diff --git a/BLHeli_S SiLabs/BLHeli_S.asm b/BLHeli_S SiLabs/BLHeli_S.asm index 1ac839d4..7c3a81bc 100644 --- a/BLHeli_S SiLabs/BLHeli_S.asm +++ b/BLHeli_S SiLabs/BLHeli_S.asm @@ -121,6 +121,7 @@ N_ EQU 14 ; X X RC X MC MB MA CC X X Cp Cc Bp Bc Ap Ac O_ EQU 15 ; X X RC X CC MA MC MB X X Cc Cp Bc Bp Ac Ap Like D, but low side pwm and 1S flag set P_ EQU 16 ; X X RC MA CC MB MC X X Cc Bc Ac Cp Bp Ap X Q_ EQU 17 ; Cp Bp Ap L1 L0 X RC X X MA MB MC CC Cc Bc Ac +R_ EQU 18 ; X X RC X MC MB MA CC X X Ac Bc Cc Ap Bp Cp ;**** **** **** **** **** ; Select the port mapping to use (or unselect all for use with external batch compile file) @@ -141,6 +142,7 @@ Q_ EQU 17 ; Cp Bp Ap L1 L0 X RC X X MA MB MC CC Cc Bc Ac ;ESCNO EQU O_ ;ESCNO EQU P_ ;ESCNO EQU Q_ +;ESCNO EQU R_ ;**** **** **** **** **** ; Select the MCU type (or unselect for use with external batch compile file) @@ -221,6 +223,10 @@ IF ESCNO == Q_ $include (Q.inc) ; Select pinout Q ENDIF +IF ESCNO == R_ +$include (R.inc) ; Select pinout R +ENDIF + ;**** **** **** **** **** ; Programming defaults @@ -1635,7 +1641,7 @@ beep_off: ; Fets off loop ; ;**** **** **** **** **** **** **** **** **** **** **** **** **** set_pwm_limit_low_rpm: - ; Set pwm limit and demag disable for low rpms + ; Set pwm limit mov Temp1, #0FFh ; Default full power jb Flags1.STARTUP_PHASE, set_pwm_limit_low_rpm_exit ; Exit if startup phase set @@ -1845,7 +1851,7 @@ set_startup_pwm: mov Temp1, A ; Transfer to Temp1 clr C mov A, Temp1 ; Check against limit - subb A, Pwm_Limit + subb A, Pwm_Limit jc startup_pwm_set_pwm ; If pwm below limit - branch mov Temp1, Pwm_Limit ; Limit pwm @@ -2547,7 +2553,7 @@ comp_read_wrong: inc Temp1 ; Increment number of OK readings required clr C mov A, Temp1 - subb A, Temp2 ; If above initial requirement - go back and restart + subb A, Temp2 ; If above initial requirement - do not increment further jc ($+3) dec Temp1 @@ -2780,8 +2786,8 @@ comm2comm3: clr IE_EA ; Disable all interrupts CpwmFET_off ; Turn off pwmfet - Set_Pwm_B - AcomFET_on ; To reapply power after a demag cut + Set_Pwm_B ; To reapply power after a demag cut + AcomFET_on setb IE_EA Set_Comp_Phase_C ; Set comparator phase ajmp comm_exit @@ -2789,8 +2795,8 @@ comm2comm3: comm23_rev: clr IE_EA ; Disable all interrupts ApwmFET_off ; Turn off pwmfet (reverse) - Set_Pwm_B - CcomFET_on ; To reapply power after a demag cut + Set_Pwm_B ; To reapply power after a demag cut + CcomFET_on setb IE_EA Set_Comp_Phase_A ; Set comparator phase (reverse) ajmp comm_exit @@ -2826,8 +2832,8 @@ comm4comm5: clr IE_EA ; Disable all interrupts BpwmFET_off ; Turn off pwmfet - Set_Pwm_A - CcomFET_on ; To reapply power after a demag cut + Set_Pwm_A ; To reapply power after a demag cut + CcomFET_on setb IE_EA Set_Comp_Phase_B ; Set comparator phase jmp comm_exit diff --git a/BLHeli_S SiLabs/Hex files/R_H_0_REV16_6.HEX b/BLHeli_S SiLabs/Hex files/R_H_0_REV16_6.HEX new file mode 100644 index 00000000..69052a9e --- /dev/null +++ b/BLHeli_S SiLabs/Hex 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+:101D7000B1DB75260AEAF4200102D285300102C2E5 +:101D800085B1DBC3134002C201D526EB22B191EA33 +:101D9000FB208502A191308502A196752608AE240C +:101DA000AF25C3EF13FFEE13FEB1DFB1DBC3EA13C0 +:101DB0003085024480FA30E703632201C3E5231330 +:101DC000F523E52213F52250066323A0632201D5F3 +:101DD00026D9E52265236523F52222AE24AF250E00 +:101DE0000FDEFEDFFCD20122424C48656C693437BD +:061DF0003164E8B10601B8 +:00000001FF diff --git a/BLHeli_S SiLabs/MakeHexfiles.bat b/BLHeli_S SiLabs/MakeHexfiles.bat index 7ffc0282..b6c8976c 100644 --- a/BLHeli_S SiLabs/MakeHexfiles.bat +++ b/BLHeli_S SiLabs/MakeHexfiles.bat @@ -158,6 +158,14 @@ SET MCU_48MHZ=1 call:compile SET /A ESCNO+=1 +SET ESC=R_L_ +SET MCU_48MHZ=0 +call:compile +SET ESC=R_H_ +SET MCU_48MHZ=1 +call:compile +SET /A ESCNO+=1 + goto :end diff --git a/BLHeli_S SiLabs/R.inc b/BLHeli_S SiLabs/R.inc new file mode 100644 index 00000000..07d22e40 --- /dev/null +++ b/BLHeli_S SiLabs/R.inc @@ -0,0 +1,552 @@ +;**** **** **** **** **** +; +; 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 . +; +;**** **** **** **** **** +; +; Hardware definition file "R". +; X X RC X MC MB MA CC X X Ac Bc Cc Ap Bp Cp +; +;**** **** **** **** **** + + + +;********************* +; Device SiLabs EFM8BB1x/2x +;********************* +IF MCU_48MHZ == 0 +$include (SI_EFM8BB1_Defs.inc) +ELSE +$include (SI_EFM8BB2_Defs.inc) +ENDIF + + +;**** **** **** **** **** +; Uses internal calibrated oscillator set to 24/48Mhz +;**** **** **** **** **** + +;**** **** **** **** **** +; Constant definitions +;**** **** **** **** **** +IF MCU_48MHZ == 0 +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#R_L_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#R_L_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#R_L_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#R_L_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#R_L_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#R_L_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#R_L_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#R_L_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#R_L_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#R_L_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#R_L_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B10#" ; Project and MCU tag (16 Bytes) + +ELSE + +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#R_H_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#R_H_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#R_H_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#R_H_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#R_H_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#R_H_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#R_H_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#R_H_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#R_H_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#R_H_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#R_H_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B21#" ; Project and MCU tag (16 Bytes) +ENDIF + +TEMP_LIMIT EQU 49 ; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1) +TEMP_LIMIT_STEP EQU 9 ; Temperature measurement ADC value increment for another 10degC + +;**** **** **** **** **** +; Bootloader definitions +;**** **** **** **** **** +RTX_PORT EQU P0 ; Receive/Transmit port +RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL +RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL +RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP +RTX_PIN EQU 5 ; RTX pin + +SIGNATURE_001 EQU 0E8h ; Device signature +IF MCU_48MHZ == 0 +SIGNATURE_002 EQU 0B1h +ELSE +SIGNATURE_002 EQU 0B2h +ENDIF + +;********************* +; PORT 0 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +Rcp_In EQU 5 ;i +; EQU 4 ;i +Mux_C EQU 3 ;i +Mux_B EQU 2 ;i +Mux_A EQU 1 ;i +Comp_Com EQU 0 ;i + +P0_DIGITAL EQU NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com)) +P0_INIT EQU 0FFh +P0_PUSHPULL EQU 0 +P0_SKIP EQU 0FFh + +Get_Rcp_Capture_Values MACRO + anl TCON, #0EFh ; Disable timer0 + mov Temp1, TL0 ; Get timer0 values + mov Temp2, TH0 +IF MCU_48MHZ == 1 + mov Temp3, Timer0_X + jnb TCON_TF0, ($+4) ; Check if interrupt is pending + inc Temp3 ; If it is pending, then timer has already wrapped +ENDIF + mov TL0, #0 ; Reset timer0 + mov TH0, #0 +IF MCU_48MHZ == 1 + mov Timer0_X, #0 +ENDIF + orl TCON, #10h ; Enable timer0 again +IF MCU_48MHZ == 1 + mov A, Clock_Set_At_48MHz + jnz Get_Rcp_End + clr C + mov A, Temp1 + rlc A + mov Temp1, A + mov A, Temp2 + rlc A + mov Temp2, A + mov A, Temp3 + rlc A + mov Temp3, A +Get_Rcp_End: +ENDIF +ENDM +Decode_Dshot_2Msb MACRO + movx A, @DPTR + mov Temp6, A + clr C + subb A, Temp5 ; Subtract previous timestamp + clr C + subb A, Temp1 + jc t1_int_msb_fail ; Check that bit is longer than minimum + + subb A, Temp1 ; Check if bit is zero or one + mov A, Temp4 ; Shift bit into data byte + rlc A + mov Temp4, A + inc DPL ; Next bit + movx A, @DPTR + mov Temp5, A + clr C + subb A, Temp6 + clr C + subb A, Temp1 + jc t1_int_msb_fail + + subb A, Temp1 + mov A, Temp4 + rlc A + mov Temp4, A + inc DPL +ENDM +Decode_Dshot_2Lsb MACRO + movx A, @DPTR + mov Temp6, A + clr C + subb A, Temp5 ; Subtract previous timestamp + clr C + subb A, Temp1 + jc t1_int_lsb_fail ; Check that bit is longer than minimum + + subb A, Temp1 ; Check if bit is zero or one + mov A, Temp3 ; Shift bit into data byte + rlc A + mov Temp3, A + inc DPL ; Next bit + movx A, @DPTR + mov Temp5, A + clr C + subb A, Temp6 + clr C + subb A, Temp1 + jc t1_int_lsb_fail + + subb A, Temp1 + mov A, Temp3 + rlc A + mov Temp3, A + inc DPL +ENDM +Initialize_PCA MACRO + mov PCA0CN0, #40h ; PCA enabled + mov PCA0MD, #08h ; PCA clock is system clock +IF FETON_DELAY == 0 +IF MCU_48MHZ == 0 + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ELSE + mov PCA0PWM, #83h ; PCA ARSEL set and 11bits pwm +ENDIF + mov PCA0CENT, #00h ; Edge aligned pwm +ELSE +IF MCU_48MHZ == 0 + mov PCA0PWM, #81h ; PCA ARSEL set and 9bits pwm +ELSE + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ENDIF + mov PCA0CENT, #03h ; Center aligned pwm +ENDIF +ENDM +Set_Pwm_Polarity MACRO + mov PCA0POL, #02h ; Damping inverted, pwm noninverted +ENDM +Enable_Power_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM0, #4Ah ; Enable comparator of module, enable match, set pwm mode +ELSE + mov PCA0CPM0, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Enable_Damp_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM1, #00h ; Disable +ELSE + mov PCA0CPM1, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Set_Power_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL0, Power_Pwm_Reg_L + mov PCA0CPH0, Power_Pwm_Reg_H +ELSE + clr C + mov A, Power_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Power_Pwm_Reg_L + rrc A + mov PCA0CPL0, A + mov PCA0CPH0, Temp1 +ENDIF +ENDM +Set_Damp_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL1, Damp_Pwm_Reg_L + mov PCA0CPH1, Damp_Pwm_Reg_H +ELSE + clr C + mov A, Damp_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Damp_Pwm_Reg_L + rrc A + mov PCA0CPL1, A + mov PCA0CPH1, Temp1 +ENDIF +ENDM +Clear_COVF_Interrupt MACRO + anl PCA0PWM, #0DFh +ENDM +Clear_CCF_Interrupt MACRO ; CCF interrupt is only used for FETON_DELAY == 0 + anl PCA0CN0, #0FEh +ENDM +Enable_COVF_Interrupt MACRO + orl PCA0PWM, #40h +ENDM +Enable_CCF_Interrupt MACRO + orl PCA0CPM0,#01h +ENDM +Disable_COVF_Interrupt MACRO + anl PCA0PWM, #0BFh +ENDM +Disable_CCF_Interrupt MACRO + anl PCA0CPM0,#0FEh +ENDM + +;********************* +; PORT 1 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +AcomFET EQU 5 ;o +BcomFET EQU 4 ;o +CcomFET EQU 3 ;o +ApwmFET EQU 2 ;o +BpwmFET EQU 1 ;o +CpwmFET EQU 0 ;o + +P1_DIGITAL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_INIT EQU 00h +P1_PUSHPULL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_SKIP EQU 3Fh + +ApwmFET_on MACRO + setb P1.ApwmFET +IF FETON_DELAY == 0 + setb P1.AcomFET +ENDIF +ENDM +ApwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET +ELSE + clr P1.AcomFET +ENDIF +ENDM +BpwmFET_on MACRO + setb P1.BpwmFET +IF FETON_DELAY == 0 + setb P1.BcomFET +ENDIF +ENDM +BpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.BpwmFET +ELSE + clr P1.BcomFET +ENDIF +ENDM +CpwmFET_on MACRO + setb P1.CpwmFET +IF FETON_DELAY == 0 + setb P1.CcomFET +ENDIF +ENDM +CpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.CpwmFET +ELSE + clr P1.CcomFET +ENDIF +ENDM +All_pwmFETs_Off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET + clr P1.BpwmFET + clr P1.CpwmFET +ELSE + clr P1.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDIF +ENDM + +AcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.ApwmFET +ENDIF + setb P1.AcomFET +ENDM +AcomFET_off MACRO + clr P1.AcomFET +ENDM +BcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.BpwmFET +ENDIF + setb P1.BcomFET +ENDM +BcomFET_off MACRO + clr P1.BcomFET +ENDM +CcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.CpwmFET +ENDIF + setb P1.CcomFET +ENDM +CcomFET_off MACRO + clr P1.CcomFET +ENDM +All_comFETs_Off MACRO + clr P1.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDM + +Set_Pwm_A MACRO +IF FETON_DELAY == 0 + setb P1.AcomFET + mov P1SKIP, #3Bh +ELSE + mov P1SKIP, #1Bh +ENDIF +ENDM +Set_Pwm_B MACRO +IF FETON_DELAY == 0 + setb P1.BcomFET + mov P1SKIP, #3Dh +ELSE + mov P1SKIP, #2Dh +ENDIF +ENDM +Set_Pwm_C MACRO +IF FETON_DELAY == 0 + setb P1.CcomFET + mov P1SKIP, #3Eh +ELSE + mov P1SKIP, #36h +ENDIF +ENDM +Set_Pwms_Off MACRO + mov P1SKIP, #3Fh +ENDM + +Set_Comp_Phase_A MACRO + mov CMP0MX, #10h ; Set comparator multiplexer to phase A +ENDM +Set_Comp_Phase_B MACRO + mov CMP0MX, #20h ; Set comparator multiplexer to phase B +ENDM +Set_Comp_Phase_C MACRO + mov CMP0MX, #30h ; Set comparator multiplexer to phase C +ENDM +Read_Comp_Out MACRO + mov A, CMP0CN0 ; Read comparator output +ENDM + + +;********************* +; PORT 2 definitions * +;********************* +DebugPin EQU 0 ;o + +P2_PUSHPULL EQU (1 SHL DebugPin) + + +;********************** +; MCU specific macros * +;********************** +Interrupt_Table_Definition MACRO +CSEG AT 0 ; Code segment start + jmp reset +CSEG AT 03h ; Int0 interrupt + jmp int0_int +IF MCU_48MHZ == 1 +CSEG AT 0Bh ; Timer0 overflow interrupt + jmp t0_int +ENDIF +CSEG AT 13h ; Int1 interrupt + jmp int1_int +CSEG AT 1Bh ; Timer1 overflow interrupt + jmp t1_int +CSEG AT 2Bh ; Timer2 overflow interrupt + jmp t2_int +CSEG AT 5Bh ; Pca interrupt + jmp pca_int +CSEG AT 73h ; Timer3 overflow/compare interrupt + jmp t3_int +ENDM + +Initialize_Xbar MACRO + mov XBR2, #40h ; Xbar enabled + mov XBR1, #02h ; CEX0 and CEX1 routed to pins +ENDM + +Initialize_Comparator MACRO + mov CMP0CN0, #80h ; Comparator enabled, no hysteresis + mov CMP0MD, #00h ; Comparator response time 100ns +ENDM +Initialize_Adc MACRO + mov REF0CN, #0Ch ; Set vdd (3.3V) as reference. Enable temp sensor and bias +IF MCU_48MHZ == 0 + mov ADC0CF, #59h ; ADC clock 2MHz, PGA gain 1 +ELSE + mov ADC0CF, #0B9h ; ADC clock 2MHz, PGA gain 1 +ENDIF + mov ADC0MX, #10h ; Select temp sensor input + mov ADC0CN0, #80h ; ADC enabled + mov ADC0CN1, #01h ; Common mode buffer enabled +ENDM +Start_Adc MACRO + mov ADC0CN0, #90h ; ADC start +ENDM +Read_Adc_Result MACRO + mov Temp1, ADC0L + mov Temp2, ADC0H +ENDM +Stop_Adc MACRO +ENDM +Set_RPM_Out MACRO +ENDM +Clear_RPM_Out MACRO +ENDM +Set_MCU_Clk_24MHz MACRO + mov CLKSEL, #13h ; Set clock to 24MHz + mov SFRPAGE, #10h + mov PFE0CN, #00h ; Set flash timing for 24MHz + mov SFRPAGE, #00h + mov Clock_Set_At_48MHz, #0 +ENDM +Set_MCU_Clk_48MHz MACRO + mov SFRPAGE, #10h + mov PFE0CN, #30h ; Set flash timing for 48MHz + mov SFRPAGE, #00h + mov CLKSEL, #03h ; Set clock to 48MHz + mov Clock_Set_At_48MHz, #1 +ENDM +Set_LED_0 MACRO +ENDM +Clear_LED_0 MACRO +ENDM +Set_LED_1 MACRO +ENDM +Clear_LED_1 MACRO +ENDM +Set_LED_2 MACRO +ENDM +Clear_LED_2 MACRO +ENDM +Set_LED_3 MACRO +ENDM +Clear_LED_3 MACRO +ENDM