englebert
/
BLHeli
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

New revision 2.4 with changes in 2.1 to 2.3 (by 4712) integrated

master
Steffen Skaug 13 years ago
committed by Chris
parent
fbeac34dbb
commit
deae9e6570
2 changed files with 207 additions and 80 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 264
      SiLabs/BLHeli.asm
  2. 23
      SiLabs/BLHeliTxPgm.inc

264
SiLabs/BLHeli.asm
View File

@ -35,8 +35,8 @@ $NOMOD51
; The code adapts itself to one of the three pwm frequencies
;
; The first lines of the software must be modified according to the chosen environment:
; - $include ("ESC".inc) ; Select ESC pinout
; - TAIL EQU 0 ; Choose main or tail mode
; Uncomment the selected ESC and main/tail mode
; BESC EQU "ESC"_"mode"
;
;**** **** **** **** ****
; Revision history:
@ -47,6 +47,16 @@ $NOMOD51
; Added programmable low voltage limit
; Added programmable damped tail mode (only for 1S ESCs)
; Added programmable motor rotation direction
; - Rev2.1: (minor changes by 4712)
; Added Disable TX Programming by PC Setup Application
; therfore changed EEPROM_LAYOUT_REVISION = 8
; Âdded Vdd Monitor as reset source when writing to "EEProm"
; Changed for use of batch file to assemble, link and make hex files
; - Rev2.2: (minor changes by 4712)
; Added Disable Throttle Re-Arming every motor start by PC Setup Application
; - Rev2.3: (minor changes by 4712)
; Added bugfixed (2x CLR C before j(n)c operations)thx Steffen!
; - Rev2.4: Revisions 2.1 to 2.3 integrated
;
;**** **** **** **** ****
; Up to 8K Bytes of In-System Self-Programmable Flash
@ -93,15 +103,96 @@ $NOMOD51
; Aquisition phase is the final phase, for stabilisation before normal bemf commutation run begins.
;
;**** **** **** **** ****
; List of enumerated supported ESCs and modes (main or tail)
DP_3A_Main EQU 1
DP_3A_Tail EQU 2
Supermicro_3p5A_Main EQU 3
Supermicro_3p5A_Tail EQU 4
Turnigy6A_Main EQU 5
Turnigy6A_Tail EQU 6
XP_3A_Main EQU 7
XP_3A_Tail EQU 8
XP_7A_Main EQU 9
XP_7A_Tail EQU 10
XP_12A_Main EQU 11
XP_12A_Tail EQU 12
;$include (DP_3A.inc) ; Select DP 3A pinout
;$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinout
$include (XP_3A.inc) ; Select XP 3A pinout
;$include (XP_7A.inc) ; Select XP 7A pinout
;$include (XP_12A.inc) ; Select XP 12A pinout
;$include (Turnigy6A.inc) ; Select Turnigy 6A pinout
;**** **** **** **** ****
; Select the ESC and mode to use (or unselect all for use with external batch compile file)
;BESC EQU DP_3A_Main
;BESC EQU DP_3A_Tail
;BESC EQU Supermicro_3p5A_Main
;BESC EQU Supermicro_3p5A_Tail
;BESC EQU Turnigy6A_Main
;BESC EQU Turnigy6A_Tail
;BESC EQU XP_3A_Main
;BESC EQU XP_3A_Tail
;BESC EQU XP_7A_Main
;BESC EQU XP_7A_Tail
;BESC EQU XP_12A_Main
;BESC EQU XP_12A_Tail
;**** **** **** **** ****
; ESC selection statements
IF BESC == DP_3A_Main
TAIL EQU 0 ; Choose mode. Set to 0 for main motor
$include (DP_3A.inc) ; Select DP 3A pinout
ENDIF
IF BESC == DP_3A_Tail
TAIL EQU 1 ; Choose mode. Set to 1 for tail motor
$include (DP_3A.inc) ; Select DP 3A pinout
ENDIF
IF BESC == Supermicro_3p5A_Main
TAIL EQU 0 ; Choose mode. Set to 0 for main motor
$include (Supermicro_3p5A.inc); Select Supermicro 3.5A pinout
ENDIF
IF BESC == Supermicro_3p5A_Tail
TAIL EQU 1 ; Choose mode. Set to 1 for tail motor
$include (Supermicro_3p5A.inc); Select Supermicro 3.5A pinout
ENDIF
IF BESC == Turnigy6A_Main
TAIL EQU 0 ; Choose mode. Set to 0 for main motor
$include (Turnigy6A.inc) ; Select Turnigy 6A pinout
ENDIF
IF BESC == Turnigy6A_Tail
TAIL EQU 1 ; Choose mode. Set to 1 for tail motor
$include (Turnigy6A.inc) ; Select Turnigy 6A pinout
ENDIF
IF BESC == XP_3A_Main
TAIL EQU 0 ; Choose mode. Set to 0 for main motor
$include (XP_3A.inc) ; Select XP 3A pinout
ENDIF
TAIL EQU 1 ; Choose mode. Set to 0 for main motor and 1 for tail motor
IF BESC == XP_3A_Tail
TAIL EQU 1 ; Choose mode. Set to 1 for tail motor
$include (XP_3A.inc) ; Select XP 3A pinout
ENDIF
IF BESC == XP_7A_Main
TAIL EQU 0 ; Choose mode. Set to 0 for main motor
$include (XP_7A.inc) ; Select XP 7A pinout
ENDIF
IF BESC == XP_7A_Tail
TAIL EQU 1 ; Choose mode. Set to 1 for tail motor
$include (XP_7A.inc) ; Select XP 7A pinout
ENDIF
IF BESC == XP_12A_Main
TAIL EQU 0 ; Choose mode. Set to 0 for main motor
$include (XP_12A.inc) ; Select XP 12A pinout
ENDIF
IF BESC == XP_12A_Tail
TAIL EQU 1 ; Choose mode. Set to 1 for tail motor
$include (XP_12A.inc) ; Select XP 12A pinout
ENDIF
;**** **** **** **** ****
@ -129,6 +220,9 @@ ENDIF
DEFAULT_PGM_TAIL_DIRECTION_REV EQU 1 ; 1=Normal 2=Reversed
DEFAULT_PGM_TAIL_RCP_PWM_POL EQU 1 ; 1=Positive 2=Negative
DEFAULT_ENABLE_TX_PGM EQU 1 ; 1=Enabled 0=Disabled
DEFAULT_MAIN_REARM_START EQU 1 ; 1=Enabled 0=Disabled
;**** **** **** **** ****
; Constant definitions for main
IF TAIL == 0
@ -250,59 +344,62 @@ PGM_RCP_PWM_POL EQU 7 ; Programmed RC pulse pwm polarity. 0=positive, 1=negativ
; RAM definitions
DSEG AT 30h ; Ram data segment
Startup_Rot_Cnt: DS 1 ; Startup mode rotations counter (decrementing)
Prev_Comm_L: DS 1 ; Previous commutation timer3 timestamp (lo byte)
Prev_Comm_H: DS 1 ; Previous commutation timer3 timestamp (hi byte)
Comm_Period4x_L: DS 1 ; Timer3 counts between the last 4 commutations (lo byte)
Comm_Period4x_H: DS 1 ; Timer3 counts between the last 4 commutations (hi byte)
Gov_Target_L: DS 1 ; Governor target (lo byte)
Gov_Target_H: DS 1 ; Governor target (hi byte)
Gov_Integral_L: DS 1 ; Governor integral error (lo byte)
Gov_Integral_H: DS 1 ; Governor integral error (hi byte)
Gov_Integral_X: DS 1 ; Governor integral error (ex byte)
Gov_Proportional_L: DS 1 ; Governor proportional error (lo byte)
Gov_Proportional_H: DS 1 ; Governor proportional error (hi byte)
Gov_Prop_Pwm: DS 1 ; Governor calculated new pwm based upon proportional error
Gov_Arm_Target: DS 1 ; Governor arm target value
Gov_Active: DS 1 ; Governor active (enabled and speed above minimum)
Wt_Advance_L: DS 1 ; Timer3 counts for commutation advance timing (lo byte)
Wt_Advance_H: DS 1 ; Timer3 counts for commutation advance timing (hi byte)
Wt_Zc_Scan_L: DS 1 ; Timer3 counts from commutation to zero cross scan (lo byte)
Wt_Zc_Scan_H: DS 1 ; Timer3 counts from commutation to zero cross scan (hi byte)
Wt_Comm_L: DS 1 ; Timer3 counts from zero cross to commutation (lo byte)
Wt_Comm_H: DS 1 ; Timer3 counts from zero cross to commutation (hi byte)
Wt_Stepper_Step_L: DS 1 ; Timer3 counts for stepper step (lo byte)
Wt_Stepper_Step_H: DS 1 ; Timer3 counts for stepper step (hi byte)
Rcp_PrePrev_Edge_L: DS 1 ; RC pulse pre previous edge pca timestamp (lo byte)
Rcp_PrePrev_Edge_H: DS 1 ; RC pulse pre previous edge pca timestamp (hi byte)
Rcp_Edge_L: DS 1 ; RC pulse edge pca timestamp (lo byte)
Rcp_Edge_H: DS 1 ; RC pulse edge pca timestamp (hi byte)
New_Rcp: DS 1 ; New RC pulse value in pca counts
Prev_Rcp_Pwm_Freq: DS 1 ; Previous RC pulse pwm frequency (used during pwm frequency measurement)
Curr_Rcp_Pwm_Freq: DS 1 ; Current RC pulse pwm frequency (used during pwm frequency measurement)
Rcp_Stop_Cnt: DS 1 ; Counter for RC pulses below stop value
Pwm_Limit: DS 1 ; Maximum allowed pwm
Pwm_Tail_Idle: DS 1 ; Tail idle speed pwm
Lipo_Cells: DS 1 ; Number of lipo cells
Lipo_Adc_Limit_L: DS 1 ; Low voltage limit adc minimum (lo byte)
Lipo_Adc_Limit_H: DS 1 ; Low voltage limit adc minimum (hi byte)
Tx_Pgm_Func_No: DS 1 ; Function number when doing programming by tx
Tx_Pgm_Paraval_No: DS 1 ; Parameter value number when doing programming by tx
Tx_Pgm_Beep_No: DS 1 ; Beep number when doing programming by tx
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_Tail_Gain: DS 1 ; Programmed tail gain
Pgm_Tail_Idle: DS 1 ; Programmed tail idle speed
Pgm_Startup_Pwr: DS 1 ; Programmed startup power
Startup_Rot_Cnt: DS 1 ; Startup mode rotations counter (decrementing)
Prev_Comm_L: DS 1 ; Previous commutation timer3 timestamp (lo byte)
Prev_Comm_H: DS 1 ; Previous commutation timer3 timestamp (hi byte)
Comm_Period4x_L: DS 1 ; Timer3 counts between the last 4 commutations (lo byte)
Comm_Period4x_H: DS 1 ; Timer3 counts between the last 4 commutations (hi byte)
Gov_Target_L: DS 1 ; Governor target (lo byte)
Gov_Target_H: DS 1 ; Governor target (hi byte)
Gov_Integral_L: DS 1 ; Governor integral error (lo byte)
Gov_Integral_H: DS 1 ; Governor integral error (hi byte)
Gov_Integral_X: DS 1 ; Governor integral error (ex byte)
Gov_Proportional_L: DS 1 ; Governor proportional error (lo byte)
Gov_Proportional_H: DS 1 ; Governor proportional error (hi byte)
Gov_Prop_Pwm: DS 1 ; Governor calculated new pwm based upon proportional error
Gov_Arm_Target: DS 1 ; Governor arm target value
Gov_Active: DS 1 ; Governor active (enabled and speed above minimum)
Wt_Advance_L: DS 1 ; Timer3 counts for commutation advance timing (lo byte)
Wt_Advance_H: DS 1 ; Timer3 counts for commutation advance timing (hi byte)
Wt_Zc_Scan_L: DS 1 ; Timer3 counts from commutation to zero cross scan (lo byte)
Wt_Zc_Scan_H: DS 1 ; Timer3 counts from commutation to zero cross scan (hi byte)
Wt_Comm_L: DS 1 ; Timer3 counts from zero cross to commutation (lo byte)
Wt_Comm_H: DS 1 ; Timer3 counts from zero cross to commutation (hi byte)
Wt_Stepper_Step_L: DS 1 ; Timer3 counts for stepper step (lo byte)
Wt_Stepper_Step_H: DS 1 ; Timer3 counts for stepper step (hi byte)
Rcp_PrePrev_Edge_L: DS 1 ; RC pulse pre previous edge pca timestamp (lo byte)
Rcp_PrePrev_Edge_H: DS 1 ; RC pulse pre previous edge pca timestamp (hi byte)
Rcp_Edge_L: DS 1 ; RC pulse edge pca timestamp (lo byte)
Rcp_Edge_H: DS 1 ; RC pulse edge pca timestamp (hi byte)
New_Rcp: DS 1 ; New RC pulse value in pca counts
Prev_Rcp_Pwm_Freq: DS 1 ; Previous RC pulse pwm frequency (used during pwm frequency measurement)
Curr_Rcp_Pwm_Freq: DS 1 ; Current RC pulse pwm frequency (used during pwm frequency measurement)
Rcp_Stop_Cnt: DS 1 ; Counter for RC pulses below stop value
Pwm_Limit: DS 1 ; Maximum allowed pwm
Pwm_Tail_Idle: DS 1 ; Tail idle speed pwm
Lipo_Cells: DS 1 ; Number of lipo cells
Lipo_Adc_Limit_L: DS 1 ; Low voltage limit adc minimum (lo byte)
Lipo_Adc_Limit_H: DS 1 ; Low voltage limit adc minimum (hi byte)
Tx_Pgm_Func_No: DS 1 ; Function number when doing programming by tx
Tx_Pgm_Paraval_No: DS 1 ; Parameter value number when doing programming by tx
Tx_Pgm_Beep_No: DS 1 ; Beep number when doing programming by tx
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_Tail_Gain: DS 1 ; Programmed tail gain
Pgm_Tail_Idle: DS 1 ; Programmed tail idle speed
Pgm_Startup_Pwr: DS 1 ; Programmed startup power
Pgm_Enable_TX_Pgm: DS 1 ; Programmed enable/disable value for TX programming
Pgm_Main_Rearm_Start: DS 1 ; Programmed enable/disable re-arming main every start
DSEG AT 80h
Tag_Temporary_Storage: DS 48 ; Temporary storage for tags when updating "Eeprom"
@ -311,8 +408,8 @@ Tag_Temporary_Storage: DS 48 ; Temporary storage for tags when updating "Eeprom"
CSEG AT 1A00h ; "Eeprom" segment
EEPROM_FW_MAIN_REVISION EQU 2 ; Main revision of the firmware
EEPROM_FW_SUB_REVISION EQU 0 ; Sub revision of the firmware
EEPROM_LAYOUT_REVISION EQU 7 ; Revision of the EEPROM layout
EEPROM_FW_SUB_REVISION EQU 4 ; Sub revision of the firmware
EEPROM_LAYOUT_REVISION EQU 9 ; 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
@ -338,6 +435,9 @@ Eep_Pgm_Input_Pol: DB DEFAULT_PGM_TAIL_RCP_PWM_POL ; EEPROM copy of programmed
Eep_Initialized_L: DB 05Ah ; EEPROM initialized signature low byte
Eep_Initialized_H: DB 0A5h ; EEPROM initialized signature high byte
ENDIF
Eep_Enable_TX_Pgm: DB DEFAULT_ENABLE_TX_PGM ; EEPROM TX programming enable
Eep_Main_Rearm_Start: DB DEFAULT_MAIN_REARM_START ; EEPROM re-arming main enable
Eep_Dummy: DB 0FFh ; EEPROM address for safety reason
CSEG AT 1A50h
Eep_ESC_MCU: DB "#BLHELI#F330# " ; Project and MCU tag (16 Bytes)
@ -346,7 +446,7 @@ CSEG AT 1A60h
Eep_Name: DB " " ; Name tag (16 Bytes)
;**** **** **** **** ****
Interrupt_Table_Definition ; SiLabs interrupts
Interrupt_Table_Definition ; SiLabs interrupts
CSEG AT 80h ; Code segment after interrupt vectors
;**** **** **** **** ****
@ -2385,6 +2485,8 @@ ELSE
setb Flags2.PGM_RCP_PWM_POL
mov Pgm_Gov_Mode, #3
ENDIF
mov Pgm_Enable_TX_Pgm, #DEFAULT_ENABLE_TX_PGM
mov Pgm_Main_Rearm_Start, #DEFAULT_MAIN_REARM_START
ret
@ -2411,6 +2513,9 @@ reset:
anl PCA0MD, #NOT(40h) ; Clear watchdog enable bit
; Initialize stack
mov SP, #0c0h ; Stack = 64 upper bytes of RAM
; Initialize VDD monitor
orl VDM0CN, #080h ; Enable the VDD monitor
call wait1ms ; Wait at least 100us
; Set clock frequency
orl OSCICN, #03h ; Set clock divider to 1
mov A, OSCICL
@ -2530,7 +2635,11 @@ arming_start:
jc program_by_tx_checked ; No - branch
IF TX_PGM == 1
jmp program_by_tx ; Yes - start programming mode entry
mov A, Pgm_Enable_TX_Pgm ; Yes - start programming mode entry if enabled
clr C
subb A, #1 ; Is TX programming enabled?
jc program_by_tx_checked ; No - branch
jmp program_by_tx ; Yes - enter programming mode
ENDIF
program_by_tx_checked:
@ -2587,19 +2696,6 @@ init_start:
mov Flags0, A ; Clear flags0
mov Rcp_Stop_Cnt, A ; Set RC pulse stop count to zero
call initialize_all_timings ; Initialize timing
;stsk
setb Flags1.RUN_PWM_OFF_DAMPED ; Set damped operation
call comm1comm2 ; Initialize commutation
call comm2comm3 ; Initialize commutation
runbrushed:
call wait1ms
clr C
mov A, Rcp_Stop_Cnt ; Load stop RC pulse counter value
subb A, #RCP_STOP_LIMIT ; Is number of stop RC pulses above limit?
jc runbrushed
jmp run_to_wait_for_power_on ; Yes, go back to wait for poweron
;**** **** **** **** ****
; Settle mode beginning
;**** **** **** **** ****
@ -2987,7 +3083,15 @@ run_to_wait_for_power_on:
IF TAIL == 1
jmp wait_for_power_on ; Tail - Go back to wait for power on
ELSE
jmp validate_rcp_start ; Main - Go back to validate RC pulse
mov A, Pgm_Main_Rearm_Start
clr C
subb A, #1 ; Is re-armed start enabled?
jc jmp_wait_for_power_on ; No - do like tail and start immediately
jmp validate_rcp_start ; Yes - go back to validate RC pulse
jmp_wait_for_power_on:
jmp wait_for_power_on ; Go back to wait for power on
ENDIF

23
SiLabs/BLHeliTxPgm.inc
View File

@ -57,6 +57,7 @@ read_eeprom_byte:
write_eeprom_byte:
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
mov A, Temp1 ; Load value to be written
@ -76,6 +77,7 @@ clear_eeprom_signature:
; 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
@ -235,6 +237,16 @@ ELSE
mov Pgm_Gov_Mode, #3
ENDIF
mov DPTR, #Eep_Enable_TX_Pgm
call read_eeprom_byte
mov Pgm_Enable_TX_Pgm, Temp1
mov DPTR, #Eep_Main_Rearm_Start
call read_eeprom_byte
mov Pgm_Main_Rearm_Start, Temp1
mov DPTR, #Eep_Dummy ; Set pointer to uncritical area
jmp read_eeprom_exit
read_eeprom_store_defaults:
@ -381,8 +393,17 @@ ELSE
mov Temp1, #2
call write_eeprom_byte
ENDIF
mov DPTR, #Eep_Enable_TX_Pgm
mov Temp1, Pgm_Enable_TX_Pgm
call write_eeprom_byte
mov DPTR, #Eep_Main_Rearm_Start
mov Temp1, Pgm_Main_Rearm_Start
call write_eeprom_byte
call write_tags
call write_eeprom_signature
mov DPTR, #Eep_Dummy ; Set pointer to uncritical area
ret
@ -663,6 +684,7 @@ func_paraval_wait:
call store_all_in_eeprom ; Store all values in EEPROM
call success_beep ; Beep success
clr EA ; Disable all interrupts
mov RSTSRC, #00h ; Clear VDD monitor as a reset source (PORSF)
orl RSTSRC, #10h ; Generate hardware reset
call wait1s
@ -738,6 +760,7 @@ ENDIF
program_by_tx_exit:
clr EA ; Disable all interrupts
mov RSTSRC, #00h ; Clear VDD monitor as a reset source (PORSF)
orl RSTSRC, #10h ; Generate hardware reset
call wait1s
Write Preview
Loading…
Cancel
Save