From de5ad83f6264df245ac52979901e1d3591dc655e Mon Sep 17 00:00:00 2001 From: sskaug Date: Sat, 30 Apr 2016 12:23:43 +0200 Subject: [PATCH] Created BLHeli_S Rev16.0 --- BLHeli_S SiLabs/A.inc | 495 +++ BLHeli_S SiLabs/B.inc | 496 +++ BLHeli_S SiLabs/BLHeliBootLoad.inc | 371 ++ BLHeli_S SiLabs/BLHeliPgm.inc | 318 ++ .../BLHeli_S manual SiLabs Rev16.x.pdf | Bin 0 -> 81278 bytes BLHeli_S SiLabs/BLHeli_S.asm | 3676 +++++++++++++++++ BLHeli_S SiLabs/C.inc | 502 +++ BLHeli_S SiLabs/D.inc | 495 +++ BLHeli_S SiLabs/E.inc | 508 +++ BLHeli_S SiLabs/F.inc | 495 +++ BLHeli_S SiLabs/G.inc | 495 +++ BLHeli_S SiLabs/Hex files/A_H_0_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/A_H_10_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/A_H_15_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/A_H_20_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/A_H_25_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/A_H_30_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/A_H_40_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/A_H_50_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/A_H_5_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/A_H_70_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/A_H_90_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/A_L_0_REV16_0.HEX | 290 ++ BLHeli_S SiLabs/Hex files/A_L_10_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/A_L_15_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/A_L_20_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/A_L_25_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/A_L_30_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/A_L_40_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/A_L_50_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/A_L_5_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/A_L_70_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/A_L_90_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/B_H_0_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/B_H_10_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/B_H_15_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/B_H_20_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/B_H_25_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/B_H_30_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/B_H_40_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/B_H_50_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/B_H_5_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/B_H_70_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/B_H_90_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/B_L_0_REV16_0.HEX | 290 ++ BLHeli_S SiLabs/Hex files/B_L_10_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/B_L_15_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/B_L_20_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/B_L_25_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/B_L_30_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/B_L_40_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/B_L_50_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/B_L_5_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/B_L_70_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/B_L_90_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/C_H_0_REV16_0.HEX | 304 ++ BLHeli_S SiLabs/Hex files/C_H_10_REV16_0.HEX | 302 ++ BLHeli_S SiLabs/Hex files/C_H_15_REV16_0.HEX | 302 ++ BLHeli_S SiLabs/Hex files/C_H_20_REV16_0.HEX | 302 ++ BLHeli_S SiLabs/Hex files/C_H_25_REV16_0.HEX | 302 ++ BLHeli_S SiLabs/Hex files/C_H_30_REV16_0.HEX | 302 ++ BLHeli_S SiLabs/Hex files/C_H_40_REV16_0.HEX | 302 ++ BLHeli_S SiLabs/Hex files/C_H_50_REV16_0.HEX | 302 ++ BLHeli_S SiLabs/Hex files/C_H_5_REV16_0.HEX | 302 ++ BLHeli_S SiLabs/Hex files/C_H_70_REV16_0.HEX | 302 ++ BLHeli_S SiLabs/Hex files/C_H_90_REV16_0.HEX | 302 ++ BLHeli_S SiLabs/Hex files/C_L_0_REV16_0.HEX | 293 ++ BLHeli_S SiLabs/Hex files/C_L_10_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/C_L_15_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/C_L_20_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/C_L_25_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/C_L_30_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/C_L_40_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/C_L_50_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/C_L_5_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/C_L_70_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/C_L_90_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/D_H_0_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/D_H_10_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/D_H_15_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/D_H_20_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/D_H_25_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/D_H_30_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/D_H_40_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/D_H_50_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/D_H_5_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/D_H_70_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/D_H_90_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/D_L_0_REV16_0.HEX | 290 ++ BLHeli_S SiLabs/Hex files/D_L_10_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/D_L_15_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/D_L_20_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/D_L_25_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/D_L_30_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/D_L_40_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/D_L_50_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/D_L_5_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/D_L_70_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/D_L_90_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/E_H_0_REV16_0.HEX | 304 ++ BLHeli_S SiLabs/Hex files/E_H_10_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/E_H_15_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/E_H_20_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/E_H_25_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/E_H_30_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/E_H_40_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/E_H_50_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/E_H_5_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/E_H_70_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/E_H_90_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/E_L_0_REV16_0.HEX | 293 ++ BLHeli_S SiLabs/Hex files/E_L_10_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/E_L_15_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/E_L_20_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/E_L_25_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/E_L_30_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/E_L_40_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/E_L_50_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/E_L_5_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/E_L_70_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/E_L_90_REV16_0.HEX | 291 ++ BLHeli_S SiLabs/Hex files/F_H_0_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/F_H_10_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/F_H_15_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/F_H_20_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/F_H_25_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/F_H_30_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/F_H_40_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/F_H_50_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/F_H_5_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/F_H_70_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/F_H_90_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/F_L_0_REV16_0.HEX | 290 ++ BLHeli_S SiLabs/Hex files/F_L_10_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/F_L_15_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/F_L_20_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/F_L_25_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/F_L_30_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/F_L_40_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/F_L_50_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/F_L_5_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/F_L_70_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/F_L_90_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/G_H_0_REV16_0.HEX | 301 ++ BLHeli_S SiLabs/Hex files/G_H_10_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/G_H_15_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/G_H_20_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/G_H_25_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/G_H_30_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/G_H_40_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/G_H_50_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/G_H_5_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/G_H_70_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/G_H_90_REV16_0.HEX | 299 ++ BLHeli_S SiLabs/Hex files/G_L_0_REV16_0.HEX | 290 ++ BLHeli_S SiLabs/Hex files/G_L_10_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/G_L_15_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/G_L_20_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/G_L_25_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/G_L_30_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/G_L_40_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/G_L_50_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/G_L_5_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/G_L_70_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/Hex files/G_L_90_REV16_0.HEX | 288 ++ BLHeli_S SiLabs/MakeHexfiles.bat | 138 + BLHeli_S SiLabs/SI_EFM8BB1_Defs.inc | 323 ++ BLHeli_S SiLabs/SI_EFM8BB2_Defs.inc | 431 ++ 168 files changed, 54092 insertions(+) create mode 100644 BLHeli_S SiLabs/A.inc create mode 100644 BLHeli_S SiLabs/B.inc create mode 100644 BLHeli_S SiLabs/BLHeliBootLoad.inc create mode 100644 BLHeli_S SiLabs/BLHeliPgm.inc create mode 100644 BLHeli_S SiLabs/BLHeli_S manual SiLabs Rev16.x.pdf create mode 100644 BLHeli_S SiLabs/BLHeli_S.asm create mode 100644 BLHeli_S SiLabs/C.inc create mode 100644 BLHeli_S SiLabs/D.inc create mode 100644 BLHeli_S SiLabs/E.inc create mode 100644 BLHeli_S SiLabs/F.inc create mode 100644 BLHeli_S SiLabs/G.inc create mode 100644 BLHeli_S SiLabs/Hex files/A_H_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_H_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_H_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_H_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_H_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_H_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_H_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_H_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_H_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_H_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_H_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_L_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_L_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_L_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_L_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_L_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_L_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_L_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_L_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_L_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_L_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/A_L_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_H_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_H_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_H_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_H_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_H_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_H_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_H_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_H_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_H_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_H_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_H_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_L_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_L_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_L_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_L_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_L_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_L_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_L_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_L_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_L_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_L_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/B_L_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_H_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_H_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_H_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_H_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_H_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_H_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_H_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_H_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_H_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_H_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_H_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_L_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_L_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_L_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_L_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_L_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_L_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_L_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_L_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_L_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_L_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/C_L_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_H_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_H_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_H_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_H_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_H_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_H_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_H_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_H_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_H_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_H_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_H_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_L_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_L_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_L_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_L_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_L_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_L_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_L_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_L_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_L_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_L_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/D_L_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_H_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_H_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_H_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_H_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_H_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_H_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_H_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_H_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_H_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_H_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_H_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_L_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_L_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_L_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_L_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_L_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_L_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_L_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_L_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_L_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_L_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/E_L_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_H_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_H_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_H_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_H_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_H_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_H_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_H_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_H_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_H_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_H_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_H_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_L_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_L_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_L_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_L_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_L_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_L_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_L_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_L_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_L_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_L_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/F_L_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_H_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_H_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_H_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_H_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_H_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_H_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_H_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_H_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_H_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_H_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_H_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_L_0_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_L_10_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_L_15_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_L_20_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_L_25_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_L_30_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_L_40_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_L_50_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_L_5_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_L_70_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/Hex files/G_L_90_REV16_0.HEX create mode 100644 BLHeli_S SiLabs/MakeHexfiles.bat create mode 100644 BLHeli_S SiLabs/SI_EFM8BB1_Defs.inc create mode 100644 BLHeli_S SiLabs/SI_EFM8BB2_Defs.inc diff --git a/BLHeli_S SiLabs/A.inc b/BLHeli_S SiLabs/A.inc new file mode 100644 index 00000000..6e7123b8 --- /dev/null +++ b/BLHeli_S SiLabs/A.inc @@ -0,0 +1,495 @@ +;**** **** **** **** **** +; +; BLHeli program for controlling brushless motors in helicopters and multirotors +; +; Copyright 2011, 2012 Steffen Skaug +; This program is distributed under the terms of the GNU General Public License +; +; This file is part of BLHeli. +; +; BLHeli is free software: you can redistribute it and/or modify +; it under the terms of the GNU General Public License as published by +; the Free Software Foundation, either version 3 of the License, or +; (at your option) any later version. +; +; BLHeli is distributed in the hope that it will be useful, +; but WITHOUT ANY WARRANTY; without even the implied warranty of +; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +; GNU General Public License for more details. +; +; You should have received a copy of the GNU General Public License +; along with BLHeli. If not, see . +; +;**** **** **** **** **** +; +; Hardware definition file "A" +; X X RC X MC MB MA CC X X Cc Cp Bc Bp Ac Ap +; +;**** **** **** **** **** + + + +;********************* +; Device SiLabs EFM8BB1x/2x +;********************* +IF MCU_48MHZ == 0 +$include (SI_EFM8BB1_Defs.inc) +ELSE +$include (SI_EFM8BB2_Defs.inc) +ENDIF + + +;**** **** **** **** **** +; Uses internal calibrated oscillator set to 24/48Mhz +;**** **** **** **** **** + +;**** **** **** **** **** +; Constant definitions +;**** **** **** **** **** +IF MCU_48MHZ == 0 +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#A_L_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#A_L_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#A_L_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#A_L_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#A_L_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#A_L_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#A_L_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#A_L_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#A_L_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#A_L_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#A_L_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B10#" ; Project and MCU tag (16 Bytes) + +ELSE + +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#A_H_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#A_H_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#A_H_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#A_H_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#A_H_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#A_H_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#A_H_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#A_H_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#A_H_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#A_H_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#A_H_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B21#" ; Project and MCU tag (16 Bytes) +ENDIF + +ONE_S_CAPABLE EQU 0 ; Set to 1 if ESC can operate at 1S +LOCK_BYTE_ADDRESS_16K EQU 3FFFh ; Address of lock byte if 16k flash size +LOCK_BYTE_ADDRESS_8K EQU 1DFFh ; Address of lock byte if 8k flash size +TEMP_LIMIT EQU 246 ; Temperature measurement ADC value for which main motor power is limited (low byte, assuming high byte is 1) +TEMP_LIMIT_STEP EQU 6 ; Temperature measurement ADC value increment for which main motor power is further limited + +;**** **** **** **** **** +; Bootloader definitions +;**** **** **** **** **** +RTX_PORT EQU P0 ; Receive/Transmit port +RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL +RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL +RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP +RTX_PIN EQU 5 ; RTX pin + +SIGNATURE_001 EQU 0E8h ; Device signature +IF MCU_48MHZ == 0 +SIGNATURE_002 EQU 0B1h +ELSE +SIGNATURE_002 EQU 0B2h +ENDIF + +;********************* +; PORT 0 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +Rcp_In EQU 5 ;i +; EQU 4 ;i +Mux_C EQU 3 ;i +Mux_B EQU 2 ;i +Mux_A EQU 1 ;i +Comp_Com EQU 0 ;i + +P0_DIGITAL EQU NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com)) +P0_INIT EQU 0FFh +P0_PUSHPULL EQU 0 +P0_SKIP EQU 0FFh + +Get_Rcp_Capture_Values MACRO + anl TCON, #0EFh ; Disable timer0 + mov Temp1, TL0 ; Get timer0 values + mov Temp2, TH0 +IF MCU_48MHZ == 1 + mov Temp3, Timer0_X + jnb TCON_TF0, ($+4) ; Check if interrupt is pending + inc Temp3 ; If it is pending, then timer has already wrapped +ENDIF + mov TL0, #0 ; Reset timer0 + mov TH0, #0 +IF MCU_48MHZ == 1 + mov Timer0_X, #0 +ENDIF + orl TCON, #10h ; Enable timer0 again +IF MCU_48MHZ == 1 + mov A, Clock_Set_At_48MHz + jnz Get_Rcp_End + clr C + mov A, Temp1 + rlc A + mov Temp1, A + mov A, Temp2 + rlc A + mov Temp2, A + mov A, Temp3 + rlc A + mov Temp3, A +Get_Rcp_End: +ENDIF +ENDM +Initialize_PCA MACRO + mov PCA0CN0, #40h ; PCA enabled + mov PCA0MD, #08h ; PCA clock is system clock +IF FETON_DELAY == 0 +IF MCU_48MHZ == 0 + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ELSE + mov PCA0PWM, #83h ; PCA ARSEL set and 11bits pwm +ENDIF + mov PCA0CENT, #00h ; Edge aligned pwm +ELSE +IF MCU_48MHZ == 0 + mov PCA0PWM, #81h ; PCA ARSEL set and 9bits pwm +ELSE + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ENDIF + mov PCA0CENT, #03h ; Center aligned pwm +ENDIF +ENDM +Set_Pwm_Polarity MACRO + mov PCA0POL, #02h ; Damping inverted, pwm noninverted +ENDM +Enable_Power_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM0, #4Ah ; Enable comparator of module, enable match, set pwm mode +ELSE + mov PCA0CPM0, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Enable_Damp_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM1, #00h ; Disable +ELSE + mov PCA0CPM1, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Set_Power_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL0, Power_Pwm_Reg_L + mov PCA0CPH0, Power_Pwm_Reg_H +ELSE + clr C + mov A, Power_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Power_Pwm_Reg_L + rrc A + mov PCA0CPL0, A + mov PCA0CPH0, Temp1 +ENDIF +ENDM +Set_Damp_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL1, Damp_Pwm_Reg_L + mov PCA0CPH1, Damp_Pwm_Reg_H +ELSE + clr C + mov A, Damp_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Damp_Pwm_Reg_L + rrc A + mov PCA0CPL1, A + mov PCA0CPH1, Temp1 +ENDIF +ENDM +Clear_COVF_Interrupt MACRO + anl PCA0PWM, #0DFh +ENDM +Clear_CCF_Interrupt MACRO + anl PCA0CN0, #0FEh +ENDM +Enable_COVF_Interrupt MACRO + orl PCA0PWM, #40h +ENDM +Enable_CCF_Interrupt MACRO + orl PCA0CPM0,#01h +ENDM +Disable_COVF_Interrupt MACRO + anl PCA0PWM, #0BFh +ENDM +Disable_CCF_Interrupt MACRO + anl PCA0CPM0,#0FEh +ENDM + + +;********************* +; PORT 1 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +CcomFET EQU 5 ;o +CpwmFET EQU 4 ;o +BcomFET EQU 3 ;o +BpwmFET EQU 2 ;o +AcomFET EQU 1 ;o +ApwmFET EQU 0 ;o + +P1_DIGITAL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_INIT EQU 00h +P1_PUSHPULL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_SKIP EQU 3Fh + +ApwmFET_on MACRO + setb P1.ApwmFET +IF FETON_DELAY == 0 + setb P1.AcomFET +ENDIF +ENDM +ApwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET +ELSE + clr P1.AcomFET +ENDIF +ENDM +BpwmFET_on MACRO + setb P1.BpwmFET +IF FETON_DELAY == 0 + setb P1.BcomFET +ENDIF +ENDM +BpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.BpwmFET +ELSE + clr P1.BcomFET +ENDIF +ENDM +CpwmFET_on MACRO + setb P1.CpwmFET +IF FETON_DELAY == 0 + setb P1.CcomFET +ENDIF +ENDM +CpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.CpwmFET +ELSE + clr P1.CcomFET +ENDIF +ENDM +All_pwmFETs_Off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET + clr P1.BpwmFET + clr P1.CpwmFET +ELSE + clr P1.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDIF +ENDM + +AcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.ApwmFET +ENDIF + setb P1.AcomFET +ENDM +AcomFET_off MACRO + clr P1.AcomFET +ENDM +BcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.BpwmFET +ENDIF + setb P1.BcomFET +ENDM +BcomFET_off MACRO + clr P1.BcomFET +ENDM +CcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.CpwmFET +ENDIF + setb P1.CcomFET +ENDM +CcomFET_off MACRO + clr P1.CcomFET +ENDM +All_comFETs_Off MACRO + clr P1.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDM + +Set_Pwm_A MACRO +IF FETON_DELAY == 0 + setb P1.AcomFET + mov P1SKIP, #3Eh +ELSE + mov P1SKIP, #3Ch +ENDIF +ENDM +Set_Pwm_B MACRO +IF FETON_DELAY == 0 + setb P1.BcomFET + mov P1SKIP, #3Bh +ELSE + mov P1SKIP, #33h +ENDIF +ENDM +Set_Pwm_C MACRO +IF FETON_DELAY == 0 + setb P1.CcomFET + mov P1SKIP, #2Fh +ELSE + mov P1SKIP, #0Fh +ENDIF +ENDM +Set_Pwms_Off MACRO + mov P1SKIP, #3Fh +ENDM + +Set_Comp_Phase_A MACRO + mov CMP0MX, #10h ; Set comparator multiplexer to phase A +ENDM +Set_Comp_Phase_B MACRO + mov CMP0MX, #20h ; Set comparator multiplexer to phase B +ENDM +Set_Comp_Phase_C MACRO + mov CMP0MX, #30h ; Set comparator multiplexer to phase C +ENDM +Read_Comp_Out MACRO + mov A, CMP0CN0 ; Read comparator output +ENDM + + +;********************* +; PORT 2 definitions * +;********************* +DebugPin EQU 0 ;o + +P2_PUSHPULL EQU (1 SHL DebugPin) + + +;********************** +; MCU specific macros * +;********************** +Interrupt_Table_Definition MACRO +CSEG AT 0 ; Code segment start + jmp reset +CSEG AT 03h ; Int0 interrupt + jmp int0_int +IF MCU_48MHZ == 1 +CSEG AT 0Bh ; Timer0 overflow interrupt + jmp t0_int +ENDIF +CSEG AT 2Bh ; Timer2 overflow interrupt + jmp t2_int +CSEG AT 5Bh ; Pca interrupt + jmp pca_int +CSEG AT 73h ; Timer3 overflow/compare interrupt + jmp t3_int +ENDM + +Initialize_Xbar MACRO + mov XBR2, #40h ; Xbar enabled + mov XBR1, #02h ; CEX0 and CEX1 routed to pins +ENDM + +Initialize_Adc MACRO + mov REF0CN, #2Ch ; Set vdd (3.3V) as reference. Enable temp sensor and bias +IF MCU_48MHZ == 0 + mov ADC0CF, #58h ; ADC clock 2MHz +ELSE + mov ADC0CF, #0C0h ; ADC clock 2MHz +ENDIF + mov ADC0MX, #10h ; Select temp sensor input + mov ADC0CN0, #80h ; ADC enabled + mov ADC0CN1, #01h ; Common mode buffer enabled +ENDM +Start_Adc MACRO + mov ADC0CN0, #90h ; ADC start +ENDM +Get_Adc_Status MACRO + mov A, ADC0CN0 +ENDM +Read_Adc_Result MACRO + mov Temp1, ADC0L + mov Temp2, ADC0H +ENDM +Stop_Adc MACRO +ENDM +Set_RPM_Out MACRO +ENDM +Clear_RPM_Out MACRO +ENDM +Set_MCU_Clk_24MHz MACRO + mov CLKSEL, #13h ; Set clock to 24MHz + mov SFRPAGE, #10h + mov PFE0CN, #00h ; Set flash timing for 24MHz + mov SFRPAGE, #00h + mov Clock_Set_At_48MHz, #0 +ENDM +Set_MCU_Clk_48MHz MACRO + mov SFRPAGE, #10h + mov PFE0CN, #30h ; Set flash timing for 48MHz + mov SFRPAGE, #00h + mov CLKSEL, #03h ; Set clock to 48MHz + mov Clock_Set_At_48MHz, #1 +ENDM +Set_LED_0 MACRO +ENDM +Clear_LED_0 MACRO +ENDM +Set_LED_1 MACRO +ENDM +Clear_LED_1 MACRO +ENDM +Set_LED_2 MACRO +ENDM +Clear_LED_2 MACRO +ENDM +Set_LED_3 MACRO +ENDM +Clear_LED_3 MACRO +ENDM diff --git a/BLHeli_S SiLabs/B.inc b/BLHeli_S SiLabs/B.inc new file mode 100644 index 00000000..1cd5cfa0 --- /dev/null +++ b/BLHeli_S SiLabs/B.inc @@ -0,0 +1,496 @@ +;**** **** **** **** **** +; +; BLHeli program for controlling brushless motors in helicopters and multirotors +; +; Copyright 2011, 2012 Steffen Skaug +; This program is distributed under the terms of the GNU General Public License +; +; This file is part of BLHeli. +; +; BLHeli is free software: you can redistribute it and/or modify +; it under the terms of the GNU General Public License as published by +; the Free Software Foundation, either version 3 of the License, or +; (at your option) any later version. +; +; BLHeli is distributed in the hope that it will be useful, +; but WITHOUT ANY WARRANTY; without even the implied warranty of +; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +; GNU General Public License for more details. +; +; You should have received a copy of the GNU General Public License +; along with BLHeli. If not, see . +; +;**** **** **** **** **** +; +; Hardware definition file "B". Equals "A", but with A and C fets swapped +; X X RC X MC MB MA CC X X Ac Ap Bc Bp Cc Cp +; +;**** **** **** **** **** + + + +;********************* +; Device SiLabs EFM8BB1x/2x +;********************* +IF MCU_48MHZ == 0 +$include (SI_EFM8BB1_Defs.inc) +ELSE +$include (SI_EFM8BB2_Defs.inc) +ENDIF + + +;**** **** **** **** **** +; Uses internal calibrated oscillator set to 24/48Mhz +;**** **** **** **** **** + +;**** **** **** **** **** +; Constant definitions +;**** **** **** **** **** +IF MCU_48MHZ == 0 +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#B_L_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#B_L_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#B_L_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#B_L_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#B_L_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#B_L_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#B_L_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#B_L_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#B_L_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#B_L_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#B_L_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B10#" ; Project and MCU tag (16 Bytes) + +ELSE + +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#B_H_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#B_H_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#B_H_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#B_H_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#B_H_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#B_H_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#B_H_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#B_H_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#B_H_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#B_H_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#B_H_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B21#" ; Project and MCU tag (16 Bytes) +ENDIF + +ONE_S_CAPABLE EQU 0 ; Set to 1 if ESC can operate at 1S +LOCK_BYTE_ADDRESS_16K EQU 3FFFh ; Address of lock byte if 16k flash size +LOCK_BYTE_ADDRESS_8K EQU 1DFFh ; Address of lock byte if 8k flash size +TEMP_LIMIT EQU 246 ; Temperature measurement ADC value for which main motor power is limited (low byte, assuming high byte is 1) +TEMP_LIMIT_STEP EQU 6 ; Temperature measurement ADC value increment for which main motor power is further limited + +;**** **** **** **** **** +; Bootloader definitions +;**** **** **** **** **** +RTX_PORT EQU P0 ; Receive/Transmit port +RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL +RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL +RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP +RTX_PIN EQU 5 ; RTX pin + +SIGNATURE_001 EQU 0E8h ; Device signature +IF MCU_48MHZ == 0 +SIGNATURE_002 EQU 0B1h +ELSE +SIGNATURE_002 EQU 0B2h +ENDIF + + +;********************* +; PORT 0 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +Rcp_In EQU 5 ;i +; EQU 4 ;i +Mux_C EQU 3 ;i +Mux_B EQU 2 ;i +Mux_A EQU 1 ;i +Comp_Com EQU 0 ;i + +P0_DIGITAL EQU NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com)) +P0_INIT EQU 0FFh +P0_PUSHPULL EQU 0 +P0_SKIP EQU 0FFh + +Get_Rcp_Capture_Values MACRO + anl TCON, #0EFh ; Disable timer0 + mov Temp1, TL0 ; Get timer0 values + mov Temp2, TH0 +IF MCU_48MHZ == 1 + mov Temp3, Timer0_X + jnb TCON_TF0, ($+4) ; Check if interrupt is pending + inc Temp3 ; If it is pending, then timer has already wrapped +ENDIF + mov TL0, #0 ; Reset timer0 + mov TH0, #0 +IF MCU_48MHZ == 1 + mov Timer0_X, #0 +ENDIF + orl TCON, #10h ; Enable timer0 again +IF MCU_48MHZ == 1 + mov A, Clock_Set_At_48MHz + jnz Get_Rcp_End + clr C + mov A, Temp1 + rlc A + mov Temp1, A + mov A, Temp2 + rlc A + mov Temp2, A + mov A, Temp3 + rlc A + mov Temp3, A +Get_Rcp_End: +ENDIF +ENDM +Initialize_PCA MACRO + mov PCA0CN0, #40h ; PCA enabled + mov PCA0MD, #08h ; PCA clock is system clock +IF FETON_DELAY == 0 +IF MCU_48MHZ == 0 + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ELSE + mov PCA0PWM, #83h ; PCA ARSEL set and 11bits pwm +ENDIF + mov PCA0CENT, #00h ; Edge aligned pwm +ELSE +IF MCU_48MHZ == 0 + mov PCA0PWM, #81h ; PCA ARSEL set and 9bits pwm +ELSE + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ENDIF + mov PCA0CENT, #03h ; Center aligned pwm +ENDIF +ENDM +Set_Pwm_Polarity MACRO + mov PCA0POL, #02h ; Damping inverted, pwm noninverted +ENDM +Enable_Power_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM0, #4Ah ; Enable comparator of module, enable match, set pwm mode +ELSE + mov PCA0CPM0, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Enable_Damp_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM1, #00h ; Disable +ELSE + mov PCA0CPM1, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Set_Power_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL0, Power_Pwm_Reg_L + mov PCA0CPH0, Power_Pwm_Reg_H +ELSE + clr C + mov A, Power_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Power_Pwm_Reg_L + rrc A + mov PCA0CPL0, A + mov PCA0CPH0, Temp1 +ENDIF +ENDM +Set_Damp_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL1, Damp_Pwm_Reg_L + mov PCA0CPH1, Damp_Pwm_Reg_H +ELSE + clr C + mov A, Damp_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Damp_Pwm_Reg_L + rrc A + mov PCA0CPL1, A + mov PCA0CPH1, Temp1 +ENDIF +ENDM +Clear_COVF_Interrupt MACRO + anl PCA0PWM, #0DFh +ENDM +Clear_CCF_Interrupt MACRO + anl PCA0CN0, #0FEh +ENDM +Enable_COVF_Interrupt MACRO + orl PCA0PWM, #40h +ENDM +Enable_CCF_Interrupt MACRO + orl PCA0CPM0,#01h +ENDM +Disable_COVF_Interrupt MACRO + anl PCA0PWM, #0BFh +ENDM +Disable_CCF_Interrupt MACRO + anl PCA0CPM0,#0FEh +ENDM + + +;********************* +; PORT 1 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +ApwmFET EQU 5 ;o +AcomFET EQU 4 ;o +BpwmFET EQU 3 ;o +BcomFET EQU 2 ;o +CpwmFET EQU 1 ;o +CcomFET EQU 0 ;o + +P1_DIGITAL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_INIT EQU 00h +P1_PUSHPULL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_SKIP EQU 3Fh + +ApwmFET_on MACRO + setb P1.ApwmFET +IF FETON_DELAY == 0 + setb P1.AcomFET +ENDIF +ENDM +ApwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET +ELSE + clr P1.AcomFET +ENDIF +ENDM +BpwmFET_on MACRO + setb P1.BpwmFET +IF FETON_DELAY == 0 + setb P1.BcomFET +ENDIF +ENDM +BpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.BpwmFET +ELSE + clr P1.BcomFET +ENDIF +ENDM +CpwmFET_on MACRO + setb P1.CpwmFET +IF FETON_DELAY == 0 + setb P1.CcomFET +ENDIF +ENDM +CpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.CpwmFET +ELSE + clr P1.CcomFET +ENDIF +ENDM +All_pwmFETs_Off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET + clr P1.BpwmFET + clr P1.CpwmFET +ELSE + clr P1.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDIF +ENDM + +AcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.ApwmFET +ENDIF + setb P1.AcomFET +ENDM +AcomFET_off MACRO + clr P1.AcomFET +ENDM +BcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.BpwmFET +ENDIF + setb P1.BcomFET +ENDM +BcomFET_off MACRO + clr P1.BcomFET +ENDM +CcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.CpwmFET +ENDIF + setb P1.CcomFET +ENDM +CcomFET_off MACRO + clr P1.CcomFET +ENDM +All_comFETs_Off MACRO + clr P1.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDM + +Set_Pwm_A MACRO +IF FETON_DELAY == 0 + setb P1.AcomFET + mov P1SKIP, #1Fh +ELSE + mov P1SKIP, #0Fh +ENDIF +ENDM +Set_Pwm_B MACRO +IF FETON_DELAY == 0 + setb P1.BcomFET + mov P1SKIP, #37h +ELSE + mov P1SKIP, #33h +ENDIF +ENDM +Set_Pwm_C MACRO +IF FETON_DELAY == 0 + setb P1.CcomFET + mov P1SKIP, #3Dh +ELSE + mov P1SKIP, #3Ch +ENDIF +ENDM +Set_Pwms_Off MACRO + mov P1SKIP, #3Fh +ENDM + +Set_Comp_Phase_A MACRO + mov CMP0MX, #10h ; Set comparator multiplexer to phase A +ENDM +Set_Comp_Phase_B MACRO + mov CMP0MX, #20h ; Set comparator multiplexer to phase B +ENDM +Set_Comp_Phase_C MACRO + mov CMP0MX, #30h ; Set comparator multiplexer to phase C +ENDM +Read_Comp_Out MACRO + mov A, CMP0CN0 ; Read comparator output +ENDM + + +;********************* +; PORT 2 definitions * +;********************* +DebugPin EQU 0 ;o + +P2_PUSHPULL EQU (1 SHL DebugPin) + + +;********************** +; MCU specific macros * +;********************** +Interrupt_Table_Definition MACRO +CSEG AT 0 ; Code segment start + jmp reset +CSEG AT 03h ; Int0 interrupt + jmp int0_int +IF MCU_48MHZ == 1 +CSEG AT 0Bh ; Timer0 overflow interrupt + jmp t0_int +ENDIF +CSEG AT 2Bh ; Timer2 overflow interrupt + jmp t2_int +CSEG AT 5Bh ; Pca interrupt + jmp pca_int +CSEG AT 73h ; Timer3 overflow/compare interrupt + jmp t3_int +ENDM + +Initialize_Xbar MACRO + mov XBR2, #40h ; Xbar enabled + mov XBR1, #02h ; CEX0 and CEX1 routed to pins +ENDM + +Initialize_Adc MACRO + mov REF0CN, #2Ch ; Set vdd (3.3V) as reference. Enable temp sensor and bias +IF MCU_48MHZ == 0 + mov ADC0CF, #58h ; ADC clock 2MHz +ELSE + mov ADC0CF, #0C0h ; ADC clock 2MHz +ENDIF + mov ADC0MX, #10h ; Select temp sensor input + mov ADC0CN0, #80h ; ADC enabled + mov ADC0CN1, #01h ; Common mode buffer enabled +ENDM +Start_Adc MACRO + mov ADC0CN0, #90h ; ADC start +ENDM +Get_Adc_Status MACRO + mov A, ADC0CN0 +ENDM +Read_Adc_Result MACRO + mov Temp1, ADC0L + mov Temp2, ADC0H +ENDM +Stop_Adc MACRO +ENDM +Set_RPM_Out MACRO +ENDM +Clear_RPM_Out MACRO +ENDM +Set_MCU_Clk_24MHz MACRO + mov CLKSEL, #13h ; Set clock to 24MHz + mov SFRPAGE, #10h + mov PFE0CN, #00h ; Set flash timing for 24MHz + mov SFRPAGE, #00h + mov Clock_Set_At_48MHz, #0 +ENDM +Set_MCU_Clk_48MHz MACRO + mov SFRPAGE, #10h + mov PFE0CN, #30h ; Set flash timing for 48MHz + mov SFRPAGE, #00h + mov CLKSEL, #03h ; Set clock to 48MHz + mov Clock_Set_At_48MHz, #1 +ENDM +Set_LED_0 MACRO +ENDM +Clear_LED_0 MACRO +ENDM +Set_LED_1 MACRO +ENDM +Clear_LED_1 MACRO +ENDM +Set_LED_2 MACRO +ENDM +Clear_LED_2 MACRO +ENDM +Set_LED_3 MACRO +ENDM +Clear_LED_3 MACRO +ENDM diff --git a/BLHeli_S SiLabs/BLHeliBootLoad.inc b/BLHeli_S SiLabs/BLHeliBootLoad.inc new file mode 100644 index 00000000..c52da1c2 --- /dev/null +++ b/BLHeli_S SiLabs/BLHeliBootLoad.inc @@ -0,0 +1,371 @@ +; BLHeli bootloader for SiLabs MCUs. Based upon AVRootloader (copyright HR) + +XTAL EQU 25000000 + +BOOT_START EQU 1C00h ; Bootloader segment address +BOOT_DELAY EQU XTAL/4 ; About 250ms (don't set to fast to avoid connection problems) +BOOT_BAUDRATE EQU 19200 ; Only used if no baudrate detection activated, XTAL is than important +BOOT_VERSION EQU 6 ; Version 6 (must be not changed) +BOOT_PAGES EQU 1 ; Number of flash segments for bootloader + +UART_LOOP EQU 26 ; Depends upon timing of putc, getc +BAUDTIME EQU ((XTAL/BOOT_BAUDRATE)/3)-UART_LOOP + +SUCCESS EQU 030h +ERRORVERIFY EQU 0C0h +ERRORCOMMAND EQU 0C1h +ERRORCRC EQU 0C2h +ERRORPROG EQU 0C5h + +POLYNOM EQU 0A001h ; CRC Polynom + +Xl EQU R0 ; Temporary X +Xh EQU R1 +Paral EQU R2 ; Params for UART +Parah EQU R3 +Cmdl EQU R4 ; Commands +Cmdh EQU R5 +Cntl EQU R6 ; Baudtime +Cnth EQU R7 + +DSEG AT 20h +Bit_Reg: DS 1 ; Bit storage register +Byte_Reg: DS 1 ; Byte storage register +Crcl: DS 1 ; CRC 16Bit +Crch: DS 1 +Baudl: DS 1 ; Baudtime +Baudh: DS 1 +Bit_Cnt: DS 1 ; Counter in UART loops +Byte_Cntl: DS 1 ; Generic counter +Byte_Cnth: DS 1 + +CSEG AT BOOT_START ; Bootloader start +init:clr IE_EA + ; Select register bank 0 for main program routines + clr PSW.3 ; Select register bank 0 for main program routines + ; Disable the WDT. + mov WDTCN, #0DEh ; Disable watchdog + mov WDTCN, #0ADh + ; Initialize stack + mov SP, #0c0h ; Stack = 64 upper bytes of RAM + ; Initialize clock + mov CLKSEL, #00h ; Set clock divider to 1 + ; Initialize VDD monitor + orl VDM0CN, #080h ; Enable the VDD monitor + mov Baudl, #38h ; Wait 100us + mov Baudh, #03h + acall waitf + mov RSTSRC, #02h ; Set VDD monitor as a reset source (PORSF) + ; Initialize ports + orl RTX_MDIN, #(1 SHL RTX_PIN) ; Set digital + anl RTX_MDOUT, #NOT(1 SHL RTX_PIN) ; Disable pushpull + setb RTX_PORT.RTX_PIN ; Set data high + mov RTX_SKIP, #0FFh + mov XBR2, #40h; ; Enable crossbar + ; Set number of connect attempts before exiting bootloader + mov Cmdh, #250 + + ; Identifier scanning +abd: mov Xl, #(low(BOOT_DELAY / 6)+1) + mov Xh, #(high(BOOT_DELAY / 6)+1) + mov Cmdl, #(high((BOOT_DELAY / 6) SHR 8)+1) + mov Crcl, #0 + mov Crch, #0 + mov DPTR, #BOOT_SIGN + mov Parah, #(BOOT_MSG - BOOT_SIGN) + mov Baudl, #low(BAUDTIME) + mov Baudh, #high(BAUDTIME) + +wait_for_low: + jnb RTX_PORT.RTX_PIN, ($+5) + ajmp wait_for_low + + ; Identifier (BOOT_SIGN) scanning with timeout and checksum +id1: jb RTX_PORT.RTX_PIN, id3 ; Look for high + djnz Xl, id1 ; Subtract 1 from X (BOOT_DELAY) + djnz Xh, id1 + djnz Cmdl, id1 + + ajmp exit + +id3: jnb RTX_PORT.RTX_PIN, id4 ; Look for low + djnz Xl, id3 ; Subtract 1 from X (BOOT_DELAY) + djnz Xh, id3 + djnz Cmdl, id3 + + ajmp exit + +id4: acall getx ; Read character + clr A + movc A, @A+DPTR ; Load BOOT_SIGN character + inc DPTR + clr C + subb A, Paral ; Compare with read character + jz id5 + djnz Cmdh, abd ; Retry if not last connect attempt + ajmp exit + +id5: + djnz Parah, id1 + + acall getw ; Read CRC + jz ($+4) ; Check CRC + ajmp abd + + ; Send info about chip/bootloader (BOOT_MSG + BOOT_INFO) + mov Parah, #((BOOT_INFO - BOOT_MSG) + 4) +in1: clr A + movc A, @A+DPTR ; Load character + mov Paral, A + inc DPTR + acall putc + djnz Parah, in1 + + + ; Main commandloop + ; 0=Run/restart + ; 1=Program flash, 2=Erase flash, 3=Read flash + ; 0xFF=Set address, 0xFE=Set buffer, 0xFD=Keep alive +main:mov Paral, #SUCCESS +mai1:acall putc + mov Crcl, #0 ; Reset CRC + mov Crch, #0 + acall getw ; Get command + mov A, Paral + mov Cmdl, A + mov A, Parah + mov Cmdh, A + clr C + mov A, Cmdh + subb A, #0FEh + jc mai2 ; Jump if not set address or set buffer + + acall getw ; Address or number of bytes + mov Byte_Cntl, Paral ; Store number of bytes for set buffer + mov Byte_Cnth, Parah + mov A, Cmdh + jnb ACC.0, mai2 ; Jump if set buffer + + mov DPL, Paral ; Store flash address (for set address) + mov DPH, Parah + +mai2:acall getw ; Get CRC + mov Paral, #ERRORCRC + jnz mai1 + clr C + mov A, Cmdh + subb A, #0FEh + jz setbuf ; If command is set buffer, receive data + jnc main + + cjne Cmdh, #0, mai4 ; Jump if command != 0 (and not set buffer) + + ; Run application/restart bootloader + mov A, Cmdl + jz rst +exit:mov Bit_Access, #0 ; Clear variable used by flash lock detect + mov Bit_Access_Int, #0FFh ; Set variable to indicate that program execution came from bootloader + ljmp 0000h +rst: ajmp init + + ; Set buffer +setbuf:mov Xl, Byte_Cntl ; Set number of bytes + mov Xh, Byte_Cnth + inc Xl + inc Xh +set4:djnz Xl, set5 + djnz Xh, set5 + ajmp set6 + +set5:acall getc ; Receive data + mov A, Paral + movx @Xl, A ; Store data in XRAM + ajmp set4 + +set6:inc Cmdh + ajmp mai2 + +mai4:clr C + mov A, Cmdh + subb A, #3 + jnc mai5 ; Jump if command >= 3 + + ; Program/erase + mov A, Cmdh + mov C, ACC.0 + mov Bit_Reg.0, C + mov Paral, #ERRORPROG + clr C + mov A, DPL + subb A, #low(BOOT_START) + mov A, DPH + subb A, #high(BOOT_START) + jnc mai1 ; Jump if in bootloader segment + jb Bit_Reg.0, pro3 ; Jump if program command + + ; Erase flash + orl PSCTL, #02h ; Set the PSEE bit + orl PSCTL, #01h ; Set the PSWE bit + mov FLKEY, #0A5h ; First key code + mov FLKEY, #0F1h ; Second key code + movx @DPTR, A + jnb Bit_Reg.0, pro6 ; Jump if erase command + + ; Program flash +pro3:mov Xl, Byte_Cntl ; Set number of bytes + mov Xh, Byte_Cnth + inc Xl + inc Xh + orl PSCTL, #01h ; Set the PSWE bit + anl PSCTL, #0FDh ; Clear the PSEE bit +pro4:djnz Xl, pro5 + djnz Xh, pro5 + ajmp pro6 + +pro5: + movx A, @Xl ; Read from XRAM + mov FLKEY, #0A5h ; First key code + mov FLKEY, #0F1h ; Second key code + movx @DPTR, A ; Write to flash + inc DPTR ; Increment flash address + ajmp pro4 + +pro6:anl PSCTL, #0FCh ; Clear the PSEE and PSWE bits + ajmp main ; Successfully done erase or program + + ; Read flash +mai5:mov Paral, #ERRORCOMMAND ; Illegal command + cjne Cmdh, #3, mai6 ; Jump if not read flash command + +rd1: clr A + movc A, @A+DPTR ; Read from flash + inc DPTR ; Increment flash address + mov Paral, A + acall putp + djnz Cmdl, rd1 ; Decrement bytes to read + + acall putw ; CRC + ajmp main + +mai6:ajmp mai1 + + + + + ; Send char with crc +putw:mov Paral, Crcl + mov Parah, Crch + acall putc + mov A, Parah + mov Paral, A +putp:mov A, Paral + xrl Crcl, A + mov Bit_Cnt, #8 +put1:clr C + mov A, Crch + rrc A + mov Crch, A + mov A, Crcl + rrc A + mov Crcl, A + jnc put2 + + xrl Crch, #high(POLYNOM) + xrl Crcl, #low(POLYNOM) + +put2:djnz Bit_Cnt, put1 + + + ; Send char +putc:acall waitf + acall waitf + mov Bit_Cnt, #10 + mov A, Paral + cpl A +put3:jb Bit_Reg.1, ($+5) + setb RTX_PORT.RTX_PIN ; Set pin high + jnb Bit_Reg.1, ($+5) + clr RTX_PORT.RTX_PIN ; Set pin low + acall waitf + clr C + rrc A + jc put4 + + clr Bit_Reg.1 + +put4:djnz Bit_Cnt, put3 + + ret + + + ; Receive char/word +getw:acall getc + mov A, Paral + mov Parah, A +getc:jb RTX_PORT.RTX_PIN, ($+5) ; Wait for high + ajmp getc + +get1:jnb RTX_PORT.RTX_PIN, ($+5) ; Wait for low + ajmp get1 + +getx:mov Bit_Cnt, #8 + mov Cntl, Baudl + mov Cnth, Baudh + clr C + mov A, Cnth ; Wait half a baud + rrc A + mov Cnth, A + mov A, Cntl + rrc A + mov Cntl, A + acall waith +get2:acall waitf ; Wait one baud + clr C + mov A, Paral + rrc A + jnb RTX_PORT.RTX_PIN, ($+5) + orl A, #080h + + mov Paral, A + jnb ACC.7, ($+6) + xrl Crcl, #low(POLYNOM) + + clr C + mov A, Crch + rrc A + mov Crch, A + mov A, Crcl + rrc A + mov Crcl, A + jnc get3 + + xrl Crch, #high(POLYNOM) + xrl Crcl, #low(POLYNOM) + +get3:djnz Bit_Cnt, get2 + + mov A, Crcl + xrl A, Crch + xrl A, Crch + mov Crcl, A + ret + + + ; UART delays +waitf:mov Cntl, Baudl + mov Cnth, Baudh +waith:inc Cntl + inc Cnth +wait1:djnz Cntl, wait1 + djnz Cnth, wait1 + + setb Bit_Reg.1 + ret + + +BOOT_SIGN: DB "BLHeli" + +BOOT_MSG: DB "471c" ; Interface-MCU_BootlaoderRevision + +BOOT_INFO: DB SIGNATURE_001, SIGNATURE_002, BOOT_VERSION, BOOT_PAGES + diff --git a/BLHeli_S SiLabs/BLHeliPgm.inc b/BLHeli_S SiLabs/BLHeliPgm.inc new file mode 100644 index 00000000..3622f85e --- /dev/null +++ b/BLHeli_S SiLabs/BLHeliPgm.inc @@ -0,0 +1,318 @@ +;**** **** **** **** **** +; +; 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 . +; +;**** **** **** **** **** +; +; BLHeliTxPgm SiLabs +; +; EEPROM is not available in SiLabs MCUs +; Therefore a segment of the flash is used as "EEPROM" +; +;**** **** **** **** **** + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Read all eeprom parameters routine +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +read_all_eeprom_parameters: + ; Check initialized signature + mov DPTR, #Eep_Initialized_L + mov Temp1, #Bit_Access + call read_eeprom_byte + mov A, Bit_Access + cjne A, #055h, read_eeprom_store_defaults + inc DPTR ; Now Eep_Initialized_H + call read_eeprom_byte + mov A, Bit_Access + cjne A, #0AAh, read_eeprom_store_defaults + jmp read_eeprom_read + + +read_eeprom_store_defaults: + call set_default_parameters + call erase_and_store_all_in_eeprom + jmp read_eeprom_exit + +read_eeprom_read: + ; Read eeprom + mov DPTR, #_Eep_Pgm_Gov_P_Gain + mov Temp1, #_Pgm_Gov_P_Gain + mov Temp4, #10 +read_eeprom_block1: + call read_eeprom_byte + inc DPTR + inc Temp1 + djnz Temp4, read_eeprom_block1 + + mov DPTR, #Eep_Enable_TX_Program + mov Temp1, #Pgm_Enable_TX_Program + mov Temp4, #26 ; 26 parameters +read_eeprom_block2: + call read_eeprom_byte + inc DPTR + inc Temp1 + djnz Temp4, read_eeprom_block2 + + mov DPTR, #Eep_Dummy ; Set pointer to uncritical area + +read_eeprom_exit: + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Erase flash and store all parameter value in EEPROM routine +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +erase_and_store_all_in_eeprom: + clr IE_EA ; Disable interrupts + call read_tags + call erase_flash ; Erase flash + + mov DPTR, #Eep_FW_Main_Revision ; Store firmware main revision + mov A, #EEPROM_FW_MAIN_REVISION + call write_eeprom_byte_from_acc + + inc DPTR ; Now firmware sub revision + mov A, #EEPROM_FW_SUB_REVISION + call write_eeprom_byte_from_acc + + inc DPTR ; Now layout revision + mov A, #EEPROM_LAYOUT_REVISION + call write_eeprom_byte_from_acc + + ; Write eeprom + mov DPTR, #_Eep_Pgm_Gov_P_Gain + mov Temp1, #_Pgm_Gov_P_Gain + mov Temp4, #10 +write_eeprom_block1: + call write_eeprom_byte + inc DPTR + inc Temp1 + djnz Temp4, write_eeprom_block1 + + mov DPTR, #Eep_Enable_TX_Program + mov Temp1, #Pgm_Enable_TX_Program + mov Temp4, #26 ; 26 parameters +write_eeprom_block2: + call write_eeprom_byte + inc DPTR + inc Temp1 + djnz Temp4, write_eeprom_block2 + + call write_tags + call write_eeprom_signature + mov DPTR, #Eep_Dummy ; Set pointer to uncritical area + ret + + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Read eeprom byte routine +; +; Gives data in A and in address given by Temp1. Assumes address in DPTR +; Also assumes address high byte to be zero +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +read_eeprom_byte: + clr A + movc A, @A+DPTR ; Read from flash + mov @Temp1, A + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Write eeprom byte routine +; +; Assumes data in address given by Temp1, or in accumulator. Assumes address in DPTR +; Also assumes address high byte to be zero +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +write_eeprom_byte: + mov A, @Temp1 +write_eeprom_byte_from_acc: + orl PSCTL, #01h ; Set the PSWE bit + anl PSCTL, #0FDh ; Clear the PSEE bit + mov RSTSRC, #02h ; Set VDD monitor as a reset source (PORSF) + mov FLKEY, #0A5h ; First key code + mov FLKEY, #0F1h ; Second key code + movx @DPTR, A ; Write to flash + anl PSCTL, #0FEh ; Clear the PSWE bit + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Erase flash routine (erases the flash segment used for "eeprom" variables) +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +erase_flash: + orl PSCTL, #02h ; Set the PSEE bit + orl PSCTL, #01h ; Set the PSWE bit + mov RSTSRC, #02h ; Set VDD monitor as a reset source (PORSF) + mov FLKEY, #0A5h ; First key code + mov FLKEY, #0F1h ; Second key code + mov DPTR, #Eep_Initialized_L + movx @DPTR, A + anl PSCTL, #0FCh ; Clear the PSEE and PSWE bits + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Write eeprom signature routine +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +write_eeprom_signature: + mov DPTR, #Eep_Initialized_L + mov A, #055h + call write_eeprom_byte_from_acc + + mov DPTR, #Eep_Initialized_H + mov A, #0AAh + call write_eeprom_byte_from_acc + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Read all tags from flash and store in temporary storage +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +read_tags: + mov Temp3, #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_tag: + call read_eeprom_byte + mov A, Bit_Access + mov @Temp2, A ; Write to RAM + inc Temp2 + inc DPTR + djnz Temp3, read_tag + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Write all tags from temporary storage and store in flash +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +write_tags: + mov Temp3, #48 ; Number of tags + mov Temp2, #Tag_Temporary_Storage ; Set RAM address + mov DPTR, #Eep_ESC_Layout ; Set flash address +write_tag: + mov A, @Temp2 ; Read from RAM + call write_eeprom_byte_from_acc + inc Temp2 + inc DPTR + djnz Temp3, write_tag + 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 IE_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 IE_EA ; Enable all interrupts + ret + + +;**;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Success beep inverted routine +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +success_beep_inverted: + clr IE_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 IE_EA ; Enable all interrupts + ret + + diff --git a/BLHeli_S SiLabs/BLHeli_S manual SiLabs Rev16.x.pdf b/BLHeli_S SiLabs/BLHeli_S manual SiLabs Rev16.x.pdf new file mode 100644 index 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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 . +; +;**** **** **** **** **** +; +; This 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 code is designed for multirotor applications, running damped light mode +; +; The input signal can be Normal (1-2ms), OneShot125 (125-250us) or OneShot42 (41.7-83.3us) at rates as high as allowed by the format. +; The code autodetects normal, OneShot125 or Oneshot42. +; +; The first lines of the software must be modified according to the chosen environment: +; ESCNO EQU "ESC" +; MCU_48MHZ EQU "N" +; FETON_DELAY EQU "N" +; +;**** **** **** **** **** +; Revision history: +; - Rev16.0 Started. Built upon rev 14.5 of base code +; Using hardware pwm for very smooth throttle response, silent running and support of very high rpms +; Implemented reverse bidirectional mode +; Implemented separate throttle gains fwd and rev in bidirectional mode +; Implemented support for Oneshot42 and Multishot +; +; +;**** **** **** **** **** +; Minimum 8K Bytes of In-System Self-Programmable Flash +; 512 Bytes Internal SRAM +; +;**** **** **** **** **** +; Master clock is internal 24MHz oscillator (or 48MHz, for which the times below are halved) +; Although 24/48 are used in the code, the exact clock frequencies are 24.5MHz or 49.0 MHz +; Timer 0 (41.67ns counts) always counts up and is used for +; - RC pulse measurement +; Timer 2 (500ns counts) always counts up and is used for +; - RC pulse timeout counts and commutation times +; Timer 3 (500ns counts) always counts up and is used for +; - Commutation timeouts +; PCA0 (41.67ns counts) always counts up and is used for +; - Hardware PWM generation +; +;**** **** **** **** **** +; Interrupt handling +; The C8051 does not disable interrupts when entering an interrupt routine. +; Also some interrupt flags need to be cleared by software +; The code disables interrupts in some interrupt routines +; - Interrupts are disabled during beeps, to avoid audible interference from 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 +; - Motor pwm is always damped light (aka complementary pwm, regenerative braking) +; 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: +; There is a startup phase and an initial run phase, before normal bemf commutation run begins. +; +;**** **** **** **** **** +; List of enumerated supported ESCs +A_ EQU 1 ; X X RC X MC MB MA CC X X Cc Cp Bc Bp Ac Ap +B_ EQU 2 ; X X RC X MC MB MA CC X X Ac Ap Bc Bp Cc Cp +C_ EQU 3 ; Ac Ap MC MB MA CC X RC X X X X Cc Cp Bc Bp +D_ EQU 4 ; X X RC X CC MA MC MB X X Cc Cp Bc Bp Ac Ap Com fets inverted +E_ EQU 5 ; L1 L0 RC X MC MB MA CC X L2 Cc Cp Bc Bp Ac Ap A with LEDs +F_ EQU 6 ; X X RC X MA MB MC CC X X Cc Cp Bc Bp Ac Ap +G_ EQU 7 ; X X RC X CC MA MC MB X X Cc Cp Bc Bp Ac Ap Like D, but noninverted com fets + + +;**** **** **** **** **** +; Select the port mapping to use (or unselect all for use with external batch compile file) +;ESCNO EQU A_ +;ESCNO EQU B_ +;ESCNO EQU C_ +;ESCNO EQU D_ +;ESCNO EQU E_ +;ESCNO EQU F_ +;ESCNO EQU G_ + +;**** **** **** **** **** +; Select the MCU type (or unselect for use with external batch compile file) +;MCU_48MHZ EQU 1 + +;**** **** **** **** **** +; Select the fet deadtime (or unselect for use with external batch compile file) +;FETON_DELAY EQU 15 ; 20.4ns per step + + +;**** **** **** **** **** +; ESC selection statements +IF ESCNO == A_ +$include (A.inc) ; Select pinout A +ENDIF + +IF ESCNO == B_ +$include (B.inc) ; Select pinout B +ENDIF + +IF ESCNO == C_ +$include (C.inc) ; Select pinout C +ENDIF + +IF ESCNO == D_ +$include (D.inc) ; Select pinout D +ENDIF + +IF ESCNO == E_ +$include (E.inc) ; Select pinout E +ENDIF + +IF ESCNO == F_ +$include (F.inc) ; Select pinout F +ENDIF + +IF ESCNO == G_ +$include (G.inc) ; Select pinout G +ENDIF + + +;**** **** **** **** **** +; Programming defaults +; +DEFAULT_PGM_STARTUP_PWR EQU 9 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50 +DEFAULT_PGM_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High +DEFAULT_PGM_DEMAG_COMP EQU 2 ; 1=Disabled 2=Low 3=High +DEFAULT_PGM_DIRECTION EQU 1 ; 1=Normal 2=Reversed 3=Bidir 4=Bidir rev +DEFAULT_PGM_BEEP_STRENGTH EQU 40 ; Beep strength +DEFAULT_PGM_BEACON_STRENGTH EQU 80 ; Beacon strength +DEFAULT_PGM_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_MIN_THROTTLE EQU 37 ; 4*37+1000=1148 +DEFAULT_PGM_MAX_THROTTLE EQU 208 ; 4*208+1000=1832 +DEFAULT_PGM_CENTER_THROTTLE EQU 122 ; 4*122+1000=1488 (used in bidirectional mode) +DEFAULT_PGM_ENABLE_TEMP_PROT EQU 1 ; 1=Enabled 0=Disabled +DEFAULT_PGM_ENABLE_POWER_PROT EQU 1 ; 1=Enabled 0=Disabled +DEFAULT_PGM_BRAKE_ON_STOP EQU 0 ; 1=Enabled 0=Disabled +DEFAULT_PGM_LED_CONTROL EQU 0 ; Byte for LED control. 2bits per LED, 0=Off, 1=On + +;**** **** **** **** **** +; 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 ; MUST BE AT THIS ADDRESS. Variable at bit accessible address (for non interrupt routines) +Bit_Access_Int: DS 1 ; Variable at bit accessible address (for interrupts) + +Rcp_Outside_Range_Cnt: DS 1 ; RC pulse outside range counter (incrementing) +Rcp_Timeout_Cntd: DS 1 ; RC pulse timeout counter (decrementing) + + +Flags0: DS 1 ; State flags. Reset upon init_start +T3_PENDING EQU 0 ; Timer3 pending flag +DEMAG_ENABLED EQU 1 ; Set when demag compensation is enabled (above a min speed and throttle) +DEMAG_DETECTED EQU 2 ; Set when excessive demag time is detected +DEMAG_CUT_POWER EQU 3 ; Set when demag compensation cuts power +COMP_TIMED_OUT EQU 4 ; Set when comparator reading timed out +; EQU 5 +; EQU 6 +; EQU 7 + + +Flags1: DS 1 ; State flags. Reset upon init_start +STARTUP_PHASE EQU 0 ; Set when in startup phase +INITIAL_RUN_PHASE EQU 1 ; Set when in initial run phase, before synchronized run is achieved +MOTOR_STARTED EQU 2 ; Set when motor is started +DIR_CHANGE_BRAKE EQU 3 ; Set when braking before direction change +HIGH_RPM EQU 4 ; Set when motor rpm is high (Comm_Period4x_H less than 2) +; EQU 5 +; EQU 6 +; EQU 7 + +Flags2: DS 1 ; State flags. NOT reset upon init_start +RCP_UPDATED EQU 0 ; New RC pulse length value available +RCP_ONESHOT125 EQU 1 ; RC pulse input is OneShot125 (125-250us) +RCP_ONESHOT42 EQU 2 ; RC pulse input is OneShot42 (41.67-83us) +RCP_MULTISHOT EQU 3 ; RC pulse input is Multishot (5-25us) +RCP_DIR_REV EQU 4 ; RC pulse direction in bidirectional mode +RCP_FULL_RANGE EQU 5 ; When set full input signal range is used (1000-2000us) and stored calibration values are ignored +; EQU 6 +; EQU 7 + +Flags3: DS 1 ; State flags. NOT reset upon init_start +PGM_DIR_REV EQU 0 ; Programmed direction. 0=normal, 1=reversed +PGM_BIDIR_REV EQU 1 ; Programmed bidirectional direction. 0=normal, 1=reversed +PGM_BIDIR EQU 2 ; Programmed bidirectional operation. 0=normal, 1=bidirectional +; EQU 3 +; EQU 4 +; EQU 5 +; EQU 6 +; EQU 7 + + +;**** **** **** **** **** +; 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 + +Min_Throttle_L: DS 1 ; Minimum throttle scaled (lo byte) +Min_Throttle_H: DS 1 ; Minimum throttle scaled (hi byte) +Center_Throttle_L: DS 1 ; Center throttle scaled (lo byte) +Center_Throttle_H: DS 1 ; Center throttle scaled (hi byte) +Max_Throttle_L: DS 1 ; Maximum throttle scaled (lo byte) +Max_Throttle_H: DS 1 ; Maximum throttle scaled (hi byte) + +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_Cnt: DS 1 ; Startup phase commutations counter (incrementing) +Startup_Zc_Timeout_Cntd: DS 1 ; Startup zero cross timeout counter (decrementing) +Initial_Run_Rot_Cntd: DS 1 ; Initial run rotations counter (decrementing) +Stall_Cnt: DS 1 ; Counts start/run attempts that resulted in stall. Reset upon a proper stop +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 + +Timer0_X: DS 1 ; Timer 0 extended byte +Timer2_X: DS 1 ; Timer 2 extended byte +Prev_Comm_L: DS 1 ; Previous commutation timer3 timestamp (lo byte) +Prev_Comm_H: DS 1 ; Previous commutation timer3 timestamp (hi byte) +Prev_Comm_X: DS 1 ; Previous commutation timer3 timestamp (ext byte) +Prev_Prev_Comm_L: DS 1 ; Pre-previous commutation timer3 timestamp (lo byte) +Prev_Prev_Comm_H: DS 1 ; Pre-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) +Comparator_Read_Cnt: DS 1 ; Number of comparator reads done + +Wt_Adv_Start_L: DS 1 ; Timer3 start point for commutation advance timing (lo byte) +Wt_Adv_Start_H: DS 1 ; Timer3 start point for commutation advance timing (hi byte) +Wt_Zc_Scan_Start_L: DS 1 ; Timer3 start point from commutation to zero cross scan (lo byte) +Wt_Zc_Scan_Start_H: DS 1 ; Timer3 start point from commutation to zero cross scan (hi byte) +Wt_Zc_Tout_Start_L: DS 1 ; Timer3 start point for zero cross scan timeout (lo byte) +Wt_Zc_Tout_Start_H: DS 1 ; Timer3 start point for zero cross scan timeout (hi byte) +Wt_Comm_Start_L: DS 1 ; Timer3 start point from zero cross to commutation (lo byte) +Wt_Comm_Start_H: DS 1 ; Timer3 start point from zero cross to commutation (hi byte) + +New_Rcp: DS 1 ; New RC pulse value in pca counts +Rcp_Stop_Cnt: DS 1 ; Counter for RC pulses below stop value + +Power_Pwm_Reg_L: DS 1 ; Power pwm register setting (lo byte) +Power_Pwm_Reg_H: DS 1 ; Power pwm register setting (hi byte). 0x3F is minimum power +Damp_Pwm_Reg_L: DS 1 ; Damping pwm register setting (lo byte) +Damp_Pwm_Reg_H: DS 1 ; Damping pwm register setting (hi byte) +Current_Power_Pwm_Reg_H: DS 1 ; Current power pwm register setting that is loaded in the PCA register (hi byte) + +Pwm_Limit: DS 1 ; Maximum allowed pwm +Pwm_Limit_By_Rpm: DS 1 ; Maximum allowed pwm for low or high rpms +Pwm_Limit_Beg: DS 1 ; Initial pwm limit + +Adc_Conversion_Cnt: DS 1 ; Adc conversion counter + +Current_Average_Temp: DS 1 ; Current average temperature (lo byte ADC reading, assuming hi byte is 1) + +Throttle_Gain: DS 1 ; Gain to be applied to RCP value +Throttle_Gain_M: DS 1 ; Gain to be applied to RCP value (multiplier 0=1x, 1=2x, 2=4x etc)) +Throttle_Gain_BD_Rev: DS 1 ; Gain to be applied to RCP value for reverse direction in bidirectional mode +Throttle_Gain_BD_Rev_M: DS 1 ; Gain to be applied to RCP value for reverse direction in bidirectional mode (multiplier 0=1x, 1=2x, 2=4x etc) +Beep_Strength: DS 1 ; Strength of beeps + +Skip_T2_Int: DS 1 ; Set for 48MHz MCUs when timer 2 interrupt shall be ignored +Clock_Set_At_48MHz: DS 1 ; Variable set if 48MHz MCUs run at 48MHz + +; Indirect addressing data segment. The variables below must be in this sequence +ISEG AT 080h +_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_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_Min_Throttle: DS 1 ; Programmed throttle minimum +Pgm_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_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 +Pgm_Enable_Power_Prot: DS 1 ; Programmed low rpm power protection enable +_Pgm_Enable_Pwm_Input: DS 1 ; Programmed PWM input signal enable +_Pgm_Pwm_Dither: DS 1 ; Programmed output PWM dither +Pgm_Brake_On_Stop: DS 1 ; Programmed braking when throttle is zero +Pgm_LED_Control: DS 1 ; Programmed LED control + +; The sequence of the variables below is no longer of importance +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 16 ; Main revision of the firmware +EEPROM_FW_SUB_REVISION EQU 0 ; Sub revision of the firmware +EEPROM_LAYOUT_REVISION EQU 32 ; 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 + +_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 0FFh +_Eep_Pgm_Motor_Idle: DB 0FFh +Eep_Pgm_Startup_Pwr: DB DEFAULT_PGM_STARTUP_PWR ; EEPROM copy of programmed startup power +_Eep_Pgm_Pwm_Freq: DB 0FFh +Eep_Pgm_Direction: DB DEFAULT_PGM_DIRECTION ; EEPROM copy of programmed rotation direction +_Eep_Pgm_Input_Pol: DB 0FFh +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_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_Min_Throttle: DB DEFAULT_PGM_MIN_THROTTLE ; EEPROM copy of programmed minimum throttle +Eep_Pgm_Max_Throttle: DB DEFAULT_PGM_MAX_THROTTLE ; EEPROM copy of programmed minimum throttle +Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_BEEP_STRENGTH ; EEPROM copy of programmed beep strength +Eep_Pgm_Beacon_Strength: DB DEFAULT_PGM_BEACON_STRENGTH ; EEPROM copy of programmed beacon strength +Eep_Pgm_Beacon_Delay: DB DEFAULT_PGM_BEACON_DELAY ; EEPROM copy of programmed beacon delay +_Eep_Pgm_Throttle_Rate: DB 0FFh +Eep_Pgm_Demag_Comp: DB DEFAULT_PGM_DEMAG_COMP ; EEPROM copy of programmed demag compensation +_Eep_Pgm_BEC_Voltage_High: DB 0FFh +Eep_Pgm_Center_Throttle: DB DEFAULT_PGM_CENTER_THROTTLE ; EEPROM copy of programmed center throttle +_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 +Eep_Pgm_Enable_Power_Prot: DB DEFAULT_PGM_ENABLE_POWER_PROT ; EEPROM copy of programmed low rpm power protection enable +_Eep_Pgm_Enable_Pwm_Input: DB 0FFh +_Eep_Pgm_Pwm_Dither: DB 0FFh +Eep_Pgm_Brake_On_Stop: DB DEFAULT_PGM_BRAKE_ON_STOP ; EEPROM copy of programmed braking when throttle is zero +Eep_Pgm_LED_Control: DB DEFAULT_PGM_LED_CONTROL ; EEPROM copy of programmed LED control + +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 +STARTUP_POWER_TABLE: DB 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 60h, 80h, 0A0h, 0C0h + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Timer0 interrupt routine +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +IF MCU_48MHZ == 1 +t0_int: + clr TCON_TF0 ; Clear interrupt flag + inc Timer0_X + reti +ENDIF + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Timer2 interrupt routine +; +; No assumptions +; Requirements: Temp variables can NOT be used since PSW.x is not set +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +t2_int: ; Happens every 32ms + push PSW ; Preserve registers through interrupt + push ACC + clr TMR2CN0_TF2H ; Clear interrupt flag + inc Timer2_X +IF MCU_48MHZ == 1 + mov A, Clock_Set_At_48MHz + jz t2_int_start + + ; Check skip variable + mov A, Skip_T2_Int + jz t2_int_start ; Execute this interrupt + + mov Skip_T2_Int, #0 + ajmp t2_int_exit + +t2_int_start: + mov Skip_T2_Int, #1 ; Skip next interrupt +ENDIF + ; Update RC pulse timeout counter + mov A, Rcp_Timeout_Cntd ; RC pulse timeout count zero? + jz t2_int_exit ; Yes - do not decrement + + dec Rcp_Timeout_Cntd ; No decrement + +t2_int_exit: + pop ACC ; Restore preserved registers + pop PSW + reti + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Timer3 interrupt routine +; +; No assumptions +; Requirements: Temp variables can NOT be used since PSW.x is not set +; ACC can not be used, as it is not pushed to stack +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +t3_int: ; Used for commutation timing + clr IE_EA ; Disable all interrupts + anl EIE1, #7Fh ; Disable timer3 interrupts + clr Flags0.T3_PENDING ; Flag that timer has wrapped + anl TMR3CN0, #07Fh ; Timer3 interrupt flag cleared + setb IE_EA ; Enable all interrupts + reti + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Int0 interrupt routine +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +int0_int: ; Used for RC pulse timing + push PSW ; Preserve registers through interrupt + push ACC + push B + setb PSW.3 ; Select register bank 1 for this interrupt + ; Get the counter values + Get_Rcp_Capture_Values + ; Scale down to 10 bits (for 24MHz, and 11 bits for 48MHz) + jnb Flags2.RCP_MULTISHOT, int0_int_fall_not_multishot + + ; Multishot - Multiply by 2 and add 1/16 and 1/32 + mov A, Temp1 ; Divide by 16 + swap A + anl A, #0Fh + mov Temp3, A + mov A, Temp2 + swap A + anl A, #0F0h + orl A, Temp3 + mov Temp3, A + clr C ; Make divided by 32 + rrc A + add A, Temp3 ; Add 1/16 to 1/32 + mov Temp3, A + clr C ; Multiply by 2 + mov A, Temp1 + rlc A + mov Temp1, A + mov A, Temp2 + rlc A + mov Temp2, A + mov A, Temp1 ; Add 1/16 and 1/32 + add A, Temp3 + mov Temp3, A + mov A, Temp2 +IF MCU_48MHZ == 0 + addc A, #03h ; Add to low end, to make signal look like 20-40us +ELSE + addc A, #06h +ENDIF + mov Temp4, A + ajmp int0_int_fall_gain_done + +int0_int_fall_not_multishot: + jnb Flags2.RCP_ONESHOT42, int0_int_fall_not_oneshot_42 + + ; Oneshot42 - Add 2/256 + clr C + mov A, Temp1 + rlc A + mov A, Temp2 + rlc A + mov Temp3, A + mov A, Temp1 + add A, Temp3 + mov Temp3, A + mov A, Temp2 + addc A, #0 + mov Temp4, A + ajmp int0_int_fall_gain_done + +int0_int_fall_not_oneshot_42: + jnb Flags2.RCP_ONESHOT125, int0_int_fall_not_oneshot_125 + + ; Oneshot125 - multiply by 86/256 + mov A, Temp1 ; Multiply by 86 and divide by 256 + mov B, #56h + mul AB + mov Temp3, B + mov A, Temp2 + mov B, #56h + mul AB + add A, Temp3 + mov Temp3, A + xch A, B + addc A, #0 + mov Temp4, A + ajmp int0_int_fall_gain_done + +int0_int_fall_not_oneshot_125: + ; Regular signal - multiply by 43/1024 +IF MCU_48MHZ == 1 + clr C + mov A, Temp3 ; Divide by 2 + rrc A + mov Temp3, A + mov A, Temp2 + rrc A + mov Temp2, A + mov A, Temp1 + rrc A + mov Temp1, A +ENDIF + mov A, Temp1 ; Multiply by 43 and divide by 1024 +IF MCU_48MHZ == 0 + mov B, #2Bh +ELSE + mov B, #56h ; Multiply by 86 +ENDIF + mul AB + mov Temp3, B + mov A, Temp2 +IF MCU_48MHZ == 0 + mov B, #2Bh +ELSE + mov B, #56h ; Multiply by 86 +ENDIF + mul AB + add A, Temp3 + mov Temp3, A + xch A, B + addc A, #0 + clr C + rrc A ; Divide by 2 for total 512 + mov Temp4, A + mov A, Temp3 + rrc A + mov Temp3, A + clr C + mov A, Temp4 ; Divide by 2 for total 1024 + rrc A + mov Temp4, A + mov A, Temp3 + rrc A + mov Temp3, A + +int0_int_fall_gain_done: + ; Check if 2235us or above (in order to ignore false pulses) + clr C + mov A, Temp4 ; Is pulse 2235us or higher? +IF MCU_48MHZ == 0 + subb A, #09h +ELSE + subb A, #12h +ENDIF + jnc int0_int_outside_range ; Yes - ignore pulse + + ; Check if below 745us (in order to ignore false pulses) + clr C + mov A, Temp4 ; Is pulse below 745us? +IF MCU_48MHZ == 0 + subb A, #03h +ELSE + subb A, #06h +ENDIF + jnc int0_int_check_full_range ; No - proceed + +int0_int_outside_range: + inc Rcp_Outside_Range_Cnt + mov A, Rcp_Outside_Range_Cnt + jnz ($+4) + + dec Rcp_Outside_Range_Cnt + + clr C + mov A, Rcp_Outside_Range_Cnt + subb A, #10 ; Allow a given number of outside pulses + jnc ($+4) + ajmp int0_int_set_timeout ; If outside limits - ignore pulse + + mov New_Rcp, #0 ; Set pulse length to zero + mov Temp3, #0 + mov Temp4, #0 + ajmp int0_int_set_pwm_registers + +int0_int_check_full_range: + ; Decrement outside range counter + mov A, Rcp_Outside_Range_Cnt + jz ($+4) + + dec Rcp_Outside_Range_Cnt + + ; Calculate "1000us" plus throttle minimum + jnb Flags2.RCP_FULL_RANGE, int0_int_set_min ; Check if full range is chosen + + mov Temp5, #0 ; Set 1000us as default minimum +IF MCU_48MHZ == 0 + mov Temp6, #4 +ELSE + mov Temp6, #8 +ENDIF + ajmp int0_int_calculate + +int0_int_set_min: + mov Temp5, Min_Throttle_L ; Min throttle value scaled + mov Temp6, Min_Throttle_H + jnb Flags3.PGM_BIDIR, ($+7) + + mov Temp5, Center_Throttle_L ; Center throttle value scaled + mov Temp6, Center_Throttle_H + +int0_int_calculate: + clr C + mov A, Temp3 ; Subtract minimum + subb A, Temp5 + mov Temp3, A + mov A, Temp4 + subb A, Temp6 + mov Temp4, A + mov Bit_Access_Int.0, C + mov Temp7, Throttle_Gain ; Load Temp7/Temp8 with throttle gain + mov Temp8, Throttle_Gain_M + jnb Flags3.PGM_BIDIR, int0_int_not_bidir ; If not bidirectional operation - branch + + jnc int0_int_bidir_fwd ; If result is positive - branch + +int0_int_bidir_rev: + jb Flags2.RCP_DIR_REV, int0_int_bidir_rev_chk ; If same direction - branch + + setb Flags2.RCP_DIR_REV + ajmp int0_int_bidir_rev_chk + +int0_int_bidir_fwd: + jnb Flags2.RCP_DIR_REV, int0_int_bidir_rev_chk ; If same direction - branch + + clr Flags2.RCP_DIR_REV + +int0_int_bidir_rev_chk: + jnb Flags2.RCP_DIR_REV, ($+7) + + mov Temp7, Throttle_Gain_BD_Rev ; Load Temp7/Temp8 with throttle gain for bidirectional reverse + mov Temp8, Throttle_Gain_BD_Rev_M + + jb Flags3.PGM_BIDIR_REV, ($+5) + + cpl Flags2.RCP_DIR_REV + + clr C ; Multiply throttle value by 2 + mov A, Temp3 + rlc A + mov Temp3, A + mov A, Temp4 + rlc A + mov Temp4, A + mov C, Bit_Access_Int.0 + jnc int0_int_bidir_do_deadband ; If result is positive - branch + + mov A, Temp3 ; Change sign + cpl A + add A, #1 + mov Temp3, A + mov A, Temp4 + cpl A + addc A, #0 + mov Temp4, A + +int0_int_bidir_do_deadband: + clr C ; Subtract deadband + mov A, Temp3 +IF MCU_48MHZ == 0 + subb A, #40 +ELSE + subb A, #80 +ENDIF + mov Temp3, A + mov A, Temp4 + subb A, #0 + mov Temp4, A + jnc int0_int_do_throttle_gain + + mov Temp1, #0 + mov Temp3, #0 + mov Temp4, #0 + ajmp int0_int_do_throttle_gain + +int0_int_not_bidir: + mov C, Bit_Access_Int.0 + jnc int0_int_do_throttle_gain ; If result is positive - branch + +int0_int_unidir_neg: + mov Temp1, #0 ; Yes - set to minimum + mov Temp3, #0 + mov Temp4, #0 + ajmp int0_int_pulse_ready + +int0_int_do_throttle_gain: + ; Boost pwm during direct start + mov A, Flags1 + anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) + jz int0_int_startup_boosted + + jb Flags1.MOTOR_STARTED, int0_int_startup_boosted ; Do not boost when changing direction in bidirectional mode + + mov A, Pwm_Limit_Beg ; Set 25% of max startup power as minimum power +IF MCU_48MHZ == 1 + rlc A +ENDIF + mov Temp2, A + mov A, Temp4 + jnz int0_int_startup_boost_stall + + clr C + mov A, Temp2 + subb A, Temp3 + jc int0_int_startup_boost_stall + + mov A, Temp2 + mov Temp3, A + +int0_int_startup_boost_stall: + mov A, Stall_Cnt ; Add an extra power boost during start + swap A +IF MCU_48MHZ == 1 + rlc A +ENDIF + add A, Temp3 + mov Temp3, A + mov A, Temp4 + addc A, #0 + mov Temp4, A + +int0_int_startup_boosted: + mov A, Temp3 ; Multiply throttle value by throttle gain + mov B, Temp7 ; Temp7 has Throttle_Gain + mul AB + mov Temp2, A + mov Temp3, B + mov A, Temp4 + mov B, Temp7 ; Temp7 has Throttle_Gain + mul AB + add A, Temp3 + mov Temp3, A + xch A, B + addc A, #0 + mov Temp4, A + clr C ; Generate 8bit number + mov A, Temp4 + rrc A + mov Temp6, A + mov A, Temp3 + rrc A + mov Temp1, A +IF MCU_48MHZ == 1 + clr C + mov A, Temp6 + rrc A + mov Temp6, A + mov A, Temp1 + rrc A + mov Temp1, A +ENDIF + inc Temp8 ; Temp8 has Throttle_Gain_M +int0_int_gain_loop: + mov A, Temp8 + dec A + jz int0_int_gain_rcp_done ; Skip one multiply by 2 of New_Rcp + + clr C + mov A, Temp1 ; Multiply New_Rcp by 2 + rlc A + mov Temp1, A + +int0_int_gain_rcp_done: + clr C + mov A, Temp2 ; Multiply pwm by 2 + rlc A + mov A, Temp3 + rlc A + mov Temp3, A + mov A, Temp4 + rlc A + mov Temp4, A + djnz Temp8, int0_int_gain_loop + + mov A, Temp4 +IF MCU_48MHZ == 0 + jnb ACC.2, int0_int_pulse_ready ; Check that RC pulse is within legal range +ELSE + jnb ACC.3, int0_int_pulse_ready +ENDIF + + mov Temp1, #0FFh + mov Temp3, #0FFh +IF MCU_48MHZ == 0 + mov Temp4, #3 +ELSE + mov Temp4, #7 +ENDIF + +int0_int_pulse_ready: + mov New_Rcp, Temp1 ; Store new pulse length + setb Flags2.RCP_UPDATED ; Set updated flag + ; Set demag enabled if pwm is above limit + clr C + mov A, Temp1 + subb A, #40h + jc int0_int_demag_done ; Set if above 25% + + setb Flags0.DEMAG_ENABLED + +int0_int_demag_done: + ; Set pwm limit + clr C + mov A, Pwm_Limit ; Limit to the smallest + mov Temp5, A ; Store limit in Temp5 + subb A, Pwm_Limit_By_Rpm + jc ($+5) + + mov Temp5, Pwm_Limit_By_Rpm + + ; Check against limit + clr C + mov A, Temp5 + subb A, New_Rcp + jnc int0_int_set_pwm_registers + + mov A, Temp5 ; Multiply limit by 4 (8 for 48MHz MCUs) +IF MCU_48MHZ == 0 + mov B, #4 +ELSE + mov B, #8 +ENDIF + mul AB + mov Temp3, A + mov Temp4, B + +int0_int_set_pwm_registers: + mov A, Temp3 + cpl A + mov Temp1, A + mov A, Temp4 + cpl A +IF MCU_48MHZ == 0 + anl A, #3 +ELSE + anl A, #7 +ENDIF + mov Temp2, A +IF FETON_DELAY != 0 + clr C + mov A, Temp1 ; Skew damping fet timing +IF MCU_48MHZ == 0 + subb A, #FETON_DELAY +ELSE + subb A, #(FETON_DELAY SHL 1) +ENDIF + mov Temp3, A + mov A, Temp2 + subb A, #0 + mov Temp4, A + jnc int0_int_set_pwm_damp_set + + mov Temp3, #0 + mov Temp4, #0 + +int0_int_set_pwm_damp_set: +ENDIF + mov Power_Pwm_Reg_L, Temp1 + mov Power_Pwm_Reg_H, Temp2 +IF FETON_DELAY != 0 + mov Damp_Pwm_Reg_L, Temp3 + mov Damp_Pwm_Reg_H, Temp4 +ENDIF + mov Rcp_Timeout_Cntd, #10 ; Set timeout count +IF FETON_DELAY != 0 + pop B ; Restore preserved registers + pop ACC + pop PSW + Clear_COVF_Interrupt + Enable_COVF_Interrupt ; Generate a pca interrupt + reti +ELSE + mov A, Current_Power_Pwm_Reg_H +IF MCU_48MHZ == 0 + jnb ACC.1, int0_int_set_pca_int_hi_pwm +ELSE + jnb ACC.2, int0_int_set_pca_int_hi_pwm +ENDIF + + pop B ; Restore preserved registers + pop ACC + pop PSW + Clear_COVF_Interrupt + Enable_COVF_Interrupt ; Generate a pca interrupt + reti + +int0_int_set_pca_int_hi_pwm: + pop B ; Restore preserved registers + pop ACC + pop PSW + Clear_CCF_Interrupt + Enable_CCF_Interrupt ; Generate pca interrupt + reti +ENDIF + +int0_int_set_timeout: + mov Rcp_Timeout_Cntd, #10 ; Set timeout count + pop B ; Restore preserved registers + pop ACC + pop PSW + reti + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; PCA interrupt routine +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +pca_int: ; Used for setting pwm registers + push PSW ; Preserve registers through interrupt + push ACC + setb PSW.3 ; Select register bank 1 for this interrupt + +IF FETON_DELAY != 0 ; HI/LO enable style drivers + + mov Temp1, PCA0L ; Read low byte, to transfer high byte to holding register + mov A, Current_Power_Pwm_Reg_H +IF MCU_48MHZ == 0 + jnb ACC.0, pca_int_hi_pwm +ELSE + jnb ACC.1, pca_int_hi_pwm +ENDIF + mov A, PCA0H +IF MCU_48MHZ == 0 + jnb ACC.1, pca_int_set_pwm ; Power below 50%, update pca in the 0x20-0x3F range +ELSE + jnb ACC.2, pca_int_set_pwm +ENDIF + ajmp pca_int_exit + +pca_int_hi_pwm: + mov A, PCA0H +IF MCU_48MHZ == 0 + jnb ACC.1, pca_int_exit ; Power above 50%, update pca in the 0x00-0x1F range +ELSE + jnb ACC.2, pca_int_exit +ENDIF + +pca_int_set_pwm: + Set_Power_Pwm_Regs + Set_Damp_Pwm_Regs + mov Current_Power_Pwm_Reg_H, Power_Pwm_Reg_H + Disable_COVF_Interrupt + +ELSE ; EN/PWM style drivers + + Set_Power_Pwm_Regs + mov Current_Power_Pwm_Reg_H, Power_Pwm_Reg_H + Disable_COVF_Interrupt + Disable_CCF_Interrupt + +ENDIF + + ; Check RC pulse against stop value + clr C + mov A, New_Rcp ; Load new pulse value + subb A, #1 ; Check if pulse is below stop value + jc pca_int_rcp_stop + + ; RC pulse higher than stop value, reset stop counter + mov Rcp_Stop_Cnt, #0 ; Reset rcp stop counter + ajmp pca_int_exit + +pca_int_rcp_stop: + ; RC pulse less than stop value + mov A, Rcp_Stop_Cnt ; Increment stop counter + add A, #1 + mov Rcp_Stop_Cnt, A + jnc ($+5) ; Branch if counter has not wrapped + + mov Rcp_Stop_Cnt, #0FFh ; Set stop counter to max + +pca_int_exit: + Clear_COVF_Interrupt +IF FETON_DELAY == 0 + Clear_CCF_Interrupt +ENDIF + pop ACC ; Restore preserved registers + pop PSW +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 + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Beeper routines (4 different entry points) +; +; No assumptions +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +beep_f1: ; Entry point 1, load beeper frequency 1 settings + mov Temp3, #20 ; Off wait loop length + mov Temp4, #120 ; Number of beep pulses + jmp beep + +beep_f2: ; Entry point 2, load beeper frequency 2 settings + mov Temp3, #16 + mov Temp4, #140 + jmp beep + +beep_f3: ; Entry point 3, load beeper frequency 3 settings + mov Temp3, #13 + mov Temp4, #180 + jmp beep + +beep_f4: ; Entry point 4, load beeper frequency 4 settings + mov Temp3, #11 + mov Temp4, #200 + jmp beep + +beep: ; Beep loop start + mov Temp2, #2 +beep_onoff: + clr A + BcomFET_off ; BcomFET off + djnz ACC, $ ; Allow some time after comfet is turned off + BpwmFET_on ; BpwmFET on (in order to charge the driver of the BcomFET) + djnz ACC, $ ; Let the pwmfet be turned on a while + BpwmFET_off ; BpwmFET off again + djnz ACC, $ ; Allow some time after pwmfet is turned off + BcomFET_on ; BcomFET on + djnz ACC, $ ; Allow some time after comfet is turned on + ; Turn on pwmfet + mov A, Temp2 + jb ACC.0, beep_apwmfet_on + ApwmFET_on ; ApwmFET on +beep_apwmfet_on: + jnb ACC.0, beep_cpwmfet_on + CpwmFET_on ; CpwmFET on +beep_cpwmfet_on: + mov A, Beep_Strength + djnz ACC, $ + ; Turn off pwmfet + mov A, Temp2 + jb ACC.0, beep_apwmfet_off + ApwmFET_off ; ApwmFET off +beep_apwmfet_off: + jnb ACC.0, beep_cpwmfet_off + CpwmFET_off ; CpwmFET off +beep_cpwmfet_off: + mov A, #150 ; 25µs 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 + BcomFET_off ; BcomFET off + 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 + jb Flags1.STARTUP_PHASE, set_pwm_limit_low_rpm_exit ; Exit if startup phase set + jb Flags1.INITIAL_RUN_PHASE, set_pwm_demag_done ; Skip demag portion if initial run 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, New_Rcp + subb A, #40h + jnc set_pwm_demag_done ; Jump if above 25% + + clr Flags0.DEMAG_ENABLED ; Disable demag + +set_pwm_demag_done: + mov Temp2, #Pgm_Enable_Power_Prot ; Check if low RPM power protection is enabled + mov A, @Temp2 + jz set_pwm_limit_low_rpm_exit ; Exit if disabled + + 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 + jnb Flags1.INITIAL_RUN_PHASE, ($+6) ; More protection for initial run phase + mov B, #5 + mul AB + mov Temp1, A ; Set new limit + xch A, B + jz ($+4) ; Limit to max + + mov Temp1, #0FFh + + clr C + mov A, Temp1 ; Limit to min + subb A, Pwm_Limit_Beg + jnc set_pwm_limit_low_rpm_exit + + mov Temp1, Pwm_Limit_Beg + +set_pwm_limit_low_rpm_exit: + mov Pwm_Limit_By_Rpm, Temp1 + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Set pwm limit high rpm +; +; No assumptions +; +; Sets power limit for high rpms +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +set_pwm_limit_high_rpm: +IF MCU_48MHZ == 1 + clr C + mov A, Comm_Period4x_L + subb A, #0A0h ; Limit Comm_Period to 160, which is 500k erpm + mov A, Comm_Period4x_H + subb A, #00h +ELSE + clr C + mov A, Comm_Period4x_L + subb A, #0E4h ; Limit Comm_Period to 228, which is 350k erpm + mov A, Comm_Period4x_H + subb A, #00h +ENDIF + mov A, Pwm_Limit_By_Rpm + jnc set_pwm_limit_high_rpm_inc_limit + + dec A + ajmp set_pwm_limit_high_rpm_store + +set_pwm_limit_high_rpm_inc_limit: + inc A +set_pwm_limit_high_rpm_store: + jz ($+4) + + mov Pwm_Limit_By_Rpm, A + + 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: + inc Adc_Conversion_Cnt ; Increment conversion counter + clr C + mov A, Adc_Conversion_Cnt ; Is conversion count equal to temp rate? + subb A, #8 + jc check_voltage_start ; No - check voltage + + ; Wait for ADC conversion to complete + Get_Adc_Status + jb ADC0CN0_ADBUSY, check_temp_voltage_and_limit_power + ; Read ADC result + Read_Adc_Result + ; Stop ADC + Stop_Adc + + 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, #0 ; No - limit pwm + +temp_check_exit: + ret + +check_voltage_start: + ; Increase pwm limit + mov A, Pwm_Limit + add A, #16 + jnc ($+4) ; If not max - branch + + mov A, #255 + + mov Pwm_Limit, A ; Increment limit + 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, #50 ; 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: + mov Pwm_Limit_Beg, Temp1 ; Set initial pwm limit + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Initialize timing routine +; +; No assumptions +; +; Part of initialization before motor start +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +initialize_timing: + mov Comm_Period4x_L, #00h ; Set commutation period registers + mov Comm_Period4x_H, #0F0h + 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 + clr IE_EA + mov TMR2CN0, #00h ; Timer2 disabled + mov Temp1, TMR2L ; Load timer value + mov Temp2, TMR2H + mov Temp3, Timer2_X + jnb TMR2CN0_TF2H, ($+4) ; Check if interrupt is pending + inc Temp3 ; If it is pending, then timer has already wrapped + mov TMR2CN0, #04h ; Timer2 enabled + setb IE_EA +IF MCU_48MHZ == 1 + clr C + mov A, Temp3 + rrc A + mov Temp3, A + mov A, Temp2 + rrc A + mov Temp2, A + mov A, Temp1 + rrc A + mov Temp1, A +ENDIF + ; Calculate this commutation time + mov Temp4, Prev_Comm_L + mov Temp5, Prev_Comm_H + mov Prev_Comm_L, Temp1 ; Store timestamp as previous commutation + mov Prev_Comm_H, Temp2 + clr C + mov A, Temp1 + subb A, Temp4 ; Calculate the new commutation time + mov Temp1, A + mov A, Temp2 + subb A, Temp5 + jb Flags1.STARTUP_PHASE, calc_next_comm_startup + +IF MCU_48MHZ == 1 + anl A, #7Fh +ENDIF + mov Temp2, A + jnb Flags1.HIGH_RPM, ($+5) ; Branch if high rpm + ajmp calc_next_comm_timing_fast + + ajmp calc_next_comm_normal + +calc_next_comm_startup: + mov Temp6, Prev_Comm_X + mov Prev_Comm_X, Temp3 ; Store extended timestamp as previous commutation + mov Temp2, A + mov A, Temp3 + subb A, Temp6 ; Calculate the new extended commutation time +IF MCU_48MHZ == 1 + anl A, #7Fh +ENDIF + mov Temp3, A + jz ($+6) + + mov Temp1, #0FFh + mov Temp2, #0FFh + + mov Temp7, Prev_Prev_Comm_L + mov Temp8, Prev_Prev_Comm_H + mov Prev_Prev_Comm_L, Temp4 + mov Prev_Prev_Comm_H, Temp5 + mov Temp1, Prev_Comm_L ; Reload this commutation time + mov Temp2, Prev_Comm_H + clr C + mov A, Temp1 + subb A, Temp7 ; Calculate the new commutation time based upon the two last commutations (to reduce sensitivity to offset) + mov Temp1, A + mov A, Temp2 + subb A, Temp8 + mov Temp2, A + + clr C + mov A, Comm_Period4x_H ; Average with previous and save + rrc A + mov Temp4, A + mov A, Comm_Period4x_L + rrc A + mov Temp3, A + mov A, Temp1 + add A, Temp3 + mov Comm_Period4x_L, A + mov A, Temp2 + addc A, Temp4 + mov Comm_Period4x_H, A + jnc ($+8) + + mov Comm_Period4x_L, #0FFh + mov Comm_Period4x_H, #0FFh + + ajmp calc_new_wait_times_setup + +calc_next_comm_normal: + ; 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 calc_next_comm_avg_period_div + + dec Temp7 ; Reduce averaging time constant for low speeds + dec Temp8 + + clr C + mov A, Temp4 + subb A, #08h + jc ($+4) + + dec Temp7 ; Reduce averaging time constant more for even lower speeds + dec Temp8 + +calc_next_comm_avg_period_div: + clr C + mov A, Temp6 + rrc A ; Divide by 2 + mov Temp6, A + mov A, Temp5 + rrc A + mov Temp5, A + djnz Temp7, calc_next_comm_avg_period_div + + clr C + mov A, Temp3 + subb A, Temp5 ; Subtract a fraction + mov Temp3, A + mov A, Temp4 + subb A, Temp6 + mov Temp4, A + mov A, Temp8 ; Divide new time + jz calc_next_comm_new_period_div_done + +calc_next_comm_new_period_div: + clr C + mov A, Temp2 + rrc A ; Divide by 2 + mov Temp2, A + mov A, Temp1 + rrc A + mov Temp1, A + djnz Temp8, calc_next_comm_new_period_div + +calc_next_comm_new_period_div_done: + mov A, Temp3 + add A, Temp1 ; Add the divided new time + mov Temp3, A + mov A, Temp4 + addc A, Temp2 + mov Temp4, A + mov Comm_Period4x_L, Temp3 ; Store Comm_Period4x_X + mov Comm_Period4x_H, Temp4 + jnc calc_new_wait_times_setup; If period larger than 0xffff - go to slow case + + mov Temp4, #0FFh + mov Comm_Period4x_L, Temp4 ; Set commutation period registers to very slow timing (0xffff) + mov Comm_Period4x_H, Temp4 + +calc_new_wait_times_setup: + ; Set high rpm bit (if above 156k erpm) + clr C + mov A, Temp4 + subb A, #2 + jnc ($+4) + + setb Flags1.HIGH_RPM ; Set high rpm bit + + ; Load programmed commutation timing + jnb Flags1.STARTUP_PHASE, calc_new_wait_per_startup_done ; Set dedicated timing during startup + + mov Temp8, #3 + ajmp calc_new_wait_per_demag_done + +calc_new_wait_per_startup_done: + 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 calc_new_wait_per_demag_done + + 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 + +calc_new_wait_per_demag_done: + ; Set timing reduction + mov Temp7, #2 + ; Load current commutation timing + mov A, Comm_Period4x_H ; Divide 4 times + swap A + anl A, #00Fh + mov Temp2, A + mov A, Comm_Period4x_H + swap A + anl A, #0F0h + mov Temp1, A + mov A, Comm_Period4x_L + swap A + anl A, #00Fh + add A, Temp1 + mov Temp1, A + + clr C + mov A, Temp1 + subb A, Temp7 + mov Temp3, A + mov A, Temp2 + subb A, #0 + mov Temp4, A + jc load_min_time ; Check that result is still positive + + clr C + mov A, Temp3 + subb A, #1 + mov A, Temp4 + subb A, #0 + jnc calc_new_wait_times_exit ; Check that result is still above minumum + +load_min_time: + mov Temp3, #1 + clr A + mov Temp4, A + +calc_new_wait_times_exit: + ajmp wait_advance_timing + + +; Fast calculation (Comm_Period4x_H less than 2) +calc_next_comm_timing_fast: + ; 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 A, Temp4 ; Divide by 2 4 times + swap A + mov Temp7, A + mov A, Temp3 + swap A + anl A, #0Fh + orl A, Temp7 + mov Temp5, A + clr C + mov A, Temp3 ; Subtract a fraction + subb A, Temp5 + mov Temp3, A + mov A, Temp4 + subb A, #0 + mov Temp4, A + clr C + mov A, Temp1 + rrc A ; Divide by 2 2 times + clr C + rrc A + mov Temp1, A + mov A, Temp3 ; Add the divided new time + add A, Temp1 + mov Temp3, A + mov A, Temp4 + addc A, #0 + mov Temp4, A + mov Comm_Period4x_L, Temp3 ; Store Comm_Period4x_X + mov Comm_Period4x_H, Temp4 + clr C + mov A, Temp4 ; If erpm below 156k - go to normal case + subb A, #2 + jc ($+4) + + clr Flags1.HIGH_RPM ; Clear high rpm bit + + ; Set timing reduction + mov Temp1, #2 + mov A, Temp4 ; Divide by 2 4 times + swap A + mov Temp7, A + mov Temp4, #0 + mov A, Temp3 + swap A + anl A, #0Fh + orl A, Temp7 + mov Temp3, A + clr C + mov A, Temp3 + subb A, Temp1 + mov Temp3, A + jc load_min_time_fast ; Check that result is still positive + + clr C + subb A, #1 + jnc calc_new_wait_times_fast_done ; Check that result is still above minumum + +load_min_time_fast: + mov Temp3, #1 + +calc_new_wait_times_fast_done: + mov Temp1, #Pgm_Comm_Timing ; Load timing setting + mov A, @Temp1 + mov Temp8, A ; Store in Temp8 + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Wait advance timing routine +; +; No assumptions +; NOTE: Be VERY careful if using temp registers. They are passed over this routine +; +; Waits for the advance timing to elapse and sets up the next zero cross wait +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +wait_advance_timing: + jnb Flags0.T3_PENDING, ($+5) + jmp wait_advance_timing + + ; Setup next wait time + mov TMR3RLL, Wt_ZC_Tout_Start_L + mov TMR3RLH, Wt_ZC_Tout_Start_H + setb Flags0.T3_PENDING + orl EIE1, #80h ; Enable timer3 interrupts + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Calculate new wait times routine +; +; No assumptions +; +; Calculates new wait times +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +calc_new_wait_times: + clr C + clr A + subb A, Temp3 ; Negate + mov Temp1, A + clr A + subb A, Temp4 + mov Temp2, A +IF MCU_48MHZ == 1 + clr C + mov A, Temp1 ; Multiply by 2 + rlc A + mov Temp1, A + mov A, Temp2 + rlc A + mov Temp2, A +ENDIF + jnb Flags1.HIGH_RPM, ($+5) ; Branch if high rpm + ajmp calc_new_wait_times_fast + + mov A, Temp1 ; Copy values + mov Temp3, A + mov A, Temp2 + mov Temp4, A + setb C ; Negative numbers - set carry + mov A, Temp2 + rrc A ; Divide by 2 + mov Temp6, A + mov A, Temp1 + rrc A + mov Temp5, A + mov Wt_Zc_Tout_Start_L, Temp1; Set 15deg time for zero cross scan timeout + mov Wt_Zc_Tout_Start_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 + add A, #1 + mov Temp1, A + mov A, Temp2 + addc A, #0 + mov Temp2, A + mov Temp3, #-1 ; Store minimum time in Temp3/4 + mov Temp4, #0FFh + +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_Start_L, Temp3 ; Now commutation time (~60deg) divided by 4 (~15deg nominal) + mov Wt_Comm_Start_H, Temp4 + mov Wt_Adv_Start_L, Temp1 ; New commutation advance time (~15deg nominal) + mov Wt_Adv_Start_H, Temp2 + mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg) + mov Wt_Zc_Scan_Start_H, Temp6 + ajmp wait_before_zc_scan + +store_times_decrease: + mov Wt_Comm_Start_L, Temp1 ; Now commutation time (~60deg) divided by 4 (~15deg nominal) + mov Wt_Comm_Start_H, Temp2 + mov Wt_Adv_Start_L, Temp3 ; New commutation advance time (~15deg nominal) + mov Wt_Adv_Start_H, Temp4 + mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg) + mov Wt_Zc_Scan_Start_H, Temp6 + jnb Flags1.STARTUP_PHASE, store_times_exit + + mov Wt_Comm_Start_L, #0F0h ; Set very short delays for all but advance time during startup, in order to widen zero cross capture range + mov Wt_Comm_Start_H, #0FFh + mov Wt_Zc_Scan_Start_L, #0F0h + mov Wt_Zc_Scan_Start_H, #0FFh + mov Wt_Zc_Tout_Start_L, #0F0h + mov Wt_Zc_Tout_Start_H, #0FFh + +store_times_exit: + ajmp wait_before_zc_scan + + +calc_new_wait_times_fast: + mov A, Temp1 ; Copy values + mov Temp3, A + setb C ; Negative numbers - set carry + mov A, Temp1 ; Divide by 2 + rrc A + mov Temp5, A + mov Wt_Zc_Tout_Start_L, Temp1; Set 15deg time for zero cross scan timeout + clr C + mov A, Temp8 ; (Temp8 has Pgm_Comm_Timing) + subb A, #3 ; Is timing normal? + jz store_times_decrease_fast; Yes - branch + + mov A, Temp8 + jb ACC.0, adjust_timing_two_steps_fast ; If an odd number - branch + + mov A, Temp1 ; Add 7.5deg and store in Temp1 + add A, Temp5 + mov Temp1, A + mov A, Temp5 ; Store 7.5deg in Temp3 + mov Temp3, A + ajmp store_times_up_or_down_fast + +adjust_timing_two_steps_fast: + mov A, Temp1 ; Add 15deg and store in Temp1 + add A, Temp1 + add A, #1 + mov Temp1, A + mov Temp3, #-1 ; Store minimum time in Temp3 + +store_times_up_or_down_fast: + clr C + mov A, Temp8 + subb A, #3 ; Is timing higher than normal? + jc store_times_decrease_fast; No - branch + +store_times_increase_fast: + mov Wt_Comm_Start_L, Temp3 ; Now commutation time (~60deg) divided by 4 (~15deg nominal) + mov Wt_Adv_Start_L, Temp1 ; New commutation advance time (~15deg nominal) + mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg) + ajmp wait_before_zc_scan + +store_times_decrease_fast: + mov Wt_Comm_Start_L, Temp1 ; Now commutation time (~60deg) divided by 4 (~15deg nominal) + mov Wt_Adv_Start_L, Temp3 ; New commutation advance time (~15deg nominal) + mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg) + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; 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 + + mov Startup_Zc_Timeout_Cntd, #2 +setup_zc_scan_timeout: + 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_scan_exit + + mov Temp1, Comm_Period4x_L ; Set long timeout when starting + mov Temp2, Comm_Period4x_H + clr C + mov A, Temp2 + rrc A + mov Temp2, A + mov A, Temp1 + rrc A + mov Temp1, A +IF MCU_48MHZ == 0 + clr C + mov A, Temp2 + rrc A + mov Temp2, A + mov A, Temp1 + rrc A + mov Temp1, A +ENDIF + jnb Flags1.STARTUP_PHASE, setup_zc_scan_timeout_startup_done + + mov A, Temp2 + add A, #40h ; Increase timeout somewhat to avoid false wind up + mov Temp2, A + +setup_zc_scan_timeout_startup_done: + clr IE_EA + anl EIE1, #7Fh ; Disable timer3 interrupts + mov TMR3CN0, #00h ; Timer3 disabled and interrupt flag cleared + clr C + clr A + subb A, Temp1 ; Set timeout + mov TMR3L, A + clr A + subb A, Temp2 + mov TMR3H, A + mov TMR3CN0, #04h ; Timer3 enabled and interrupt flag cleared + setb Flags0.T3_PENDING + orl EIE1, #80h ; Enable timer3 interrupts + setb IE_EA + +wait_before_zc_scan_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 + jnb Flags1.DIR_CHANGE_BRAKE, ($+6) + mov Bit_Access, #40h + jmp wait_for_comp_out_start + +wait_for_comp_out_high: + setb Flags0.DEMAG_DETECTED ; Set demag detected flag as default + mov Comparator_Read_Cnt, #0 ; Reset number of comparator reads + mov Bit_Access, #40h ; Desired comparator output + jnb Flags1.DIR_CHANGE_BRAKE, ($+6) + mov Bit_Access, #00h + +wait_for_comp_out_start: + ; Set number of comparator readings + mov Temp1, #1 ; Number of OK readings required + mov Temp2, #1 ; Max number of readings required + jb Flags1.HIGH_RPM, comp_scale_samples ; Branch if high rpm + + mov A, Flags1 ; Clear demag detected flag if start phases + anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) + jz ($+4) + + clr Flags0.DEMAG_DETECTED + + mov Temp1, Comm_Period4x_H ; Set number of readings higher for lower speeds + mov Temp2, #20 ; Too low value (~<15) causes rough running at pwm harmonics. Too high a value (~>35) causes the RCT4215 630 to run rough on full throttle + clr C + mov A, Temp1 + subb A, #27 ; Approximately one pwm period + jc ($+4) + + mov Temp1, #27 + + jnb Flags1.STARTUP_PHASE, comp_scale_samples + + mov Temp1, #27 ; Set many samples during startup + mov Temp2, #27 + +comp_scale_samples: +IF MCU_48MHZ == 1 + clr C + mov A, Temp1 + rlc A + mov Temp1, A + clr C + mov A, Temp2 + rlc A + mov Temp2, A +ENDIF +comp_check_timeout: + jb Flags0.T3_PENDING, comp_check_timeout_not_timed_out ; Has zero cross scan timeout elapsed? + + mov A, Comparator_Read_Cnt ; Check that comparator has been read + jz comp_check_timeout_not_timed_out ; If not read - branch + + jnb Flags1.STARTUP_PHASE, comp_check_timeout_timeout_extended ; Extend timeout during startup + + djnz Startup_Zc_Timeout_Cntd, comp_check_timeout_extend_timeout + +comp_check_timeout_timeout_extended: + setb Flags0.COMP_TIMED_OUT + ajmp setup_comm_wait + +comp_check_timeout_extend_timeout: + call setup_zc_scan_timeout +comp_check_timeout_not_timed_out: + inc Comparator_Read_Cnt ; Increment comparator read count + Read_Comp_Out ; Read comparator output + anl A, #40h + cjne A, Bit_Access, comp_read_wrong + ajmp comp_read_ok + +comp_read_wrong: + jnb Flags1.STARTUP_PHASE, comp_read_wrong_not_startup + + inc Temp1 ; Increment number of OK readings required + clr C + mov A, Temp1 + subb A, Temp2 ; If above initial requirement - go back and restart + jc ($+3) + dec Temp1 + + ajmp comp_check_timeout ; Continue to look for good ones + +comp_read_wrong_not_startup: + jb Flags0.DEMAG_DETECTED, comp_read_wrong_extend_timeout + + inc Temp1 ; Increment number of OK readings required + clr C + mov A, Temp1 + subb A, Temp2 + jc ($+4) + ajmp wait_for_comp_out_start ; If above initial requirement - go back and restart + + ajmp comp_check_timeout ; Otherwise - take another reading + +comp_read_wrong_extend_timeout: + clr Flags0.DEMAG_DETECTED ; Clear demag detected flag + clr IE_EA + anl EIE1, #7Fh ; Disable timer3 interrupts + mov TMR3CN0, #00h ; Timer3 disabled and interrupt flag cleared + jnb Flags1.HIGH_RPM, comp_read_wrong_low_rpm ; Branch if not high rpm + + mov TMR3L, #00h ; Set timeout to 256us +IF MCU_48MHZ == 1 + mov TMR3H, #0FCh +ELSE + mov TMR3H, #0FEh +ENDIF +comp_read_wrong_timeout_set: + mov TMR3CN0, #04h ; Timer3 enabled and interrupt flag cleared + setb Flags0.T3_PENDING + orl EIE1, #80h ; Enable timer3 interrupts + setb IE_EA + ajmp wait_for_comp_out_start ; If comparator output is not correct - go back and restart + +comp_read_wrong_low_rpm: + mov Temp7, Comm_Period4x_L ; Set timeout to comm period 4x value + mov Temp8, Comm_Period4x_H +IF MCU_48MHZ == 1 + clr C + mov A, Temp7 + rlc A + mov Temp7, A + mov A, Temp8 + rlc A + mov Temp8, A + jnc ($+6) + + mov Temp7, #0FFh + mov Temp8, #0FFh + +ENDIF + clr C + clr A + subb A, Temp7 + mov TMR3L, A + clr A + subb A, Temp8 + mov TMR3H, A + ajmp comp_read_wrong_timeout_set + +comp_read_ok: + clr C + mov A, Startup_Cnt ; Force a timeout for the first commutation + subb A, #1 + jnc ($+4) + ajmp wait_for_comp_out_start + + jnb Flags0.DEMAG_DETECTED, ($+5) ; Do not accept correct comparator output if it is demag + ajmp wait_for_comp_out_start + + djnz Temp1, comp_read_ok_jmp ; Decrement readings counter - repeat comparator reading if not zero + ajmp ($+4) + +comp_read_ok_jmp: + ajmp comp_check_timeout + + clr Flags0.COMP_TIMED_OUT + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Setup commutation timing routine +; +; No assumptions +; +; Sets up and starts wait from commutation to zero cross +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +setup_comm_wait: + clr IE_EA + anl EIE1, #7Fh ; Disable timer3 interrupts + mov TMR3CN0, #00h ; Timer3 disabled and interrupt flag cleared + mov TMR3L, Wt_Comm_Start_L + mov TMR3H, Wt_Comm_Start_H + mov TMR3CN0, #04h ; Timer3 enabled and interrupt flag cleared + ; Setup next wait time + mov TMR3RLL, Wt_Adv_Start_L + mov TMR3RLH, Wt_Adv_Start_H + setb Flags0.T3_PENDING + orl EIE1, #80h ; Enable timer3 interrupts + setb IE_EA ; Enable interrupts again + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Evaluate comparator integrity +; +; No assumptions +; +; Checks comparator signal behaviour versus expected behaviour +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +evaluate_comparator_integrity: + mov A, Flags1 + anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) + jz eval_comp_check_timeout + + jb Flags1.INITIAL_RUN_PHASE, ($+5) ; Do not increment beyond startup phase + inc Startup_Cnt ; Increment counter + jmp eval_comp_exit + +eval_comp_check_timeout: + jnb Flags0.COMP_TIMED_OUT, eval_comp_exit ; Has timeout elapsed? + jb Flags1.DIR_CHANGE_BRAKE, eval_comp_exit ; Do not exit run mode if it is braking + jb Flags0.DEMAG_DETECTED, eval_comp_exit ; Do not exit run mode if it is a demag situation + dec SP ; Routine exit without "ret" command + dec SP + ljmp run_to_wait_for_power_on_fail ; Yes - exit run mode + +eval_comp_exit: + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Wait for commutation routine +; +; No assumptions +; +; Waits from zero cross to commutation +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +wait_for_comm: + ; Update demag metric + mov Temp1, #0 + jnb Flags0.DEMAG_ENABLED, ($+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_pwmFETs_off + Set_Pwms_Off + +wait_for_comm_wait: + jnb Flags0.T3_PENDING, ($+5) + jmp wait_for_comm_wait + + ; Setup next wait time + mov TMR3RLL, Wt_Zc_Scan_Start_L + mov TMR3RLH, Wt_Zc_Scan_Start_H + setb Flags0.T3_PENDING + orl EIE1, #80h ; Enable timer3 interrupts + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Commutation routines +; +; No assumptions +; +; Performs commutation switching +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; Comm phase 1 to comm phase 2 +comm1comm2: + Set_RPM_Out + jb Flags3.PGM_DIR_REV, comm12_rev + + clr IE_EA ; Disable all interrupts + BcomFET_off ; Turn off comfet + AcomFET_on ; Turn on comfet + Set_Pwm_C ; To reapply power after a demag cut + setb IE_EA + Set_Comp_Phase_B ; Set comparator phase + jmp comm_exit + +comm12_rev: + clr IE_EA ; Disable all interrupts + BcomFET_off ; Turn off comfet + CcomFET_on ; Turn on comfet (reverse) + Set_Pwm_A ; To reapply power after a demag cut + setb IE_EA + Set_Comp_Phase_B ; Set comparator phase + jmp comm_exit + + +; Comm phase 2 to comm phase 3 +comm2comm3: + Clear_RPM_Out + jb Flags3.PGM_DIR_REV, comm23_rev + + clr IE_EA ; Disable all interrupts + CpwmFET_off ; Turn off pwmfet + Set_Pwm_B + AcomFET_on ; To reapply power after a demag cut + setb IE_EA + Set_Comp_Phase_C ; Set comparator phase + ljmp comm_exit + +comm23_rev: + clr IE_EA ; Disable all interrupts + ApwmFET_off ; Turn off pwmfet (reverse) + Set_Pwm_B + CcomFET_on ; To reapply power after a demag cut + setb IE_EA + Set_Comp_Phase_A ; Set comparator phase (reverse) + ljmp comm_exit + + +; Comm phase 3 to comm phase 4 +comm3comm4: + Set_RPM_Out + jb Flags3.PGM_DIR_REV, comm34_rev + + clr IE_EA ; Disable all interrupts + AcomFET_off ; Turn off comfet + CcomFET_on ; Turn on comfet + Set_Pwm_B ; To reapply power after a demag cut + setb IE_EA + Set_Comp_Phase_A ; Set comparator phase + jmp comm_exit + +comm34_rev: + clr IE_EA ; Disable all interrupts + CcomFET_off ; Turn off comfet (reverse) + AcomFET_on ; Turn on comfet (reverse) + Set_Pwm_B ; To reapply power after a demag cut + setb IE_EA + Set_Comp_Phase_C ; Set comparator phase (reverse) + jmp comm_exit + + +; Comm phase 4 to comm phase 5 +comm4comm5: + Clear_RPM_Out + jb Flags3.PGM_DIR_REV, comm45_rev + + clr IE_EA ; Disable all interrupts + BpwmFET_off ; Turn off pwmfet + Set_Pwm_A + CcomFET_on ; To reapply power after a demag cut + setb IE_EA + Set_Comp_Phase_B ; Set comparator phase + ljmp comm_exit + +comm45_rev: + clr IE_EA ; Disable all interrupts + BpwmFET_off ; Turn off pwmfet + Set_Pwm_C + AcomFET_on ; To reapply power after a demag cut + setb IE_EA + Set_Comp_Phase_B ; Set comparator phase + ljmp comm_exit + + +; Comm phase 5 to comm phase 6 +comm5comm6: + Set_RPM_Out + jb Flags3.PGM_DIR_REV, comm56_rev + + clr IE_EA ; Disable all interrupts + CcomFET_off ; Turn off comfet + BcomFET_on ; Turn on comfet + Set_Pwm_A ; To reapply power after a demag cut + setb IE_EA + Set_Comp_Phase_C ; Set comparator phase + jmp comm_exit + +comm56_rev: + clr IE_EA ; Disable all interrupts + AcomFET_off ; Turn off comfet (reverse) + BcomFET_on ; Turn on comfet + Set_Pwm_C ; To reapply power after a demag cut + setb IE_EA + Set_Comp_Phase_A ; Set comparator phase (reverse) + jmp comm_exit + + +; Comm phase 6 to comm phase 1 +comm6comm1: + Clear_RPM_Out + jb Flags3.PGM_DIR_REV, comm61_rev + + clr IE_EA ; Disable all interrupts + ApwmFET_off ; Turn off pwmfet + Set_Pwm_C + BcomFET_on ; To reapply power after a demag cut + setb IE_EA + Set_Comp_Phase_A ; Set comparator phase + jmp comm_exit + +comm61_rev: + clr IE_EA ; Disable all interrupts + CpwmFET_off ; Turn off pwmfet (reverse) + Set_Pwm_A + BcomFET_on ; To reapply power after a demag cut + setb IE_EA + Set_Comp_Phase_C ; Set comparator phase (reverse) + +comm_exit: + clr Flags0.DEMAG_CUT_POWER ; Clear demag power cut flag + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Switch power off routine +; +; No assumptions +; +; Switches all fets off +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +switch_power_off: + All_pwmFETs_Off ; Turn off all pwm fets + All_comFETs_Off ; Turn off all commutation fets + Set_Pwms_Off + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Set default parameters +; +; No assumptions +; +; Sets default programming parameters +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +set_default_parameters: + mov Temp1, #_Pgm_Gov_P_Gain + mov @Temp1, #0FFh ; Governor P gain + 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, #0FFh ; Multi gain + inc Temp1 + mov @Temp1, #0FFh + inc Temp1 + mov @Temp1, #DEFAULT_PGM_STARTUP_PWR + inc Temp1 + mov @Temp1, #0FFh ; Pwm freq + inc Temp1 + mov @Temp1, #DEFAULT_PGM_DIRECTION + + 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_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_MIN_THROTTLE + inc Temp1 + mov @Temp1, #DEFAULT_PGM_MAX_THROTTLE + inc Temp1 + mov @Temp1, #DEFAULT_PGM_BEEP_STRENGTH + inc Temp1 + mov @Temp1, #DEFAULT_PGM_BEACON_STRENGTH + inc Temp1 + mov @Temp1, #DEFAULT_PGM_BEACON_DELAY + inc Temp1 + mov @Temp1, #0FFh ; Throttle rate + inc Temp1 + mov @Temp1, #DEFAULT_PGM_DEMAG_COMP + inc Temp1 + mov @Temp1, #0FFh ; Bec voltage high + inc Temp1 + mov @Temp1, #DEFAULT_PGM_CENTER_THROTTLE + inc Temp1 + mov @Temp1, #0FFh + inc Temp1 + mov @Temp1, #DEFAULT_PGM_ENABLE_TEMP_PROT + inc Temp1 + mov @Temp1, #DEFAULT_PGM_ENABLE_POWER_PROT + inc Temp1 + mov @Temp1, #0FFh ; Enable pwm input + inc Temp1 + mov @Temp1, #0FFh ; Pwm dither + inc Temp1 + mov @Temp1, #DEFAULT_PGM_BRAKE_ON_STOP + inc Temp1 + mov @Temp1, #DEFAULT_PGM_LED_CONTROL + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Scale throttle cal +; +; No assumptions +; +; Scales a throttle cal value +; Input is ACC, output is Temp2/Temp1 +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +scale_throttle_cal: + mov Temp3, A + mov B, #0Ch ; Calculate "3%" (for going from 1000us to numerical 1024) + mul AB + mov Temp4, B + mov A, Temp3 + clr C ; Shift to 9 bits + rlc A + mov Temp1, A + mov A, #1 + rlc A + mov Temp2, A + mov A, Temp1 ; Shift to 10 bits + clr C + rlc A + mov Temp1, A + mov A, Temp2 + rlc A + mov Temp2, A + mov A, Temp1 ; Add "3%" + clr C + add A, Temp4 + mov Temp1, A + mov A, Temp2 + addc A, #0 + mov Temp2, A +IF MCU_48MHZ == 1 + mov A, Temp1 ; Shift to 11 bits + clr C + rlc A + mov Temp1, A + mov A, Temp2 + rlc A + mov Temp2, A +ENDIF +ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Decode settings +; +; No assumptions +; +; Decodes various settings +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +decode_settings: + ; Load programmed direction + mov Temp1, #Pgm_Direction + mov A, @Temp1 + clr C + subb A, #3 + setb Flags3.PGM_BIDIR + jnc ($+4) + + clr Flags3.PGM_BIDIR + + clr Flags3.PGM_DIR_REV + mov A, @Temp1 + jnb ACC.1, ($+5) + setb Flags3.PGM_DIR_REV + mov C, Flags3.PGM_DIR_REV + mov Flags3.PGM_BIDIR_REV, C + ; 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 + ; 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: + ; Decode throttle cal + mov Temp1, #Pgm_Min_Throttle ; Throttle cal is in 4us units + mov A, @Temp1 + call scale_throttle_cal + mov Min_Throttle_L, Temp1 + mov Min_Throttle_H, Temp2 + mov Temp1, #Pgm_Center_Throttle ; Throttle cal is in 4us units + mov A, @Temp1 + call scale_throttle_cal + mov Center_Throttle_L, Temp1 + mov Center_Throttle_H, Temp2 + mov Temp1, #Pgm_Max_Throttle ; Throttle cal is in 4us units + mov A, @Temp1 + call scale_throttle_cal + mov Max_Throttle_L, Temp1 + mov Max_Throttle_H, Temp2 + call switch_power_off ; Reset DPTR + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Find throttle gains +; +; No assumptions +; +; Finds throttle gains for both directions in bidirectional mode +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +find_throttle_gains: + ; Check if full range is chosen + jnb Flags2.RCP_FULL_RANGE, find_throttle_gains_normal + + mov Temp3, #0 ; Min throttle + mov Temp4, #0 + mov Temp5, #255 ; Max throttle + mov Temp6, #0 + mov Temp7, #0 ; Deadband + call find_throttle_gain + mov Throttle_Gain_M, Temp4 + mov Throttle_Gain, Temp3 + ret + +find_throttle_gains_normal: + ; Check if bidirectional operation + jnb Flags3.PGM_BIDIR, find_throttle_gains_bidir_done + + mov Temp1, #Pgm_Min_Throttle + mov A, @Temp1 + mov Temp3, A + mov Temp4, #0 + mov Temp1, #Pgm_Center_Throttle + mov A, @Temp1 + mov Temp5, A + mov Temp6, #0 + clr C + mov A, Temp3 ; Scale gains in bidirectional + rlc A + mov Temp3, A + mov A, Temp4 + rlc A + mov Temp4, A + clr C + mov A, Temp5 + rlc A + mov Temp5, A + mov A, Temp6 + rlc A + mov Temp6, A + mov Temp7, #10 ; Compensate for deadband in bidirectional + call find_throttle_gain + mov Throttle_Gain_BD_Rev_M, Temp4 + mov Throttle_Gain_BD_Rev, Temp3 + +find_throttle_gains_bidir_done: + mov Temp1, #Pgm_Min_Throttle + jnb Flags3.PGM_BIDIR, ($+5) + + mov Temp1, #Pgm_Center_Throttle + + mov A, @Temp1 + mov Temp3, A + mov Temp4, #0 + mov Temp1, #Pgm_Max_Throttle + mov A, @Temp1 + mov Temp5, A + mov Temp6, #0 + mov Temp7, #0 ; No deadband + jnb Flags3.PGM_BIDIR, find_throttle_gain_fwd + + clr C + mov A, Temp3 ; Scale gains in bidirectional + rlc A + mov Temp3, A + mov A, Temp4 + rlc A + mov Temp4, A + clr C + mov A, Temp5 + rlc A + mov Temp5, A + mov A, Temp6 + rlc A + mov Temp6, A + mov Temp7, #10 ; Compensate for deadband in bidirectional + +find_throttle_gain_fwd: + call find_throttle_gain + mov Throttle_Gain_M, Temp4 + mov Throttle_Gain, Temp3 + ret + +ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Find throttle gain +; +; The difference between max and min throttle must be more than 140us (a Pgm_xxx_Throttle difference of 35) +; Temp4/3 holds min throttle, Temp6/5 holds max throttle, Temp7 holds deadband, Temp4/Temp3 gives resulting gain +; +; Finds throttle gain from throttle calibration values +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +find_throttle_gain: + ; Subtract deadband from max + clr C + mov A, Temp5 + subb A, Temp7 + mov Temp5, A + mov A, Temp6 + subb A, #0 + mov Temp6, A + ; Calculate difference + clr C + mov A, Temp5 + subb A, Temp3 + mov Temp5, A + mov A, Temp6 + subb A, Temp4 + mov Temp6, A + ; Check that difference is minimum 35 + clr C + mov A, Temp5 + subb A, #35 + mov A, Temp6 + subb A, #0 + jnc ($+6) + + mov Temp5, #35 + mov Temp6, #0 + + ; Check that difference is maximum 511 + clr C + mov A, Temp5 + subb A, #255 + mov A, Temp6 + subb A, #1 + jc ($+6) + + mov Temp5, #255 + mov Temp6, #1 + + ; Find gain + mov Temp4, #0FFh +find_throttle_gain_loop: + inc Temp4 + mov Temp3, #0 +test_throttle_gain: + inc Temp3 + mov A, Temp3 + jnz test_throttle_gain_mult + + clr C + mov A, Temp5 ; Set multiplier x2 and range /2 + rlc A + mov Temp5, A + mov A, Temp6 + rlc A + mov Temp6, A + ajmp find_throttle_gain_loop + +test_throttle_gain_mult: + mov A, Temp5 ; A has difference, B has gain + mov B, Temp3 + mul AB + mov Temp7, B + mov A, Temp6 + mov B, Temp3 + mul AB + add A, Temp7 + subb A, #124 + jc test_throttle_gain + + mov A, Temp3 + cpl A + jz find_throttle_gain_loop + + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Average throttle +; +; Outputs result in Temp8 +; +; Averages throttle calibration readings +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +average_throttle: + setb Flags2.RCP_FULL_RANGE ; Set range to 1000-2020us + call find_throttle_gains ; Set throttle gains + 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 Temp8, A ; Copy to Temp8 + mov A, Temp4 + jz ($+4) + + mov Temp8, #0FFh + + clr Flags2.RCP_FULL_RANGE + call find_throttle_gains ; Set throttle gains + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; LED control +; +; No assumptions +; +; Controls LEDs +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +led_control: + mov Temp1, #Pgm_LED_Control + mov A, @Temp1 + mov Temp2, A + anl A, #03h + Set_LED_0 + jnz led_0_done + Clear_LED_0 +led_0_done: + mov A, Temp2 + anl A, #0Ch + Set_LED_1 + jnz led_1_done + Clear_LED_1 +led_1_done: + mov A, Temp2 + anl A, #030h + Set_LED_2 + jnz led_2_done + Clear_LED_2 +led_2_done: + mov A, Temp2 + anl A, #0C0h + Set_LED_3 + jnz led_3_done + Clear_LED_3 +led_3_done: + ret + + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +;**** **** **** **** **** **** **** **** **** **** **** **** **** +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Main program start +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +;**** **** **** **** **** **** **** **** **** **** **** **** **** +;**** **** **** **** **** **** **** **** **** **** **** **** **** + +pgm_start: + ; Check flash lock byte + mov A, RSTSRC + jb ACC.6, ($+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: + ; Disable the WDT. + mov WDTCN, #0DEh ; Disable watchdog + mov WDTCN, #0ADh + ; 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 + mov CLKSEL, #00h ; Set clock divider to 1 + ; Switch power off + call switch_power_off + ; Ports initialization + mov P0, #P0_INIT + mov P0MDIN, #P0_DIGITAL + mov P0MDOUT, #P0_PUSHPULL + mov P0, #P0_INIT + mov P0SKIP, #P0_SKIP + mov P1, #P1_INIT + mov P1MDIN, #P1_DIGITAL + mov P1MDOUT, #P1_PUSHPULL + mov P1, #P1_INIT + mov P1SKIP, #P1_SKIP + mov P2MDOUT, #P2_PUSHPULL + ; Initialize the XBAR and related functionality + Initialize_Xbar + ; Switch power off again, after initializing ports + 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 + ; Set beep strength + mov Temp1, #Pgm_Beep_Strength + mov Beep_Strength, @Temp1 + ; Set initial arm variable + mov Initial_Arm, #1 + ; Initializing beep + clr IE_EA ; Disable interrupts explicitly + call wait200ms + call beep_f1 + call wait30ms + call beep_f2 + call wait30ms + call beep_f3 + call wait30ms + call led_control + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; No signal entry point +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +init_no_signal: + ; Disable interrupts explicitly + clr IE_EA + ; Check if input signal is high for more than 15ms + mov Temp1, #250 +input_high_check_1: + mov Temp2, #250 +input_high_check_2: + jnb RTX_PORT.RTX_PIN, bootloader_done ; Look for low + djnz Temp2, input_high_check_2 + djnz Temp1, input_high_check_1 + + ljmp 1C00h ; Jump to bootloader + +bootloader_done: + ; Decode settings + call decode_settings + ; Find throttle gain from stored min and max settings + call find_throttle_gains + ; Set beep strength + mov Temp1, #Pgm_Beep_Strength + mov Beep_Strength, @Temp1 + ; Switch power off + call switch_power_off + ; Set clock frequency +IF MCU_48MHZ == 1 + Set_MCU_Clk_24MHz +ENDIF + mov IT01CF, #RTX_PIN ; Route RCP input to INT0 + mov TCON, #11h ; Timer0 run and INT0 edge triggered + mov CKCON0, #04h ; Timer0 clock is system clock + mov TMOD, #09h ; Timer0 set to 16bits and gated by INT0 + mov TMR2CN0, #04h ; Timer2 enabled + mov TMR3CN0, #04h ; Timer3 enabled + Initialize_PCA ; Initialize PCA + Set_Pwm_Polarity ; Set pwm polarity + Enable_Power_Pwm_Module ; Enable power pwm module + Enable_Damp_Pwm_Module ; Enable damping pwm module + ; Enable interrupts +IF MCU_48MHZ == 0 + mov IE, #21h ; Enable timer2 interrupts and INT0 interrupts +ELSE + mov IE, #23h ; Enable timer0, timer2 interrupts and INT0 interrupts +ENDIF + mov EIE1, #90h ; Enable timer3 and PCA0 interrupts + mov EIP1, #10h ; High priority to PCA0 interrupts + ; Initialize comparator + mov CMP0CN0, #80h ; Comparator enabled, no hysteresis + mov CMP0MD, #00h ; Comparator response time 100ns + ; Initialize ADC + Initialize_Adc ; Initialize ADC operation + call wait1ms + setb IE_EA ; Enable all interrupts + ; Reset stall count + mov Stall_Cnt, #0 + ; Initialize RC pulse + clr Flags2.RCP_UPDATED ; Clear updated flag + call wait200ms + ; Test whether signal is OneShot125 + clr Flags2.RCP_ONESHOT125 ; Clear OneShot125 flag + mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter + call wait100ms ; Wait for new RC pulse + clr C + mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("745-2235us") + subb A, #10 + jc validate_rcp_start + + setb Flags2.RCP_ONESHOT125 ; Set OneShot125 flag + + ; Test whether signal is OneShot42 + clr Flags2.RCP_ONESHOT42 ; Clear OneShot42 flag + mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter + call wait100ms ; Wait for new RC pulse + clr C + mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("745-2235us") + subb A, #10 + jc validate_rcp_start + + setb Flags2.RCP_ONESHOT42 ; Set OneShot42 flag + + ; Test whether signal is Multishot + clr Flags2.RCP_MULTISHOT ; Clear Multishot flag + mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter + call wait100ms ; Wait for new RC pulse + clr C + mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("745-2235us") + subb A, #10 + jc validate_rcp_start + + setb Flags2.RCP_MULTISHOT ; Set OneShot42 flag + + ; Validate RC pulse +validate_rcp_start: + call wait3ms ; Wait for new RC pulse + jb Flags2.RCP_UPDATED, ($+6) ; Is there an updated RC pulse available - proceed + ljmp init_no_signal ; Go back to detect input signal + + ; Beep arm sequence start signal + clr IE_EA ; Disable all interrupts + call beep_f1 ; Signal that RC pulse is ready + call beep_f1 + call beep_f1 + setb IE_EA ; Enable all interrupts + call wait200ms + + ; Arming sequence start +arming_start: + jnb Flags3.PGM_BIDIR, ($+5) + + ajmp program_by_tx_checked ; Disable tx programming if bidirectional operation + + 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_check ; Yes - proceed + + jmp program_by_tx_checked ; No - branch + +arming_check: + ; Throttle calibration and tx program entry + mov Temp8, #2 ; Set 1 seconds wait time +throttle_high_cal: + setb Flags2.RCP_FULL_RANGE ; Set range to 1000-2020us + call find_throttle_gains ; Set throttle gains + call wait100ms ; Wait for new throttle value + clr IE_EA ; Disable interrupts (freeze New_Rcp value) + clr Flags2.RCP_FULL_RANGE ; Set programmed range + call find_throttle_gains ; Set throttle gains + mov Temp7, New_Rcp ; Store new RC pulse value + clr C + mov A, New_Rcp ; Load new RC pulse value + subb A, #(255/2) ; Is RC pulse above midstick? + setb IE_EA ; Enable interrupts + jc program_by_tx_checked ; No - branch + + call wait1ms + clr IE_EA ; Disable all interrupts + call beep_f4 + setb IE_EA ; Enable all interrupts + djnz Temp8, throttle_high_cal ; Continue to wait + + call average_throttle + clr C + mov A, Temp8 + mov Temp1, #Pgm_Max_Throttle ; Store + mov @Temp1, A + call wait200ms + call erase_and_store_all_in_eeprom + call success_beep + +throttle_low_cal_start: + mov Temp8, #10 ; Set 3 seconds wait time +throttle_low_cal: + setb Flags2.RCP_FULL_RANGE ; Set range to 1000-2020us + call find_throttle_gains ; Set throttle gains + call wait100ms + clr IE_EA ; Disable interrupts (freeze New_Rcp value) + clr Flags2.RCP_FULL_RANGE ; Set programmed range + call find_throttle_gains ; Set throttle gains + mov Temp7, New_Rcp ; Store new RC pulse value + clr C + mov A, New_Rcp ; Load new RC pulse value + subb A, #(255/2) ; Below midstick? + setb IE_EA ; Enable interrupts + jnc throttle_low_cal_start ; No - start over + + call wait1ms + clr IE_EA ; Disable all interrupts + call beep_f1 + call wait10ms + call beep_f1 + setb IE_EA ; Enable all interrupts + djnz Temp8, throttle_low_cal ; Continue to wait + + call average_throttle + mov A, Temp8 + add A, #3 ; Add about 1% + mov Temp1, #Pgm_Min_Throttle ; Store + mov @Temp1, A + call wait200ms + call erase_and_store_all_in_eeprom + call success_beep_inverted + +program_by_tx_entry_wait: + call wait100ms + call find_throttle_gains ; Set throttle gains + ajmp init_no_signal ; Go back + +program_by_tx_checked: + call wait100ms ; Wait for new throttle value + mov Temp1, #1 ; Default stop value + jnb Flags3.PGM_BIDIR, ($+5) ; No - branch + + mov Temp1, #5 ; 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 arming_start ; No - start over + +arm_end_beep: + ; Beep arm sequence end signal + clr IE_EA ; Disable all interrupts + call beep_f4 ; Signal that rcpulse is ready + call beep_f4 + call beep_f4 + setb IE_EA ; Enable all interrupts + call wait200ms + + ; Clear initial arm variable + mov Initial_Arm, #0 + + ; Armed and waiting for power on +wait_for_power_on: + 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 3 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? + + call switch_power_off ; Switch power off in case braking is set + call wait1ms + dec Power_On_Wait_Cnt_H ; Decrement high wait counter + mov Power_On_Wait_Cnt_L, #0 ; Set low wait counter + mov Temp1, #Pgm_Beacon_Strength + mov Beep_Strength, @Temp1 + clr IE_EA ; Disable all interrupts + call beep_f4 ; Signal that there is no signal + setb IE_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_Cntd ; Load RC pulse timeout counter value + jnz wait_for_power_on_not_missing ; If it is not zero - proceed + + jmp init_no_signal ; If pulses missing - go back to detect input signal + +wait_for_power_on_not_missing: + mov Temp1, #1 + 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_loop ; No - start over + + lcall wait100ms ; Wait to see if start pulse was only a glitch + mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value + jnz ($+5) ; If it is not zero - proceed + + ljmp init_no_signal ; If it is zero (pulses missing) - go back to detect input signal + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Start entry point +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +init_start: + clr IE_EA + call switch_power_off + clr A + setb IE_EA + clr A + mov Adc_Conversion_Cnt, A + mov Flags0, A ; Clear flags0 + mov Flags1, A ; Clear flags1 + mov Demag_Detected_Metric, A ; Clear demag metric + ;**** **** **** **** **** + ; Motor start beginning + ;**** **** **** **** **** + mov Adc_Conversion_Cnt, #8 ; Make sure a temp reading is done + call wait1ms + call start_adc_conversion +read_initial_temp: + Get_Adc_Status + jb ADC0CN0_ADBUSY, read_initial_temp + Read_Adc_Result ; Read initial temperature + mov A, Temp2 + jnz ($+3) ; Is reading below 256? + + mov Temp1, A ; Yes - set average temperature value to zero + + mov Current_Average_Temp, Temp1 ; Set initial average temperature + call check_temp_voltage_and_limit_power + mov Adc_Conversion_Cnt, #8 ; Make sure a temp reading is done next time + ; Set up start operating conditions + clr IE_EA ; Disable interrupts + mov Pwm_Limit, #0FFh ; Set pwm limit to max + call set_startup_pwm + mov Pwm_Limit, Pwm_Limit_Beg + mov Pwm_Limit_By_Rpm, Pwm_Limit_Beg + setb IE_EA + ; Begin startup sequence +IF MCU_48MHZ == 1 + Set_MCU_Clk_48MHz +ENDIF + jnb Flags3.PGM_BIDIR, init_start_bidir_done ; Check if bidirectional operation + + clr Flags3.PGM_DIR_REV ; Set spinning direction. Default fwd + jnb Flags2.RCP_DIR_REV, ($+5) ; Check force direction + setb Flags3.PGM_DIR_REV ; Set spinning direction + +init_start_bidir_done: + setb Flags1.STARTUP_PHASE ; Set startup phase flag + mov Startup_Cnt, #0 ; Reset counter + call comm5comm6 ; Initialize commutation + call comm6comm1 + call initialize_timing ; Initialize timing + call calc_next_comm_timing ; Set virtual commutation point + call initialize_timing ; Initialize timing + call calc_next_comm_timing + call initialize_timing ; Initialize timing + + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Run entry point +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** + +; 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 for high +; setup_comm_wait ; Setup wait time from zero cross to commutation +; evaluate_comparator_integrity ; Check whether comparator reading has been normal + call wait_for_comm ; Wait from zero cross to commutation + call comm1comm2 ; Commutate + call calc_next_comm_timing ; Calculate next timing and wait advance timing wait +; wait_advance_timing ; Wait advance timing and start zero cross wait +; calc_new_wait_times +; 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 +; setup_comm_wait +; evaluate_comparator_integrity + jb Flags1.HIGH_RPM, ($+6) ; Skip if high rpm + lcall set_pwm_limit_low_rpm + jnb Flags1.HIGH_RPM, ($+6) ; Do if high rpm + lcall set_pwm_limit_high_rpm + call wait_for_comm + call comm2comm3 + call calc_next_comm_timing +; wait_advance_timing +; calc_new_wait_times +; 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 +; setup_comm_wait +; evaluate_comparator_integrity + call wait_for_comm + call comm3comm4 + call calc_next_comm_timing +; wait_advance_timing +; calc_new_wait_times +; 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 +; setup_comm_wait +; evaluate_comparator_integrity + call wait_for_comm + call comm4comm5 + call calc_next_comm_timing +; wait_advance_timing +; calc_new_wait_times +; 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 +; setup_comm_wait +; evaluate_comparator_integrity + call wait_for_comm + call comm5comm6 + call calc_next_comm_timing +; wait_advance_timing +; calc_new_wait_times +; wait_before_zc_scan + +; Run 6 = B(p-on) + A(n-pwm) - comparator C evaluated +; Out_cC changes from high to low +run6: + call start_adc_conversion + call wait_for_comp_out_low +; setup_comm_wait +; evaluate_comparator_integrity + call wait_for_comm + call comm6comm1 + call check_temp_voltage_and_limit_power + call calc_next_comm_timing +; wait_advance_timing +; calc_new_wait_times +; wait_before_zc_scan + + ; Check if it is direct startup + jnb Flags1.STARTUP_PHASE, normal_run_checks + + ; Set spoolup power variables + mov Pwm_Limit, Pwm_Limit_Beg ; Set initial max power + ; Check startup counter + mov Temp2, #24 ; Set nominal startup parameters + mov Temp3, #12 + clr C + mov A, Startup_Cnt ; Load 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 Initial_Run_Rot_Cntd, Temp3 ; Set initial run rotation count + mov Pwm_Limit, Pwm_Limit_Beg + mov Pwm_Limit_By_Rpm, Pwm_Limit_Beg + jmp normal_run_checks + +direct_start_check_rcp: + clr C + mov A, New_Rcp ; Load new pulse value + subb A, #1 ; Check if pulse is below stop value + jc ($+5) + + ljmp run1 ; Continue to run + + jmp run_to_wait_for_power_on + + +normal_run_checks: + ; Check if it is initial run phase + jnb Flags1.INITIAL_RUN_PHASE, initial_run_phase_done ; If not initial run phase - branch + jb Flags1.DIR_CHANGE_BRAKE, initial_run_phase_done ; If a direction change - branch + + ; Decrement startup rotaton count + mov A, Initial_Run_Rot_Cntd + dec A + ; Check number of initial rotations + jnz normal_run_check_startup_rot ; Branch if counter is not zero + + clr Flags1.INITIAL_RUN_PHASE ; Clear initial run phase flag + setb Flags1.MOTOR_STARTED ; Set motor started + jmp run1 ; Continue with normal run + +normal_run_check_startup_rot: + mov Initial_Run_Rot_Cntd, A ; Not zero - store counter + + clr C + mov A, New_Rcp ; Load new pulse value + subb A, #1 ; Check if pulse is below stop value + jc ($+5) + + ljmp run1 ; Continue to run + + jmp run_to_wait_for_power_on + +initial_run_phase_done: + ; Reset stall count + mov Stall_Cnt, #0 + ; Exit run loop after a given time + clr C + mov A, Rcp_Stop_Cnt ; Load stop RC pulse counter low byte value + mov Temp1, #250 + mov Temp2, #Pgm_Brake_On_Stop + mov A, @Temp2 + jz ($+4) + + mov Temp1, #3 ; About 100ms before stopping when brake is set + + subb A, Temp1 ; Is number of stop RC pulses above limit? + jnc run_to_wait_for_power_on ; Yes, go back to wait for poweron + + mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value + jz run_to_wait_for_power_on ; If it is zero - go back to wait for poweron + +run6_check_dir: + jnb Flags3.PGM_BIDIR, run6_check_speed ; Check if bidirectional operation + + jb Flags3.PGM_DIR_REV, run6_check_dir_rev ; Check if actual rotation direction + jb Flags2.RCP_DIR_REV, run6_check_dir_change ; Matches force direction + jmp run6_check_speed + +run6_check_dir_rev: + jnb Flags2.RCP_DIR_REV, run6_check_dir_change + jmp run6_check_speed + +run6_check_dir_change: + jb Flags1.DIR_CHANGE_BRAKE, run6_check_speed + + setb Flags1.DIR_CHANGE_BRAKE ; Set brake flag + mov Pwm_Limit, Pwm_Limit_Beg ; Set max power while braking + jmp run4 ; Go back to run 4, thereby changing force direction + +run6_check_speed: + mov Temp1, #0F0h ; Default minimum speed + jnb Flags1.DIR_CHANGE_BRAKE, run6_brake_done; Is it a direction change? + + mov Pwm_Limit, Pwm_Limit_Beg ; Set max power while braking + mov Temp1, #20h ; Bidirectional braking termination speed + +run6_brake_done: + clr C + mov A, Comm_Period4x_H ; Is Comm_Period4x more than 32ms (~1220 eRPM)? + subb A, Temp1 + jnc ($+5) ; Yes - stop or turn direction + ljmp run1 ; No - go back to run 1 + + jnb Flags1.DIR_CHANGE_BRAKE, run_to_wait_for_power_on ; If it is not a direction change - stop + + clr Flags1.DIR_CHANGE_BRAKE ; Clear brake flag + clr Flags3.PGM_DIR_REV ; Set spinning direction. Default fwd + jnb Flags2.RCP_DIR_REV, ($+5) ; Check force direction + setb Flags3.PGM_DIR_REV ; Set spinning direction + setb Flags1.INITIAL_RUN_PHASE + mov Initial_Run_Rot_Cntd, #18 + mov Pwm_Limit, Pwm_Limit_Beg ; Set initial max power + jmp run1 ; Go back to run 1 + +run_to_wait_for_power_on_fail: + inc Stall_Cnt ; Increment stall count + mov A, New_Rcp ; Check if RCP is zero, then it is a normal stop + jz run_to_wait_for_power_on + ajmp run_to_wait_for_power_on_stall_done + +run_to_wait_for_power_on: + mov Stall_Cnt, #0 + +run_to_wait_for_power_on_stall_done: + clr IE_EA + call switch_power_off + mov Flags0, #0 ; Clear flags0 + mov Flags1, #0 ; Clear flags1 +IF MCU_48MHZ == 1 + Set_MCU_Clk_24MHz +ENDIF + setb IE_EA + call wait100ms ; Wait for pwm to be stopped + call switch_power_off + mov Temp1, #Pgm_Brake_On_Stop + mov A, @Temp1 + jz run_to_wait_for_power_on_brake_done + + AcomFET_on + BcomFET_on + CcomFET_on + +run_to_wait_for_power_on_brake_done: + clr C + mov A, Stall_Cnt + subb A, #4 + jc jmp_wait_for_power_on + jmp init_no_signal + +jmp_wait_for_power_on: + jmp wait_for_power_on ; Go back to wait for power on + +;**** **** **** **** **** **** **** **** **** **** **** **** **** + +$include (BLHeliPgm.inc) ; Include source code for programming the ESC +$include (BLHeliBootLoad.inc) ; Include source code for bootloader + +;**** **** **** **** **** **** **** **** **** **** **** **** **** + + + +CSEG AT 19FDh +reset: +ljmp pgm_start + + + +END diff --git a/BLHeli_S SiLabs/C.inc b/BLHeli_S SiLabs/C.inc new file mode 100644 index 00000000..d32a3796 --- /dev/null +++ b/BLHeli_S SiLabs/C.inc @@ -0,0 +1,502 @@ +;**** **** **** **** **** +; +; BLHeli program for controlling brushless motors in helicopters and multirotors +; +; Copyright 2011, 2012 Steffen Skaug +; This program is distributed under the terms of the GNU General Public License +; +; This file is part of BLHeli. +; +; BLHeli is free software: you can redistribute it and/or modify +; it under the terms of the GNU General Public License as published by +; the Free Software Foundation, either version 3 of the License, or +; (at your option) any later version. +; +; BLHeli is distributed in the hope that it will be useful, +; but WITHOUT ANY WARRANTY; without even the implied warranty of +; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +; GNU General Public License for more details. +; +; You should have received a copy of the GNU General Public License +; along with BLHeli. If not, see . +; +;**** **** **** **** **** +; +; Hardware definition file "C" +; Ac Ap MC MB MA CC X RC X X X X Cc Cp Bc Bp +; +;**** **** **** **** **** + + + +;********************* +; Device SiLabs EFM8BB1x/2x +;********************* +IF MCU_48MHZ == 0 +$include (SI_EFM8BB1_Defs.inc) +ELSE +$include (SI_EFM8BB2_Defs.inc) +ENDIF + + +;**** **** **** **** **** +; Uses internal calibrated oscillator set to 24/48Mhz +;**** **** **** **** **** + +;**** **** **** **** **** +; Constant definitions +;**** **** **** **** **** +IF MCU_48MHZ == 0 +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#C_L_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#C_L_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#C_L_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#C_L_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#C_L_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#C_L_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#C_L_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#C_L_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#C_L_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#C_L_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#C_L_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B10#" ; Project and MCU tag (16 Bytes) + +ELSE + +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#C_H_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#C_H_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#C_H_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#C_H_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#C_H_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#C_H_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#C_H_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#C_H_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#C_H_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#C_H_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#C_H_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B21#" ; Project and MCU tag (16 Bytes) +ENDIF + +ONE_S_CAPABLE EQU 0 ; Set to 1 if ESC can operate at 1S +LOCK_BYTE_ADDRESS_16K EQU 3FFFh ; Address of lock byte if 16k flash size +LOCK_BYTE_ADDRESS_8K EQU 1DFFh ; Address of lock byte if 8k flash size +TEMP_LIMIT EQU 246 ; Temperature measurement ADC value for which main motor power is limited (low byte, assuming high byte is 1) +TEMP_LIMIT_STEP EQU 6 ; Temperature measurement ADC value increment for which main motor power is further limited + +;**** **** **** **** **** +; Bootloader definitions +;**** **** **** **** **** +RTX_PORT EQU P0 ; Receive/Transmit port +RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL +RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL +RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP +RTX_PIN EQU 0 ; RTX pin + +SIGNATURE_001 EQU 0E8h ; Device signature +IF MCU_48MHZ == 0 +SIGNATURE_002 EQU 0B1h +ELSE +SIGNATURE_002 EQU 0B2h +ENDIF + +;********************* +; PORT 0 definitions * +;********************* +AcomFET EQU 7 ;o +ApwmFET EQU 6 ;o +Mux_C EQU 5 ;i +Mux_B EQU 4 ;i +Mux_A EQU 3 ;i +Comp_Com EQU 2 ;i +; EQU 1 ;i +Rcp_In EQU 0 ;i + +P0_DIGITAL EQU NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com)) +P0_INIT EQU NOT((1 SHL ApwmFET)+(1 SHL AcomFET)) +P0_PUSHPULL EQU (1 SHL ApwmFET)+(1 SHL AcomFET) +P0_SKIP EQU 0FFh + +Get_Rcp_Capture_Values MACRO + anl TCON, #0EFh ; Disable timer0 + mov Temp1, TL0 ; Get timer0 values + mov Temp2, TH0 +IF MCU_48MHZ == 1 + mov Temp3, Timer0_X + jnb TCON_TF0, ($+4) ; Check if interrupt is pending + inc Temp3 ; If it is pending, then timer has already wrapped +ENDIF + mov TL0, #0 ; Reset timer0 + mov TH0, #0 +IF MCU_48MHZ == 1 + mov Timer0_X, #0 +ENDIF + orl TCON, #10h ; Enable timer0 again +IF MCU_48MHZ == 1 + mov A, Clock_Set_At_48MHz + jnz Get_Rcp_End + clr C + mov A, Temp1 + rlc A + mov Temp1, A + mov A, Temp2 + rlc A + mov Temp2, A + mov A, Temp3 + rlc A + mov Temp3, A +Get_Rcp_End: +ENDIF +ENDM +Initialize_PCA MACRO + mov PCA0CN0, #40h ; PCA enabled + mov PCA0MD, #08h ; PCA clock is system clock +IF FETON_DELAY == 0 +IF MCU_48MHZ == 0 + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ELSE + mov PCA0PWM, #83h ; PCA ARSEL set and 11bits pwm +ENDIF + mov PCA0CENT, #00h ; Edge aligned pwm +ELSE +IF MCU_48MHZ == 0 + mov PCA0PWM, #81h ; PCA ARSEL set and 9bits pwm +ELSE + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ENDIF + mov PCA0CENT, #03h ; Center aligned pwm +ENDIF +ENDM +Set_Pwm_Polarity MACRO + mov PCA0POL, #02h ; Damping inverted, pwm noninverted +ENDM +Enable_Power_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM0, #4Ah ; Enable comparator of module, enable match, set pwm mode +ELSE + mov PCA0CPM0, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Enable_Damp_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM1, #00h ; Disable +ELSE + mov PCA0CPM1, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Set_Power_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL0, Power_Pwm_Reg_L + mov PCA0CPH0, Power_Pwm_Reg_H +ELSE + clr C + mov A, Power_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Power_Pwm_Reg_L + rrc A + mov PCA0CPL0, A + mov PCA0CPH0, Temp1 +ENDIF +ENDM +Set_Damp_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL1, Damp_Pwm_Reg_L + mov PCA0CPH1, Damp_Pwm_Reg_H +ELSE + clr C + mov A, Damp_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Damp_Pwm_Reg_L + rrc A + mov PCA0CPL1, A + mov PCA0CPH1, Temp1 +ENDIF +ENDM +Clear_COVF_Interrupt MACRO + anl PCA0PWM, #0DFh +ENDM +Clear_CCF_Interrupt MACRO + anl PCA0CN0, #0FEh +ENDM +Enable_COVF_Interrupt MACRO + orl PCA0PWM, #40h +ENDM +Enable_CCF_Interrupt MACRO + orl PCA0CPM0,#01h +ENDM +Disable_COVF_Interrupt MACRO + anl PCA0PWM, #0BFh +ENDM +Disable_CCF_Interrupt MACRO + anl PCA0CPM0,#0FEh +ENDM + + +;********************* +; PORT 1 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +; EQU 5 ;i +; EQU 4 ;i +CcomFET EQU 3 ;o +CpwmFET EQU 2 ;o +BcomFET EQU 1 ;o +BpwmFET EQU 0 ;o + +P1_DIGITAL EQU (1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_INIT EQU 00h +P1_PUSHPULL EQU (1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_SKIP EQU 0Fh + +ApwmFET_on MACRO + setb P0.ApwmFET +IF FETON_DELAY == 0 + setb P0.AcomFET +ENDIF +ENDM +ApwmFET_off MACRO +IF FETON_DELAY != 0 + clr P0.ApwmFET +ELSE + clr P0.AcomFET +ENDIF +ENDM +BpwmFET_on MACRO + setb P1.BpwmFET +IF FETON_DELAY == 0 + setb P1.BcomFET +ENDIF +ENDM +BpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.BpwmFET +ELSE + clr P1.BcomFET +ENDIF +ENDM +CpwmFET_on MACRO + setb P1.CpwmFET +IF FETON_DELAY == 0 + setb P1.CcomFET +ENDIF +ENDM +CpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.CpwmFET +ELSE + clr P1.CcomFET +ENDIF +ENDM +All_pwmFETs_Off MACRO +IF FETON_DELAY != 0 + clr P0.ApwmFET + clr P1.BpwmFET + clr P1.CpwmFET +ELSE + clr P0.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDIF +ENDM + +AcomFET_on MACRO +IF FETON_DELAY == 0 + clr P0.ApwmFET +ENDIF + setb P0.AcomFET +ENDM +AcomFET_off MACRO + clr P0.AcomFET +ENDM +BcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.BpwmFET +ENDIF + setb P1.BcomFET +ENDM +BcomFET_off MACRO + clr P1.BcomFET +ENDM +CcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.CpwmFET +ENDIF + setb P1.CcomFET +ENDM +CcomFET_off MACRO + clr P1.CcomFET +ENDM +All_comFETs_Off MACRO + clr P0.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDM + +Set_Pwm_A MACRO +IF FETON_DELAY == 0 + setb P1.AcomFET + mov P0SKIP, #0BFh + mov P1SKIP, #0Fh +ELSE + mov P0SKIP, #03Fh + mov P1SKIP, #0Fh +ENDIF +ENDM +Set_Pwm_B MACRO +IF FETON_DELAY == 0 + setb P1.BcomFET + mov P0SKIP, #0FFh + mov P1SKIP, #0Eh +ELSE + mov P0SKIP, #0FFh + mov P1SKIP, #0Ch +ENDIF +ENDM +Set_Pwm_C MACRO +IF FETON_DELAY == 0 + setb P1.CcomFET + mov P0SKIP, #0FFh + mov P1SKIP, #0Bh +ELSE + mov P0SKIP, #0FFh + mov P1SKIP, #03h +ENDIF +ENDM +Set_Pwms_Off MACRO + mov P0SKIP, #0FFh + mov P1SKIP, #0Fh +ENDM + +Set_Comp_Phase_A MACRO + mov CMP0MX, #32h ; Set comparator multiplexer to phase A +ENDM +Set_Comp_Phase_B MACRO + mov CMP0MX, #42h ; Set comparator multiplexer to phase B +ENDM +Set_Comp_Phase_C MACRO + mov CMP0MX, #52h ; Set comparator multiplexer to phase C +ENDM +Read_Comp_Out MACRO + mov A, CMP0CN0 ; Read comparator output +ENDM + + +;********************* +; PORT 2 definitions * +;********************* +DebugPin EQU 0 ;o + +P2_PUSHPULL EQU (1 SHL DebugPin) + + +;********************** +; MCU specific macros * +;********************** +Interrupt_Table_Definition MACRO +CSEG AT 0 ; Code segment start + jmp reset +CSEG AT 03h ; Int0 interrupt + jmp int0_int +IF MCU_48MHZ == 1 +CSEG AT 0Bh ; Timer0 overflow interrupt + jmp t0_int +ENDIF +CSEG AT 2Bh ; Timer2 overflow interrupt + jmp t2_int +CSEG AT 5Bh ; Pca interrupt + jmp pca_int +CSEG AT 73h ; Timer3 overflow/compare interrupt + jmp t3_int +ENDM + +Initialize_Xbar MACRO + mov XBR2, #40h ; Xbar enabled + mov XBR1, #02h ; CEX0 and CEX1 routed to pins +ENDM + +Initialize_Adc MACRO + mov REF0CN, #2Ch ; Set vdd (3.3V) as reference. Enable temp sensor and bias +IF MCU_48MHZ == 0 + mov ADC0CF, #58h ; ADC clock 2MHz +ELSE + mov ADC0CF, #0C0h ; ADC clock 2MHz +ENDIF + mov ADC0MX, #10h ; Select temp sensor input + mov ADC0CN0, #80h ; ADC enabled + mov ADC0CN1, #01h ; Common mode buffer enabled +ENDM +Start_Adc MACRO + mov ADC0CN0, #90h ; ADC start +ENDM +Get_Adc_Status MACRO + mov A, ADC0CN0 +ENDM +Read_Adc_Result MACRO + mov Temp1, ADC0L + mov Temp2, ADC0H +ENDM +Stop_Adc MACRO +ENDM +Set_RPM_Out MACRO +ENDM +Clear_RPM_Out MACRO +ENDM +Set_MCU_Clk_24MHz MACRO + mov CLKSEL, #13h ; Set clock to 24MHz + mov SFRPAGE, #10h + mov PFE0CN, #00h ; Set flash timing for 24MHz + mov SFRPAGE, #00h + mov Clock_Set_At_48MHz, #0 +ENDM +Set_MCU_Clk_48MHz MACRO + mov SFRPAGE, #10h + mov PFE0CN, #30h ; Set flash timing for 48MHz + mov SFRPAGE, #00h + mov CLKSEL, #03h ; Set clock to 48MHz + mov Clock_Set_At_48MHz, #1 +ENDM +Set_LED_0 MACRO +ENDM +Clear_LED_0 MACRO +ENDM +Set_LED_1 MACRO +ENDM +Clear_LED_1 MACRO +ENDM +Set_LED_2 MACRO +ENDM +Clear_LED_2 MACRO +ENDM +Set_LED_3 MACRO +ENDM +Clear_LED_3 MACRO +ENDM diff --git a/BLHeli_S SiLabs/D.inc b/BLHeli_S SiLabs/D.inc new file mode 100644 index 00000000..9b46779b --- /dev/null +++ b/BLHeli_S SiLabs/D.inc @@ -0,0 +1,495 @@ +;**** **** **** **** **** +; +; BLHeli program for controlling brushless motors in helicopters and multirotors +; +; Copyright 2011, 2012 Steffen Skaug +; This program is distributed under the terms of the GNU General Public License +; +; This file is part of BLHeli. +; +; BLHeli is free software: you can redistribute it and/or modify +; it under the terms of the GNU General Public License as published by +; the Free Software Foundation, either version 3 of the License, or +; (at your option) any later version. +; +; BLHeli is distributed in the hope that it will be useful, +; but WITHOUT ANY WARRANTY; without even the implied warranty of +; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +; GNU General Public License for more details. +; +; You should have received a copy of the GNU General Public License +; along with BLHeli. If not, see . +; +;**** **** **** **** **** +; +; Hardware definition file "D". Com fets are active low for H/L_N driver and EN_N/PWM driver +; X X RC X CC MA MC MB X X Cc Cp Bc Bp Ac Ap +; +;**** **** **** **** **** + + + +;********************* +; Device SiLabs EFM8BB1x/2x +;********************* +IF MCU_48MHZ == 0 +$include (SI_EFM8BB1_Defs.inc) +ELSE +$include (SI_EFM8BB2_Defs.inc) +ENDIF + + +;**** **** **** **** **** +; Uses internal calibrated oscillator set to 24/48Mhz +;**** **** **** **** **** + +;**** **** **** **** **** +; Constant definitions +;**** **** **** **** **** +IF MCU_48MHZ == 0 +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#D_L_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#D_L_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#D_L_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#D_L_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#D_L_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#D_L_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#D_L_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#D_L_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#D_L_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#D_L_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#D_L_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B10#" ; Project and MCU tag (16 Bytes) + +ELSE + +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#D_H_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#D_H_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#D_H_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#D_H_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#D_H_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#D_H_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#D_H_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#D_H_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#D_H_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#D_H_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#D_H_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B21#" ; Project and MCU tag (16 Bytes) +ENDIF + +ONE_S_CAPABLE EQU 0 ; Set to 1 if ESC can operate at 1S +LOCK_BYTE_ADDRESS_16K EQU 3FFFh ; Address of lock byte if 16k flash size +LOCK_BYTE_ADDRESS_8K EQU 1DFFh ; Address of lock byte if 8k flash size +TEMP_LIMIT EQU 246 ; Temperature measurement ADC value for which main motor power is limited (low byte, assuming high byte is 1) +TEMP_LIMIT_STEP EQU 6 ; Temperature measurement ADC value increment for which main motor power is further limited + +;**** **** **** **** **** +; Bootloader definitions +;**** **** **** **** **** +RTX_PORT EQU P0 ; Receive/Transmit port +RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL +RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL +RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP +RTX_PIN EQU 5 ; RTX pin + +SIGNATURE_001 EQU 0E8h ; Device signature +IF MCU_48MHZ == 0 +SIGNATURE_002 EQU 0B1h +ELSE +SIGNATURE_002 EQU 0B2h +ENDIF + +;********************* +; PORT 0 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +Rcp_In EQU 5 ;i +; EQU 4 ;i +Comp_Com EQU 3 ;i +Mux_A EQU 2 ;i +Mux_C EQU 1 ;i +Mux_B EQU 0 ;i + +P0_DIGITAL EQU NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com)) +P0_INIT EQU 0FFh +P0_PUSHPULL EQU 0 +P0_SKIP EQU 0FFh + +Get_Rcp_Capture_Values MACRO + anl TCON, #0EFh ; Disable timer0 + mov Temp1, TL0 ; Get timer0 values + mov Temp2, TH0 +IF MCU_48MHZ == 1 + mov Temp3, Timer0_X + jnb TCON_TF0, ($+4) ; Check if interrupt is pending + inc Temp3 ; If it is pending, then timer has already wrapped +ENDIF + mov TL0, #0 ; Reset timer0 + mov TH0, #0 +IF MCU_48MHZ == 1 + mov Timer0_X, #0 +ENDIF + orl TCON, #10h ; Enable timer0 again +IF MCU_48MHZ == 1 + mov A, Clock_Set_At_48MHz + jnz Get_Rcp_End + clr C + mov A, Temp1 + rlc A + mov Temp1, A + mov A, Temp2 + rlc A + mov Temp2, A + mov A, Temp3 + rlc A + mov Temp3, A +Get_Rcp_End: +ENDIF +ENDM +Initialize_PCA MACRO + mov PCA0CN0, #40h ; PCA enabled + mov PCA0MD, #08h ; PCA clock is system clock +IF FETON_DELAY == 0 +IF MCU_48MHZ == 0 + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ELSE + mov PCA0PWM, #83h ; PCA ARSEL set and 11bits pwm +ENDIF + mov PCA0CENT, #00h ; Edge aligned pwm +ELSE +IF MCU_48MHZ == 0 + mov PCA0PWM, #81h ; PCA ARSEL set and 9bits pwm +ELSE + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ENDIF + mov PCA0CENT, #03h ; Center aligned pwm +ENDIF +ENDM +Set_Pwm_Polarity MACRO + mov PCA0POL, #00h ; Damping noninverted, pwm noninverted +ENDM +Enable_Power_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM0, #4Ah ; Enable comparator of module, enable match, set pwm mode +ELSE + mov PCA0CPM0, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Enable_Damp_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM1, #00h ; Disable +ELSE + mov PCA0CPM1, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Set_Power_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL0, Power_Pwm_Reg_L + mov PCA0CPH0, Power_Pwm_Reg_H +ELSE + clr C + mov A, Power_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Power_Pwm_Reg_L + rrc A + mov PCA0CPL0, A + mov PCA0CPH0, Temp1 +ENDIF +ENDM +Set_Damp_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL1, Damp_Pwm_Reg_L + mov PCA0CPH1, Damp_Pwm_Reg_H +ELSE + clr C + mov A, Damp_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Damp_Pwm_Reg_L + rrc A + mov PCA0CPL1, A + mov PCA0CPH1, Temp1 +ENDIF +ENDM +Clear_COVF_Interrupt MACRO + anl PCA0PWM, #0DFh +ENDM +Clear_CCF_Interrupt MACRO + anl PCA0CN0, #0FEh +ENDM +Enable_COVF_Interrupt MACRO + orl PCA0PWM, #40h +ENDM +Enable_CCF_Interrupt MACRO + orl PCA0CPM0,#01h +ENDM +Disable_COVF_Interrupt MACRO + anl PCA0PWM, #0BFh +ENDM +Disable_CCF_Interrupt MACRO + anl PCA0CPM0,#0FEh +ENDM + + +;********************* +; PORT 1 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +CcomFET EQU 5 ;o +CpwmFET EQU 4 ;o +BcomFET EQU 3 ;o +BpwmFET EQU 2 ;o +AcomFET EQU 1 ;o +ApwmFET EQU 0 ;o + +P1_DIGITAL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_INIT EQU (1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_PUSHPULL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_SKIP EQU 3Fh + +ApwmFET_on MACRO + setb P1.ApwmFET +IF FETON_DELAY == 0 + clr P1.AcomFET +ENDIF +ENDM +ApwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET +ELSE + setb P1.AcomFET +ENDIF +ENDM +BpwmFET_on MACRO + setb P1.BpwmFET +IF FETON_DELAY == 0 + clr P1.BcomFET +ENDIF +ENDM +BpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.BpwmFET +ELSE + setb P1.BcomFET +ENDIF +ENDM +CpwmFET_on MACRO + setb P1.CpwmFET +IF FETON_DELAY == 0 + clr P1.CcomFET +ENDIF +ENDM +CpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.CpwmFET +ELSE + setb P1.CcomFET +ENDIF +ENDM +All_pwmFETs_Off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET + clr P1.BpwmFET + clr P1.CpwmFET +ELSE + setb P1.AcomFET + setb P1.BcomFET + setb P1.CcomFET +ENDIF +ENDM + +AcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.ApwmFET +ENDIF + clr P1.AcomFET +ENDM +AcomFET_off MACRO + setb P1.AcomFET +ENDM +BcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.BpwmFET +ENDIF + clr P1.BcomFET +ENDM +BcomFET_off MACRO + setb P1.BcomFET +ENDM +CcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.CpwmFET +ENDIF + clr P1.CcomFET +ENDM +CcomFET_off MACRO + setb P1.CcomFET +ENDM +All_comFETs_Off MACRO + setb P1.AcomFET + setb P1.BcomFET + setb P1.CcomFET +ENDM + +Set_Pwm_A MACRO +IF FETON_DELAY == 0 + clr P1.AcomFET + mov P1SKIP, #3Eh +ELSE + mov P1SKIP, #3Ch +ENDIF +ENDM +Set_Pwm_B MACRO +IF FETON_DELAY == 0 + clr P1.BcomFET + mov P1SKIP, #3Bh +ELSE + mov P1SKIP, #33h +ENDIF +ENDM +Set_Pwm_C MACRO +IF FETON_DELAY == 0 + clr P1.CcomFET + mov P1SKIP, #2Fh +ELSE + mov P1SKIP, #0Fh +ENDIF +ENDM +Set_Pwms_Off MACRO + mov P1SKIP, #3Fh +ENDM + +Set_Comp_Phase_A MACRO + mov CMP0MX, #23h ; Set comparator multiplexer to phase A +ENDM +Set_Comp_Phase_B MACRO + mov CMP0MX, #03h ; Set comparator multiplexer to phase B +ENDM +Set_Comp_Phase_C MACRO + mov CMP0MX, #13h ; Set comparator multiplexer to phase C +ENDM +Read_Comp_Out MACRO + mov A, CMP0CN0 ; Read comparator output +ENDM + + +;********************* +; PORT 2 definitions * +;********************* +DebugPin EQU 0 ;o + +P2_PUSHPULL EQU (1 SHL DebugPin) + + +;********************** +; MCU specific macros * +;********************** +Interrupt_Table_Definition MACRO +CSEG AT 0 ; Code segment start + jmp reset +CSEG AT 03h ; Int0 interrupt + jmp int0_int +IF MCU_48MHZ == 1 +CSEG AT 0Bh ; Timer0 overflow interrupt + jmp t0_int +ENDIF +CSEG AT 2Bh ; Timer2 overflow interrupt + jmp t2_int +CSEG AT 5Bh ; Pca interrupt + jmp pca_int +CSEG AT 73h ; Timer3 overflow/compare interrupt + jmp t3_int +ENDM + +Initialize_Xbar MACRO + mov XBR2, #40h ; Xbar enabled + mov XBR1, #02h ; CEX0 and CEX1 routed to pins +ENDM + +Initialize_Adc MACRO + mov REF0CN, #2Ch ; Set vdd (3.3V) as reference. Enable temp sensor and bias +IF MCU_48MHZ == 0 + mov ADC0CF, #58h ; ADC clock 2MHz +ELSE + mov ADC0CF, #0C0h ; ADC clock 2MHz +ENDIF + mov ADC0MX, #10h ; Select temp sensor input + mov ADC0CN0, #80h ; ADC enabled + mov ADC0CN1, #01h ; Common mode buffer enabled +ENDM +Start_Adc MACRO + mov ADC0CN0, #90h ; ADC start +ENDM +Get_Adc_Status MACRO + mov A, ADC0CN0 +ENDM +Read_Adc_Result MACRO + mov Temp1, ADC0L + mov Temp2, ADC0H +ENDM +Stop_Adc MACRO +ENDM +Set_RPM_Out MACRO +ENDM +Clear_RPM_Out MACRO +ENDM +Set_MCU_Clk_24MHz MACRO + mov CLKSEL, #13h ; Set clock to 24MHz + mov SFRPAGE, #10h + mov PFE0CN, #00h ; Set flash timing for 24MHz + mov SFRPAGE, #00h + mov Clock_Set_At_48MHz, #0 +ENDM +Set_MCU_Clk_48MHz MACRO + mov SFRPAGE, #10h + mov PFE0CN, #30h ; Set flash timing for 48MHz + mov SFRPAGE, #00h + mov CLKSEL, #03h ; Set clock to 48MHz + mov Clock_Set_At_48MHz, #1 +ENDM +Set_LED_0 MACRO +ENDM +Clear_LED_0 MACRO +ENDM +Set_LED_1 MACRO +ENDM +Clear_LED_1 MACRO +ENDM +Set_LED_2 MACRO +ENDM +Clear_LED_2 MACRO +ENDM +Set_LED_3 MACRO +ENDM +Clear_LED_3 MACRO +ENDM diff --git a/BLHeli_S SiLabs/E.inc b/BLHeli_S SiLabs/E.inc new file mode 100644 index 00000000..4edbdf5a --- /dev/null +++ b/BLHeli_S SiLabs/E.inc @@ -0,0 +1,508 @@ +;**** **** **** **** **** +; +; BLHeli program for controlling brushless motors in helicopters and multirotors +; +; Copyright 2011, 2012 Steffen Skaug +; This program is distributed under the terms of the GNU General Public License +; +; This file is part of BLHeli. +; +; BLHeli is free software: you can redistribute it and/or modify +; it under the terms of the GNU General Public License as published by +; the Free Software Foundation, either version 3 of the License, or +; (at your option) any later version. +; +; BLHeli is distributed in the hope that it will be useful, +; but WITHOUT ANY WARRANTY; without even the implied warranty of +; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +; GNU General Public License for more details. +; +; You should have received a copy of the GNU General Public License +; along with BLHeli. If not, see . +; +;**** **** **** **** **** +; +; Hardware definition file "E". Equals "A", but with LED control. And with HIP2103/4 driver initialization +; L1 L0 RC X MC MB MA CC X L2 Cc Cp Bc Bp Ac Ap +; +;**** **** **** **** **** + + + +;********************* +; Device SiLabs EFM8BB1x/2x +;********************* +IF MCU_48MHZ == 0 +$include (SI_EFM8BB1_Defs.inc) +ELSE +$include (SI_EFM8BB2_Defs.inc) +ENDIF + + +;**** **** **** **** **** +; Uses internal calibrated oscillator set to 24/48Mhz +;**** **** **** **** **** + +;**** **** **** **** **** +; Constant definitions +;**** **** **** **** **** +IF MCU_48MHZ == 0 +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#E_L_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#E_L_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#E_L_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#E_L_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#E_L_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#E_L_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#E_L_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#E_L_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#E_L_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#E_L_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#E_L_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B10#" ; Project and MCU tag (16 Bytes) + +ELSE + +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#E_H_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#E_H_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#E_H_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#E_H_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#E_H_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#E_H_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#E_H_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#E_H_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#E_H_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#E_H_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#E_H_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B21#" ; Project and MCU tag (16 Bytes) +ENDIF + +ONE_S_CAPABLE EQU 0 ; Set to 1 if ESC can operate at 1S +LOCK_BYTE_ADDRESS_16K EQU 3FFFh ; Address of lock byte if 16k flash size +LOCK_BYTE_ADDRESS_8K EQU 1DFFh ; Address of lock byte if 8k flash size +TEMP_LIMIT EQU 246 ; Temperature measurement ADC value for which main motor power is limited (low byte, assuming high byte is 1) +TEMP_LIMIT_STEP EQU 6 ; Temperature measurement ADC value increment for which main motor power is further limited + +;**** **** **** **** **** +; Bootloader definitions +;**** **** **** **** **** +RTX_PORT EQU P0 ; Receive/Transmit port +RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL +RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL +RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP +RTX_PIN EQU 5 ; RTX pin + +SIGNATURE_001 EQU 0E8h ; Device signature +IF MCU_48MHZ == 0 +SIGNATURE_002 EQU 0B1h +ELSE +SIGNATURE_002 EQU 0B2h +ENDIF + +;********************* +; PORT 0 definitions * +;********************* +LED_1 EQU 7 ;o +LED_0 EQU 6 ;o +Rcp_In EQU 5 ;i +; EQU 4 ;i +Mux_C EQU 3 ;i +Mux_B EQU 2 ;i +Mux_A EQU 1 ;i +Comp_Com EQU 0 ;i + +P0_DIGITAL EQU NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com)) +P0_INIT EQU NOT((1 SHL LED_0)+(1 SHL LED_1)) +P0_PUSHPULL EQU (1 SHL LED_0)+(1 SHL LED_1) +P0_SKIP EQU 0FFh + +Get_Rcp_Capture_Values MACRO + anl TCON, #0EFh ; Disable timer0 + mov Temp1, TL0 ; Get timer0 values + mov Temp2, TH0 +IF MCU_48MHZ == 1 + mov Temp3, Timer0_X + jnb TCON_TF0, ($+4) ; Check if interrupt is pending + inc Temp3 ; If it is pending, then timer has already wrapped +ENDIF + mov TL0, #0 ; Reset timer0 + mov TH0, #0 +IF MCU_48MHZ == 1 + mov Timer0_X, #0 +ENDIF + orl TCON, #10h ; Enable timer0 again +IF MCU_48MHZ == 1 + mov A, Clock_Set_At_48MHz + jnz Get_Rcp_End + clr C + mov A, Temp1 + rlc A + mov Temp1, A + mov A, Temp2 + rlc A + mov Temp2, A + mov A, Temp3 + rlc A + mov Temp3, A +Get_Rcp_End: +ENDIF +ENDM +Initialize_PCA MACRO + mov PCA0CN0, #40h ; PCA enabled + mov PCA0MD, #08h ; PCA clock is system clock +IF FETON_DELAY == 0 +IF MCU_48MHZ == 0 + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ELSE + mov PCA0PWM, #83h ; PCA ARSEL set and 11bits pwm +ENDIF + mov PCA0CENT, #00h ; Edge aligned pwm +ELSE +IF MCU_48MHZ == 0 + mov PCA0PWM, #81h ; PCA ARSEL set and 9bits pwm +ELSE + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ENDIF + mov PCA0CENT, #03h ; Center aligned pwm +ENDIF +ENDM +Set_Pwm_Polarity MACRO + mov PCA0POL, #02h ; Damping inverted, pwm noninverted +ENDM +Enable_Power_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM0, #4Ah ; Enable comparator of module, enable match, set pwm mode +ELSE + mov PCA0CPM0, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Enable_Damp_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM1, #00h ; Disable +ELSE + mov PCA0CPM1, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Set_Power_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL0, Power_Pwm_Reg_L + mov PCA0CPH0, Power_Pwm_Reg_H +ELSE + clr C + mov A, Power_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Power_Pwm_Reg_L + rrc A + mov PCA0CPL0, A + mov PCA0CPH0, Temp1 +ENDIF +ENDM +Set_Damp_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL1, Damp_Pwm_Reg_L + mov PCA0CPH1, Damp_Pwm_Reg_H +ELSE + clr C + mov A, Damp_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Damp_Pwm_Reg_L + rrc A + mov PCA0CPL1, A + mov PCA0CPH1, Temp1 +ENDIF +ENDM +Clear_COVF_Interrupt MACRO + anl PCA0PWM, #0DFh +ENDM +Clear_CCF_Interrupt MACRO + anl PCA0CN0, #0FEh +ENDM +Enable_COVF_Interrupt MACRO + orl PCA0PWM, #40h +ENDM +Enable_CCF_Interrupt MACRO + orl PCA0CPM0,#01h +ENDM +Disable_COVF_Interrupt MACRO + anl PCA0PWM, #0BFh +ENDM +Disable_CCF_Interrupt MACRO + anl PCA0CPM0,#0FEh +ENDM + + +;********************* +; PORT 1 definitions * +;********************* +; EQU 7 ;i +LED_2 EQU 6 ;o +CcomFET EQU 5 ;o +CpwmFET EQU 4 ;o +BcomFET EQU 3 ;o +BpwmFET EQU 2 ;o +AcomFET EQU 1 ;o +ApwmFET EQU 0 ;o + +P1_DIGITAL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)+(1 SHL LED_2) +P1_INIT EQU 00h +P1_PUSHPULL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)+(1 SHL LED_2) +P1_SKIP EQU 7Fh + +ApwmFET_on MACRO + setb P1.ApwmFET +IF FETON_DELAY == 0 + setb P1.AcomFET +ENDIF +ENDM +ApwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET +ELSE + clr P1.AcomFET +ENDIF +ENDM +BpwmFET_on MACRO + setb P1.BpwmFET +IF FETON_DELAY == 0 + setb P1.BcomFET +ENDIF +ENDM +BpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.BpwmFET +ELSE + clr P1.BcomFET +ENDIF +ENDM +CpwmFET_on MACRO + setb P1.CpwmFET +IF FETON_DELAY == 0 + setb P1.CcomFET +ENDIF +ENDM +CpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.CpwmFET +ELSE + clr P1.CcomFET +ENDIF +ENDM +All_pwmFETs_Off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET + clr P1.BpwmFET + clr P1.CpwmFET +ELSE + clr P1.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDIF +ENDM + +AcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.ApwmFET +ENDIF + setb P1.AcomFET +ENDM +AcomFET_off MACRO + clr P1.AcomFET +ENDM +BcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.BpwmFET +ENDIF + setb P1.BcomFET +ENDM +BcomFET_off MACRO + clr P1.BcomFET +ENDM +CcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.CpwmFET +ENDIF + setb P1.CcomFET +ENDM +CcomFET_off MACRO + clr P1.CcomFET +ENDM +All_comFETs_Off MACRO + clr P1.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDM + +Set_Pwm_A MACRO +IF FETON_DELAY == 0 + setb P1.AcomFET + mov P1SKIP, #7Eh +ELSE + mov P1SKIP, #7Ch +ENDIF +ENDM +Set_Pwm_B MACRO +IF FETON_DELAY == 0 + setb P1.BcomFET + mov P1SKIP, #7Bh +ELSE + mov P1SKIP, #73h +ENDIF +ENDM +Set_Pwm_C MACRO +IF FETON_DELAY == 0 + setb P1.CcomFET + mov P1SKIP, #6Fh +ELSE + mov P1SKIP, #4Fh +ENDIF +ENDM +Set_Pwms_Off MACRO + mov P1SKIP, #7Fh +ENDM + +Set_Comp_Phase_A MACRO + mov CMP0MX, #10h ; Set comparator multiplexer to phase A +ENDM +Set_Comp_Phase_B MACRO + mov CMP0MX, #20h ; Set comparator multiplexer to phase B +ENDM +Set_Comp_Phase_C MACRO + mov CMP0MX, #30h ; Set comparator multiplexer to phase C +ENDM +Read_Comp_Out MACRO + mov A, CMP0CN0 ; Read comparator output +ENDM + + +;********************* +; PORT 2 definitions * +;********************* +DebugPin EQU 0 ;o + +P2_PUSHPULL EQU (1 SHL DebugPin) + + +;********************** +; MCU specific macros * +;********************** +Interrupt_Table_Definition MACRO +CSEG AT 0 ; Code segment start + jmp reset +CSEG AT 03h ; Int0 interrupt + jmp int0_int +IF MCU_48MHZ == 1 +CSEG AT 0Bh ; Timer0 overflow interrupt + jmp t0_int +ENDIF +CSEG AT 2Bh ; Timer2 overflow interrupt + jmp t2_int +CSEG AT 5Bh ; Pca interrupt + jmp pca_int +CSEG AT 73h ; Timer3 overflow/compare interrupt + jmp t3_int +ENDM + +Initialize_Xbar MACRO + mov XBR2, #40h ; Xbar enabled + mov XBR1, #02h ; CEX0 and CEX1 routed to pins + All_pwmFETs_off ; For unlocking of HIP2103/4 driver circuits + call wait100ms + AcomFET_on + BcomFET_on + CcomFET_on + call wait1ms + All_comFETs_off +ENDM + +Initialize_Adc MACRO + mov REF0CN, #2Ch ; Set vdd (3.3V) as reference. Enable temp sensor and bias +IF MCU_48MHZ == 0 + mov ADC0CF, #58h ; ADC clock 2MHz +ELSE + mov ADC0CF, #0C0h ; ADC clock 2MHz +ENDIF + mov ADC0MX, #10h ; Select temp sensor input + mov ADC0CN0, #80h ; ADC enabled + mov ADC0CN1, #01h ; Common mode buffer enabled +ENDM +Start_Adc MACRO + mov ADC0CN0, #90h ; ADC start +ENDM +Get_Adc_Status MACRO + mov A, ADC0CN0 +ENDM +Read_Adc_Result MACRO + mov Temp1, ADC0L + mov Temp2, ADC0H +ENDM +Stop_Adc MACRO +ENDM +Set_RPM_Out MACRO +ENDM +Clear_RPM_Out MACRO +ENDM +Set_MCU_Clk_24MHz MACRO + mov CLKSEL, #13h ; Set clock to 24MHz + mov SFRPAGE, #10h + mov PFE0CN, #00h ; Set flash timing for 24MHz + mov SFRPAGE, #00h + mov Clock_Set_At_48MHz, #0 +ENDM +Set_MCU_Clk_48MHz MACRO + mov SFRPAGE, #10h + mov PFE0CN, #30h ; Set flash timing for 48MHz + mov SFRPAGE, #00h + mov CLKSEL, #03h ; Set clock to 48MHz + mov Clock_Set_At_48MHz, #1 +ENDM +Set_LED_0 MACRO + setb P0.LED_0 +ENDM +Clear_LED_0 MACRO + clr P0.LED_0 +ENDM +Set_LED_1 MACRO + setb P0.LED_1 +ENDM +Clear_LED_1 MACRO + clr P0.LED_1 +ENDM +Set_LED_2 MACRO + setb P1.LED_2 +ENDM +Clear_LED_2 MACRO + clr P1.LED_2 +ENDM +Set_LED_3 MACRO +ENDM +Clear_LED_3 MACRO +ENDM diff --git a/BLHeli_S SiLabs/F.inc b/BLHeli_S SiLabs/F.inc new file mode 100644 index 00000000..352219ae --- /dev/null +++ b/BLHeli_S SiLabs/F.inc @@ -0,0 +1,495 @@ +;**** **** **** **** **** +; +; BLHeli program for controlling brushless motors in helicopters and multirotors +; +; Copyright 2011, 2012 Steffen Skaug +; This program is distributed under the terms of the GNU General Public License +; +; This file is part of BLHeli. +; +; BLHeli is free software: you can redistribute it and/or modify +; it under the terms of the GNU General Public License as published by +; the Free Software Foundation, either version 3 of the License, or +; (at your option) any later version. +; +; BLHeli is distributed in the hope that it will be useful, +; but WITHOUT ANY WARRANTY; without even the implied warranty of +; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +; GNU General Public License for more details. +; +; You should have received a copy of the GNU General Public License +; along with BLHeli. If not, see . +; +;**** **** **** **** **** +; +; Hardware definition file "F". Equals "A", but with Mux_A and Mux_C swapped +; X X RC X MA MB MC CC X X Cc Cp Bc Bp Ac Ap +; +;**** **** **** **** **** + + + +;********************* +; Device SiLabs EFM8BB1x/2x +;********************* +IF MCU_48MHZ == 0 +$include (SI_EFM8BB1_Defs.inc) +ELSE +$include (SI_EFM8BB2_Defs.inc) +ENDIF + + +;**** **** **** **** **** +; Uses internal calibrated oscillator set to 24/48Mhz +;**** **** **** **** **** + +;**** **** **** **** **** +; Constant definitions +;**** **** **** **** **** +IF MCU_48MHZ == 0 +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#F_L_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#F_L_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#F_L_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#F_L_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#F_L_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#F_L_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#F_L_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#F_L_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#F_L_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#F_L_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#F_L_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B10#" ; Project and MCU tag (16 Bytes) + +ELSE + +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#F_H_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#F_H_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#F_H_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#F_H_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#F_H_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#F_H_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#F_H_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#F_H_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#F_H_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#F_H_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#F_H_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B21#" ; Project and MCU tag (16 Bytes) +ENDIF + +ONE_S_CAPABLE EQU 0 ; Set to 1 if ESC can operate at 1S +LOCK_BYTE_ADDRESS_16K EQU 3FFFh ; Address of lock byte if 16k flash size +LOCK_BYTE_ADDRESS_8K EQU 1DFFh ; Address of lock byte if 8k flash size +TEMP_LIMIT EQU 246 ; Temperature measurement ADC value for which main motor power is limited (low byte, assuming high byte is 1) +TEMP_LIMIT_STEP EQU 6 ; Temperature measurement ADC value increment for which main motor power is further limited + +;**** **** **** **** **** +; Bootloader definitions +;**** **** **** **** **** +RTX_PORT EQU P0 ; Receive/Transmit port +RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL +RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL +RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP +RTX_PIN EQU 5 ; RTX pin + +SIGNATURE_001 EQU 0E8h ; Device signature +IF MCU_48MHZ == 0 +SIGNATURE_002 EQU 0B1h +ELSE +SIGNATURE_002 EQU 0B2h +ENDIF + +;********************* +; PORT 0 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +Rcp_In EQU 5 ;i +; EQU 4 ;i +Mux_A EQU 3 ;i +Mux_B EQU 2 ;i +Mux_C EQU 1 ;i +Comp_Com EQU 0 ;i + +P0_DIGITAL EQU NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com)) +P0_INIT EQU 0FFh +P0_PUSHPULL EQU 0 +P0_SKIP EQU 0FFh + +Get_Rcp_Capture_Values MACRO + anl TCON, #0EFh ; Disable timer0 + mov Temp1, TL0 ; Get timer0 values + mov Temp2, TH0 +IF MCU_48MHZ == 1 + mov Temp3, Timer0_X + jnb TCON_TF0, ($+4) ; Check if interrupt is pending + inc Temp3 ; If it is pending, then timer has already wrapped +ENDIF + mov TL0, #0 ; Reset timer0 + mov TH0, #0 +IF MCU_48MHZ == 1 + mov Timer0_X, #0 +ENDIF + orl TCON, #10h ; Enable timer0 again +IF MCU_48MHZ == 1 + mov A, Clock_Set_At_48MHz + jnz Get_Rcp_End + clr C + mov A, Temp1 + rlc A + mov Temp1, A + mov A, Temp2 + rlc A + mov Temp2, A + mov A, Temp3 + rlc A + mov Temp3, A +Get_Rcp_End: +ENDIF +ENDM +Initialize_PCA MACRO + mov PCA0CN0, #40h ; PCA enabled + mov PCA0MD, #08h ; PCA clock is system clock +IF FETON_DELAY == 0 +IF MCU_48MHZ == 0 + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ELSE + mov PCA0PWM, #83h ; PCA ARSEL set and 11bits pwm +ENDIF + mov PCA0CENT, #00h ; Edge aligned pwm +ELSE +IF MCU_48MHZ == 0 + mov PCA0PWM, #81h ; PCA ARSEL set and 9bits pwm +ELSE + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ENDIF + mov PCA0CENT, #03h ; Center aligned pwm +ENDIF +ENDM +Set_Pwm_Polarity MACRO + mov PCA0POL, #02h ; Damping inverted, pwm noninverted +ENDM +Enable_Power_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM0, #4Ah ; Enable comparator of module, enable match, set pwm mode +ELSE + mov PCA0CPM0, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Enable_Damp_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM1, #00h ; Disable +ELSE + mov PCA0CPM1, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Set_Power_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL0, Power_Pwm_Reg_L + mov PCA0CPH0, Power_Pwm_Reg_H +ELSE + clr C + mov A, Power_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Power_Pwm_Reg_L + rrc A + mov PCA0CPL0, A + mov PCA0CPH0, Temp1 +ENDIF +ENDM +Set_Damp_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL1, Damp_Pwm_Reg_L + mov PCA0CPH1, Damp_Pwm_Reg_H +ELSE + clr C + mov A, Damp_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Damp_Pwm_Reg_L + rrc A + mov PCA0CPL1, A + mov PCA0CPH1, Temp1 +ENDIF +ENDM +Clear_COVF_Interrupt MACRO + anl PCA0PWM, #0DFh +ENDM +Clear_CCF_Interrupt MACRO + anl PCA0CN0, #0FEh +ENDM +Enable_COVF_Interrupt MACRO + orl PCA0PWM, #40h +ENDM +Enable_CCF_Interrupt MACRO + orl PCA0CPM0,#01h +ENDM +Disable_COVF_Interrupt MACRO + anl PCA0PWM, #0BFh +ENDM +Disable_CCF_Interrupt MACRO + anl PCA0CPM0,#0FEh +ENDM + + +;********************* +; PORT 1 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +CcomFET EQU 5 ;o +CpwmFET EQU 4 ;o +BcomFET EQU 3 ;o +BpwmFET EQU 2 ;o +AcomFET EQU 1 ;o +ApwmFET EQU 0 ;o + +P1_DIGITAL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_INIT EQU 00h +P1_PUSHPULL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_SKIP EQU 3Fh + +ApwmFET_on MACRO + setb P1.ApwmFET +IF FETON_DELAY == 0 + setb P1.AcomFET +ENDIF +ENDM +ApwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET +ELSE + clr P1.AcomFET +ENDIF +ENDM +BpwmFET_on MACRO + setb P1.BpwmFET +IF FETON_DELAY == 0 + setb P1.BcomFET +ENDIF +ENDM +BpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.BpwmFET +ELSE + clr P1.BcomFET +ENDIF +ENDM +CpwmFET_on MACRO + setb P1.CpwmFET +IF FETON_DELAY == 0 + setb P1.CcomFET +ENDIF +ENDM +CpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.CpwmFET +ELSE + clr P1.CcomFET +ENDIF +ENDM +All_pwmFETs_Off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET + clr P1.BpwmFET + clr P1.CpwmFET +ELSE + clr P1.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDIF +ENDM + +AcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.ApwmFET +ENDIF + setb P1.AcomFET +ENDM +AcomFET_off MACRO + clr P1.AcomFET +ENDM +BcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.BpwmFET +ENDIF + setb P1.BcomFET +ENDM +BcomFET_off MACRO + clr P1.BcomFET +ENDM +CcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.CpwmFET +ENDIF + setb P1.CcomFET +ENDM +CcomFET_off MACRO + clr P1.CcomFET +ENDM +All_comFETs_Off MACRO + clr P1.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDM + +Set_Pwm_A MACRO +IF FETON_DELAY == 0 + setb P1.AcomFET + mov P1SKIP, #3Eh +ELSE + mov P1SKIP, #3Ch +ENDIF +ENDM +Set_Pwm_B MACRO +IF FETON_DELAY == 0 + setb P1.BcomFET + mov P1SKIP, #3Bh +ELSE + mov P1SKIP, #33h +ENDIF +ENDM +Set_Pwm_C MACRO +IF FETON_DELAY == 0 + setb P1.CcomFET + mov P1SKIP, #2Fh +ELSE + mov P1SKIP, #0Fh +ENDIF +ENDM +Set_Pwms_Off MACRO + mov P1SKIP, #3Fh +ENDM + +Set_Comp_Phase_A MACRO + mov CMP0MX, #30h ; Set comparator multiplexer to phase A +ENDM +Set_Comp_Phase_B MACRO + mov CMP0MX, #20h ; Set comparator multiplexer to phase B +ENDM +Set_Comp_Phase_C MACRO + mov CMP0MX, #10h ; Set comparator multiplexer to phase C +ENDM +Read_Comp_Out MACRO + mov A, CMP0CN0 ; Read comparator output +ENDM + + +;********************* +; PORT 2 definitions * +;********************* +DebugPin EQU 0 ;o + +P2_PUSHPULL EQU (1 SHL DebugPin) + + +;********************** +; MCU specific macros * +;********************** +Interrupt_Table_Definition MACRO +CSEG AT 0 ; Code segment start + jmp reset +CSEG AT 03h ; Int0 interrupt + jmp int0_int +IF MCU_48MHZ == 1 +CSEG AT 0Bh ; Timer0 overflow interrupt + jmp t0_int +ENDIF +CSEG AT 2Bh ; Timer2 overflow interrupt + jmp t2_int +CSEG AT 5Bh ; Pca interrupt + jmp pca_int +CSEG AT 73h ; Timer3 overflow/compare interrupt + jmp t3_int +ENDM + +Initialize_Xbar MACRO + mov XBR2, #40h ; Xbar enabled + mov XBR1, #02h ; CEX0 and CEX1 routed to pins +ENDM + +Initialize_Adc MACRO + mov REF0CN, #2Ch ; Set vdd (3.3V) as reference. Enable temp sensor and bias +IF MCU_48MHZ == 0 + mov ADC0CF, #58h ; ADC clock 2MHz +ELSE + mov ADC0CF, #0C0h ; ADC clock 2MHz +ENDIF + mov ADC0MX, #10h ; Select temp sensor input + mov ADC0CN0, #80h ; ADC enabled + mov ADC0CN1, #01h ; Common mode buffer enabled +ENDM +Start_Adc MACRO + mov ADC0CN0, #90h ; ADC start +ENDM +Get_Adc_Status MACRO + mov A, ADC0CN0 +ENDM +Read_Adc_Result MACRO + mov Temp1, ADC0L + mov Temp2, ADC0H +ENDM +Stop_Adc MACRO +ENDM +Set_RPM_Out MACRO +ENDM +Clear_RPM_Out MACRO +ENDM +Set_MCU_Clk_24MHz MACRO + mov CLKSEL, #13h ; Set clock to 24MHz + mov SFRPAGE, #10h + mov PFE0CN, #00h ; Set flash timing for 24MHz + mov SFRPAGE, #00h + mov Clock_Set_At_48MHz, #0 +ENDM +Set_MCU_Clk_48MHz MACRO + mov SFRPAGE, #10h + mov PFE0CN, #30h ; Set flash timing for 48MHz + mov SFRPAGE, #00h + mov CLKSEL, #03h ; Set clock to 48MHz + mov Clock_Set_At_48MHz, #1 +ENDM +Set_LED_0 MACRO +ENDM +Clear_LED_0 MACRO +ENDM +Set_LED_1 MACRO +ENDM +Clear_LED_1 MACRO +ENDM +Set_LED_2 MACRO +ENDM +Clear_LED_2 MACRO +ENDM +Set_LED_3 MACRO +ENDM +Clear_LED_3 MACRO +ENDM diff --git a/BLHeli_S SiLabs/G.inc b/BLHeli_S SiLabs/G.inc new file mode 100644 index 00000000..6ebed9bd --- /dev/null +++ b/BLHeli_S SiLabs/G.inc @@ -0,0 +1,495 @@ +;**** **** **** **** **** +; +; BLHeli program for controlling brushless motors in helicopters and multirotors +; +; Copyright 2011, 2012 Steffen Skaug +; This program is distributed under the terms of the GNU General Public License +; +; This file is part of BLHeli. +; +; BLHeli is free software: you can redistribute it and/or modify +; it under the terms of the GNU General Public License as published by +; the Free Software Foundation, either version 3 of the License, or +; (at your option) any later version. +; +; BLHeli is distributed in the hope that it will be useful, +; but WITHOUT ANY WARRANTY; without even the implied warranty of +; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +; GNU General Public License for more details. +; +; You should have received a copy of the GNU General Public License +; along with BLHeli. If not, see . +; +;**** **** **** **** **** +; +; Hardware definition file "G" +; X X RC X CC MA MC MB X X Cc Cp Bc Bp Ac Ap +; +;**** **** **** **** **** + + + +;********************* +; Device SiLabs EFM8BB1x/2x +;********************* +IF MCU_48MHZ == 0 +$include (SI_EFM8BB1_Defs.inc) +ELSE +$include (SI_EFM8BB2_Defs.inc) +ENDIF + + +;**** **** **** **** **** +; Uses internal calibrated oscillator set to 24/48Mhz +;**** **** **** **** **** + +;**** **** **** **** **** +; Constant definitions +;**** **** **** **** **** +IF MCU_48MHZ == 0 +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#G_L_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#G_L_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#G_L_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#G_L_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#G_L_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#G_L_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#G_L_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#G_L_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#G_L_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#G_L_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#G_L_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B10#" ; Project and MCU tag (16 Bytes) + +ELSE + +CSEG AT 1A40h +IF FETON_DELAY == 0 +Eep_ESC_Layout: DB "#G_H_00# " ; ESC layout tag +ELSEIF FETON_DELAY == 5 +Eep_ESC_Layout: DB "#G_H_05# " +ELSEIF FETON_DELAY == 10 +Eep_ESC_Layout: DB "#G_H_10# " +ELSEIF FETON_DELAY == 15 +Eep_ESC_Layout: DB "#G_H_15# " +ELSEIF FETON_DELAY == 20 +Eep_ESC_Layout: DB "#G_H_20# " +ELSEIF FETON_DELAY == 25 +Eep_ESC_Layout: DB "#G_H_25# " +ELSEIF FETON_DELAY == 30 +Eep_ESC_Layout: DB "#G_H_30# " +ELSEIF FETON_DELAY == 40 +Eep_ESC_Layout: DB "#G_H_40# " +ELSEIF FETON_DELAY == 50 +Eep_ESC_Layout: DB "#G_H_50# " +ELSEIF FETON_DELAY == 70 +Eep_ESC_Layout: DB "#G_H_70# " +ELSEIF FETON_DELAY == 90 +Eep_ESC_Layout: DB "#G_H_90# " +ENDIF +CSEG AT 1A50h +Eep_ESC_MCU: DB "#BLHELI$EFM8B21#" ; Project and MCU tag (16 Bytes) +ENDIF + +ONE_S_CAPABLE EQU 0 ; Set to 1 if ESC can operate at 1S +LOCK_BYTE_ADDRESS_16K EQU 3FFFh ; Address of lock byte if 16k flash size +LOCK_BYTE_ADDRESS_8K EQU 1DFFh ; Address of lock byte if 8k flash size +TEMP_LIMIT EQU 246 ; Temperature measurement ADC value for which main motor power is limited (low byte, assuming high byte is 1) +TEMP_LIMIT_STEP EQU 6 ; Temperature measurement ADC value increment for which main motor power is further limited + +;**** **** **** **** **** +; Bootloader definitions +;**** **** **** **** **** +RTX_PORT EQU P0 ; Receive/Transmit port +RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL +RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL +RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP +RTX_PIN EQU 5 ; RTX pin + +SIGNATURE_001 EQU 0E8h ; Device signature +IF MCU_48MHZ == 0 +SIGNATURE_002 EQU 0B1h +ELSE +SIGNATURE_002 EQU 0B2h +ENDIF + +;********************* +; PORT 0 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +Rcp_In EQU 5 ;i +; EQU 4 ;i +Mux_C EQU 3 ;i +Mux_B EQU 2 ;i +Mux_A EQU 1 ;i +Comp_Com EQU 0 ;i + +P0_DIGITAL EQU NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com)) +P0_INIT EQU 0FFh +P0_PUSHPULL EQU 0 +P0_SKIP EQU 0FFh + +Get_Rcp_Capture_Values MACRO + anl TCON, #0EFh ; Disable timer0 + mov Temp1, TL0 ; Get timer0 values + mov Temp2, TH0 +IF MCU_48MHZ == 1 + mov Temp3, Timer0_X + jnb TCON_TF0, ($+4) ; Check if interrupt is pending + inc Temp3 ; If it is pending, then timer has already wrapped +ENDIF + mov TL0, #0 ; Reset timer0 + mov TH0, #0 +IF MCU_48MHZ == 1 + mov Timer0_X, #0 +ENDIF + orl TCON, #10h ; Enable timer0 again +IF MCU_48MHZ == 1 + mov A, Clock_Set_At_48MHz + jnz Get_Rcp_End + clr C + mov A, Temp1 + rlc A + mov Temp1, A + mov A, Temp2 + rlc A + mov Temp2, A + mov A, Temp3 + rlc A + mov Temp3, A +Get_Rcp_End: +ENDIF +ENDM +Initialize_PCA MACRO + mov PCA0CN0, #40h ; PCA enabled + mov PCA0MD, #08h ; PCA clock is system clock +IF FETON_DELAY == 0 +IF MCU_48MHZ == 0 + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ELSE + mov PCA0PWM, #83h ; PCA ARSEL set and 11bits pwm +ENDIF + mov PCA0CENT, #00h ; Edge aligned pwm +ELSE +IF MCU_48MHZ == 0 + mov PCA0PWM, #81h ; PCA ARSEL set and 9bits pwm +ELSE + mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm +ENDIF + mov PCA0CENT, #03h ; Center aligned pwm +ENDIF +ENDM +Set_Pwm_Polarity MACRO + mov PCA0POL, #02h ; Damping inverted, pwm noninverted +ENDM +Enable_Power_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM0, #4Ah ; Enable comparator of module, enable match, set pwm mode +ELSE + mov PCA0CPM0, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Enable_Damp_Pwm_Module MACRO +IF FETON_DELAY == 0 + mov PCA0CPM1, #00h ; Disable +ELSE + mov PCA0CPM1, #42h ; Enable comparator of module, set pwm mode +ENDIF +ENDM +Set_Power_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL0, Power_Pwm_Reg_L + mov PCA0CPH0, Power_Pwm_Reg_H +ELSE + clr C + mov A, Power_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Power_Pwm_Reg_L + rrc A + mov PCA0CPL0, A + mov PCA0CPH0, Temp1 +ENDIF +ENDM +Set_Damp_Pwm_Regs MACRO +IF FETON_DELAY == 0 + mov PCA0CPL1, Damp_Pwm_Reg_L + mov PCA0CPH1, Damp_Pwm_Reg_H +ELSE + clr C + mov A, Damp_Pwm_Reg_H + rrc A + mov Temp1, A + mov A, Damp_Pwm_Reg_L + rrc A + mov PCA0CPL1, A + mov PCA0CPH1, Temp1 +ENDIF +ENDM +Clear_COVF_Interrupt MACRO + anl PCA0PWM, #0DFh +ENDM +Clear_CCF_Interrupt MACRO + anl PCA0CN0, #0FEh +ENDM +Enable_COVF_Interrupt MACRO + orl PCA0PWM, #40h +ENDM +Enable_CCF_Interrupt MACRO + orl PCA0CPM0,#01h +ENDM +Disable_COVF_Interrupt MACRO + anl PCA0PWM, #0BFh +ENDM +Disable_CCF_Interrupt MACRO + anl PCA0CPM0,#0FEh +ENDM + + +;********************* +; PORT 1 definitions * +;********************* +; EQU 7 ;i +; EQU 6 ;i +CcomFET EQU 5 ;o +CpwmFET EQU 4 ;o +BcomFET EQU 3 ;o +BpwmFET EQU 2 ;o +AcomFET EQU 1 ;o +ApwmFET EQU 0 ;o + +P1_DIGITAL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_INIT EQU 00h +P1_PUSHPULL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET) +P1_SKIP EQU 3Fh + +ApwmFET_on MACRO + setb P1.ApwmFET +IF FETON_DELAY == 0 + setb P1.AcomFET +ENDIF +ENDM +ApwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET +ELSE + clr P1.AcomFET +ENDIF +ENDM +BpwmFET_on MACRO + setb P1.BpwmFET +IF FETON_DELAY == 0 + setb P1.BcomFET +ENDIF +ENDM +BpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.BpwmFET +ELSE + clr P1.BcomFET +ENDIF +ENDM +CpwmFET_on MACRO + setb P1.CpwmFET +IF FETON_DELAY == 0 + setb P1.CcomFET +ENDIF +ENDM +CpwmFET_off MACRO +IF FETON_DELAY != 0 + clr P1.CpwmFET +ELSE + clr P1.CcomFET +ENDIF +ENDM +All_pwmFETs_Off MACRO +IF FETON_DELAY != 0 + clr P1.ApwmFET + clr P1.BpwmFET + clr P1.CpwmFET +ELSE + clr P1.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDIF +ENDM + +AcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.ApwmFET +ENDIF + setb P1.AcomFET +ENDM +AcomFET_off MACRO + clr P1.AcomFET +ENDM +BcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.BpwmFET +ENDIF + setb P1.BcomFET +ENDM +BcomFET_off MACRO + clr P1.BcomFET +ENDM +CcomFET_on MACRO +IF FETON_DELAY == 0 + clr P1.CpwmFET +ENDIF + setb P1.CcomFET +ENDM +CcomFET_off MACRO + clr P1.CcomFET +ENDM +All_comFETs_Off MACRO + clr P1.AcomFET + clr P1.BcomFET + clr P1.CcomFET +ENDM + +Set_Pwm_A MACRO +IF FETON_DELAY == 0 + setb P1.AcomFET + mov P1SKIP, #3Eh +ELSE + mov P1SKIP, #3Ch +ENDIF +ENDM +Set_Pwm_B MACRO +IF FETON_DELAY == 0 + setb P1.BcomFET + mov P1SKIP, #3Bh +ELSE + mov P1SKIP, #33h +ENDIF +ENDM +Set_Pwm_C MACRO +IF FETON_DELAY == 0 + setb P1.CcomFET + mov P1SKIP, #2Fh +ELSE + mov P1SKIP, #0Fh +ENDIF +ENDM +Set_Pwms_Off MACRO + mov P1SKIP, #3Fh +ENDM + +Set_Comp_Phase_A MACRO + mov CMP0MX, #23h ; Set comparator multiplexer to phase A +ENDM +Set_Comp_Phase_B MACRO + mov CMP0MX, #03h ; Set comparator multiplexer to phase B +ENDM +Set_Comp_Phase_C MACRO + mov CMP0MX, #13h ; Set comparator multiplexer to phase C +ENDM +Read_Comp_Out MACRO + mov A, CMP0CN0 ; Read comparator output +ENDM + + +;********************* +; PORT 2 definitions * +;********************* +DebugPin EQU 0 ;o + +P2_PUSHPULL EQU (1 SHL DebugPin) + + +;********************** +; MCU specific macros * +;********************** +Interrupt_Table_Definition MACRO +CSEG AT 0 ; Code segment start + jmp reset +CSEG AT 03h ; Int0 interrupt + jmp int0_int +IF MCU_48MHZ == 1 +CSEG AT 0Bh ; Timer0 overflow interrupt + jmp t0_int +ENDIF +CSEG AT 2Bh ; Timer2 overflow interrupt + jmp t2_int +CSEG AT 5Bh ; Pca interrupt + jmp pca_int +CSEG AT 73h ; Timer3 overflow/compare interrupt + jmp t3_int +ENDM + +Initialize_Xbar MACRO + mov XBR2, #40h ; Xbar enabled + mov XBR1, #02h ; CEX0 and CEX1 routed to pins +ENDM + +Initialize_Adc MACRO + mov REF0CN, #2Ch ; Set vdd (3.3V) as reference. Enable temp sensor and bias +IF MCU_48MHZ == 0 + mov ADC0CF, #58h ; ADC clock 2MHz +ELSE + mov ADC0CF, #0C0h ; ADC clock 2MHz +ENDIF + mov ADC0MX, #10h ; Select temp sensor input + mov ADC0CN0, #80h ; ADC enabled + mov ADC0CN1, #01h ; Common mode buffer enabled +ENDM +Start_Adc MACRO + mov ADC0CN0, #90h ; ADC start +ENDM +Get_Adc_Status MACRO + mov A, ADC0CN0 +ENDM +Read_Adc_Result MACRO + mov Temp1, ADC0L + mov Temp2, ADC0H +ENDM +Stop_Adc MACRO +ENDM +Set_RPM_Out MACRO +ENDM +Clear_RPM_Out MACRO +ENDM +Set_MCU_Clk_24MHz MACRO + mov CLKSEL, #13h ; Set clock to 24MHz + mov SFRPAGE, #10h + mov PFE0CN, #00h ; Set flash timing for 24MHz + mov SFRPAGE, #00h + mov Clock_Set_At_48MHz, #0 +ENDM +Set_MCU_Clk_48MHz MACRO + mov SFRPAGE, #10h + mov PFE0CN, #30h ; Set flash timing for 48MHz + mov SFRPAGE, #00h + mov CLKSEL, #03h ; Set clock to 48MHz + mov Clock_Set_At_48MHz, #1 +ENDM +Set_LED_0 MACRO +ENDM +Clear_LED_0 MACRO +ENDM +Set_LED_1 MACRO +ENDM +Clear_LED_1 MACRO +ENDM +Set_LED_2 MACRO +ENDM +Clear_LED_2 MACRO +ENDM +Set_LED_3 MACRO +ENDM +Clear_LED_3 MACRO +ENDM diff --git a/BLHeli_S SiLabs/Hex files/A_H_0_REV16_0.HEX b/BLHeli_S SiLabs/Hex files/A_H_0_REV16_0.HEX new file mode 100644 index 00000000..778b9d80 --- /dev/null +++ b/BLHeli_S SiLabs/Hex files/A_H_0_REV16_0.HEX @@ -0,0 +1,301 @@ +:020000040000FA +:060000000219FD0200C21E +:03000B0002008D63 +:03002B000200923E +:03005B000202BFDF +:030073000200B5D3 +:100080000406080C10182030406080A0C0C28D0506 +:100090004032C0D0C0E0C2CF0541E5646009E563ED +:1000A000600575630001B0756301E52360021523E7 +:1000B000D0E0D0D032C2AF53E67FC22053917FD27E +:1000C000AF32C0D0C0E0C0F0D2D35388EFA88AA925 +:1000D0008CAA40308D010A758A00758C007540002D +:1000E000438810E564700AC3E833F8E933F9EA336A +:1000F000FA30331FE8C4540FFAE9C454F04AFAC383 +:10010000132AFAC3E833F8E933F9E82AFAE934069E +:10011000FB216630320FC3E833E933FAE82AFAE903 +:100120003400FB2166303115E875F056A4AAF0E9D9 +:1001300075F056A42AFAC5F03400FB2166C3EA1311 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+:101DC0002265236523F52222AE24AF250E0FDEFE09 +:101DD000DFFCD20122424C48656C6934373163E83C +:031DE000B1060148 +:00000001FF diff --git a/BLHeli_S SiLabs/MakeHexfiles.bat b/BLHeli_S SiLabs/MakeHexfiles.bat new file mode 100644 index 00000000..a0798aef --- /dev/null +++ b/BLHeli_S SiLabs/MakeHexfiles.bat @@ -0,0 +1,138 @@ +@ECHO off +@ECHO ***** Batch file for BlHeli_S (from 4712) v.2 ***** +@ECHO ***** All Messages will be saved to MakeHex_Result.txt ***** +@ECHO ***** Start compile with any key - CTRL-C to abort ***** +Break ON +@pause +DEL MakeHex_Result.txt /Q + +rem ***** Adapt settings to your enviroment **** +DEL Output\Hex\*.* /Q +RMDIR Output\Hex +DEL Output\*.* /Q +RMDIR Output +MKDIR Output +MKDIR Output\Hex +SET Revision=REV16_0 +SET KeilPath=C:\SiliconLabs\SimplicityStudio\v3\developer\toolchains\keil_8051\9.53\BIN + +@ECHO Revision: %Revision% >> MakeHex_Result.txt +@ECHO Path for Keil toolchain: %KeilPath% >> MakeHex_Result.txt +@ECHO Start compile ..... >> MakeHex_Result.txt + + +SET ESCNO=1 +SET ESC=A_L_ +SET MCU_48MHZ=0 +call:compile +SET ESC=A_H_ +SET MCU_48MHZ=1 +call:compile +SET /A ESCNO+=1 + +SET ESC=B_L_ +SET MCU_48MHZ=0 +call:compile +SET ESC=B_H_ +SET MCU_48MHZ=1 +call:compile +SET /A ESCNO+=1 + +SET ESC=C_L_ +SET MCU_48MHZ=0 +call:compile +SET ESC=C_H_ +SET MCU_48MHZ=1 +call:compile +SET /A ESCNO+=1 + +SET ESC=D_L_ +SET MCU_48MHZ=0 +call:compile +SET ESC=D_H_ +SET MCU_48MHZ=1 +call:compile +SET /A ESCNO+=1 + +SET ESC=E_L_ +SET MCU_48MHZ=0 +call:compile +SET ESC=E_H_ +SET MCU_48MHZ=1 +call:compile +SET /A ESCNO+=1 + +SET ESC=F_L_ +SET MCU_48MHZ=0 +call:compile +SET ESC=F_H_ +SET MCU_48MHZ=1 +call:compile +SET /A ESCNO+=1 + +SET ESC=G_L_ +SET MCU_48MHZ=0 +call:compile +SET ESC=G_H_ +SET MCU_48MHZ=1 +call:compile +SET /A ESCNO+=1 + +goto :end + + +:compile +SET FETON_DELAY=0 +SET ESCNAME=%ESC%%FETON_DELAY% +call :compile_code +SET /A FETON_DELAY=5 +SET ESCNAME=%ESC%%FETON_DELAY% +call :compile_code +SET /A FETON_DELAY=10 +SET ESCNAME=%ESC%%FETON_DELAY% +call :compile_code +SET /A FETON_DELAY=15 +SET ESCNAME=%ESC%%FETON_DELAY% +call :compile_code +SET /A FETON_DELAY=20 +SET ESCNAME=%ESC%%FETON_DELAY% +call :compile_code +SET /A FETON_DELAY=25 +SET ESCNAME=%ESC%%FETON_DELAY% +call :compile_code +SET /A FETON_DELAY=30 +SET ESCNAME=%ESC%%FETON_DELAY% +call :compile_code +SET /A FETON_DELAY=40 +SET ESCNAME=%ESC%%FETON_DELAY% +call :compile_code +SET /A FETON_DELAY=50 +SET ESCNAME=%ESC%%FETON_DELAY% +call :compile_code +SET /A FETON_DELAY=70 +SET ESCNAME=%ESC%%FETON_DELAY% +call :compile_code +SET /A FETON_DELAY=90 +SET ESCNAME=%ESC%%FETON_DELAY% +call :compile_code +goto :eof + + +:compile_code +@ECHO compiling %ESCNAME% +@ECHO. >> MakeHex_Result.txt +@ECHO ******************************************************************** >> MakeHex_Result.txt +@ECHO %ESCNAME% >> MakeHex_Result.txt +@ECHO ******************************************************************** >> MakeHex_Result.txt +%KeilPath%\AX51.exe "BLHeli_S.asm" DEFINE(ESCNO=%ESCNO%) DEFINE(MCU_48MHZ=%MCU_48MHZ%) DEFINE(FETON_DELAY=%FETON_DELAY%) OBJECT(Output\%ESCNAME%_%Revision%.OBJ) DEBUG MACRO NOMOD51 COND SYMBOLS PAGEWIDTH(120) PAGELENGTH(65) >> MakeHex_Result.txt +%KeilPath%\LX51.exe "Output\%ESCNAME%_%Revision%.OBJ" TO "Output\%ESCNAME%_%Revision%.OMF" PAGEWIDTH (120) PAGELENGTH (65) >> MakeHex_Result.txt +%KeilPath%\Ohx51 "Output\%ESCNAME%_%Revision%.OMF" "HEXFILE (Output\%ESCNAME%_%Revision%.HEX)" "H386" >> MakeHex_Result.txt +copy "Output\%ESCNAME%_%Revision%.HEX" "Output\Hex\%ESCNAME%_%Revision%.HEX" > nul +del "Output\%ESCNAME%_%Revision%.HEX" > nul +@ECHO. >> MakeHex_Result.txt +goto :eof + +:end + +@pause +exit \ No newline at end of file diff --git a/BLHeli_S SiLabs/SI_EFM8BB1_Defs.inc b/BLHeli_S SiLabs/SI_EFM8BB1_Defs.inc new file mode 100644 index 00000000..8327d62b --- /dev/null +++ b/BLHeli_S SiLabs/SI_EFM8BB1_Defs.inc @@ -0,0 +1,323 @@ +;------------------------------------------------------------------------------ +; Copyright 2014 Silicon Laboratories, Inc. +; All rights reserved. This program and the accompanying materials +; are made available under the terms of the Silicon Laboratories End User +; License Agreement which accompanies this distribution, and is available at +; http://developer.silabs.com/legal/version/v11/Silicon_Labs_Software_License_Agreement.txt +; Original content and implementation provided by Silicon Laboratories. +;------------------------------------------------------------------------------ +;Supported Devices: +; EFM8BB10F2G +; EFM8BB10F2I +; EFM8BB10F2Y +; EFM8BB10F4G +; EFM8BB10F4I +; EFM8BB10F4Y +; EFM8BB10F8G +; EFM8BB10F8G +; EFM8BB10F8G +; EFM8BB10F8I +; EFM8BB10F8I +; EFM8BB10F8I +; EFM8BB10F8Y +; EFM8BB10F8Y +; EFM8BB10F8Y + +;----------------------------------------------------------------------------- +; Register Definitions +;----------------------------------------------------------------------------- +ACC DATA 0E0H; Accumulator +ADC0AC DATA 0B3H; ADC0 Accumulator Configuration +ADC0CF DATA 0BCH; ADC0 Configuration +ADC0CN0 DATA 0E8H; ADC0 Control 0 +ADC0CN1 DATA 0B2H; ADC0 Control 1 +ADC0GTH DATA 0C4H; ADC0 Greater-Than High Byte +ADC0GTL DATA 0C3H; ADC0 Greater-Than Low Byte +ADC0H DATA 0BEH; ADC0 Data Word High Byte +ADC0L DATA 0BDH; ADC0 Data Word Low Byte +ADC0LTH DATA 0C6H; ADC0 Less-Than High Byte +ADC0LTL DATA 0C5H; ADC0 Less-Than Low Byte +ADC0MX DATA 0BBH; ADC0 Multiplexer Selection +ADC0PWR DATA 0DFH; ADC0 Power Control +ADC0TK DATA 0B9H; ADC0 Burst Mode Track Time +B DATA 0F0H; B Register +CKCON0 DATA 08EH; Clock Control 0 +CLKSEL DATA 0A9H; Clock Select +CMP0CN0 DATA 09BH; Comparator 0 Control 0 +CMP0MD DATA 09DH; Comparator 0 Mode +CMP0MX DATA 09FH; Comparator 0 Multiplexer Selection +CMP1CN0 DATA 0BFH; Comparator 1 Control 0 +CMP1MD DATA 0ABH; Comparator 1 Mode +CMP1MX DATA 0AAH; Comparator 1 Multiplexer Selection +CRC0AUTO DATA 0D2H; CRC0 Automatic Control +CRC0CN0 DATA 0CEH; CRC0 Control 0 +CRC0CNT DATA 0D3H; CRC0 Automatic Flash Sector Count +CRC0DAT DATA 0DEH; CRC0 Data Output +CRC0FLIP DATA 0CFH; CRC0 Bit Flip +CRC0IN DATA 0DDH; CRC0 Data Input +DERIVID DATA 0ADH; Derivative Identification +DEVICEID DATA 0B5H; Device Identification +DPH DATA 083H; Data Pointer High +DPL DATA 082H; Data Pointer Low +EIE1 DATA 0E6H; Extended Interrupt Enable 1 +EIP1 DATA 0F3H; Extended Interrupt Priority 1 +FLKEY DATA 0B7H; Flash Lock and Key +HFO0CAL DATA 0C7H; High Frequency Oscillator 0 Calibration +IE DATA 0A8H; Interrupt Enable +IP DATA 0B8H; Interrupt Priority +IT01CF DATA 0E4H; INT0/INT1 Configuration +LFO0CN DATA 0B1H; Low Frequency Oscillator Control +P0 DATA 080H; Port 0 Pin Latch +P0MASK DATA 0FEH; Port 0 Mask +P0MAT DATA 0FDH; Port 0 Match +P0MDIN DATA 0F1H; Port 0 Input Mode +P0MDOUT DATA 0A4H; Port 0 Output Mode +P0SKIP DATA 0D4H; Port 0 Skip +P1 DATA 090H; Port 1 Pin Latch +P1MASK DATA 0EEH; Port 1 Mask +P1MAT DATA 0EDH; Port 1 Match +P1MDIN DATA 0F2H; Port 1 Input Mode +P1MDOUT DATA 0A5H; Port 1 Output Mode +P1SKIP DATA 0D5H; Port 1 Skip +P2 DATA 0A0H; Port 2 Pin Latch +P2MDOUT DATA 0A6H; Port 2 Output Mode +PCA0CENT DATA 09EH; PCA Center Alignment Enable +PCA0CLR DATA 09CH; PCA Comparator Clear Control +PCA0CN0 DATA 0D8H; PCA Control +PCA0CPH0 DATA 0FCH; PCA Channel 0 Capture Module High Byte +PCA0CPH1 DATA 0EAH; PCA Channel 1 Capture Module High Byte +PCA0CPH2 DATA 0ECH; PCA Channel 2 Capture Module High Byte +PCA0CPL0 DATA 0FBH; PCA Channel 0 Capture Module Low Byte +PCA0CPL1 DATA 0E9H; PCA Channel 1 Capture Module Low Byte +PCA0CPL2 DATA 0EBH; PCA Channel 2 Capture Module Low Byte +PCA0CPM0 DATA 0DAH; PCA Channel 0 Capture/Compare Mode +PCA0CPM1 DATA 0DBH; PCA Channel 1 Capture/Compare Mode +PCA0CPM2 DATA 0DCH; PCA Channel 2 Capture/Compare Mode +PCA0H DATA 0FAH; PCA Counter/Timer High Byte +PCA0L DATA 0F9H; PCA Counter/Timer Low Byte +PCA0MD DATA 0D9H; PCA Mode +PCA0POL DATA 096H; PCA Output Polarity +PCA0PWM DATA 0F7H; PCA PWM Configuration +PCON0 DATA 087H; Power Control +PRTDRV DATA 0F6H; Port Drive Strength +PSCTL DATA 08FH; Program Store Control +PSW DATA 0D0H; Program Status Word +REF0CN DATA 0D1H; Voltage Reference Control +REG0CN DATA 0C9H; Voltage Regulator 0 Control +REVID DATA 0B6H; Revision Identifcation +RSTSRC DATA 0EFH; Reset Source +SBUF0 DATA 099H; UART0 Serial Port Data Buffer +SCON0 DATA 098H; UART0 Serial Port Control +SMB0ADM DATA 0D6H; SMBus 0 Slave Address Mask +SMB0ADR DATA 0D7H; SMBus 0 Slave Address +SMB0CF DATA 0C1H; SMBus 0 Configuration +SMB0CN0 DATA 0C0H; SMBus 0 Control +SMB0DAT DATA 0C2H; SMBus 0 Data +SMB0TC DATA 0ACH; SMBus 0 Timing and Pin Control +SP DATA 081H; Stack Pointer +SPI0CFG DATA 0A1H; SPI0 Configuration +SPI0CKR DATA 0A2H; SPI0 Clock Rate +SPI0CN0 DATA 0F8H; SPI0 Control +SPI0DAT DATA 0A3H; SPI0 Data +TCON DATA 088H; Timer 0/1 Control +TH0 DATA 08CH; Timer 0 High Byte +TH1 DATA 08DH; Timer 1 High Byte +TL0 DATA 08AH; Timer 0 Low Byte +TL1 DATA 08BH; Timer 1 Low Byte +TMOD DATA 089H; Timer 0/1 Mode +TMR2CN0 DATA 0C8H; Timer 2 Control 0 +TMR2H DATA 0CDH; Timer 2 High Byte +TMR2L DATA 0CCH; Timer 2 Low Byte +TMR2RLH DATA 0CBH; Timer 2 Reload High Byte +TMR2RLL DATA 0CAH; Timer 2 Reload Low Byte +TMR3CN0 DATA 091H; Timer 3 Control 0 +TMR3H DATA 095H; Timer 3 High Byte +TMR3L DATA 094H; Timer 3 Low Byte +TMR3RLH DATA 093H; Timer 3 Reload High Byte +TMR3RLL DATA 092H; Timer 3 Reload Low Byte +VDM0CN DATA 0FFH; Supply Monitor Control +WDTCN DATA 097H; Watchdog Timer Control +XBR0 DATA 0E1H; Port I/O Crossbar 0 +XBR1 DATA 0E2H; Port I/O Crossbar 1 +XBR2 DATA 0E3H; Port I/O Crossbar 2 + +;------------------------------------------------------------------------------ +; 16-bit Register Definitions (may not work on all compilers) +;------------------------------------------------------------------------------ +ADC0GT DATA 0C3H ; ADC0 Greater-Than Low Byte +ADC0 DATA 0BDH ; ADC0 Data Word Low Byte +ADC0LT DATA 0C5H ; ADC0 Less-Than Low Byte +DP DATA 082H ; Data Pointer Low +PCA0CP0 DATA 0FBH ; PCA Channel 0 Capture Module Low Byte +PCA0CP1 DATA 0E9H ; PCA Channel 1 Capture Module Low Byte +PCA0CP2 DATA 0EBH ; PCA Channel 2 Capture Module Low Byte +PCA0 DATA 0F9H ; PCA Counter/Timer Low Byte +TMR2 DATA 0CCH ; Timer 2 Low Byte +TMR2RL DATA 0CAH ; Timer 2 Reload Low Byte +TMR3 DATA 094H ; Timer 3 Low Byte +TMR3RL DATA 092H ; Timer 3 Reload Low Byte + +;------------------------------------------------------------------------------ +; Indirect Register Definitions +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; Bit Definitions +;------------------------------------------------------------------------------ + +; ACC 0xE0 (Accumulator) +ACC_ACC0 BIT ACC.0 ; Accumulator Bit 0 +ACC_ACC1 BIT ACC.1 ; Accumulator Bit 1 +ACC_ACC2 BIT ACC.2 ; Accumulator Bit 2 +ACC_ACC3 BIT ACC.3 ; Accumulator Bit 3 +ACC_ACC4 BIT ACC.4 ; Accumulator Bit 4 +ACC_ACC5 BIT ACC.5 ; Accumulator Bit 5 +ACC_ACC6 BIT ACC.6 ; Accumulator Bit 6 +ACC_ACC7 BIT ACC.7 ; Accumulator Bit 7 + +; ADC0CN0 0xE8 (ADC0 Control 0) +ADC0CN0_ADCM0 BIT ADC0CN0.0 ; Start of Conversion Mode Select Bit 0 +ADC0CN0_ADCM1 BIT ADC0CN0.1 ; Start of Conversion Mode Select Bit 1 +ADC0CN0_ADCM2 BIT ADC0CN0.2 ; Start of Conversion Mode Select Bit 2 +ADC0CN0_ADWINT BIT ADC0CN0.3 ; Window Compare Interrupt Flag +ADC0CN0_ADBUSY BIT ADC0CN0.4 ; ADC Busy +ADC0CN0_ADINT BIT ADC0CN0.5 ; Conversion Complete Interrupt Flag +ADC0CN0_ADBMEN BIT ADC0CN0.6 ; Burst Mode Enable +ADC0CN0_ADEN BIT ADC0CN0.7 ; ADC Enable + +; B 0xF0 (B Register) +B_B0 BIT B.0 ; B Register Bit 0 +B_B1 BIT B.1 ; B Register Bit 1 +B_B2 BIT B.2 ; B Register Bit 2 +B_B3 BIT B.3 ; B Register Bit 3 +B_B4 BIT B.4 ; B Register Bit 4 +B_B5 BIT B.5 ; B Register Bit 5 +B_B6 BIT B.6 ; B Register Bit 6 +B_B7 BIT B.7 ; B Register Bit 7 + +; IE 0xA8 (Interrupt Enable) +IE_EX0 BIT IE.0 ; External Interrupt 0 Enable +IE_ET0 BIT IE.1 ; Timer 0 Interrupt Enable +IE_EX1 BIT IE.2 ; External Interrupt 1 Enable +IE_ET1 BIT IE.3 ; Timer 1 Interrupt Enable +IE_ES0 BIT IE.4 ; UART0 Interrupt Enable +IE_ET2 BIT IE.5 ; Timer 2 Interrupt Enable +IE_ESPI0 BIT IE.6 ; SPI0 Interrupt Enable +IE_EA BIT IE.7 ; All Interrupts Enable + +; IP 0xB8 (Interrupt Priority) +IP_PX0 BIT IP.0 ; External Interrupt 0 Priority Control +IP_PT0 BIT IP.1 ; Timer 0 Interrupt Priority Control +IP_PX1 BIT IP.2 ; External Interrupt 1 Priority Control +IP_PT1 BIT IP.3 ; Timer 1 Interrupt Priority Control +IP_PS0 BIT IP.4 ; UART0 Interrupt Priority Control +IP_PT2 BIT IP.5 ; Timer 2 Interrupt Priority Control +IP_PSPI0 BIT IP.6 ; Serial Peripheral Interface (SPI0) Interrupt Priority Control + +; P0 0x80 (Port 0 Pin Latch) +P0_B0 BIT P0.0 ; Port 0 Bit 0 Latch +P0_B1 BIT P0.1 ; Port 0 Bit 1 Latch +P0_B2 BIT P0.2 ; Port 0 Bit 2 Latch +P0_B3 BIT P0.3 ; Port 0 Bit 3 Latch +P0_B4 BIT P0.4 ; Port 0 Bit 4 Latch +P0_B5 BIT P0.5 ; Port 0 Bit 5 Latch +P0_B6 BIT P0.6 ; Port 0 Bit 6 Latch +P0_B7 BIT P0.7 ; Port 0 Bit 7 Latch + +; P1 0x90 (Port 1 Pin Latch) +P1_B0 BIT P1.0 ; Port 1 Bit 0 Latch +P1_B1 BIT P1.1 ; Port 1 Bit 1 Latch +P1_B2 BIT P1.2 ; Port 1 Bit 2 Latch +P1_B3 BIT P1.3 ; Port 1 Bit 3 Latch +P1_B4 BIT P1.4 ; Port 1 Bit 4 Latch +P1_B5 BIT P1.5 ; Port 1 Bit 5 Latch +P1_B6 BIT P1.6 ; Port 1 Bit 6 Latch +P1_B7 BIT P1.7 ; Port 1 Bit 7 Latch + +; P2 0xA0 (Port 2 Pin Latch) +P2_B0 BIT P2.0 ; Port 2 Bit 0 Latch +P2_B1 BIT P2.1 ; Port 2 Bit 1 Latch + +; PCA0CN0 0xD8 (PCA Control) +PCA0CN0_CCF0 BIT PCA0CN0.0 ; PCA Module 0 Capture/Compare Flag +PCA0CN0_CCF1 BIT PCA0CN0.1 ; PCA Module 1 Capture/Compare Flag +PCA0CN0_CCF2 BIT PCA0CN0.2 ; PCA Module 2 Capture/Compare Flag +PCA0CN0_CR BIT PCA0CN0.6 ; PCA Counter/Timer Run Control +PCA0CN0_CF BIT PCA0CN0.7 ; PCA Counter/Timer Overflow Flag + +; PSW 0xD0 (Program Status Word) +PSW_PARITY BIT PSW.0 ; Parity Flag +PSW_F1 BIT PSW.1 ; User Flag 1 +PSW_OV BIT PSW.2 ; Overflow Flag +PSW_RS0 BIT PSW.3 ; Register Bank Select Bit 0 +PSW_RS1 BIT PSW.4 ; Register Bank Select Bit 1 +PSW_F0 BIT PSW.5 ; User Flag 0 +PSW_AC BIT PSW.6 ; Auxiliary Carry Flag +PSW_CY BIT PSW.7 ; Carry Flag + +; SCON0 0x98 (UART0 Serial Port Control) +SCON0_RI BIT SCON0.0 ; Receive Interrupt Flag +SCON0_TI BIT SCON0.1 ; Transmit Interrupt Flag +SCON0_RB8 BIT SCON0.2 ; Ninth Receive Bit +SCON0_TB8 BIT SCON0.3 ; Ninth Transmission Bit +SCON0_REN BIT SCON0.4 ; Receive Enable +SCON0_MCE BIT SCON0.5 ; Multiprocessor Communication Enable +SCON0_SMODE BIT SCON0.7 ; Serial Port 0 Operation Mode + +; SMB0CN0 0xC0 (SMBus 0 Control) +SMB0CN0_SI BIT SMB0CN0.0 ; SMBus Interrupt Flag +SMB0CN0_ACK BIT SMB0CN0.1 ; SMBus Acknowledge +SMB0CN0_ARBLOST BIT SMB0CN0.2 ; SMBus Arbitration Lost Indicator +SMB0CN0_ACKRQ BIT SMB0CN0.3 ; SMBus Acknowledge Request +SMB0CN0_STO BIT SMB0CN0.4 ; SMBus Stop Flag +SMB0CN0_STA BIT SMB0CN0.5 ; SMBus Start Flag +SMB0CN0_TXMODE BIT SMB0CN0.6 ; SMBus Transmit Mode Indicator +SMB0CN0_MASTER BIT SMB0CN0.7 ; SMBus Master/Slave Indicator + +; SPI0CN0 0xF8 (SPI0 Control) +SPI0CN0_SPIEN BIT SPI0CN0.0 ; SPI0 Enable +SPI0CN0_TXBMT BIT SPI0CN0.1 ; Transmit Buffer Empty +SPI0CN0_NSSMD0 BIT SPI0CN0.2 ; Slave Select Mode Bit 0 +SPI0CN0_NSSMD1 BIT SPI0CN0.3 ; Slave Select Mode Bit 1 +SPI0CN0_RXOVRN BIT SPI0CN0.4 ; Receive Overrun Flag +SPI0CN0_MODF BIT SPI0CN0.5 ; Mode Fault Flag +SPI0CN0_WCOL BIT SPI0CN0.6 ; Write Collision Flag +SPI0CN0_SPIF BIT SPI0CN0.7 ; SPI0 Interrupt Flag + +; TCON 0x88 (Timer 0/1 Control) +TCON_IT0 BIT TCON.0 ; Interrupt 0 Type Select +TCON_IE0 BIT TCON.1 ; External Interrupt 0 +TCON_IT1 BIT TCON.2 ; Interrupt 1 Type Select +TCON_IE1 BIT TCON.3 ; External Interrupt 1 +TCON_TR0 BIT TCON.4 ; Timer 0 Run Control +TCON_TF0 BIT TCON.5 ; Timer 0 Overflow Flag +TCON_TR1 BIT TCON.6 ; Timer 1 Run Control +TCON_TF1 BIT TCON.7 ; Timer 1 Overflow Flag + +; TMR2CN0 0xC8 (Timer 2 Control 0) +TMR2CN0_T2XCLK BIT TMR2CN0.0 ; Timer 2 External Clock Select +TMR2CN0_TR2 BIT TMR2CN0.2 ; Timer 2 Run Control +TMR2CN0_T2SPLIT BIT TMR2CN0.3 ; Timer 2 Split Mode Enable +TMR2CN0_TF2CEN BIT TMR2CN0.4 ; Timer 2 Capture Enable +TMR2CN0_TF2LEN BIT TMR2CN0.5 ; Timer 2 Low Byte Interrupt Enable +TMR2CN0_TF2L BIT TMR2CN0.6 ; Timer 2 Low Byte Overflow Flag +TMR2CN0_TF2H BIT TMR2CN0.7 ; Timer 2 High Byte Overflow Flag + +;------------------------------------------------------------------------------ +; Interrupt Definitions +;------------------------------------------------------------------------------ +INT0_IRQn EQU 0 ; External Interrupt 0 +TIMER0_IRQn EQU 1 ; Timer 0 Overflow +INT1_IRQn EQU 2 ; External Interrupt 1 +TIMER1_IRQn EQU 3 ; Timer 1 Overflow +UART0_IRQn EQU 4 ; UART0 +TIMER2_IRQn EQU 5 ; Timer 2 Overflow / Capture +SPI0_IRQn EQU 6 ; SPI0 +SMBUS0_IRQn EQU 7 ; SMBus 0 +PMATCH_IRQn EQU 8 ; Port Match +ADC0WC_IRQn EQU 9 ; ADC0 Window Compare +ADC0EOC_IRQn EQU 10 ; ADC0 End of Conversion +PCA0_IRQn EQU 11 ; PCA0 +CMP0_IRQn EQU 12 ; Comparator 0 +CMP1_IRQn EQU 13 ; Comparator 1 +TIMER3_IRQn EQU 14 ; Timer 3 Overflow / Capture diff --git a/BLHeli_S SiLabs/SI_EFM8BB2_Defs.inc b/BLHeli_S SiLabs/SI_EFM8BB2_Defs.inc new file mode 100644 index 00000000..714d7357 --- /dev/null +++ b/BLHeli_S SiLabs/SI_EFM8BB2_Defs.inc @@ -0,0 +1,431 @@ +;------------------------------------------------------------------------------ +; Copyright 2014 Silicon Laboratories, Inc. +; All rights reserved. This program and the accompanying materials +; are made available under the terms of the Silicon Laboratories End User +; License Agreement which accompanies this distribution, and is available at +; http://developer.silabs.com/legal/version/v11/Silicon_Labs_Software_License_Agreement.txt +; Original content and implementation provided by Silicon Laboratories. +;------------------------------------------------------------------------------ +;Supported Devices: +; EFM8BB21F16G_QFN20 +; EFM8BB21F16G_QSOP24 +; EFM8BB21F16I_QFN20 +; EFM8BB21F16I_QSOP24 +; EFM8BB22F16G_QFN28 +; EFM8BB22F16I_QFN28 + +;----------------------------------------------------------------------------- +; Register Definitions +;----------------------------------------------------------------------------- +ACC DATA 0E0H; Accumulator +ADC0AC DATA 0B3H; ADC0 Accumulator Configuration +ADC0CF DATA 0BCH; ADC0 Configuration +ADC0CN0 DATA 0E8H; ADC0 Control 0 +ADC0CN1 DATA 0B2H; ADC0 Control 1 +ADC0GTH DATA 0C4H; ADC0 Greater-Than High Byte +ADC0GTL DATA 0C3H; ADC0 Greater-Than Low Byte +ADC0H DATA 0BEH; ADC0 Data Word High Byte +ADC0L DATA 0BDH; ADC0 Data Word Low Byte +ADC0LTH DATA 0C6H; ADC0 Less-Than High Byte +ADC0LTL DATA 0C5H; ADC0 Less-Than Low Byte +ADC0MX DATA 0BBH; ADC0 Multiplexer Selection +ADC0PWR DATA 0DFH; ADC0 Power Control +ADC0TK DATA 0B9H; ADC0 Burst Mode Track Time +B DATA 0F0H; B Register +CKCON0 DATA 08EH; Clock Control 0 +CKCON1 DATA 0A6H; Clock Control 1 +CLKSEL DATA 0A9H; Clock Select +CMP0CN0 DATA 09BH; Comparator 0 Control 0 +CMP0CN1 DATA 099H; Comparator 0 Control 1 +CMP0MD DATA 09DH; Comparator 0 Mode +CMP0MX DATA 09FH; Comparator 0 Multiplexer Selection +CMP1CN0 DATA 0BFH; Comparator 1 Control 0 +CMP1CN1 DATA 0ACH; Comparator 1 Control 1 +CMP1MD DATA 0ABH; Comparator 1 Mode +CMP1MX DATA 0AAH; Comparator 1 Multiplexer Selection +CRC0CN0 DATA 0CEH; CRC0 Control 0 +CRC0CN1 DATA 086H; CRC0 Control 1 +CRC0CNT DATA 0D3H; CRC0 Automatic Flash Sector Count +CRC0DAT DATA 0DEH; CRC0 Data Output +CRC0FLIP DATA 0CFH; CRC0 Bit Flip +CRC0IN DATA 0DDH; CRC0 Data Input +CRC0ST DATA 0D2H; CRC0 Automatic Flash Sector Start +DERIVID DATA 0ADH; Derivative Identification +DEVICEID DATA 0B5H; Device Identification +DPH DATA 083H; Data Pointer High +DPL DATA 082H; Data Pointer Low +EIE1 DATA 0E6H; Extended Interrupt Enable 1 +EIE2 DATA 0CEH; Extended Interrupt Enable 2 +EIP1 DATA 0F3H; Extended Interrupt Priority 1 Low +EIP1H DATA 0F5H; Extended Interrupt Priority 1 High +EIP2 DATA 0F4H; Extended Interrupt Priority 2 +EIP2H DATA 0F6H; Extended Interrupt Priority 2 High +EMI0CN DATA 0E7H; External Memory Interface Control +FLKEY DATA 0B7H; Flash Lock and Key +HFO0CAL DATA 0C7H; High Frequency Oscillator 0 Calibration +HFO1CAL DATA 0D6H; High Frequency Oscillator 1 Calibration +HFOCN DATA 0EFH; High Frequency Oscillator Control +I2C0CN0 DATA 0BAH; I2C0 Control +I2C0DIN DATA 0BCH; I2C0 Received Data +I2C0DOUT DATA 0BBH; I2C0 Transmit Data +I2C0FCN0 DATA 0ADH; I2C0 FIFO Control 0 +I2C0FCN1 DATA 0ABH; I2C0 FIFO Control 1 +I2C0FCT DATA 0F5H; I2C0 FIFO Count +I2C0SLAD DATA 0BDH; I2C0 Slave Address +I2C0STAT DATA 0B9H; I2C0 Status +IE DATA 0A8H; Interrupt Enable +IP DATA 0B8H; Interrupt Priority +IPH DATA 0F2H; Interrupt Priority High +IT01CF DATA 0E4H; INT0/INT1 Configuration +LFO0CN DATA 0B1H; Low Frequency Oscillator Control +P0 DATA 080H; Port 0 Pin Latch +P0MASK DATA 0FEH; Port 0 Mask +P0MAT DATA 0FDH; Port 0 Match +P0MDIN DATA 0F1H; Port 0 Input Mode +P0MDOUT DATA 0A4H; Port 0 Output Mode +P0SKIP DATA 0D4H; Port 0 Skip +P1 DATA 090H; Port 1 Pin Latch +P1MASK DATA 0EEH; Port 1 Mask +P1MAT DATA 0EDH; Port 1 Match +P1MDIN DATA 0F2H; Port 1 Input Mode +P1MDOUT DATA 0A5H; Port 1 Output Mode +P1SKIP DATA 0D5H; Port 1 Skip +P2 DATA 0A0H; Port 2 Pin Latch +P2MASK DATA 0FCH; Port 2 Mask +P2MAT DATA 0FBH; Port 2 Match +P2MDIN DATA 0F3H; Port 2 Input Mode +P2MDOUT DATA 0A6H; Port 2 Output Mode +P2SKIP DATA 0CCH; Port 2 Skip +P3 DATA 0B0H; Port 3 Pin Latch +P3MDIN DATA 0F4H; Port 3 Input Mode +P3MDOUT DATA 09CH; Port 3 Output Mode +PCA0CENT DATA 09EH; PCA Center Alignment Enable +PCA0CLR DATA 09CH; PCA Comparator Clear Control +PCA0CN0 DATA 0D8H; PCA Control +PCA0CPH0 DATA 0FCH; PCA Channel 0 Capture Module High Byte +PCA0CPH1 DATA 0EAH; PCA Channel 1 Capture Module High Byte +PCA0CPH2 DATA 0ECH; PCA Channel 2 Capture Module High Byte +PCA0CPL0 DATA 0FBH; PCA Channel 0 Capture Module Low Byte +PCA0CPL1 DATA 0E9H; PCA Channel 1 Capture Module Low Byte +PCA0CPL2 DATA 0EBH; PCA Channel 2 Capture Module Low Byte +PCA0CPM0 DATA 0DAH; PCA Channel 0 Capture/Compare Mode +PCA0CPM1 DATA 0DBH; PCA Channel 1 Capture/Compare Mode +PCA0CPM2 DATA 0DCH; PCA Channel 2 Capture/Compare Mode +PCA0H DATA 0FAH; PCA Counter/Timer High Byte +PCA0L DATA 0F9H; PCA Counter/Timer Low Byte +PCA0MD DATA 0D9H; PCA Mode +PCA0POL DATA 096H; PCA Output Polarity +PCA0PWM DATA 0F7H; PCA PWM Configuration +PCON0 DATA 087H; Power Control +PCON1 DATA 09AH; Power Control 1 +PFE0CN DATA 0C1H; Prefetch Engine Control +PRTDRV DATA 0F6H; Port Drive Strength +PSCTL DATA 08FH; Program Store Control +PSW DATA 0D0H; Program Status Word +REF0CN DATA 0D1H; Voltage Reference Control +REG0CN DATA 0C9H; Voltage Regulator 0 Control +REG1CN DATA 0C6H; Voltage Regulator 1 Control +REVID DATA 0B6H; Revision Identifcation +RSTSRC DATA 0EFH; Reset Source +SBCON1 DATA 094H; UART1 Baud Rate Generator Control +SBRLH1 DATA 096H; UART1 Baud Rate Generator High Byte +SBRLL1 DATA 095H; UART1 Baud Rate Generator Low Byte +SBUF0 DATA 099H; UART0 Serial Port Data Buffer +SBUF1 DATA 092H; UART1 Serial Port Data Buffer +SCON0 DATA 098H; UART0 Serial Port Control +SCON1 DATA 0C8H; UART1 Serial Port Control +SFRPAGE DATA 0A7H; SFR Page +SFRPGCN DATA 0CFH; SFR Page Control +SFRSTACK DATA 0D7H; SFR Page Stack +SMB0ADM DATA 0D6H; SMBus 0 Slave Address Mask +SMB0ADR DATA 0D7H; SMBus 0 Slave Address +SMB0CF DATA 0C1H; SMBus 0 Configuration +SMB0CN0 DATA 0C0H; SMBus 0 Control +SMB0DAT DATA 0C2H; SMBus 0 Data +SMB0FCN0 DATA 0C3H; SMBus 0 FIFO Control 0 +SMB0FCN1 DATA 0C4H; SMBus 0 FIFO Control 1 +SMB0FCT DATA 0EFH; SMBus 0 FIFO Count +SMB0RXLN DATA 0C5H; SMBus 0 Receive Length Counter +SMB0TC DATA 0ACH; SMBus 0 Timing and Pin Control +SMOD1 DATA 093H; UART1 Mode +SP DATA 081H; Stack Pointer +SPI0CFG DATA 0A1H; SPI0 Configuration +SPI0CKR DATA 0A2H; SPI0 Clock Rate +SPI0CN0 DATA 0F8H; SPI0 Control +SPI0DAT DATA 0A3H; SPI0 Data +SPI0FCN0 DATA 09AH; SPI0 FIFO Control 0 +SPI0FCN1 DATA 09BH; SPI0 FIFO Control 1 +SPI0FCT DATA 0F7H; SPI0 FIFO Count +TCON DATA 088H; Timer 0/1 Control +TH0 DATA 08CH; Timer 0 High Byte +TH1 DATA 08DH; Timer 1 High Byte +TL0 DATA 08AH; Timer 0 Low Byte +TL1 DATA 08BH; Timer 1 Low Byte +TMOD DATA 089H; Timer 0/1 Mode +TMR2CN0 DATA 0C8H; Timer 2 Control 0 +TMR2CN1 DATA 0FDH; Timer 2 Control 1 +TMR2H DATA 0CDH; Timer 2 High Byte +TMR2L DATA 0CCH; Timer 2 Low Byte +TMR2RLH DATA 0CBH; Timer 2 Reload High Byte +TMR2RLL DATA 0CAH; Timer 2 Reload Low Byte +TMR3CN0 DATA 091H; Timer 3 Control 0 +TMR3CN1 DATA 0FEH; Timer 3 Control 1 +TMR3H DATA 095H; Timer 3 High Byte +TMR3L DATA 094H; Timer 3 Low Byte +TMR3RLH DATA 093H; Timer 3 Reload High Byte +TMR3RLL DATA 092H; Timer 3 Reload Low Byte +TMR4CN0 DATA 098H; Timer 4 Control 0 +TMR4CN1 DATA 0FFH; Timer 4 Control 1 +TMR4H DATA 0A5H; Timer 4 High Byte +TMR4L DATA 0A4H; Timer 4 Low Byte +TMR4RLH DATA 0A3H; Timer 4 Reload High Byte +TMR4RLL DATA 0A2H; Timer 4 Reload Low Byte +UART1FCN0 DATA 09DH; UART1 FIFO Control 0 +UART1FCN1 DATA 0D8H; UART1 FIFO Control 1 +UART1FCT DATA 0FAH; UART1 FIFO Count +UART1LIN DATA 09EH; UART1 LIN Configuration +VDM0CN DATA 0FFH; Supply Monitor Control +WDTCN DATA 097H; Watchdog Timer Control +XBR0 DATA 0E1H; Port I/O Crossbar 0 +XBR1 DATA 0E2H; Port I/O Crossbar 1 +XBR2 DATA 0E3H; Port I/O Crossbar 2 + +;------------------------------------------------------------------------------ +; 16-bit Register Definitions (may not work on all compilers) +;------------------------------------------------------------------------------ +ADC0GT DATA 0C3H ; ADC0 Greater-Than Low Byte +ADC0 DATA 0BDH ; ADC0 Data Word Low Byte +ADC0LT DATA 0C5H ; ADC0 Less-Than Low Byte +DP DATA 082H ; Data Pointer Low +PCA0CP0 DATA 0FBH ; PCA Channel 0 Capture Module Low Byte +PCA0CP1 DATA 0E9H ; PCA Channel 1 Capture Module Low Byte +PCA0CP2 DATA 0EBH ; PCA Channel 2 Capture Module Low Byte +PCA0 DATA 0F9H ; PCA Counter/Timer Low Byte +SBRL1 DATA 095H ; UART1 Baud Rate Generator Low Byte +TMR2 DATA 0CCH ; Timer 2 Low Byte +TMR2RL DATA 0CAH ; Timer 2 Reload Low Byte +TMR3 DATA 094H ; Timer 3 Low Byte +TMR3RL DATA 092H ; Timer 3 Reload Low Byte +TMR4 DATA 0A4H ; Timer 4 Low Byte +TMR4RL DATA 0A2H ; Timer 4 Reload Low Byte + +;------------------------------------------------------------------------------ +; Indirect Register Definitions +;------------------------------------------------------------------------------ + +;------------------------------------------------------------------------------ +; Bit Definitions +;------------------------------------------------------------------------------ + +; ACC 0xE0 (Accumulator) +ACC_ACC0 BIT ACC.0 ; Accumulator Bit 0 +ACC_ACC1 BIT ACC.1 ; Accumulator Bit 1 +ACC_ACC2 BIT ACC.2 ; Accumulator Bit 2 +ACC_ACC3 BIT ACC.3 ; Accumulator Bit 3 +ACC_ACC4 BIT ACC.4 ; Accumulator Bit 4 +ACC_ACC5 BIT ACC.5 ; Accumulator Bit 5 +ACC_ACC6 BIT ACC.6 ; Accumulator Bit 6 +ACC_ACC7 BIT ACC.7 ; Accumulator Bit 7 + +; ADC0CN0 0xE8 (ADC0 Control 0) +ADC0CN0_ADCM0 BIT ADC0CN0.0 ; Start of Conversion Mode Select Bit 0 +ADC0CN0_ADCM1 BIT ADC0CN0.1 ; Start of Conversion Mode Select Bit 1 +ADC0CN0_ADCM2 BIT ADC0CN0.2 ; Start of Conversion Mode Select Bit 2 +ADC0CN0_ADWINT BIT ADC0CN0.3 ; Window Compare Interrupt Flag +ADC0CN0_ADBUSY BIT ADC0CN0.4 ; ADC Busy +ADC0CN0_ADINT BIT ADC0CN0.5 ; Conversion Complete Interrupt Flag +ADC0CN0_ADBMEN BIT ADC0CN0.6 ; Burst Mode Enable +ADC0CN0_ADEN BIT ADC0CN0.7 ; ADC Enable + +; B 0xF0 (B Register) +B_B0 BIT B.0 ; B Register Bit 0 +B_B1 BIT B.1 ; B Register Bit 1 +B_B2 BIT B.2 ; B Register Bit 2 +B_B3 BIT B.3 ; B Register Bit 3 +B_B4 BIT B.4 ; B Register Bit 4 +B_B5 BIT B.5 ; B Register Bit 5 +B_B6 BIT B.6 ; B Register Bit 6 +B_B7 BIT B.7 ; B Register Bit 7 + +; IE 0xA8 (Interrupt Enable) +IE_EX0 BIT IE.0 ; External Interrupt 0 Enable +IE_ET0 BIT IE.1 ; Timer 0 Interrupt Enable +IE_EX1 BIT IE.2 ; External Interrupt 1 Enable +IE_ET1 BIT IE.3 ; Timer 1 Interrupt Enable +IE_ES0 BIT IE.4 ; UART0 Interrupt Enable +IE_ET2 BIT IE.5 ; Timer 2 Interrupt Enable +IE_ESPI0 BIT IE.6 ; SPI0 Interrupt Enable +IE_EA BIT IE.7 ; All Interrupts Enable + +; IP 0xB8 (Interrupt Priority) +IP_PX0 BIT IP.0 ; External Interrupt 0 Priority Control LSB +IP_PT0 BIT IP.1 ; Timer 0 Interrupt Priority Control LSB +IP_PX1 BIT IP.2 ; External Interrupt 1 Priority Control LSB +IP_PT1 BIT IP.3 ; Timer 1 Interrupt Priority Control LSB +IP_PS0 BIT IP.4 ; UART0 Interrupt Priority Control LSB +IP_PT2 BIT IP.5 ; Timer 2 Interrupt Priority Control LSB +IP_PSPI0 BIT IP.6 ; Serial Peripheral Interface (SPI0) Interrupt Priority Control LSB + +; P0 0x80 (Port 0 Pin Latch) +P0_B0 BIT P0.0 ; Port 0 Bit 0 Latch +P0_B1 BIT P0.1 ; Port 0 Bit 1 Latch +P0_B2 BIT P0.2 ; Port 0 Bit 2 Latch +P0_B3 BIT P0.3 ; Port 0 Bit 3 Latch +P0_B4 BIT P0.4 ; Port 0 Bit 4 Latch +P0_B5 BIT P0.5 ; Port 0 Bit 5 Latch +P0_B6 BIT P0.6 ; Port 0 Bit 6 Latch +P0_B7 BIT P0.7 ; Port 0 Bit 7 Latch + +; P1 0x90 (Port 1 Pin Latch) +P1_B0 BIT P1.0 ; Port 1 Bit 0 Latch +P1_B1 BIT P1.1 ; Port 1 Bit 1 Latch +P1_B2 BIT P1.2 ; Port 1 Bit 2 Latch +P1_B3 BIT P1.3 ; Port 1 Bit 3 Latch +P1_B4 BIT P1.4 ; Port 1 Bit 4 Latch +P1_B5 BIT P1.5 ; Port 1 Bit 5 Latch +P1_B6 BIT P1.6 ; Port 1 Bit 6 Latch +P1_B7 BIT P1.7 ; Port 1 Bit 7 Latch + +; P2 0xA0 (Port 2 Pin Latch) +P2_B0 BIT P2.0 ; Port 2 Bit 0 Latch +P2_B1 BIT P2.1 ; Port 2 Bit 1 Latch +P2_B2 BIT P2.2 ; Port 2 Bit 2 Latch +P2_B3 BIT P2.3 ; Port 2 Bit 3 Latch + +; P3 0xB0 (Port 3 Pin Latch) +P3_B0 BIT P3.0 ; Port 3 Bit 0 Latch +P3_B1 BIT P3.1 ; Port 3 Bit 1 Latch + +; PCA0CN0 0xD8 (PCA Control) +PCA0CN0_CCF0 BIT PCA0CN0.0 ; PCA Module 0 Capture/Compare Flag +PCA0CN0_CCF1 BIT PCA0CN0.1 ; PCA Module 1 Capture/Compare Flag +PCA0CN0_CCF2 BIT PCA0CN0.2 ; PCA Module 2 Capture/Compare Flag +PCA0CN0_CR BIT PCA0CN0.6 ; PCA Counter/Timer Run Control +PCA0CN0_CF BIT PCA0CN0.7 ; PCA Counter/Timer Overflow Flag + +; PSW 0xD0 (Program Status Word) +PSW_PARITY BIT PSW.0 ; Parity Flag +PSW_F1 BIT PSW.1 ; User Flag 1 +PSW_OV BIT PSW.2 ; Overflow Flag +PSW_RS0 BIT PSW.3 ; Register Bank Select Bit 0 +PSW_RS1 BIT PSW.4 ; Register Bank Select Bit 1 +PSW_F0 BIT PSW.5 ; User Flag 0 +PSW_AC BIT PSW.6 ; Auxiliary Carry Flag +PSW_CY BIT PSW.7 ; Carry Flag + +; SCON0 0x98 (UART0 Serial Port Control) +SCON0_RI BIT SCON0.0 ; Receive Interrupt Flag +SCON0_TI BIT SCON0.1 ; Transmit Interrupt Flag +SCON0_RB8 BIT SCON0.2 ; Ninth Receive Bit +SCON0_TB8 BIT SCON0.3 ; Ninth Transmission Bit +SCON0_REN BIT SCON0.4 ; Receive Enable +SCON0_MCE BIT SCON0.5 ; Multiprocessor Communication Enable +SCON0_SMODE BIT SCON0.7 ; Serial Port 0 Operation Mode + +; SCON1 0xC8 (UART1 Serial Port Control) +SCON1_RI BIT SCON1.0 ; Receive Interrupt Flag +SCON1_TI BIT SCON1.1 ; Transmit Interrupt Flag +SCON1_RBX BIT SCON1.2 ; Extra Receive Bit +SCON1_TBX BIT SCON1.3 ; Extra Transmission Bit +SCON1_REN BIT SCON1.4 ; Receive Enable +SCON1_PERR BIT SCON1.6 ; Parity Error Flag +SCON1_OVR BIT SCON1.7 ; Receive FIFO Overrun Flag + +; SMB0CN0 0xC0 (SMBus 0 Control) +SMB0CN0_SI BIT SMB0CN0.0 ; SMBus Interrupt Flag +SMB0CN0_ACK BIT SMB0CN0.1 ; SMBus Acknowledge +SMB0CN0_ARBLOST BIT SMB0CN0.2 ; SMBus Arbitration Lost Indicator +SMB0CN0_ACKRQ BIT SMB0CN0.3 ; SMBus Acknowledge Request +SMB0CN0_STO BIT SMB0CN0.4 ; SMBus Stop Flag +SMB0CN0_STA BIT SMB0CN0.5 ; SMBus Start Flag +SMB0CN0_TXMODE BIT SMB0CN0.6 ; SMBus Transmit Mode Indicator +SMB0CN0_MASTER BIT SMB0CN0.7 ; SMBus Master/Slave Indicator + +; SPI0CN0 0xF8 (SPI0 Control) +SPI0CN0_SPIEN BIT SPI0CN0.0 ; SPI0 Enable +SPI0CN0_TXNF BIT SPI0CN0.1 ; TX FIFO Not Full +SPI0CN0_NSSMD0 BIT SPI0CN0.2 ; Slave Select Mode Bit 0 +SPI0CN0_NSSMD1 BIT SPI0CN0.3 ; Slave Select Mode Bit 1 +SPI0CN0_RXOVRN BIT SPI0CN0.4 ; Receive Overrun Flag +SPI0CN0_MODF BIT SPI0CN0.5 ; Mode Fault Flag +SPI0CN0_WCOL BIT SPI0CN0.6 ; Write Collision Flag +SPI0CN0_SPIF BIT SPI0CN0.7 ; SPI0 Interrupt Flag + +; TCON 0x88 (Timer 0/1 Control) +TCON_IT0 BIT TCON.0 ; Interrupt 0 Type Select +TCON_IE0 BIT TCON.1 ; External Interrupt 0 +TCON_IT1 BIT TCON.2 ; Interrupt 1 Type Select +TCON_IE1 BIT TCON.3 ; External Interrupt 1 +TCON_TR0 BIT TCON.4 ; Timer 0 Run Control +TCON_TF0 BIT TCON.5 ; Timer 0 Overflow Flag +TCON_TR1 BIT TCON.6 ; Timer 1 Run Control +TCON_TF1 BIT TCON.7 ; Timer 1 Overflow Flag + +; TMR2CN0 0xC8 (Timer 2 Control 0) +TMR2CN0_T2XCLK0 BIT TMR2CN0.0 ; Timer 2 External Clock Select Bit 0 +TMR2CN0_T2XCLK1 BIT TMR2CN0.1 ; Timer 2 External Clock Select Bit 1 +TMR2CN0_TR2 BIT TMR2CN0.2 ; Timer 2 Run Control +TMR2CN0_T2SPLIT BIT TMR2CN0.3 ; Timer 2 Split Mode Enable +TMR2CN0_TF2CEN BIT TMR2CN0.4 ; Timer 2 Capture Enable +TMR2CN0_TF2LEN BIT TMR2CN0.5 ; Timer 2 Low Byte Interrupt Enable +TMR2CN0_TF2L BIT TMR2CN0.6 ; Timer 2 Low Byte Overflow Flag +TMR2CN0_TF2H BIT TMR2CN0.7 ; Timer 2 High Byte Overflow Flag + +; TMR4CN0 0x98 (Timer 4 Control 0) +TMR4CN0_T4XCLK0 BIT TMR4CN0.0 ; Timer 4 External Clock Select Bit 0 +TMR4CN0_T4XCLK1 BIT TMR4CN0.1 ; Timer 4 External Clock Select Bit 1 +TMR4CN0_TR4 BIT TMR4CN0.2 ; Timer 4 Run Control +TMR4CN0_T4SPLIT BIT TMR4CN0.3 ; Timer 4 Split Mode Enable +TMR4CN0_TF4CEN BIT TMR4CN0.4 ; Timer 4 Capture Enable +TMR4CN0_TF4LEN BIT TMR4CN0.5 ; Timer 4 Low Byte Interrupt Enable +TMR4CN0_TF4L BIT TMR4CN0.6 ; Timer 4 Low Byte Overflow Flag +TMR4CN0_TF4H BIT TMR4CN0.7 ; Timer 4 High Byte Overflow Flag + +; UART1FCN1 0xD8 (UART1 FIFO Control 1) +UART1FCN1_RIE BIT UART1FCN1.0 ; Receive Interrupt Enable +UART1FCN1_RXTO0 BIT UART1FCN1.1 ; Receive Timeout Bit 0 +UART1FCN1_RXTO1 BIT UART1FCN1.2 ; Receive Timeout Bit 1 +UART1FCN1_RFRQ BIT UART1FCN1.3 ; Receive FIFO Request +UART1FCN1_TIE BIT UART1FCN1.4 ; Transmit Interrupt Enable +UART1FCN1_TXHOLD BIT UART1FCN1.5 ; Transmit Hold +UART1FCN1_TXNF BIT UART1FCN1.6 ; TX FIFO Not Full +UART1FCN1_TFRQ BIT UART1FCN1.7 ; Transmit FIFO Request + +;------------------------------------------------------------------------------ +; Interrupt Definitions +;------------------------------------------------------------------------------ +INT0_IRQn EQU 0 ; External Interrupt 0 +TIMER0_IRQn EQU 1 ; Timer 0 Overflow +INT1_IRQn EQU 2 ; External Interrupt 1 +TIMER1_IRQn EQU 3 ; Timer 1 Overflow +UART0_IRQn EQU 4 ; UART0 +TIMER2_IRQn EQU 5 ; Timer 2 Overflow / Capture +SPI0_IRQn EQU 6 ; SPI0 +SMBUS0_IRQn EQU 7 ; SMBus 0 +PMATCH_IRQn EQU 8 ; Port Match +ADC0WC_IRQn EQU 9 ; ADC0 Window Compare +ADC0EOC_IRQn EQU 10 ; ADC0 End of Conversion +PCA0_IRQn EQU 11 ; PCA0 +CMP0_IRQn EQU 12 ; Comparator 0 +CMP1_IRQn EQU 13 ; Comparator 1 +TIMER3_IRQn EQU 14 ; Timer 3 Overflow / Capture +UART1_IRQn EQU 17 ; UART1 +I2C0_IRQn EQU 18 ; I2C0 Slave +TIMER4_IRQn EQU 19 ; Timer 4 Overflow / Capture + +;------------------------------------------------------------------------------ +; SFR Page Definitions +;------------------------------------------------------------------------------ +CRC0_PAGE EQU 000H ; CRC0 Page +LEGACY_PAGE EQU 000H ; Legacy SFR Page +PCA0_PAGE EQU 000H ; PCA0 Page +PG2_PAGE EQU 010H ; Page2 +TIMER2_PAGE EQU 010H ; Timer 2 Page +TIMER3_PAGE EQU 010H ; Timer 3 Page +TIMER4_PAGE EQU 010H ; Timer 4 Page +I2CSLAVE0_PAGE EQU 020H ; I2C Slave 0 Page +PG3_PAGE EQU 020H ; Page3 +SMB0_PAGE EQU 020H ; SMBus 0 Page +SPI0_PAGE EQU 020H ; SPI0 Page +UART0_PAGE EQU 020H ; UART0 Page +UART1_PAGE EQU 020H ; UART1 Page