From d13bad2cb99f9001fcbfa31012916f8e9a1aa13d Mon Sep 17 00:00:00 2001 From: Nick-HZ Date: Tue, 5 May 2015 16:07:23 +0800 Subject: [PATCH] Update and rename EMAX_BLHeli_V1.1.a51 to EMAX_BLHeli_V13.1.a51 Update to V13.1 --- .../EMAX/EMAX_BLHeli_V1.1.a51 | 13753 ---------------- .../EMAX/EMAX_BLHeli_V13.1.a51 | 7234 ++++++++ 2 files changed, 7234 insertions(+), 13753 deletions(-) delete mode 100644 Vendor specific versions/EMAX/EMAX_BLHeli_V1.1.a51 create mode 100644 Vendor specific versions/EMAX/EMAX_BLHeli_V13.1.a51 diff --git a/Vendor specific versions/EMAX/EMAX_BLHeli_V1.1.a51 b/Vendor specific versions/EMAX/EMAX_BLHeli_V1.1.a51 deleted file mode 100644 index 631d45f6..00000000 --- a/Vendor specific versions/EMAX/EMAX_BLHeli_V1.1.a51 +++ /dev/null @@ -1,13753 +0,0 @@ -$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 diff --git a/Vendor specific versions/EMAX/EMAX_BLHeli_V13.1.a51 b/Vendor specific versions/EMAX/EMAX_BLHeli_V13.1.a51 new file mode 100644 index 00000000..84a393b5 --- /dev/null +++ b/Vendor specific versions/EMAX/EMAX_BLHeli_V13.1.a51 @@ -0,0 +1,7234 @@ +$NOMOD51 +;**** **** **** **** **** +; +; 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 . +; +;**** **** **** **** **** +; +; The software was initially designed for use with Eflite mCP X, but is now adapted to 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, 8kHz or 12kHz PWM (e.g. taken from the "resistor tap" on mCPx) +; And the input signal can be PPM (1-2ms) or OneShot125 (125-250us) 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 +; BESCNO 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 its 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 +; - Rev10.3 Removed vdd monitor for 1S capable ESCs, in order to avoid brownouts/resets +; Made auto bailout spoolup for main more smooth +; - Rev10.4 Ensured that main spoolup and governor activation will always be smooth, regardless of throttle input +; Added capability to operate on 12kHz input signal too +; - Rev11.0 Fixed bug of programming default values for governor in MULTI mode +; Disabled interrupts explicitly some places, to avoid possibilities for unintentional fet switching +; Changed interrupt disable strategy, to always allow pwm interrupts, to avoid noise when running at low rpms +; Added governor middle range for MAIN mode +; Added bidirectional mode for TAIL and MULTI mode with PPM input +; Changed and improved demag compensation +; Miscellaneous other changes +; - Rev11.1 Fixed bug of slow acceleration response for MAIN mode running without governor +; Fixed bug with PWM input, where throttle remains high even when zeroing throttle (seen on V922 tail) +; Fixed bug in bidirectional operation, where direction change could cause reset +; Improved autorotation bailout for MAIN +; Reduced min speed back to 1220 erpm +; Misc code cleanups +; - Rev11.2 Fixed throttle calibration bug +; Added high side driver precharge for all-nfet ESCs +; Optimized timing in general and for demag compensation in particular +; Auto bailout functionality modified +; Governor is deactivated for throttle inputs below 10% +; Increased beacon delay times +; - Rev12.0 Added programmable main spoolup time +; Added programmable temperature protection enable +; Bidirectional mode stop/start improved. Motor is now stopped before starting +; Power is limited for very low rpms (when BEMF is low), in order to avoid sync loss +; Damped light mode is made more smooth and quiet, particularly at low and high rpms +; Comparator signal qualification scheme is changed +; Demag compensation scheme is significantly changed +; Increased jitter tolerance for PPM frequency measurement +; Fully damped mode removed, and damped light only supported on damped capable ESCs +; Default tail mode changed to damped light +; Miscellaneous other changes +; - Rev12.1 Fixed bug in tail code +; Improved startup for Atmel +; Added support for multiple high BEC voltages +; Added support for RPM output +; - Rev12.2 Improved running smoothness, particularly for damped light +; Avoiding lockup at full throttle when input signal is noisy +; Avoiding detection of 1-wire programming signal as valid throttle signal +; - Rev13.0 Removed stepped start +; Removed throttle change rate and damping force parameters +; Added support for OneShot125 +; Improved commutation timing accuracy +; - Rev13.1 +; +;**** **** **** **** **** +; 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 used for +; - 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 too 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: +; 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 +XP_35A_SW_Main EQU 19 +XP_35A_SW_Tail EQU 20 +XP_35A_SW_Multi EQU 21 +DP_3A_Main EQU 22 +DP_3A_Tail EQU 23 +DP_3A_Multi EQU 24 +Supermicro_3p5A_Main EQU 25 +Supermicro_3p5A_Tail EQU 26 +Supermicro_3p5A_Multi EQU 27 +Turnigy_Plush_6A_Main EQU 28 +Turnigy_Plush_6A_Tail EQU 29 +Turnigy_Plush_6A_Multi EQU 30 +Turnigy_Plush_10A_Main EQU 31 +Turnigy_Plush_10A_Tail EQU 32 +Turnigy_Plush_10A_Multi EQU 33 +Turnigy_Plush_12A_Main EQU 34 +Turnigy_Plush_12A_Tail EQU 35 +Turnigy_Plush_12A_Multi EQU 36 +Turnigy_Plush_18A_Main EQU 37 +Turnigy_Plush_18A_Tail EQU 38 +Turnigy_Plush_18A_Multi EQU 39 +Turnigy_Plush_25A_Main EQU 40 +Turnigy_Plush_25A_Tail EQU 41 +Turnigy_Plush_25A_Multi EQU 42 +Turnigy_Plush_30A_Main EQU 43 +Turnigy_Plush_30A_Tail EQU 44 +Turnigy_Plush_30A_Multi EQU 45 +Turnigy_Plush_40A_Main EQU 46 +Turnigy_Plush_40A_Tail EQU 47 +Turnigy_Plush_40A_Multi EQU 48 +Turnigy_Plush_60A_Main EQU 49 +Turnigy_Plush_60A_Tail EQU 50 +Turnigy_Plush_60A_Multi EQU 51 +Turnigy_Plush_80A_Main EQU 52 +Turnigy_Plush_80A_Tail EQU 53 +Turnigy_Plush_80A_Multi EQU 54 +Turnigy_Plush_Nfet_18A_Main EQU 55 +Turnigy_Plush_Nfet_18A_Tail EQU 56 +Turnigy_Plush_Nfet_18A_Multi EQU 57 +Turnigy_Plush_Nfet_25A_Main EQU 58 +Turnigy_Plush_Nfet_25A_Tail EQU 59 +Turnigy_Plush_Nfet_25A_Multi EQU 60 +Turnigy_Plush_Nfet_30A_Main EQU 61 +Turnigy_Plush_Nfet_30A_Tail EQU 62 +Turnigy_Plush_Nfet_30A_Multi EQU 63 +Turnigy_AE_20A_Main EQU 64 +Turnigy_AE_20A_Tail EQU 65 +Turnigy_AE_20A_Multi EQU 66 +Turnigy_AE_25A_Main EQU 67 +Turnigy_AE_25A_Tail EQU 68 +Turnigy_AE_25A_Multi EQU 69 +Turnigy_AE_30A_Main EQU 70 +Turnigy_AE_30A_Tail EQU 71 +Turnigy_AE_30A_Multi EQU 72 +Turnigy_AE_45A_Main EQU 73 +Turnigy_AE_45A_Tail EQU 74 +Turnigy_AE_45A_Multi EQU 75 +Turnigy_KForce_40A_Main EQU 76 +Turnigy_KForce_40A_Tail EQU 77 +Turnigy_KForce_40A_Multi EQU 78 +Turnigy_KForce_70A_HV_Main EQU 79 +Turnigy_KForce_70A_HV_Tail EQU 80 +Turnigy_KForce_70A_HV_Multi EQU 81 +Turnigy_KForce_120A_HV_Main EQU 82 +Turnigy_KForce_120A_HV_Tail EQU 83 +Turnigy_KForce_120A_HV_Multi EQU 84 +Turnigy_KForce_120A_HV_v2_Main EQU 85 +Turnigy_KForce_120A_HV_v2_Tail EQU 86 +Turnigy_KForce_120A_HV_v2_Multi EQU 87 +Skywalker_20A_Main EQU 88 +Skywalker_20A_Tail EQU 89 +Skywalker_20A_Multi EQU 90 +Skywalker_40A_Main EQU 91 +Skywalker_40A_Tail EQU 92 +Skywalker_40A_Multi EQU 93 +HiModel_Cool_22A_Main EQU 94 +HiModel_Cool_22A_Tail EQU 95 +HiModel_Cool_22A_Multi EQU 96 +HiModel_Cool_33A_Main EQU 97 +HiModel_Cool_33A_Tail EQU 98 +HiModel_Cool_33A_Multi EQU 99 +HiModel_Cool_41A_Main EQU 100 +HiModel_Cool_41A_Tail EQU 101 +HiModel_Cool_41A_Multi EQU 102 +RCTimer_6A_Main EQU 103 +RCTimer_6A_Tail EQU 104 +RCTimer_6A_Multi EQU 105 +Align_RCE_BL15X_Main EQU 106 +Align_RCE_BL15X_Tail EQU 107 +Align_RCE_BL15X_Multi EQU 108 +Align_RCE_BL15P_Main EQU 109 +Align_RCE_BL15P_Tail EQU 110 +Align_RCE_BL15P_Multi EQU 111 +Align_RCE_BL35X_Main EQU 112 +Align_RCE_BL35X_Tail EQU 113 +Align_RCE_BL35X_Multi EQU 114 +Align_RCE_BL35P_Main EQU 115 +Align_RCE_BL35P_Tail EQU 116 +Align_RCE_BL35P_Multi EQU 117 +Gaui_GE_183_18A_Main EQU 118 +Gaui_GE_183_18A_Tail EQU 119 +Gaui_GE_183_18A_Multi EQU 120 +H_King_10A_Main EQU 121 +H_King_10A_Tail EQU 122 +H_King_10A_Multi EQU 123 +H_King_20A_Main EQU 124 +H_King_20A_Tail EQU 125 +H_King_20A_Multi EQU 126 +H_King_35A_Main EQU 127 +H_King_35A_Tail EQU 128 +H_King_35A_Multi EQU 129 +H_King_50A_Main EQU 130 +H_King_50A_Tail EQU 131 +H_King_50A_Multi EQU 132 +Polaris_Thunder_12A_Main EQU 133 +Polaris_Thunder_12A_Tail EQU 134 +Polaris_Thunder_12A_Multi EQU 135 +Polaris_Thunder_20A_Main EQU 136 +Polaris_Thunder_20A_Tail EQU 137 +Polaris_Thunder_20A_Multi EQU 138 +Polaris_Thunder_30A_Main EQU 139 +Polaris_Thunder_30A_Tail EQU 140 +Polaris_Thunder_30A_Multi EQU 141 +Polaris_Thunder_40A_Main EQU 142 +Polaris_Thunder_40A_Tail EQU 143 +Polaris_Thunder_40A_Multi EQU 144 +Polaris_Thunder_60A_Main EQU 145 +Polaris_Thunder_60A_Tail EQU 146 +Polaris_Thunder_60A_Multi EQU 147 +Polaris_Thunder_80A_Main EQU 148 +Polaris_Thunder_80A_Tail EQU 149 +Polaris_Thunder_80A_Multi EQU 150 +Polaris_Thunder_100A_Main EQU 151 +Polaris_Thunder_100A_Tail EQU 152 +Polaris_Thunder_100A_Multi EQU 153 +Platinum_Pro_30A_Main EQU 154 +Platinum_Pro_30A_Tail EQU 155 +Platinum_Pro_30A_Multi EQU 156 +Platinum_Pro_150A_Main EQU 157 +Platinum_Pro_150A_Tail EQU 158 +Platinum_Pro_150A_Multi EQU 159 +Platinum_50Av3_Main EQU 160 +Platinum_50Av3_Tail EQU 161 +Platinum_50Av3_Multi EQU 162 +EAZY_3Av2_Main EQU 163 +EAZY_3Av2_Tail EQU 164 +EAZY_3Av2_Multi EQU 165 +Tarot_30A_Main EQU 166 +Tarot_30A_Tail EQU 167 +Tarot_30A_Multi EQU 168 +SkyIII_30A_Main EQU 169 +SkyIII_30A_Tail EQU 170 +SkyIII_30A_Multi EQU 171 +EMAX_20A_Main EQU 172 +EMAX_20A_Tail EQU 173 +EMAX_20A_Multi EQU 174 +EMAX_40A_Main EQU 175 +EMAX_40A_Tail EQU 176 +EMAX_40A_Multi EQU 177 + + +;**** **** **** **** **** +; Select the ESC and mode to use (or unselect all for use with external batch compile file) +;BESCNO EQU XP_3A_Main +;BESCNO EQU XP_3A_Tail +;BESCNO EQU XP_3A_Multi +;BESCNO EQU XP_7A_Main +;BESCNO EQU XP_7A_Tail +;BESCNO EQU XP_7A_Multi +;BESCNO EQU XP_7A_Fast_Main +;BESCNO EQU XP_7A_Fast_Tail +;BESCNO EQU XP_7A_Fast_Multi +;BESCNO EQU XP_12A_Main +;BESCNO EQU XP_12A_Tail +;BESCNO EQU XP_12A_Multi +;BESCNO EQU XP_18A_Main +;BESCNO EQU XP_18A_Tail +;BESCNO EQU XP_18A_Multi +;BESCNO EQU XP_25A_Main +;BESCNO EQU XP_25A_Tail +;BESCNO EQU XP_25A_Multi +;BESCNO EQU XP_35A_SW_Main +;BESCNO EQU XP_35A_SW_Tail +;BESCNO EQU XP_35A_SW_Multi +;BESCNO EQU DP_3A_Main +;BESCNO EQU DP_3A_Tail +;BESCNO EQU DP_3A_Multi +;BESCNO EQU Supermicro_3p5A_Main +;BESCNO EQU Supermicro_3p5A_Tail +;BESCNO EQU Supermicro_3p5A_Multi +;BESCNO EQU Turnigy_Plush_6A_Main +;BESCNO EQU Turnigy_Plush_6A_Tail +;BESCNO EQU Turnigy_Plush_6A_Multi +;BESCNO EQU Turnigy_Plush_10A_Main +;BESCNO EQU Turnigy_Plush_10A_Tail +;BESCNO EQU Turnigy_Plush_10A_Multi +;BESCNO EQU Turnigy_Plush_12A_Main +;BESCNO EQU Turnigy_Plush_12A_Tail +;BESCNO EQU Turnigy_Plush_12A_Multi +;BESCNO EQU Turnigy_Plush_18A_Main +;BESCNO EQU Turnigy_Plush_18A_Tail +;BESCNO EQU Turnigy_Plush_18A_Multi +;BESCNO EQU Turnigy_Plush_25A_Main +;BESCNO EQU Turnigy_Plush_25A_Tail +;BESCNO EQU Turnigy_Plush_25A_Multi +;BESCNO EQU Turnigy_Plush_30A_Main +;BESCNO EQU Turnigy_Plush_30A_Tail +;BESCNO EQU Turnigy_Plush_30A_Multi +;BESCNO EQU Turnigy_Plush_40A_Main +;BESCNO EQU Turnigy_Plush_40A_Tail +;BESCNO EQU Turnigy_Plush_40A_Multi +;BESCNO EQU Turnigy_Plush_60A_Main +;BESCNO EQU Turnigy_Plush_60A_Tail +;BESCNO EQU Turnigy_Plush_60A_Multi +;BESCNO EQU Turnigy_Plush_80A_Main +;BESCNO EQU Turnigy_Plush_80A_Tail +;BESCNO EQU Turnigy_Plush_80A_Multi +;BESCNO EQU Turnigy_Plush_Nfet_18A_Main +;BESCNO EQU Turnigy_Plush_Nfet_18A_Tail +;BESCNO EQU Turnigy_Plush_Nfet_18A_Multi +;BESCNO EQU Turnigy_Plush_Nfet_25A_Main +;BESCNO EQU Turnigy_Plush_Nfet_25A_Tail +;BESCNO EQU Turnigy_Plush_Nfet_25A_Multi +;BESCNO EQU Turnigy_Plush_Nfet_30A_Main +;BESCNO EQU Turnigy_Plush_Nfet_30A_Tail +;BESCNO EQU Turnigy_Plush_Nfet_30A_Multi +;BESCNO EQU Turnigy_AE_20A_Main +;BESCNO EQU Turnigy_AE_20A_Tail +;BESCNO EQU Turnigy_AE_20A_Multi +;BESCNO EQU Turnigy_AE_25A_Main +;BESCNO EQU Turnigy_AE_25A_Tail +;BESCNO EQU Turnigy_AE_25A_Multi +;BESCNO EQU Turnigy_AE_30A_Main +;BESCNO EQU Turnigy_AE_30A_Tail +;BESCNO EQU Turnigy_AE_30A_Multi +;BESCNO EQU Turnigy_AE_45A_Main +;BESCNO EQU Turnigy_AE_45A_Tail +;BESCNO EQU Turnigy_AE_45A_Multi +;BESCNO EQU Turnigy_KForce_40A_Main +;BESCNO EQU Turnigy_KForce_40A_Tail +;BESCNO EQU Turnigy_KForce_40A_Multi +;BESCNO EQU Turnigy_KForce_70A_HV_Main +;BESCNO EQU Turnigy_KForce_70A_HV_Tail +;BESCNO EQU Turnigy_KForce_70A_HV_Multi +;BESCNO EQU Turnigy_KForce_120A_HV_Main +;BESCNO EQU Turnigy_KForce_120A_HV_Tail +;BESCNO EQU Turnigy_KForce_120A_HV_Multi +;BESCNO EQU Turnigy_KForce_120A_HV_v2_Main +;BESCNO EQU Turnigy_KForce_120A_HV_v2_Tail +;BESCNO EQU Turnigy_KForce_120A_HV_v2_Multi +;BESCNO EQU Skywalker_20A_Main +;BESCNO EQU Skywalker_20A_Tail +;BESCNO EQU Skywalker_20A_Multi +;BESCNO EQU Skywalker_40A_Main +;BESCNO EQU Skywalker_40A_Tail +;BESCNO EQU Skywalker_40A_Multi +;BESCNO EQU HiModel_Cool_22A_Main +;BESCNO EQU HiModel_Cool_22A_Tail +;BESCNO EQU HiModel_Cool_22A_Multi +;BESCNO EQU HiModel_Cool_33A_Main +;BESCNO EQU HiModel_Cool_33A_Tail +;BESCNO EQU HiModel_Cool_33A_Multi +;BESCNO EQU HiModel_Cool_41A_Main +;BESCNO EQU HiModel_Cool_41A_Tail +;BESCNO EQU HiModel_Cool_41A_Multi +;BESCNO EQU RCTimer_6A_Main +;BESCNO EQU RCTimer_6A_Tail +;BESCNO EQU RCTimer_6A_Multi +;BESCNO EQU Align_RCE_BL15X_Main +;BESCNO EQU Align_RCE_BL15X_Tail +;BESCNO EQU Align_RCE_BL15X_Multi +;BESCNO EQU Align_RCE_BL15P_Main +;BESCNO EQU Align_RCE_BL15P_Tail +;BESCNO EQU Align_RCE_BL15P_Multi +;BESCNO EQU Align_RCE_BL35X_Main +;BESCNO EQU Align_RCE_BL35X_Tail +;BESCNO EQU Align_RCE_BL35X_Multi +;BESCNO EQU Align_RCE_BL35P_Main +;BESCNO EQU Align_RCE_BL35P_Tail +;BESCNO EQU Align_RCE_BL35P_Multi +;BESCNO EQU Gaui_GE_183_18A_Main +;BESCNO EQU Gaui_GE_183_18A_Tail +;BESCNO EQU Gaui_GE_183_18A_Multi +;BESCNO EQU H_King_10A_Main +;BESCNO EQU H_King_10A_Tail +;BESCNO EQU H_King_10A_Multi +;BESCNO EQU H_King_20A_Main +;BESCNO EQU H_King_20A_Tail +;BESCNO EQU H_King_20A_Multi +;BESCNO EQU H_King_35A_Main +;BESCNO EQU H_King_35A_Tail +;BESCNO EQU H_King_35A_Multi +;BESCNO EQU H_King_50A_Main +;BESCNO EQU H_King_50A_Tail +;BESCNO EQU H_King_50A_Multi +;BESCNO EQU Polaris_Thunder_12A_Main +;BESCNO EQU Polaris_Thunder_12A_Tail +;BESCNO EQU Polaris_Thunder_12A_Multi +;BESCNO EQU Polaris_Thunder_20A_Main +;BESCNO EQU Polaris_Thunder_20A_Tail +;BESCNO EQU Polaris_Thunder_20A_Multi +;BESCNO EQU Polaris_Thunder_30A_Main +;BESCNO EQU Polaris_Thunder_30A_Tail +;BESCNO EQU Polaris_Thunder_30A_Multi +;BESCNO EQU Polaris_Thunder_40A_Main +;BESCNO EQU Polaris_Thunder_40A_Tail +;BESCNO EQU Polaris_Thunder_40A_Multi +;BESCNO EQU Polaris_Thunder_60A_Main +;BESCNO EQU Polaris_Thunder_60A_Tail +;BESCNO EQU Polaris_Thunder_60A_Multi +;BESCNO EQU Polaris_Thunder_80A_Main +;BESCNO EQU Polaris_Thunder_80A_Tail +;BESCNO EQU Polaris_Thunder_80A_Multi +;BESCNO EQU Polaris_Thunder_100A_Main +;BESCNO EQU Polaris_Thunder_100A_Tail +;BESCNO EQU Polaris_Thunder_100A_Multi +;BESCNO EQU Platinum_Pro_30A_Main +;BESCNO EQU Platinum_Pro_30A_Tail +;BESCNO EQU Platinum_Pro_30A_Multi +;BESCNO EQU Platinum_Pro_150A_Main +;BESCNO EQU Platinum_Pro_150A_Tail +;BESCNO EQU Platinum_Pro_150A_Multi +;BESCNO EQU Platinum_50Av3_Main +;BESCNO EQU Platinum_50Av3_Tail +;BESCNO EQU Platinum_50Av3_Multi +;BESCNO EQU EAZY_3Av2_Main +;BESCNO EQU EAZY_3Av2_Tail +;BESCNO EQU EAZY_3Av2_Multi +;BESCNO EQU Tarot_30A_Main +;BESCNO EQU Tarot_30A_Tail +;BESCNO EQU Tarot_30A_Multi +;BESCNO EQU SkyIII_30A_Main +;BESCNO EQU SkyIII_30A_Tail +;BESCNO EQU SkyIII_30A_Multi +;BESCNO EQU EMAX_20A_Main +;BESCNO EQU EMAX_20A_Tail +;BESCNO EQU EMAX_20A_Multi +;BESCNO EQU EMAX_40A_Main +;BESCNO EQU EMAX_40A_Tail +;BESCNO EQU EMAX_40A_Multi + + +;**** **** **** **** **** +; ESC selection statements +IF BESCNO == XP_3A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (XP_3A.inc) ; Select XP 3A pinout +ENDIF + +IF BESCNO == XP_3A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (XP_3A.inc) ; Select XP 3A pinout +ENDIF + +IF BESCNO == XP_3A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (XP_3A.inc) ; Select XP 3A pinout +ENDIF + +IF BESCNO == XP_7A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (XP_7A.inc) ; Select XP 7A pinout +ENDIF + +IF BESCNO == XP_7A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (XP_7A.inc) ; Select XP 7A pinout +ENDIF + +IF BESCNO == XP_7A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (XP_7A.inc) ; Select XP 7A pinout +ENDIF + +IF BESCNO == XP_7A_Fast_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout +ENDIF + +IF BESCNO == XP_7A_Fast_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout +ENDIF + +IF BESCNO == XP_7A_Fast_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout +ENDIF + +IF BESCNO == XP_12A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (XP_12A.inc) ; Select XP 12A pinout +ENDIF + +IF BESCNO == XP_12A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (XP_12A.inc) ; Select XP 12A pinout +ENDIF + +IF BESCNO == XP_12A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (XP_12A.inc) ; Select XP 12A pinout +ENDIF + +IF BESCNO == XP_18A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (XP_18A.inc) ; Select XP 18A pinout +ENDIF + +IF BESCNO == XP_18A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (XP_18A.inc) ; Select XP 18A pinout +ENDIF + +IF BESCNO == XP_18A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (XP_18A.inc) ; Select XP 18A pinout +ENDIF + +IF BESCNO == XP_25A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (XP_25A.inc) ; Select XP 25A pinout +ENDIF + +IF BESCNO == XP_25A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (XP_25A.inc) ; Select XP 25A pinout +ENDIF + +IF BESCNO == XP_25A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (XP_25A.inc) ; Select XP 25A pinout +ENDIF + +IF BESCNO == XP_35A_SW_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (XP_35A_SW.inc) ; Select XP 35A SW pinout +ENDIF + +IF BESCNO == XP_35A_SW_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (XP_35A_SW.inc) ; Select XP 35A SW pinout +ENDIF + +IF BESCNO == XP_35A_SW_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (XP_35A_SW.inc) ; Select XP 35A SW pinout +ENDIF + +IF BESCNO == DP_3A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (DP_3A.inc) ; Select DP 3A pinout +ENDIF + +IF BESCNO == DP_3A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (DP_3A.inc) ; Select DP 3A pinout +ENDIF + +IF BESCNO == DP_3A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (DP_3A.inc) ; Select DP 3A pinout +ENDIF + +IF BESCNO == Supermicro_3p5A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinout +ENDIF + +IF BESCNO == Supermicro_3p5A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinout +ENDIF + +IF BESCNO == Supermicro_3p5A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_6A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_6A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_6A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_10A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_10A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_10A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_12A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_12A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_12A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_18A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_18A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_18A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_25A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_25A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_25A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_30A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_30A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_30A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_40A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_40A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_40A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_60A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_60A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_60A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_80A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_80A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_80A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_Nfet_18A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_Plush_Nfet_18A.inc) ; Select Turnigy Plush Nfet 18A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_Nfet_18A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_Plush_Nfet_18A.inc) ; Select Turnigy Plush Nfet 18A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_Nfet_18A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_Plush_Nfet_18A.inc) ; Select Turnigy Plush Nfet 18A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_Nfet_25A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_Plush_Nfet_25A.inc) ; Select Turnigy Plush Nfet 25A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_Nfet_25A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_Plush_Nfet_25A.inc) ; Select Turnigy Plush Nfet 25A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_Nfet_25A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_Plush_Nfet_25A.inc) ; Select Turnigy Plush Nfet 25A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_Nfet_30A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_Plush_Nfet_30A.inc) ; Select Turnigy Plush Nfet 30A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_Nfet_30A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_Plush_Nfet_30A.inc) ; Select Turnigy Plush Nfet 30A pinout +ENDIF + +IF BESCNO == Turnigy_Plush_Nfet_30A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_Plush_Nfet_30A.inc) ; Select Turnigy Plush Nfet 30A pinout +ENDIF + +IF BESCNO == Turnigy_AE_20A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinout +ENDIF + +IF BESCNO == Turnigy_AE_20A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinout +ENDIF + +IF BESCNO == Turnigy_AE_20A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinout +ENDIF + +IF BESCNO == Turnigy_AE_25A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinout +ENDIF + +IF BESCNO == Turnigy_AE_25A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinout +ENDIF + +IF BESCNO == Turnigy_AE_25A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinout +ENDIF + +IF BESCNO == Turnigy_AE_30A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinout +ENDIF + +IF BESCNO == Turnigy_AE_30A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinout +ENDIF + +IF BESCNO == Turnigy_AE_30A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinout +ENDIF + +IF BESCNO == Turnigy_AE_45A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinout +ENDIF + +IF BESCNO == Turnigy_AE_45A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinout +ENDIF + +IF BESCNO == Turnigy_AE_45A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinout +ENDIF + +IF BESCNO == Turnigy_KForce_40A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinout +ENDIF + +IF BESCNO == Turnigy_KForce_40A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinout +ENDIF + +IF BESCNO == Turnigy_KForce_40A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinout +ENDIF + +IF BESCNO == Turnigy_KForce_70A_HV_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_KForce_70A_HV.inc) ; Select Turnigy KForce 70A HV pinout +ENDIF + +IF BESCNO == Turnigy_KForce_70A_HV_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_KForce_70A_HV.inc) ; Select Turnigy KForce 70A HV pinout +ENDIF + +IF BESCNO == Turnigy_KForce_70A_HV_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_KForce_70A_HV.inc) ; Select Turnigy KForce 70A HV pinout +ENDIF + +IF BESCNO == Turnigy_KForce_120A_HV_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinout +ENDIF + +IF BESCNO == Turnigy_KForce_120A_HV_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinout +ENDIF + +IF BESCNO == Turnigy_KForce_120A_HV_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinout +ENDIF + +IF BESCNO == Turnigy_KForce_120A_HV_v2_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Turnigy_KForce_120A_HV_v2.inc); Select Turnigy KForce 120A HV v2 pinout +ENDIF + +IF BESCNO == Turnigy_KForce_120A_HV_v2_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Turnigy_KForce_120A_HV_v2.inc); Select Turnigy KForce 120A HV v2 pinout +ENDIF + +IF BESCNO == Turnigy_KForce_120A_HV_v2_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Turnigy_KForce_120A_HV_v2.inc); Select Turnigy KForce 120A HV v2 pinout +ENDIF + +IF BESCNO == Skywalker_20A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Skywalker_20A.inc) ; Select Skywalker 20A pinout +ENDIF + +IF BESCNO == Skywalker_20A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Skywalker_20A.inc) ; Select Skywalker 20A pinout +ENDIF + +IF BESCNO == Skywalker_20A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Skywalker_20A.inc) ; Select Skywalker 20A pinout +ENDIF + +IF BESCNO == Skywalker_40A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Skywalker_40A.inc) ; Select Skywalker 40A pinout +ENDIF + +IF BESCNO == Skywalker_40A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Skywalker_40A.inc) ; Select Skywalker 40A pinout +ENDIF + +IF BESCNO == Skywalker_40A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Skywalker_40A.inc) ; Select Skywalker 40A pinout +ENDIF + +IF BESCNO == HiModel_Cool_22A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinout +ENDIF + +IF BESCNO == HiModel_Cool_22A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinout +ENDIF + +IF BESCNO == HiModel_Cool_22A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinout +ENDIF + +IF BESCNO == HiModel_Cool_33A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinout +ENDIF + +IF BESCNO == HiModel_Cool_33A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinout +ENDIF + +IF BESCNO == HiModel_Cool_33A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinout +ENDIF + +IF BESCNO == HiModel_Cool_41A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinout +ENDIF + +IF BESCNO == HiModel_Cool_41A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinout +ENDIF + +IF BESCNO == HiModel_Cool_41A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinout +ENDIF + +IF BESCNO == RCTimer_6A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (RCTimer_6A.inc) ; Select RC Timer 6A pinout +ENDIF + +IF BESCNO == RCTimer_6A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (RCTimer_6A.inc) ; Select RC Timer 6A pinout +ENDIF + +IF BESCNO == RCTimer_6A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (RCTimer_6A.inc) ; Select RC Timer 6A pinout +ENDIF + +IF BESCNO == Align_RCE_BL15X_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinout +ENDIF + +IF BESCNO == Align_RCE_BL15X_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinout +ENDIF + +IF BESCNO == Align_RCE_BL15X_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinout +ENDIF + +IF BESCNO == Align_RCE_BL15P_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Align_RCE_BL15P.inc) ; Select Align RCE-BL15P pinout +ENDIF + +IF BESCNO == Align_RCE_BL15P_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Align_RCE_BL15P.inc) ; Select Align RCE-BL15P pinout +ENDIF + +IF BESCNO == Align_RCE_BL15P_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Align_RCE_BL15P.inc) ; Select Align RCE-BL15P pinout +ENDIF + +IF BESCNO == Align_RCE_BL35X_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinout +ENDIF + +IF BESCNO == Align_RCE_BL35X_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinout +ENDIF + +IF BESCNO == Align_RCE_BL35X_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinout +ENDIF + +IF BESCNO == Align_RCE_BL35P_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinout +ENDIF + +IF BESCNO == Align_RCE_BL35P_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinout +ENDIF + +IF BESCNO == Align_RCE_BL35P_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinout +ENDIF + +IF BESCNO == Gaui_GE_183_18A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Gaui_GE_183_18A.inc) ; Select Gaui GE-183 18A pinout +ENDIF + +IF BESCNO == Gaui_GE_183_18A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Gaui_GE_183_18A.inc) ; Select Gaui GE-183 18A pinout +ENDIF + +IF BESCNO == Gaui_GE_183_18A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Gaui_GE_183_18A.inc) ; Select Gaui GE-183 18A pinout +ENDIF + +IF BESCNO == H_King_10A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (H_King_10A.inc) ; Select H-King 10A pinout +ENDIF + +IF BESCNO == H_King_10A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (H_King_10A.inc) ; Select H-King 10A pinout +ENDIF + +IF BESCNO == H_King_10A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (H_King_10A.inc) ; Select H-King 10A pinout +ENDIF + +IF BESCNO == H_King_20A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (H_King_20A.inc) ; Select H-King 20A pinout +ENDIF + +IF BESCNO == H_King_20A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (H_King_20A.inc) ; Select H-King 20A pinout +ENDIF + +IF BESCNO == H_King_20A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (H_King_20A.inc) ; Select H-King 20A pinout +ENDIF + +IF BESCNO == H_King_35A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (H_King_35A.inc) ; Select H-King 35A pinout +ENDIF + +IF BESCNO == H_King_35A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (H_King_35A.inc) ; Select H-King 35A pinout +ENDIF + +IF BESCNO == H_King_35A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (H_King_35A.inc) ; Select H-King 35A pinout +ENDIF + +IF BESCNO == H_King_50A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (H_King_50A.inc) ; Select H-King 50A pinout +ENDIF + +IF BESCNO == H_King_50A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (H_King_50A.inc) ; Select H-King 50A pinout +ENDIF + +IF BESCNO == H_King_50A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (H_King_50A.inc) ; Select H-King 50A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_12A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Polaris_Thunder_12A.inc) ; Select Polaris Thunder 12A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_12A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Polaris_Thunder_12A.inc) ; Select Polaris Thunder 12A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_12A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Polaris_Thunder_12A.inc) ; Select Polaris Thunder 12A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_20A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Polaris_Thunder_20A.inc) ; Select Polaris Thunder 20A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_20A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Polaris_Thunder_20A.inc) ; Select Polaris Thunder 20A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_20A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Polaris_Thunder_20A.inc) ; Select Polaris Thunder 20A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_30A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Polaris_Thunder_30A.inc) ; Select Polaris Thunder 30A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_30A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Polaris_Thunder_30A.inc) ; Select Polaris Thunder 30A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_30A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Polaris_Thunder_30A.inc) ; Select Polaris Thunder 30A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_40A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Polaris_Thunder_40A.inc) ; Select Polaris Thunder 40A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_40A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Polaris_Thunder_40A.inc) ; Select Polaris Thunder 40A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_40A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Polaris_Thunder_40A.inc) ; Select Polaris Thunder 40A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_60A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Polaris_Thunder_60A.inc) ; Select Polaris Thunder 60A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_60A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Polaris_Thunder_60A.inc) ; Select Polaris Thunder 60A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_60A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Polaris_Thunder_60A.inc) ; Select Polaris Thunder 60A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_80A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Polaris_Thunder_80A.inc) ; Select Polaris Thunder 80A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_80A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Polaris_Thunder_80A.inc) ; Select Polaris Thunder 80A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_80A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Polaris_Thunder_80A.inc) ; Select Polaris Thunder 80A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_100A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Polaris_Thunder_100A.inc); Select Polaris Thunder 100A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_100A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Polaris_Thunder_100A.inc); Select Polaris Thunder 100A pinout +ENDIF + +IF BESCNO == Polaris_Thunder_100A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Polaris_Thunder_100A.inc); Select Polaris Thunder 100A pinout +ENDIF + +IF BESCNO == Platinum_Pro_30A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Platinum_Pro_30A.inc) ; Select Platinum Pro 30A pinout +ENDIF + +IF BESCNO == Platinum_Pro_30A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Platinum_Pro_30A.inc) ; Select Platinum Pro 30A pinout +ENDIF + +IF BESCNO == Platinum_Pro_30A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Platinum_Pro_30A.inc) ; Select Platinum Pro 30A pinout +ENDIF + +IF BESCNO == Platinum_Pro_150A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Platinum_Pro_150A.inc) ; Select Platinum Pro 150A pinout +ENDIF + +IF BESCNO == Platinum_Pro_150A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Platinum_Pro_150A.inc) ; Select Platinum Pro 150A pinout +ENDIF + +IF BESCNO == Platinum_Pro_150A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Platinum_Pro_150A.inc) ; Select Platinum Pro 150A pinout +ENDIF + +IF BESCNO == Platinum_50Av3_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Platinum_50Av3.inc) ; Select Platinum 50A v3 pinout +ENDIF + +IF BESCNO == Platinum_50Av3_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Platinum_50Av3.inc) ; Select Platinum 50A v3 pinout +ENDIF + +IF BESCNO == Platinum_50Av3_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Platinum_50Av3.inc) ; Select Platinum 50A v3 pinout +ENDIF + +IF BESCNO == EAZY_3Av2_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (EAZY_3Av2.inc) ; Select Eazy 3A v2 pinout +ENDIF + +IF BESCNO == EAZY_3Av2_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (EAZY_3Av2.inc) ; Select Eazy 3A v2 pinout +ENDIF + +IF BESCNO == EAZY_3Av2_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (EAZY_3Av2.inc) ; Select Eazy 3A v2 pinout +ENDIF + +IF BESCNO == Tarot_30A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (Tarot_30A.inc) ; Select Tarot 30A pinout +ENDIF + +IF BESCNO == Tarot_30A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (Tarot_30A.inc) ; Select Tarot 30A pinout +ENDIF + +IF BESCNO == Tarot_30A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (Tarot_30A.inc) ; Select Tarot 30A pinout +ENDIF + +IF BESCNO == SkyIII_30A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (SkyIII_30A.inc) ; Select SkyIII 30A pinout +ENDIF + +IF BESCNO == SkyIII_30A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (SkyIII_30A.inc) ; Select SkyIII 30A pinout +ENDIF + +IF BESCNO == SkyIII_30A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (SkyIII_30A.inc) ; Select SkyIII 30A pinout +ENDIF + +IF BESCNO == EMAX_20A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (EMAX_20A.inc) ; Select EMAX 20A pinout +ENDIF + +IF BESCNO == EMAX_20A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (EMAX_20A.inc) ; Select EMAX 20A pinout +ENDIF + +IF BESCNO == EMAX_20A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (EMAX_20A_Low.inc) ; Select EMAX 20A pinout +ENDIF + +IF BESCNO == EMAX_40A_Main +MODE EQU 0 ; Choose mode. Set to 0 for main motor +$include (EMAX_40A.inc) ; Select EMAX 40A pinout +ENDIF + +IF BESCNO == EMAX_40A_Tail +MODE EQU 1 ; Choose mode. Set to 1 for tail motor +$include (EMAX_40A.inc) ; Select EMAX 40A pinout +ENDIF + +IF BESCNO == EMAX_40A_Multi +MODE EQU 2 ; Choose mode. Set to 2 for multirotor +$include (EMAX_40A.inc) ; Select EMAX 40A 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) +; +; MAIN +DEFAULT_PGM_MAIN_P_GAIN EQU 7 ; 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 7 ; 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=Middle 3=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_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High +IF DAMPED_MODE_ENABLE == 1 +DEFAULT_PGM_MAIN_PWM_FREQ EQU 2 ; 1=High 2=Low 3=DampedLight +ELSE +DEFAULT_PGM_MAIN_PWM_FREQ EQU 2 ; 1=High 2=Low +ENDIF +DEFAULT_PGM_MAIN_DEMAG_COMP EQU 1 ; 1=Disabled 2=Low 3=High +DEFAULT_PGM_MAIN_DIRECTION 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 120 ; Beep strength +DEFAULT_PGM_MAIN_BEACON_STRENGTH EQU 200 ; Beacon strength +DEFAULT_PGM_MAIN_BEACON_DELAY EQU 4 ; 1=1m 2=2m 3=5m 4=10m 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_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High +IF DAMPED_MODE_ENABLE == 1 +DEFAULT_PGM_TAIL_PWM_FREQ EQU 3 ; 1=High 2=Low 3=DampedLight +ELSE +DEFAULT_PGM_TAIL_PWM_FREQ EQU 1 ; 1=High 2=Low +ENDIF +DEFAULT_PGM_TAIL_DEMAG_COMP EQU 1 ; 1=Disabled 2=Low 3=High +DEFAULT_PGM_TAIL_DIRECTION EQU 1 ; 1=Normal 2=Reversed 3=Bidirectional +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=1m 2=2m 3=5m 4=10m 5=Infinite + +; MULTI +DEFAULT_PGM_MULTI_FIRST_KEYWORD EQU 66h ;增加首个关键字 2015-02-06 +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 4 ; 1=HiRange 2=MidRange 3=LoRange 4=Off +DEFAULT_PGM_MULTI_GOVERNOR_MODE EQU 1 ; 1=Off 2=LoRange 3=MidRange 4=HiRange 2015-02-10 +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 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_LIM EQU 3 ; 1=Off 2=2.8V/c 3=3.0V/c 4=3.2V/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_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High +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=High 2=Low 3=DampedLight +DEFAULT_PGM_MULTI_PWM_FREQ EQU 1 ; 1=Low 2=High 3=DampedLight +ELSE +DEFAULT_PGM_MULTI_PWM_FREQ EQU 1 ; 1=High 2=Low +ENDIF +DEFAULT_PGM_MULTI_DEMAG_COMP EQU 2 ; 1=Disabled 2=Low 3=High +DEFAULT_PGM_MULTI_DIRECTION EQU 1 ; 1=Normal 2=Reversed 3=Bidirectional +DEFAULT_PGM_MULTI_RCP_PWM_POL EQU 1 ; 1=Positive 2=Negative +DEFAULT_PGM_MULTI_BEEP_STRENGTH EQU 80 ; Beep strength +DEFAULT_PGM_MULTI_BEACON_STRENGTH EQU 80 ; Beacon strength +DEFAULT_PGM_MULTI_BEACON_DELAY EQU 4 ; 1=1m 2=2m 3=5m 4=10m 5=Infinite + +; 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_PPM_CENTER_THROTTLE EQU 122 ; 4*122+1000=1488 (used in bidirectional mode) +DEFAULT_PGM_BEC_VOLTAGE_HIGH EQU 0 ; 0=Low 1+= High or higher +DEFAULT_PGM_ENABLE_TEMP_PROT EQU 1 ; 1=Enabled 0=Disabled + +;**** **** **** **** **** +; Constant definitions for main +IF MODE == 0 + +GOV_SPOOLRATE EQU 2 ; 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 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 250 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit + +PWM_START EQU 50 ; PWM used as max power during start + +COMM_TIME_RED EQU 1 ; 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_START EQU 50 ; PWM used as max power during start + +COMM_TIME_RED EQU 1 ; 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 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 250 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit + +PWM_START EQU 50 ; PWM used as max power during start + +COMM_TIME_RED EQU 1 ; 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_Outside_Range_Cnt: DS 1 ; RC pulse outside range counter (incrementing) +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 + +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_ENABLED EQU 3 ; Set when demag compensation is enabled (above a min speed and throttle) +DEMAG_DETECTED EQU 4 ; Set when excessive demag time is detected +DEMAG_CUT_POWER EQU 5 ; Set when demag compensation cuts power +DIR_CHANGE_BRAKE EQU 6 ; Set when braking before direction change +; EQU 7 + +Flags1: DS 1 ; State flags. Reset upon init_start +MOTOR_SPINNING EQU 0 ; Set when in motor is spinning +STARTUP_PHASE EQU 1 ; Set when in startup phase +INITIAL_RUN_PHASE EQU 2 ; Set when in initial run phase, before synchronized run is achieved +; EQU 3 +; EQU 4 +ERRO_DATA EQU 5 ;2015-02-06 +LOW_LIMIT_STOP EQU 6 ;2015-02-06 +PROGRAM_FUNC_FLAG EQU 7 ;2015-02-06 + +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 +PGM_PWM_HIGH_FREQ EQU 3 ; Progremmed pwm high frequency +RCP_PPM EQU 4 ; RC pulse ppm type input (set also when oneshot is set) +RCP_PPM_ONESHOT125 EQU 5 ; RC pulse ppm type input is OneShot125 +; EQU 6 +; EQU 7 + +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 +RCP_PWM_FREQ_12KHZ EQU 4 ; RC pulse pwm frequency is 12kHz +PGM_DIR_REV EQU 5 ; Programmed direction. 0=normal, 1=reversed +PGM_RCP_PWM_POL EQU 6 ; Programmed RC pulse pwm polarity. 0=positive, 1=negative +FULL_THROTTLE_RANGE EQU 7 ; When set full throttle range is used (1000-2000us) and stored calibration values are ignored + + +;**** **** **** **** **** +; RAM definitions +DSEG AT 30h ; Ram data segment, direct addressing + +Initial_Arm: DS 1 ; Variable that is set during the first arm sequence after power on + +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) + +Startup_Rot_Cnt: DS 1 ; Startup phase rotations counter +Startup_Ok_Cnt: DS 1 ; Startup phase ok comparator waits counter (incrementing) +Demag_Detected_Metric: DS 1 ; Metric used to gauge demag event frequency +Demag_Pwr_Off_Thresh: DS 1 ; Metric threshold above which power is cut +Low_Rpm_Pwr_Slope: DS 1 ; Sets the slope of power increase for low rpms + +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 +Comparator_Read_Cnt: DS 1 ; Number of comparator reads done + +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_Zc_Timeout_L: DS 1 ; Timer3 counts for zero cross scan timeout (lo byte) +Wt_Zc_Timeout_H: DS 1 ; Timer3 counts for zero cross scan timeout (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) +Next_Wt_L: DS 1 ; Timer3 counts for next wait period (lo byte) +Next_Wt_H: DS 1 ; Timer3 counts for next wait period (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 +Auto_Bailout_Armed: DS 1 ; Set when auto rotation bailout is armed + +Pwm_Limit: DS 1 ; Maximum allowed pwm +Pwm_Limit_Spoolup: DS 1 ; Maximum allowed pwm during spoolup +Pwm_Limit_Low_Rpm: DS 1 ; Maximum allowed pwm for low rpms +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) + +Spoolup_Limit_Cnt: DS 1 ; Interrupt count for spoolup limit +Spoolup_Limit_Skip: DS 1 ; Interrupt skips for spoolup limit increment (1=no skips, 2=skip one etc) +Main_Spoolup_Time_3x: DS 1 ; Main spoolup time x3 +Main_Spoolup_Time_10x: DS 1 ; Main spoolup time x10 +Main_Spoolup_Time_15x: DS 1 ; Main spoolup time x15 + +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 +Limit_Count: DS 1 ;2015-02-6 + +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 +Min_Throttle: DS 1 ;min throttle 2015-02-05 +Lipo_Cell_Count: DS 1 ;Lipo counter 2015-02-05 +Commu_Data_Buffer: DS 1 ;编程卡接收，发送数据暂存 2015-02-06 +Commu_Sum: DS 1 ;增加编程卡校验和 2015-02-06 +Pgm_Card_Sig_Count: DS 1 ;program card signal check counter 2015-02-09 + +; Indirect addressing data segment. The variables below must be in this sequence +ISEG AT 080h +Pgm_Fir_Key: DS 1 ;增加首个关键字 2015-02-06 +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 ;Programmed low voltage control mode 2015-02-06 +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: 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 (unused - place holder) +_Pgm_Startup_Accel: DS 1 ; Programmed startup acceleration (unused - place holder) +_Pgm_Volt_Comp: DS 1 ; Place holder +Pgm_Comm_Timing: DS 1 ; Programmed commutation timing +Pgm_Damping_Force: DS 1 ; Programmed damping force (unused - place holder) +Pgm_Gov_Range: DS 1 ; Programmed governor range +_Pgm_Startup_Method: DS 1 ; Programmed startup method (unused - place holder) +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 (unused - place holder) +Pgm_Demag_Comp: DS 1 ; Programmed demag compensation +Pgm_BEC_Voltage_High: DS 1 ; Programmed BEC voltage +Pgm_Ppm_Center_Throttle: DS 1 ; Programmed throttle center (in bidirectional mode) +Pgm_Main_Spoolup_Time: DS 1 ; Programmed main spoolup time +Pgm_Enable_Temp_Prot: DS 1 ; Programmed temperature protection enable + +; The sequence of the variables below is no longer of importance +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_Startup_Pwr_Decoded: DS 1 ; Programmed startup power 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 13 ; Main revision of the firmware +EEPROM_FW_SUB_REVISION EQU 1 ; Sub revision of the firmware +EEPROM_LAYOUT_REVISION EQU 19 ; 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: DB DEFAULT_PGM_MAIN_DIRECTION ; 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 0FFh +_Eep_Pgm_Startup_Accel: DB 0FFh +_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 0FFh +Eep_Pgm_Gov_Range: DB DEFAULT_PGM_MAIN_GOVERNOR_RANGE ; EEPROM copy of programmed governor range +_Eep_Pgm_Startup_Method: DB 0FFh +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 0FFh +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 +_Eep_Pgm_Ppm_Center_Throttle: DB 0FFh ; EEPROM copy of programmed center throttle (final value is 4x+1000=1488) +Eep_Pgm_Main_Spoolup_Time: DB DEFAULT_PGM_MAIN_SPOOLUP_TIME ; EEPROM copy of programmed main spoolup time +Eep_Pgm_Temp_Prot_Enable: DB DEFAULT_PGM_ENABLE_TEMP_PROT ; EEPROM copy of programmed temperature protection enable +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: DB DEFAULT_PGM_TAIL_DIRECTION ; 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 0FFh +_Eep_Pgm_Startup_Accel: DB 0FFh +_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 0FFh +_Eep_Pgm_Gov_Range: DB 0FFh +_Eep_Pgm_Startup_Method: DB 0FFh +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 0FFh +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 +Eep_Pgm_Ppm_Center_Throttle: DB DEFAULT_PGM_PPM_CENTER_THROTTLE ; EEPROM copy of programmed center throttle (final value is 4x+1000=1488) +_Eep_Pgm_Main_Spoolup_Time: DB 0FFh +Eep_Pgm_Temp_Prot_Enable: DB DEFAULT_PGM_ENABLE_TEMP_PROT ; EEPROM copy of programmed temperature protection enable +ENDIF + +IF MODE == 2 +Eep_Pgm_Fir_Key: DB DEFAULT_PGM_MULTI_FIRST_KEYWORD ;增加首个关键字 2015-02-06 +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 ; EEPROM copy of programmed low voltage control mode 2015-02-06 +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: DB DEFAULT_PGM_MULTI_DIRECTION ; 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 0FFh +_Eep_Pgm_Startup_Accel: DB 0FFh +_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 0FFh +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 0FFh +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 +Eep_Pgm_Ppm_Center_Throttle: DB DEFAULT_PGM_PPM_CENTER_THROTTLE ; EEPROM copy of programmed center throttle (final value is 4x+1000=1488) +_Eep_Pgm_Main_Spoolup_Time: DB 0FFh +Eep_Pgm_Temp_Prot_Enable: DB DEFAULT_PGM_ENABLE_TEMP_PROT ; EEPROM copy of programmed temperature protection enable +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 +STARTUP_POWER_TABLE: DB 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 60h, 80h, 0A0h, 0C0h +IF MODE == 0 + IF DAMPED_MODE_ENABLE == 1 + TX_PGM_PARAMS_MAIN: DB 13, 13, 4, 3, 6, 13, 5, 3, 3, 2, 2 + ENDIF + IF DAMPED_MODE_ENABLE == 0 + TX_PGM_PARAMS_MAIN: DB 13, 13, 4, 3, 6, 13, 5, 2, 3, 2, 2 + ENDIF +ENDIF +IF MODE == 1 + IF DAMPED_MODE_ENABLE == 1 + TX_PGM_PARAMS_TAIL: DB 5, 5, 13, 5, 3, 3, 3, 2 + ENDIF + IF DAMPED_MODE_ENABLE == 0 + TX_PGM_PARAMS_TAIL: DB 5, 5, 13, 5, 2, 3, 3, 2 + ENDIF +ENDIF +IF MODE == 2 + IF DAMPED_MODE_ENABLE == 1 +; TX_PGM_PARAMS_MULTI: DB 13, 13, 4, 5, 6, 13, 5, 3, 3, 3, 2 + TX_PGM_PARAMS_MULTI: DB 2, 5, 13, 4, 2, 4, 2, 3 + ENDIF + IF DAMPED_MODE_ENABLE == 0 +; TX_PGM_PARAMS_MULTI: DB 13, 13, 4, 5, 6, 13, 5, 2, 3, 3, 2 + TX_PGM_PARAMS_MULTI: DB 2, 5, 13, 4, 2, 4, 2, 3 + 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 PSW.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? + + ; Do not execute pwm when stopped + jb Flags1.MOTOR_SPINNING, ($+5) + ajmp t0_int_pwm_on_exit + ; Do not execute pwm on during demag recovery + jnb Flags0.DEMAG_CUT_POWER, ($+5) + ajmp t0_int_pwm_on_exit_pfets_off + ; Pwm on cycle. +IF MODE == 1 ; Tail + jnb Current_Pwm_Limited.7, t0_int_pwm_on_low_pwm ; Jump for low pwm (<50%) +ENDIF + +t0_int_pwm_on_execute: + clr A + jmp @A+DPTR ; Jump to pwm on routines. DPTR should be set to one of the pwm_nfet_on labels + +t0_int_pwm_on_low_pwm: + ; 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 ($+5) + mov TL0, #0 ; Write start point for timer (long time for zero pwm) + jmp t0_int_pwm_on_exit_no_timer_update + + +t0_int_pwm_off: + ; Pwm off cycle + mov TL0, Current_Pwm_Limited ; Load new timer setting + ; Clear pwm on flag + clr Flags0.PWM_ON + ; Set full PWM (on all the time) if current PWM near max. This will give full power, but at the cost of a small "jump" in power + mov A, Current_Pwm_Limited ; Load current pwm + cpl A ; Full pwm? + jnz ($+4) ; No - branch + ajmp t0_int_pwm_off_fullpower_exit ; Yes - exit + + ; Do not execute pwm when stopped + jb Flags1.MOTOR_SPINNING, ($+5) + ajmp t0_int_pwm_off_exit_nfets_off + +IF DAMPED_MODE_ENABLE == 1 + ; If damped operation, set pFETs on in pwm_off + jb Flags2.PGM_PWMOFF_DAMPED, t0_int_pwm_off_damped ; Damped operation? +ENDIF + + ; 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_damped: + All_nFETs_Off ; Switch off all nfets + mov A, #PFETON_DELAY + djnz ACC, $ + mov A, Comm_Phase ; Turn on pfets according to commutation phase + dec A + jb ACC.2, t0_int_pwm_off_comm_5_6 + jb ACC.1, t0_int_pwm_off_comm_3_4 + + CpFET_On ; Comm phase 1 or 2 - turn on C + jmp t0_int_pwm_off_exit + +t0_int_pwm_off_comm_3_4: + BpFET_On ; Comm phase 3 or 4 - turn on B + jmp t0_int_pwm_off_exit + +t0_int_pwm_off_comm_5_6: + ApFET_On ; Comm phase 5 or 6 - turn on A + jmp t0_int_pwm_off_exit + +t0_int_pwm_off_exit_nfets_off: ; 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_exit: + mov TL1, #0 ; Reset timer1 +t0_int_pwm_off_fullpower_exit: + 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: ; 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: ; 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: ; 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: ; 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: ; 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: ; 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_pfets_off: + jnb Flags2.PGM_PWMOFF_DAMPED, t0_int_pwm_on_exit ; If not damped operation - branch + mov A, Comm_Phase ; Turn off pfets according to commutation phase + jb ACC.2, t0_int_pfets_off_comm_4_5_6 + jb ACC.1, t0_int_pfets_off_comm_2_3 + +t0_int_pfets_off_comm_1_6: + ApFET_Off ; Comm phase 1 and 6 - turn off A and C + CpFET_Off + jmp t0_int_pwm_on_exit + +t0_int_pfets_off_comm_4_5_6: + jb ACC.1, t0_int_pfets_off_comm_1_6 + ApFET_Off ; Comm phase 4 and 5 - turn off A and B + BpFET_Off + jmp t0_int_pwm_on_exit + +t0_int_pfets_off_comm_2_3: + BpFET_Off ; Comm phase 2 and 3 - turn off B and C + CpFET_Off + +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 +IF MODE == 1 ; Tail + mov Pwm_On_Cnt, #0 ; Reset pwm on event counter +ENDIF + 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 + clr ET2 ; Disable timer2 interrupts + anl EIE1, #0EFh ; Disable PCA0 interrupts + push PSW ; Preserve registers through interrupt + push ACC + setb PSW.3 ; Select register bank 1 for interrupt routines + setb EA + ; 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) + jb Flags2.RCP_PPM, t2_int_skip_start ; If 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, ($+6) ; Is measure RCP pwm frequency flag set? + + mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; Yes - set timeout count to start value + + jb Flags2.RCP_PPM, t2_int_ppm_timeout_set ; If flag is set (PPM) - branch + + mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; For PWM, set timeout count to start value + +t2_int_ppm_timeout_set: + mov New_Rcp, Temp1 ; Store new pulse length + setb Flags2.RCP_UPDATED ; Set updated flag + +t2_int_skip_start: + ; Check RC pulse skip counter + mov A, Rcp_Skip_Cnt + jz t2_int_skip_end ; If RC pulse skip count is zero - end skipping RC pulse detection + + ; Decrement skip counter (only if edge counter is zero) + dec Rcp_Skip_Cnt ; Decrement + ajmp t2_int_rcp_update_start + +t2_int_skip_end: + jb Flags2.RCP_PPM, t2_int_rcp_update_start ; If flag is set (PPM) - branch + + ; Skip counter has reached zero, start looking for RC pulses again + Rcp_Int_Enable ; Enable RC pulse interrupt + Rcp_Clear_Int_Flag ; Clear interrupt flag + +t2_int_rcp_update_start: + ; Process updated RC pulse + jb Flags2.RCP_UPDATED, ($+5) ; Is there an updated RC pulse available? + ajmp t2_int_current_pwm_done ; No - update pwm limits and exit + + mov Temp1, New_Rcp ; Load new pulse value + clr Flags2.RCP_UPDATED ; Flag that pulse has been evaluated + ; Use a gain of 1.0625x for pwm input if not governor mode + jb Flags2.RCP_PPM, t2_int_pwm_min_run ; If flag is set (PPM) - branch + +IF MODE == 0 ; Main - do not adjust gain + ajmp t2_int_pwm_min_run +ELSE + +IF MODE == 2 ; Multi + mov Temp2, #Pgm_Gov_Mode ; Closed loop mode? + cjne @Temp2, #1, t2_int_pwm_min_run; Yes - branch +ENDIF + + ; Limit the maximum value to avoid wrap when scaled to pwm range + 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 + mov Temp2, #Pgm_Motor_Gain + cjne @Temp2, #3, ($+5) ; Is gain 1? + ajmp t2_int_pwm_min_run ; Yes - skip adjustment + + clr C + rrc A ; After this "0.5" + clr C + rrc A ; After this "0.25" + mov Bit_Access_Int, @Temp2 ; (Temp2 has #Pgm_Motor_Gain) + jb Bit_Access_Int.0, t2_int_rcp_gain_corr ; Branch if bit 0 in gain is set + + clr C + rrc A ; After this "0.125" + +t2_int_rcp_gain_corr: + jb Bit_Access_Int.2, t2_int_rcp_gain_pos ; Branch if bit 2 in gain is set + + clr C + xch A, Temp1 + subb A, Temp1 ; Apply negative correction + mov Temp1, A + ajmp t2_int_pwm_min_run + +t2_int_rcp_gain_pos: + add A, Temp1 ; Apply positive correction + mov Temp1, A + jnc t2_int_pwm_min_run ; Above max? + + mov A, #0FFh ; Yes - limit + mov Temp1, A +ENDIF + +t2_int_pwm_min_run: +IF MODE == 1 ; Tail - limit minimum pwm + ; Limit minimum pwm + clr C + mov A, Temp1 + subb A, Pwm_Motor_Idle ; Is requested pwm lower than minimum? + jnc t2_int_pwm_update ; No - branch + + mov A, Pwm_Motor_Idle ; Yes - limit pwm to Pwm_Motor_Idle + mov Temp1, A +ENDIF + +t2_int_pwm_update: + ; Update requested_pwm + mov Requested_Pwm, Temp1 ; Set requested pwm + ; Limit pwm during direct start + jnb Flags1.STARTUP_PHASE, t2_int_current_pwm_update + + clr C + mov A, Requested_Pwm ; Limit pwm during direct start + subb A, Pwm_Limit +; jc t2_int_current_pwm_update + jc ($+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 == 0 ; Main + mov Temp1, #Pgm_Gov_Mode ; Governor mode? + cjne @Temp1, #4, t2_int_pwm_exit ; Yes - branch +ENDIF +IF MODE == 2 ; multi + mov Temp1, #Pgm_Gov_Mode ; Governor mode? + cjne @Temp1, #1, t2_int_pwm_exit ; Yes - branch +ENDIF + + mov Current_Pwm, Requested_Pwm ; Set equal as default +t2_int_current_pwm_done: +IF MODE >= 1 ; Tail or multi + ; Set current_pwm_limited + mov Temp1, Current_Pwm ; Default not limited + clr C + mov A, Current_Pwm ; Check against limit + subb A, Pwm_Limit + jc ($+4) ; If current pwm below limit - branch + + mov Temp1, Pwm_Limit ; Limit pwm + +IF MODE == 2 ; Multi + ; Limit pwm for low rpms + clr C + mov A, Temp1 ; Check against limit + subb A, Pwm_Limit_Low_Rpm + jc ($+4) ; If current pwm below limit - branch + + mov Temp1, Pwm_Limit_Low_Rpm ; Limit pwm + +ENDIF + mov Current_Pwm_Limited, Temp1 +ENDIF +t2_int_pwm_exit: + ; Set demag enabled if pwm is above limit + clr C + mov A, Current_Pwm_Limited + subb A, #40h ; Set if above 25% + jc ($+4) + + setb Flags0.DEMAG_ENABLED + + ; 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 + orl EIE1, #10h ; Enable PCA0 interrupts + setb ET2 ; Enable timer2 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) + jnb Flags2.RCP_PPM, t2h_int_rcp_stop_check ; If flag is not 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 ; 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 + mov Auto_Bailout_Armed, #0 ; Disarm bailout + mov Spoolup_Limit_Cnt, #0 + mov A, Rcp_Stop_Cnt ; Increment stop counter + add A, #1 + mov Rcp_Stop_Cnt, A + jnc t2h_int_rcp_gov_pwm ; Branch if counter has not wrapped + + mov Rcp_Stop_Cnt, #0FFh ; Set stop counter to max + +t2h_int_rcp_gov_pwm: +IF MODE == 0 ; Main + ; Update governor variables + 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) + + 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 + mov A, Spoolup_Limit_Cnt + 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, #5 ; Default fast increase + + clr C + mov A, Spoolup_Limit_Cnt + subb A, Main_Spoolup_Time_3x ; No spoolup until 3*N*32ms + + jc t2h_int_rcp_exit + + clr C + mov A, Spoolup_Limit_Cnt + subb A, Main_Spoolup_Time_10x ; Slow spoolup until "100"*N*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, Main_Spoolup_Time_15x ; Faster spoolup until "150"*N*32ms + jnc t2h_int_rcp_set_limit + + mov Temp1, #1 ; Faster middle spoolup + mov Spoolup_Limit_Skip, #1 + +t2h_int_rcp_set_limit: + ; Do not increment spoolup limit if higher pwm is not requested, unless governor is active + clr C + mov A, Pwm_Limit_Spoolup + subb A, Current_Pwm + jc t2h_int_rcp_inc_limit ; If Current_Pwm is larger than Pwm_Limit_Spoolup - branch + + mov Temp2, #Pgm_Gov_Mode ; Governor mode? + cjne @Temp2, #4, ($+5) + ajmp t2h_int_rcp_bailout_arm ; No - branch + + mov A, Gov_Active ; Is governor active? + jnz t2h_int_rcp_inc_limit ; Yes - branch + + mov Pwm_Limit_Spoolup, Current_Pwm ; Set limit to what current pwm is + mov A, Spoolup_Limit_Cnt ; Check if spoolup limit count is 255. If it is, then this is a "bailout" ramp + inc A + jz ($+5) + + mov Spoolup_Limit_Cnt, Main_Spoolup_Time_3x ; Stay in an early part of the spoolup sequence (unless "bailout" ramp) + mov Spoolup_Limit_Skip, #1 ; Set skip count + mov Governor_Req_Pwm, #60 ; Set governor requested speed to ensure that it requests higher speed + ; 20=Fail on jerk when governor activates + ; 30=Ok + ; 100=Fail on small governor settling overshoot on low headspeeds + ; 200=Fail on governor settling overshoot + jmp t2h_int_rcp_exit ; Exit + +t2h_int_rcp_inc_limit: + mov A, Pwm_Limit_Spoolup ; Increment spoolup pwm + add A, Temp1 + jnc t2h_int_rcp_no_limit ; If below 255 - branch + + mov Pwm_Limit_Spoolup, #0FFh + ajmp t2h_int_rcp_bailout_arm + +t2h_int_rcp_no_limit: + mov Pwm_Limit_Spoolup, A +t2h_int_rcp_bailout_arm: + mov A, Pwm_Limit_Spoolup + inc A + jnz t2h_int_rcp_exit + + mov Auto_Bailout_Armed, #255 ; Arm bailout + mov Spoolup_Limit_Cnt, #255 + +t2h_int_rcp_exit: +ENDIF + pop ACC ; Restore preserved registers + pop PSW + clr PSW.3 ; Select register bank 0 for main program routines + orl EIE1, #10h ; Enable PCA0 interrupts + setb ET2 ; Enable timer2 interrupts + reti + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Timer3 interrupt routine +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +t3_int: ; Used for commutation timing + push PSW ; Preserve registers through interrupt + push ACC + clr EA ; Disable all interrupts + anl TMR3CN, #7Fh ; Clear timer3 interrupt flag + anl EIE1, #7Fh ; Disable timer3 interrupts + clr Flags0.T3_PENDING ; Flag that timer has wrapped + ; Set up next wait + mov TMR3CN, #00h ; Timer3 disabled + clr C + clr A + subb A, Next_Wt_L ; Set wait value + mov TMR3L, A + clr A + subb A, Next_Wt_H + mov TMR3H, A + mov TMR3CN, #04h ; Timer3 enabled + pop ACC ; Restore preserved registers + pop PSW + setb EA ; Enable all interrupts + reti + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; PCA interrupt routine +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +pca_int: ; Used for RC pulse timing + clr EA + anl EIE1, #0EFh ; Disable PCA0 interrupts + clr ET2 ; Disable timer2 interrupts + push PSW ; Preserve registers through interrupt + push ACC + push B + setb PSW.3 ; Select register bank 1 for interrupt routines + setb EA + ; Get the PCA counter values + Get_Rcp_Capture_Values + ; 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 + jnb Flags2.RCP_PPM, ($+5) ; If flag is not set (PWM) - branch + + ajmp pca_int_set_timeout ; If PPM - ignore trig as noise + + mov Temp1, #RCP_MIN ; Set RC pulse value to minimum + Read_Rcp_Int ; Test RC signal level again + jnb ACC.Rcp_In, ($+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_limited ; Set new RC pulse, 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 + mov A, Temp2 + subb A, Rcp_PrePrev_Edge_H + mov Temp2, A + clr A + mov Temp4, A + mov Temp7, #2 ; Set default period tolerance requirement (MSB) + mov Temp3, #0 ; (LSB) + ; Check if pulse is too short + clr C + mov A, Temp1 + subb A, #low(140) ; If pulse below 70us, not accepted + mov A, Temp2 + subb A, #high(140) + jnc rcp_int_check_12kHz + + mov Rcp_Period_Diff_Accepted, #0 ; Set not accepted + ajmp pca_int_store_data + +rcp_int_check_12kHz: + ; Check if pwm frequency is 12kHz + clr C + mov A, Temp1 + subb A, #low(200) ; If below 100us, 12kHz pwm is assumed + mov A, Temp2 + subb A, #high(200) + jnc pca_int_check_8kHz + + clr A + setb ACC.RCP_PWM_FREQ_12KHZ + mov Temp4, A + mov Temp3, #10 ; Set period tolerance requirement (LSB) + ajmp pca_int_restore_edge_set_msb + +pca_int_check_8kHz: + ; Check if pwm frequency is 8kHz + 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 (LSB) + ajmp pca_int_restore_edge_set_msb + +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 (LSB) + ajmp pca_int_restore_edge_set_msb + +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 (LSB) + ajmp pca_int_restore_edge_set_msb + +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 + + clr A + setb ACC.RCP_PWM_FREQ_1KHZ + mov Temp4, A + mov Temp3, #120 ; Set period tolerance requirement (LSB) + +pca_int_restore_edge_set_msb: + mov Temp7, #0 ; Set period tolerance requirement (MSB) +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 + inc Pgm_Card_Sig_Count + clr C + mov A, Temp5 + subb A, Temp3 ; Check difference + mov A, Temp6 + subb A, Temp7 + 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: + ; 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 + jnb Flags3.RCP_PWM_FREQ_12KHZ, ($+5) ; Is RC input pwm frequency 12kHz? + ajmp pca_int_pwm_divide_done ; Yes - branch forward + + 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 + + jb Flags2.RCP_PPM_ONESHOT125, ($+5) + ajmp rcp_int_fall_not_oneshot + + mov A, Temp2 ; Oneshot125 - move to I_Temp5/6 + mov Temp6, A + mov A, Temp1 + mov Temp5, A + ajmp rcp_int_fall_check_range + +rcp_int_fall_not_oneshot: + mov A, Temp2 ; No - 2kHz. Divide by 2 + clr C + rrc A + mov Temp2, A + mov A, Temp1 + rrc A + mov Temp1, A + + jnb Flags3.RCP_PWM_FREQ_2KHZ, ($+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 + + jnb Flags3.RCP_PWM_FREQ_1KHZ, ($+5) ; Is RC input pwm frequency 1kHz? + ajmp pca_int_pwm_divide ; Yes - branch forward + + mov A, Temp2 ; No - PPM. Divide by 2 (to bring range to 256) and move to Temp5/6 + clr C + rrc A + mov Temp6, A + mov A, Temp1 + rrc A + mov Temp5, A +rcp_int_fall_check_range: + ; Skip range limitation if pwm frequency measurement + jb Flags0.RCP_MEAS_PWM_FREQ, pca_int_ppm_check_full_range + + ; Check if 2160us or above (in order to ignore false pulses) + clr C + mov A, Temp5 ; Is pulse 2160us or higher? + subb A, #28 + mov A, Temp6 + subb A, #2 + jc ($+4) ; No - proceed + + ajmp pca_int_ppm_outside_range ; Yes - ignore pulse + +pca_int_ppm_below_full_range: + ; 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 + +pca_int_ppm_outside_range: + inc Rcp_Outside_Range_Cnt + clr C + mov A, Rcp_Outside_Range_Cnt + subb A, #10 ; Allow a given number of outside pulses + jnc ($+4) + ajmp pca_int_set_timeout ; If below limit - ignore pulse + + mov New_Rcp, #0 ; Set pulse length to zero + setb Flags2.RCP_UPDATED ; Set updated flag + ajmp pca_int_set_timeout + +pca_int_ppm_check_full_range: + mov A, Rcp_Outside_Range_Cnt + jz ($+4) + + dec Rcp_Outside_Range_Cnt + + ; 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 + +IF MODE >= 1 ; Tail or multi + mov Temp1, #Pgm_Direction ; Check if bidirectional operation + mov A, @Temp1 +ENDIF + mov Temp1, #Pgm_Ppm_Min_Throttle ; Min throttle value is in 4us units +IF MODE >= 1 ; Tail or multi + cjne A, #3, ($+5) + + mov Temp1, #Pgm_Ppm_Center_Throttle ; Center throttle value is in 4us units +ENDIF + mov A, @Temp1 + +pca_int_ppm_calculate: + add A, #250 ; Add 1000us to minimum + mov Temp7, A + clr A + addc A, #0 + mov Temp8, A + + clr C + mov A, Temp5 ; Subtract minimum + subb A, Temp7 + mov Temp5, A + mov A, Temp6 + subb A, Temp8 + mov Temp6, A +IF MODE >= 1 ; Tail or multi + mov Bit_Access_Int.0, C + mov Temp1, #Pgm_Direction ; Check if bidirectional operation + mov A, @Temp1 + cjne A, #3, pca_int_ppm_bidir_dir_set ; No - branch + + mov C, Bit_Access_Int.0 + jnc pca_int_ppm_bidir_fwd ; If result is positive - branch + +pca_int_ppm_bidir_rev: + jb Flags3.PGM_DIR_REV, pca_int_ppm_bidir_dir_set ; If same direction - branch + + clr EA ; Direction change, turn off all fets + setb Flags3.PGM_DIR_REV + ajmp pca_int_ppm_bidir_dir_change + +pca_int_ppm_bidir_fwd: + jnb Flags3.PGM_DIR_REV, pca_int_ppm_bidir_dir_set ; If same direction - branch + + clr EA ; Direction change, turn off all fets + clr Flags3.PGM_DIR_REV + +pca_int_ppm_bidir_dir_change: + All_nFETs_Off + All_pFETs_Off + jb Flags1.STARTUP_PHASE, ($+5) ; Do not brake when starting + + setb Flags0.DIR_CHANGE_BRAKE ; Set brake flag + + setb EA +pca_int_ppm_bidir_dir_set: + mov C, Bit_Access_Int.0 +ENDIF + jnc pca_int_ppm_neg_checked ; If result is positive - branch + +IF MODE >= 1 ; Tail or multi + mov A, @Temp1 ; Check if bidirectional operation (Temp1 has Pgm_Direction) + cjne A, #3, pca_int_ppm_unidir_neg ; No - branch + + mov A, Temp5 ; Change sign + cpl A + add A, #1 + mov Temp5, A + mov A, Temp6 + cpl A + addc A, #0 + mov Temp6, A + jmp pca_int_ppm_neg_checked + +pca_int_ppm_unidir_neg: +ENDIF + mov Temp1, #RCP_MIN ; Yes - set to minimum + mov Temp2, #0 + ajmp pca_int_pwm_divide_done + +pca_int_ppm_neg_checked: +IF MODE >= 1 ; Tail or multi + mov Temp1, #Pgm_Direction ; Check if bidirectional operation + mov A, @Temp1 + cjne A, #3, pca_int_ppm_bidir_done ; No - branch + + mov A, Temp5 ; Multiply value by 2 + rlc A + mov Temp5 A + mov A, Temp6 + rlc A + mov Temp6 A + clr C ; Subtract deadband + mov A, Temp5 + subb A, #5 + mov Temp5, A + mov A, Temp6 + subb A, #0 + mov Temp6, A + jnc pca_int_ppm_bidir_done + + mov Temp5, #RCP_MIN + mov Temp6, #0 + +pca_int_ppm_bidir_done: +ENDIF + clr C ; Check that RC pulse is within legal range (max 255) + 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, Temp2 ; Divide by 2 + clr C + rrc A + mov Temp2, A + mov A, Temp1 + rrc A + mov Temp1, A + +pca_int_pwm_divide_done: + jnb Flags3.RCP_PWM_FREQ_12KHZ, pca_int_check_legal_range ; Is RC input pwm frequency 12kHz? + mov A, Temp2 ; Yes - check that value is not more than 255 + jz ($+4) + + mov Temp1, #RCP_MAX + + clr C + mov A, Temp1 ; Multiply by 1.5 + rrc A + addc A, Temp1 + mov Temp1, A + clr A + addc A, #0 + mov Temp2, A + +pca_int_check_legal_range: + ; Check that RC pulse is within legal range + clr C + mov A, Temp1 + subb A, #RCP_MAX + mov A, Temp2 + subb A, #0 + jc pca_int_limited + + mov Temp1, #RCP_MAX + +pca_int_limited: + ; RC pulse value accepted + mov New_Rcp, Temp1 ; Store new pulse length + setb Flags2.RCP_UPDATED ; Set updated flag + jb Flags0.RCP_MEAS_PWM_FREQ, ($+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)+(1 SHL RCP_PWM_FREQ_12KHZ)) + cpl A + anl A, Flags3 ; Clear all pwm frequency flags + orl A, Temp4 ; Store pwm frequency value in flags + mov Flags3, A + clr Flags2.RCP_PPM ; Default, flag is not set (PWM) + clr A + add A, Temp4 ; Check if all flags are cleared + jnz pca_int_set_timeout + + setb Flags2.RCP_PPM ; Set flag (PPM) + +pca_int_set_timeout: + mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; Set timeout count to start value + jnb Flags2.RCP_PPM, pca_int_ppm_timeout_set ; If flag is not set (PWM) - 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, ($+5) ; Is measure RCP pwm frequency flag set? + + ajmp pca_int_exit ; Yes - exit + + jb Flags2.RCP_PPM, pca_int_exit ; If flag is set (PPM) - branch + + Rcp_Int_Disable ; Disable RC pulse interrupt + +pca_int_exit: ; Exit interrupt routine + mov Rcp_Skip_Cnt, #RCP_SKIP_RATE ; Load number of skips + jnb Flags2.RCP_PPM, ($+6) ; If flag is not 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 ET2 ; Enable timer2 interrupts + orl EIE1, #10h ; Enable PCA0 interrupts + reti + + + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Wait xms ~(x*4*250) (Different entry points) +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +wait1ms: + mov Temp2, #1 + jmp waitxms_o + +wait3ms: + mov Temp2, #3 + jmp waitxms_o + +wait10ms: + mov Temp2, #10 + jmp waitxms_o + +wait30ms: + mov Temp2, #30 + jmp waitxms_o + +wait100ms: + mov Temp2, #100 + jmp waitxms_o + +wait200ms: + mov Temp2, #200 + jmp 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 + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; 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 + jmp beep + +beep_f2: ; Entry point 2, load beeper frequency 2 settings + mov Temp3, #14 + mov Temp4, #120 + jmp beep + +beep_f3: ; Entry point 3, load beeper frequency 3 settings + mov Temp3, #12 + mov Temp4, #160 + jmp beep + +beep_f4: ; Entry point 4, load beeper frequency 4 settings + mov Temp3, #9 + mov Temp4, #180 + jmp 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 + 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 + djnz Temp4, beep + BpFET_off ; BpFET off + mov Current_Pwm_Limited, Temp5 ; Restore value + ret + +;**;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Success beep routine +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +success_beep: + clr EA ; Disable all interrupts + call beep_f1 + call beep_f2 + call beep_f3 + call wait10ms + call beep_f1 + call beep_f2 + call beep_f3 + setb EA ; Enable all interrupts + ret + + +;**;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Success beep inverted routine +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +success_beep_inverted: + clr EA ; Disable all interrupts + call beep_f3 + call beep_f2 + call beep_f1 + call wait10ms + call beep_f3 + call beep_f2 + call beep_f1 + call wait10ms + 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 + jnb Flags1.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,($+6) + ljmp fun_par_end + + +function_below_beep: + call beep_f1 + call beep_f1 + call beep_f1 + call wait100ms + djnz Temp7, function_below_beep + ljmp fun_par_end + +paraval_beep: + clr A + mov Temp7,A + + clr C + mov A,Temp8 + subb A,#10 ;参数数 - 10 + jc paraval_no_7 ;<10 + inc Temp7 ;>=10 + inc Temp7 + jz paraval_below_beep + mov Temp8,A ;>=存差 + ajmp paraval_below_beep + +paraval_no_7: + clr C + mov A,Temp8 + subb A,#5 + jc paraval_no_below + inc Temp7 + jz paraval_below_beep + mov Temp8,A ;>=存差 + +paraval_below_beep: + call beep_f2 + call beep_f2 + call beep_f2 + call wait30ms + djnz Temp7,paraval_below_beep + cjne Temp8,#10,($+6) + ljmp fun_par_end + cjne Temp8,#5,($+6) + ljmp fun_par_end + +paraval_no_below: + call wait100ms + call beep_f4 + call wait100ms + djnz Temp8, paraval_no_below +fun_par_end: + setb EA ; Enable all interrupts + + ret + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; 接收一个数据（一个字节） +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +receive_a_byte: + mov Temp8,#0 + mov Commu_Data_Buffer, #0 + mov Temp6, #8 +wait_high: + + Read_Rcp_Int + ; Test RC signal level + jb ACC.Rcp_In,start_t2 + jnb TF1, wait_high +start_t2: + mov TL0, #00h + mov TH0, #00h + setb TR0 ;启动T0 +wait_low: + Read_Rcp_Int + ; Test RC signal level + jnb ACC.Rcp_In, measure_wide + jnb TF1, wait_low +measure_wide: + clr TR0 ;停止T0 + mov New_Rcp, TL0 + clr C + mov A, New_Rcp + subb A, #20 ;40us + jc receive_a_erro_byte ;<80us 错误字节 + + clr C + mov A, New_Rcp + subb A, #78 ;156us + jnc receive_bit_one ;>160us 进行位1判断 + + mov A, Temp8 ;取0 + rl A + mov Temp8, A + ajmp receive_a_byte_exit + +receive_bit_one: + clr C + mov A, New_Rcp + subb A, #102 ;240us + jc receive_a_erro_byte ;160< New_Rcp <240us 错误字节 + + clr C + mov A, New_Rcp + subb A, #204 ;400us + jnc receive_a_erro_byte ;>400us 错误字节 + + mov A, Temp8 ;取1 + rl A + inc A + mov Temp8, A + ajmp receive_a_byte_exit + +receive_a_erro_byte: + setb Flags1.ERRO_DATA + +receive_a_byte_exit: + jnb TF1, ($+7) + + setb Flags1.ERRO_DATA + ajmp ($+6) + + djnz Temp6, wait_high + mov Commu_Data_Buffer, Temp8 +receive_exit: + ret + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; 接收一组数据 +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +receive_bytes: + mov Temp5, #48 + mov Temp2, #Tag_Temporary_Storage ; Set RAM address + mov Commu_Data_Buffer, #0 +wait_receive_bytes: + call receive_a_byte + mov @Temp2, Commu_Data_Buffer + inc Temp2 + djnz Temp5, wait_receive_bytes + + ret + +store_tags: + mov Temp2, #Tag_Temporary_Storage ; Set RAM address + mov Temp5, #48 +store_tag: + cjne Temp5, #45, store_two + mov Temp1, #Pgm_Gov_Mode + jmp store_eep +store_two: + cjne Temp5, #44, store_three + mov Temp1, #Pgm_Low_Voltage_Lim + jmp store_eep +store_three: + cjne Temp5, #43, store_four + mov Temp1, #Pgm_Low_Voltage_Ctl + jmp store_eep +store_four: + cjne Temp5, #40, store_five + mov Temp1, #Pgm_Startup_Pwr + jmp store_eep +store_five: + cjne Temp5, #39, store_six + mov Temp1, #Pgm_Pwm_Freq + jmp store_eep +store_six: + cjne Temp5, #38, store_seven + mov Temp1, #Pgm_Direction + jmp store_eep +store_seven: + cjne Temp5, #28, store_eight + mov Temp1, #Pgm_Comm_Timing + jmp store_eep +store_eight: + cjne Temp5, #27, store_next + mov Temp1, #Pgm_Damping_Force + +store_eep: + mov Commu_Data_Buffer, @Temp2 + mov @Temp1, Commu_Data_Buffer + + call erase_and_store_all_in_eeprom + clr EA + +store_next: + inc Temp2 + djnz Temp5, store_tag + + ret + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; 发送一个数据（一个字节） +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +send_a_byte: + clr EA + setb TR0 ;启动T0 + mov Temp6, #8 + mov A, Commu_Data_Buffer ;读取要发送的数据 +wait_send_a_byte: + setb P0.7 ;发送高电平 + + jnb ACC.7, low_value ;($+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 + djnz Temp6, wait_send_a_byte + + ret + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; 发送一组数据 +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +send_bytes: + clr P0.7 + mov P0MDOUT, #80h ;设置成推挽输出 + mov Temp5, #48 + mov DPTR, #Eep_Pgm_Fir_Key + mov Temp1, #Pgm_Fir_Key +wait_send_bytes: + mov Commu_Data_Buffer, @Temp1 + inc DPTR + inc Temp1 + + call send_a_byte ;逐个字节发送 + + djnz Temp5, wait_send_bytes + 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 + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; 编程卡编程函数 +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +program_by_card: + mov Commu_Data_Buffer, #0 + call wait10ms + clr Flags1.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 Flags1.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 + + ajmp 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 P0MDOUT, #080h + mov Commu_Data_Buffer, #088h + + call send_a_byte ;逐个字节发送 + mov P0MDOUT, #07Fh + setb P0.7 + call store_tags ;存一组数据 + ajmp program_by_card + + 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 == 0 ; Main +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_MAX/10) ; Is pulse below stop value? + jc governor_deactivate ; Yes - deactivate + + mov A, Flags1 + anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) + jnz governor_deactivate ; Deactivate if any startup phase set + + ; Skip speed check if governor is already 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) + mov Temp2, #Pgm_Gov_Range + mov A, @Temp2 ; Check if high range (Temp2 has #Pgm_Gov_Range) + dec A + jz governor_act_lim_set ; If high range - branch + + mov Temp1, #0Ah ; Middle range activation limit value (~31250 eRPM) + dec A + jz governor_act_lim_set ; If middle range - branch + + mov Temp1, #12h ; Low range activation limit value (~17400 eRPM) + +governor_act_lim_set: + clr C + mov A, Comm_Period4x_H + subb A, Temp1 + jc governor_activate ; If speed above min limit - run governor + +governor_deactivate: + mov A, Gov_Active + jz governor_first_deactivate_done; This code is executed continuously. Only execute the code below the first time + + mov Pwm_Limit_Spoolup, Pwm_Spoolup_Beg + mov Spoolup_Limit_Cnt, #255 + mov Spoolup_Limit_Skip, #1 + +governor_first_deactivate_done: + 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 + mov Temp2, #Pgm_Gov_Range + mov A, @Temp2 ; Check high, middle or low range + dec A + jnz calc_governor_target_middle + + 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 + jmp calc_governor_subtract_025 + +calc_governor_target_middle: + mov A, @Temp2 ; Check middle or low range (Temp2 has #Pgm_Gov_Range) + dec A + dec A + jnz 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 + 4*((255-Requested_Pwm)/256)) + rlc A ; Msb to carry + rlc A ; To bit0 + rlc A ; To bit1 + mov Temp2, A ; Now 2 lsbs are valid for H + rrc A + mov Temp1, A ; Now 6 msbs are valid for L + mov A, Temp2 + anl A, #03h ; Calculate H byte + inc A ; Add 1 + mov Temp2, A + mov A, Temp1 + anl A, #0FCh ; Calculate L byte + 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 5 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 +calc_governor_subtract_025: + 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 == 1 ; Tail +calc_governor_target: + ret +ENDIF +IF MODE == 2 ; Multi +calc_governor_target: + mov Temp1, #Pgm_Gov_Mode ; Closed loop mode? + cjne @Temp1, #1, governor_target_calc ; Yes - branch + 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 eRPM, because it is 500n units +;Gov_Mode = 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 +;Gov_Mode = 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 +;Gov_Mode = 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 + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Set pwm limit low rpm +; +; No assumptions +; +; Sets power limit for low rpms and disables demag for low rpms +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +set_pwm_limit_low_rpm: + ; Set pwm limit and demag disable for low rpms + mov Temp1, #0FFh ; Default full power + clr Flags0.DEMAG_ENABLED ; Default disabled + mov A, Flags1 + anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) + jnz set_pwm_limit_low_rpm_exit ; Exit if any startup phase set + + setb Flags0.DEMAG_ENABLED ; Enable demag + clr C + mov A, Comm_Period4x_H + subb A, #0Ah ; ~31250 eRPM + jc set_pwm_demag_done ; If speed above - branch + + clr C + mov A, Current_Pwm_Limited + subb A, #40h ; Do not disable if pwm above 25% + jnc set_pwm_demag_done + + clr Flags0.DEMAG_ENABLED ; Disable demag + +set_pwm_demag_done: + mov A, Comm_Period4x_H + jz set_pwm_limit_low_rpm_exit ; Avoid divide by zero + + mov A, #255 ; Divide 255 by Comm_Period4x_H + mov B, Comm_Period4x_H + div AB + mov B, Low_Rpm_Pwr_Slope ; Multiply by slope + mul AB + mov Temp1, A ; Set new limit + xch A, B + jz ($+4) ; Limit to max + + mov Temp1, #0FFh + + clr C + mov A, Temp1 ; Limit to min + subb A, Pwm_Spoolup_Beg + jnc set_pwm_limit_low_rpm_exit + + mov Temp1, Pwm_Spoolup_Beg + +set_pwm_limit_low_rpm_exit: + mov Pwm_Limit_Low_Rpm, Temp1 + 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: + mov Lipo_Cell_Count, #0 + ; Load programmed low voltage limit + 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 + ; Start adc + Start_Adc + ; Wait for ADC reference to settle, and then start again + call wait1ms + Start_Adc + ; Wait for ADC conversion to complete +measure_lipo_wait_adc: + Get_Adc_Status + jb AD0BUSY, measure_lipo_wait_adc + ; 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 ;4.3V 2015-02-10 + 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 +measure_lipo_cell_loop: + inc Lipo_Cell_Count ;2015-02-05 + ; Check voltage against xS lower limit + clr C + mov A, Temp1 + subb A, Temp3 ; Voltage above limit? + mov A, Temp2 + subb A, Temp4 + jc measure_lipo_adjust ; No - branch + + ; 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 + mov Lipo_Adc_Reference_L, A + mov A, Lipo_Adc_Limit_H + addc A, Temp2 + mov Lipo_Adc_Reference_H, A + ; Divide three times to get to 3.125% + mov Temp3, #2 ;2015-02-10 +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 ;2015-02-10 + jnz measure_lipo_limit_on ; Is low voltage limiting 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 + +measure_lipo_add_loop: + 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 + +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 + 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 + ; Stop ADC + Stop_Adc + + 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 + + mov Adc_Conversion_Cnt, #0 ; Yes - temperature check. Reset counter + mov A, Temp2 ; Move ADC MSB to Temp3 + mov Temp3, A + mov Temp2, #Pgm_Enable_Temp_Prot ; Is temp protection enabled? + mov A, @Temp2 + jz temp_check_exit ; No - branch + + mov A, Temp3 ; 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? + jc temp_check_exit ; Yes - exit + + mov Pwm_Limit, #192 ; No - limit pwm + + clr C + subb A, #TEMP_LIMIT_STEP ; Is temperature below second limit + jc temp_check_exit ; Yes - exit + + mov Pwm_Limit, #128 ; No - limit pwm + + clr C + subb A, #TEMP_LIMIT_STEP ; Is temperature below third limit + jc temp_check_exit ; Yes - exit + + mov Pwm_Limit, #64 ; No - limit pwm + + clr C + subb A, #TEMP_LIMIT_STEP ; Is temperature below final limit + jc temp_check_exit ; Yes - exit + + mov Pwm_Limit, #16 ; No - limit pwm 2015-02-06 + +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, #1 ; Is low voltage limit disabled? + jz check_voltage_good ; Yes - voltage declared good + + ; Check if ADC is saturated + clr C + mov A, Temp1 + subb A, #0FFh + mov A, Temp2 + subb A, #03h + 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 +IF MODE == 0 ; Main + ; Decrease pwm limit + mov A, Pwm_Limit + jz check_voltage_lim ; If limit zero - branch + + dec Pwm_Limit ; Decrement limit + jmp check_voltage_lim +ENDIF +IF MODE == 2 ; multi + mov Temp1, #Pgm_Low_Voltage_Ctl ;Read the control mode + mov A, @Temp1 + clr C + subb A, #1 ; + jz check_voltage_next_way ;Is stop immediately? no - branch + + mov A, Pwm_Limit + subb A, #20 + jnc check_limit_count + setb Flags1.LOW_LIMIT_STOP ;set the flag of control mode 2 + ljmp run_to_wait_for_power_on + +check_voltage_next_way: + ; Decrease pwm limit + mov A, Pwm_Limit + + subb A, #80 ; + jc check_voltage_lim ; If limit <80 - branch + +check_limit_count: + mov A, Limit_Count + jz ($+6) + dec Limit_Count ; 2015-02-06 + ajmp check_voltage_lim + + mov Limit_Count, #5 ; 2015-02-06 + dec Pwm_Limit ; Decrement limit + jmp check_voltage_lim +ENDIF +check_voltage_good: +;restore the counter value + mov Limit_Count, #5 ; 2015-02-06 + ; Increase pwm limit + mov A, Pwm_Limit + cpl A + jz check_voltage_lim ; If limit max - branch + + inc Pwm_Limit ; Increment limit +IF MODE == 2 ; Multi + mov Temp1, #Pgm_Direction ; Check if bidirectional operation + mov A, @Temp1 + cjne A, #3, check_voltage_lim + + mov A, Pwm_Limit + add A, #4 + jc check_voltage_lim ; If limit max - branch + + mov Pwm_Limit, A ; Increment limit two steps more +ENDIF + +check_voltage_lim: + mov Temp1, Pwm_Limit ; Set limit + clr C + mov A, Current_Pwm + subb A, Temp1 + jnc check_voltage_spoolup_lim ; If current pwm above limit - branch and limit + + mov Temp1, Current_Pwm ; Set current pwm (no limiting) + +check_voltage_spoolup_lim: + ; Slow spoolup + clr C + mov A, Temp1 + subb A, Pwm_Limit_Spoolup + jc check_voltage_exit ; If current pwm below limit - branch + + mov Temp1, Pwm_Limit_Spoolup + mov A, Pwm_Limit_Spoolup ; Check if spoolup limit is max + cpl A + jz check_voltage_exit ; If max - branch + + mov Pwm_Limit, Pwm_Limit_Spoolup ; Set pwm limit to spoolup limit during ramp (to avoid governor integral buildup) + +check_voltage_exit: +IF MODE == 0 ; Main + mov Current_Pwm_Limited, Temp1 +ENDIF +IF MODE == 2 ; Multi + ; Set current pwm limited if closed loop mode + mov Temp2, #Pgm_Gov_Mode ; Governor mode? + cjne @Temp2, #1, check_voltage_set_pwm ; Yes - branch + ajmp check_voltage_pwm_done + +check_voltage_set_pwm: + ; Limit pwm for low rpms + clr C + mov A, Temp1 ; Check against limit + subb A, Pwm_Limit_Low_Rpm + jc ($+4) ; If current pwm below limit - branch + + mov Temp1, Pwm_Limit_Low_Rpm ; Limit pwm + + mov Current_Pwm_Limited, Temp1 +check_voltage_pwm_done: +ENDIF +ENDIF +IF MODE == 1 ; Tail + ; Increase pwm limit + mov A, Pwm_Limit + cpl A + jz check_voltage_lim ; If limit max - branch + + inc Pwm_Limit ; Increment limit + +check_voltage_lim: +ENDIF + ; Set adc mux for next conversion + mov A, Adc_Conversion_Cnt ; Is next conversion for temperature? + cjne A, #(TEMP_CHECK_RATE-1), check_voltage_ret + + Set_Adc_Ip_Temp ; Select temp sensor for next conversion + +check_voltage_ret: + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Set startup PWM routine +; +; Either the SETTLE_PHASE or the STEPPER_PHASE flag must be set +; +; Used for pwm control during startup +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +set_startup_pwm: + ; Adjust startup power + mov A, #PWM_START ; Set power + 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 + mov Pwm_Spoolup_Beg, Temp1 ; Yes - update spoolup beginning pwm (will use PWM_SETTLE or PWM_SETTLE/2) + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Initialize all timings routine +; +; No assumptions +; +; Part of initialization before motor start +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +initialize_all_timings: + 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 3 to wait advance timing +; Two entry points are used +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +calc_next_comm_timing: ; Entry point for run phase + ; 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 new commutation time + mov Temp3, Comm_Period4x_L ; Comm_Period4x(-l-h) holds the time of 4 commutations + mov Temp4, Comm_Period4x_H + mov Temp5, Comm_Period4x_L ; Copy variables + mov Temp6, Comm_Period4x_H + mov Temp7, #4 ; Divide Comm_Period4x 4 times as default + mov Temp8, #2 ; Divide new commutation time 2 times as default + clr C + mov A, Temp4 + subb A, #04h + jc ($+4) + + dec Temp7 ; Reduce averaging time constant for low speeds + dec Temp8 + + clr C + mov A, Temp4 + subb A, #08h + jc ($+4) + + dec Temp7 ; Reduce averaging time constant more for even lower speeds + dec Temp8 + +calc_next_comm_avg_period_div: + clr C + mov A, Temp6 + rrc A ; Divide by 2 + mov Temp6, A + mov A, Temp5 + rrc A + mov Temp5, A + djnz Temp7, calc_next_comm_avg_period_div + + clr C + mov A, Temp3 + subb A, Temp5 ; Subtract a fraction + mov Temp3, A + mov A, Temp4 + subb A, Temp6 + mov Temp4, A + mov A, Temp8 ; Divide new time + jz calc_next_comm_new_period_div_done + +calc_next_comm_new_period_div: + clr C + mov A, Temp2 + rrc A ; Divide by 2 + mov Temp2, A + mov A, Temp1 + rrc A + mov Temp1, A + djnz Temp8, calc_next_comm_new_period_div + +calc_next_comm_new_period_div_done: + mov A, Temp3 + add A, Temp1 ; Add the divided 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 and sets up the next zero cross wait +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +wait_advance_timing: + jnb Flags0.T3_PENDING, ($+5) + ajmp wait_advance_timing + + ; Setup next wait time + mov Next_Wt_L, Wt_ZC_Timeout_L + mov Next_Wt_H, Wt_ZC_Timeout_H + setb Flags0.T3_PENDING + orl EIE1, #80h ; Enable timer3 interrupts + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Calculate new wait times routine +; +; No assumptions +; +; Calculates new wait times +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +calc_new_wait_times: + ; Load programmed commutation timing + mov Temp1, #Pgm_Comm_Timing ; Load timing setting + mov A, @Temp1 + mov Temp8, A ; Store in Temp8 + clr C + mov A, Demag_Detected_Metric ; Check demag metric + subb A, #130 + jc ($+3) + + inc Temp8 ; Increase timing + + clr C + mov A, Demag_Detected_Metric + subb A, #160 + jc ($+3) + + inc Temp8 ; Increase timing again + + clr C + mov A, Temp8 ; Limit timing to max + subb A, #6 + jc ($+4) + + mov Temp8, #5 ; Set timing to max + + mov Temp7, #(COMM_TIME_RED SHL 1) + jnb Flags2.PGM_PWMOFF_DAMPED, ($+4) ; More reduction for damped + + inc Temp7 ; Increase more + + clr C + mov A, Comm_Period4x_H ; More reduction for higher rpms + subb A, #3 ; 104k eRPM + jnc calc_new_wait_per_low + + inc Temp7 ; Increase + inc Temp7 + + jnb Flags2.PGM_PWMOFF_DAMPED, ($+5) ; More reduction for damped + + inc Temp7 ; Increase more + inc Temp7 + +calc_new_wait_per_low: + clr C + mov A, Comm_Period4x_H ; More reduction for higher rpms + subb A, #2 ; 156k eRPM + jnc calc_new_wait_per_high + + inc Temp7 ; Increase more + inc Temp7 + + jnb Flags2.PGM_PWMOFF_DAMPED, ($+5) ; More reduction for damped + + inc Temp7 ; Increase more + inc Temp7 + +calc_new_wait_per_high: + ; 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 + mov Wt_Zc_Timeout_L, Temp1 ; Set 15deg time for zero cross scan timeout + mov Wt_Zc_Timeout_H, Temp2 + 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 + + mov A, Temp1 ; Add 7.5deg and store in Temp1/2 + add A, Temp5 + mov Temp1, A + mov A, Temp2 + addc A, Temp6 + mov Temp2, A + mov A, Temp5 ; Store 7.5deg in Temp3/4 + mov Temp3, A + mov A, Temp6 + mov Temp4, A + jmp store_times_up_or_down + +adjust_timing_two_steps: + mov A, Temp1 ; Add 15deg and store in Temp1/2 + add A, Temp1 + mov Temp1, A + mov A, Temp2 + addc A, Temp2 + mov Temp2, A + clr C + mov A, Temp1 + subb A, #(COMM_TIME_MIN SHL 1) + mov Temp1, A + mov A, Temp2 + subb A, #0 + 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 + +store_times_increase: + mov Wt_Comm_L, Temp3 ; Now commutation time (~60deg) divided by 4 (~15deg nominal) + mov Wt_Comm_H, Temp4 + mov Wt_Advance_L, Temp1 ; New commutation advance time (~15deg nominal) + mov Wt_Advance_H, Temp2 + mov Wt_Zc_Scan_L, Temp5 ; Use this value for zero cross scan delay (7.5deg) + mov Wt_Zc_Scan_H, Temp6 + ret + +store_times_decrease: + mov Wt_Comm_L, Temp1 ; Now commutation time (~60deg) divided by 4 (~15deg nominal) + mov Wt_Comm_H, Temp2 + mov Wt_Advance_L, Temp3 ; New commutation advance time (~15deg nominal) + mov Wt_Advance_H, Temp4 + mov Wt_Zc_Scan_L, Temp5 ; Use this value for zero cross scan delay (7.5deg) + 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 3 for the zero cross scan timeout time +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +wait_before_zc_scan: + jnb Flags0.T3_PENDING, ($+5) + ajmp wait_before_zc_scan + + setb Flags0.T3_PENDING + orl EIE1, #80h ; Enable timer3 interrupts + mov A, Flags1 + anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) + jz wait_before_zc_exit + + mov Temp1, Comm_Period4x_L ; Set long timeout when starting + mov Temp2, Comm_Period4x_H + mov TMR3CN, #00h ; Timer3 disabled + clr C + clr A + subb A, Temp1 ; Set timeout + mov TMR3L, A + clr A + subb A, Temp2 + mov TMR3H, A + mov TMR3CN, #04h ; Timer3 enabled + setb Flags0.T3_PENDING + anl TMR3CN, #07Fh ; Clear interrupt flag + orl EIE1, #80h ; Enable timer3 interrupts + +wait_before_zc_exit: + 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: + setb Flags0.DEMAG_DETECTED ; Set demag detected flag as default + mov Comparator_Read_Cnt, #0 ; Reset number of comparator reads + mov Bit_Access, #00h ; Desired comparator output + jmp wait_for_comp_out_start + +wait_for_comp_out_high: + setb Flags0.DEMAG_DETECTED ; Set demag detected flag as default + mov Comparator_Read_Cnt, #0 ; Reset number of comparator reads + mov Bit_Access, #40h ; Desired comparator output + +wait_for_comp_out_start: + mov A, Flags1 ; Clear demag detected flag if start phases + anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) + jz ($+4) + + clr Flags0.DEMAG_DETECTED + + setb EA ; Enable interrupts + jb Flags0.T3_PENDING, wait_for_comp_out_not_timed_out; Has zero cross scan timeout elapsed? + + mov A, Comparator_Read_Cnt ; Check that comparator has been read + jz wait_for_comp_out_not_timed_out ; If not read - branch + + ret ; Return + + +wait_for_comp_out_not_timed_out: + ; Set default comparator response times + mov CPT0MD, #0 ; Set fast response (100ns) as default +IF COMP1_USED==1 + mov CPT1MD, #0 ; Set fast response (100ns) as default +ENDIF + ; Set number of comparator readings + mov Temp1, #1 + mov Temp3, #2 + clr C ; Set number of readings higher for lower speeds + mov A, Comm_Period4x_H + subb A, #05h + jc ($+4) + + mov Temp1, #2 + + clr C + mov A, Comm_Period4x_H + subb A, #0Ah + jc ($+4) + + mov Temp1, #3 + + clr C ; Set number of consecutive readings higher for lower speeds + mov A, Comm_Period4x_H + subb A, #0Fh + jc ($+4) + + mov Temp3, #3 + + jnb Flags1.STARTUP_PHASE, comp_wait_on_comp_able ; Set many samples during startup + + mov Temp1, #15 ;2015.03.28 + mov Temp3, #1 ;2015.03.28 + 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, comp_wait_on_comp_able_not_timed_out ; Has zero cross scan timeout elapsed? + + mov A, Comparator_Read_Cnt ; Check that comparator has been read + jz comp_wait_on_comp_able_not_timed_out ; If not read - branch + + setb EA ; Enable interrupts + ret ; Yes - return + + +comp_wait_on_comp_able_not_timed_out: + setb EA ; Enable interrupts + nop ; Allocate only just enough time to capture interrupt + nop + clr EA ; Disable interrupts + clr C + mov A, Comm_Period4x_H ; Reduce required distance to pwm transition for higher speeds + mov Temp4, A + subb A, #0Fh + jc ($+4) + + mov Temp4, #0Fh + + mov A, Temp4 + inc A + jnb Flags2.PGM_PWM_HIGH_FREQ, ($+4) ; More delay for high pwm frequency + + rl A + + jb Flags0.PWM_ON, ($+4) ; More delay for pwm off + + rl A + + mov Temp2, A + jnb Flags1.STARTUP_PHASE, ($+5) ; Set a long delay from pwm on/off events during startup + + mov Temp2, #100 ;2015.03.28 + + clr C + mov A, TL1 + subb A, Temp2 + jc comp_wait_on_comp_able ; Re-evaluate pwm cycle + + inc Comparator_Read_Cnt ; Increment comparator read count + mov A, Temp3 + mov Temp4, A +read_comp_loop: + Read_Comp_Out ; Read comparator output + anl A, #40h + cjne A, Bit_Access, comp_read_wrong + djnz Temp4, read_comp_loop ; Decrement readings count + ajmp comp_read_ok + +comp_read_wrong: + jb Flags0.DEMAG_DETECTED, ($+5) + ajmp wait_for_comp_out_start ; If comparator output is not correct, and timeout already extended - go back and restart + + clr Flags0.DEMAG_DETECTED ; Clear demag detected flag + mov TMR3CN, #00h ; Timer3 disabled + clr C + clr A + subb A, Comm_Period4x_L ; Set timeout to zero comm period 4x value + mov TMR3L, A + clr A + subb A, Comm_Period4x_H + mov TMR3H, A + mov TMR3CN, #04h ; Timer3 enabled + setb Flags0.T3_PENDING + anl TMR3CN, #07Fh ; Clear interrupt flag in case there are pending interrupts + orl EIE1, #80h ; Enable timer3 interrupts + ajmp wait_for_comp_out_start ; If comparator output is not correct - go back and restart + +comp_read_ok: + jnb Flags0.DEMAG_DETECTED, ($+5) ; Do not accept correct comparator output if it is demag + ajmp wait_for_comp_out_start + + 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: + jnb Flags1.STARTUP_PHASE, eval_comp_check_timeout + + inc Startup_Ok_Cnt ; Increment ok counter + jb Flags0.T3_PENDING, eval_comp_exit + + mov 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? + jb Flags0.DEMAG_DETECTED, eval_comp_exit ; Do not exit run mode if it is a demag situation + jb Flags0.DIR_CHANGE_BRAKE, eval_comp_exit ; Do not exit run mode if it is a direction change brake + 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 + anl TMR3CN, #07Fh ; Clear interrupt flag + 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 + ; Setup next wait time + mov Next_Wt_L, Wt_Advance_L + mov Next_Wt_H, Wt_Advance_H + setb Flags0.T3_PENDING + orl EIE1, #80h ; Enable timer3 interrupts + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Wait for commutation routine +; +; No assumptions +; +; Waits from zero cross to commutation +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +wait_for_comm: + ; Update demag metric + mov Temp1, #0 + jnb Flags0.DEMAG_ENABLED, ($+8); If demag disabled - branch + jnb Flags0.DEMAG_DETECTED, ($+5) + + mov Temp1, #1 + + mov A, Demag_Detected_Metric ; Sliding average of 8, 256 when demag and 0 when not. Limited to minimum 120 + mov B, #7 + mul AB ; Multiply by 7 + mov Temp2, A + mov A, B ; Add new value for current demag status + add A, Temp1 + mov B, A + mov A, Temp2 + mov C, B.0 ; Divide by 8 + rrc A + mov C, B.1 + rrc A + mov C, B.2 + rrc A + mov Demag_Detected_Metric, A + clr C + subb A, #120 ; Limit to minimum 120 + jnc ($+5) + + mov Demag_Detected_Metric, #120 + + clr C + mov A, Demag_Detected_Metric ; Check demag metric + subb A, Demag_Pwr_Off_Thresh + jc wait_for_comm_wait ; Cut power if many consecutive demags. This will help retain sync during hard accelerations + + setb Flags0.DEMAG_CUT_POWER ; Set demag power cut flag + All_nFETs_off + +wait_for_comm_wait: + jnb Flags0.T3_PENDING, ($+5) + ajmp wait_for_comm_wait + + ; Setup next wait time + mov Next_Wt_L, Wt_Zc_Scan_L + mov Next_Wt_H, Wt_Zc_Scan_H + setb Flags0.T3_PENDING + orl EIE1, #80h ; Enable timer3 interrupts + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Commutation routines +; +; No assumptions +; +; Performs commutation switching +; Damped routines uses all pfets on when in pwm off to dampen the motor +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +comm1comm2: + Set_RPM_Out + clr EA ; Disable all interrupts + All_pFETs_off ; All pfets off + jnb Flags2.PGM_PWMOFF_DAMPED, comm12_nondamp + mov DPTR, #pwm_cnfet_apfet_on + mov A, #NFETON_DELAY ; Delay + djnz ACC, $ + jmp comm12_prech_done ; Do not do precharge when running damped +comm12_nondamp: +IF HIGH_DRIVER_PRECHG_TIME NE 0 ; Precharge high side gate driver + mov A, Comm_Period4x_H + anl A, #0F8h ; Check if comm period is less than 8 + jz comm12_prech_done + AnFET_on + mov A, #HIGH_DRIVER_PRECHG_TIME + djnz ACC, $ + AnFET_off + mov A, #PFETON_DELAY + djnz ACC, $ +ENDIF +comm12_prech_done: + ApFET_on ; Ap on + Set_Comp_Phase_B ; Set comparator to phase B + mov Comm_Phase, #2 + jmp comm_exit + +comm2comm3: + Clear_RPM_Out + clr EA ; Disable all interrupts + CnFET_off ; Cn off + jnb Flags2.PGM_PWMOFF_DAMPED, comm23_nondamp + mov DPTR, #pwm_bnfet_apfet_on + BpFET_off + CpFET_off + mov A, #NFETON_DELAY ; Delay + djnz ACC, $ + jmp comm23_nfet +comm23_nondamp: + mov DPTR, #pwm_bfet_on +comm23_nfet: + 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 + jmp comm_exit + +comm3comm4: + clr EA ; Disable all interrupts + All_pFETs_off ; All pfets off + jnb Flags2.PGM_PWMOFF_DAMPED, comm34_nondamp + mov DPTR, #pwm_bnfet_cpfet_on + mov A, #NFETON_DELAY ; Delay + djnz ACC, $ + jmp comm34_prech_done ; Do not do precharge when running damped +comm34_nondamp: +IF HIGH_DRIVER_PRECHG_TIME NE 0 ; Precharge high side gate driver + mov A, Comm_Period4x_H + anl A, #0F8h ; Check if comm period is less than 8 + jz comm34_prech_done + CnFET_on + mov A, #HIGH_DRIVER_PRECHG_TIME + djnz ACC, $ + CnFET_off + mov A, #PFETON_DELAY + djnz ACC, $ +ENDIF +comm34_prech_done: + CpFET_on ; Cp on + Set_Comp_Phase_A ; Set comparator to phase A + mov Comm_Phase, #4 + jmp comm_exit + +comm4comm5: + clr EA ; Disable all interrupts + BnFET_off ; Bn off + jnb Flags2.PGM_PWMOFF_DAMPED, comm45_nondamp + mov DPTR, #pwm_anfet_cpfet_on + ApFET_off + BpFET_off + mov A, #NFETON_DELAY ; Delay + djnz ACC, $ + jmp comm45_nfet +comm45_nondamp: + mov DPTR, #pwm_afet_on +comm45_nfet: + 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 + jmp comm_exit + +comm5comm6: + clr EA ; Disable all interrupts + All_pFETs_off ; All pfets off + jnb Flags2.PGM_PWMOFF_DAMPED, comm56_nondamp + mov DPTR, #pwm_anfet_bpfet_on + mov A, #NFETON_DELAY ; Delay + djnz ACC, $ + jmp comm56_prech_done ; Do not do precharge when running damped +comm56_nondamp: +IF HIGH_DRIVER_PRECHG_TIME NE 0 ; Precharge high side gate driver + mov A, Comm_Period4x_H + anl A, #0F8h ; Check if comm period is less than 8 + jz comm56_prech_done + BnFET_on + mov A, #HIGH_DRIVER_PRECHG_TIME + djnz ACC, $ + BnFET_off + mov A, #PFETON_DELAY + djnz ACC, $ +ENDIF +comm56_prech_done: + BpFET_on ; Bp on + Set_Comp_Phase_C ; Set comparator to phase C + mov Comm_Phase, #6 + jmp comm_exit + +comm6comm1: + clr EA ; Disable all interrupts + AnFET_off ; An off + jnb Flags2.PGM_PWMOFF_DAMPED, comm61_nondamp + mov DPTR, #pwm_cnfet_bpfet_on + ApFET_off + CpFET_off + mov A, #NFETON_DELAY ; Delay + djnz ACC, $ + jmp comm61_nfet +comm61_nondamp: + mov DPTR, #pwm_cfet_on +comm61_nfet: + 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 + +comm_exit: +IF MODE >= 1 ; Tail or multi + jnb Flags0.DIR_CHANGE_BRAKE, comm_dir_change_done ; Is it a direction change? + + call switch_power_off ; Switch off power + mov A, #NFETON_DELAY ; Delay + djnz ACC, $ + mov A, #PFETON_DELAY ; Delay + djnz ACC, $ + All_pFETs_on ; All pfets on - Break + +comm_dir_change_done: +ENDIF + clr Flags0.DEMAG_CUT_POWER ; Clear demag power cut flag + 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_nFETs_Off ; Turn off all nfets + All_pFETs_Off ; Turn off all pfets + clr Flags0.PWM_ON ; Set pwm cycle to pwm off + 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 + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_I_GAIN + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_GOVERNOR_MODE + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_LOW_VOLTAGE_LIM + inc Temp1 + mov @Temp1, #0FFh ; Motor gain + inc Temp1 + mov @Temp1, #0FFh ; Motor idle + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_PWR + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_PWM_FREQ + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_DIRECTION + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_RCP_PWM_POL + + mov Temp1, #Pgm_Enable_TX_Program + mov @Temp1, #DEFAULT_PGM_ENABLE_TX_PROGRAM + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_REARM_START + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_GOV_SETUP_TARGET + inc Temp1 + mov @Temp1, #0FFh ; Startup rpm + inc Temp1 + mov @Temp1, #0FFh ; Startup accel + inc Temp1 + mov @Temp1, #0FFh ; Voltage comp + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_COMM_TIMING + inc Temp1 + mov @Temp1, #0FFh ; Damping force + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_GOVERNOR_RANGE + inc Temp1 + mov @Temp1, #0FFh ; Startup method + inc Temp1 + mov @Temp1, #DEFAULT_PGM_PPM_MIN_THROTTLE + inc Temp1 + mov @Temp1, #DEFAULT_PGM_PPM_MAX_THROTTLE + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_BEEP_STRENGTH + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_BEACON_STRENGTH + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_BEACON_DELAY + inc Temp1 + mov @Temp1, #0FFh ; Throttle rate + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_DEMAG_COMP + inc Temp1 + mov @Temp1, #DEFAULT_PGM_BEC_VOLTAGE_HIGH + inc Temp1 + mov @Temp1, #DEFAULT_PGM_PPM_CENTER_THROTTLE + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAIN_SPOOLUP_TIME + inc Temp1 + mov @Temp1, #DEFAULT_PGM_ENABLE_TEMP_PROT +ENDIF +IF MODE == 1 ; Tail + mov Temp1, #Pgm_Gov_P_Gain + mov @Temp1, #0FFh + inc Temp1 + mov @Temp1, #0FFh ; Governor I gain + inc Temp1 + mov @Temp1, #0FFh ; Governor mode + inc Temp1 + mov @Temp1, #0FFh ; Low voltage limit + inc Temp1 + mov @Temp1, #DEFAULT_PGM_TAIL_GAIN + inc Temp1 + mov @Temp1, #DEFAULT_PGM_TAIL_IDLE_SPEED + inc Temp1 + mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_PWR + inc Temp1 + mov @Temp1, #DEFAULT_PGM_TAIL_PWM_FREQ + inc Temp1 + mov @Temp1, #DEFAULT_PGM_TAIL_DIRECTION + inc Temp1 + mov @Temp1, #DEFAULT_PGM_TAIL_RCP_PWM_POL + + mov Temp1, #Pgm_Enable_TX_Program + mov @Temp1, #DEFAULT_PGM_ENABLE_TX_PROGRAM + inc Temp1 + mov @Temp1, #0FFh ; Main rearm start + inc Temp1 + mov @Temp1, #0FFh ; Governor setup target + inc Temp1 + mov @Temp1, #0FFh ; Startup rpm + inc Temp1 + mov @Temp1, #0FFh ; Startup accel + inc Temp1 + mov @Temp1, #0FFh ; Voltage comp + inc Temp1 + mov @Temp1, #DEFAULT_PGM_TAIL_COMM_TIMING + inc Temp1 + mov @Temp1, #0FFh ; Damping force + inc Temp1 + mov @Temp1, #0FFh ; Governor range + inc Temp1 + mov @Temp1, #0FFh ; Startup method + inc Temp1 + mov @Temp1, #DEFAULT_PGM_PPM_MIN_THROTTLE + inc Temp1 + mov @Temp1, #DEFAULT_PGM_PPM_MAX_THROTTLE + inc Temp1 + mov @Temp1, #DEFAULT_PGM_TAIL_BEEP_STRENGTH + inc Temp1 + mov @Temp1, #DEFAULT_PGM_TAIL_BEACON_STRENGTH + inc Temp1 + mov @Temp1, #DEFAULT_PGM_TAIL_BEACON_DELAY + inc Temp1 + mov @Temp1, #0FFh ; Throttle rate + inc Temp1 + mov @Temp1, #DEFAULT_PGM_TAIL_DEMAG_COMP + inc Temp1 + mov @Temp1, #DEFAULT_PGM_BEC_VOLTAGE_HIGH + inc Temp1 + mov @Temp1, #DEFAULT_PGM_PPM_CENTER_THROTTLE + inc Temp1 + mov @Temp1, #0FFh + inc Temp1 + mov @Temp1, #DEFAULT_PGM_ENABLE_TEMP_PROT +ENDIF +IF MODE == 2 ; Multi + mov Temp1, #Pgm_Fir_Key ;2015-02-06 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_MULTI_P_GAIN + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_I_GAIN + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_GOVERNOR_MODE + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_LOW_VOLTAGE_CTL + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_GAIN + inc Temp1 + mov @Temp1, #0FFh + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_PWR + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_PWM_FREQ + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_DIRECTION + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_RCP_PWM_POL + + mov Temp1, #Pgm_Enable_TX_Program + mov @Temp1, #DEFAULT_PGM_ENABLE_TX_PROGRAM + inc Temp1 + mov @Temp1, #0FFh ; Main rearm start + inc Temp1 + mov @Temp1, #0FFh ; Governor setup target + inc Temp1 + mov @Temp1, #0FFh ; Startup rpm + inc Temp1 + mov @Temp1, #0FFh ; Startup accel + inc Temp1 + mov @Temp1, #0FFh ; Voltage comp + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_COMM_TIMING + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_DAMPING_FORCE ; Damping force + inc Temp1 + mov @Temp1, #0FFh ; Governor range + inc Temp1 + mov @Temp1, #0FFh ; Startup method + inc Temp1 + mov @Temp1, #DEFAULT_PGM_PPM_MIN_THROTTLE + inc Temp1 + mov @Temp1, #DEFAULT_PGM_PPM_MAX_THROTTLE + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_BEEP_STRENGTH + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_BEACON_STRENGTH + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_BEACON_DELAY + inc Temp1 + mov @Temp1, #0FFh ; Throttle rate + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MULTI_DEMAG_COMP + inc Temp1 + mov @Temp1, #DEFAULT_PGM_BEC_VOLTAGE_HIGH + inc Temp1 + mov @Temp1, #DEFAULT_PGM_PPM_CENTER_THROTTLE + inc Temp1 + mov @Temp1, #0FFh + inc Temp1 + mov @Temp1, #DEFAULT_PGM_ENABLE_TEMP_PROT +ENDIF + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Decode parameters +; +; No assumptions +; +; Decodes programming parameters +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +decode_parameters: + ; Load programmed Damping Force + mov Temp1, #Pgm_Damping_Force ; Load pwm freq + mov A, @Temp1 + mov Temp8, A ; Store in Temp8 + clr Flags2.PGM_PWMOFF_DAMPED +IF DAMPED_MODE_ENABLE == 1 + cjne Temp8, #1, ($+5) + ajmp ($+4) + setb Flags2.PGM_PWMOFF_DAMPED +ENDIF + ; Load programmed pwm frequency + mov Temp1, #Pgm_Pwm_Freq ; Load pwm freq + mov A, @Temp1 + mov Temp8, A ; Store in Temp8 + ; Load programmed direction + mov Temp1, #Pgm_Direction +IF MODE >= 1 ; Tail or multi + mov A, @Temp1 + clr C + subb A, #3 + jz decode_params_dir_set +ENDIF + + clr Flags3.PGM_DIR_REV + mov A, @Temp1 + jnb ACC.1, ($+5) + setb Flags3.PGM_DIR_REV +decode_params_dir_set: + clr Flags3.PGM_RCP_PWM_POL + mov Temp1, #Pgm_Input_Pol + mov A, @Temp1 + jnb ACC.1, ($+5) + setb Flags3.PGM_RCP_PWM_POL + clr C + mov A, Temp8 + subb A, #1 ;2015-02-10 + jz decode_pwm_freq_low + + mov CKCON, #01h ; Timer0 set for clk/4 (22kHz pwm) + setb Flags2.PGM_PWM_HIGH_FREQ + jmp decode_pwm_freq_end + +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 + 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 + mov Temp1, #Pgm_Gov_I_Gain ; Decode governor I 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 startup power +; +; No assumptions +; +; Decodes startup power +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +decode_startup_power: + ; Decode 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 main spoolup time +; +; No assumptions +; +; Decodes main spoolup time +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +decode_main_spoolup_time: +IF MODE == 0 ; Main + ; Decode spoolup time + mov Temp1, #Pgm_Main_Spoolup_Time + mov A, @Temp1 + mov Temp1, A ; Store + jnz ($+3) ; If not zero - branch + + inc Temp1 + + clr C + mov A, Temp1 + subb A, #17 ; Limit to 17 max + jc ($+4) + + mov Temp1, #17 + + mov A, Temp1 + add A, Temp1 + add A, Temp1 ; Now 3x + mov Main_Spoolup_Time_3x, A + add A, Main_Spoolup_Time_3x + add A, Main_Spoolup_Time_3x + add A, Temp1 ; Now 10x + mov Main_Spoolup_Time_10x, A + add A, Main_Spoolup_Time_3x + add A, Temp1 + add A, Temp1 ; Now 15x + mov Main_Spoolup_Time_15x, A +ENDIF + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Decode demag compensation +; +; No assumptions +; +; Decodes demag comp +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +decode_demag_comp: + ; Decode demag compensation + mov Temp1, #Pgm_Demag_Comp + mov A, @Temp1 + mov Demag_Pwr_Off_Thresh, #255 ; Set default + mov Low_Rpm_Pwr_Slope, #12 ; Set default + cjne A, #2, decode_demag_high + + mov Demag_Pwr_Off_Thresh, #160 ; Settings for demag comp low + mov Low_Rpm_Pwr_Slope, #10 + +decode_demag_high: + cjne A, #3, decode_demag_done + + mov Demag_Pwr_Off_Thresh, #130 ; Settings for demag comp high + mov Low_Rpm_Pwr_Slope, #5 + +decode_demag_done: + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Set BEC voltage +; +; No assumptions +; +; Sets the BEC output voltage low or high +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +set_bec_voltage: + ; Set bec voltage +IF HIGH_BEC_VOLTAGE == 1 + Set_BEC_Lo ; Set default to low + 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 +IF HIGH_BEC_VOLTAGE == 2 + Set_BEC_0 ; Set default to low + mov Temp1, #Pgm_BEC_Voltage_High + mov A, @Temp1 + cjne A, #1, set_bec_voltage_2 + + Set_BEC_1 ; Set to level 1 + +set_bec_voltage_2: + cjne A, #2, set_bec_voltage_exit + + Set_BEC_2 ; Set to level 2 + +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 + 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 ($+4) + + mov Temp5, #130 + + ; Find gain + mov Ppm_Throttle_Gain, #0 +test_throttle_gain: + inc Ppm_Throttle_Gain + mov A, Temp5 + mov B, Ppm_Throttle_Gain ; A has difference, B has gain + mul AB + clr C + mov A, B + subb A, #128 + jc test_throttle_gain + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Average throttle +; +; Outputs result in Temp3 +; +; Averages throttle calibration readings +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +average_throttle: + setb Flags3.FULL_THROTTLE_RANGE ; Set range to 1000-2020us + call find_throttle_gain ; Set throttle gain + call wait30ms + mov Temp3, #0 + mov Temp4, #0 + mov Temp5, #16 ; Average 16 measurments +average_throttle_meas: + call wait3ms ; Wait for new RC pulse value + mov A, New_Rcp ; Get new RC pulse value + add A, Temp3 + mov Temp3, A + mov A, #0 + addc A, Temp4 + mov Temp4, A + djnz Temp5, average_throttle_meas + + mov Temp5, #4 ; Shift 4 times +average_throttle_div: + clr C + mov A, Temp4 ; Shift right + rrc A + mov Temp4, A + mov A, Temp3 + rrc A + mov Temp3, A + djnz Temp5, average_throttle_div + + mov Temp7, A ; Copy to Temp7 + clr Flags3.FULL_THROTTLE_RANGE + call find_throttle_gain ; Set throttle gain + ret + + + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +;**** **** **** **** **** **** **** **** **** **** **** **** **** +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Main program start +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +;**** **** **** **** **** **** **** **** **** **** **** **** **** +;**** **** **** **** **** **** **** **** **** **** **** **** **** + +reset: + ; Check flash lock byte + mov A, RSTSRC + jb ACC.6, ($+6) ; Check if flash access error was reset source + + mov Bit_Access, #0 ; No - then this is the first try + + inc Bit_Access + mov DPTR, #LOCK_BYTE_ADDRESS_16K ; First try is for 16k flash size + mov A, Bit_Access + dec A + jz lock_byte_test + + mov DPTR, #LOCK_BYTE_ADDRESS_8K ; Second try is for 8k flash size + dec A + jz lock_byte_test + +lock_byte_test: + movc A, @A+DPTR ; Read lock byte + inc A + jz lock_byte_ok ; If lock byte is 0xFF, then start code execution + +IF ONE_S_CAPABLE == 0 + mov RSTSRC, #12h ; Generate hardware reset and set VDD monitor +ELSE + mov RSTSRC, #10h ; Generate hardware reset and disable VDD monitor +ENDIF + +lock_byte_ok: + ; 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 + call wait1ms ; Wait at least 100us +IF ONE_S_CAPABLE == 0 + mov RSTSRC, #02h ; Set VDD monitor as a reset source (PORSF) if not 1S capable +ELSE + mov RSTSRC, #00h ; Do not set VDD monitor as a reset source for 1S ESCSs, in order to avoid resets due to it +ENDIF + ; 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: + ; Switch power off + call switch_power_off + ; 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 + ; Initialize the XBAR and related functionality + Initialize_Xbar + ; 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 startup power + call decode_startup_power + ; Decode main spoolup time + call decode_main_spoolup_time + ; 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 + 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 + clr EA ; Disable interrupts explicitly +;remove Initializing beep 2015-02-05 +; call wait200ms +; call beep_f1 +; call wait30ms +; call beep_f2 +; call wait30ms +; call beep_f3 +; call wait30ms + + ; Wait for receiver to initialize +IF MODE <= 1 ; Main or tail + call wait1s + call wait200ms + call wait200ms + call wait100ms +ENDIF + + ; 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 + ; Initialize comparator + mov CPT0CN, #80h ; Comparator enabled, no hysteresis + mov CPT0MD, #00h ; Comparator response time 100ns +IF COMP1_USED == 1 + mov CPT1CN, #80h ; Comparator enabled, no hysteresis + mov CPT1MD, #00h ; Comparator response time 100ns +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_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 + + ; Measure PWM frequency +measure_pwm_freq_init: + setb Flags0.RCP_MEAS_PWM_FREQ ; Set measure pwm frequency flag +measure_pwm_freq_start: + mov Temp3, #15 ; Number of pulses to measure +measure_pwm_freq_loop: + ; Check if period diff was accepted + mov A, Rcp_Period_Diff_Accepted + jnz measure_pwm_freq_next + + mov A, Initial_Arm ; Yes - check if it is initial arm sequence + clr C + subb A, #1 ; Is it the initial arm sequence? + jc measure_pwm_freq_res_count ; Yes - proceed + + clr C + mov A, Pgm_Card_Sig_Count + subb A, #100 + jc measure_pwm_freq_start + + 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 + + +measure_pwm_freq_res_count: + mov Temp3, #15 ; Reset number of pulses to measure +measure_pwm_freq_next: + jnb Flags2.RCP_UPDATED, $ ; Is there an updated RC pulse available? + clr Flags2.RCP_UPDATED ; Flag that pulse has been evaluated + 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)+(1 SHL RCP_PWM_FREQ_12KHZ)) + 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 + ; Test whether signal is OnShot125 + clr Flags2.RCP_PPM_ONESHOT125 ; Clear OneShot125 flag + mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter + call wait100ms ; Wait for new RC pulse + jnb Flags2.RCP_PPM, validate_rcp_start ; If flag is not set (PWM) - branch + + clr C + mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal PPM range (800-2160us) + subb A, #10 + jc validate_rcp_start + + setb Flags2.RCP_PPM_ONESHOT125 ; Set OneShot125 flag + + ; Validate RC pulse +validate_rcp_start: + call wait3ms ; Wait for next pulse (NB: Uses Temp1/2!) + mov Temp1, #RCP_VALIDATE ; Set validate level as default + jnb Flags2.RCP_PPM, ($+5) ; If flag is not set (PWM) - branch + + mov Temp1, #0 ; Set level to zero for PPM (any level will be accepted) + + clr C + mov A, New_Rcp ; Load value + subb A, Temp1 ; Higher than validate level? + jc validate_rcp_start ; No - start over + + ; Beep arm sequence start signal +;remove Beep arm sequence start signal 2015-02-05 +; clr EA ; Disable all interrupts +; call beep_f1 ; Signal that RC pulse is ready +; call beep_f1 +; call beep_f1 +; setb EA ; Enable all interrupts + call wait200ms + + ; Arming sequence start + mov Gov_Arm_Target, #0 ; Clear governor arm target +arming_start: +IF MODE >= 1 ; Tail or multi + mov Temp1, #Pgm_Direction ; Check if bidirectional operation + mov A, @Temp1 + cjne A, #3, ($+5) + + ajmp program_by_tx_checked ; Disable tx programming if bidirectional operation +ENDIF + + call wait3ms + mov Temp1, #Pgm_Enable_TX_Program; 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 + +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 + jb Flags2.RCP_PPM, throttle_high_cal_start ; If flag is set (PPM) - branch + + ; PWM tx program entry + clr C + mov A, New_Rcp ; Load new RC pulse value + 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? + jnc program_by_tx_entry_pwm ; No - start over + +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 + + jmp program_by_tx ; Yes - enter programming mode + + ; PPM throttle calibration and tx program entry +throttle_high_cal_start: +IF MODE <= 1 ; Main or tail + mov Temp8, #5 ; Set 3 seconds wait time +ELSE + mov Temp8, #20 ; Set 2 seconds wait time +ENDIF +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 +; mov Temp7, New_Rcp ; Store new RC pulse value + clr C + mov A, New_Rcp ; Load new RC pulse value + subb A, #220 ; Is RC pulse above midstick? Is RC pulse above 1880us? + setb EA ; Enable interrupts + jc ($+6) ;yes- +; jc arm_target_updated ; No - branch + djnz Temp8, throttle_high_cal + ajmp throttle_high_cal_save +;check min throttle 2015-02-05 + clr C + mov A, New_Rcp ; Load new RC pulse value + subb A, Min_Throttle ; Is RC pulse below min throttle? + jnc ($+4) + ajmp arm_target_updated ; No - branch + + call wait1ms + clr EA ; Disable all interrupts + call beep_f1 + call wait100ms + setb EA ; Enable all interrupts + ajmp throttle_high_cal_start +;save max RC pulse +throttle_high_cal_save: + call average_throttle + 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 wait200ms + call erase_and_store_all_in_eeprom +;max throttle store beep + clr EA + call beep_f1 + call beep_f1 + call wait30ms + call beep_f4 + call beep_f4 + setb EA + +wait_program_ppm: + mov Temp8,#20 +wait_program_by_tx_entry_ppm: + call wait100ms + call find_throttle_gain ; Set throttle gain + clr C + mov A, New_Rcp ; Load new RC pulse value + subb A, #215 ;Is RC pulse above midstick? + jc ($+6) + djnz Temp8,wait_program_by_tx_entry_ppm + ajmp 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_program_ppm + ajmp throttle_low_cal_start + +program_by_tx_entry_wait_ppm: + call program_by_tx ; Yes - enter programming mode + +throttle_low_cal_start: + mov Temp8, #20 ; Set 3 seconds wait time +throttle_low_cal: + 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 +; mov Temp7, New_Rcp ; Store new RC pulse value + 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 + djnz Temp8,throttle_low_cal ; Continue to wait + + call average_throttle + mov A, New_Rcp + add A, #5 ; Add about 2% + mov Temp1, #Pgm_Ppm_Min_Throttle ; Store + mov @Temp1, A + call wait200ms + call erase_and_store_all_in_eeprom + + call read_all_eeprom_parameters + ; Decode parameters + call decode_parameters + ; Decode governor gains + call decode_governor_gains + ; Decode startup power + call decode_startup_power + ; Decode main spoolup time + call decode_main_spoolup_time + ; 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 + mov Temp1, #RCP_STOP ; Default stop value + mov Temp2, #Pgm_Direction ; Check if bidirectional operation + mov A, @Temp2 + cjne A, #3, ($+5) ; No - branch + + mov Temp1, #(RCP_STOP+4) ; Higher stop value for bidirectional + + clr C + mov A, New_Rcp ; Load new RC pulse value + subb A, Temp1 ; Below stop? + jc arm_end_beep ; Yes - proceed + + jmp arm_target_updated ; No - start over + +arm_end_beep: + ; Beep arm sequence end signal + clr EA ; Disable all interrupts + call beep_f1 + call beep_f1 + call beep_f1 + call wait1s + +;************************************************* +; beep count of Lipo cells +;************************************************* + 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 + +;reday beep + 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 + mov Pgm_Card_Sig_Count, #0 + ; Armed and waiting for power on +wait_for_power_on: + clr Flags1.LOW_LIMIT_STOP ; +; clr A +; mov Power_On_Wait_Cnt_L, A ; Clear wait counter +; mov Power_On_Wait_Cnt_H, A +wait_for_power_on_loop: +; 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 +; mov Temp1, #Pgm_Beacon_Delay +; mov A, @Temp1 +; mov Temp1, #25 ; Approximately 1 min +; dec A +; jz beep_delay_set + +; mov Temp1, #50 ; Approximately 2 min +; dec A +; jz beep_delay_set + +; mov Temp1, #125 ; Approximately 5 min +; dec A +; jz beep_delay_set + +; mov Temp1, #250 ; Approximately 10 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? + +; dec Power_On_Wait_Cnt_H ; Decrement high wait counter +; mov Power_On_Wait_Cnt_L, #180; Set low wait counter +; mov Temp1, #Pgm_Beacon_Strength +; mov Beep_Strength, @Temp1 +; clr EA ; Disable all interrupts +; call beep_f4 ; Signal that there is no signal +; setb EA ; Enable all interrupts +; 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 wait10ms + 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 + + jnb Flags2.RCP_PPM, wait_for_power_on_ppm_not_missing ; If flag is not 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: + mov Temp1, #RCP_STOP + jb Flags2.RCP_PPM, ($+5) ; If flag is set (PPM) - branch + + mov Temp1, #(RCP_STOP+5) ; Higher than stop (for pwm) + + clr C + mov A, New_Rcp ; Load new RC pulse value + subb A, Temp1 ; Higher than stop (plus some hysteresis)? + jc wait_for_power_on ; No - start over + jb Flags1.LOW_LIMIT_STOP, wait_for_power_on_loop + +IF MODE >= 1 ; Tail or multi + mov Temp1, #Pgm_Direction ; Check if bidirectional operation + mov A, @Temp1 + clr C + subb A, #3 + jz wait_for_power_on_check_timeout ; Do not wait if bidirectional operation +ENDIF + + lcall wait100ms ; Wait to see if start pulse was only a glitch + +wait_for_power_on_check_timeout: + mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value + jnz ($+4) ; If it is not zero - proceed + + ajmp measure_pwm_freq_init ; If it is zero (pulses missing) - go back to measure pwm frequency + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Start entry point +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +init_start: + clr EA + 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 + setb EA + 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 Limit_Count, A + mov Gov_Active, A + mov Flags0, A ; Clear flags0 + mov Flags1, A ; Clear flags1 + mov Demag_Detected_Metric, A ; Clear demag metric + call initialize_all_timings ; Initialize timing + ;**** **** **** **** **** + ; Motor start 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 + ; 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 + clr EA ; Disable interrupts to avoid that Requested_Pwm is overwritten + mov Pwm_Limit, #0FFh ; Set pwm limit to max + call set_startup_pwm + mov Pwm_Limit, Requested_Pwm + mov Pwm_Limit_Spoolup, Requested_Pwm + mov Pwm_Limit_Low_Rpm, Requested_Pwm + setb EA + mov Requested_Pwm, #1 ; Set low pwm again after calling set_startup_pwm + mov Current_Pwm, #1 + mov Current_Pwm_Limited, #1 + mov Spoolup_Limit_Cnt, Auto_Bailout_Armed + mov Spoolup_Limit_Skip, #1 + ; Begin startup sequence + setb Flags1.MOTOR_SPINNING ; Set motor spinning flag + setb Flags1.STARTUP_PHASE ; Set startup phase flag + mov 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 + call calc_new_wait_times ; Calculate new wait times + jmp run1 + + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Run entry point +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +damped_transition: + ; Transition from nondamped to damped if applicable + call switch_power_off ; Switch off power while changing pwm mode + call decode_parameters ; Set programmed parameters + 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 low to high +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 high to low +run2: + call wait_for_comp_out_low + call evaluate_comparator_integrity + call setup_comm_wait + call calc_governor_prop_error + call set_pwm_limit_low_rpm + 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 low to high +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 high to low +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 low to high +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 high to low +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.STARTUP_PHASE, normal_run_checks + jb Flags0.DIR_CHANGE_BRAKE, normal_run_checks ; If a direction change - branch + + ; Set spoolup power variables + mov Pwm_Limit, Pwm_Spoolup_Beg ; Set initial max power + mov Pwm_Limit_Spoolup, Pwm_Spoolup_Beg ; Set initial slow spoolup power + mov Spoolup_Limit_Cnt, Auto_Bailout_Armed + mov Spoolup_Limit_Skip, #1 + ; Check startup ok counter + mov Temp2, #100 ; Set nominal startup parameters + mov Temp3, #20 + clr C + mov A, Startup_Ok_Cnt ; Load ok counter + subb A, Temp2 ; Is counter above requirement? + jc direct_start_check_rcp ; No - proceed + + clr Flags1.STARTUP_PHASE ; Clear startup phase flag + setb Flags1.INITIAL_RUN_PHASE ; Set initial run phase flag + mov Startup_Rot_Cnt, Temp3 ; Set startup rotation count +IF MODE == 1 ; Tail + mov Pwm_Limit, #0FFh ; Allow full power + mov Pwm_Limit_Spoolup, #0FFh +ENDIF +IF MODE == 2 ; Multi + mov Pwm_Limit, Pwm_Spoolup_Beg + mov Pwm_Limit_Spoolup, #0FFh + mov Pwm_Limit_Low_Rpm, #20h +ENDIF + 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 + jb Flags0.DIR_CHANGE_BRAKE, initial_run_phase_done ; If a direction change - 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 +IF MODE == 2 ; Multi + mov Pwm_Limit, #0FFh +ENDIF + jmp 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 ($+5) + + ljmp run1 ; Continue to run + + jmp run_to_wait_for_power_on + +initial_run_phase_done: +IF MODE == 0 ; Main + ; Check if throttle is zeroed + clr C + mov A, Rcp_Stop_Cnt ; Load stop RC pulse counter value + subb A, #1 ; Is number of stop RC pulses above limit? + jc run6_check_rcp_stop_count ; If no - branch + + mov Pwm_Limit_Spoolup, Pwm_Spoolup_Beg ; If yes - set initial max powers + mov Spoolup_Limit_Cnt, Auto_Bailout_Armed ; And set spoolup parameters + mov Spoolup_Limit_Skip, #1 + +run6_check_rcp_stop_count: +ENDIF + ; Exit run loop after a given time + clr C + mov A, Rcp_Stop_Cnt ; Load stop RC pulse counter low byte value + subb A, #RCP_STOP_LIMIT ; Is number of stop RC pulses above limit? + jnc run_to_wait_for_power_on ; Yes, go back to wait for poweron + +run6_check_rcp_timeout: + jnb Flags2.RCP_PPM, run6_check_speed ; If flag is not set (PWM) - branch + + mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value + jz run_to_wait_for_power_on ; If it is zero - go back to wait for poweron + +run6_check_speed: + clr C + mov A, Comm_Period4x_H ; Is Comm_Period4x more than 32ms (~1220 eRPM)? + mov Temp1, #0F0h ; Default minimum speed + jnb Flags0.DIR_CHANGE_BRAKE, ($+5); Is it a direction change? + + mov Temp1, #60h ; Bidirectional minimum speed + + subb A, Temp1 + 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: + clr EA + 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 + setb EA + call wait1ms ; Wait for pwm to be stopped + call switch_power_off +IF MODE == 0 ; Main + jnb Flags2.RCP_PPM, run_to_next_state_main ; If flag is not 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_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 + +jmp_wait_for_power_on: + jmp wait_for_power_on ; Go back to wait for power on +ENDIF +IF MODE >= 1 ; Tail or multi + jnb Flags2.RCP_PPM, jmp_wait_for_power_on ; If flag is not 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 (EMAX_BLHeliTxPgm.inc) ; Include source code for programming the ESC with the TX + +;**** **** **** **** **** **** **** **** **** **** **** **** **** + + +; TEST code size +;CSEG AT 1E00h ; Last code segment. Take care that there is enough space! +;nop + + +END