFET +ENDM +MACRO All_pFETs_Off + clr P1.ApFET + clr P1.CpFET + clr P1.BpFET +ENDM +MACRO Damping_FET_On + mov A, DampingFET + orl P1, A +ENDM + +MACRO Set_Comp_Phase_A + mov CPT0MX, #81h ; Set comparator multiplexer to phase A +ENDM +MACRO Set_Comp_Phase_B + mov CPT0MX, #80h ; Set comparator multiplexer to phase B +ENDM +MACRO Set_Comp_Phase_C + mov CPT0MX, #89h ; Set comparator multiplexer to phase C +ENDM +MACRO Read_Comp_Out + mov A, CPT0CN ; Read comparator output + cpl A +ENDM + + +;********************* +; PORT 2 definitions * +;********************* +DebugPin EQU 4 ;o +Mux_C2 EQU 3 ;i +Mux_C1 EQU 2 ;i +Comp_Comm EQU 1 ;i +; EQU 0 ;i + +P2_DIGITAL EQU NOT((1 SHL Mux_C1)+(1 SHL Mux_C2)+(1 SHL Comp_Comm)) +P2_INIT EQU 0FFh +P2_PUSHPULL EQU (1 SHL DebugPin) + + +;********************** +; MCU specific macros * +;********************** +MACRO Interrupt_Table_Definition +CSEG AT 0 ; Code segment start + jmp reset +CSEG AT 0Bh ; Timer0 interrupt + jmp t0_int +CSEG AT 2Bh ; Timer2 interrupt + jmp t2_int +CSEG AT 5Bh ; PCA interrupt + jmp pca_int +CSEG AT 73h ; Timer3 interrupt + jmp t3_int +ENDM + +MACRO Initialize_Xbar + mov P2, #P2_INIT ; Do port 2 initialization here + mov P2MDIN, #P2_DIGITAL + mov XBR1, #41h ; Xbar enabled, CEX0 routed to pin Rcp_In +ENDM + +MACRO Initialize_Adc + mov REF0CN, #0Eh ; Set vdd (3.3V) as reference. Enable temp sensor and bias +IF MCU_50MHZ == 0 + mov ADC0CF, #58h ; ADC clock 2MHz +ELSE + mov ADC0CF, #0C0h ; ADC clock 2MHz +ENDIF + mov AMX0P, #(8+Adc_Ip) ; Select positive input + mov AMX0N, #11h ; Select negative input as ground + mov ADC0CN, #80h ; ADC enabled +ENDM +MACRO Set_Adc_Ip_Volt + mov AMX0P, #(8+Adc_Ip) ; Select positive input +ENDM +MACRO Set_Adc_Ip_Temp + mov AMX0P, #10h ; Select temp sensor input +ENDM +MACRO Start_Adc + mov ADC0CN, #90h ; ADC start +ENDM +MACRO Get_Adc_Status + mov A, ADC0CN +ENDM +MACRO Read_Adc_Result + mov Temp1, ADC0L + mov Temp2, ADC0H +ENDM +MACRO Stop_Adc +ENDM +MACRO Set_RPM_Out +ENDM +MACRO Clear_RPM_Out +ENDM +MACRO Set_MCU_Clk_24MHz + mov FLSCL, #80h ; Set flash timing for 24MHz + mov CLKSEL, #0 ; Set clock to 24MHz + mov Clock_Set_At_48MHz, #0 +ENDM +MACRO Set_MCU_Clk_48MHz + mov FLSCL, #90h ; Set flash timing for 48MHz + mov CLKSEL, #3 ; Set clock to 48MHz + mov Clock_Set_At_48MHz, #1 +ENDM