You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
318 lines
7.7 KiB
318 lines
7.7 KiB
;**** **** **** **** ****
|
|
;
|
|
; 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 <http://www.gnu.org/licenses/>.
|
|
;
|
|
;**** **** **** **** ****
|
|
;
|
|
; 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
|
|
|
|
|