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6848 lines
209 KiB
6848 lines
209 KiB
$NOMOD51
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;**** **** **** **** ****
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;
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; BLHeli program for controlling brushless motors in helicopters
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;
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; Copyright 2011, 2012 Steffen Skaug
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; This program is distributed under the terms of the GNU General Public License
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;
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; This file is part of BLHeli.
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;
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; BLHeli is free software: you can redistribute it and/or modify
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; it under the terms of the GNU General Public License as published by
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; the Free Software Foundation, either version 3 of the License, or
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; (at your option) any later version.
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;
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; BLHeli is distributed in the hope that it will be useful,
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; but WITHOUT ANY WARRANTY; without even the implied warranty of
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; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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; GNU General Public License for more details.
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;
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; You should have received a copy of the GNU General Public License
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; along with BLHeli. If not, see <http://www.gnu.org/licenses/>.
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;
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;**** **** **** **** ****
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;
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; The software was initially designed for use with Eflite mCP X, but is now adapted to a copters/planes in general
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;
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; The software was inspired by and started from from Bernard Konze's BLMC: http://home.versanet.de/~bkonze/blc_6a/blc_6a.htm
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; And also Simon Kirby's TGY: https://github.com/sim-/tgy
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;
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; This file is best viewed with tab width set to 5
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;
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; The input signal can be positive 1kHz, 2kHz, 4kHz or 8kHz PWM (taken from the "resistor tap" on mCPx)
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; And the input signal can be PPM (1-2ms) at rates up to several hundred Hz.
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; The code adapts itself to the various input modes/frequencies
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; The code ESC can also be programmed to accept inverted input signal.
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;
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; The first lines of the software must be modified according to the chosen environment:
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; Uncomment the selected ESC and main/tail/multi mode
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; BESC EQU "ESC"_"mode"
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;
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;**** **** **** **** ****
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; Revision history:
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; - Rev1.0: Initial revision based upon BLHeli for AVR controllers
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; - Rev2.0: Changed "Eeprom" initialization, layout and defaults
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; Various changes and improvements to comparator reading. Now using timer1 for time from pwm on/off
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; Beeps are made louder
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; Added programmable low voltage limit
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; Added programmable damped tail mode (only for 1S ESCs)
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; Added programmable motor rotation direction
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; - Rev2.1: (minor changes by 4712)
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; Added Disable TX Programming by PC Setup Application
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; therfore changed EEPROM_LAYOUT_REVISION = 8
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; Added Vdd Monitor as reset source when writing to "EEProm"
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; Changed for use of batch file to assemble, link and make hex files
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; - Rev2.2: (minor changes by 4712)
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; Added Disable Throttle Re-Arming every motor start by PC Setup Application
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; - Rev2.3: (minor changes by 4712)
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; Added bugfixed (2x CLR C before j(n)c operations)thx Steffen!
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; - Rev2.4: Revisions 2.1 to 2.3 integrated
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; - Rev3.0: Added PPM (1050us-1866us) as accepted input signal
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; Added startup rpm as a programming parameter
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; Added startup acceleration as a programming parameter
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; Added option for using voltage measurements to compensate motor power
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; Added governor target by setup as a governor mode option
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; Governor is kept active regardless of rpm
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; Smooth governor spoolup/down in arm and setup modes
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; Increased governor P and I gain programming ranges
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; Increased and changed low voltage limit programming range
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; Disabled tx programming entry for all but the first arming sequence after power on
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; Made it possible to skip parameters in tx programming by setting throttle midstick
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; Made it default not to rearm for every restart
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; - Rev3.1: Fixed bug that prevented chosen parameter to be set in tx programming
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; - Rev3.2: ...also updated the EEPROM revision parameter
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; - Rev3.3: Fixed negative number bug in voltage compensation
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; Fixed bug in startup power calculation for non-default power
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; Prevented possibility for voltage compensation fighting low voltage limiting
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; Applied overall spoolup control to ensure soft spoolup in any mode
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; Added a delay of 3 seconds from initiation of main motor stop until new startup is allowed
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; Reduced beep power to reduce power consumption for very strong motors/ESCs
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; - Rev3.4: Fixed bug that prevented full power in governor arm and setup modes
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; Increased NFETON_DELAY for XP_7A and XP_12A to allow for more powerful fets
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; Increased initial spoolup power, and linked to startup power
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; - Rev4.0: Fixed bug that made tail tx program beeps very weak
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; Added thermal protection feature
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; Governor P and I gain ranges are extended up to 8.0x gain
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; Startup sequence is aborted upon zero throttle
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; Avoided voltage compensation function induced latency for tail when voltage compensation is not enabled
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; Improved input signal frequency detection robustness
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; - Rev4.1: Increased thermal protection temperature limits
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; - Rev5.0: Added multi(copter) operating mode. TAIL define changed to MODE with three modes: MAIN, TAIL and MULTI
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; Added programmable commutation timing
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; Added a damped light mode that has less damping, but that can be used with all escs
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; Added programmable damping force
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; Added thermal protection for startup too
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; Added wait beeps when waiting more than 30 sec for throttle above zero (after having been armed)
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; Modified tail idling to provide option for very low speeds
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; Changed PPM range to 1150-1830us
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; Arming sequence is dropped for PPM input, unless it is governor arm mode
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; Loss of input signal will immediately stop the motor for PPM input
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; Bug corrected in Turnigy Plush 6A voltage measurement setup
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; FET switching delays are set for original fets. Stronger/doubled/tripled etc fets may require faster pfet off switching
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; Miscellaneous other changes
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; - Rev6.0: Reverted comparator reading routine to rev5.0 equivalent, in order to avoid tail motor stops
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; Added governor range programmability
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; Implemented startup retry sequence with varying startup power for multi mode
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; In damped light mode, damping is now applied to the active nfet phase for fully damped capable ESCs
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; - Rev6.1: Added input signal qualification criteria for PPM, to avoid triggering on noise spikes (fix for plush hardware)
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; Changed main and multi mode stop criteria. Will now be in run mode, even if RC pulse input is zero
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; Fixed bug in commutation that caused rough running in damped light mode
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; Miscellaneous other changes
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; - Rev7.0 Added direct startup mode programmability
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; Added throttle calibration. Min>=1000us and Max<=2000us. Difference must be >520us, otherwise max is shifted so that difference=520us
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; Added programmable throttle change rate
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; Added programmable beep strength, beacon strength and beacon delay
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; Reduced power step to full power significantly
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; Miscellaneous other changes
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; - Rev8.0 Added a 2 second delay after power up, to wait for receiver initialization
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; Added a programming option for disabling low voltage limit, and made it default for MULTI
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; Added programable demag compensation, using the concept of SimonK
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; Improved robustness against noisy input signal
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; Refined direct startup
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; Removed voltage compensation
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; Miscellaneous other changes
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; - Rev9.0 Increased programming range for startup power, and made it's default ESC dependent
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; Made default startup method ESC dependent
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; Even more smooth and gentle spoolup for MAIN, to suit larger helis
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; Improved transition from stepped startup to run
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; Refined direct startup
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; - Rev9.1 Fixed bug that changed FW revision after throttle calibration or TX programming
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; - Rev9.2 Altered timing of throttle calibration in order to work with MultiWii calibration firmware
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; Reduced main spoolup time to around 5 seconds
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; Changed default beacon delay to 3 minutes
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; - Rev9.3 Fixed bug in Plush 60/80A temperature reading, that caused failure in operation above 4S
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; Corrected temperature limit for HiModel cool 22/33/41A, RCTimer 6A, Skywalker 20/40A, Turnigy AE45A, Plush 40/60/80A. Limit was previously set too high
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; - Rev9.4 Improved timing for increased maximum rpm limit
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; - Rev10.0 Added closed loop mode for multi
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; Added high/low BEC voltage option (for the ESCs where HW supports it)
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; Added method of resetting all programmed parameter values to defaults by TX programming
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; Added Turnigy K-force 40A and Turnigy K-force 120A HV ESCs
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; Enabled fully damped mode for several ESCs
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; Extended startup power range downwards to enable very smooth start for large heli main motors
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; Extended damping force with a highest setting
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; Corrected temperature limits for F310 chips (Plush 40A and AE 45A)
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; Implemented temperature reading average in order to avoid problems with ADC noise on Skywalkers
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; Increased switching delays for XP 7A fast, in order to avoid cross conduction of N and P fets
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; Miscellaneous other changes
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; - Rev10.1 Relaxed RC signal jitter requirement during frequency measurement
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; Corrected bug that prevented using governor low
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; Enabled vdd monitor always, in order to reduce likelihood of accidental overwriting of adjustments
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; Fixed bug that caused stop for PPM input above 2048us, and moved upper accepted limit to 2160us
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; - Rev10.2 Corrected temperature limit for AE20-30/XP7-25, where limit was too high
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; Corrected temperature limit for 120HV, where limit was too low
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; Fixed bug that caused AE20/25/30A not to run in reverse
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;
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;
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;**** **** **** **** ****
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; Up to 8K Bytes of In-System Self-Programmable Flash
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; 768 Bytes Internal SRAM
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;
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;**** **** **** **** ****
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; Master clock is internal 24MHz oscillator
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; Timer 0 (167/500ns counts) always counts up and is used for
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; - PWM generation
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; Timer 1 (167/500ns counts) always counts up and is not used
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; - Time from pwm on/off event
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; Timer 2 (500ns counts) always counts up and is used for
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; - RC pulse timeout/skip counts and commutation times
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; Timer 3 (500ns counts) always counts up and is used for
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; - Commutation timeouts
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; PCA0 (500ns counts) always counts up and is used for
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; - RC pulse measurement
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;
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;**** **** **** **** ****
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; Interrupt handling
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; The F330/2 does not disable interrupts when entering an interrupt routine.
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; Also some interrupt flags need to be cleared by software
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; The code disables interrupts in interrupt routines, in order to avoid nested interrupts
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; - Interrupts are disabled during beeps, to avoid audible interference from interrupts
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; - RC pulse interrupts are periodically disabled in order to reduce interference with pwm interrupts.
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;
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;**** **** **** **** ****
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; Motor control:
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; - Brushless motor control with 6 states for each electrical 360 degrees
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; - An advance timing of 0deg has zero cross 30deg after one commutation and 30deg before the next
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; - Timing advance in this implementation is set to 15deg nominally
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; - "Damped" commutation schemes are available, where more than one pfet is on when pwm is off. This will absorb energy from bemf and make step settling more damped.
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; Motor sequence starting from zero crossing:
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; - Timer wait: Wt_Comm 15deg ; Time to wait from zero cross to actual commutation
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; - Timer wait: Wt_Advance 15deg ; Time to wait for timing advance. Nominal commutation point is after this
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; - Timer wait: Wt_Zc_Scan 7.5deg ; Time to wait before looking for zero cross
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; - Scan for zero cross 22.5deg , Nominal, with some motor variations
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;
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; Motor startup in stepper mode:
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; Initial motor rotations are done with the motor controlled as a stepper motor.
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; In this stepper motor mode comparator information is not used.
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; Settle phase is the first, where there are a few commutations with increasing step length, in order to settle the motor in a predefined position.
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; Stepper phase comes next, where there is a step length decrease sequence.
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; Direct startup is the last phase, for synchronization before normal bemf commutation run begins.
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; Motor startup in direct mode:
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; Direct startup is the only phase, before normal bemf commutation run begins.
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;
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;**** **** **** **** ****
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; List of enumerated supported ESCs and modes (main, tail or multi)
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XP_3A_Main EQU 1
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XP_3A_Tail EQU 2
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XP_3A_Multi EQU 3
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XP_7A_Main EQU 4
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XP_7A_Tail EQU 5
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XP_7A_Multi EQU 6
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XP_7A_Fast_Main EQU 7
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XP_7A_Fast_Tail EQU 8
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XP_7A_Fast_Multi EQU 9
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XP_12A_Main EQU 10
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XP_12A_Tail EQU 11
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XP_12A_Multi EQU 12
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XP_18A_Main EQU 13
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XP_18A_Tail EQU 14
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XP_18A_Multi EQU 15
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XP_25A_Main EQU 16
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XP_25A_Tail EQU 17
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XP_25A_Multi EQU 18
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DP_3A_Main EQU 19
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DP_3A_Tail EQU 20
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DP_3A_Multi EQU 21
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Supermicro_3p5A_Main EQU 22
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Supermicro_3p5A_Tail EQU 23
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Supermicro_3p5A_Multi EQU 24
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Turnigy_Plush_6A_Main EQU 25
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Turnigy_Plush_6A_Tail EQU 26
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Turnigy_Plush_6A_Multi EQU 27
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Turnigy_Plush_10A_Main EQU 28
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Turnigy_Plush_10A_Tail EQU 29
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Turnigy_Plush_10A_Multi EQU 30
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Turnigy_Plush_12A_Main EQU 31
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Turnigy_Plush_12A_Tail EQU 32
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Turnigy_Plush_12A_Multi EQU 33
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Turnigy_Plush_18A_Main EQU 34
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Turnigy_Plush_18A_Tail EQU 35
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Turnigy_Plush_18A_Multi EQU 36
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Turnigy_Plush_25A_Main EQU 37
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Turnigy_Plush_25A_Tail EQU 38
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Turnigy_Plush_25A_Multi EQU 39
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Turnigy_Plush_30A_Main EQU 40
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Turnigy_Plush_30A_Tail EQU 41
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Turnigy_Plush_30A_Multi EQU 42
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Turnigy_Plush_40A_Main EQU 43
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Turnigy_Plush_40A_Tail EQU 44
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Turnigy_Plush_40A_Multi EQU 45
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Turnigy_Plush_60A_Main EQU 46
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Turnigy_Plush_60A_Tail EQU 47
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Turnigy_Plush_60A_Multi EQU 48
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Turnigy_Plush_80A_Main EQU 49
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Turnigy_Plush_80A_Tail EQU 50
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Turnigy_Plush_80A_Multi EQU 51
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Turnigy_AE_20A_Main EQU 52
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Turnigy_AE_20A_Tail EQU 53
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Turnigy_AE_20A_Multi EQU 54
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Turnigy_AE_25A_Main EQU 55
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Turnigy_AE_25A_Tail EQU 56
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Turnigy_AE_25A_Multi EQU 57
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Turnigy_AE_30A_Main EQU 58
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Turnigy_AE_30A_Tail EQU 59
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Turnigy_AE_30A_Multi EQU 60
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Turnigy_AE_45A_Main EQU 61
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Turnigy_AE_45A_Tail EQU 62
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Turnigy_AE_45A_Multi EQU 63
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Turnigy_KForce_40A_Main EQU 64
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Turnigy_KForce_40A_Tail EQU 65
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Turnigy_KForce_40A_Multi EQU 66
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Turnigy_KForce_120A_HV_Main EQU 67
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Turnigy_KForce_120A_HV_Tail EQU 68
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Turnigy_KForce_120A_HV_Multi EQU 69
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Skywalker_20A_Main EQU 70
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Skywalker_20A_Tail EQU 71
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Skywalker_20A_Multi EQU 72
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Skywalker_40A_Main EQU 73
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Skywalker_40A_Tail EQU 74
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Skywalker_40A_Multi EQU 75
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HiModel_Cool_22A_Main EQU 76
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HiModel_Cool_22A_Tail EQU 77
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HiModel_Cool_22A_Multi EQU 78
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HiModel_Cool_33A_Main EQU 79
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HiModel_Cool_33A_Tail EQU 80
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HiModel_Cool_33A_Multi EQU 81
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HiModel_Cool_41A_Main EQU 82
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HiModel_Cool_41A_Tail EQU 83
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HiModel_Cool_41A_Multi EQU 84
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RCTimer_6A_Main EQU 85
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RCTimer_6A_Tail EQU 86
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RCTimer_6A_Multi EQU 87
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Align_RCE_BL15X_Main EQU 88
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Align_RCE_BL15X_Tail EQU 89
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Align_RCE_BL15X_Multi EQU 90
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Align_RCE_BL35X_Main EQU 91
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Align_RCE_BL35X_Tail EQU 92
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Align_RCE_BL35X_Multi EQU 93
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Align_RCE_BL35P_Main EQU 94
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Align_RCE_BL35P_Tail EQU 95
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Align_RCE_BL35P_Multi EQU 96
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H_King_10A_Main EQU 97
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H_King_10A_Tail EQU 98
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H_King_10A_Multi EQU 99
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;**** **** **** **** ****
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; Select the ESC and mode to use (or unselect all for use with external batch compile file)
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;BESC EQU XP_3A_Main
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;BESC EQU XP_3A_Tail
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;BESC EQU XP_3A_Multi
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;BESC EQU XP_7A_Main
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;BESC EQU XP_7A_Tail
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;BESC EQU XP_7A_Multi
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;BESC EQU XP_7A_Fast_Main
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;BESC EQU XP_7A_Fast_Tail
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;BESC EQU XP_7A_Fast_Multi
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;BESC EQU XP_12A_Main
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;BESC EQU XP_12A_Tail
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;BESC EQU XP_12A_Multi
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;BESC EQU XP_18A_Main
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;BESC EQU XP_18A_Tail
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BESC EQU XP_18A_Multi
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;BESC EQU XP_25A_Main
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;BESC EQU XP_25A_Tail
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;BESC EQU XP_25A_Multi
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;BESC EQU DP_3A_Main
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;BESC EQU DP_3A_Tail
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;BESC EQU DP_3A_Multi
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;BESC EQU Supermicro_3p5A_Main
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;BESC EQU Supermicro_3p5A_Tail
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;BESC EQU Supermicro_3p5A_Multi
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;BESC EQU Turnigy_Plush_6A_Main
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;BESC EQU Turnigy_Plush_6A_Tail
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;BESC EQU Turnigy_Plush_6A_Multi
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;BESC EQU Turnigy_Plush_10A_Main
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;BESC EQU Turnigy_Plush_10A_Tail
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;BESC EQU Turnigy_Plush_10A_Multi
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;BESC EQU Turnigy_Plush_12A_Main
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;BESC EQU Turnigy_Plush_12A_Tail
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;BESC EQU Turnigy_Plush_12A_Multi
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;BESC EQU Turnigy_Plush_18A_Main
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;BESC EQU Turnigy_Plush_18A_Tail
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;BESC EQU Turnigy_Plush_18A_Multi
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;BESC EQU Turnigy_Plush_25A_Main
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;BESC EQU Turnigy_Plush_25A_Tail
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;BESC EQU Turnigy_Plush_25A_Multi
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;BESC EQU Turnigy_Plush_30A_Main
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;BESC EQU Turnigy_Plush_30A_Tail
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;BESC EQU Turnigy_Plush_30A_Multi
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;BESC EQU Turnigy_Plush_40A_Main
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;BESC EQU Turnigy_Plush_40A_Tail
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;BESC EQU Turnigy_Plush_40A_Multi
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;BESC EQU Turnigy_Plush_60A_Main
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;BESC EQU Turnigy_Plush_60A_Tail
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;BESC EQU Turnigy_Plush_60A_Multi
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;BESC EQU Turnigy_Plush_80A_Main
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;BESC EQU Turnigy_Plush_80A_Tail
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;BESC EQU Turnigy_Plush_80A_Multi
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;BESC EQU Turnigy_AE_20A_Main
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;BESC EQU Turnigy_AE_20A_Tail
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;BESC EQU Turnigy_AE_20A_Multi
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;BESC EQU Turnigy_AE_25A_Main
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;BESC EQU Turnigy_AE_25A_Tail
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;BESC EQU Turnigy_AE_25A_Multi
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;BESC EQU Turnigy_AE_30A_Main
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;BESC EQU Turnigy_AE_30A_Tail
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;BESC EQU Turnigy_AE_30A_Multi
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;BESC EQU Turnigy_AE_45A_Main
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;BESC EQU Turnigy_AE_45A_Tail
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;BESC EQU Turnigy_AE_45A_Multi
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;BESC EQU Turnigy_KForce_40A_Main
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;BESC EQU Turnigy_KForce_40A_Tail
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;BESC EQU Turnigy_KForce_40A_Multi
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;BESC EQU Turnigy_KForce_120A_HV_Main
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;BESC EQU Turnigy_KForce_120A_HV_Tail
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;BESC EQU Turnigy_KForce_120A_HV_Multi
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;BESC EQU Skywalker_20A_Main
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;BESC EQU Skywalker_20A_Tail
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|
;BESC EQU Skywalker_20A_Multi
|
|
;BESC EQU Skywalker_40A_Main
|
|
;BESC EQU Skywalker_40A_Tail
|
|
;BESC EQU Skywalker_40A_Multi
|
|
;BESC EQU HiModel_Cool_22A_Main
|
|
;BESC EQU HiModel_Cool_22A_Tail
|
|
;BESC EQU HiModel_Cool_22A_Multi
|
|
;BESC EQU HiModel_Cool_33A_Main
|
|
;BESC EQU HiModel_Cool_33A_Tail
|
|
;BESC EQU HiModel_Cool_33A_Multi
|
|
;BESC EQU HiModel_Cool_41A_Main
|
|
;BESC EQU HiModel_Cool_41A_Tail
|
|
;BESC EQU HiModel_Cool_41A_Multi
|
|
;BESC EQU RCTimer_6A_Main
|
|
;BESC EQU RCTimer_6A_Tail
|
|
;BESC EQU RCTimer_6A_Multi
|
|
;BESC EQU Align_RCE_BL15X_Main
|
|
;BESC EQU Align_RCE_BL15X_Tail
|
|
;BESC EQU Align_RCE_BL15X_Multi
|
|
;BESC EQU Align_RCE_BL35X_Main
|
|
;BESC EQU Align_RCE_BL35X_Tail
|
|
;BESC EQU Align_RCE_BL35X_Multi
|
|
;BESC EQU Align_RCE_BL35P_Main
|
|
;BESC EQU Align_RCE_BL35P_Tail
|
|
;BESC EQU Align_RCE_BL35P_Multi
|
|
;BESC EQU H_King_10A_Main
|
|
;BESC EQU H_King_10A_Tail
|
|
;BESC EQU H_King_10A_Multi
|
|
|
|
|
|
;**** **** **** **** ****
|
|
; ESC selection statements
|
|
IF BESC == XP_3A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (XP_3A.inc) ; Select XP 3A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_3A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (XP_3A.inc) ; Select XP 3A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_3A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (XP_3A.inc) ; Select XP 3A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_7A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (XP_7A.inc) ; Select XP 7A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_7A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (XP_7A.inc) ; Select XP 7A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_7A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (XP_7A.inc) ; Select XP 7A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_7A_Fast_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_7A_Fast_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_7A_Fast_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_12A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (XP_12A.inc) ; Select XP 12A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_12A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (XP_12A.inc) ; Select XP 12A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_12A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (XP_12A.inc) ; Select XP 12A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_18A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (XP_18A.inc) ; Select XP 18A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_18A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (XP_18A.inc) ; Select XP 18A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_18A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (XP_18A.inc) ; Select XP 18A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_25A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (XP_25A.inc) ; Select XP 25A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_25A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (XP_25A.inc) ; Select XP 25A pinout
|
|
ENDIF
|
|
|
|
IF BESC == XP_25A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (XP_25A.inc) ; Select XP 25A pinout
|
|
ENDIF
|
|
|
|
IF BESC == DP_3A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (DP_3A.inc) ; Select DP 3A pinout
|
|
ENDIF
|
|
|
|
IF BESC == DP_3A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (DP_3A.inc) ; Select DP 3A pinout
|
|
ENDIF
|
|
|
|
IF BESC == DP_3A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (DP_3A.inc) ; Select DP 3A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Supermicro_3p5A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Supermicro_3p5A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Supermicro_3p5A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Supermicro_3p5A.inc) ; Select Supermicro 3.5A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_6A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_6A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_6A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_Plush_6A.inc) ; Select Turnigy Plush 6A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_10A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_10A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_10A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_Plush_10A.inc) ; Select Turnigy Plush 10A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_12A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_12A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_12A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_Plush_12A.inc) ; Select Turnigy Plush 12A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_18A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_18A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_18A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_Plush_18A.inc) ; Select Turnigy Plush 18A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_25A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_25A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_25A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_Plush_25A.inc) ; Select Turnigy Plush 25A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_30A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_30A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_30A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_Plush_30A.inc) ; Select Turnigy Plush 30A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_40A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_40A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_40A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_Plush_40A.inc) ; Select Turnigy Plush 40A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_60A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_60A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_60A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_Plush_60A.inc) ; Select Turnigy Plush 60A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_80A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_80A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_Plush_80A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_Plush_80A.inc) ; Select Turnigy Plush 80A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_AE_20A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_AE_20A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_AE_20A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_AE_20A.inc) ; Select Turnigy AE-20A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_AE_25A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_AE_25A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_AE_25A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_AE_25A.inc) ; Select Turnigy AE-25A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_AE_30A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_AE_30A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_AE_30A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_AE_30A.inc) ; Select Turnigy AE-30A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_AE_45A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_AE_45A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_AE_45A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_AE_45A.inc) ; Select Turnigy AE-45A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_KForce_40A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_KForce_40A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_KForce_40A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_KForce_40A.inc) ; Select Turnigy KForce 40A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_KForce_120A_HV_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_KForce_120A_HV_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinout
|
|
ENDIF
|
|
|
|
IF BESC == Turnigy_KForce_120A_HV_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Turnigy_KForce_120A_HV.inc) ; Select Turnigy KForce 120A HV pinout
|
|
ENDIF
|
|
|
|
IF BESC == Skywalker_20A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Skywalker_20A.inc) ; Select Skywalker 20A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Skywalker_20A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Skywalker_20A.inc) ; Select Skywalker 20A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Skywalker_20A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Skywalker_20A.inc) ; Select Skywalker 20A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Skywalker_40A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Skywalker_40A.inc) ; Select Skywalker 40A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Skywalker_40A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Skywalker_40A.inc) ; Select Skywalker 40A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Skywalker_40A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Skywalker_40A.inc) ; Select Skywalker 40A pinout
|
|
ENDIF
|
|
|
|
IF BESC == HiModel_Cool_22A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinout
|
|
ENDIF
|
|
|
|
IF BESC == HiModel_Cool_22A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinout
|
|
ENDIF
|
|
|
|
IF BESC == HiModel_Cool_22A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (HiModel_Cool_22A.inc) ; Select HiModel Cool 22A pinout
|
|
ENDIF
|
|
|
|
IF BESC == HiModel_Cool_33A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinout
|
|
ENDIF
|
|
|
|
IF BESC == HiModel_Cool_33A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinout
|
|
ENDIF
|
|
|
|
IF BESC == HiModel_Cool_33A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (HiModel_Cool_33A.inc) ; Select HiModel Cool 33A pinout
|
|
ENDIF
|
|
|
|
IF BESC == HiModel_Cool_41A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinout
|
|
ENDIF
|
|
|
|
IF BESC == HiModel_Cool_41A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinout
|
|
ENDIF
|
|
|
|
IF BESC == HiModel_Cool_41A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (HiModel_Cool_41A.inc) ; Select HiModel Cool 41A pinout
|
|
ENDIF
|
|
|
|
IF BESC == RCTimer_6A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (RCTimer_6A.inc) ; Select RC Timer 6A pinout
|
|
ENDIF
|
|
|
|
IF BESC == RCTimer_6A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (RCTimer_6A.inc) ; Select RC Timer 6A pinout
|
|
ENDIF
|
|
|
|
IF BESC == RCTimer_6A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (RCTimer_6A.inc) ; Select RC Timer 6A pinout
|
|
ENDIF
|
|
|
|
IF BESC == Align_RCE_BL15X_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinout
|
|
ENDIF
|
|
|
|
IF BESC == Align_RCE_BL15X_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinout
|
|
ENDIF
|
|
|
|
IF BESC == Align_RCE_BL15X_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Align_RCE_BL15X.inc) ; Select Align RCE-BL15X pinout
|
|
ENDIF
|
|
|
|
IF BESC == Align_RCE_BL35X_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinout
|
|
ENDIF
|
|
|
|
IF BESC == Align_RCE_BL35X_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinout
|
|
ENDIF
|
|
|
|
IF BESC == Align_RCE_BL35X_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Align_RCE_BL35X.inc) ; Select Align RCE-BL35X pinout
|
|
ENDIF
|
|
|
|
IF BESC == Align_RCE_BL35P_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinout
|
|
ENDIF
|
|
|
|
IF BESC == Align_RCE_BL35P_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinout
|
|
ENDIF
|
|
|
|
IF BESC == Align_RCE_BL35P_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (Align_RCE_BL35P.inc) ; Select Align RCE-BL35P pinout
|
|
ENDIF
|
|
|
|
IF BESC == H_King_10A_Main
|
|
MODE EQU 0 ; Choose mode. Set to 0 for main motor
|
|
$include (H_King_10A.inc) ; Select H-King 10A pinout
|
|
ENDIF
|
|
|
|
IF BESC == H_King_10A_Tail
|
|
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
|
|
$include (H_King_10A.inc) ; Select H-King 10A pinout
|
|
ENDIF
|
|
|
|
IF BESC == H_King_10A_Multi
|
|
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
|
|
$include (H_King_10A.inc) ; Select H-King 10A pinout
|
|
ENDIF
|
|
|
|
;**** **** **** **** ****
|
|
; TX programming defaults
|
|
;
|
|
; Parameter dependencies:
|
|
; - Governor P gain, I gain and Range is only used if one of the three governor modes is selected
|
|
; - Governor setup target is only used if Setup governor mode is selected (or closed loop mode is on for multi)
|
|
; - Startup rpm and startup accel is only used if stepped startup method is selected
|
|
; - Damping force is only used if DampedLight or Damped is selected
|
|
;
|
|
; Main
|
|
DEFAULT_PGM_MAIN_P_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0
|
|
DEFAULT_PGM_MAIN_I_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0
|
|
DEFAULT_PGM_MAIN_GOVERNOR_MODE EQU 1 ; 1=Tx 2=Arm 3=Setup 4=Off
|
|
DEFAULT_PGM_MAIN_GOVERNOR_RANGE EQU 1 ; 1=High 2=Low
|
|
DEFAULT_PGM_MAIN_LOW_VOLTAGE_LIM EQU 4 ; 1=Off 2=3.0V/c 3=3.1V/c 4=3.2V/c 5=3.3V/c 6=3.4V/c
|
|
DEFAULT_PGM_MAIN_STARTUP_RPM EQU 3 ; 1=0.67 2=0.8 3=1.00 4=1.25 5=1.5
|
|
DEFAULT_PGM_MAIN_STARTUP_ACCEL EQU 1 ; 1=0.4 2=0.7 3=1.0 4=1.5 5=2.3
|
|
DEFAULT_PGM_MAIN_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
|
|
DEFAULT_PGM_MAIN_THROTTLE_RATE EQU 13 ; 1=2 2=3 3=4 4=6 5=8 6=12 7=16 8=24 9=32 10=48 11=64 12=128 13=255
|
|
DEFAULT_PGM_MAIN_DAMPING_FORCE EQU 1 ; 1=VeryLow 2=Low 3=MediumLow 4=MediumHigh 5=High 6=Highest
|
|
DEFAULT_PGM_MAIN_PWM_FREQ EQU 2 ; 1=High 2=Low 3=DampedLight
|
|
DEFAULT_PGM_MAIN_DEMAG_COMP EQU 1 ; 1=Disabled 2=15/0 3=15/7.5 4=7.5/7.5 5=7.5/15 (degrees blind advance / power off)
|
|
DEFAULT_PGM_MAIN_DIRECTION_REV EQU 1 ; 1=Normal 2=Reversed
|
|
DEFAULT_PGM_MAIN_RCP_PWM_POL EQU 1 ; 1=Positive 2=Negative
|
|
DEFAULT_PGM_MAIN_GOV_SETUP_TARGET EQU 180 ; Target for governor in setup mode. Corresponds to 70% throttle
|
|
DEFAULT_PGM_MAIN_REARM_START EQU 0 ; 1=Enabled 0=Disabled
|
|
DEFAULT_PGM_MAIN_BEEP_STRENGTH EQU 80 ; Beep strength
|
|
DEFAULT_PGM_MAIN_BEACON_STRENGTH EQU 100 ; Beacon strength
|
|
DEFAULT_PGM_MAIN_BEACON_DELAY EQU 2 ; 1=30s 2=1m 3=2m 4=3m 5=Infinite
|
|
; Tail
|
|
DEFAULT_PGM_TAIL_GAIN EQU 3 ; 1=0.75 2=0.88 3=1.00 4=1.12 5=1.25
|
|
DEFAULT_PGM_TAIL_IDLE_SPEED EQU 4 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
|
|
DEFAULT_PGM_TAIL_STARTUP_RPM EQU 3 ; 1=0.67 2=0.8 3=1.00 4=1.25 5=1.5
|
|
DEFAULT_PGM_TAIL_STARTUP_ACCEL EQU 5 ; 1=0.4 2=0.7 3=1.0 4=1.5 5=2.3
|
|
DEFAULT_PGM_TAIL_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
|
|
DEFAULT_PGM_TAIL_THROTTLE_RATE EQU 13 ; 1=2 2=3 3=4 4=6 5=8 6=12 7=16 8=24 9=32 10=48 11=64 12=128 13=255
|
|
DEFAULT_PGM_TAIL_DAMPING_FORCE EQU 5 ; 1=VeryLow 2=Low 3=MediumLow 4=MediumHigh 5=High 6=Highest
|
|
IF DAMPED_MODE_ENABLE == 1
|
|
DEFAULT_PGM_TAIL_PWM_FREQ EQU 1 ; 1=High 2=Low 3=DampedLight 4=Damped
|
|
ELSE
|
|
DEFAULT_PGM_TAIL_PWM_FREQ EQU 1 ; 1=High 2=Low 3=DampedLight
|
|
ENDIF
|
|
DEFAULT_PGM_TAIL_DEMAG_COMP EQU 1 ; 1=Disabled 2=15/0 3=15/7.5 4=7.5/7.5 5=7.5/15 (degrees blind advance / power off)
|
|
DEFAULT_PGM_TAIL_DIRECTION_REV EQU 1 ; 1=Normal 2=Reversed
|
|
DEFAULT_PGM_TAIL_RCP_PWM_POL EQU 1 ; 1=Positive 2=Negative
|
|
DEFAULT_PGM_TAIL_BEEP_STRENGTH EQU 250 ; Beep strength
|
|
DEFAULT_PGM_TAIL_BEACON_STRENGTH EQU 250 ; Beacon strength
|
|
DEFAULT_PGM_TAIL_BEACON_DELAY EQU 4 ; 1=30s 2=1m 3=2m 4=3m 5=Infinite
|
|
; Multi
|
|
DEFAULT_PGM_MULTI_FIRST_KEYWORD EQU 66h ;增加首个关键字 2013.8.27
|
|
DEFAULT_PGM_MULTI_P_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0
|
|
DEFAULT_PGM_MULTI_I_GAIN EQU 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0
|
|
DEFAULT_PGM_MULTI_GOVERNOR_MODE EQU 1 ; 1=Off 2=LoRange 3=MidRange 4=HiRange
|
|
DEFAULT_PGM_MULTI_GAIN EQU 3 ; 1=0.75 2=0.88 3=1.00 4=1.12 5=1.25
|
|
DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM EQU 2
|
|
;DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM EQU 1 ; 1=Off 2=3.0V/c 3=3.1V/c 4=3.2V/c 5=3.3V/c 6=3.4V/c
|
|
DEFAULT_PGM_MULTI_LOW_VOLTAGE_CTL EQU 1 ;增加低压保护控制方式默认值 1=功率逐渐降到31% 2=关闭输出
|
|
DEFAULT_PGM_MULTI_STARTUP_RPM EQU 1 ; 1=0.67 2=0.8 3=1.00 4=1.25 5=1.5
|
|
DEFAULT_PGM_MULTI_STARTUP_ACCEL EQU 5 ; 1=0.4 2=0.7 3=1.0 4=1.5 5=2.3
|
|
DEFAULT_PGM_MULTI_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
|
|
DEFAULT_PGM_MULTI_THROTTLE_RATE EQU 13 ; 1=2 2=3 3=4 4=6 5=8 6=12 7=16 8=24 9=32 10=48 11=64 12=128 13=255
|
|
DEFAULT_PGM_MULTI_DAMPING_FORCE EQU 1 ; 1=VeryLow 2=Low 3=MediumLow 4=MediumHigh 5=High 6=Highest
|
|
IF DAMPED_MODE_ENABLE == 1
|
|
DEFAULT_PGM_MULTI_PWM_FREQ EQU 1 ; 1=Low 2=High
|
|
ELSE
|
|
DEFAULT_PGM_MULTI_PWM_FREQ EQU 1 ; 1=Low 2=High
|
|
ENDIF
|
|
DEFAULT_PGM_MULTI_DEMAG_COMP EQU 2 ; 1=Disabled 2=15/0 3=15/7.5 4=7.5/7.5 5=7.5/15 (degrees blind advance / power off)
|
|
DEFAULT_PGM_MULTI_DIRECTION_REV EQU 1 ; 1=Normal 2=Reversed
|
|
DEFAULT_PGM_MULTI_RCP_PWM_POL EQU 1 ; 1=Positive 2=Negative
|
|
;DEFAULT_PGM_MULTI_BEEP_STRENGTH EQU 40 ; Beep strength
|
|
;DEFAULT_PGM_MULTI_BEACON_STRENGTH EQU 80 ; Beacon strength 等待摇杆操作声强
|
|
;DEFAULT_PGM_MULTI_BEACON_DELAY EQU 4 ; 1=30s 2=1m 3=2m 4=3m 5=Infinite
|
|
DEFAULT_PGM_MULTI_BEEP_STRENGTH EQU 80 ; Beep strength 上电到一次信号拉到最低声强
|
|
DEFAULT_PGM_MULTI_BEACON_STRENGTH EQU 100 ; Beacon strength 等待摇杆操作声强
|
|
DEFAULT_PGM_MULTI_BEACON_DELAY EQU 2 ; 1=30s 2=1m 3=2m 4=3m 5=Infinite 等待摇杆操作时间
|
|
; Common
|
|
DEFAULT_PGM_ENABLE_TX_PROGRAM EQU 1 ; 1=Enabled 0=Disabled
|
|
DEFAULT_PGM_PPM_MIN_THROTTLE EQU 37 ; 4*37+1000=1148
|
|
DEFAULT_PGM_PPM_MAX_THROTTLE EQU 208 ; 4*208+1000=1832
|
|
DEFAULT_PGM_BEC_VOLTAGE_HIGH EQU 0 ; 0=Low 1= High
|
|
|
|
;**** **** **** **** ****
|
|
; Constant definitions for main
|
|
IF MODE == 0
|
|
|
|
GOV_SPOOLRATE EQU 1 ; Number of steps for governor requested pwm per 32ms
|
|
|
|
RCP_TIMEOUT_PPM EQU 10 ; Number of timer2H overflows (about 32ms) before considering rc pulse lost
|
|
RCP_TIMEOUT EQU 64 ; Number of timer2L overflows (about 128us) before considering rc pulse lost
|
|
RCP_SKIP_RATE EQU 32 ; Number of timer2L overflows (about 128us) before reenabling rc pulse detection
|
|
RCP_MIN EQU 0 ; This is minimum RC pulse length
|
|
RCP_MAX EQU 254 ; This is maximum RC pulse length
|
|
RCP_VALIDATE EQU 2 ; Require minimum this pulse length to validate RC pulse
|
|
RCP_STOP EQU 1 ; Stop motor at or below this pulse length
|
|
RCP_STOP_LIMIT EQU 3 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
|
|
|
|
PWM_SETTLE EQU 50 ; PWM used when in start settling phase (also max power during direct start)
|
|
PWM_STEPPER EQU 80 ; PWM used when in start stepper phase
|
|
|
|
COMM_TIME_RED EQU 8 ; Fixed reduction (in us) for commutation wait (to account for fixed delays)
|
|
COMM_TIME_MIN EQU 1 ; Minimum time (in us) for commutation wait
|
|
|
|
TEMP_CHECK_RATE EQU 8 ; Number of adc conversions for each check of temperature (the other conversions are used for voltage)
|
|
|
|
ENDIF
|
|
; Constant definitions for tail
|
|
IF MODE == 1
|
|
|
|
GOV_SPOOLRATE EQU 1 ; Number of steps for governor requested pwm per 32ms
|
|
RCP_TIMEOUT_PPM EQU 10 ; Number of timer2H overflows (about 32ms) before considering rc pulse lost
|
|
RCP_TIMEOUT EQU 24 ; Number of timer2L overflows (about 128us) before considering rc pulse lost
|
|
RCP_SKIP_RATE EQU 6 ; Number of timer2L overflows (about 128us) before reenabling rc pulse detection
|
|
RCP_MIN EQU 0 ; This is minimum RC pulse length
|
|
RCP_MAX EQU 255 ; This is maximum RC pulse length
|
|
RCP_VALIDATE EQU 2 ; Require minimum this pulse length to validate RC pulse
|
|
RCP_STOP EQU 1 ; Stop motor at or below this pulse length
|
|
RCP_STOP_LIMIT EQU 130 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
|
|
|
|
PWM_SETTLE EQU 50 ; PWM used when in start settling phase (also max power during direct start)
|
|
PWM_STEPPER EQU 120 ; PWM used when in start stepper phase
|
|
|
|
COMM_TIME_RED EQU 8 ; Fixed reduction (in us) for commutation wait (to account for fixed delays)
|
|
COMM_TIME_MIN EQU 1 ; Minimum time (in us) for commutation wait
|
|
|
|
TEMP_CHECK_RATE EQU 8 ; Number of adc conversions for each check of temperature (the other conversions are used for voltage)
|
|
|
|
ENDIF
|
|
; Constant definitions for multi
|
|
IF MODE == 2
|
|
|
|
GOV_SPOOLRATE EQU 1 ; Number of steps for governor requested pwm per 32ms
|
|
|
|
RCP_TIMEOUT_PPM EQU 64 ; Number of timer2H overflows (about 32ms) before considering rc pulse lost
|
|
RCP_TIMEOUT EQU 40 ; Number of timer2L overflows (about 128us) before considering rc pulse lost
|
|
RCP_SKIP_RATE EQU 6 ; Number of timer2L overflows (about 128us) before reenabling rc pulse detection
|
|
RCP_MIN EQU 0 ; This is minimum RC pulse length
|
|
RCP_MAX EQU 255 ; This is maximum RC pulse length
|
|
RCP_VALIDATE EQU 2 ; Require minimum this pulse length to validate RC pulse
|
|
RCP_STOP EQU 1 ; Stop motor at or below this pulse length
|
|
;//////RCP_STOP_LIMIT EQU 20 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
|
|
|
|
PWM_SETTLE EQU 50 ; PWM used when in start settling phase (also max power during direct start)
|
|
PWM_STEPPER EQU 120 ; PWM used when in start stepper phase
|
|
|
|
COMM_TIME_RED EQU 8 ; Fixed reduction (in us) for commutation wait (to account for fixed delays)
|
|
COMM_TIME_MIN EQU 1 ; Minimum time (in us) for commutation wait
|
|
|
|
TEMP_CHECK_RATE EQU 8 ; Number of adc conversions for each check of temperature (the other conversions are used for voltage)
|
|
|
|
ENDIF
|
|
|
|
;**** **** **** **** ****
|
|
; Temporary register definitions
|
|
Temp1 EQU R0
|
|
Temp2 EQU R1
|
|
Temp3 EQU R2
|
|
Temp4 EQU R3
|
|
Temp5 EQU R4
|
|
Temp6 EQU R5
|
|
Temp7 EQU R6
|
|
Temp8 EQU R7
|
|
|
|
;**** **** **** **** ****
|
|
; Register definitions
|
|
DSEG AT 20h ; Variables segment
|
|
|
|
Bit_Access: DS 1 ; Variable at bit accessible address (for non interrupt routines)
|
|
Bit_Access_Int: DS 1 ; Variable at bit accessible address (for interrupts)
|
|
|
|
Requested_Pwm: DS 1 ; Requested pwm (from RC pulse value)
|
|
Governor_Req_Pwm: DS 1 ; Governor requested pwm (sets governor target)
|
|
Current_Pwm: DS 1 ; Current pwm
|
|
Current_Pwm_Limited: DS 1 ; Current pwm that is limited (applied to the motor output)
|
|
Rcp_Prev_Edge_L: DS 1 ; RC pulse previous edge timer3 timestamp (lo byte)
|
|
Rcp_Prev_Edge_H: DS 1 ; RC pulse previous edge timer3 timestamp (hi byte)
|
|
Rcp_Timeout_Cnt: DS 1 ; RC pulse timeout counter (decrementing)
|
|
Rcp_Skip_Cnt: DS 1 ; RC pulse skip counter (decrementing)
|
|
Rcp_Edge_Cnt: DS 1 ; RC pulse edge counter
|
|
Rcp_Stop_Limit: DS 1 ;增加刹车速度
|
|
|
|
Flags0: DS 1 ; State flags. Reset upon init_start
|
|
T3_PENDING EQU 0 ; Timer3 pending flag
|
|
RCP_MEAS_PWM_FREQ EQU 1 ; Measure RC pulse pwm frequency
|
|
PWM_ON EQU 2 ; Set in on part of pwm cycle
|
|
DEMAG_DETECTED EQU 3 ; Set when excessive demag time is detected
|
|
DEMAG_CUT_POWER EQU 4 ; Set when demag compensation cuts power
|
|
; EQU 5
|
|
PROGRAM_FUNC_FLAG EQU 6
|
|
SUCCESS_BEEP_FLAG EQU 7
|
|
|
|
Flags1: DS 1 ; State flags. Reset upon init_start
|
|
MOTOR_SPINNING EQU 0 ; Set when in motor is spinning
|
|
SETTLE_PHASE EQU 1 ; Set when in motor start settling phase
|
|
STEPPER_PHASE EQU 2 ; Set when in motor start stepper motor phase
|
|
DIRECT_STARTUP_PHASE EQU 3 ; Set when in direct startup phase
|
|
INITIAL_RUN_PHASE EQU 4 ; Set when in initial run phase, before synchronized run is achieved
|
|
; EQU 5
|
|
; EQU 6
|
|
LOW_LIMIT_STOP EQU 7
|
|
|
|
Flags2: DS 1 ; State flags. NOT reset upon init_start
|
|
RCP_UPDATED EQU 0 ; New RC pulse length value available
|
|
RCP_EDGE_NO EQU 1 ; RC pulse edge no. 0=rising, 1=falling
|
|
PGM_PWMOFF_DAMPED EQU 2 ; Programmed pwm off damped mode. Set when fully damped or damped light mode is selected
|
|
PGM_PWMOFF_DAMPED_FULL EQU 3 ; Programmed pwm off fully damped mode. Set when all pfets shall be on in pwm_off period
|
|
PGM_PWMOFF_DAMPED_LIGHT EQU 4 ; Programmed pwm off damped light mode. Set when only 2 pfets shall be on in pwm_off period
|
|
PGM_PWM_HIGH_FREQ EQU 5 ; Progremmed pwm high frequency
|
|
CURR_PWMOFF_DAMPED EQU 6 ; Currently running pwm off cycle is damped
|
|
CURR_PWMOFF_COMP_ABLE EQU 7 ; Currently running pwm off cycle is usable for comparator
|
|
|
|
Flags3: DS 1 ; State flags. NOT reset upon init_start
|
|
RCP_PWM_FREQ_1KHZ EQU 0 ; RC pulse pwm frequency is 1kHz
|
|
RCP_PWM_FREQ_2KHZ EQU 1 ; RC pulse pwm frequency is 2kHz
|
|
RCP_PWM_FREQ_4KHZ EQU 2 ; RC pulse pwm frequency is 4kHz
|
|
RCP_PWM_FREQ_8KHZ EQU 3 ; RC pulse pwm frequency is 8kHz
|
|
PGM_DIR_REV EQU 4 ; Programmed direction. 0=normal, 1=reversed
|
|
PGM_RCP_PWM_POL EQU 5 ; Programmed RC pulse pwm polarity. 0=positive, 1=negative
|
|
FULL_THROTTLE_RANGE EQU 6 ; When set full throttle range is used (1000-2000us) and stored calibration values are ignored
|
|
ERRO_DATA EQU 7 ;增加编程卡数据错误标志 2013.8.27
|
|
;**** **** **** **** ****
|
|
; RAM definitions
|
|
DSEG AT 30h ; Ram data segment, direct addressing
|
|
|
|
Initial_Arm: DS 1 ; Variable that is set during the first arm sequence after power on
|
|
;Pca_First_Int: DS 1
|
|
Power_On_Wait_Cnt_L: DS 1 ; Power on wait counter (lo byte)
|
|
Power_On_Wait_Cnt_H: DS 1 ; Power on wait counter (hi byte)
|
|
Pgm_Pulse_Cnt: DS 1
|
|
;Stepper_Step_Beg_L: DS 1 ; Stepper phase step time at the beginning (lo byte)
|
|
;Stepper_Step_Beg_H: DS 1 ; Stepper phase step time at the beginning (hi byte)
|
|
;Stepper_Step_End_L: DS 1 ; Stepper phase step time at the end (lo byte)
|
|
;Stepper_Step_End_H: DS 1 ; Stepper phase step time at the end (hi byte)
|
|
Startup_Rot_Cnt: DS 1 ; Startup phase rotations counter
|
|
Direct_Startup_Ok_Cnt: DS 1 ; Direct startup phase ok comparator waits counter (incrementing)
|
|
|
|
Prev_Comm_L: DS 1 ; Previous commutation timer3 timestamp (lo byte)
|
|
Prev_Comm_H: DS 1 ; Previous commutation timer3 timestamp (hi byte)
|
|
Comm_Period4x_L: DS 1 ; Timer3 counts between the last 4 commutations (lo byte)
|
|
Comm_Period4x_H: DS 1 ; Timer3 counts between the last 4 commutations (hi byte)
|
|
Comm_Phase: DS 1 ; Current commutation phase
|
|
Comp_Wait_Reads: DS 1 ; Comparator wait comparator reads
|
|
|
|
Gov_Target_L: DS 1 ; Governor target (lo byte)
|
|
Gov_Target_H: DS 1 ; Governor target (hi byte)
|
|
Gov_Integral_L: DS 1 ; Governor integral error (lo byte)
|
|
Gov_Integral_H: DS 1 ; Governor integral error (hi byte)
|
|
Gov_Integral_X: DS 1 ; Governor integral error (ex byte)
|
|
Gov_Proportional_L: DS 1 ; Governor proportional error (lo byte)
|
|
Gov_Proportional_H: DS 1 ; Governor proportional error (hi byte)
|
|
Gov_Prop_Pwm: DS 1 ; Governor calculated new pwm based upon proportional error
|
|
Gov_Arm_Target: DS 1 ; Governor arm target value
|
|
Gov_Active: DS 1 ; Governor active (enabled when speed is above minimum)
|
|
|
|
Wt_Advance_L: DS 1 ; Timer3 counts for commutation advance timing (lo byte)
|
|
Wt_Advance_H: DS 1 ; Timer3 counts for commutation advance timing (hi byte)
|
|
Wt_Zc_Scan_L: DS 1 ; Timer3 counts from commutation to zero cross scan (lo byte)
|
|
Wt_Zc_Scan_H: DS 1 ; Timer3 counts from commutation to zero cross scan (hi byte)
|
|
Wt_Comm_L: DS 1 ; Timer3 counts from zero cross to commutation (lo byte)
|
|
Wt_Comm_H: DS 1 ; Timer3 counts from zero cross to commutation (hi byte)
|
|
;Wt_Stepper_Step_L: DS 1 ; Timer3 counts for stepper step (lo byte)
|
|
;Wt_Stepper_Step_H: DS 1 ; Timer3 counts for stepper step (hi byte)
|
|
|
|
Rcp_PrePrev_Edge_L: DS 1 ; RC pulse pre previous edge pca timestamp (lo byte)
|
|
Rcp_PrePrev_Edge_H: DS 1 ; RC pulse pre previous edge pca timestamp (hi byte)
|
|
Rcp_Edge_L: DS 1 ; RC pulse edge pca timestamp (lo byte)
|
|
Rcp_Edge_H: DS 1 ; RC pulse edge pca timestamp (hi byte)
|
|
Rcp_Prev_Period_L: DS 1 ; RC pulse previous period (lo byte)
|
|
Rcp_Prev_Period_H: DS 1 ; RC pulse previous period (hi byte)
|
|
Rcp_Period_Diff_Accepted: DS 1 ; RC pulse period difference acceptable
|
|
New_Rcp: DS 1 ; New RC pulse value in pca counts
|
|
Prev_Rcp_Pwm_Freq: DS 1 ; Previous RC pulse pwm frequency (used during pwm frequency measurement)
|
|
Curr_Rcp_Pwm_Freq: DS 1 ; Current RC pulse pwm frequency (used during pwm frequency measurement)
|
|
Rcp_Stop_Cnt: DS 1 ; Counter for RC pulses below stop value
|
|
|
|
Pwm_Limit: DS 1 ; Maximum allowed pwm
|
|
Pwm_Limit_Spoolup: DS 1 ; Maximum allowed pwm during spoolup of main
|
|
Pwm_Spoolup_Beg: DS 1 ; Pwm to begin main spoolup with
|
|
Pwm_Motor_Idle: DS 1 ; Motor idle speed pwm
|
|
Pwm_On_Cnt: DS 1 ; Pwm on event counter (used to increase pwm off time for low pwm)
|
|
Pwm_Off_Cnt: DS 1 ; Pwm off event counter (used to run some pwm cycles without damping)
|
|
|
|
Spoolup_Limit_Cnt: DS 1 ; Interrupt count for spoolup limit
|
|
Spoolup_Limit_Skip: DS 1 ; Interrupt skips for spoolup limit increment (0=no skips, 1=skip one etc)
|
|
|
|
Damping_Period: DS 1 ; Damping on/off period
|
|
Damping_On: DS 1 ; Damping on part of damping period
|
|
|
|
;Lipo_Adc_Reference_L: DS 1 ; Voltage reference adc value (lo byte)
|
|
;Lipo_Adc_Reference_H: DS 1 ; Voltage reference adc value (hi byte)
|
|
Lipo_Adc_Limit_L: DS 1 ; Low voltage limit adc value (lo byte)
|
|
Lipo_Adc_Limit_H: DS 1 ; Low voltage limit adc value (hi byte)
|
|
Adc_Conversion_Cnt: DS 1 ; Adc conversion counter
|
|
Lipo_Cell_Count: DS 1 ;增加电池节数累计变量 2013.5.29
|
|
Limit_Count: DS 1 ;增加逐渐递减计数变量 2013.7.5
|
|
|
|
Current_Average_Temp: DS 1 ; Current average temperature (lo byte ADC reading, assuming hi byte is 1)
|
|
|
|
Ppm_Throttle_Gain: DS 1 ; Gain to be applied to RCP value for PPM input
|
|
Beep_Strength: DS 1 ; Strength of beeps
|
|
|
|
Tx_Pgm_Func_No: DS 1 ; Function number when doing programming by tx
|
|
Tx_Pgm_Paraval_No: DS 1 ; Parameter value number when doing programming by tx
|
|
Tx_Pgm_Beep_No: DS 1 ; Beep number when doing programming by tx
|
|
Commu_Data_Buffer: DS 1 ;编程卡接收，发送数据暂存 2013.8.27
|
|
Commu_Sum: DS 1 ;增加编程卡校验和 2013.8.27
|
|
Min_Throttle: DS 1
|
|
|
|
; Indirect addressing data segment
|
|
ISEG AT 080h
|
|
Pgm_Fir_Key: DS 1 ;增加首个关键字 2013.8.27
|
|
Pgm_Gov_P_Gain: DS 1 ; Programmed governor P gain
|
|
Pgm_Gov_I_Gain: DS 1 ; Programmed governor I gain
|
|
Pgm_Gov_Mode: DS 1 ; Programmed governor mode
|
|
|
|
Pgm_Low_Voltage_Lim: DS 1 ; Programmed low voltage limit
|
|
Pgm_Low_Voltage_Ctl: DS 1 ;增加低压保护控制方式编程项 2013.7.5
|
|
Pgm_Motor_Gain: DS 1 ; Programmed motor gain
|
|
Pgm_Motor_Idle: DS 1 ; Programmed motor idle speed
|
|
Pgm_Startup_Pwr: DS 1 ; Programmed startup power
|
|
Pgm_Pwm_Freq: DS 1 ; Programmed pwm frequency
|
|
Pgm_Direction_Rev: DS 1 ; Programmed rotation direction
|
|
Pgm_Input_Pol: DS 1 ; Programmed input pwm polarity
|
|
Initialized_L_Dummy: DS 1 ; Place holder
|
|
Initialized_H_Dummy: DS 1 ; Place holder
|
|
Pgm_Enable_TX_Program: DS 1 ; Programmed enable/disable value for TX programming
|
|
Pgm_Main_Rearm_Start: DS 1 ; Programmed enable/disable re-arming main every start
|
|
Pgm_Gov_Setup_Target: DS 1 ; Programmed main governor setup target
|
|
Pgm_Startup_Rpm: DS 1 ; Programmed startup rpm
|
|
Pgm_Startup_Accel: DS 1 ; Programmed startup acceleration
|
|
Pgm_Volt_Comp_Dummy: DS 1 ; Place holder
|
|
Pgm_Comm_Timing: DS 1 ; Programmed commutation timing
|
|
Pgm_Damping_Force: DS 1 ; Programmed damping force
|
|
Pgm_Gov_Range: DS 1 ; Programmed governor range
|
|
;Pgm_Startup_Method: DS 1 ; Programmed startup method
|
|
Pgm_Ppm_Min_Throttle: DS 1 ; Programmed throttle minimum
|
|
Pgm_Ppm_Max_Throttle: DS 1 ; Programmed throttle maximum
|
|
Pgm_Beep_Strength: DS 1 ; Programmed beep strength
|
|
Pgm_Beacon_Strength: DS 1 ; Programmed beacon strength
|
|
Pgm_Beacon_Delay: DS 1 ; Programmed beacon delay
|
|
Pgm_Throttle_Rate: DS 1 ; Programmed throttle rate
|
|
Pgm_Demag_Comp: DS 1 ; Programmed demag compensation
|
|
Pgm_BEC_Voltage_High: DS 1 ; Programmed BEC voltage
|
|
|
|
Pgm_Gov_P_Gain_Decoded: DS 1 ; Programmed governor decoded P gain
|
|
Pgm_Gov_I_Gain_Decoded: DS 1 ; Programmed governor decoded I gain
|
|
Pgm_Throttle_Rate_Decoded: DS 1 ; Programmed throttle rate decoded
|
|
Pgm_Startup_Pwr_Decoded: DS 1 ; Programmed startup power decoded
|
|
Pgm_Demag_Comp_Wait_Decoded: DS 1 ; Programmed demag compensation wait decoded
|
|
Pgm_Demag_Comp_Power_Decoded: DS 1 ; Programmed demag compensation power cut decoded
|
|
|
|
|
|
; Indirect addressing data segment
|
|
ISEG AT 0D0h
|
|
Tag_Temporary_Storage: DS 48 ; Temporary storage for tags when updating "Eeprom"
|
|
|
|
|
|
;**** **** **** **** ****
|
|
CSEG AT 1A00h ; "Eeprom" segment
|
|
EEPROM_FW_MAIN_REVISION EQU 10 ; Main revision of the firmware
|
|
EEPROM_FW_SUB_REVISION EQU 2 ; Sub revision of the firmware
|
|
EEPROM_LAYOUT_REVISION EQU 16 ; Revision of the EEPROM layout
|
|
|
|
Eep_FW_Main_Revision: DB EEPROM_FW_MAIN_REVISION ; EEPROM firmware main revision number
|
|
Eep_FW_Sub_Revision: DB EEPROM_FW_SUB_REVISION ; EEPROM firmware sub revision number
|
|
Eep_Layout_Revision: DB EEPROM_LAYOUT_REVISION ; EEPROM layout revision number
|
|
|
|
IF MODE == 0
|
|
Eep_Pgm_Gov_P_Gain: DB DEFAULT_PGM_MAIN_P_GAIN ; EEPROM copy of programmed governor P gain
|
|
Eep_Pgm_Gov_I_Gain: DB DEFAULT_PGM_MAIN_I_GAIN ; EEPROM copy of programmed governor I gain
|
|
Eep_Pgm_Gov_Mode: DB DEFAULT_PGM_MAIN_GOVERNOR_MODE ; EEPROM copy of programmed governor mode
|
|
|
|
Eep_Pgm_Low_Voltage_Lim: DB DEFAULT_PGM_MAIN_LOW_VOLTAGE_LIM ; EEPROM copy of programmed low voltage limit
|
|
_Eep_Pgm_Motor_Gain: DB 0FFh
|
|
_Eep_Pgm_Motor_Idle: DB 0FFh
|
|
Eep_Pgm_Startup_Pwr: DB DEFAULT_PGM_MAIN_STARTUP_PWR ; EEPROM copy of programmed startup power
|
|
Eep_Pgm_Pwm_Freq: DB DEFAULT_PGM_MAIN_PWM_FREQ ; EEPROM copy of programmed pwm frequency
|
|
Eep_Pgm_Direction_Rev: DB DEFAULT_PGM_MAIN_DIRECTION_REV ; EEPROM copy of programmed rotation direction
|
|
Eep_Pgm_Input_Pol: DB DEFAULT_PGM_MAIN_RCP_PWM_POL ; EEPROM copy of programmed input polarity
|
|
Eep_Initialized_L: DB 0A5h ; EEPROM initialized signature low byte
|
|
Eep_Initialized_H: DB 05Ah ; EEPROM initialized signature high byte
|
|
Eep_Enable_TX_Program: DB DEFAULT_PGM_ENABLE_TX_PROGRAM ; EEPROM TX programming enable
|
|
Eep_Main_Rearm_Start: DB DEFAULT_PGM_MAIN_REARM_START ; EEPROM re-arming main enable
|
|
Eep_Pgm_Gov_Setup_Target: DB DEFAULT_PGM_MAIN_GOV_SETUP_TARGET ; EEPROM main governor setup target
|
|
Eep_Pgm_Startup_Rpm: DB DEFAULT_PGM_MAIN_STARTUP_RPM ; EEPROM copy of programmed startup rpm
|
|
Eep_Pgm_Startup_Accel: DB DEFAULT_PGM_MAIN_STARTUP_ACCEL ; EEPROM copy of programmed startup acceleration
|
|
_Eep_Pgm_Volt_Comp: DB 0FFh
|
|
Eep_Pgm_Comm_Timing: DB DEFAULT_PGM_MAIN_COMM_TIMING ; EEPROM copy of programmed commutation timing
|
|
Eep_Pgm_Damping_Force: DB DEFAULT_PGM_MAIN_DAMPING_FORCE ; EEPROM copy of programmed damping force
|
|
Eep_Pgm_Gov_Range: DB DEFAULT_PGM_MAIN_GOVERNOR_RANGE ; EEPROM copy of programmed governor range
|
|
Eep_Pgm_Startup_Method: DB DEFAULT_PGM_MAIN_STARTUP_METHOD ; EEPROM copy of programmed startup method
|
|
Eep_Pgm_Ppm_Min_Throttle: DB DEFAULT_PGM_PPM_MIN_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1148)
|
|
Eep_Pgm_Ppm_Max_Throttle: DB DEFAULT_PGM_PPM_MAX_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1832)
|
|
Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_MAIN_BEEP_STRENGTH ; EEPROM copy of programmed beep strength
|
|
Eep_Pgm_Beacon_Strength: DB DEFAULT_PGM_MAIN_BEACON_STRENGTH ; EEPROM copy of programmed beacon strength
|
|
Eep_Pgm_Beacon_Delay: DB DEFAULT_PGM_MAIN_BEACON_DELAY ; EEPROM copy of programmed beacon delay
|
|
Eep_Pgm_Throttle_Rate: DB DEFAULT_PGM_MAIN_THROTTLE_RATE ; EEPROM copy of programmed throttle rate
|
|
Eep_Pgm_Demag_Comp: DB DEFAULT_PGM_MAIN_DEMAG_COMP ; EEPROM copy of programmed demag compensation
|
|
Eep_Pgm_BEC_Voltage_High: DB DEFAULT_PGM_BEC_VOLTAGE_HIGH ; EEPROM copy of programmed BEC voltage
|
|
ENDIF
|
|
|
|
IF MODE == 1
|
|
_Eep_Pgm_Gov_P_Gain: DB 0FFh
|
|
_Eep_Pgm_Gov_I_Gain: DB 0FFh
|
|
_Eep_Pgm_Gov_Mode: DB 0FFh
|
|
|
|
_Eep_Pgm_Low_Voltage_Lim: DB 0FFh
|
|
Eep_Pgm_Motor_Gain: DB DEFAULT_PGM_TAIL_GAIN ; EEPROM copy of programmed tail gain
|
|
Eep_Pgm_Motor_Idle: DB DEFAULT_PGM_TAIL_IDLE_SPEED ; EEPROM copy of programmed tail idle speed
|
|
Eep_Pgm_Startup_Pwr: DB DEFAULT_PGM_TAIL_STARTUP_PWR ; EEPROM copy of programmed startup power
|
|
Eep_Pgm_Pwm_Freq: DB DEFAULT_PGM_TAIL_PWM_FREQ ; EEPROM copy of programmed pwm frequency
|
|
Eep_Pgm_Direction_Rev: DB DEFAULT_PGM_TAIL_DIRECTION_REV ; EEPROM copy of programmed rotation direction
|
|
Eep_Pgm_Input_Pol: DB DEFAULT_PGM_TAIL_RCP_PWM_POL ; EEPROM copy of programmed input polarity
|
|
Eep_Initialized_L: DB 05Ah ; EEPROM initialized signature low byte
|
|
Eep_Initialized_H: DB 0A5h ; EEPROM initialized signature high byte
|
|
Eep_Enable_TX_Program: DB DEFAULT_PGM_ENABLE_TX_PROGRAM ; EEPROM TX programming enable
|
|
_Eep_Main_Rearm_Start: DB 0FFh
|
|
_Eep_Pgm_Gov_Setup_Target: DB 0FFh
|
|
Eep_Pgm_Startup_Rpm: DB DEFAULT_PGM_TAIL_STARTUP_RPM ; EEPROM copy of programmed startup rpm
|
|
Eep_Pgm_Startup_Accel: DB DEFAULT_PGM_TAIL_STARTUP_ACCEL ; EEPROM copy of programmed startup acceleration
|
|
_Eep_Pgm_Volt_Comp: DB 0FFh
|
|
Eep_Pgm_Comm_Timing: DB DEFAULT_PGM_TAIL_COMM_TIMING ; EEPROM copy of programmed commutation timing
|
|
Eep_Pgm_Damping_Force: DB DEFAULT_PGM_TAIL_DAMPING_FORCE ; EEPROM copy of programmed damping force
|
|
_Eep_Pgm_Gov_Range: DB 0FFh
|
|
Eep_Pgm_Startup_Method: DB DEFAULT_PGM_TAIL_STARTUP_METHOD ; EEPROM copy of programmed startup method
|
|
Eep_Pgm_Ppm_Min_Throttle: DB DEFAULT_PGM_PPM_MIN_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1148)
|
|
Eep_Pgm_Ppm_Max_Throttle: DB DEFAULT_PGM_PPM_MAX_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1832)
|
|
Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_TAIL_BEEP_STRENGTH ; EEPROM copy of programmed beep strength
|
|
Eep_Pgm_Beacon_Strength: DB DEFAULT_PGM_TAIL_BEACON_STRENGTH ; EEPROM copy of programmed beacon strength
|
|
Eep_Pgm_Beacon_Delay: DB DEFAULT_PGM_TAIL_BEACON_DELAY ; EEPROM copy of programmed beacon delay
|
|
Eep_Pgm_Throttle_Rate: DB DEFAULT_PGM_TAIL_THROTTLE_RATE ; EEPROM copy of programmed throttle rate
|
|
Eep_Pgm_Demag_Comp: DB DEFAULT_PGM_TAIL_DEMAG_COMP ; EEPROM copy of programmed demag compensation
|
|
Eep_Pgm_BEC_Voltage_High: DB DEFAULT_PGM_BEC_VOLTAGE_HIGH ; EEPROM copy of programmed BEC voltage
|
|
ENDIF
|
|
|
|
IF MODE == 2
|
|
Eep_Pgm_Fir_Key: DB DEFAULT_PGM_MULTI_FIRST_KEYWORD ;增加首个关键字 2013.8.27
|
|
Eep_Pgm_Gov_P_Gain: DB DEFAULT_PGM_MULTI_P_GAIN ; EEPROM copy of programmed closed loop P gain
|
|
Eep_Pgm_Gov_I_Gain: DB DEFAULT_PGM_MULTI_I_GAIN ; EEPROM copy of programmed closed loop I gain
|
|
Eep_Pgm_Gov_Mode: DB DEFAULT_PGM_MULTI_GOVERNOR_MODE ; EEPROM copy of programmed closed loop mode
|
|
|
|
Eep_Pgm_Low_Voltage_Lim: DB DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM ; EEPROM copy of programmed low voltage limit
|
|
Eep_Pgm_Low_Voltage_Ctl: DB DEFAULT_PGM_MULTI_LOW_VOLTAGE_CTL ; 增加低压保护控制编程
|
|
Eep_Pgm_Motor_Gain: DB DEFAULT_PGM_MULTI_GAIN ; EEPROM copy of programmed tail gain
|
|
_Eep_Pgm_Motor_Idle: DB 0FFh ; EEPROM copy of programmed tail idle speed
|
|
Eep_Pgm_Startup_Pwr: DB DEFAULT_PGM_MULTI_STARTUP_PWR ; EEPROM copy of programmed startup power
|
|
Eep_Pgm_Pwm_Freq: DB DEFAULT_PGM_MULTI_PWM_FREQ ; EEPROM copy of programmed pwm frequency
|
|
Eep_Pgm_Direction_Rev: DB DEFAULT_PGM_MULTI_DIRECTION_REV ; EEPROM copy of programmed rotation direction
|
|
Eep_Pgm_Input_Pol: DB DEFAULT_PGM_MULTI_RCP_PWM_POL ; EEPROM copy of programmed input polarity
|
|
Eep_Initialized_L: DB 055h ; EEPROM initialized signature low byte
|
|
Eep_Initialized_H: DB 0AAh ; EEPROM initialized signature high byte
|
|
Eep_Enable_TX_Program: DB DEFAULT_PGM_ENABLE_TX_PROGRAM ; EEPROM TX programming enable
|
|
_Eep_Main_Rearm_Start: DB 0FFh
|
|
_Eep_Pgm_Gov_Setup_Target: DB 0FFh
|
|
Eep_Pgm_Startup_Rpm: DB DEFAULT_PGM_MULTI_STARTUP_RPM ; EEPROM copy of programmed startup rpm
|
|
Eep_Pgm_Startup_Accel: DB DEFAULT_PGM_MULTI_STARTUP_ACCEL ; EEPROM copy of programmed startup acceleration
|
|
_Eep_Pgm_Volt_Comp: DB 0FFh
|
|
Eep_Pgm_Comm_Timing: DB DEFAULT_PGM_MULTI_COMM_TIMING ; EEPROM copy of programmed commutation timing
|
|
Eep_Pgm_Damping_Force: DB DEFAULT_PGM_MULTI_DAMPING_FORCE ; EEPROM copy of programmed damping force
|
|
_Eep_Pgm_Gov_Range: DB 0FFh
|
|
;Eep_Pgm_Startup_Method: DB DEFAULT_PGM_MULTI_STARTUP_METHOD ; EEPROM copy of programmed startup method
|
|
Eep_Pgm_Ppm_Min_Throttle: DB DEFAULT_PGM_PPM_MIN_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1148)
|
|
Eep_Pgm_Ppm_Max_Throttle: DB DEFAULT_PGM_PPM_MAX_THROTTLE ; EEPROM copy of programmed minimum throttle (final value is 4x+1000=1832)
|
|
Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_MULTI_BEEP_STRENGTH ; EEPROM copy of programmed beep strength
|
|
Eep_Pgm_Beacon_Strength: DB DEFAULT_PGM_MULTI_BEACON_STRENGTH ; EEPROM copy of programmed beacon strength
|
|
Eep_Pgm_Beacon_Delay: DB DEFAULT_PGM_MULTI_BEACON_DELAY ; EEPROM copy of programmed beacon delay
|
|
Eep_Pgm_Throttle_Rate: DB DEFAULT_PGM_MULTI_THROTTLE_RATE ; EEPROM copy of programmed throttle rate
|
|
Eep_Pgm_Demag_Comp: DB DEFAULT_PGM_MULTI_DEMAG_COMP ; EEPROM copy of programmed demag compensation
|
|
Eep_Pgm_BEC_Voltage_High: DB DEFAULT_PGM_BEC_VOLTAGE_HIGH ; EEPROM copy of programmed BEC voltage
|
|
ENDIF
|
|
|
|
|
|
Eep_Dummy: DB 0FFh ; EEPROM address for safety reason
|
|
|
|
CSEG AT 1A60h
|
|
Eep_Name: DB " " ; Name tag (16 Bytes)
|
|
|
|
;**** **** **** **** ****
|
|
Interrupt_Table_Definition ; SiLabs interrupts
|
|
CSEG AT 80h ; Code segment after interrupt vectors
|
|
|
|
;**** **** **** **** ****
|
|
|
|
; Table definitions
|
|
GOV_GAIN_TABLE: DB 02h, 03h, 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 60h, 80h
|
|
THROTTLE_RATE_TABLE: DB 02h, 03h, 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 80h, 0FFh
|
|
STARTUP_POWER_TABLE: DB 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 60h, 80h, 0A0h, 0C0h
|
|
DEMAG_WAIT_TABLE: DB 0, 0, 0, 1, 1
|
|
DEMAG_POWER_TABLE: DB 0, 3, 2, 2, 1
|
|
|
|
;FINISH_KEYWORD_TABLE: DB 066h, 08h, 08h, 03h, 01h, 00h, 02h, 00h
|
|
; DB 09h, 01h, 00h, 00h, 00h, 00h, 00h, 00h
|
|
; DB 0B4h, 00h, 04h, 00h, 02h, 00h, 00h, 025h
|
|
; DB 0D0h, 050h, 064h, 01h, 0Dh, 01h, 00h, 00h ;增加编程默认值表 2013.7.30 ;//////////////////////////////////////////
|
|
; DB 00h, 00h, 00h, 00h, 00h, 00h, 00h, 00h
|
|
; DB 00h, 00h, 00h, 00h, 00h, 00h, 00h, 00h
|
|
|
|
IF MODE == 0
|
|
TX_PGM_PARAMS_MAIN: DB 13, 13, 4, 2, 6, 2, 13, 5, 5, 5, 13, 6, 3, 5, 2, 2
|
|
ENDIF
|
|
IF MODE == 1
|
|
IF DAMPED_MODE_ENABLE == 1
|
|
TX_PGM_PARAMS_TAIL: DB 5, 5, 2, 13, 5, 5, 5, 13, 6, 4, 5, 2, 2
|
|
ENDIF
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
TX_PGM_PARAMS_TAIL: DB 5, 5, 2, 13, 5, 5, 5, 13, 6, 3, 5, 2, 2
|
|
ENDIF
|
|
ENDIF
|
|
IF MODE == 2
|
|
IF DAMPED_MODE_ENABLE == 1
|
|
;///////TX_PGM_PARAMS_MULTI: DB 13, 13, 4, 5, 6, 2, 13, 5, 5, 5, 13, 6, 4, 5, 2, 2
|
|
TX_PGM_PARAMS_MULTI: DB 6, 5, 13, 4, 2, 4, 2
|
|
ENDIF
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
;///////TX_PGM_PARAMS_MULTI: DB 13, 13, 4, 5, 6, 2, 13, 5, 5, 5, 13, 6, 3, 5, 2, 2
|
|
TX_PGM_PARAMS_MULTI: DB 6, 5, 13, 4, 2, 4, 2
|
|
ENDIF
|
|
ENDIF
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Timer0 interrupt routine
|
|
;
|
|
; Assumptions: DPTR register must be set to desired pwm_nfet_on label
|
|
; Requirements: Temp variables can NOT be used since PWSW.3 is not set
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
t0_int: ; Used for pwm control
|
|
clr EA ; Disable all interrupts
|
|
push PSW ; Preserve registers through interrupt
|
|
push ACC
|
|
; Check if pwm is on
|
|
jb Flags0.PWM_ON, t0_int_pwm_off ; Is pwm on?
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|
|
|
; Pwm on cycle.
|
|
jnb Current_Pwm_Limited.7, t0_int_pwm_on_low_pwm ; Jump for low pwm (<50%)
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|
|
|
t0_int_pwm_on_execute:
|
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clr A
|
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jmp @A+DPTR ; No - jump to pwm on routines. DPTR should be set to one of the pwm_nfet_on labels
|
|
|
|
t0_int_pwm_on_low_pwm:
|
|
; Do not execute pwm when stopped
|
|
jnb Flags1.MOTOR_SPINNING, t0_int_pwm_on_stopped
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|
|
|
IF MODE == 0 OR MODE == 2 ; Main or multi
|
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jmp t0_int_pwm_on_execute
|
|
ENDIF
|
|
IF MODE == 1 ; Tail
|
|
; Skip pwm on cycles for very low pwm
|
|
inc Pwm_On_Cnt ; Increment event counter
|
|
clr C
|
|
mov A, #5 ; Only skip for very low pwm
|
|
subb A, Current_Pwm_Limited ; Check skipping shall be done (for low pwm only)
|
|
jc t0_int_pwm_on_execute
|
|
|
|
subb A, Pwm_On_Cnt ; Check if on cycle is to be skipped
|
|
jc t0_int_pwm_on_execute
|
|
|
|
mov TL0, #120 ; Write start point for timer
|
|
mov A, Current_Pwm_Limited
|
|
jnz ($+5)
|
|
mov TL0, #0 ; Write start point for timer (long time for zero pwm)
|
|
jmp t0_int_pwm_on_exit_no_timer_update
|
|
ENDIF
|
|
|
|
t0_int_pwm_on_stopped:
|
|
jmp t0_int_pwm_on_exit
|
|
|
|
|
|
t0_int_pwm_off:
|
|
jnb Flags1.DIRECT_STARTUP_PHASE, t0_int_pwm_off_start_checked
|
|
All_nFETs_Off ; Switch off all nfets early during direct start, for a smooth start
|
|
t0_int_pwm_off_start_checked:
|
|
; Pwm off cycle
|
|
mov TL0, Current_Pwm_Limited ; Load new timer setting
|
|
; Clear pwm on flag
|
|
clr Flags0.PWM_ON
|
|
; Set full PWM (on all the time) if current PWM near max. This will give full power, but at the cost of a small "jump" in power
|
|
mov A, Current_Pwm_Limited ; Load current pwm
|
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cpl A ; Full pwm?
|
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jnz ($+4) ; No - branch
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ajmp t0_int_pwm_off_fullpower_exit ; Yes - exit
|
|
|
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inc Pwm_Off_Cnt ; Increment event counter
|
|
; Do not execute pwm when stopped
|
|
jnb Flags1.MOTOR_SPINNING, t0_int_pwm_off_stopped
|
|
|
|
; If damped operation, set pFETs on in pwm_off
|
|
jb Flags2.PGM_PWMOFF_DAMPED, t0_int_pwm_off_damped ; Damped operation?
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|
|
|
; Separate exit commands here for minimum delay
|
|
mov TL1, #0 ; Reset timer1
|
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pop ACC ; Restore preserved registers
|
|
pop PSW
|
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All_nFETs_Off ; Switch off all nfets
|
|
setb EA ; Enable all interrupts
|
|
reti
|
|
|
|
t0_int_pwm_off_stopped:
|
|
All_nFETs_Off ; Switch off all nfets
|
|
jmp t0_int_pwm_off_exit
|
|
|
|
t0_int_pwm_off_damped:
|
|
setb Flags2.CURR_PWMOFF_DAMPED ; Set damped status
|
|
clr Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator unusable status
|
|
mov A, Damping_On
|
|
jz t0_int_pwm_off_do_damped ; Highest damping - apply damping always
|
|
|
|
clr C
|
|
mov A, Pwm_Off_Cnt ; Is damped on number reached?
|
|
dec A
|
|
subb A, Damping_On
|
|
jc t0_int_pwm_off_do_damped ; No - apply damping
|
|
|
|
clr Flags2.CURR_PWMOFF_DAMPED ; Set non damped status
|
|
setb Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator usable status
|
|
clr C
|
|
mov A, Pwm_Off_Cnt
|
|
subb A, Damping_Period ; Is damped period number reached?
|
|
jnc t0_int_pwm_off_clr_cnt ; Yes - Proceed
|
|
|
|
jmp t0_int_pwm_off_exit ; No - Branch
|
|
|
|
t0_int_pwm_off_clr_cnt:
|
|
mov Pwm_Off_Cnt, #0 ; Yes - clear counter
|
|
jmp t0_int_pwm_off_exit ; Not damped cycle - exit
|
|
|
|
t0_int_pwm_off_do_damped:
|
|
; Delay to allow nFETs to go off before pFETs are turned on (only in full damped mode)
|
|
jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, t0_int_pwm_off_damped_light ; If damped light operation - branch
|
|
|
|
; All_pFETs_Off ; Switch off all nfets
|
|
; mov A, #PFETON_DELAY
|
|
; djnz ACC, $
|
|
; All_nFETs_On ; Switch on all pfets
|
|
jmp t0_int_pwm_off_exit
|
|
|
|
t0_int_pwm_off_damped_light:
|
|
IF DAMPED_MODE_ENABLE == 1
|
|
setb Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator usable status always for damped light mode on fully damped capable escs
|
|
ENDIF
|
|
All_nFETs_Off ; Switch off all nfets
|
|
mov A, Comm_Phase ; Turn on pfets according to commutation phase
|
|
jb ACC.2, t0_int_pwm_off_comm_4_5_6
|
|
jb ACC.1, t0_int_pwm_off_comm_2_3
|
|
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
AnFET_On ; Comm phase 1 - turn on A
|
|
ELSE
|
|
mov A, #PFETON_DELAY
|
|
djnz ACC, $
|
|
CnFET_On ; Comm phase 1 - turn on C
|
|
ENDIF
|
|
jmp t0_int_pwm_off_exit
|
|
|
|
t0_int_pwm_off_comm_2_3:
|
|
jb ACC.0, t0_int_pwm_off_comm_3
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
BnFET_On ; Comm phase 2 - turn on B
|
|
ELSE
|
|
mov A, #PFETON_DELAY
|
|
djnz ACC, $
|
|
CnFET_On ; Comm phase 2 - turn on C
|
|
ENDIF
|
|
jmp t0_int_pwm_off_exit
|
|
|
|
t0_int_pwm_off_comm_3:
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
CnFET_On ; Comm phase 3 - turn on C
|
|
ELSE
|
|
mov A, #PFETON_DELAY
|
|
djnz ACC, $
|
|
BnFET_On ; Comm phase 3 - turn on B
|
|
ENDIF
|
|
jmp t0_int_pwm_off_exit
|
|
|
|
t0_int_pwm_off_comm_4_5_6:
|
|
jb ACC.1, t0_int_pwm_off_comm_6
|
|
jb ACC.0, t0_int_pwm_off_comm_5
|
|
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
AnFET_On ; Comm phase 4 - turn on A
|
|
ELSE
|
|
mov A, #PFETON_DELAY
|
|
djnz ACC, $
|
|
BnFET_On ; Comm phase 4 - turn on B
|
|
ENDIF
|
|
jmp t0_int_pwm_off_exit
|
|
|
|
t0_int_pwm_off_comm_5:
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
BnFET_On ; Comm phase 5 - turn on B
|
|
ELSE
|
|
mov A, #PFETON_DELAY
|
|
djnz ACC, $
|
|
AnFET_On ; Comm phase 5 - turn on A
|
|
ENDIF
|
|
jmp t0_int_pwm_off_exit
|
|
|
|
t0_int_pwm_off_comm_6:
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
CnFET_On ; Comm phase 6 - turn on C
|
|
ELSE
|
|
mov A, #PFETON_DELAY
|
|
djnz ACC, $
|
|
AnFET_On ; Comm phase 6 - turn on A
|
|
ENDIF
|
|
|
|
t0_int_pwm_off_exit: ; Exit from pwm off cycle
|
|
mov TL1, #0 ; Reset timer1
|
|
pop ACC ; Restore preserved registers
|
|
pop PSW
|
|
All_nFETs_Off ; Switch off all nfets
|
|
setb EA ; Enable all interrupts
|
|
reti
|
|
|
|
t0_int_pwm_off_fullpower_exit: ; Exit from pwm off cycle, leaving power on
|
|
pop ACC ; Restore preserved registers
|
|
pop PSW
|
|
setb EA ; Enable all interrupts
|
|
reti
|
|
|
|
|
|
|
|
pwm_nofet_on: ; Dummy pwm on cycle
|
|
ajmp t0_int_pwm_on_exit
|
|
|
|
pwm_afet_on: ; Pwm on cycle afet on (bfet off)
|
|
AnFET_on
|
|
BnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
|
|
pwm_bfet_on: ; Pwm on cycle bfet on (cfet off)
|
|
BnFET_on
|
|
CnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
|
|
pwm_cfet_on: ; Pwm on cycle cfet on (afet off)
|
|
CnFET_on
|
|
AnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
|
|
pwm_anfet_bpfet_on_fast: ; Pwm on cycle anfet on (bnfet off) and bpfet on (used in damped state 6)
|
|
ApFET_off
|
|
AnFET_on ; Switch nFETs
|
|
CpFET_off
|
|
BnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
pwm_anfet_bpfet_on_safe: ; Pwm on cycle anfet on (bnfet off) and bpfet on (used in damped state 6)
|
|
; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
|
|
ApFET_off
|
|
CpFET_off
|
|
mov A, #NFETON_DELAY ; Set full delay
|
|
djnz ACC, $
|
|
AnFET_on ; Switch nFETs
|
|
BnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
|
|
pwm_anfet_cpfet_on_fast: ; Pwm on cycle anfet on (bnfet off) and cpfet on (used in damped state 5)
|
|
ApFET_off
|
|
AnFET_on ; Switch nFETs
|
|
BpFET_off
|
|
BnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
pwm_anfet_cpfet_on_safe: ; Pwm on cycle anfet on (bnfet off) and cpfet on (used in damped state 5)
|
|
; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
|
|
ApFET_off
|
|
BpFET_off
|
|
mov A, #NFETON_DELAY ; Set full delay
|
|
djnz ACC, $
|
|
AnFET_on ; Switch nFETs
|
|
BnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
|
|
pwm_bnfet_cpfet_on_fast: ; Pwm on cycle bnfet on (cnfet off) and cpfet on (used in damped state 4)
|
|
BpFET_off
|
|
BnFET_on ; Switch nFETs
|
|
ApFET_off
|
|
CnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
pwm_bnfet_cpfet_on_safe: ; Pwm on cycle bnfet on (cnfet off) and cpfet on (used in damped state 4)
|
|
; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
|
|
BpFET_off
|
|
ApFET_off
|
|
mov A, #NFETON_DELAY ; Set full delay
|
|
djnz ACC, $
|
|
BnFET_on ; Switch nFETs
|
|
CnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
|
|
pwm_bnfet_apfet_on_fast: ; Pwm on cycle bnfet on (cnfet off) and apfet on (used in damped state 3)
|
|
BpFET_off
|
|
BnFET_on ; Switch nFETs
|
|
CpFET_off
|
|
CnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
pwm_bnfet_apfet_on_safe: ; Pwm on cycle bnfet on (cnfet off) and apfet on (used in damped state 3)
|
|
; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
|
|
BpFET_off
|
|
CpFET_off
|
|
mov A, #NFETON_DELAY ; Set full delay
|
|
djnz ACC, $
|
|
BnFET_on ; Switch nFETs
|
|
CnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
|
|
pwm_cnfet_apfet_on_fast: ; Pwm on cycle cnfet on (anfet off) and apfet on (used in damped state 2)
|
|
CpFET_off
|
|
CnFET_on ; Switch nFETs
|
|
BpFET_off
|
|
AnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
pwm_cnfet_apfet_on_safe: ; Pwm on cycle cnfet on (anfet off) and apfet on (used in damped state 2)
|
|
; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
|
|
CpFET_off
|
|
BpFET_off
|
|
mov A, #NFETON_DELAY ; Set full delay
|
|
djnz ACC, $
|
|
CnFET_on ; Switch nFETs
|
|
AnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
|
|
pwm_cnfet_bpfet_on_fast: ; Pwm on cycle cnfet on (anfet off) and bpfet on (used in damped state 1)
|
|
CpFET_off
|
|
CnFET_on ; Switch nFETs
|
|
ApFET_off
|
|
AnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
pwm_cnfet_bpfet_on_safe: ; Pwm on cycle cnfet on (anfet off) and bpfet on (used in damped state 1)
|
|
; Delay from pFETs are turned off (only in damped mode) until nFET is turned on (pFETs are slow)
|
|
CpFET_off
|
|
ApFET_off
|
|
mov A, #NFETON_DELAY ; Set full delay
|
|
djnz ACC, $
|
|
CnFET_on ; Switch nFETs
|
|
AnFET_off
|
|
ajmp t0_int_pwm_on_exit
|
|
|
|
t0_int_pwm_on_exit:
|
|
; Set timer for coming on cycle length
|
|
mov A, Current_Pwm_Limited ; Load current pwm
|
|
cpl A ; cpl is 255-x
|
|
mov TL0, A ; Write start point for timer
|
|
; Set other variables
|
|
mov TL1, #0 ; Reset timer1
|
|
mov Pwm_On_Cnt, #0 ; Reset pwm on event counter
|
|
setb Flags0.PWM_ON ; Set pwm on flag
|
|
t0_int_pwm_on_exit_no_timer_update:
|
|
; Exit interrupt
|
|
pop ACC ; Restore preserved registers
|
|
pop PSW
|
|
setb EA ; Enable all interrupts
|
|
reti
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Timer2 interrupt routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
t2_int: ; Happens every 128us for low byte and every 32ms for high byte
|
|
clr EA ; Disable all interrupts
|
|
push PSW ; Preserve registers through interrupt
|
|
push ACC
|
|
setb PSW.3 ; Select register bank 1 for interrupt routines
|
|
; Clear low byte interrupt flag
|
|
clr TF2L ; Clear interrupt flag
|
|
; Check RC pulse timeout counter
|
|
mov A, Rcp_Timeout_Cnt ; RC pulse timeout count zero?
|
|
jz t2_int_pulses_absent ; Yes - pulses are absent
|
|
|
|
; Decrement timeout counter (if PWM)
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
; anl A, Flags3 ; Check pwm frequency flags
|
|
; jz t2_int_skip_start ; If no flag is set (PPM) - branch
|
|
|
|
; dec Rcp_Timeout_Cnt ; No - decrement
|
|
ajmp t2_int_skip_start
|
|
|
|
t2_int_pulses_absent:
|
|
; Timeout counter has reached zero, pulses are absent
|
|
mov Temp1, #RCP_MIN ; RCP_MIN as default
|
|
mov Temp2, #RCP_MIN
|
|
Read_Rcp_Int ; Look at value of Rcp_In
|
|
jnb ACC.Rcp_In, ($+5) ; Is it high?
|
|
mov Temp1, #RCP_MAX ; Yes - set RCP_MAX
|
|
Rcp_Int_First ; Set interrupt trig to first again
|
|
Rcp_Clear_Int_Flag ; Clear interrupt flag
|
|
clr Flags2.RCP_EDGE_NO ; Set first edge flag
|
|
Read_Rcp_Int ; Look once more at value of Rcp_In
|
|
jnb ACC.Rcp_In, ($+5) ; Is it high?
|
|
mov Temp2, #RCP_MAX ; Yes - set RCP_MAX
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, Temp2 ; Compare the two readings of Rcp_In
|
|
jnz t2_int_pulses_absent ; Go back if they are not equal
|
|
|
|
jnb Flags0.RCP_MEAS_PWM_FREQ, ($+6) ; Is measure RCP pwm frequency flag set?
|
|
|
|
mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; Yes - set timeout count to start value
|
|
; mov Pgm_Pulse_Cnt, #0 ;清除PCA中断计数
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
; anl A, Flags3 ; Check pwm frequency flags
|
|
; jz t2_int_ppm_timeout_set ; If no flag is set (PPM) - branch
|
|
|
|
; mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; For PWM, set timeout count to start value
|
|
|
|
t2_int_ppm_timeout_set:
|
|
mov New_Rcp, Temp1 ; Store new pulse length
|
|
setb Flags2.RCP_UPDATED ; Set updated flag
|
|
|
|
|
|
t2_int_skip_start:
|
|
; Check RC pulse skip counter
|
|
mov A, Rcp_Skip_Cnt
|
|
jz t2_int_skip_end ; If RC pulse skip count is zero - end skipping RC pulse detection
|
|
|
|
; Decrement skip counter (only if edge counter is zero)
|
|
dec Rcp_Skip_Cnt ; Decrement
|
|
ajmp t2_int_rcp_update_start
|
|
|
|
t2_int_skip_end:
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
; anl A, Flags3 ; Check pwm frequency flags
|
|
; jz t2_int_rcp_update_start ; If no flag is set (PPM) - branch
|
|
|
|
; Skip counter has reached zero, start looking for RC pulses again
|
|
; Rcp_Int_Enable ; Enable RC pulse interrupt
|
|
; Rcp_Clear_Int_Flag ; Clear interrupt flag
|
|
|
|
t2_int_rcp_update_start:
|
|
; Process updated RC pulse
|
|
jb Flags2.RCP_UPDATED, ($+5) ; Is there an updated RC pulse available?
|
|
ajmp t2_int_pwm_exit ; No - exit
|
|
|
|
mov A, New_Rcp ; Load new pulse value
|
|
mov Temp1, A
|
|
clr Flags2.RCP_UPDATED ; Flag that pulse has been evaluated
|
|
; Use a gain of 1.0625x for pwm input if not governor mode
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
; anl A, Flags3 ; Check pwm frequency flags
|
|
; jz t2_int_pwm_min_run ; If no flag is set (PPM) - branch
|
|
;;*****************************************************
|
|
;; Closed loop mode 选择
|
|
;;*****************************************************
|
|
;IF MODE <= 1 ; Main or tail
|
|
; mov Temp2, #Pgm_Gov_Mode ; Governor mode?
|
|
; cjne @Temp2, #4, t2_int_pwm_min_run; Yes - branch
|
|
;ENDIF
|
|
;IF MODE == 2 ; Multi
|
|
;;读取Closed loop mode
|
|
; mov Temp2, #Pgm_Gov_Mode ; Closed loop mode?
|
|
; cjne @Temp2, #4, t2_int_pwm_min_run; Yes - branch
|
|
;ENDIF
|
|
|
|
; ; Limit the maximum value to avoid wrap when scaled to pwm range
|
|
;;Closed loop mode = 第1项 Off
|
|
; clr C
|
|
; mov A, Temp1
|
|
; subb A, #240 ; 240 = (255/1.0625) Needs to be updated according to multiplication factor below
|
|
; jc t2_int_rcp_update_mult
|
|
|
|
; mov A, #240 ; Set requested pwm to max
|
|
; mov Temp1, A
|
|
|
|
;t2_int_rcp_update_mult:
|
|
; ; Multiply by 1.0625 (optional adjustment gyro gain)
|
|
; mov A, Temp1
|
|
; swap A ; After this "0.0625"
|
|
; anl A, #0Fh
|
|
; add A, Temp1
|
|
; mov Temp1, A
|
|
; ; Adjust tail gain
|
|
;;读取 Multi gain
|
|
; mov Temp2, #Pgm_Motor_Gain
|
|
; cjne @Temp2, #3, ($+5) ; Is gain 1?
|
|
; ajmp t2_int_pwm_min_run ; Yes - skip adjustment
|
|
;;Multi gain = 第2选项
|
|
; clr C
|
|
; rrc A ; After this "0.5"
|
|
; clr C
|
|
; rrc A ; After this "0.25"
|
|
; mov Bit_Access_Int, @Temp2 ; (Temp2 has #Pgm_Motor_Gain)
|
|
; jb Bit_Access_Int.0, t2_int_rcp_gain_corr ; Branch if bit 0 in gain is set
|
|
;;Multi gain = 第4选项
|
|
; clr C
|
|
; rrc A ; After this "0.125"
|
|
|
|
;t2_int_rcp_gain_corr:
|
|
; jb Bit_Access_Int.2, t2_int_rcp_gain_pos ; Branch if bit 2 in gain is set
|
|
;;Multi gain = 第1选项
|
|
; clr C
|
|
; xch A, Temp1
|
|
; subb A, Temp1 ; Apply negative correction
|
|
; mov Temp1, A
|
|
; ajmp t2_int_pwm_min_run
|
|
;;Multi gain = 第5选项
|
|
;t2_int_rcp_gain_pos:
|
|
; add A, Temp1 ; Apply positive correction
|
|
; mov Temp1, A
|
|
; jnc t2_int_pwm_min_run ; Above max?
|
|
|
|
; mov A, #0FFh ; Yes - limit
|
|
; mov Temp1, A
|
|
;;Multi gain = 第3选项
|
|
t2_int_pwm_min_run:
|
|
; Limit minimum pwm
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, Pwm_Motor_Idle ; Is requested pwm lower than minimum?
|
|
jnc t2_int_pwm_update ; No - branch
|
|
|
|
mov A, Pwm_Motor_Idle ; Yes - limit pwm to Pwm_Motor_Idle
|
|
mov Temp1, A
|
|
|
|
t2_int_pwm_update:
|
|
; Check if any startup phase flags are set
|
|
mov A, Flags1
|
|
anl A, #((1 SHL SETTLE_PHASE)+(1 SHL STEPPER_PHASE))
|
|
jnz t2_int_pwm_exit ; Exit if any startup phase set (pwm controlled by set_startup_pwm)
|
|
|
|
; Update requested_pwm
|
|
mov Requested_Pwm, Temp1 ; Set requested pwm
|
|
; Limit pwm during direct start
|
|
jnb Flags1.DIRECT_STARTUP_PHASE, t2_int_current_pwm_update
|
|
|
|
clr C
|
|
mov A, Requested_Pwm ; Limit pwm during direct start
|
|
subb A, Pwm_Limit
|
|
jc ($+7)
|
|
|
|
mov Requested_Pwm, Pwm_Limit
|
|
ajmp t2_int_current_pwm_update
|
|
|
|
mov A, Requested_Pwm
|
|
add A, #11
|
|
mov Requested_Pwm, A
|
|
|
|
t2_int_current_pwm_update:
|
|
IF MODE <= 1 ; Main or tail
|
|
mov Temp1, #Pgm_Gov_Mode ; Governor mode?
|
|
cjne @Temp1, #4, t2_int_pwm_exit ; Yes - branch
|
|
ENDIF
|
|
IF MODE == 2 ; Multi
|
|
;读取Closed loop mode
|
|
mov Temp1, #Pgm_Gov_Mode ; Closed loop mode?
|
|
cjne @Temp1, #1, t2_int_pwm_exit ; Yes - branch
|
|
ENDIF
|
|
|
|
; Update current pwm, with limited throttle change rate
|
|
;Closed loop mode = Off
|
|
clr C
|
|
mov A, Requested_Pwm
|
|
subb A, Current_Pwm ; Is requested pwm larger than current pwm?
|
|
jc t2_int_set_current_pwm ; No - proceed
|
|
|
|
mov Temp1, #Pgm_Throttle_Rate_Decoded
|
|
subb A, @Temp1 ; Is difference larger than throttle change rate?
|
|
jc t2_int_set_current_pwm ; No - proceed
|
|
|
|
mov A, Current_Pwm ; Increase current pwm by throttle change rate
|
|
add A, @Temp1
|
|
mov Current_Pwm, A
|
|
jnc t2_int_current_pwm_done ; Is result above max?
|
|
|
|
mov Current_Pwm, #0FFh ; Yes - limit
|
|
jmp t2_int_current_pwm_done
|
|
|
|
t2_int_set_current_pwm:
|
|
mov Current_Pwm, Requested_Pwm ; Set equal as default
|
|
t2_int_current_pwm_done:
|
|
IF MODE == 1 ; Tail
|
|
; If tail, then set current_pwm_limited
|
|
mov Current_Pwm_Limited, Current_Pwm ; Default not limited
|
|
clr C
|
|
mov A, Current_Pwm ; Check against limit
|
|
subb A, Pwm_Limit
|
|
jc ($+5) ; If current pwm below limit - branch
|
|
|
|
mov Current_Pwm_Limited, Pwm_Limit ; Limit pwm
|
|
ENDIF
|
|
IF MODE == 2 ; Multi
|
|
; If multi, then set current_pwm_limited
|
|
mov Current_Pwm_Limited, Current_Pwm ; Default not limited
|
|
clr C
|
|
mov A, Current_Pwm ; Check against limit
|
|
subb A, Pwm_Limit
|
|
jc ($+5) ; If current pwm below limit - branch
|
|
|
|
mov Current_Pwm_Limited, Pwm_Limit ; Limit pwm
|
|
ENDIF
|
|
|
|
t2_int_pwm_exit:
|
|
; Check if high byte flag is set
|
|
jb TF2H, t2h_int
|
|
pop ACC ; Restore preserved registers
|
|
pop PSW
|
|
clr PSW.3 ; Select register bank 0 for main program routines
|
|
setb EA ; Enable all interrupts
|
|
reti
|
|
|
|
t2h_int:
|
|
; High byte interrupt (happens every 32ms)
|
|
clr TF2H ; Clear interrupt flag
|
|
mov Temp1, #GOV_SPOOLRATE ; Load governor spool rate
|
|
; Check RC pulse timeout counter (used here for PPM only)
|
|
mov A, Rcp_Timeout_Cnt ; RC pulse timeout count zero?
|
|
jz t2h_int_rcp_stop_check ; Yes - do not decrement
|
|
|
|
; Decrement timeout counter (if PPM)
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
; anl A, Flags3 ; Check pwm frequency flags
|
|
; jnz t2h_int_rcp_stop_check ; If a flag is set (PWM) - branch
|
|
|
|
dec Rcp_Timeout_Cnt ; No flag set (PPM) - decrement
|
|
|
|
t2h_int_rcp_stop_check:
|
|
; Check RC pulse against stop value
|
|
clr C
|
|
mov A, New_Rcp ; Load new pulse value
|
|
subb A, #RCP_STOP
|
|
; subb A, #(RCP_STOP+2) ; Check if pulse is below stop value
|
|
jc t2h_int_rcp_stop
|
|
|
|
; RC pulse higher than stop value, reset stop counter
|
|
mov Rcp_Stop_Cnt, #0 ; Reset rcp stop counter
|
|
ajmp t2h_int_rcp_gov_pwm
|
|
|
|
t2h_int_rcp_stop:
|
|
; RC pulse less than stop value, increment stop counter
|
|
mov A, Rcp_Stop_Cnt ; Load rcp stop counter
|
|
inc A ; Check if counter is max
|
|
jz t2h_int_rcp_gov_pwm ; Branch if counter is equal to max
|
|
|
|
inc Rcp_Stop_Cnt ; Increment stop counter
|
|
|
|
t2h_int_rcp_gov_pwm:
|
|
IF MODE == 0 ; Main
|
|
mov Temp2, #Pgm_Gov_Mode ; Governor target by arm mode?
|
|
cjne @Temp2, #2, t2h_int_rcp_gov_by_setup ; No - branch
|
|
|
|
mov A, Gov_Active ; Is governor active?
|
|
jz t2h_int_rcp_gov_by_tx ; No - branch (this ensures soft spoolup by tx)
|
|
|
|
clr C
|
|
mov A, Requested_Pwm
|
|
subb A, #50 ; Is requested pwm below 20%?
|
|
jc t2h_int_rcp_gov_by_tx ; Yes - branch (this enables a soft spooldown)
|
|
|
|
mov Requested_Pwm, Gov_Arm_Target ; Yes - load arm target
|
|
|
|
t2h_int_rcp_gov_by_setup:
|
|
mov Temp2, #Pgm_Gov_Mode ; Governor target by setup mode?
|
|
cjne @Temp2, #3, t2h_int_rcp_gov_by_tx ; No - branch
|
|
|
|
mov A, Gov_Active ; Is governor active?
|
|
jz t2h_int_rcp_gov_by_tx ; No - branch (this ensures soft spoolup by tx)
|
|
|
|
clr C
|
|
mov A, Requested_Pwm
|
|
subb A, #50 ; Is requested pwm below 20%?
|
|
jc t2h_int_rcp_gov_by_tx ; Yes - branch (this enables a soft spooldown)
|
|
;读取Pgm_Gov_Setup_Target
|
|
mov Temp2, #Pgm_Gov_Setup_Target ; Gov by setup - load setup target
|
|
mov Requested_Pwm, @Temp2
|
|
|
|
t2h_int_rcp_gov_by_tx:
|
|
clr C
|
|
mov A, Governor_Req_Pwm
|
|
subb A, Requested_Pwm ; Is governor requested pwm equal to requested pwm?
|
|
jz t2h_int_rcp_gov_pwm_done ; Yes - branch
|
|
|
|
jc t2h_int_rcp_gov_pwm_inc ; No - if lower, then increment
|
|
|
|
dec Governor_Req_Pwm ; No - if higher, then decrement
|
|
ajmp t2h_int_rcp_gov_pwm_done
|
|
|
|
t2h_int_rcp_gov_pwm_inc:
|
|
inc Governor_Req_Pwm ; Increment
|
|
|
|
t2h_int_rcp_gov_pwm_done:
|
|
djnz Temp1, t2h_int_rcp_gov_pwm ; If not number of steps processed - go back
|
|
|
|
inc Spoolup_Limit_Cnt ; Increment spoolup count
|
|
|
|
jnz ($+4) ; Wrapped?
|
|
|
|
dec Spoolup_Limit_Cnt ; Yes - decrement
|
|
|
|
djnz Spoolup_Limit_Skip, t2h_int_rcp_exit ; Jump if skip count is not reached
|
|
|
|
mov Spoolup_Limit_Skip, #1 ; Reset skip count. Default is fast spoolup
|
|
mov Temp1, #3 ; Default fast increase
|
|
|
|
clr C
|
|
mov A, Spoolup_Limit_Cnt
|
|
subb A, #(3*MAIN_SPOOLUP_TIME) ; No spoolup until "30"*32ms
|
|
jc t2h_int_rcp_exit
|
|
|
|
clr C
|
|
mov A, Spoolup_Limit_Cnt
|
|
subb A, #(10*MAIN_SPOOLUP_TIME) ; Slow spoolup until "100"*32ms
|
|
jnc t2h_int_rcp_limit_middle_ramp
|
|
|
|
mov Temp1, #1 ; Slow initial spoolup
|
|
mov Spoolup_Limit_Skip, #3
|
|
jmp t2h_int_rcp_set_limit
|
|
|
|
t2h_int_rcp_limit_middle_ramp:
|
|
clr C
|
|
mov A, Spoolup_Limit_Cnt
|
|
subb A, #(15*MAIN_SPOOLUP_TIME) ; Faster spoolup until "150"*32ms
|
|
jnc t2h_int_rcp_set_limit
|
|
|
|
mov Temp1, #1 ; Faster middle spoolup
|
|
mov Spoolup_Limit_Skip, #1
|
|
|
|
t2h_int_rcp_set_limit:
|
|
mov A, Pwm_Limit_Spoolup ; Increment spoolup pwm
|
|
clr C
|
|
add A, Temp1
|
|
jnc t2h_int_rcp_no_limit ; If below 255 - branch
|
|
|
|
mov Pwm_Limit_Spoolup, #0FFh
|
|
ajmp t2h_int_rcp_exit
|
|
|
|
t2h_int_rcp_no_limit:
|
|
mov Pwm_Limit_Spoolup, A
|
|
ENDIF
|
|
IF MODE == 2 ; Multi
|
|
mov A, Pwm_Limit_Spoolup ; Increment spoolup pwm, for a 0.8 seconds spoolup
|
|
clr C
|
|
add A, #10
|
|
jnc t2h_int_rcp_no_limit ; If below 255 - branch
|
|
|
|
mov Pwm_Limit_Spoolup, #0FFh
|
|
ajmp t2h_int_rcp_exit
|
|
|
|
t2h_int_rcp_no_limit:
|
|
mov Pwm_Limit_Spoolup, A
|
|
ENDIF
|
|
|
|
t2h_int_rcp_exit:
|
|
pop ACC ; Restore preserved registers
|
|
pop PSW
|
|
clr PSW.3 ; Select register bank 0 for main program routines
|
|
setb EA ; Enable all interrupts
|
|
reti
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Timer3 interrupt routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
t3_int: ; Used for commutation timing
|
|
clr EA ; Disable all interrupts
|
|
anl TMR3CN, #07Fh ; Clear interrupt flag
|
|
clr Flags0.T3_PENDING ; Flag that timer has wrapped
|
|
setb EA ; Enable all interrupts
|
|
reti
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; PCA interrupt routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
pca_int: ; Used for RC pulse timing
|
|
clr EA ; Disable all interrupts
|
|
push PSW ; Preserve registers through interrupt
|
|
push ACC
|
|
push B
|
|
setb PSW.3 ; Select register bank 1 for interrupt routines
|
|
|
|
; mov A, Pca_First_Int
|
|
; cjne A, #1, ($+5)
|
|
; inc Pgm_Pulse_Cnt
|
|
; Get PCA0 capture values
|
|
mov Temp1, PCA0CPL0
|
|
mov Temp2, PCA0CPH0
|
|
; Clear interrupt flag
|
|
Rcp_Clear_Int_Flag
|
|
; Check which edge it is
|
|
jnb Flags2.RCP_EDGE_NO, ($+5) ; Is it a first edge trig?
|
|
ajmp pca_int_second_meas_pwm_freq ; No - branch to second
|
|
|
|
Rcp_Int_Second ; Yes - set second edge trig
|
|
setb Flags2.RCP_EDGE_NO ; Set second edge flag
|
|
; Read RC signal level
|
|
Read_Rcp_Int
|
|
; Test RC signal level
|
|
jb ACC.Rcp_In, ($+5) ; Is it high?
|
|
ajmp pca_int_fail_minimum ; No - jump to fail minimum
|
|
|
|
; RC pulse was high, store RC pulse start timestamp
|
|
mov Rcp_Prev_Edge_L, Temp1
|
|
mov Rcp_Prev_Edge_H, Temp2
|
|
ajmp pca_int_exit ; Exit
|
|
|
|
pca_int_fail_minimum:
|
|
; Prepare for next interrupt
|
|
Rcp_Int_First ; Set interrupt trig to first again
|
|
Rcp_Clear_Int_Flag ; Clear interrupt flag
|
|
clr Flags2.RCP_EDGE_NO ; Set first edge flag
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
|
|
anl A, Flags3 ; Check pwm frequency flags
|
|
jnz ($+4) ; If a flag is set (PWM) - proceed
|
|
|
|
ajmp pca_int_set_timeout ; If PPM - ignore trig as noise
|
|
|
|
mov Temp1, #RCP_MIN ; Set RC pulse value to minimum
|
|
Read_Rcp_Int ; Test RC signal level again
|
|
jnb ACC.Rcp_In, ($+5) ; Is it high?
|
|
ajmp pca_int_set_timeout ; Yes - set new timeout and exit
|
|
|
|
mov New_Rcp, Temp1 ; Store new pulse length
|
|
ajmp pca_int_set_timeout ; Set new timeout and exit
|
|
|
|
pca_int_second_meas_pwm_freq:
|
|
; Prepare for next interrupt
|
|
Rcp_Int_First ; Set first edge trig
|
|
clr Flags2.RCP_EDGE_NO ; Set first edge flag
|
|
; Check if pwm frequency shall be measured
|
|
jb Flags0.RCP_MEAS_PWM_FREQ, ($+5) ; Is measure RCP pwm frequency flag set?
|
|
ajmp pca_int_fall ; No - skip measurements
|
|
|
|
; Set second edge trig only during pwm frequency measurement
|
|
Rcp_Int_Second ; Set second edge trig
|
|
Rcp_Clear_Int_Flag ; Clear interrupt flag
|
|
setb Flags2.RCP_EDGE_NO ; Set second edge flag
|
|
; Store edge data to RAM
|
|
mov Rcp_Edge_L, Temp1
|
|
mov Rcp_Edge_H, Temp2
|
|
; Calculate pwm frequency
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, Rcp_PrePrev_Edge_L
|
|
mov Temp1, A ;存低字节差
|
|
mov A, Temp2
|
|
subb A, Rcp_PrePrev_Edge_H
|
|
mov Temp2, A ;存高字节差
|
|
; clr A
|
|
; mov Temp4, A
|
|
; Check if pwm frequency is 8kHz
|
|
mov Temp3, #250 ; Set default period tolerance requirement
|
|
; clr C
|
|
; mov A, Temp1
|
|
; subb A, #low(360) ; If below 180us, 8kHz pwm is assumed
|
|
; mov A, Temp2
|
|
; subb A, #high(360)
|
|
; jnc pca_int_check_4kHz
|
|
|
|
; clr A
|
|
; setb ACC.RCP_PWM_FREQ_8KHZ
|
|
; mov Temp4, A
|
|
; mov Temp3, #15 ; Set period tolerance requirement
|
|
; ajmp pca_int_restore_edge
|
|
|
|
;pca_int_check_4kHz:
|
|
; ; Check if pwm frequency is 4kHz
|
|
; clr C
|
|
; mov A, Temp1
|
|
; subb A, #low(720) ; If below 360us, 4kHz pwm is assumed
|
|
; mov A, Temp2
|
|
; subb A, #high(720)
|
|
; jnc pca_int_check_2kHz
|
|
|
|
; clr A
|
|
; setb ACC.RCP_PWM_FREQ_4KHZ
|
|
; mov Temp4, A
|
|
; mov Temp3, #30 ; Set period tolerance requirement
|
|
; ajmp pca_int_restore_edge
|
|
|
|
;pca_int_check_2kHz:
|
|
; ; Check if pwm frequency is 2kHz
|
|
; clr C
|
|
; mov A, Temp1
|
|
; subb A, #low(1440) ; If below 720us, 2kHz pwm is assumed
|
|
; mov A, Temp2
|
|
; subb A, #high(1440)
|
|
; jnc pca_int_check_1kHz
|
|
|
|
; clr A
|
|
; setb ACC.RCP_PWM_FREQ_2KHZ
|
|
; mov Temp4, A
|
|
; mov Temp3, #60 ; Set period tolerance requirement
|
|
; ajmp pca_int_restore_edge
|
|
|
|
;pca_int_check_1kHz:
|
|
; Check if pwm frequency is 1kHz
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, #low(2200) ; If below 1100us, 1kHz pwm is assumed
|
|
mov A, Temp2
|
|
subb A, #high(2200)
|
|
jnc pca_int_restore_edge
|
|
|
|
ajmp pca_int_set_timeout
|
|
; clr A
|
|
; setb ACC.RCP_PWM_FREQ_1KHZ
|
|
; mov Temp4, A
|
|
; mov Temp3, #120 ; Set period tolerance requirement
|
|
|
|
pca_int_restore_edge:
|
|
; Calculate difference between this period and previous period
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, Rcp_Prev_Period_L
|
|
mov Temp5, A
|
|
mov A, Temp2
|
|
subb A, Rcp_Prev_Period_H
|
|
mov Temp6, A
|
|
; Make positive
|
|
jnb ACC.7, pca_int_check_diff
|
|
mov A, Temp5
|
|
cpl A
|
|
add A, #1
|
|
mov Temp5, A
|
|
mov A, Temp6
|
|
cpl A
|
|
mov Temp6, A
|
|
|
|
pca_int_check_diff:
|
|
; Check difference
|
|
mov Rcp_Period_Diff_Accepted, #0 ; Set not accepted as default
|
|
jnz pca_int_store_data ; Check if high byte is zero
|
|
|
|
clr C
|
|
mov A, Temp5
|
|
subb A, Temp3 ; Check difference
|
|
jnc pca_int_store_data
|
|
|
|
mov Rcp_Period_Diff_Accepted, #1 ; Set accepted
|
|
|
|
pca_int_store_data:
|
|
; Store previous period
|
|
mov Rcp_Prev_Period_L, Temp1
|
|
mov Rcp_Prev_Period_H, Temp2
|
|
; Restore edge data from RAM
|
|
mov Temp1, Rcp_Edge_L
|
|
mov Temp2, Rcp_Edge_H
|
|
; Store pre previous edge
|
|
mov Rcp_PrePrev_Edge_L, Temp1
|
|
mov Rcp_PrePrev_Edge_H, Temp2
|
|
|
|
pca_int_fall:
|
|
clr A
|
|
mov Temp4, A
|
|
; RC pulse edge was second, calculate new pulse length
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, Rcp_Prev_Edge_L
|
|
mov Temp1, A
|
|
mov A, Temp2
|
|
subb A, Rcp_Prev_Edge_H
|
|
mov Temp2, A
|
|
|
|
; jnb Flags3.RCP_PWM_FREQ_8KHZ, ($+5) ; Is RC input pwm frequency 8kHz?
|
|
; ajmp pca_int_pwm_divide_done ; Yes - branch forward
|
|
|
|
; jnb Flags3.RCP_PWM_FREQ_4KHZ, ($+5) ; Is RC input pwm frequency 4kHz?
|
|
; ajmp pca_int_pwm_divide ; Yes - branch forward
|
|
|
|
mov A, Temp2 ; No - 2kHz. Divide by 2 again
|
|
clr C
|
|
rrc A
|
|
mov Temp2, A
|
|
mov A, Temp1
|
|
rrc A
|
|
mov Temp1, A
|
|
|
|
; jnb Flags3.RCP_PWM_FREQ_2KHZ, ($+5) ; Is RC input pwm frequency 2kHz?
|
|
; ajmp pca_int_pwm_divide ; Yes - branch forward
|
|
|
|
mov A, Temp2 ; No - 1kHz. Divide by 2 again
|
|
clr C
|
|
rrc A
|
|
mov Temp2, A
|
|
mov A, Temp1
|
|
rrc A
|
|
mov Temp1, A
|
|
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, #250 ; If below 500us,
|
|
mov A, Temp2
|
|
subb A, #0
|
|
jnc ($+9)
|
|
|
|
mov A, Initial_Arm
|
|
cjne A, #1, ($+5)
|
|
|
|
ajmp pca_int_pwm_divide
|
|
|
|
; jnb Flags3.RCP_PWM_FREQ_1KHZ, ($+5) ; Is RC input pwm frequency 1kHz?
|
|
; ajmp pca_int_pwm_divide ; Yes - branch forward
|
|
|
|
mov A, Temp2 ; No - PPM. Divide by 2 (to bring range to 256) and move to Temp5/6
|
|
clr C
|
|
rrc A
|
|
mov Temp6, A
|
|
mov A, Temp1
|
|
rrc A
|
|
mov Temp5, A
|
|
; Skip range limitation if pwm frequency measurement
|
|
jb Flags0.RCP_MEAS_PWM_FREQ, pca_int_ppm_check_full_range
|
|
|
|
; Check if 2160us or above (in order to ignore false pulses)
|
|
clr C
|
|
mov A, Temp5 ; Is pulse 2160us or higher?
|
|
subb A, #28
|
|
mov A, Temp6
|
|
subb A, #2
|
|
jc ($+5) ; No - proceed
|
|
|
|
ljmp pca_int_set_timeout ; Yes - ignore pulse
|
|
|
|
; Check if below 800us (in order to ignore false pulses)
|
|
mov A, Temp6
|
|
jnz pca_int_ppm_check_full_range
|
|
|
|
clr C
|
|
mov A, Temp5 ; Is pulse below 800us?
|
|
subb A, #200
|
|
jnc pca_int_ppm_check_full_range ; No - proceed
|
|
|
|
jmp pca_int_exit ; Yes - ignore pulse
|
|
|
|
pca_int_ppm_check_full_range:
|
|
; Calculate "1000us" plus throttle minimum
|
|
mov A, #0 ; Set 1000us as default minimum
|
|
jb Flags3.FULL_THROTTLE_RANGE, pca_int_ppm_calculate ; Check if full range is chosen
|
|
|
|
mov Temp1, #Pgm_Ppm_Min_Throttle ; Min throttle value is in 4us units
|
|
mov A, @Temp1
|
|
|
|
pca_int_ppm_calculate:
|
|
add A, #250
|
|
mov Temp7, A
|
|
clr A
|
|
addc A, #0
|
|
mov Temp8, A
|
|
|
|
clr C
|
|
mov A, Temp5 ; Subtract minimum
|
|
subb A, Temp7
|
|
mov Temp5, A
|
|
mov A, Temp6
|
|
subb A, Temp8
|
|
mov Temp6, A
|
|
jnc pca_int_ppm_neg_checked ; Is result negative?
|
|
|
|
mov Temp1, #RCP_MIN ; Yes - set to minimum
|
|
mov Temp2, #0
|
|
ajmp pca_int_pwm_divide_done
|
|
|
|
pca_int_ppm_neg_checked:
|
|
clr C ; Check that RC pulse is within legal range (1000+4*255=2020)
|
|
mov A, Temp5
|
|
subb A, #RCP_MAX
|
|
mov A, Temp6
|
|
subb A, #0
|
|
jc pca_int_ppm_max_checked
|
|
|
|
mov Temp1, #RCP_MAX
|
|
mov Temp2, #0
|
|
ajmp pca_int_pwm_divide_done
|
|
|
|
pca_int_ppm_max_checked:
|
|
mov A, Temp5 ; Multiply throttle value by gain
|
|
mov B, Ppm_Throttle_Gain
|
|
mul AB
|
|
xch A, B
|
|
mov C, B.7 ; Multiply result by 2 (unity gain is 128)
|
|
rlc A
|
|
mov Temp1, A ; Transfer to Temp1/2
|
|
mov Temp2, #0
|
|
jc pca_int_ppm_limit_after_mult
|
|
|
|
jmp pca_int_limited
|
|
|
|
pca_int_ppm_limit_after_mult:
|
|
mov Temp1, #RCP_MAX
|
|
mov Temp2, #0
|
|
jmp pca_int_limited
|
|
|
|
pca_int_pwm_divide:
|
|
;480us
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, #240
|
|
mov A, Temp2
|
|
subb A, #0
|
|
jnc pca_int_set_timeout
|
|
;40us
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, #20
|
|
mov A, Temp2
|
|
subb A, #0
|
|
jc pca_int_set_timeout
|
|
|
|
clr A
|
|
setb ACC.RCP_PWM_FREQ_1KHZ
|
|
mov Temp4, A
|
|
; mov Rcp_Period_Diff_Accepted, #1
|
|
ajmp pca_int_limited
|
|
|
|
pca_int_pwm_divide_done:
|
|
; Check that RC pulse is within legal range
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, #RCP_MAX
|
|
mov A, Temp2
|
|
subb A, #0
|
|
jc pca_int_limited
|
|
|
|
mov Temp1, #RCP_MAX
|
|
|
|
pca_int_limited:
|
|
; RC pulse value accepted
|
|
mov New_Rcp, Temp1 ; Store new pulse length
|
|
setb Flags2.RCP_UPDATED ; Set updated flag
|
|
; jb Flags0.RCP_MEAS_PWM_FREQ, ($+5) ; Is measure RCP pwm frequency flag set?
|
|
; ajmp pca_int_set_timeout ; No - skip measurements
|
|
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
|
|
cpl A
|
|
anl A, Flags3 ; Clear all pwm frequency flags
|
|
orl A, Temp4 ; Store pwm frequency value in flags
|
|
mov Flags3, A
|
|
|
|
pca_int_set_timeout:
|
|
mov Rcp_Timeout_Cnt, #RCP_TIMEOUT ; Set timeout count to start value
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
|
|
anl A, Flags3 ; Check pwm frequency flags
|
|
jnz pca_int_ppm_timeout_set ; If a flag is set - branch
|
|
|
|
mov Rcp_Timeout_Cnt, #RCP_TIMEOUT_PPM ; No flag set means PPM. Set timeout count
|
|
|
|
pca_int_ppm_timeout_set:
|
|
; jnb Flags0.RCP_MEAS_PWM_FREQ, ($+5) ; Is measure RCP pwm frequency flag set?
|
|
; ajmp pca_int_exit ; Yes - exit
|
|
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
; anl A, Flags3 ; Check pwm frequency flags
|
|
; jz pca_int_exit ; If no flag is set (PPM) - branch
|
|
|
|
; Rcp_Int_Disable ; Disable RC pulse interrupt
|
|
|
|
pca_int_exit: ; Exit interrupt routine
|
|
mov Rcp_Skip_Cnt, #RCP_SKIP_RATE ; Load number of skips
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
|
|
anl A, Flags3 ; Check pwm frequency flags
|
|
jnz ($+5) ; If a flag is set (PWM) - branch
|
|
|
|
mov Rcp_Skip_Cnt, #10 ; Load number of skips
|
|
|
|
pop B ; Restore preserved registers
|
|
pop ACC
|
|
pop PSW
|
|
clr PSW.3 ; Select register bank 0 for main program routines
|
|
setb EA ; Enable all interrupts
|
|
reti
|
|
|
|
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Wait xms ~(x*4*250) (Different entry points)
|
|
;
|
|
; No assumptions
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
wait1ms:
|
|
mov Temp2, #1
|
|
ajmp waitxms_o
|
|
|
|
wait3ms:
|
|
mov Temp2, #3
|
|
ajmp waitxms_o
|
|
|
|
wait10ms:
|
|
mov Temp2, #10
|
|
ajmp waitxms_o
|
|
|
|
wait30ms:
|
|
mov Temp2, #30
|
|
ajmp waitxms_o
|
|
|
|
wait100ms:
|
|
mov Temp2, #100
|
|
ajmp waitxms_o
|
|
|
|
wait200ms:
|
|
mov Temp2, #200
|
|
ajmp waitxms_o
|
|
|
|
waitxms_o: ; Outer loop
|
|
mov Temp1, #23
|
|
waitxms_m: ; Middle loop
|
|
clr A
|
|
djnz ACC, $ ; Inner loop (42.7us - 1024 cycles)
|
|
djnz Temp1, waitxms_m
|
|
djnz Temp2, waitxms_o
|
|
ret
|
|
;**;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Wait 1 second routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
wait1s:
|
|
mov Temp5, #5
|
|
wait1s_loop:
|
|
call wait200ms
|
|
djnz Temp5, wait1s_loop
|
|
ret
|
|
|
|
|
|
;**;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Success beep routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
success_beep:
|
|
clr EA ; Disable all interrupts
|
|
call beep_f1
|
|
call beep_f2
|
|
call beep_f3
|
|
; call beep_f4
|
|
call wait10ms
|
|
call beep_f1
|
|
call beep_f2
|
|
call beep_f3
|
|
; call beep_f4
|
|
; call wait10ms
|
|
; call beep_f1
|
|
; call beep_f2
|
|
; call beep_f3
|
|
; call beep_f4
|
|
setb EA ; Enable all interrupts
|
|
ret
|
|
|
|
|
|
;**;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Success beep inverted routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
success_beep_inverted:
|
|
clr EA ; Disable all interrupts
|
|
; call beep_f4
|
|
call beep_f3
|
|
call beep_f2
|
|
call beep_f1
|
|
call wait10ms
|
|
; call beep_f4
|
|
call beep_f3
|
|
call beep_f2
|
|
call beep_f1
|
|
call wait10ms
|
|
; call beep_f4
|
|
; call beep_f3
|
|
; call beep_f2
|
|
; call beep_f1
|
|
setb EA ; Enable all interrupts
|
|
ret
|
|
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Function and parameter value beep routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
function_paraval_beep:
|
|
mov Temp7, Tx_Pgm_Func_No ; Function no
|
|
mov Temp8, Tx_Pgm_Paraval_No ; Parameter value no
|
|
clr EA ; Disable all interrupts
|
|
;//////function_beep:
|
|
;////// call beep_f1
|
|
;////// call beep_f1
|
|
;////// call beep_f1
|
|
;////// call wait10ms
|
|
;////// djnz Temp7, function_beep
|
|
;//////paraval_beep:
|
|
;////// call beep_f4
|
|
;////// call wait10ms
|
|
;////// djnz Temp8, paraval_beep
|
|
;function_beep:
|
|
jnb Flags0.PROGRAM_FUNC_FLAG,paraval_beep ;跳到参数选项叫
|
|
function_no_6:
|
|
clr C
|
|
mov A,Temp7
|
|
subb A,#5
|
|
jc function_below_beep
|
|
jz function_beep
|
|
mov Temp7, A
|
|
function_beep:
|
|
call beep_f3
|
|
call beep_f3
|
|
call beep_f3
|
|
call beep_f3
|
|
call beep_f3
|
|
call wait30ms
|
|
|
|
cjne Temp7,#5,($+5)
|
|
ajmp fun_par_end
|
|
|
|
|
|
function_below_beep:
|
|
call beep_f1
|
|
call beep_f1
|
|
call beep_f1
|
|
call wait100ms
|
|
djnz Temp7, function_below_beep
|
|
ajmp fun_par_end
|
|
|
|
paraval_beep:
|
|
clr A
|
|
mov Temp7,A
|
|
|
|
clr C
|
|
mov A,Temp8
|
|
subb A,#10 ;参数数 - 10
|
|
jc paraval_no_7 ;<10
|
|
inc Temp7 ;>=10
|
|
inc Temp7
|
|
jz paraval_below_beep
|
|
mov Temp8,A ;>=存差
|
|
ajmp paraval_below_beep
|
|
|
|
paraval_no_7:
|
|
clr C
|
|
mov A,Temp8
|
|
subb A,#5
|
|
jc paraval_no_below
|
|
inc Temp7
|
|
jz paraval_below_beep
|
|
mov Temp8,A ;>=存差
|
|
|
|
paraval_below_beep:
|
|
call beep_f2
|
|
call beep_f2
|
|
call beep_f2
|
|
call wait30ms
|
|
djnz Temp7,paraval_below_beep
|
|
cjne Temp8,#10,($+5)
|
|
ajmp fun_par_end
|
|
cjne Temp8,#5,($+5)
|
|
ajmp fun_par_end
|
|
|
|
paraval_no_below:
|
|
call wait100ms
|
|
call beep_f4
|
|
call wait100ms
|
|
djnz Temp8, paraval_no_below
|
|
fun_par_end:
|
|
setb EA ; Enable all interrupts
|
|
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; 接收一个数据（一个字节）
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
receive_a_byte:
|
|
mov Temp8,#0
|
|
mov Commu_Data_Buffer, #0
|
|
mov Temp4, #8
|
|
wait_high:
|
|
|
|
Read_Rcp_Int
|
|
; Test RC signal level
|
|
jb ACC.Rcp_In,start_t2
|
|
|
|
jnb TF1, wait_high
|
|
|
|
; setb Flags3.ERRO_DATA
|
|
; ajmp receive_exit
|
|
|
|
start_t2:
|
|
mov TL0, #00h
|
|
mov TH0, #00h
|
|
setb TR0 ;启动T0
|
|
wait_low:
|
|
Read_Rcp_Int
|
|
; Test RC signal level
|
|
jnb ACC.Rcp_In, measure_wide
|
|
|
|
jnb TF1, wait_low
|
|
|
|
; setb Flags3.ERRO_DATA
|
|
; ajmp receive_exit
|
|
|
|
measure_wide:
|
|
clr TR0 ;停止T0
|
|
; mov Temp1, TL0
|
|
; mov Temp2, TH0
|
|
|
|
; mov New_Rcp, Temp1
|
|
mov New_Rcp, TL0
|
|
clr C
|
|
mov A, New_Rcp
|
|
subb A, #20 ;40us
|
|
jc receive_a_erro_byte ;<80us 错误字节
|
|
|
|
clr C
|
|
mov A, New_Rcp
|
|
subb A, #78 ;156us
|
|
jnc receive_bit_one ;>160us 进行位1判断
|
|
|
|
mov A, Temp8 ;取0
|
|
rl A
|
|
mov Temp8, A
|
|
ajmp receive_a_byte_exit
|
|
|
|
receive_bit_one:
|
|
clr C
|
|
mov A, New_Rcp
|
|
subb A, #102 ;240us
|
|
jc receive_a_erro_byte ;160< New_Rcp <240us 错误字节
|
|
|
|
clr C
|
|
mov A, New_Rcp
|
|
subb A, #204 ;400us
|
|
jnc receive_a_erro_byte ;>400us 错误字节
|
|
|
|
mov A, Temp8 ;取1
|
|
rl A
|
|
inc A
|
|
mov Temp8, A
|
|
ajmp receive_a_byte_exit
|
|
|
|
receive_a_erro_byte:
|
|
setb Flags3.ERRO_DATA
|
|
|
|
receive_a_byte_exit:
|
|
jnb TF1, ($+7)
|
|
|
|
setb Flags3.ERRO_DATA
|
|
ajmp ($+6)
|
|
|
|
djnz Temp4, wait_high
|
|
mov Commu_Data_Buffer, Temp8
|
|
receive_exit:
|
|
ret
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; 接收一组数据
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
receive_bytes:
|
|
mov Temp5, #48
|
|
mov Temp2, #Tag_Temporary_Storage ; Set RAM address
|
|
mov Commu_Data_Buffer, #0
|
|
wait_receive_bytes:
|
|
call receive_a_byte
|
|
mov @Temp2, Commu_Data_Buffer
|
|
inc Temp2
|
|
djnz Temp5, wait_receive_bytes
|
|
|
|
ret
|
|
|
|
store_tags:
|
|
; call store_tags
|
|
mov Temp2, #Tag_Temporary_Storage ; Set RAM address
|
|
mov Temp5, #48
|
|
store_tag:
|
|
cjne Temp5, #45, store_two
|
|
mov Temp1, #Pgm_Gov_Mode
|
|
jmp store_eep
|
|
store_two:
|
|
cjne Temp5, #44, store_three
|
|
mov Temp1, #Pgm_Low_Voltage_Lim
|
|
jmp store_eep
|
|
store_three:
|
|
cjne Temp5, #43, store_four
|
|
mov Temp1, #Pgm_Low_Voltage_Ctl
|
|
jmp store_eep
|
|
store_four:
|
|
cjne Temp5, #40, store_five
|
|
mov Temp1, #Pgm_Startup_Pwr
|
|
jmp store_eep
|
|
store_five:
|
|
cjne Temp5, #39, store_six
|
|
mov Temp1, #Pgm_Pwm_Freq
|
|
jmp store_eep
|
|
store_six:
|
|
cjne Temp5, #28, store_seven
|
|
mov Temp1, #Pgm_Comm_Timing
|
|
jmp store_eep
|
|
store_seven:
|
|
cjne Temp5, #27, store_next
|
|
mov Temp1, #Pgm_Damping_Force
|
|
|
|
store_eep:
|
|
mov Commu_Data_Buffer, @Temp2
|
|
;setb P1.7
|
|
mov @Temp1, Commu_Data_Buffer
|
|
|
|
call erase_and_store_all_in_eeprom
|
|
clr EA
|
|
|
|
store_next:
|
|
inc Temp2
|
|
djnz Temp5, store_tag
|
|
|
|
ret
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; 发送一个数据（一个字节）
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
send_a_byte:
|
|
clr EA
|
|
setb TR0 ;启动T0
|
|
mov Temp4, #8
|
|
mov A, Commu_Data_Buffer ;读取要发送的数据
|
|
wait_send_a_byte:
|
|
setb P0.7 ;发送高电平
|
|
|
|
; mov A, Commu_Data_Buffer ;读取要发送的数据
|
|
jnb ACC.7, low_value ;($+8)
|
|
|
|
mov TL0, #067h ;发送1脉宽长
|
|
ajmp high_value ;($+5)
|
|
|
|
low_value:
|
|
mov TL0, #0CDh ;发送0脉宽长
|
|
|
|
high_value:
|
|
mov TH0, #0FFh
|
|
|
|
clr TF0 ;清T0溢出标志
|
|
jnb TF0, $ ;等待T0溢出 高电平发送完成
|
|
|
|
clr P0.7 ;发送低电平
|
|
mov TL0, #0CDh ;
|
|
mov TH0, #0FFh
|
|
|
|
clr TF0 ;清T0溢出标志
|
|
jnb TF0, $ ;等待T0溢出 低电平发送完成
|
|
|
|
rl A ;发送下一位
|
|
; mov Commu_Data_Buffer, A
|
|
djnz Temp4, wait_send_a_byte
|
|
|
|
ret
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; 发送一组数据
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
send_bytes:
|
|
clr P0.7
|
|
; mov A, P0MDOUT
|
|
; orl A, #080h
|
|
mov P0MDOUT, #80h ;设置成推挽输出
|
|
mov Temp5, #48
|
|
; mov Temp2, #Tag_Temporary_Storage ; Set RAM address
|
|
mov Temp1, #Pgm_Fir_Key
|
|
wait_send_bytes:
|
|
mov Commu_Data_Buffer, @Temp1
|
|
inc Temp1
|
|
|
|
call send_a_byte ;逐个字节发送
|
|
|
|
djnz Temp5, wait_send_bytes
|
|
|
|
; mov A, P0MDOUT
|
|
; anl A, #07Fh
|
|
mov P0MDOUT, #7Fh ;设置成漏极输出
|
|
setb P0.7
|
|
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; 编程卡校验和
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
get_commu_buffers_sum:
|
|
mov Commu_Sum, #0
|
|
mov Temp5, #48
|
|
mov Temp2, #Tag_Temporary_Storage ; Set RAM address
|
|
wait_get_commu_buffers_sum:
|
|
mov A, @Temp2
|
|
clr C
|
|
addc A, Commu_Sum
|
|
mov Commu_Sum, A
|
|
inc Temp2
|
|
djnz Temp5, wait_get_commu_buffers_sum
|
|
|
|
ret
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; 清零校验和
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
set_commu_sum_to_zero:
|
|
mov Temp8, #0
|
|
mov Temp5, #47
|
|
mov Temp2, #Tag_Temporary_Storage ; Set RAM address
|
|
wait_set_commu_sum_to_zero:
|
|
mov A, @Temp2
|
|
clr C
|
|
addc A, Temp8
|
|
mov Temp8, A
|
|
inc Temp2
|
|
|
|
djnz Temp5, wait_set_commu_sum_to_zero
|
|
|
|
cpl A
|
|
inc A
|
|
mov @Temp2, A ;写最后一个字节
|
|
|
|
ret
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; 读取EEPROM参数
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;check_parameters:
|
|
; mov Temp5, #48 ; Number of tags
|
|
; mov Temp2, #Tag_Temporary_Storage ; Set RAM address
|
|
; mov Temp1, #Bit_Access
|
|
; mov DPTR, #Eep_ESC_Layout ; Set flash address
|
|
;read_eep:
|
|
; call read_eeprom_byte
|
|
; mov A, Bit_Access
|
|
; mov @Temp2, A ; Write to RAM
|
|
; inc Temp2
|
|
; inc DPTR
|
|
; djnz Temp5, read_eep
|
|
|
|
; call get_commu_buffers_sum
|
|
|
|
; mov A, Commu_Sum
|
|
; jnz set_parameters_default
|
|
;;读取首字节
|
|
; mov Temp2, #Tag_Temporary_Storage ; Set RAM address
|
|
; mov Temp1, #Bit_Access
|
|
; mov DPTR, #Eep_ESC_Layout ; Set flash address
|
|
; call read_eeprom_byte
|
|
; mov A, Bit_Access
|
|
; cjne A, #66h, set_parameters_default
|
|
;;设置默认参数
|
|
;set_parameters_default:
|
|
; mov Temp5, #48
|
|
; mov Temp2, #Tag_Temporary_Storage ; Set RAM address
|
|
; mov DPTR, #FINISH_KEYWORD_TABLE
|
|
;wait_set_parameters_default:
|
|
; clr A
|
|
; movc A, @A+DPTR
|
|
; mov @Temp2, A
|
|
; inc Temp2
|
|
; inc DPTR
|
|
; djnz Temp5, wait_set_parameters_default
|
|
|
|
; call set_commu_sum_to_zero
|
|
|
|
; ret
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; 编程卡编程函数
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
program_by_card:
|
|
; clr EA
|
|
mov Commu_Data_Buffer, #0
|
|
call wait10ms
|
|
clr Flags3.ERRO_DATA ;清错误字节标志
|
|
|
|
mov TL1, #00h
|
|
mov TH1, #00h
|
|
setb TR1 ; 启动T1
|
|
clr TF1 ;清T1溢出标志
|
|
|
|
call receive_a_byte ;读取一个字节（关键字）
|
|
|
|
jb Flags3.ERRO_DATA, program_by_card ;接收到错误字节，则重新接收
|
|
|
|
mov A, Commu_Data_Buffer ;读接收到的字节
|
|
cjne A, #05h, receive_next_keyword ;判断是否关键字 0x05
|
|
call wait3ms
|
|
|
|
call send_bytes
|
|
|
|
ljmp program_by_card
|
|
|
|
receive_next_keyword:
|
|
|
|
cjne A, #09h, program_by_card ;判断是否关键字 0x09
|
|
mov Commu_Data_Buffer, #0
|
|
mov TL1, #00h
|
|
mov TH1, #00h
|
|
setb TR1 ;启动T1
|
|
clr TF1 ;清T1溢出标志
|
|
|
|
call receive_bytes ;读取一组数据
|
|
|
|
call get_commu_buffers_sum
|
|
mov A, Commu_Sum ;读取校验和
|
|
jnz program_by_card ;判断校验和
|
|
|
|
mov Temp2, #Tag_Temporary_Storage ; Set RAM address
|
|
mov A, @Temp2 ;读取首字节
|
|
cjne A, #66h, program_by_card ;判断首字节
|
|
|
|
call wait1ms
|
|
clr P0.7
|
|
; mov A, P0MDOUT
|
|
; orl A, #080h ;设置成推挽输出
|
|
mov P0MDOUT, #080h
|
|
mov Commu_Data_Buffer, #088h
|
|
|
|
call send_a_byte ;逐个字节发送
|
|
; mov A, P0MDOUT
|
|
; anl A, #07Fh ;设置成漏极输出
|
|
mov P0MDOUT, #07Fh
|
|
setb P0.7
|
|
call store_tags ;存一组数据
|
|
; call erase_and_store_all_in_eeprom
|
|
; clr EA
|
|
;clr P1.7
|
|
ljmp program_by_card
|
|
|
|
ret
|
|
|
|
|
|
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Beeper routines (4 different entry points)
|
|
;
|
|
; No assumptions
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
beep_f1: ; Entry point 1, load beeper frequency 1 settings
|
|
mov Temp3, #18 ; Off wait loop length
|
|
mov Temp4, #100 ; Number of beep pulses Mos开关次数
|
|
ajmp beep
|
|
|
|
beep_f2: ; Entry point 2, load beeper frequency 2 settings
|
|
mov Temp3, #14
|
|
mov Temp4, #120 ;Mos开关次数
|
|
ajmp beep
|
|
|
|
beep_f3: ; Entry point 3, load beeper frequency 3 settings
|
|
mov Temp3, #12
|
|
mov Temp4, #160 ;Mos开关次数
|
|
ajmp beep
|
|
|
|
beep_f4: ; Entry point 4, load beeper frequency 4 settings
|
|
mov Temp3, #9
|
|
mov Temp4, #180 ;Mos开关次数
|
|
ajmp beep
|
|
|
|
beep: ; Beep loop start
|
|
mov Temp5, Current_Pwm_Limited ; Store value
|
|
mov Current_Pwm_Limited, #1 ; Set to a nonzero value
|
|
mov Temp2, #2 ; Must be an even number (or direction will change)
|
|
beep_onoff:
|
|
cpl Flags3.PGM_DIR_REV ; Toggle between using A fet and C fet 切换A、C up导通
|
|
clr A
|
|
BpFET_off ; BpFET off
|
|
djnz ACC, $ ; Allow some time after pfet is turned off
|
|
BnFET_on ; BnFET on (in order to charge the driver of the BpFET)
|
|
djnz ACC, $ ; Let the nfet be turned on a while
|
|
BnFET_off ; BnFET off again
|
|
djnz ACC, $ ; Allow some time after nfet is turned off
|
|
BpFET_on ; BpFET on
|
|
djnz ACC, $ ; Allow some time after pfet is turned on
|
|
; Turn on nfet
|
|
AnFET_on ; AnFET on
|
|
mov A, Beep_Strength
|
|
djnz ACC, $
|
|
; Turn off nfet
|
|
AnFET_off ; AnFET off
|
|
mov A, #100 ; 25祍 off
|
|
djnz ACC, $
|
|
djnz Temp2, beep_onoff
|
|
; Copy variable
|
|
mov A, Temp3
|
|
mov Temp1, A
|
|
beep_off: ; Fets off loop
|
|
djnz ACC, $
|
|
djnz Temp1, beep_off
|
|
|
|
beep_recharge_done:
|
|
djnz Temp4, beep
|
|
BpFET_off ; BpFET off
|
|
mov Current_Pwm_Limited, Temp5 ; Restore value
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Division 16bit unsigned by 16bit unsigned
|
|
;
|
|
; Dividend shall be in Temp2/Temp1, divisor in Temp4/Temp3
|
|
; Result will be in Temp2/Temp1
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
div_u16_by_u16:
|
|
clr C
|
|
mov Temp5, #0
|
|
mov Temp6, #0
|
|
mov B, #0
|
|
div_u16_by_u16_div1:
|
|
inc B ; Increment counter for each left shift
|
|
mov A, Temp3 ; Shift left the divisor
|
|
rlc A
|
|
mov Temp3, A
|
|
mov A, Temp4
|
|
rlc A
|
|
mov Temp4, A
|
|
jnc div_u16_by_u16_div1 ; Repeat until carry flag is set from high-byte
|
|
div_u16_by_u16_div2:
|
|
mov A, Temp4 ; Shift right the divisor
|
|
rrc A
|
|
mov Temp4, A
|
|
mov A, Temp3
|
|
rrc A
|
|
mov Temp3, A
|
|
clr C
|
|
mov A, Temp2 ; Make a safe copy of the dividend
|
|
mov Temp8, A
|
|
mov A, Temp1
|
|
mov Temp7, A
|
|
mov A, Temp1 ; Move low-byte of dividend into accumulator
|
|
subb A, Temp3 ; Dividend - shifted divisor = result bit (no factor, only 0 or 1)
|
|
mov Temp1, A ; Save updated dividend
|
|
mov A, Temp2 ; Move high-byte of dividend into accumulator
|
|
subb A, Temp4 ; Subtract high-byte of divisor (all together 16-bit substraction)
|
|
mov Temp2, A ; Save updated high-byte back in high-byte of divisor
|
|
jnc div_u16_by_u16_div3 ; If carry flag is NOT set, result is 1
|
|
mov A, Temp8 ; Otherwise result is 0, save copy of divisor to undo subtraction
|
|
mov Temp2, A
|
|
mov A, Temp7
|
|
mov Temp1, A
|
|
div_u16_by_u16_div3:
|
|
cpl C ; Invert carry, so it can be directly copied into result
|
|
mov A, Temp5
|
|
rlc A ; Shift carry flag into temporary result
|
|
mov Temp5, A
|
|
mov A, Temp6
|
|
rlc A
|
|
mov Temp6,A
|
|
djnz B, div_u16_by_u16_div2 ;Now count backwards and repeat until "B" is zero
|
|
mov A, Temp6 ; Move result to Temp2/Temp1
|
|
mov Temp2, A
|
|
mov A, Temp5
|
|
mov Temp1, A
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Multiplication 16bit signed by 8bit unsigned
|
|
;
|
|
; Multiplicand shall be in Temp2/Temp1, multiplicator in Temp3
|
|
; Result will be in Temp2/Temp1. Result will divided by 16
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
mult_s16_by_u8_div_16:
|
|
mov A, Temp1 ; Read input to math registers
|
|
mov B, Temp2
|
|
mov Bit_Access, Temp3
|
|
setb PSW.4 ; Select register bank 2 for math routines
|
|
mov Temp1, A ; Store in math registers
|
|
mov Temp2, B
|
|
mov Temp4, #0 ; Set sign in Temp4 and test sign
|
|
jnb B.7, mult_s16_by_u8_positive
|
|
|
|
mov Temp4, #0FFh
|
|
cpl A
|
|
add A, #1
|
|
mov Temp1, A
|
|
mov A, Temp2
|
|
cpl A
|
|
addc A, #0
|
|
mov Temp2, A
|
|
mult_s16_by_u8_positive:
|
|
mov A, Temp1 ; Multiply LSB with multiplicator
|
|
mov B, Bit_Access
|
|
mul AB
|
|
mov Temp6, B ; Place MSB in Temp6
|
|
mov Temp1, A ; Place LSB in Temp1 (result)
|
|
mov A, Temp2 ; Multiply MSB with multiplicator
|
|
mov B, Bit_Access
|
|
mul AB
|
|
mov Temp8, B ; Place in Temp8/7
|
|
mov Temp7, A
|
|
mov A, Temp6 ; Add up
|
|
add A, Temp7
|
|
mov Temp2, A
|
|
mov A, #0
|
|
addc A, Temp8
|
|
mov Temp3, A
|
|
mov Temp5, #4 ; Set number of divisions
|
|
mult_s16_by_u8_div_loop:
|
|
clr C ; Rotate right
|
|
mov A, Temp3
|
|
rrc A
|
|
mov Temp3, A
|
|
mov A, Temp2
|
|
rrc A
|
|
mov Temp2, A
|
|
mov A, Temp1
|
|
rrc A
|
|
mov Temp1, A
|
|
djnz Temp5, mult_s16_by_u8_div_loop
|
|
|
|
mov B, Temp4 ; Test sign
|
|
jnb B.7, mult_s16_by_u8_exit
|
|
|
|
mov A, Temp1
|
|
cpl A
|
|
add A, #1
|
|
mov Temp1, A
|
|
mov A, Temp2
|
|
cpl A
|
|
addc A, #0
|
|
mov Temp2, A
|
|
|
|
mult_s16_by_u8_exit:
|
|
mov A, Temp1 ; Store output
|
|
mov B, Temp2
|
|
clr PSW.4 ; Select normal register bank
|
|
mov Temp1, A
|
|
mov Temp2, B
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
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|
;
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; Calculate governor routines
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;
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; No assumptions
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;
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; Governs headspeed based upon the Comm_Period4x variable and pwm
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; The governor task is split into several routines in order to distribute processing time
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;
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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; First governor routine - calculate governor target
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IF MODE <= 1 ; Main or tail
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calc_governor_target:
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mov Temp1, #Pgm_Gov_Mode ; Governor mode?
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cjne @Temp1, #4, governor_speed_check ; Yes
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jmp calc_governor_target_exit ; No
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|
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governor_speed_check:
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; Stop governor for stop RC pulse
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clr C
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mov A, New_Rcp ; Check RC pulse against stop value
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subb A, #RCP_STOP ; Is pulse below stop value?
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jc governor_deactivate ; Yes - deactivate
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; Skip speed check if governor is alrady active
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mov A, Gov_Active
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jnz governor_target_calc
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; Check speed (do not run governor for low speeds)
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mov Temp1, #05h ; Default high range activation limit value (~62500 eRPM)
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clr C
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mov Temp2, #Pgm_Gov_Range
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cjne @Temp2, #2, ($+5)
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mov Temp1, #12h ; Low range activation limit value (~17400 eRPM)
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clr C
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mov A, Comm_Period4x_L
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subb A, #00h
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mov A, Comm_Period4x_H
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subb A, Temp1
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jc governor_activate ; If speed above min limit - run governor
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governor_deactivate:
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mov Current_Pwm, Requested_Pwm ; Set current pwm to requested
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clr A
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mov Gov_Target_L, A ; Set target to zero
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mov Gov_Target_H, A
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mov Gov_Integral_L, A ; Set integral to zero
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mov Gov_Integral_H, A
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mov Gov_Integral_X, A
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mov Gov_Active, A
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jmp calc_governor_target_exit
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governor_activate:
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mov Gov_Active, #1
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governor_target_calc:
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; Governor calculations
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clr C
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mov Temp2, #Pgm_Gov_Range
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mov A, @Temp2 ; Check high or low range (Temp2 has #Pgm_Gov_Range)
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subb A, #2
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jz calc_governor_target_low
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mov A, Governor_Req_Pwm ; Load governor requested pwm
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cpl A ; Calculate 255-pwm (invert pwm)
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; Calculate comm period target (1 + 2*((255-Requested_Pwm)/256) - 0.25)
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rlc A ; Msb to carry
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rlc A ; To bit0
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mov Temp2, A ; Now 1 lsb is valid for H
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rrc A
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mov Temp1, A ; Now 7 msbs are valid for L
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mov A, Temp2
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anl A, #01h ; Calculate H byte
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inc A ; Add 1
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mov Temp2, A
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mov A, Temp1
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anl A, #0FEh ; Calculate L byte
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clr C
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subb A, #40h ; Subtract 0.25
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mov Temp1, A
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mov A, Temp2
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subb A, #0
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mov Temp2, A
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jmp calc_governor_store_target
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calc_governor_target_low:
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mov A, Governor_Req_Pwm ; Load governor requested pwm
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cpl A ; Calculate 255-pwm (invert pwm)
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; Calculate comm period target (2 + 8*((255-Requested_Pwm)/256) - 0.25)
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rlc A ; Msb to carry
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rlc A ; To bit0
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rlc A ; To bit1
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rlc A ; To bit2
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mov Temp2, A ; Now 3 lsbs are valid for H
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rrc A
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mov Temp1, A ; Now 4 msbs are valid for L
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mov A, Temp2
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anl A, #07h ; Calculate H byte
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inc A ; Add 1
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inc A ; Add 1 more
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mov Temp2, A
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mov A, Temp1
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anl A, #0F8h ; Calculate L byte
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clr C
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subb A, #40h ; Subtract 0.25
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mov Temp1, A
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mov A, Temp2
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subb A, #0
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mov Temp2, A
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calc_governor_store_target:
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; Store governor target
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mov Gov_Target_L, Temp1
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mov Gov_Target_H, Temp2
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calc_governor_target_exit:
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ret
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ENDIF
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IF MODE == 2 ; Multi
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calc_governor_target:
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;读取 Closed loop mode
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mov Temp1, #Pgm_Gov_Mode ; Closed loop mode?
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cjne @Temp1, #1, governor_target_calc ; Yes - branch
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;Closed loop mode = 第4项 Off
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jmp calc_governor_target_exit ; No
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|
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governor_target_calc:
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; Stop governor for stop RC pulse
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clr C
|
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mov A, New_Rcp ; Check RC pulse against stop value
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subb A, #RCP_STOP ; Is pulse below stop value?
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jc governor_deactivate ; Yes - deactivate
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|
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jmp governor_activate ; No - activate
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|
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governor_deactivate:
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mov Current_Pwm, Requested_Pwm ; Set current pwm to requested
|
|
clr A
|
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mov Gov_Target_L, A ; Set target to zero
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mov Gov_Target_H, A
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mov Gov_Integral_L, A ; Set integral to zero
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mov Gov_Integral_H, A
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mov Gov_Integral_X, A
|
|
mov Gov_Active, A
|
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jmp calc_governor_target_exit
|
|
|
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governor_activate:
|
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mov Temp1, #Pgm_Gov_Mode ; Store gov mode
|
|
mov A, @Temp1
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mov Temp5, A
|
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mov Gov_Active, #1
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mov A, Requested_Pwm ; Load requested pwm
|
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mov Governor_Req_Pwm, A ; Set governor requested pwm
|
|
; Calculate comm period target 2*(51000/Requested_Pwm)
|
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mov Temp1, #38h ; Load 51000
|
|
mov Temp2, #0C7h
|
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mov Temp3, Comm_Period4x_L ; Load comm period
|
|
mov Temp4, Comm_Period4x_H
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; Set speed range. Bare Comm_Period4x corresponds to 400k rpm, because it is 500n units
|
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;Closed loop mode = 第1项 HiRange
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clr C
|
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mov A, Temp4
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rrc A
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|
mov Temp4, A
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mov A, Temp3
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|
rrc A
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|
mov Temp3, A ; 200k eRPM range here
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; Check range
|
|
mov A, Temp5
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dec A
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dec A
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dec A
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dec A
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jz governor_activate_range_set ; 200k eRPM? - branch
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|
;Closed loop mode = 第2项 MidRange
|
|
governor_activate_100k:
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|
clr C
|
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mov A, Temp4
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rrc A
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mov Temp4, A
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mov A, Temp3
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|
rrc A
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mov Temp3, A ; 100k eRPM range here
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mov A, Temp5 ; Check range again
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dec A
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dec A
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dec A
|
|
jz governor_activate_range_set ; 100k eRPM? - branch
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|
;Closed loop mode = 第3项 LoRange
|
|
governor_activate_50k:
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clr C
|
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mov A, Temp4
|
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rrc A
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|
mov Temp4, A
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mov A, Temp3
|
|
rrc A
|
|
mov Temp3, A ; 50k eRPM range here
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|
governor_activate_range_set:
|
|
call div_u16_by_u16
|
|
; Store governor target
|
|
mov Gov_Target_L, Temp1
|
|
mov Gov_Target_H, Temp2
|
|
calc_governor_target_exit:
|
|
ret
|
|
ENDIF
|
|
|
|
; Second governor routine - calculate governor proportional error
|
|
calc_governor_prop_error:
|
|
; Exit if governor is inactive
|
|
mov A, Gov_Active
|
|
jz calc_governor_prop_error_exit
|
|
|
|
IF MODE <= 1 ; Main or tail
|
|
; Load comm period and divide by 2
|
|
clr C
|
|
mov A, Comm_Period4x_H
|
|
rrc A
|
|
mov Temp2, A
|
|
mov A, Comm_Period4x_L
|
|
rrc A
|
|
mov Temp1, A
|
|
; Calculate error
|
|
clr C
|
|
mov A, Gov_Target_L
|
|
subb A, Temp1
|
|
mov Temp1, A
|
|
mov A, Gov_Target_H
|
|
subb A, Temp2
|
|
mov Temp2, A
|
|
ENDIF
|
|
IF MODE == 2 ; Multi
|
|
; Calculate error
|
|
clr C
|
|
mov A, Gov_Target_L
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|
subb A, Governor_Req_Pwm
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|
mov Temp1, A
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|
mov A, Gov_Target_H
|
|
subb A, #0
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mov Temp2, A
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ENDIF
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|
; Check error and limit
|
|
jnc governor_check_prop_limit_pos ; Check carry
|
|
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, #80h ; Is error too negative?
|
|
mov A, Temp2
|
|
subb A, #0FFh
|
|
jc governor_limit_prop_error_neg ; Yes - limit
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|
jmp governor_store_prop_error
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|
|
|
governor_check_prop_limit_pos:
|
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clr C
|
|
mov A, Temp1
|
|
subb A, #7Fh ; Is error too positive?
|
|
mov A, Temp2
|
|
subb A, #00h
|
|
jnc governor_limit_prop_error_pos ; Yes - limit
|
|
jmp governor_store_prop_error
|
|
|
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governor_limit_prop_error_pos:
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mov Temp1, #7Fh ; Limit to max positive (2's complement)
|
|
mov Temp2, #00h
|
|
jmp governor_store_prop_error
|
|
|
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governor_limit_prop_error_neg:
|
|
mov Temp1, #80h ; Limit to max negative (2's complement)
|
|
mov Temp2, #0FFh
|
|
|
|
governor_store_prop_error:
|
|
; Store proportional
|
|
mov Gov_Proportional_L, Temp1
|
|
mov Gov_Proportional_H, Temp2
|
|
calc_governor_prop_error_exit:
|
|
ret
|
|
|
|
|
|
; Third governor routine - calculate governor integral error
|
|
calc_governor_int_error:
|
|
; Exit if governor is inactive
|
|
mov A, Gov_Active
|
|
jz calc_governor_int_error_exit
|
|
|
|
; Add proportional to integral
|
|
mov A, Gov_Proportional_L
|
|
add A, Gov_Integral_L
|
|
mov Temp1, A
|
|
mov A, Gov_Proportional_H
|
|
addc A, Gov_Integral_H
|
|
mov Temp2, A
|
|
mov Bit_Access, Gov_Proportional_H ; Sign extend high byte
|
|
clr A
|
|
jnb Bit_Access.7, ($+4)
|
|
cpl A
|
|
addc A, Gov_Integral_X
|
|
mov Temp3, A
|
|
; Check integral and limit
|
|
jnb ACC.7, governor_check_int_limit_pos ; Check sign bit
|
|
|
|
clr C
|
|
mov A, Temp3
|
|
subb A, #0F0h ; Is error too negative?
|
|
jc governor_limit_int_error_neg ; Yes - limit
|
|
jmp governor_check_pwm
|
|
|
|
governor_check_int_limit_pos:
|
|
clr C
|
|
mov A, Temp3
|
|
subb A, #0Fh ; Is error too positive?
|
|
jnc governor_limit_int_error_pos ; Yes - limit
|
|
jmp governor_check_pwm
|
|
|
|
governor_limit_int_error_pos:
|
|
mov Temp1, #0FFh ; Limit to max positive (2's complement)
|
|
mov Temp2, #0FFh
|
|
mov Temp3, #0Fh
|
|
jmp governor_check_pwm
|
|
|
|
governor_limit_int_error_neg:
|
|
mov Temp1, #00h ; Limit to max negative (2's complement)
|
|
mov Temp2, #00h
|
|
mov Temp3, #0F0h
|
|
|
|
governor_check_pwm:
|
|
; Check current pwm
|
|
clr C
|
|
mov A, Current_Pwm
|
|
subb A, Pwm_Limit ; Is current pwm at or above pwm limit?
|
|
jnc governor_int_max_pwm ; Yes - branch
|
|
|
|
mov A, Current_Pwm ; Is current pwm at zero?
|
|
jz governor_int_min_pwm ; Yes - branch
|
|
|
|
ajmp governor_store_int_error ; No - store integral error
|
|
|
|
governor_int_max_pwm:
|
|
mov A, Gov_Proportional_H
|
|
jb ACC.7, calc_governor_int_error_exit ; Is proportional error negative - branch (high byte is always zero)
|
|
ajmp governor_store_int_error ; Positive - store integral error
|
|
|
|
governor_int_min_pwm:
|
|
mov A, Gov_Proportional_H
|
|
jnb ACC.7, calc_governor_int_error_exit ; Is proportional error positive - branch (high byte is always zero)
|
|
|
|
governor_store_int_error:
|
|
; Store integral
|
|
mov Gov_Integral_L, Temp1
|
|
mov Gov_Integral_H, Temp2
|
|
mov Gov_Integral_X, Temp3
|
|
calc_governor_int_error_exit:
|
|
ret
|
|
|
|
|
|
; Fourth governor routine - calculate governor proportional correction
|
|
calc_governor_prop_correction:
|
|
; Exit if governor is inactive
|
|
mov A, Gov_Active
|
|
jnz calc_governor_prop_corr
|
|
jmp calc_governor_prop_corr_exit
|
|
|
|
calc_governor_prop_corr:
|
|
; Load proportional gain
|
|
mov Temp1, #Pgm_Gov_P_Gain_Decoded; Load proportional gain
|
|
mov A, @Temp1
|
|
mov Temp3, A ; Store in Temp3
|
|
; Load proportional
|
|
clr C
|
|
mov A, Gov_Proportional_L ; Nominal multiply by 2
|
|
rlc A
|
|
mov Temp1, A
|
|
mov A, Gov_Proportional_H
|
|
rlc A
|
|
mov Temp2, A
|
|
; Apply gain
|
|
call mult_s16_by_u8_div_16
|
|
; Check error and limit (to low byte)
|
|
mov A, Temp2
|
|
jnb ACC.7, governor_check_prop_corr_limit_pos ; Check sign bit
|
|
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, #80h ; Is error too negative?
|
|
mov A, Temp2
|
|
subb A, #0FFh
|
|
jc governor_limit_prop_corr_neg ; Yes - limit
|
|
ajmp governor_apply_prop_corr
|
|
|
|
governor_check_prop_corr_limit_pos:
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, #7Fh ; Is error too positive?
|
|
mov A, Temp2
|
|
subb A, #00h
|
|
jnc governor_limit_prop_corr_pos ; Yes - limit
|
|
ajmp governor_apply_prop_corr
|
|
|
|
governor_limit_prop_corr_pos:
|
|
mov Temp1, #7Fh ; Limit to max positive (2's complement)
|
|
mov Temp2, #00h
|
|
ajmp governor_apply_prop_corr
|
|
|
|
governor_limit_prop_corr_neg:
|
|
mov Temp1, #80h ; Limit to max negative (2's complement)
|
|
mov Temp2, #0FFh
|
|
|
|
governor_apply_prop_corr:
|
|
; Test proportional sign
|
|
mov A, Temp1
|
|
jb ACC.7, governor_corr_neg_prop ; If proportional negative - go to correct negative
|
|
|
|
; Subtract positive proportional
|
|
clr C
|
|
mov A, Governor_Req_Pwm
|
|
subb A, Temp1
|
|
mov Temp1, A
|
|
; Check result
|
|
jc governor_corr_prop_min_pwm ; Is result negative?
|
|
|
|
clr C
|
|
mov A, Temp1 ; Is result below pwm min?
|
|
subb A, #1
|
|
jc governor_corr_prop_min_pwm ; Yes
|
|
jmp governor_store_prop_corr ; No - store proportional correction
|
|
|
|
governor_corr_prop_min_pwm:
|
|
mov Temp1, #1 ; Load minimum pwm
|
|
jmp governor_store_prop_corr
|
|
|
|
governor_corr_neg_prop:
|
|
; Add negative proportional
|
|
mov A, Temp1
|
|
cpl A
|
|
add A, #1
|
|
add A, Governor_Req_Pwm
|
|
mov Temp1, A
|
|
; Check result
|
|
jc governor_corr_prop_max_pwm ; Is result above max?
|
|
jmp governor_store_prop_corr ; No - store proportional correction
|
|
|
|
governor_corr_prop_max_pwm:
|
|
mov Temp1, #255 ; Load maximum pwm
|
|
governor_store_prop_corr:
|
|
; Store proportional pwm
|
|
mov Gov_Prop_Pwm, Temp1
|
|
calc_governor_prop_corr_exit:
|
|
ret
|
|
|
|
|
|
; Fifth governor routine - calculate governor integral correction
|
|
calc_governor_int_correction:
|
|
; Exit if governor is inactive
|
|
mov A, Gov_Active
|
|
jnz calc_governor_int_corr
|
|
jmp calc_governor_int_corr_exit
|
|
|
|
calc_governor_int_corr:
|
|
; Load integral gain
|
|
mov Temp1, #Pgm_Gov_I_Gain_Decoded; Load integral gain
|
|
mov A, @Temp1
|
|
mov Temp3, A ; Store in Temp3
|
|
; Load integral
|
|
mov Temp1, Gov_Integral_H
|
|
mov Temp2, Gov_Integral_X
|
|
; Apply gain
|
|
call mult_s16_by_u8_div_16
|
|
; Check integral and limit
|
|
mov A, Temp2
|
|
jnb ACC.7, governor_check_int_corr_limit_pos ; Check sign bit
|
|
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, #01h ; Is integral too negative?
|
|
mov A, Temp2
|
|
subb A, #0FFh
|
|
jc governor_limit_int_corr_neg ; Yes - limit
|
|
jmp governor_apply_int_corr
|
|
|
|
governor_check_int_corr_limit_pos:
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, #0FFh ; Is integral too positive?
|
|
mov A, Temp2
|
|
subb A, #00h
|
|
jnc governor_limit_int_corr_pos ; Yes - limit
|
|
jmp governor_apply_int_corr
|
|
|
|
governor_limit_int_corr_pos:
|
|
mov Temp1, #0FFh ; Limit to max positive (2's complement)
|
|
mov Temp2, #00h
|
|
jmp governor_apply_int_corr
|
|
|
|
governor_limit_int_corr_neg:
|
|
mov Temp1, #01h ; Limit to max negative (2's complement)
|
|
mov Temp2, #0FFh
|
|
|
|
governor_apply_int_corr:
|
|
; Test integral sign
|
|
mov A, Temp2
|
|
jb ACC.7, governor_corr_neg_int ; If integral negative - go to correct negative
|
|
|
|
; Subtract positive integral
|
|
clr C
|
|
mov A, Gov_Prop_Pwm
|
|
subb A, Temp1
|
|
mov Temp1, A
|
|
; Check result
|
|
jc governor_corr_int_min_pwm ; Is result negative?
|
|
|
|
clr C
|
|
mov A, Temp1 ; Is result below pwm min?
|
|
subb A, #1
|
|
jc governor_corr_int_min_pwm ; Yes
|
|
jmp governor_store_int_corr ; No - store correction
|
|
|
|
governor_corr_int_min_pwm:
|
|
mov Temp1, #0 ; Load minimum pwm
|
|
jmp governor_store_int_corr
|
|
|
|
governor_corr_neg_int:
|
|
; Add negative integral
|
|
mov A, Temp1
|
|
cpl A
|
|
add A, #1
|
|
add A, Gov_Prop_Pwm
|
|
mov Temp1, A
|
|
; Check result
|
|
jc governor_corr_int_max_pwm ; Is result above max?
|
|
jmp governor_store_int_corr ; No - store correction
|
|
|
|
governor_corr_int_max_pwm:
|
|
mov Temp1, #255 ; Load maximum pwm
|
|
governor_store_int_corr:
|
|
; Store current pwm
|
|
mov Current_Pwm, Temp1
|
|
calc_governor_int_corr_exit:
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Measure lipo cells
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Measure voltage and calculate lipo cells
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
measure_lipo_cells:
|
|
IF MODE == 1 ; Tail
|
|
; If tail, then exit
|
|
jmp measure_lipo_exit
|
|
ENDIF
|
|
measure_lipo_start:
|
|
; Load programmed low voltage limit
|
|
;读取Low voltage limit
|
|
mov Lipo_Cell_Count, #0 ;2013.8.23 防止接收机拿掉后再接上时，电池检测出错
|
|
mov Temp1, #Pgm_Low_Voltage_Lim ; Load limit
|
|
mov A, @Temp1
|
|
mov Bit_Access, A ; Store in Bit_Access
|
|
; Set commutation to BpFET on
|
|
; call comm5comm6
|
|
CnFET_off ; Cn off
|
|
BnFET_on ; Bn on
|
|
Set_Comp_Phase_C ; Set comparator to phase C
|
|
mov Comm_Phase, #6
|
|
; Start adc
|
|
Start_Adc
|
|
; Wait for ADC conversion to complete
|
|
Get_Adc_Status
|
|
jb AD0BUSY, measure_lipo_cells
|
|
; Read ADC result
|
|
Read_Adc_Result
|
|
; Stop ADC
|
|
Stop_Adc
|
|
; Switch power off
|
|
call switch_power_off
|
|
; Set limit step
|
|
mov Lipo_Adc_Limit_L, #ADC_LIMIT_L
|
|
mov Lipo_Adc_Limit_H, #ADC_LIMIT_H
|
|
clr C
|
|
mov A, #ADC_LIMIT_H ; Divide 2.8V value by 2
|
|
rrc A
|
|
mov Temp6, A
|
|
mov A, #ADC_LIMIT_L
|
|
rrc A
|
|
mov Temp5, A
|
|
mov A, #ADC_LIMIT_L ; Calculate 1.4+2.8V=4.2V value
|
|
add A, Temp5
|
|
add A, #3 ;加宽一节电池电压范围 4.3V 2013.8.16
|
|
mov Temp5, A
|
|
mov A, #ADC_LIMIT_H
|
|
addc A, Temp6
|
|
mov Temp6, A
|
|
mov A, Temp5 ; Copy step
|
|
mov Temp3, A
|
|
mov A, Temp6
|
|
mov Temp4, A
|
|
;***************************************************
|
|
; Lipo节数检测
|
|
;***************************************************
|
|
measure_lipo_cell_loop:
|
|
; Check voltage against xS lower limit
|
|
inc Lipo_Cell_Count ;增加电池节数累加 2013.5.29
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, Temp3 ; Voltage above limit?
|
|
mov A, Temp2
|
|
subb A, Temp4
|
|
jc measure_lipo_adjust ; No - branch 读取到电压范围
|
|
|
|
; Set xS voltage limit
|
|
mov A, Lipo_Adc_Limit_L
|
|
add A, #ADC_LIMIT_L
|
|
mov Lipo_Adc_Limit_L, A
|
|
mov A, Lipo_Adc_Limit_H
|
|
addc A, #ADC_LIMIT_H
|
|
mov Lipo_Adc_Limit_H, A
|
|
; Set (x+1)S lower limit
|
|
mov A, Temp3
|
|
add A, Temp5 ; Add step
|
|
mov Temp3, A
|
|
mov A, Temp4
|
|
addc A, Temp6
|
|
mov Temp4, A
|
|
jmp measure_lipo_cell_loop ; Check for one more battery cell
|
|
|
|
measure_lipo_adjust:
|
|
mov Temp7, Lipo_Adc_Limit_L
|
|
mov Temp8, Lipo_Adc_Limit_H
|
|
; Calculate 3.125%
|
|
clr C
|
|
mov A, Lipo_Adc_Limit_H
|
|
rrc A
|
|
mov Temp2, A
|
|
mov A, Lipo_Adc_Limit_L
|
|
rrc A
|
|
mov Temp1, A ; After this 50%
|
|
clr C
|
|
mov A, Temp2
|
|
rrc A
|
|
mov Temp2, A
|
|
mov A, Temp1
|
|
rrc A
|
|
mov Temp1, A ; After this 25%
|
|
; mov A, Lipo_Adc_Limit_L ; Set adc reference for voltage compensation
|
|
; add A, Temp1 ;低压低字节+低压低字节偏移量
|
|
; mov Lipo_Adc_Reference_L, A ;存低压低字节
|
|
; mov A, Lipo_Adc_Limit_H
|
|
; addc A, Temp2 ;低压高字节+低压高字节偏移量
|
|
; mov Lipo_Adc_Reference_H, A ;存低压高字节
|
|
; ; Divide three times to get to 3.125% 6.25% 2013.5.30
|
|
mov Temp3, #2 ;3
|
|
measure_lipo_divide_loop:
|
|
clr C
|
|
mov A, Temp2
|
|
rrc A
|
|
mov Temp2, A
|
|
mov A, Temp1
|
|
rrc A
|
|
mov Temp1, A
|
|
djnz Temp3, measure_lipo_divide_loop
|
|
|
|
; Add the programmed number of 0.1V (or 3.125% increments)
|
|
mov Temp3, Bit_Access ; Load programmed limit (Bit_Access has Pgm_Low_Voltage_Lim)
|
|
; dec Temp3
|
|
; mov A,Temp3 ;增加判断指令，如果没有这条指令能判断？？？？
|
|
; jnz measure_lipo_limit_on ; Is low voltage limiting on?
|
|
|
|
cjne Temp3, #4, measure_lipo_limit_on
|
|
|
|
mov Lipo_Adc_Limit_L, #0 ; No - set limit to zero
|
|
mov Lipo_Adc_Limit_H, #0
|
|
jmp measure_lipo_exit
|
|
|
|
measure_lipo_limit_on:
|
|
dec Temp3
|
|
mov A, Temp3
|
|
jz measure_lipo_update
|
|
;Bit_Access>2时，低压保护值=基值+偏移量
|
|
;Low voltage limit > 第2项时
|
|
measure_lipo_add_loop:
|
|
clr C
|
|
mov A, Temp7 ; Add 3.125%
|
|
add A, Temp1
|
|
mov Temp7, A
|
|
mov A, Temp8
|
|
addc A, Temp2
|
|
mov Temp8, A
|
|
; clr C
|
|
; mov A, Temp7 ; Add 3.125%
|
|
; add A, Temp1
|
|
; mov Temp7, A
|
|
; mov A, Temp8
|
|
; addc A, Temp2
|
|
; mov Temp8, A
|
|
djnz Temp3, measure_lipo_add_loop
|
|
;存低压保护值
|
|
;Low voltage limit = 第2项 3.0V
|
|
measure_lipo_update:
|
|
; Set ADC limit
|
|
mov Lipo_Adc_Limit_L, Temp7
|
|
mov Lipo_Adc_Limit_H, Temp8
|
|
measure_lipo_exit:
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Start ADC conversion
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Start conversion used for measuring power supply voltage
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
start_adc_conversion:
|
|
; Start adc
|
|
Start_Adc
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Check temperature, power supply voltage and limit power
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Used to limit main motor power in order to maintain the required voltage
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
check_temp_voltage_and_limit_power:
|
|
; Load programmed low voltage limit
|
|
mov Temp1, #Pgm_Low_Voltage_Lim ;读低压保护选项
|
|
mov A, @Temp1
|
|
mov Temp8, A ; Store in Temp8
|
|
; Wait for ADC conversion to complete
|
|
Get_Adc_Status
|
|
jb AD0BUSY, check_temp_voltage_and_limit_power
|
|
; Read ADC result
|
|
Read_Adc_Result ;读AD值
|
|
; Stop ADC
|
|
Stop_Adc ;禁止AD转换
|
|
|
|
inc Adc_Conversion_Cnt ; Increment conversion counter
|
|
clr C
|
|
mov A, Adc_Conversion_Cnt ; Is conversion count equal to temp rate?
|
|
subb A, #TEMP_CHECK_RATE
|
|
jc check_voltage_start ; No - check voltage AD转换次数 < 8次 ？
|
|
|
|
mov Adc_Conversion_Cnt, #0 ; Yes - temperature check. Reset counter
|
|
mov A, Temp2 ; Is temperature reading below 256?
|
|
jnz temp_average_inc_dec ; No - proceed
|
|
|
|
mov A, Current_Average_Temp ; Yes - decrement average
|
|
jz temp_average_updated ; Already zero - no change
|
|
jmp temp_average_dec ; Decrement
|
|
|
|
temp_average_inc_dec:
|
|
clr C
|
|
mov A, Temp1 ; Check if current temperature is above or below average
|
|
subb A, Current_Average_Temp
|
|
jz temp_average_updated_load_acc ; Equal - no change
|
|
|
|
mov A, Current_Average_Temp ; Above - increment average
|
|
jnc temp_average_inc
|
|
|
|
jz temp_average_updated ; Below - decrement average if average is not already zero
|
|
temp_average_dec:
|
|
dec A ; Decrement average
|
|
jmp temp_average_updated
|
|
|
|
temp_average_inc:
|
|
inc A ; Increment average
|
|
jz temp_average_dec
|
|
jmp temp_average_updated
|
|
|
|
temp_average_updated_load_acc:
|
|
mov A, Current_Average_Temp
|
|
temp_average_updated:
|
|
mov Current_Average_Temp, A
|
|
clr C
|
|
subb A, #TEMP_LIMIT ; Is temperature below first limit?
|
|
mov Temp1, A
|
|
jc temp_check_exit ; Yes - exit
|
|
|
|
mov Pwm_Limit, #192 ; No - limit pwm
|
|
|
|
clr C
|
|
mov A, Temp1 ; Is temperature below second limit
|
|
subb A, #TEMP_LIMIT_STEP
|
|
mov Temp1, A
|
|
jc temp_check_exit ; Yes - exit
|
|
|
|
mov Pwm_Limit, #128 ; No - limit pwm
|
|
|
|
clr C
|
|
mov A, Temp1 ; Is temperature below third limit
|
|
subb A, #TEMP_LIMIT_STEP
|
|
mov Temp1, A
|
|
jc temp_check_exit ; Yes - exit
|
|
|
|
mov Pwm_Limit, #64 ; No - limit pwm
|
|
|
|
clr C
|
|
mov A, Temp1 ; Is temperature below final limit
|
|
subb A, #TEMP_LIMIT_STEP
|
|
mov Temp1, A
|
|
jc temp_check_exit ; Yes - exit
|
|
|
|
mov Pwm_Limit, #16 ; No - limit pwm 2013.8.5最高温度时速度由0改成16
|
|
|
|
temp_check_exit:
|
|
Set_Adc_Ip_Volt ; Select adc input for next conversion
|
|
ret
|
|
|
|
check_voltage_start:
|
|
IF MODE == 0 OR MODE == 2 ; Main or multi
|
|
; Check if low voltage limiting is enabled
|
|
mov A, Temp8
|
|
clr C
|
|
subb A, #4 ; Is low voltage limit disabled?
|
|
jz check_voltage_good ; Yes - voltage declared good
|
|
|
|
; Check if ADC is saturated
|
|
clr C
|
|
mov A, Temp1 ;读取AD值低字节
|
|
subb A, #0FFh
|
|
mov A, Temp2 ;读取AD值高字节
|
|
subb A, #03h ;判断AD是否超出10位AD范围
|
|
jnc check_voltage_good ; ADC saturated, can not make judgement
|
|
|
|
; Check voltage against limit
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, Lipo_Adc_Limit_L
|
|
mov A, Temp2
|
|
subb A, Lipo_Adc_Limit_H
|
|
jnc check_voltage_good ; If voltage above limit - branch 电压值 > 低压设置值
|
|
|
|
mov Temp1, #Pgm_Low_Voltage_Ctl ;读低压保护控制方式选项
|
|
mov A, @Temp1
|
|
clr C
|
|
subb A, #1 ;
|
|
jz check_voltage_next_way
|
|
|
|
mov A, Pwm_Limit
|
|
subb A, #5
|
|
jnc check_limit_count
|
|
setb LOW_LIMIT_STOP ;设置低压保护控制方式2 低压停止标志
|
|
ljmp run_to_wait_for_power_on
|
|
|
|
check_voltage_next_way:
|
|
; Decrease pwm limit
|
|
mov A, Pwm_Limit
|
|
subb A, #80 ;更改低压保护方式 2013.05.31
|
|
;////// jz check_voltage_lim ; If limit zero - branch
|
|
jc check_voltage_lim ; If limit <100 - branch
|
|
check_limit_count:
|
|
mov A, Limit_Count
|
|
jz ($+6)
|
|
dec Limit_Count ;递减低压保护变量 2013.7.5
|
|
ajmp check_voltage_lim
|
|
|
|
mov Limit_Count, #5 ; 2013.7.5
|
|
dec Pwm_Limit ; Decrement limit
|
|
jmp check_voltage_lim
|
|
;Low voltage limit = 第1项
|
|
check_voltage_good:
|
|
; Increase pwm limit
|
|
mov Limit_Count, #5 ; 2013.7.5
|
|
mov A, Pwm_Limit
|
|
cpl A
|
|
jz check_voltage_lim ; If limit max - branch
|
|
|
|
inc Pwm_Limit ; Increment limit
|
|
|
|
check_voltage_lim:
|
|
mov Temp1, Pwm_Limit ; Set limit
|
|
clr C
|
|
mov A, Current_Pwm
|
|
subb A, Temp1
|
|
jnc check_voltage_spoolup_lim ; If current pwm above limit - branch and limit
|
|
|
|
mov Temp1, Current_Pwm ; Set current pwm (no limiting)
|
|
|
|
check_voltage_spoolup_lim:
|
|
mov Current_Pwm_Limited, Temp1 ;取小值
|
|
; Slow spoolup
|
|
clr C
|
|
mov A, Current_Pwm_Limited
|
|
subb A, Pwm_Limit_Spoolup
|
|
jc check_voltage_exit ; If current pwm below limit - branch
|
|
|
|
mov Current_Pwm_Limited, Pwm_Limit_Spoolup ;取小值
|
|
mov A, Pwm_Limit_Spoolup ; Check if spoolup limit is max
|
|
cpl A
|
|
jz check_voltage_exit ; If max - branch
|
|
|
|
mov Pwm_Limit, Pwm_Limit_Spoolup ; Set pwm limit to spoolup limit during ramp (to avoid governor integral buildup)
|
|
|
|
check_voltage_exit:
|
|
ENDIF
|
|
; Set adc mux for next conversion
|
|
clr C
|
|
mov A, Adc_Conversion_Cnt ; Is next conversion for temperature?
|
|
cjne A, #(TEMP_CHECK_RATE-1), ($+6)
|
|
|
|
Set_Adc_Ip_Temp ; Select temp sensor for next conversion
|
|
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Set startup PWM routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Used for pwm control during startup
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
set_startup_pwm:
|
|
; Set pwm values according to startup phase flags
|
|
jnb Flags1.SETTLE_PHASE, ($+5) ; Is it motor start settle phase? 是否启动定位？
|
|
mov Temp1, #PWM_SETTLE ; Yes - set settle power
|
|
jnb Flags1.STEPPER_PHASE, ($+5) ; Is it motor start stepper phase? 是否步进启动？
|
|
mov Temp1, #PWM_STEPPER ; Yes - set stepper power
|
|
|
|
; Update pwm variables if any startup phase flag is set
|
|
mov A, Flags1
|
|
anl A, #((1 SHL SETTLE_PHASE)+(1 SHL STEPPER_PHASE))
|
|
jz startup_pwm_exit ; If no startup phase set - exit
|
|
|
|
; Adjust startup power
|
|
mov A, Temp1 ; Multiply startup power by programmed value
|
|
mov Temp2, #Pgm_Startup_Pwr_Decoded
|
|
mov B, @Temp2
|
|
mul AB
|
|
xch A, B
|
|
mov C, B.7 ; Multiply result by 2 (unity gain is 128)
|
|
rlc A
|
|
mov Temp1, A ; Transfer to Temp1
|
|
clr C
|
|
mov A, Temp1 ; Check against limit
|
|
subb A, Pwm_Limit
|
|
jc startup_pwm_set_pwm ; If pwm below limit - branch
|
|
|
|
mov Temp1, Pwm_Limit ; Limit pwm
|
|
|
|
startup_pwm_set_pwm:
|
|
; Set pwm variables
|
|
mov Requested_Pwm, Temp1 ; Update requested pwm
|
|
mov Current_Pwm, Temp1 ; Update current pwm
|
|
mov Current_Pwm_Limited, Temp1 ; Update limited version of current pwm
|
|
jnb Flags1.SETTLE_PHASE, startup_pwm_exit ; Is it motor start settle phase?
|
|
|
|
clr C ; Yes - update spoolup beginning pwm (will use PWM_SETTLE or PWM_SETTLE/2)
|
|
mov A, Temp1
|
|
mov Pwm_Spoolup_Beg, A
|
|
|
|
startup_pwm_exit:
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Initialize all timings routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Part of initialization before motor start
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
initialize_all_timings:
|
|
; Load programmed startup rpm
|
|
;读取Startup rpm
|
|
; mov Temp1, #Pgm_Startup_Rpm ; Load startup rpm
|
|
; mov A, @Temp1
|
|
; mov Temp8, A ; Store in Temp8
|
|
; Check startup rpm setting and set step accordingly
|
|
; clr C
|
|
; mov A, Temp8
|
|
; subb A, #5
|
|
; jnc stepper_step_high
|
|
; clr C
|
|
; mov A, Temp8
|
|
; subb A, #4
|
|
; jnc stepper_step_med_high
|
|
; clr C
|
|
; mov A, Temp8
|
|
; subb A, #3
|
|
; jnc stepper_step_med
|
|
; clr C
|
|
; mov A, Temp8
|
|
; subb A, #2
|
|
; jnc stepper_step_med_low
|
|
; clr C
|
|
; mov A, Temp8
|
|
; subb A, #1
|
|
; jnc stepper_step_low
|
|
;Startup_Rpm = 第5项
|
|
;stepper_step_high:
|
|
; mov Stepper_Step_Beg_L, #low(2000 SHL 1)
|
|
; mov Stepper_Step_Beg_H, #high(2000 SHL 1)
|
|
; mov Stepper_Step_End_L, #low(670 SHL 1)
|
|
; mov Stepper_Step_End_H, #high(670 SHL 1)
|
|
; ajmp stepper_step_set
|
|
;Startup_Rpm = 第4项
|
|
;stepper_step_med_high:
|
|
; mov Stepper_Step_Beg_L, #low(2400 SHL 1)
|
|
; mov Stepper_Step_Beg_H, #high(2400 SHL 1)
|
|
; mov Stepper_Step_End_L, #low(800 SHL 1)
|
|
; mov Stepper_Step_End_H, #high(800 SHL 1)
|
|
; ajmp stepper_step_set
|
|
;Startup_Rpm = 第3项
|
|
;stepper_step_med:
|
|
; mov Stepper_Step_Beg_L, #low(3000 SHL 1) ; ~3300 eRPM
|
|
; mov Stepper_Step_Beg_H, #high(3000 SHL 1)
|
|
; mov Stepper_Step_End_L, #low(1000 SHL 1) ; ~10000 eRPM
|
|
; mov Stepper_Step_End_H, #high(1000 SHL 1)
|
|
; ajmp stepper_step_set
|
|
;Startup_Rpm = 第2项
|
|
;stepper_step_med_low:
|
|
; mov Stepper_Step_Beg_L, #low(3750 SHL 1)
|
|
; mov Stepper_Step_Beg_H, #high(3750 SHL 1)
|
|
; mov Stepper_Step_End_L, #low(1250 SHL 1)
|
|
; mov Stepper_Step_End_H, #high(1250 SHL 1)
|
|
; ajmp stepper_step_set
|
|
;Startup_Rpm = 第1项
|
|
;stepper_step_low:
|
|
; mov Stepper_Step_Beg_L, #low(4500 SHL 1)
|
|
; mov Stepper_Step_Beg_H, #high(4500 SHL 1)
|
|
; mov Stepper_Step_End_L, #low(1500 SHL 1)
|
|
; mov Stepper_Step_End_H, #high(1500 SHL 1)
|
|
; ajmp stepper_step_set
|
|
|
|
;stepper_step_set:
|
|
; mov Wt_Stepper_Step_L, Stepper_Step_Beg_L ; Initialize stepper step time
|
|
; mov Wt_Stepper_Step_H, Stepper_Step_Beg_H
|
|
mov Comm_Period4x_L, #00h ; Set commutation period registers
|
|
mov Comm_Period4x_H, #08h
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Calculate next commutation timing routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Called immediately after each commutation
|
|
; Also sets up timer 1 to wait advance timing
|
|
; Two entry points are used
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;calc_next_comm_timing_start: ; Entry point for startup
|
|
; mov Temp1, Wt_Stepper_Step_L ; Set up stepper step wait
|
|
; mov Temp2, Wt_Stepper_Step_H
|
|
; jmp read_timer
|
|
|
|
calc_next_comm_timing: ; Entry point for run phase
|
|
mov Temp1, Wt_Advance_L ; Set up advance timing wait
|
|
mov Temp2, Wt_Advance_H
|
|
read_timer:
|
|
; Set up next wait
|
|
mov TMR3CN, #00h ; Timer3 disabled
|
|
clr C
|
|
clr A
|
|
subb A, Temp1 ; Set wait to zero cross scan value
|
|
mov TMR3L, A
|
|
clr A
|
|
subb A, Temp2
|
|
mov TMR3H, A
|
|
mov TMR3CN, #04h ; Timer3 enabled
|
|
setb Flags0.T3_PENDING
|
|
; Read commutation time
|
|
mov TMR2CN, #20h ; Timer2 disabled
|
|
mov Temp1, TMR2L ; Load timer value
|
|
mov Temp2, TMR2H
|
|
mov TMR2CN, #24h ; Timer2 enabled
|
|
; Calculate this commutation time
|
|
mov Temp3, Prev_Comm_L
|
|
mov Temp4, Prev_Comm_H
|
|
mov Prev_Comm_L, Temp1 ; Store timestamp as previous commutation
|
|
mov Prev_Comm_H, Temp2
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, Temp3 ; Calculate the new commutation time
|
|
mov Temp1, A
|
|
mov A, Temp2
|
|
subb A, Temp4
|
|
mov Temp2, A
|
|
; Calculate next zero cross scan timeout
|
|
mov Temp3, Comm_Period4x_L ; Comm_Period4x(-l-h-x) holds the time of 4 commutations
|
|
mov Temp4, Comm_Period4x_H
|
|
clr C
|
|
mov A, Temp4
|
|
rrc A ; Divide by 2
|
|
mov Temp6, A
|
|
mov A, Temp3
|
|
rrc A
|
|
mov Temp5, A
|
|
clr C
|
|
mov A, Temp6
|
|
rrc A ; Divide by 2 again
|
|
mov Temp6, A
|
|
mov A, Temp5
|
|
rrc A
|
|
mov Temp5, A
|
|
clr C
|
|
mov A, Temp3
|
|
subb A, Temp5 ; Subtract a quarter
|
|
mov Temp3, A
|
|
mov A, Temp4
|
|
subb A, Temp6
|
|
mov Temp4, A
|
|
|
|
mov A, Temp3
|
|
add A, Temp1 ; Add the new time
|
|
mov Temp3, A
|
|
mov A, Temp4
|
|
addc A, Temp2
|
|
mov Temp4, A
|
|
mov Comm_Period4x_L, Temp3 ; Store Comm_Period4x_X
|
|
mov Comm_Period4x_H, Temp4
|
|
jc calc_next_comm_slow ; If period larger than 0xffff - go to slow case
|
|
|
|
ret
|
|
|
|
calc_next_comm_slow:
|
|
mov Comm_Period4x_L, #0FFh ; Set commutation period registers to very slow timing (0xffff)
|
|
mov Comm_Period4x_H, #0FFh
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Wait advance timing routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Waits for the advance timing to elapse
|
|
; Also sets up timer 1 to wait the zero cross scan wait time
|
|
; And has a separate entry point for just setting up zero cross scan wait
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
wait_advance_timing:
|
|
jnb Flags0.T3_PENDING, ($+5)
|
|
ajmp wait_advance_timing
|
|
|
|
setup_zc_scan_wait:
|
|
mov TMR3CN, #00h ; Timer3 disabled
|
|
clr C
|
|
clr A
|
|
subb A, Wt_Zc_Scan_L ; Set wait to zero cross scan value
|
|
mov TMR3L, A
|
|
clr A
|
|
subb A, Wt_Zc_Scan_H
|
|
mov TMR3H, A
|
|
mov TMR3CN, #04h ; Timer3 enabled
|
|
setb Flags0.T3_PENDING
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Calculate new wait times routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Calculates new wait times
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
calc_new_wait_times:
|
|
; Load programmed commutation timing
|
|
;读取Commutation timing
|
|
mov Temp1, #Pgm_Comm_Timing ; Load timing setting
|
|
mov A, @Temp1
|
|
mov Temp8, A ; Store in Temp8
|
|
mov Temp7, #(COMM_TIME_RED SHL 1)
|
|
jnb Flags0.DEMAG_DETECTED, calc_new_wait_check_startup ; Demag detected?
|
|
|
|
mov Temp8, #5 ; Yes - set high timing
|
|
|
|
calc_new_wait_check_startup:
|
|
jnb Flags1.DIRECT_STARTUP_PHASE, calc_new_wait_dir_start_set ; Set timing for direct start
|
|
|
|
mov Temp8, #3 ; Set medium timing
|
|
mov Temp7, #0 ; Set no comm time reduction
|
|
|
|
calc_new_wait_dir_start_set:
|
|
; Load current commutation timing
|
|
mov Temp2, Comm_Period4x_H ; Load Comm_Period4x
|
|
mov Temp1, Comm_Period4x_L
|
|
mov Temp3, #4 ; Divide 4 times
|
|
divide_wait_times:
|
|
clr C
|
|
mov A, Temp2
|
|
rrc A ; Divide by 2
|
|
mov Temp2, A
|
|
mov A, Temp1
|
|
rrc A
|
|
mov Temp1, A
|
|
djnz Temp3, divide_wait_times
|
|
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, Temp7
|
|
mov Temp1, A
|
|
mov A, Temp2
|
|
subb A, #0
|
|
mov Temp2, A
|
|
jc load_min_time ; Check that result is still positive
|
|
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, #(COMM_TIME_MIN SHL 1)
|
|
mov A, Temp2
|
|
subb A, #0
|
|
jnc adjust_timing ; Check that result is still above minumum
|
|
|
|
load_min_time:
|
|
mov Temp1, #(COMM_TIME_MIN SHL 1)
|
|
clr A
|
|
mov Temp2, A
|
|
|
|
adjust_timing:
|
|
mov A, Temp2 ; Copy values
|
|
mov Temp4, A
|
|
mov A, Temp1
|
|
mov Temp3, A
|
|
clr C
|
|
mov A, Temp2
|
|
rrc A ; Divide by 2
|
|
mov Temp6, A
|
|
mov A, Temp1
|
|
rrc A
|
|
mov Temp5, A
|
|
clr C
|
|
mov A, Temp8 ; (Temp8 has Pgm_Comm_Timing)
|
|
subb A, #3 ; Is timing normal?
|
|
jz store_times_decrease ; Yes - branch
|
|
|
|
mov A, Temp8
|
|
jb ACC.0, adjust_timing_two_steps ; If an odd number - branch
|
|
;Commutation timing = 第2、4项
|
|
mov A, Temp1 ; Add 7.5?and store in Temp1/2
|
|
add A, Temp5
|
|
mov Temp1, A
|
|
mov A, Temp2
|
|
addc A, Temp6
|
|
mov Temp2, A
|
|
mov A, Temp5 ; Store 7.5?in Temp3/4
|
|
mov Temp3, A
|
|
mov A, Temp6
|
|
mov Temp4, A
|
|
jmp store_times_up_or_down
|
|
;Commutation timing = 第1、5项
|
|
adjust_timing_two_steps:
|
|
mov A, Temp1 ; Add 15?and store in Temp1/2
|
|
add A, Temp1
|
|
mov Temp1, A
|
|
mov A, Temp2
|
|
addc A, Temp2
|
|
mov Temp2, A
|
|
mov Temp3, #(COMM_TIME_MIN SHL 1) ; Store minimum time in Temp3/4
|
|
clr A
|
|
mov Temp4, A
|
|
|
|
store_times_up_or_down:
|
|
clr C
|
|
mov A, Temp8
|
|
subb A, #3 ; Is timing higher than normal?
|
|
jc store_times_decrease ; No - branch
|
|
;Commutation timing = 第4、5项
|
|
store_times_increase:
|
|
mov Wt_Comm_L, Temp3 ; Now commutation time (~60? divided by 4 (~15?nominal)
|
|
mov Wt_Comm_H, Temp4
|
|
mov Wt_Advance_L, Temp1 ; New commutation advance time (~15?nominal)
|
|
mov Wt_Advance_H, Temp2
|
|
mov Wt_Zc_Scan_L, Temp5 ; Use this value for zero cross scan delay (7.5?
|
|
mov Wt_Zc_Scan_H, Temp6
|
|
ret
|
|
;Commutation timing = 第1、2、3项
|
|
store_times_decrease:
|
|
mov Wt_Comm_L, Temp1 ; Now commutation time (~60? divided by 4 (~15?nominal)
|
|
mov Wt_Comm_H, Temp2
|
|
mov Wt_Advance_L, Temp3 ; New commutation advance time (~15?nominal)
|
|
mov Wt_Advance_H, Temp4
|
|
mov Wt_Zc_Scan_L, Temp5 ; Use this value for zero cross scan delay (7.5?
|
|
mov Wt_Zc_Scan_H, Temp6
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Wait before zero cross scan routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Waits for the zero cross scan wait time to elapse
|
|
; Also sets up timer 1 to wait the zero cross scan timeout time
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
wait_before_zc_scan:
|
|
jnb Flags0.T3_PENDING, ($+5)
|
|
ajmp wait_before_zc_scan
|
|
|
|
mov TMR3CN, #00h ; Timer3 disabled
|
|
clr C
|
|
clr A
|
|
subb A, Comm_Period4x_L ; Set wait to zero comm period 4x value
|
|
mov TMR3L, A
|
|
clr A
|
|
subb A, Comm_Period4x_H
|
|
mov TMR3H, A
|
|
mov TMR3CN, #04h ; Timer3 enabled
|
|
setb Flags0.T3_PENDING
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Wait for comparator to go low/high routines
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Waits for the zero cross scan wait time to elapse
|
|
; Then scans for comparator going low/high
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
wait_for_comp_out_low:
|
|
mov Comp_Wait_Reads, #0
|
|
mov Bit_Access, #00h ; Desired comparator output
|
|
jmp wait_for_comp_out_start
|
|
|
|
wait_for_comp_out_high:
|
|
mov Comp_Wait_Reads, #0
|
|
mov Bit_Access, #40h ; Desired comparator output
|
|
|
|
wait_for_comp_out_start:
|
|
setb EA ; Enable interrupts
|
|
inc Comp_Wait_Reads
|
|
jb Flags0.T3_PENDING, ($+4) ; Has zero cross scan timeout elapsed?
|
|
ret ; Yes - return
|
|
|
|
; Set default comparator response times
|
|
mov CPT0MD, #0 ; Set fast response (100ns) as default
|
|
IF COMP1_USED==1
|
|
mov CPT1MD, #0 ; Set fast response (100ns) as default
|
|
ENDIF
|
|
; Select number of comparator readings based upon current rotation speed
|
|
mov A, Comm_Period4x_H ; Load rotation period
|
|
clr C
|
|
rrc A ; Divide by 4
|
|
clr C
|
|
rrc A
|
|
mov Temp1, A
|
|
inc Temp1 ; Add one to be sure it is always larger than zero
|
|
jz comp_wait_on_comp_able ; If minimum number of readings - jump directly to reading
|
|
; For damped mode, do fewer comparator readings (since comparator info is primarily only available in the pwm on period)
|
|
jnb Flags2.PGM_PWMOFF_DAMPED, comp_wait_set_max_readings
|
|
|
|
clr C
|
|
rrc A ; Divide by 4 again
|
|
clr C
|
|
rrc A
|
|
mov Temp1, A
|
|
inc Temp1 ; Add one to be sure it is always larger than zero
|
|
|
|
comp_wait_set_max_readings:
|
|
clr C
|
|
mov A, Temp1 ; Limit to a max of 10
|
|
subb A, #10
|
|
jc ($+4)
|
|
|
|
mov Temp1, #10
|
|
|
|
jnb Flags2.PGM_PWM_HIGH_FREQ, comp_wait_set_response_time ; Jump if pwm frequency is low
|
|
|
|
clr C
|
|
mov A, Temp1 ; Limit to a max of 4
|
|
subb A, #4
|
|
jc ($+4)
|
|
|
|
mov Temp1, #4
|
|
|
|
comp_wait_set_response_time:
|
|
clr C
|
|
mov A, Comm_Period4x_H ; Is Comm_Period4x_H less than 1ms?
|
|
subb A, #8
|
|
jc comp_wait_on_comp_able ; Yes - jump
|
|
|
|
mov CPT0MD, #2 ; Set medium response (300ns)
|
|
IF COMP1_USED==1
|
|
mov CPT1MD, #2 ; Set medium response (300ns)
|
|
ENDIF
|
|
clr C
|
|
mov A, Comm_Period4x_H ; Is Comm_Period4x_H less than 2ms?
|
|
subb A, #16
|
|
jc comp_wait_on_comp_able ; Yes - jump
|
|
|
|
mov CPT0MD, #3 ; Set slow response (1000ns)
|
|
IF COMP1_USED==1
|
|
mov CPT1MD, #3 ; Set slow response (1000ns)
|
|
ENDIF
|
|
|
|
comp_wait_on_comp_able:
|
|
jb Flags0.T3_PENDING, ($+6) ; Has zero cross scan timeout elapsed?
|
|
setb EA ; Enable interrupts
|
|
ret ; Yes - return
|
|
|
|
mov Temp2, #COMP_PWM_HIGH_ON_DELAY ; Wait time after pwm has been switched on (motor wire electrical settling)
|
|
jb Flags2.PGM_PWM_HIGH_FREQ, ($+5)
|
|
mov Temp2, #COMP_PWM_LOW_ON_DELAY
|
|
setb EA ; Enable interrupts
|
|
nop ; Allocate only just enough time to capture interrupt
|
|
nop
|
|
clr EA ; Disable interrupts
|
|
jb Flags0.PWM_ON, pwm_wait_startup ; If pwm on - proceed
|
|
|
|
mov Temp2, #COMP_PWM_HIGH_OFF_DELAY ; Wait time after pwm has been switched off (motor wire electrical settling)
|
|
jb Flags2.PGM_PWM_HIGH_FREQ, ($+5)
|
|
mov Temp2, #COMP_PWM_LOW_OFF_DELAY
|
|
jnb Flags2.CURR_PWMOFF_COMP_ABLE, comp_wait_on_comp_able ; If comparator is not usable in pwm off - go back
|
|
|
|
pwm_wait_startup:
|
|
jnb Flags1.DIRECT_STARTUP_PHASE, pwm_wait ; Set a long delay from pwm on/off events during direct startup
|
|
|
|
mov Temp2, #120
|
|
pwm_wait:
|
|
clr C
|
|
mov A, TL1
|
|
subb A, Temp2
|
|
IF DAMPED_MODE_ENABLE==0
|
|
jc comp_wait_on_comp_able ; Re-evaluate pwm cycle for slower escs
|
|
ENDIF
|
|
IF DAMPED_MODE_ENABLE==1 ; Assume same pwm cycle for fast escs
|
|
jb Flags1.DIRECT_STARTUP_PHASE, ($+5)
|
|
jc pwm_wait
|
|
jc comp_wait_on_comp_able ; Re-evaluate pwm cycle during direct start
|
|
ENDIF
|
|
|
|
comp_read:
|
|
Read_Comp_Out ; Read comparator output
|
|
cpl A
|
|
anl A, #40h
|
|
cjne A, Bit_Access, ($+5) ; If comparator output is correct - proceed
|
|
|
|
ajmp wait_for_comp_out_start ; If comparator output is not correct - go back and restart
|
|
|
|
djnz Temp1, comp_wait_on_comp_able ; Decrement readings counter - repeat comparator reading if not zero
|
|
|
|
setb EA ; Enable interrupts
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Evaluate comparator integrity
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Checks comparator signal behaviour versus expected behaviour
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
evaluate_comparator_integrity:
|
|
clr Flags0.DEMAG_DETECTED ; Clear demag detected flag
|
|
; Check if demag compensation is enabled
|
|
;读取Demag compensation
|
|
mov Temp1, #Pgm_Demag_Comp ; Load programmed demag compensation
|
|
mov A, @Temp1
|
|
dec A
|
|
jz eval_comp_no_demag
|
|
|
|
; Check if a demag situation has occurred
|
|
mov A, Comp_Wait_Reads ; Check if there were no waits (there shall be some). If none a demag situation has occurred
|
|
dec A
|
|
jnz eval_comp_no_demag
|
|
;Demag compensation = 第2项
|
|
setb Flags0.DEMAG_DETECTED ; Set demag detected flag
|
|
;Demag compensation = 第1项
|
|
eval_comp_no_demag:
|
|
jnb Flags1.DIRECT_STARTUP_PHASE, eval_comp_check_timeout
|
|
|
|
inc Direct_Startup_Ok_Cnt ; Increment ok counter
|
|
jb Flags0.T3_PENDING, eval_comp_exit
|
|
|
|
mov Direct_Startup_Ok_Cnt, #0 ; Reset ok counter
|
|
jmp eval_comp_exit
|
|
|
|
eval_comp_check_timeout:
|
|
jb Flags0.T3_PENDING, eval_comp_exit ; Has timeout elapsed?
|
|
dec SP ; Routine exit without "ret" command
|
|
dec SP
|
|
ljmp run_to_wait_for_power_on ; Yes - exit run mode
|
|
|
|
eval_comp_exit:
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Setup commutation timing routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Sets up and starts wait from commutation to zero cross
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
setup_comm_wait:
|
|
mov TMR3CN, #00h ; Timer3 disabled
|
|
clr C
|
|
clr A
|
|
subb A, Wt_Comm_L ; Set wait commutation value
|
|
mov TMR3L, A
|
|
clr A
|
|
subb A, Wt_Comm_H
|
|
mov TMR3H, A
|
|
mov TMR3CN, #04h ; Timer3 enabled
|
|
setb Flags0.T3_PENDING
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Wait for commutation routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Waits from zero cross to commutation
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
wait_for_comm:
|
|
; Store motor power
|
|
mov Temp7, Current_Pwm_Limited
|
|
; Check if a demag situation has occurred
|
|
jnb Flags0.DEMAG_DETECTED, wait_for_comm_wait; Demag detected?
|
|
|
|
; Load programmed demag compensation
|
|
mov Temp1, #Pgm_Demag_Comp_Power_Decoded ; Yes - load programmed demag compensation power decoded
|
|
mov A, @Temp1
|
|
mov Temp8, A ; Store in Temp8
|
|
|
|
; Check for first power off
|
|
cjne Temp8, #1, wait_for_comm_blind
|
|
|
|
setb Flags0.DEMAG_CUT_POWER ; Turn off motor power
|
|
mov Current_Pwm_Limited, #0
|
|
All_nFETs_off
|
|
|
|
; Wait a blind wait
|
|
wait_for_comm_blind:
|
|
call setup_zc_scan_wait ; Setup a zero cross scan wait (7.5 deg)
|
|
wait_demag_default_zc1:
|
|
jnb Flags0.DEMAG_CUT_POWER, ($+6) ; Cut motor power if set
|
|
mov Current_Pwm_Limited, #0
|
|
jnb Flags0.T3_PENDING, ($+5)
|
|
ajmp wait_demag_default_zc1
|
|
|
|
; Check for second power off
|
|
cjne Temp8, #2, wait_for_comm_second_blind_wait
|
|
|
|
setb Flags0.DEMAG_CUT_POWER ; Turn off motor power
|
|
mov Current_Pwm_Limited, #0
|
|
All_nFETs_off
|
|
|
|
; Check for another blind wait
|
|
wait_for_comm_second_blind_wait:
|
|
mov Temp1, #Pgm_Demag_Comp_Wait_Decoded ; Yes - load programmed demag compensation wait decoded
|
|
cjne @Temp1, #1, wait_for_comm_power3
|
|
|
|
call setup_zc_scan_wait ; Setup a zero cross scan wait (7.5 deg)
|
|
wait_demag_default_zc2:
|
|
jnb Flags0.DEMAG_CUT_POWER, ($+6) ; Cut motor power if set
|
|
mov Current_Pwm_Limited, #0
|
|
jnb Flags0.T3_PENDING, ($+5)
|
|
ajmp wait_demag_default_zc2
|
|
|
|
wait_for_comm_power3:
|
|
; Check for third power off
|
|
cjne Temp8, #3, wait_for_comm_setup
|
|
|
|
setb Flags0.DEMAG_CUT_POWER ; Turn off motor power
|
|
mov Current_Pwm_Limited, #0
|
|
All_nFETs_off
|
|
|
|
wait_for_comm_setup:
|
|
call setup_comm_wait ; Setup commutation wait
|
|
wait_for_comm_wait:
|
|
jnb Flags0.DEMAG_CUT_POWER, ($+6) ; Cut motor power if set
|
|
mov Current_Pwm_Limited, #0
|
|
jnb Flags0.T3_PENDING, ($+5)
|
|
ajmp wait_for_comm_wait
|
|
|
|
jnb Flags0.DEMAG_DETECTED, wait_for_comm_exit ; Was there a demag situation?
|
|
|
|
clr Flags0.DEMAG_CUT_POWER ; Restore motor power again
|
|
mov Current_Pwm_Limited, Temp7
|
|
|
|
wait_for_comm_exit:
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Commutation routines
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Performs commutation switching
|
|
; Damped routines uses all pfets on when in pwm off to dampen the motor
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;******************************************************
|
|
; 关B down 并 开A down或Cdown
|
|
;******************************************************
|
|
comm1comm2:
|
|
clr EA ; Disable all interrupts
|
|
BpFET_off ; Bp off
|
|
jb Flags2.PGM_PWMOFF_DAMPED, comm12_damp
|
|
jmp comm12_nondamp
|
|
comm12_damp:
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
mov DPTR, #pwm_cnfet_apfet_on_fast
|
|
jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, comm12_nondamp
|
|
ENDIF
|
|
IF DAMPED_MODE_ENABLE == 1
|
|
mov DPTR, #pwm_cnfet_apfet_on_safe
|
|
ENDIF
|
|
jnb Flags2.CURR_PWMOFF_DAMPED, comm12_nondamp ; If pwm off not damped - branch
|
|
CpFET_off
|
|
mov A, #NFETON_DELAY ; Delay
|
|
djnz ACC, $
|
|
comm12_nondamp:
|
|
ApFET_on ; Ap on
|
|
Set_Comp_Phase_B ; Set comparator to phase B
|
|
mov Comm_Phase, #2
|
|
setb EA ; Enable all interrupts
|
|
ret
|
|
|
|
comm2comm3:
|
|
clr EA ; Disable all interrupts
|
|
jb Flags2.PGM_PWMOFF_DAMPED, comm23_damp
|
|
jmp comm23_nondamp
|
|
comm23_damp:
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
mov DPTR, #pwm_bnfet_apfet_on_fast
|
|
ENDIF
|
|
IF DAMPED_MODE_ENABLE == 1
|
|
mov DPTR, #pwm_bnfet_apfet_on_safe
|
|
ENDIF
|
|
jnb Flags2.CURR_PWMOFF_DAMPED, comm23_nfet ; If pwm off not damped - branch
|
|
BpFET_off
|
|
CpFET_off
|
|
mov A, #NFETON_DELAY ; Delay
|
|
djnz ACC, $
|
|
jmp comm23_nfet
|
|
comm23_nondamp:
|
|
mov DPTR, #pwm_bfet_on
|
|
comm23_nfet:
|
|
CnFET_off ; Cn off
|
|
jnb Flags0.PWM_ON, comm23_cp ; Is pwm on?
|
|
BnFET_on ; Yes - Bn on
|
|
comm23_cp:
|
|
Set_Comp_Phase_C ; Set comparator to phase C
|
|
mov Comm_Phase, #3
|
|
setb EA ; Enable all interrupts
|
|
ret
|
|
|
|
comm3comm4:
|
|
clr EA ; Disable all interrupts
|
|
ApFET_off ; Ap off
|
|
jb Flags2.PGM_PWMOFF_DAMPED, comm34_damp
|
|
jmp comm34_nondamp
|
|
comm34_damp:
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
mov DPTR, #pwm_bnfet_cpfet_on_fast
|
|
jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, comm34_nondamp
|
|
ENDIF
|
|
IF DAMPED_MODE_ENABLE == 1
|
|
mov DPTR, #pwm_bnfet_cpfet_on_safe
|
|
ENDIF
|
|
jnb Flags2.CURR_PWMOFF_DAMPED, comm34_nondamp ; If pwm off not damped - branch
|
|
BpFET_off
|
|
mov A, #NFETON_DELAY ; Delay
|
|
djnz ACC, $
|
|
comm34_nondamp:
|
|
CpFET_on ; Cp on
|
|
Set_Comp_Phase_A ; Set comparator to phase A
|
|
mov Comm_Phase, #4
|
|
setb EA ; Enable all interrupts
|
|
ret
|
|
|
|
comm4comm5:
|
|
clr EA ; Disable all interrupts
|
|
jb Flags2.PGM_PWMOFF_DAMPED, comm45_damp
|
|
jmp comm45_nondamp
|
|
comm45_damp:
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
mov DPTR, #pwm_anfet_cpfet_on_fast
|
|
ENDIF
|
|
IF DAMPED_MODE_ENABLE == 1
|
|
mov DPTR, #pwm_anfet_cpfet_on_safe
|
|
ENDIF
|
|
jnb Flags2.CURR_PWMOFF_DAMPED, comm45_nfet ; If pwm off not damped - branch
|
|
ApFET_off
|
|
BpFET_off
|
|
mov A, #NFETON_DELAY ; Delay
|
|
djnz ACC, $
|
|
jmp comm45_nfet
|
|
comm45_nondamp:
|
|
mov DPTR, #pwm_afet_on
|
|
comm45_nfet:
|
|
BnFET_off ; Bn off
|
|
jnb Flags0.PWM_ON, comm45_cp ; Is pwm on?
|
|
AnFET_on ; Yes - An on
|
|
comm45_cp:
|
|
Set_Comp_Phase_B ; Set comparator to phase B
|
|
mov Comm_Phase, #5
|
|
setb EA ; Enable all interrupts
|
|
ret
|
|
|
|
comm5comm6:
|
|
clr EA ; Disable all interrupts
|
|
CpFET_off ; Cp off
|
|
jb Flags2.PGM_PWMOFF_DAMPED, comm56_damp
|
|
jmp comm56_nondamp
|
|
comm56_damp:
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
mov DPTR, #pwm_anfet_bpfet_on_fast
|
|
jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, comm56_nondamp
|
|
ENDIF
|
|
IF DAMPED_MODE_ENABLE == 1
|
|
mov DPTR, #pwm_anfet_bpfet_on_safe
|
|
ENDIF
|
|
jnb Flags2.CURR_PWMOFF_DAMPED, comm56_nondamp ; If pwm off not damped - branch
|
|
ApFET_off
|
|
mov A, #NFETON_DELAY ; Delay
|
|
djnz ACC, $
|
|
comm56_nondamp:
|
|
BpFET_on ; Bp on
|
|
Set_Comp_Phase_C ; Set comparator to phase C
|
|
mov Comm_Phase, #6
|
|
setb EA ; Enable all interrupts
|
|
ret
|
|
|
|
comm6comm1:
|
|
clr EA ; Disable all interrupts
|
|
jb Flags2.PGM_PWMOFF_DAMPED, comm61_damp
|
|
jmp comm61_nondamp
|
|
comm61_damp:
|
|
IF DAMPED_MODE_ENABLE == 0
|
|
mov DPTR, #pwm_cnfet_bpfet_on_fast
|
|
ENDIF
|
|
IF DAMPED_MODE_ENABLE == 1
|
|
mov DPTR, #pwm_cnfet_bpfet_on_safe
|
|
ENDIF
|
|
jnb Flags2.CURR_PWMOFF_DAMPED, comm61_nfet ; If pwm off not damped - branch
|
|
ApFET_off
|
|
CpFET_off
|
|
mov A, #NFETON_DELAY ; Delay
|
|
djnz ACC, $
|
|
jmp comm61_nfet
|
|
comm61_nondamp:
|
|
mov DPTR, #pwm_cfet_on
|
|
comm61_nfet:
|
|
AnFET_off ; An off
|
|
jnb Flags0.PWM_ON, comm61_cp ; Is pwm on?
|
|
CnFET_on ; Yes - Cn on
|
|
comm61_cp:
|
|
Set_Comp_Phase_A ; Set comparator to phase A
|
|
mov Comm_Phase, #1
|
|
setb EA ; Enable all interrupts
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Switch power off routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Switches all fets off
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
switch_power_off:
|
|
mov DPTR, #pwm_nofet_on ; Set DPTR register to pwm_nofet_on label
|
|
All_pFETs_Off ; Turn off all pfets
|
|
All_nFETs_Off ; Turn off all nfets
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Decrement stepper step routine
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Decrements the stepper step
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;decrement_stepper_step:
|
|
; clr C
|
|
; mov A, Wt_Stepper_Step_L
|
|
; subb A, Stepper_Step_End_L ; Minimum Stepper_Step_End
|
|
; mov A, Wt_Stepper_Step_H
|
|
; subb A, Stepper_Step_End_H
|
|
; jnc decrement_step ; Branch if same or higher than minimum
|
|
; ret
|
|
|
|
;decrement_step:
|
|
; Load programmed startup acceleration
|
|
;读取Startup acceleration
|
|
; mov Temp1, #Pgm_Startup_Accel ; Load startup accel
|
|
; mov A, @Temp1
|
|
; mov Temp8, A ; Store in Temp8
|
|
; Check acceleration setting and set step size accordingly
|
|
; clr C
|
|
; mov A, Temp8
|
|
; subb A, #5
|
|
; jnc dec_step_high
|
|
; clr C
|
|
; mov A, Temp8
|
|
; subb A, #4
|
|
; jnc dec_step_med_high
|
|
; clr C
|
|
; mov A, Temp8
|
|
; subb A, #3
|
|
; jnc dec_step_med
|
|
; clr C
|
|
; mov A, Temp8
|
|
; subb A, #2
|
|
; jnc dec_step_med_low
|
|
; clr C
|
|
; mov A, Temp8
|
|
; subb A, #1
|
|
; jnc dec_step_low
|
|
;Start acceleration = 第5项
|
|
;dec_step_high:
|
|
; clr C
|
|
; mov A, Wt_Stepper_Step_L
|
|
; subb A, #low(30 SHL 1)
|
|
; mov Temp1, A
|
|
; jmp decrement_step_exit
|
|
;Start acceleration = 第4项
|
|
;dec_step_med_high:
|
|
; clr C
|
|
; mov A, Wt_Stepper_Step_L
|
|
; subb A, #low(20 SHL 1)
|
|
; mov Temp1, A
|
|
; jmp decrement_step_exit
|
|
;Start acceleration = 第3项
|
|
;dec_step_med:
|
|
; clr C
|
|
; mov A, Wt_Stepper_Step_L
|
|
; subb A, #low(13 SHL 1)
|
|
; mov Temp1, A
|
|
; jmp decrement_step_exit
|
|
;Start acceleration = 第2项
|
|
;dec_step_med_low:
|
|
; clr C
|
|
; mov A, Wt_Stepper_Step_L
|
|
; subb A, #low(9 SHL 1)
|
|
; mov Temp1, A
|
|
; jmp decrement_step_exit
|
|
;Start acceleration = 第1项
|
|
;dec_step_low:
|
|
; clr C
|
|
; mov A, Wt_Stepper_Step_L
|
|
; subb A, #low(5 SHL 1)
|
|
; mov Temp1, A
|
|
; jmp decrement_step_exit
|
|
|
|
;decrement_step_exit:
|
|
; mov A, Wt_Stepper_Step_H
|
|
; subb A, #0
|
|
; mov Temp2, A
|
|
; mov Wt_Stepper_Step_L, Temp1
|
|
; mov Wt_Stepper_Step_H, Temp2
|
|
; ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Stepper timer wait
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Waits for the stepper step timer to elapse
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;stepper_timer_wait:
|
|
; jnb Flags0.T3_PENDING, ($+6) ; Timer pending?
|
|
; ljmp stepper_timer_wait ; Yes, go back
|
|
; ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Set default parameters
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Sets default programming parameters
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
set_default_parameters:
|
|
IF MODE == 0 ; Main
|
|
mov Temp1, #Pgm_Gov_P_Gain
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_P_GAIN
|
|
mov Temp1, #Pgm_Gov_I_Gain
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_I_GAIN
|
|
mov Temp1, #Pgm_Gov_Mode
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_GOVERNOR_MODE
|
|
mov Temp1, #Pgm_Gov_Range
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_GOVERNOR_RANGE
|
|
mov Temp1, #Pgm_Low_Voltage_Lim
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_LOW_VOLTAGE_LIM
|
|
mov Temp1, #Pgm_Startup_Pwr
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_PWR
|
|
mov Temp1, #Pgm_Startup_Rpm
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_RPM
|
|
mov Temp1, #Pgm_Startup_Accel
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_ACCEL
|
|
mov Temp1, #Pgm_Startup_Method
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_STARTUP_METHOD
|
|
mov Temp1, #Pgm_Comm_Timing
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_COMM_TIMING
|
|
mov Temp1, #Pgm_Throttle_Rate
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_THROTTLE_RATE
|
|
mov Temp1, #Pgm_Damping_Force
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_DAMPING_FORCE
|
|
mov Temp1, #Pgm_Pwm_Freq
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_PWM_FREQ
|
|
mov Temp1, #Pgm_Demag_Comp
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_DEMAG_COMP
|
|
mov Temp1, #Pgm_Direction_Rev
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_DIRECTION_REV
|
|
mov Temp1, #Pgm_Input_Pol
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_RCP_PWM_POL
|
|
mov Temp1, #Pgm_Motor_Idle
|
|
mov @Temp1, #0
|
|
ENDIF
|
|
IF MODE == 1 ; Tail
|
|
mov Temp1, #Pgm_Motor_Gain
|
|
mov @Temp1, #DEFAULT_PGM_TAIL_GAIN
|
|
mov Temp1, #Pgm_Motor_Idle
|
|
mov @Temp1, #DEFAULT_PGM_TAIL_IDLE_SPEED
|
|
mov Temp1, #Pgm_Startup_Pwr
|
|
mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_PWR
|
|
mov Temp1, #Pgm_Startup_Rpm
|
|
mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_RPM
|
|
mov Temp1, #Pgm_Startup_Accel
|
|
mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_ACCEL
|
|
mov Temp1, #Pgm_Startup_Method
|
|
mov @Temp1, #DEFAULT_PGM_TAIL_STARTUP_METHOD
|
|
mov Temp1, #Pgm_Comm_Timing
|
|
mov @Temp1, #DEFAULT_PGM_TAIL_COMM_TIMING
|
|
mov Temp1, #Pgm_Throttle_Rate
|
|
mov @Temp1, #DEFAULT_PGM_TAIL_THROTTLE_RATE
|
|
mov Temp1, #Pgm_Damping_Force
|
|
mov @Temp1, #DEFAULT_PGM_TAIL_DAMPING_FORCE
|
|
mov Temp1, #Pgm_Pwm_Freq
|
|
mov @Temp1, #DEFAULT_PGM_TAIL_PWM_FREQ
|
|
mov Temp1, #Pgm_Demag_Comp
|
|
mov @Temp1, #DEFAULT_PGM_TAIL_DEMAG_COMP
|
|
mov Temp1, #Pgm_Direction_Rev
|
|
mov @Temp1, #DEFAULT_PGM_TAIL_DIRECTION_REV
|
|
mov Temp1, #Pgm_Input_Pol
|
|
mov @Temp1, #DEFAULT_PGM_TAIL_RCP_PWM_POL
|
|
mov Temp1, #Pgm_Gov_Mode
|
|
mov @Temp1, #4
|
|
ENDIF
|
|
IF MODE == 2 ; Multi
|
|
mov Temp1, #Pgm_Fir_Key ;2013.8.27 增加关键字默认值
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_FIRST_KEYWORD
|
|
mov Temp1, #Pgm_Gov_P_Gain
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_P_GAIN ;Pgm_Gov_P_Gain=9 P增益
|
|
mov Temp1, #Pgm_Gov_I_Gain
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_I_GAIN ;Pgm_Gov_I_Gain=9 I增益
|
|
mov Temp1, #Pgm_Gov_Mode
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_GOVERNOR_MODE ;Pgm_Gov_Mode=4
|
|
mov Temp1, #Pgm_Motor_Gain
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_GAIN ;gm_Motor_Gain=3
|
|
mov Temp1, #Pgm_Low_Voltage_Lim
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_LOW_VOLTAGE_LIM ;Pgm_Low_Voltage_Lim=1 低压保护：1=Off 2=3.0V/c 3=3.1V/c 4=3.2V/c 5=3.3V/c 6=3.4V/c
|
|
mov Temp1, #Pgm_Low_Voltage_Ctl
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_LOW_VOLTAGE_CTL ;Pgm_Low_Voltage_Ctl=1 低压保护: 1=功率逐渐降低到31% 2=关闭输出
|
|
mov Temp1, #Pgm_Startup_Pwr
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_PWR ;Pgm_Startup_Pwr=10
|
|
mov Temp1, #Pgm_Startup_Rpm
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_RPM ;Pgm_Startup_Rpm=1 启动转速：1=0.67 2=0.8 3=1.00 4=1.25 5=1.5
|
|
mov Temp1, #Pgm_Startup_Accel
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_ACCEL ;Pgm_Startup_Accel=5
|
|
; mov Temp1, #Pgm_Startup_Method
|
|
; mov @Temp1, #DEFAULT_PGM_MULTI_STARTUP_METHOD ;Pgm_Startup_Method=2 启动方式：1=步进启动 2=直接启动
|
|
mov Temp1, #Pgm_Comm_Timing
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_COMM_TIMING ;Pgm_Comm_Timing=3 进角时间：1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
|
|
mov Temp1, #Pgm_Throttle_Rate
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_THROTTLE_RATE ;Pgm_Throttle_Rate=13 油门范围：1=2 2=3 3=4 4=6 5=8 6=12 7=16 8=24 9=32 10=48 11=64 12=128 13=255
|
|
mov Temp1, #Pgm_Damping_Force
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_DAMPING_FORCE ;Pgm_Damping_Force=6 刹车力度：1=VeryLow 2=Low 3=MediumLow 4=MediumHigh 5=High 6=Highest
|
|
mov Temp1, #Pgm_Pwm_Freq
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_PWM_FREQ ;Pgm_Pwm_Freq=1 1=Low 2=High 3=DampedLight 4=Damped
|
|
mov Temp1, #Pgm_Demag_Comp
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_DEMAG_COMP ;Pgm_Demag_Comp=2 1=Disabled 2=15/0 3=15/7.5 4=7.5/7.5 5=7.5/15 (degrees blind advance / power off)
|
|
mov Temp1, #Pgm_Direction_Rev
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_DIRECTION_REV ;Pgm_Direction_Rev=1 方向设置：1=正转 2=反转
|
|
mov Temp1, #Pgm_Input_Pol
|
|
mov @Temp1, #DEFAULT_PGM_MULTI_RCP_PWM_POL ;Pgm_Input_Pol=1 接收信号极性设置：1=Positive（正） 2=Negative（负）
|
|
mov Temp1, #Pgm_Motor_Idle
|
|
mov @Temp1, #0 ;Pgm_Motor_Idle=0
|
|
ENDIF
|
|
mov Temp1, #Pgm_Enable_TX_Program
|
|
mov @Temp1, #DEFAULT_PGM_ENABLE_TX_PROGRAM ;Pgm_Enable_TX_Program=1 1=Enabled 0=Disabled
|
|
mov Temp1, #Pgm_Main_Rearm_Start
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_REARM_START ;Pgm_Main_Rearm_Start=0 1=Enabled 0=Disabled
|
|
mov Temp1, #Pgm_Gov_Setup_Target
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_GOV_SETUP_TARGET ;Pgm_Gov_Setup_Target=180 Target for governor in setup mode. Corresponds to 70% throttle
|
|
mov Temp1, #Pgm_Ppm_Min_Throttle
|
|
mov @Temp1, #DEFAULT_PGM_PPM_MIN_THROTTLE ;Pgm_Ppm_Min_Throttle=37 最小油门：4*37+1000=1148
|
|
mov Temp1, #Pgm_Ppm_Max_Throttle
|
|
mov @Temp1, #DEFAULT_PGM_PPM_MAX_THROTTLE ;Pgm_Ppm_Max_Throttle=208 最大油门：4*208+1000=1832
|
|
mov Temp1, #Pgm_Beep_Strength
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_BEEP_STRENGTH ;Pgm_Beep_Strength=120 声强设置
|
|
mov Temp1, #Pgm_Beacon_Strength
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_BEACON_STRENGTH ;Pgm_Beacon_Strength=200 灯亮长Beacon strength？？？？
|
|
mov Temp1, #Pgm_Beacon_Delay
|
|
mov @Temp1, #DEFAULT_PGM_MAIN_BEACON_DELAY ;Pgm_Beacon_Delay=4 灯亮时间？？？？1=30s 2=1m 3=2m 4=3m 5=Infinite
|
|
mov Temp1, #Pgm_BEC_Voltage_High
|
|
mov @Temp1, #DEFAULT_PGM_BEC_VOLTAGE_HIGH ;Pgm_BEC_Voltage_High=0 0=Low 1= High
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Decode parameters
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Decodes programming parameters
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
decode_parameters:
|
|
; Load programmed damping force
|
|
;读取Damping force
|
|
mov Temp1, #Pgm_Damping_Force; Load damping force
|
|
mov A, @Temp1
|
|
mov Temp8, A ; Store in Temp8
|
|
; Decode damping
|
|
;Damping force = 第1项
|
|
clr Flags2.PGM_PWMOFF_DAMPED
|
|
clr Flags2.PGM_PWMOFF_DAMPED_LIGHT
|
|
clr Flags2.PGM_PWMOFF_DAMPED_FULL
|
|
clr Flags2.CURR_PWMOFF_DAMPED
|
|
setb Flags2.CURR_PWMOFF_COMP_ABLE
|
|
mov Damping_Period, #9 ; Set default
|
|
mov Damping_On, #1
|
|
mov Rcp_Stop_Limit,#250
|
|
clr C
|
|
cjne Temp8, #1, decode_damping_2 ; Look for 2
|
|
jmp decode_damping_done
|
|
|
|
;Damping force = 第2项
|
|
decode_damping_2:
|
|
setb Flags2.PGM_PWMOFF_DAMPED
|
|
; setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
|
|
; clr Flags2.PGM_PWMOFF_DAMPED_FULL
|
|
setb Flags2.CURR_PWMOFF_DAMPED
|
|
clr Flags2.CURR_PWMOFF_COMP_ABLE
|
|
mov Damping_Period, #5
|
|
mov Damping_On, #1
|
|
mov Rcp_Stop_Limit,#60
|
|
clr C
|
|
cjne Temp8, #2, decode_damping_3 ; Look for 3
|
|
jmp decode_damping_done
|
|
|
|
;Damping force = 第3项
|
|
decode_damping_3:
|
|
; setb Flags2.PGM_PWMOFF_DAMPED
|
|
setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
|
|
; clr Flags2.PGM_PWMOFF_DAMPED_FULL
|
|
; setb Flags2.CURR_PWMOFF_DAMPED
|
|
; clr Flags2.CURR_PWMOFF_COMP_ABLE
|
|
mov Damping_Period, #5
|
|
mov Damping_On, #2
|
|
mov Rcp_Stop_Limit,#30
|
|
clr C
|
|
cjne Temp8, #3, decode_damping_4 ; Look for 4
|
|
jmp decode_damping_done
|
|
|
|
;Damping force = 第4项
|
|
decode_damping_4:
|
|
; setb Flags2.PGM_PWMOFF_DAMPED
|
|
; setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
|
|
; clr Flags2.PGM_PWMOFF_DAMPED_FULL
|
|
; setb Flags2.CURR_PWMOFF_DAMPED
|
|
; clr Flags2.CURR_PWMOFF_COMP_ABLE
|
|
mov Damping_Period, #5
|
|
mov Damping_On, #3
|
|
mov Rcp_Stop_Limit,#25
|
|
clr C
|
|
cjne Temp8, #4, decode_damping_5 ; Look for 5
|
|
jmp decode_damping_done
|
|
|
|
;Damping force = 第5项
|
|
decode_damping_5:
|
|
; setb Flags2.PGM_PWMOFF_DAMPED
|
|
; setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
|
|
setb Flags2.PGM_PWMOFF_DAMPED_FULL
|
|
; setb Flags2.CURR_PWMOFF_DAMPED
|
|
; clr Flags2.CURR_PWMOFF_COMP_ABLE
|
|
mov Damping_Period, #5
|
|
mov Damping_On, #4
|
|
mov Rcp_Stop_Limit,#20
|
|
clr C
|
|
cjne Temp8, #5, decode_damping_6; Look for 6
|
|
jmp decode_damping_done
|
|
|
|
;Damping force = 第6项
|
|
decode_damping_6:
|
|
; setb Flags2.PGM_PWMOFF_DAMPED
|
|
; setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
|
|
; setb Flags2.PGM_PWMOFF_DAMPED_FULL
|
|
; setb Flags2.CURR_PWMOFF_DAMPED
|
|
; clr Flags2.CURR_PWMOFF_COMP_ABLE
|
|
mov Damping_Period, #5
|
|
mov Damping_On, #5
|
|
mov Rcp_Stop_Limit,#10
|
|
|
|
;***********************************************
|
|
; 读取编程PWM频率(1)
|
|
;带硬刹/软刹
|
|
;***********************************************
|
|
decode_damping_done:
|
|
; Load programmed pwm frequency
|
|
;读取Pwm frequency
|
|
mov Temp1, #Pgm_Pwm_Freq ; Load pwm freq
|
|
mov A, @Temp1
|
|
mov Temp8, A ; Store in Temp8
|
|
IF MODE == 0 ; Main
|
|
clr Flags2.PGM_PWMOFF_DAMPED_LIGHT
|
|
clr C
|
|
cjne Temp8, #3, ($+5)
|
|
setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
|
|
clr Flags2.PGM_PWMOFF_DAMPED_FULL
|
|
ENDIF
|
|
IF MODE >= 1 ; Tail or multi
|
|
;////// clr Flags2.PGM_PWMOFF_DAMPED_LIGHT
|
|
;////// clr C
|
|
;////// cjne Temp8, #3, ($+5)
|
|
;Pwm frequency = 第3项
|
|
;////// setb Flags2.PGM_PWMOFF_DAMPED_LIGHT
|
|
;////// clr Flags2.PGM_PWMOFF_DAMPED_FULL
|
|
;////// clr C
|
|
;////// cjne Temp8, #4, ($+5)
|
|
;Pwm frequency = 第4项
|
|
;////// setb Flags2.PGM_PWMOFF_DAMPED_FULL
|
|
ENDIF
|
|
;Pwm frequency = 第1项
|
|
;////// clr Flags2.PGM_PWMOFF_DAMPED ; Set damped flag if fully damped or damped light is set
|
|
;////// mov A, #((1 SHL PGM_PWMOFF_DAMPED_FULL)+(1 SHL PGM_PWMOFF_DAMPED_LIGHT))
|
|
;////// anl A, Flags2 ; Check if any damped mode is set
|
|
;////// jz ($+4)
|
|
;Pwm frequency = 第2项
|
|
;////// setb Flags2.PGM_PWMOFF_DAMPED
|
|
;Pwm frequency = 第1项
|
|
;////// clr Flags2.CURR_PWMOFF_DAMPED ; Set non damped status as start
|
|
;////// jz ($+4)
|
|
;Pwm frequency = 第2项
|
|
;////// setb Flags2.CURR_PWMOFF_DAMPED ; Set non damped status as start if damped
|
|
;Pwm frequency = 第1项
|
|
;////// setb Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator usable status
|
|
;////// jz ($+4)
|
|
;Pwm frequency = 第2项
|
|
;////// clr Flags2.CURR_PWMOFF_COMP_ABLE ; Set comparator not usable status if damped
|
|
;***********************************************
|
|
; 读取编程电机旋转方向
|
|
;***********************************************
|
|
;读取Rotation direction
|
|
;Rotation direction = 第1项
|
|
clr Flags3.PGM_DIR_REV
|
|
mov Temp1, #Pgm_Direction_Rev
|
|
mov A, @Temp1
|
|
jnb ACC.1, ($+5)
|
|
;Rotation direction = 第2项
|
|
setb Flags3.PGM_DIR_REV
|
|
;***********************************************
|
|
; 读取编程输入信号RC PWM脉冲有效极性
|
|
;***********************************************
|
|
;读取Input pwm polarity
|
|
;Input pwm polarity = 第1项
|
|
clr Flags3.PGM_RCP_PWM_POL
|
|
mov Temp1, #Pgm_Input_Pol
|
|
mov A, @Temp1
|
|
jnb ACC.1, ($+5)
|
|
;Input pwm polarity = 第2项
|
|
setb Flags3.PGM_RCP_PWM_POL
|
|
;***********************************************
|
|
; 读取编程PWM频率(2)
|
|
;不带硬刹/软刹
|
|
;***********************************************
|
|
clr C
|
|
mov A, Temp8
|
|
subb A, #1
|
|
jz decode_pwm_freq_low
|
|
;Pwm frequency = 第1项
|
|
mov CKCON, #01h ; Timer0 set for clk/4 (22kHz pwm)
|
|
setb Flags2.PGM_PWM_HIGH_FREQ
|
|
jmp decode_pwm_freq_end
|
|
;Pwm frequency = 第2项
|
|
decode_pwm_freq_low:
|
|
mov CKCON, #00h ; Timer0 set for clk/12 (8kHz pwm)
|
|
clr Flags2.PGM_PWM_HIGH_FREQ
|
|
|
|
decode_pwm_freq_end:
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Decode governor gain
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Decodes governor gains
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
decode_governor_gains:
|
|
; Decode governor gains
|
|
;读取 Closed loop P gain
|
|
mov Temp1, #Pgm_Gov_P_Gain ; Decode governor P gain
|
|
mov A, @Temp1
|
|
dec A
|
|
mov DPTR, #GOV_GAIN_TABLE
|
|
movc A, @A+DPTR
|
|
mov Temp1, #Pgm_Gov_P_Gain_Decoded
|
|
mov @Temp1, A
|
|
;读取 Closed loop I gain
|
|
mov Temp1, #Pgm_Gov_I_Gain ; Decode governor P gain
|
|
mov A, @Temp1
|
|
dec A
|
|
mov DPTR, #GOV_GAIN_TABLE
|
|
movc A, @A+DPTR
|
|
mov Temp1, #Pgm_Gov_I_Gain_Decoded
|
|
mov @Temp1, A
|
|
call switch_power_off ; Reset DPTR
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Decode throttle rate
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Decodes throttle rate
|
|
;
|
|
;读取中点油门范围
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
decode_throttle_rate:
|
|
; Decode throttle rate
|
|
;读取 Throttle change rate
|
|
mov Temp1, #Pgm_Throttle_Rate
|
|
mov A, @Temp1
|
|
dec A
|
|
mov DPTR, #THROTTLE_RATE_TABLE
|
|
movc A, @A+DPTR
|
|
mov Temp1, #Pgm_Throttle_Rate_Decoded
|
|
mov @Temp1, A
|
|
call switch_power_off ; Reset DPTR
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Decode startup power
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Decodes startup power
|
|
;
|
|
;编程启动力度
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
decode_startup_power:
|
|
; Decode startup power
|
|
;读取 Startup power
|
|
mov Temp1, #Pgm_Startup_Pwr
|
|
mov A, @Temp1
|
|
dec A
|
|
mov DPTR, #STARTUP_POWER_TABLE
|
|
movc A, @A+DPTR
|
|
mov Temp1, #Pgm_Startup_Pwr_Decoded
|
|
mov @Temp1, A
|
|
call switch_power_off ; Reset DPTR
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Decode demag compensation
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Decodes throttle rate
|
|
;
|
|
;编程demag compensation参数
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
decode_demag_comp:
|
|
; Decode demag compensation
|
|
;读取Demag compensation
|
|
mov Temp1, #Pgm_Demag_Comp
|
|
mov A, @Temp1
|
|
dec A
|
|
mov DPTR, #DEMAG_WAIT_TABLE
|
|
movc A, @A+DPTR
|
|
mov Temp1, #Pgm_Demag_Comp_Wait_Decoded
|
|
mov @Temp1, A
|
|
mov Temp1, #Pgm_Demag_Comp
|
|
mov A, @Temp1
|
|
dec A
|
|
mov DPTR, #DEMAG_POWER_TABLE
|
|
movc A, @A+DPTR
|
|
mov Temp1, #Pgm_Demag_Comp_Power_Decoded
|
|
mov @Temp1, A
|
|
call switch_power_off ; Reset DPTR
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Set BEC voltage
|
|
;
|
|
; No assumptions
|
|
;
|
|
; Sets the BEC output voltage low or high
|
|
;
|
|
;读取 BEC
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
set_bec_voltage:
|
|
; Set bec voltage
|
|
IF DUAL_BEC_VOLTAGE == 1
|
|
Set_BEC_Lo ; Set default to low
|
|
;读取 Pgm_BEC_Voltage_High
|
|
mov Temp1, #Pgm_BEC_Voltage_High
|
|
mov A, @Temp1
|
|
jz set_bec_voltage_exit
|
|
|
|
Set_BEC_Hi ; Set to high
|
|
|
|
set_bec_voltage_exit:
|
|
ENDIF
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Find throttle gain
|
|
;
|
|
; The difference between max and min throttle must be more than 520us (a Pgm_Ppm_xxx_Throttle difference of 130)
|
|
;
|
|
; Finds throttle gain from throttle calibration values
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
find_throttle_gain:
|
|
; Load programmed minimum and maximum throttle
|
|
;读取Pgm_Ppm_Min_Throttle和Pgm_Ppm_Max_Throttle增量
|
|
mov Temp1, #Pgm_Ppm_Min_Throttle
|
|
mov A, @Temp1
|
|
mov Temp3, A
|
|
mov Temp1, #Pgm_Ppm_Max_Throttle
|
|
mov A, @Temp1
|
|
mov Temp4, A
|
|
; Check if full range is chosen
|
|
jnb Flags3.FULL_THROTTLE_RANGE, find_throttle_gain_calculate
|
|
|
|
mov Temp3, #0
|
|
mov Temp4, #255
|
|
|
|
find_throttle_gain_calculate:
|
|
; Calculate difference
|
|
clr C
|
|
mov A, Temp4
|
|
subb A, Temp3
|
|
mov Temp5, A
|
|
; Check that difference is minimum 130
|
|
clr C
|
|
subb A, #130
|
|
jnc ($+4)
|
|
|
|
mov Temp5, #130
|
|
|
|
; Find gain
|
|
mov Ppm_Throttle_Gain, #0
|
|
test_gain:
|
|
inc Ppm_Throttle_Gain
|
|
mov A, Temp5
|
|
mov B, Ppm_Throttle_Gain ; A has difference, B has gain
|
|
mul AB
|
|
clr C
|
|
mov A, B
|
|
subb A, #128
|
|
jc test_gain
|
|
ret
|
|
|
|
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Main program start
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
|
|
reset:
|
|
; Select register bank 0 for main program routines
|
|
clr PSW.3 ; Select register bank 0 for main program routines
|
|
; Disable the WDT.
|
|
anl PCA0MD, #NOT(40h) ; Clear watchdog enable bit
|
|
; Initialize stack
|
|
mov SP, #0c0h ; Stack = 64 upper bytes of RAM
|
|
; Initialize VDD monitor
|
|
orl VDM0CN, #080h ; Enable the VDD monitor
|
|
|
|
mov Temp2, #3
|
|
wait_100us:
|
|
djnz ACC, $
|
|
djnz Temp2,wait_100us
|
|
|
|
; call wait1ms ; Wait at least 100us
|
|
mov RSTSRC, #02h ; Set VDD monitor as a reset source (PORSF)
|
|
; Set clock frequency
|
|
orl OSCICN, #03h ; Set clock divider to 1
|
|
mov A, OSCICL
|
|
add A, #04h ; 24.5MHz to 24MHz (~0.5% per step)
|
|
jc reset_cal_done ; Is carry set? - skip next instruction
|
|
|
|
mov OSCICL, A
|
|
|
|
reset_cal_done:
|
|
; Ports initialization
|
|
mov P0, #P0_INIT
|
|
mov P0MDOUT, #P0_PUSHPULL
|
|
mov P0MDIN, #P0_DIGITAL
|
|
mov P0SKIP, #P0_SKIP
|
|
mov P1, #P1_INIT
|
|
mov P1MDOUT, #P1_PUSHPULL
|
|
mov P1MDIN, #P1_DIGITAL
|
|
mov P1SKIP, #P1_SKIP
|
|
IF PORT3_EXIST == 1
|
|
mov P2, #P2_INIT
|
|
ENDIF
|
|
mov P2MDOUT, #P2_PUSHPULL
|
|
IF PORT3_EXIST == 1
|
|
mov P2MDIN, #P2_DIGITAL
|
|
mov P2SKIP, #P2_SKIP
|
|
mov P3, #P3_INIT
|
|
mov P3MDOUT, #P3_PUSHPULL
|
|
mov P3MDIN, #P3_DIGITAL
|
|
ENDIF
|
|
mov XBR1, #41h ; Xbar enabled, CEX0 routed to pin Rcp_In
|
|
; Switch power off
|
|
call switch_power_off
|
|
; Clear RAM
|
|
clr A ; Clear accumulator
|
|
mov Temp1, A ; Clear Temp1
|
|
clear_ram:
|
|
mov @Temp1, A ; Clear RAM
|
|
djnz Temp1, clear_ram ; Is A not zero? - jump
|
|
; Set default programmed parameters
|
|
call set_default_parameters
|
|
; Read all programmed parameters
|
|
call read_all_eeprom_parameters
|
|
; Decode parameters
|
|
call decode_parameters
|
|
; Decode governor gains
|
|
call decode_governor_gains
|
|
; Decode throttle rate
|
|
call decode_throttle_rate
|
|
; Decode startup power
|
|
call decode_startup_power
|
|
; Decode demag compensation
|
|
call decode_demag_comp
|
|
; Set BEC voltage
|
|
call set_bec_voltage
|
|
; Find throttle gain from stored min and max settings
|
|
call find_throttle_gain
|
|
; Set beep strength
|
|
;读取超强设置
|
|
mov Temp1, #Pgm_Beep_Strength
|
|
mov Beep_Strength, @Temp1
|
|
; Switch power off
|
|
call switch_power_off
|
|
; Timer control
|
|
mov TCON, #50h ; Timer0 and timer1 enabled
|
|
; Timer mode
|
|
mov TMOD, #02h ; Timer0 as 8bit
|
|
; Timer2: clk/12 for 128us and 32ms interrupts
|
|
mov TMR2CN, #24h ; Timer2 enabled, low counter interrups enabled
|
|
; Timer3: clk/12 for commutation timing
|
|
mov TMR3CN, #04h ; Timer3 enabled
|
|
; PCA
|
|
mov PCA0CN, #40h ; PCA enabled
|
|
; Initializing beep 上电叫3声
|
|
call wait1s
|
|
call wait1s
|
|
|
|
; Enable interrupts
|
|
mov IE, #22h ; Enable timer0 and timer2 interrupts
|
|
mov IP, #02h ; High priority to timer0 interrupts
|
|
mov EIE1, #90h ; Enable timer3 and PCA0 interrupts
|
|
mov EIP1, #10h ; High priority to PCA interrupts
|
|
; Initialize comparator
|
|
mov CPT0CN, #80h ; Comparator enabled, no hysteresis
|
|
mov CPT0MD, #03h ; Comparator response time 1us
|
|
IF COMP1_USED==1
|
|
mov CPT1CN, #80h ; Comparator enabled, no hysteresis
|
|
mov CPT1MD, #03h ; Comparator response time 1us
|
|
ENDIF
|
|
; Initialize ADC
|
|
Initialize_Adc ; Initialize ADC operation
|
|
call wait1ms
|
|
setb EA ; Enable all interrupts
|
|
; Measure number of lipo cells
|
|
call Measure_Lipo_Cells ; Measure number of lipo cells
|
|
; Initialize rc pulse
|
|
Rcp_Int_Enable ; Enable interrupt
|
|
Rcp_Int_First ; Enable interrupt and set to first edge
|
|
Rcp_Clear_Int_Flag ; Clear interrupt flag
|
|
clr Flags2.RCP_EDGE_NO ; Set first edge flag
|
|
call wait200ms
|
|
; Set initial arm variable
|
|
mov Initial_Arm, #1
|
|
; mov Pca_First_Int, #1
|
|
|
|
; Measure PWM frequency
|
|
measure_pwm_freq_init:
|
|
setb Flags0.RCP_MEAS_PWM_FREQ ; Set measure pwm frequency flag
|
|
; clr C ;2014.08.08 信号滤波
|
|
; mov A, Pgm_Pulse_Cnt ;2014.08.08 信号滤波
|
|
; subb A, #5 ;2014.08.08 信号滤波
|
|
; jc measure_pwm_freq_init ;2014.08.08 信号滤波
|
|
; mov Pca_First_Int, #0 ;2014.08.08 信号滤波
|
|
; call wait200ms
|
|
measure_pwm_freq_start:
|
|
mov Temp3, #5 ; Number of pulses to measure
|
|
; mov Temp3, #1
|
|
measure_pwm_freq_loop:
|
|
; Check if period diff was accepted
|
|
mov A, Rcp_Period_Diff_Accepted
|
|
; jnz ($+4)
|
|
|
|
jnz measure_pwm
|
|
call wait3ms
|
|
mov A, New_RCP
|
|
clr C
|
|
subb A,#230
|
|
jc ($+7)
|
|
mov Pgm_Pulse_Cnt, #0
|
|
; mov Temp3, #5
|
|
ajmp measure_pwm_freq_start
|
|
|
|
mov A, New_RCP
|
|
clr C
|
|
subb A,#30
|
|
jnc ($+7)
|
|
mov Pgm_Pulse_Cnt, #0
|
|
; mov Temp3, #5
|
|
ajmp measure_pwm_freq_start
|
|
|
|
inc Pgm_Pulse_Cnt
|
|
mov A, Pgm_Pulse_Cnt
|
|
clr C
|
|
subb A, #5
|
|
jnc ($+6)
|
|
mov Temp3, #5 ; Reset number of pulses to measure
|
|
ajmp measure_pwm_freq_loop
|
|
; mov Temp3, #1
|
|
measure_pwm:
|
|
call wait3ms ; Wait for next pulse (NB: Uses Temp1/2!)
|
|
mov A, New_Rcp ; Load value
|
|
clr C
|
|
subb A, #RCP_VALIDATE ; Higher than validate level?
|
|
jc measure_pwm_freq_start ; No - start over
|
|
|
|
mov A, Flags3 ; Check pwm frequency flags
|
|
; anl A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
anl A, #(1 SHL RCP_PWM_FREQ_1KHZ)
|
|
mov Prev_Rcp_Pwm_Freq, Curr_Rcp_Pwm_Freq ; Store as previous flags for next pulse
|
|
mov Curr_Rcp_Pwm_Freq, A ; Store current flags for next pulse
|
|
cjne A, Prev_Rcp_Pwm_Freq, measure_pwm_freq_start ; Go back if new flags not same as previous
|
|
|
|
djnz Temp3, measure_pwm_freq_loop ; Go back if not required number of pulses seen
|
|
|
|
; Clear measure pwm frequency flag
|
|
clr Flags0.RCP_MEAS_PWM_FREQ
|
|
; Set up RC pulse interrupts after pwm frequency measurement
|
|
Rcp_Int_First ; Enable interrupt and set to first edge
|
|
Rcp_Clear_Int_Flag ; Clear interrupt flag
|
|
clr Flags2.RCP_EDGE_NO ; Set first edge flag
|
|
call wait100ms ; Wait for new RC pulse
|
|
|
|
; Validate RC pulse
|
|
;Pgm_Main_Rearm_Start = 第1项 enabled
|
|
validate_rcp_start:
|
|
call wait3ms ; Wait for next pulse (NB: Uses Temp1/2!)
|
|
mov Temp1, #RCP_VALIDATE ; Set validate level as default
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
|
|
anl A, Flags3 ; Check pwm frequency flags
|
|
jnz ($+4) ; If a flag is set (PWM) - branch
|
|
|
|
mov Temp1, #0 ; Set level to zero for PPM (any level will be accepted)
|
|
|
|
clr C
|
|
mov A, New_Rcp ; Load value
|
|
subb A, Temp1 ; Higher than validate level?
|
|
jc validate_rcp_start ; No - start over
|
|
|
|
; Beep arm sequence start signal
|
|
;上电检测到信号后叫第1声（信号准备就绪）
|
|
;////// clr EA ; Disable all interrupts
|
|
;////// call beep_f1 ; Signal that RC pulse is ready
|
|
;////// call beep_f1
|
|
;////// call beep_f1
|
|
;////// setb EA ; Enable all interrupts
|
|
call wait200ms
|
|
|
|
; Arming sequence start
|
|
mov Gov_Arm_Target, #0 ; Clear governor arm target
|
|
arming_start:
|
|
call wait3ms
|
|
;读取Pgm_Enable_TX_Program
|
|
mov Temp1, #Pgm_Enable_TX_Program; Yes - start programming mode entry if enabled
|
|
mov A, @Temp1
|
|
clr C
|
|
subb A, #1 ; Is TX programming enabled?
|
|
jnc arming_initial_arm_check ; Yes - proceed
|
|
|
|
jmp program_by_tx_checked ; No - branch
|
|
;Pgm_Enable_TX_Program = 1 enabled
|
|
arming_initial_arm_check:
|
|
mov A, Initial_Arm ; Yes - check if it is initial arm sequence
|
|
clr C
|
|
subb A, #1 ; Is it the initial arm sequence?
|
|
jnc arming_ppm_check ; Yes - proceed
|
|
|
|
jmp wait_for_power_on ; No - branch
|
|
|
|
arming_ppm_check:
|
|
mov Temp1, #Pgm_Ppm_Min_Throttle ; Store
|
|
mov A, @Temp1
|
|
mov Min_Throttle, A
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
mov A, #(1 SHL RCP_PWM_FREQ_1KHZ)
|
|
anl A, Flags3 ; Check pwm frequency flags
|
|
jz throttle_high_cal_start ; If no flag is set (PPM) - branch
|
|
|
|
; PWM tx program entry
|
|
; clr C
|
|
; mov A, New_Rcp ; Load new RC pulse value
|
|
; subb A, #200 ; Is RC pulse max?
|
|
; jc program_by_tx_entry_wait_pwm ; Yes - proceed
|
|
; subb A, #RCP_MAX ; Is RC pulse max?
|
|
; jnc program_by_tx_entry_pwm ; Yes - proceed
|
|
|
|
; jmp program_by_tx_checked ; No - branch
|
|
|
|
;program_by_tx_entry_pwm:
|
|
; clr EA ; Disable all interrupts
|
|
; call beep_f4
|
|
; setb EA ; Enable all interrupts
|
|
; call wait100ms
|
|
; clr C
|
|
; mov A, New_Rcp ; Load new RC pulse value
|
|
; subb A, #RCP_STOP ; Below stop?
|
|
; subb A, #200
|
|
; jnc program_by_tx_entry_pwm ; No - start over
|
|
|
|
;program_by_tx_entry_wait_pwm:
|
|
|
|
clr EA
|
|
call beep_f2
|
|
call beep_f3
|
|
call beep_f1
|
|
|
|
mov TMOD, #11h ;T0/T1 工作方式1
|
|
mov CKCON, #02h ;T0/T1 48分频
|
|
mov P0MDIN, #80h
|
|
mov P0SKIP, #0FFh
|
|
call program_by_card ; Yes - enter programming mode
|
|
; ajmp program_by_card_entry
|
|
|
|
;program_by_tx_entry_wait_pwm:
|
|
; clr EA ; Disable all interrupts
|
|
; call beep_f1
|
|
; call wait10ms
|
|
; call beep_f1
|
|
; setb EA ; Enable all interrupts
|
|
; call wait100ms
|
|
; clr C
|
|
; mov A, New_Rcp ; Load new RC pulse value
|
|
; subb A, #RCP_MAX ; At or above max?
|
|
; jc program_by_tx_entry_wait_pwm ; No - start over
|
|
|
|
; call program_by_tx ; Yes - enter programming mode
|
|
; jmp program_by_tx_checked
|
|
|
|
; PPM throttle calibration and tx program entry
|
|
;计算PPM最大，最小油门并存储
|
|
throttle_high_cal_start:
|
|
mov Temp8, #5 ; Set 3 seconds wait time
|
|
throttle_high_cal:
|
|
setb Flags3.FULL_THROTTLE_RANGE ; Set range to 1000-2020us
|
|
call Find_Throttle_Gain ; Set throttle gain
|
|
call wait100ms ; Wait for new throttle value
|
|
clr EA ; Disable interrupts (freeze New_Rcp value)
|
|
clr Flags3.FULL_THROTTLE_RANGE ; Set programmed range
|
|
call Find_Throttle_Gain ; Set throttle gain
|
|
clr C
|
|
mov A, New_Rcp ; Load new RC pulse value
|
|
subb A, #220 ; Is RC pulse above midstick? 1840
|
|
setb EA ; Enable interrupts
|
|
jc ($+6)
|
|
djnz Temp8, throttle_high_cal
|
|
ajmp throttle_high_cal_save
|
|
|
|
clr C
|
|
mov A, New_Rcp ; Load new RC pulse value
|
|
subb A, Min_Throttle ; Is RC pulse above midstick? 1148
|
|
jnc ($+4)
|
|
ajmp arm_target_updated ; No - branch 检测低油门
|
|
|
|
clr EA
|
|
call beep_f1;
|
|
call wait100ms
|
|
setb EA
|
|
ajmp throttle_high_cal_start
|
|
|
|
throttle_high_cal_save:
|
|
; call wait1s
|
|
clr C
|
|
mov A, New_Rcp ; Limit to max 250
|
|
subb A, #5 ; Subtract about 2% and ensure that it is 250 or lower
|
|
mov Temp1, #Pgm_Ppm_Max_Throttle ; Store
|
|
mov @Temp1, A
|
|
call set_commu_sum_to_zero ;////////////////////////////////////**************************
|
|
call erase_and_store_all_in_eeprom
|
|
clr EA
|
|
call beep_f1;/////////////////////////////////////////成功存储最大油门叫声
|
|
call beep_f1;/////////////////////////////////////////成功存储最大油门叫声
|
|
call wait30ms;/////////////////////////////////////////成功存储最大油门叫声
|
|
call beep_f4;/////////////////////////////////////////成功存储最大油门叫声
|
|
call beep_f4;/////////////////////////////////////////成功存储最大油门叫声
|
|
setb EA
|
|
|
|
call wait1s
|
|
call wait1s
|
|
wait_loop_1:
|
|
clr C
|
|
mov A, New_Rcp ; Load new RC pulse value
|
|
subb A, #215 ;Is RC pulse above midstick?
|
|
jnc program_by_tx_entry_wait_ppm
|
|
clr C
|
|
mov A, New_Rcp ; Load new RC pulse value
|
|
subb A, #60 ;Is RC pulse above midstick?
|
|
jnc wait_loop_1
|
|
ajmp throttle_low_cal_start
|
|
|
|
;PPM编程模式
|
|
program_by_tx_entry_wait_ppm:
|
|
call program_by_tx ; Yes - enter programming mode 成功进入编程模式
|
|
|
|
;最小油门设置及退出
|
|
throttle_low_cal_start:
|
|
mov Temp8, #5 ; Set 3 seconds wait time
|
|
throttle_low_cal:
|
|
; call wait1s
|
|
setb Flags3.FULL_THROTTLE_RANGE ; Set range to 1000-2020us
|
|
call Find_Throttle_Gain ; Set throttle gain
|
|
call wait100ms
|
|
clr EA ; Disable interrupts (freeze New_Rcp value)
|
|
clr Flags3.FULL_THROTTLE_RANGE ; Set programmed range
|
|
call Find_Throttle_Gain ; Set throttle gain
|
|
clr C
|
|
mov A, New_Rcp ; Load new RC pulse value
|
|
subb A, #60 ; Below midstick?
|
|
setb EA ; Enable interrupts
|
|
jnc throttle_low_cal_start ; No - start over 在中点油门以上，则继续等待，直到检测到在中点油门以下
|
|
djnz Temp8, throttle_low_cal ; Yes - continue to wait
|
|
; call wait3ms
|
|
mov A, New_Rcp
|
|
add A, #5 ; Add about 2%
|
|
mov Temp1, #Pgm_Ppm_Min_Throttle ; Store
|
|
mov @Temp1, A
|
|
call set_commu_sum_to_zero ;////////////////////////////////////**************************
|
|
call erase_and_store_all_in_eeprom
|
|
|
|
; clr EA ; Disable all interrupts
|
|
; mov RSTSRC, #12h ; Generate hardware reset 强制复位系统
|
|
|
|
; Set default programmed parameters
|
|
; call set_default_parameters
|
|
; Read all programmed parameters
|
|
call read_all_eeprom_parameters
|
|
; Decode parameters
|
|
call decode_parameters
|
|
; Decode governor gains
|
|
call decode_governor_gains
|
|
; Decode throttle rate
|
|
call decode_throttle_rate
|
|
; Decode startup power
|
|
call decode_startup_power
|
|
; Decode demag compensation
|
|
call decode_demag_comp
|
|
; Set BEC voltage
|
|
call set_bec_voltage
|
|
; Find throttle gain from stored min and max settings
|
|
call find_throttle_gain
|
|
|
|
program_by_tx_checked:
|
|
clr C
|
|
mov A, New_Rcp ; Load new RC pulse value
|
|
subb A, Gov_Arm_Target ; Is RC pulse larger than arm target?
|
|
jc arm_target_updated ; No - do not update
|
|
|
|
mov Gov_Arm_Target, New_Rcp ; Yes - update arm target
|
|
|
|
arm_target_updated:
|
|
call wait100ms ; Wait for new throttle value
|
|
clr C
|
|
mov A, New_Rcp ; Load new RC pulse value
|
|
subb A, #RCP_STOP ; Below stop?
|
|
jc arm_end_beep ; Yes - proceed ;最小油门计算好 及 编程结束叫声
|
|
jmp arm_target_updated ; No - start over
|
|
|
|
;上电检测到信号后叫第2声（信号检测结束）
|
|
arm_end_beep:
|
|
;改变上电叫方式
|
|
clr EA ; Disable all interrupts
|
|
call beep_f1
|
|
call beep_f1
|
|
call beep_f1
|
|
call wait1s
|
|
; Beep arm sequence end signal
|
|
|
|
;*************************************************
|
|
; 增加Lipo节数叫声 2013.5.29
|
|
;*************************************************
|
|
mov Temp8,Lipo_Cell_Count ;
|
|
lipo_cell_beep:
|
|
call beep_f1
|
|
call beep_f1
|
|
call wait30ms
|
|
djnz Temp8,lipo_cell_beep
|
|
call wait200ms
|
|
call wait200ms
|
|
;///// call beep_f4 ; Signal that rcpulse is ready
|
|
;///// call beep_f4
|
|
;///// call beep_f4
|
|
;改变信号检测OK叫声方式 2013.5.29
|
|
call beep_f1
|
|
call wait30ms
|
|
call wait30ms
|
|
call beep_f2
|
|
call wait30ms
|
|
call wait30ms
|
|
call beep_f3
|
|
call wait30ms
|
|
call wait30ms
|
|
setb EA ; Enable all interrupts
|
|
call wait100ms
|
|
|
|
; Measure number of lipo cells
|
|
call Measure_Lipo_Cells ; Measure number of lipo cells
|
|
|
|
; Clear initial arm variable
|
|
mov Initial_Arm, #0
|
|
|
|
; Armed and waiting for power on
|
|
wait_for_power_on:
|
|
mov Temp8, #50
|
|
clr LOW_LIMIT_STOP ; 清低压保护控制方式2 停止标志
|
|
;////// clr A
|
|
;////// mov Power_On_Wait_Cnt_L, A ; Clear wait counter
|
|
;////// mov Power_On_Wait_Cnt_H, A
|
|
wait_for_power_on_loop:
|
|
;////// inc Power_On_Wait_Cnt_L ; Increment low wait counter
|
|
;////// mov A, Power_On_Wait_Cnt_L
|
|
;////// cpl A
|
|
;////// jnz wait_for_power_on_no_beep; Counter wrapping (about 1 sec)?
|
|
|
|
;////// inc Power_On_Wait_Cnt_H ; Increment high wait counter
|
|
;********************************************************
|
|
; 读取油门最低未操作等待叫声时间
|
|
;********************************************************
|
|
;读取Pgm_Beacon_Delay
|
|
;////// mov Temp1, #Pgm_Beacon_Delay
|
|
;////// mov A, @Temp1
|
|
;////// mov Temp1, #40 ; Approximately 30 sec
|
|
;////// dec A
|
|
;////// jz beep_delay_set
|
|
|
|
;////// mov Temp1, #80 ; Approximately 1 min
|
|
;////// dec A
|
|
;////// jz beep_delay_set
|
|
|
|
;////// mov Temp1, #160 ; Approximately 2 min
|
|
;////// dec A
|
|
;////// jz beep_delay_set
|
|
|
|
;////// mov Temp1, #240 ; Approximately 3 min
|
|
;////// dec A
|
|
;////// jz beep_delay_set
|
|
|
|
;////// mov Power_On_Wait_Cnt_H, #0 ; Reset counter for infinite delay
|
|
|
|
;//////beep_delay_set:
|
|
;////// clr C
|
|
;////// mov A, Power_On_Wait_Cnt_H
|
|
;////// subb A, Temp1 ; Check against chosen delay
|
|
;////// jc wait_for_power_on_no_beep; Has delay elapsed?
|
|
;********************************************************
|
|
; 读取油门最低未操作等待叫声声强设置
|
|
;********************************************************
|
|
;////// dec Power_On_Wait_Cnt_H ; Decrement high wait counter
|
|
;读取Pgm_Beacon_Strength
|
|
;////// mov Temp1, #Pgm_Beacon_Strength
|
|
;////// mov Beep_Strength, @Temp1
|
|
;////// clr EA ; Disable all interrupts
|
|
;////// All_pFETs_Off;///////////////////////////////////////*****************************
|
|
;////// call beep_f4 ; Signal that there is no signal
|
|
;////// setb EA ; Enable all interrupts
|
|
;读取Pgm_Beep_Strength
|
|
;////// mov Temp1, #Pgm_Beep_Strength
|
|
;////// mov Beep_Strength, @Temp1
|
|
;////// call wait100ms ; Wait for new RC pulse to be measured
|
|
|
|
wait_for_power_on_no_beep:
|
|
call wait3ms
|
|
mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
|
|
jnz wait_for_power_on_ppm_not_missing ; If it is not zero - proceed
|
|
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
; anl A, Flags3 ; Check pwm frequency flags
|
|
; jnz wait_for_power_on_ppm_not_missing ; If a flag is set (PWM) - branch
|
|
|
|
jmp measure_pwm_freq_init ; If ppm and pulses missing - go back to measure pwm frequency
|
|
|
|
wait_for_power_on_ppm_not_missing:
|
|
clr C
|
|
mov A, New_Rcp ; Load new RC pulse value
|
|
; subb A, #RCP_STOP ; Higher than stop (plus some hysteresis)?
|
|
subb A, #(RCP_STOP+7) ; Higher than stop (plus some hysteresis)?
|
|
jc wait_for_power_on ; No - start over
|
|
djnz Temp8, wait_for_power_on_no_beep
|
|
jb LOW_LIMIT_STOP, wait_for_power_on_loop
|
|
call wait100ms ; Wait to see if start pulse was only a glitch
|
|
mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
|
|
jnz ($+5) ; If it is not zero - proceed
|
|
|
|
ljmp measure_pwm_freq_init ; If it is zero (pulses missing) - go back to measure pwm frequency
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Start entry point
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
init_start:
|
|
setb ET0
|
|
call switch_power_off
|
|
clr A
|
|
mov Requested_Pwm, A ; Set requested pwm to zero
|
|
mov Governor_Req_Pwm, A ; Set governor requested pwm to zero
|
|
mov Current_Pwm, A ; Set current pwm to zero
|
|
mov Current_Pwm_Limited, A ; Set limited current pwm to zero
|
|
mov Pwm_Limit, #0FFh ; Set pwm limit to max
|
|
mov Temp1, #Pgm_Motor_Idle
|
|
mov Pwm_Motor_Idle, @Temp1 ; Set idle pwm to programmed value
|
|
mov Gov_Target_L, A ; Set target to zero
|
|
mov Gov_Target_H, A
|
|
mov Gov_Integral_L, A ; Set integral to zero
|
|
mov Gov_Integral_H, A
|
|
mov Gov_Integral_X, A
|
|
mov Adc_Conversion_Cnt, A
|
|
mov Gov_Active, A
|
|
mov Flags0, A ; Clear flags0
|
|
mov Flags1, A ; Clear flags1
|
|
mov Rcp_Stop_Cnt, A ; Set RC pulse stop count to zero
|
|
mov Rcp_Stop_Limit, A
|
|
mov Lipo_Cell_Count, A
|
|
mov Limit_Count, A
|
|
mov New_Rcp, #Rcp_MIN
|
|
call initialize_all_timings ; Initialize timing
|
|
;**** **** **** **** ****
|
|
; Settle phase beginning
|
|
;**** **** **** **** ****
|
|
mov Adc_Conversion_Cnt, #TEMP_CHECK_RATE ; Make sure a temp reading is done
|
|
Set_Adc_Ip_Temp
|
|
call wait1ms
|
|
call start_adc_conversion
|
|
read_initial_temp:
|
|
Get_Adc_Status
|
|
jb AD0BUSY, read_initial_temp
|
|
Read_Adc_Result ; Read initial temperature
|
|
mov A, Temp2
|
|
jnz ($+3) ; Is reading below 256?
|
|
|
|
mov Temp1, A ; Yes - set average temperature value to zero
|
|
|
|
mov Current_Average_Temp, Temp1 ; Set initial average temperature
|
|
call check_temp_voltage_and_limit_power
|
|
mov Adc_Conversion_Cnt, #TEMP_CHECK_RATE ; Make sure a temp reading is done next time
|
|
Set_Adc_Ip_Temp
|
|
|
|
; Go to the desired startup mode
|
|
; mov Temp1, #Pgm_Startup_Method
|
|
; mov A, @Temp1
|
|
; jnb ACC.0, direct_method_start
|
|
|
|
; jmp stepper_method_start
|
|
|
|
direct_method_start:
|
|
; Set up start operating conditions
|
|
mov Temp1, #Pgm_Pwm_Freq
|
|
mov A, @Temp1
|
|
mov Temp7, A ; Store setting in Temp7
|
|
mov @Temp1, #1 ; Set nondamped low frequency pwm mode
|
|
call decode_parameters ; (Decode_parameters uses Temp1 and Temp8)
|
|
mov Temp1, #Pgm_Pwm_Freq
|
|
mov A, Temp7
|
|
mov @Temp1, A ; Restore settings
|
|
; Set max allowed power
|
|
setb Flags1.SETTLE_PHASE ; Set settle phase power as max
|
|
clr EA ; Disable interrupts to avoid that Requested_Pwm is overwritten
|
|
call set_startup_pwm
|
|
mov Pwm_Limit, Requested_Pwm
|
|
mov Pwm_Limit_Spoolup, Requested_Pwm
|
|
setb EA
|
|
clr Flags1.SETTLE_PHASE
|
|
mov Current_Pwm_Limited, #0 ; Set low pwm again after calling set_startup_pwm
|
|
mov Spoolup_Limit_Cnt, #0
|
|
mov Spoolup_Limit_Skip, #1
|
|
; Begin startup sequence
|
|
setb Flags1.MOTOR_SPINNING ; Set motor spinning flag
|
|
setb Flags1.DIRECT_STARTUP_PHASE ; Set direct startup phase flag
|
|
mov Direct_Startup_Ok_Cnt, #0 ; Reset ok counter
|
|
call comm5comm6 ; Initialize commutation
|
|
call comm6comm1
|
|
call calc_next_comm_timing ; Set virtual commutation point
|
|
call initialize_all_timings ; Initialize timing
|
|
jmp run1
|
|
|
|
|
|
;stepper_method_start:
|
|
; ; Set up start operating conditions
|
|
; mov Temp1, #Pgm_Pwm_Freq
|
|
; mov A, @Temp1
|
|
; mov Temp7, A ; Store setting in Temp7
|
|
; mov @Temp1, #3 ; Set damped light mode
|
|
; mov Temp1, #Pgm_Damping_Force
|
|
; mov A, @Temp1
|
|
; mov Temp6, A ; Store setting in Temp6
|
|
; mov @Temp1, #5 ; Set high damping force
|
|
; call decode_parameters ; (Decode_parameters uses Temp1 and Temp8)
|
|
; mov Temp1, #Pgm_Pwm_Freq
|
|
; mov A, Temp7
|
|
; mov @Temp1, A ; Restore settings
|
|
; mov Temp1, #Pgm_Damping_Force
|
|
; mov A, Temp6
|
|
; mov @Temp1, A
|
|
; Begin startup sequence
|
|
; setb Flags1.MOTOR_SPINNING ; Set motor spinning flag
|
|
; setb Flags1.SETTLE_PHASE ; Set motor start settling phase flag
|
|
; setb Flags2.CURR_PWMOFF_DAMPED; Set damped status, in order to ensure that pfets will be turned off in an initial pwm on
|
|
; call comm5comm6 ; Initialize commutation
|
|
; call comm6comm1
|
|
; call set_startup_pwm
|
|
; call wait1ms
|
|
; call comm1comm2
|
|
; call wait1ms
|
|
; call wait1ms
|
|
; call comm2comm3
|
|
; call wait3ms
|
|
; call comm3comm4
|
|
; call wait3ms
|
|
; call wait3ms
|
|
; call comm4comm5
|
|
; call wait10ms ; Settle rotor
|
|
; call comm5comm6
|
|
; call wait3ms
|
|
; call wait1ms
|
|
; clr Flags1.SETTLE_PHASE ; Clear settling phase flag
|
|
; setb Flags1.STEPPER_PHASE ; Set motor start stepper phase flag
|
|
|
|
; ;**** **** **** **** ****
|
|
; ; Stepper phase beginning
|
|
; ;**** **** **** **** ****
|
|
;stepper_rot_beg:
|
|
; call start_adc_conversion
|
|
; call check_temp_voltage_and_limit_power
|
|
; call set_startup_pwm
|
|
; mov Adc_Conversion_Cnt, #TEMP_CHECK_RATE ; Make sure a temp reading is done next time
|
|
; Set_Adc_Ip_Temp
|
|
|
|
; call comm6comm1 ; Commutate
|
|
; call calc_next_comm_timing_start ; Update timing and set timer
|
|
; call calc_new_wait_times
|
|
; call decrement_stepper_step
|
|
; call stepper_timer_wait
|
|
|
|
; call comm1comm2
|
|
; call calc_next_comm_timing_start
|
|
; call calc_new_wait_times
|
|
; call decrement_stepper_step
|
|
; call stepper_timer_wait
|
|
|
|
; call comm2comm3
|
|
; call calc_next_comm_timing_start
|
|
; call calc_new_wait_times
|
|
; call decrement_stepper_step
|
|
; call stepper_timer_wait
|
|
|
|
; call comm3comm4
|
|
; call calc_next_comm_timing_start
|
|
; call calc_new_wait_times
|
|
; call decrement_stepper_step
|
|
; call stepper_timer_wait
|
|
|
|
; call comm4comm5
|
|
; call calc_next_comm_timing_start
|
|
; call calc_new_wait_times
|
|
; call decrement_stepper_step
|
|
; call stepper_timer_wait
|
|
|
|
; call comm5comm6
|
|
; call calc_next_comm_timing_start
|
|
; call calc_new_wait_times
|
|
; call decrement_stepper_step
|
|
; ; Check stepper step versus end criteria
|
|
; clr C
|
|
; mov A, Wt_Stepper_Step_L
|
|
; subb A, Stepper_Step_End_L ; Minimum Stepper_Step_End
|
|
; mov A, Wt_Stepper_Step_H
|
|
; subb A, Stepper_Step_End_H
|
|
; jc stepper_rot_exit ; Branch if lower than minimum
|
|
|
|
; ; Wait for step
|
|
; call stepper_timer_wait
|
|
; clr C
|
|
; mov A, New_Rcp ; Load new pulse value
|
|
; subb A, #RCP_STOP ; Check if pulse is below stop value
|
|
; jnc stepper_rot_beg
|
|
|
|
; jmp run_to_wait_for_power_on
|
|
|
|
;stepper_rot_exit:
|
|
; ; Wait for step
|
|
; call stepper_timer_wait
|
|
; ; Clear stepper phase
|
|
; clr Flags1.STEPPER_PHASE ; Clear motor start stepper phase flag
|
|
; ; Set dondamped low pwm frequency
|
|
; mov Temp1, #Pgm_Pwm_Freq
|
|
; mov A, @Temp1
|
|
; mov Temp7, A ; Store setting in Temp7
|
|
; mov @Temp1, #2 ; Set nondamped low frequency pwm mode
|
|
; call decode_parameters ; (Decode_parameters uses Temp1 and Temp8)
|
|
; mov Temp1, #Pgm_Pwm_Freq
|
|
; mov A, Temp7
|
|
; mov @Temp1, A ; Restore settings
|
|
; ; Set spoolup power variables (power is now controlled from RCP)
|
|
; mov Pwm_Limit, Requested_Pwm
|
|
; mov Pwm_Limit_Spoolup, Pwm_Spoolup_Beg
|
|
; mov Current_Pwm_Limited, Pwm_Spoolup_Beg
|
|
; mov Spoolup_Limit_Cnt, #0
|
|
; mov Spoolup_Limit_Skip, #1
|
|
; ; Set direct startup phase to aquire sync quickly
|
|
; setb Flags1.DIRECT_STARTUP_PHASE ; Set direct startup phase flag
|
|
; mov Direct_Startup_Ok_Cnt, #0 ; Reset ok counter
|
|
; clr EA ; Disable interrupts
|
|
; ApFET_off ; Ap off. Turn off unused pfets (to turn off damping fets that might be on)
|
|
; CpFET_off ; Cp off
|
|
; mov A, #45 ; 8us delay for pfets to go off
|
|
; djnz ACC, $
|
|
; setb EA ; Enable interrupts
|
|
; call comm6comm1
|
|
; call calc_next_comm_timing ; Calculate next timing and start advance timing wait
|
|
; call wait_advance_timing ; Wait advance timing and start zero cross wait
|
|
; call calc_new_wait_times
|
|
; call wait_before_zc_scan ; Wait zero cross wait and start zero cross timeout
|
|
; mov Adc_Conversion_Cnt, #0 ; Make sure a voltage reading is done next time
|
|
; Set_Adc_Ip_Volt ; Set adc measurement to voltage
|
|
; jmp run1
|
|
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Run entry point
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
damped_transition:
|
|
; Transition from nondamped to damped if applicable
|
|
call decode_parameters ; Set programmed parameters
|
|
call comm6comm1
|
|
mov Adc_Conversion_Cnt, #0 ; Make sure a voltage reading is done next time
|
|
Set_Adc_Ip_Volt ; Set adc measurement to voltage
|
|
|
|
; Run 1 = B(p-on) + C(n-pwm) - comparator A evaluated
|
|
; Out_cA changes from high to low
|
|
run1:
|
|
call wait_for_comp_out_high ; Wait zero cross wait and wait for high
|
|
call evaluate_comparator_integrity ; Check whether comparator reading has been normal
|
|
call setup_comm_wait ; Setup wait time from zero cross to commutation
|
|
call calc_governor_target ; Calculate governor target
|
|
call wait_for_comm ; Wait from zero cross to commutation
|
|
call comm1comm2 ; Commutate
|
|
call calc_next_comm_timing ; Calculate next timing and start advance timing wait
|
|
call wait_advance_timing ; Wait advance timing and start zero cross wait
|
|
call calc_new_wait_times
|
|
call wait_before_zc_scan ; Wait zero cross wait and start zero cross timeout
|
|
|
|
; Run 2 = A(p-on) + C(n-pwm) - comparator B evaluated
|
|
; Out_cB changes from low to high
|
|
run2:
|
|
call wait_for_comp_out_low
|
|
call evaluate_comparator_integrity
|
|
call setup_comm_wait
|
|
call calc_governor_prop_error
|
|
call wait_for_comm
|
|
call comm2comm3
|
|
call calc_next_comm_timing
|
|
call wait_advance_timing
|
|
call calc_new_wait_times
|
|
call wait_before_zc_scan
|
|
|
|
; Run 3 = A(p-on) + B(n-pwm) - comparator C evaluated
|
|
; Out_cC changes from high to low
|
|
run3:
|
|
call wait_for_comp_out_high
|
|
call evaluate_comparator_integrity
|
|
call setup_comm_wait
|
|
call calc_governor_int_error
|
|
call wait_for_comm
|
|
call comm3comm4
|
|
call calc_next_comm_timing
|
|
call wait_advance_timing
|
|
call calc_new_wait_times
|
|
call wait_before_zc_scan
|
|
|
|
; Run 4 = C(p-on) + B(n-pwm) - comparator A evaluated
|
|
; Out_cA changes from low to high
|
|
run4:
|
|
call wait_for_comp_out_low
|
|
call evaluate_comparator_integrity
|
|
call setup_comm_wait
|
|
call calc_governor_prop_correction
|
|
call wait_for_comm
|
|
call comm4comm5
|
|
call calc_next_comm_timing
|
|
call wait_advance_timing
|
|
call calc_new_wait_times
|
|
call wait_before_zc_scan
|
|
|
|
; Run 5 = C(p-on) + A(n-pwm) - comparator B evaluated
|
|
; Out_cB changes from high to low
|
|
run5:
|
|
call wait_for_comp_out_high
|
|
call evaluate_comparator_integrity
|
|
call setup_comm_wait
|
|
call calc_governor_int_correction
|
|
call wait_for_comm
|
|
call comm5comm6
|
|
call calc_next_comm_timing
|
|
call wait_advance_timing
|
|
call calc_new_wait_times
|
|
call wait_before_zc_scan
|
|
|
|
; Run 6 = B(p-on) + A(n-pwm) - comparator C evaluated
|
|
; Out_cC changes from low to high
|
|
run6:
|
|
call wait_for_comp_out_low
|
|
call start_adc_conversion
|
|
call evaluate_comparator_integrity
|
|
call setup_comm_wait
|
|
call check_temp_voltage_and_limit_power
|
|
call wait_for_comm
|
|
call comm6comm1
|
|
call calc_next_comm_timing
|
|
call wait_advance_timing
|
|
call calc_new_wait_times
|
|
call wait_before_zc_scan
|
|
|
|
; Check if it is direct startup
|
|
jnb Flags1.DIRECT_STARTUP_PHASE, normal_run_checks
|
|
|
|
; Set spoolup power variables
|
|
IF MODE == 0 OR MODE == 2
|
|
mov Pwm_Limit, Pwm_Spoolup_Beg ; Set initial max power
|
|
mov Pwm_Limit_Spoolup, Pwm_Spoolup_Beg ; Set initial slow spoolup power
|
|
ENDIF
|
|
IF MODE == 1
|
|
mov Pwm_Limit, #0FFh ; Allow full power
|
|
mov Pwm_Limit_Spoolup, #0FFh
|
|
ENDIF
|
|
mov Spoolup_Limit_Cnt, #0
|
|
mov Spoolup_Limit_Skip, #1
|
|
; Check startup ok counter
|
|
clr C
|
|
mov A, Direct_Startup_Ok_Cnt ; Load ok counter
|
|
subb A, #100 ; Is counter above requirement?
|
|
jc direct_start_check_rcp ; No - proceed
|
|
|
|
clr Flags1.DIRECT_STARTUP_PHASE ; Clear direct startup phase flag
|
|
setb Flags1.INITIAL_RUN_PHASE ; Set initial run phase flag
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mov Startup_Rot_Cnt, #20 ; Set startup rotation count
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jmp normal_run_checks
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direct_start_check_rcp:
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clr C
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mov A, New_Rcp ; Load new pulse value
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subb A, #RCP_STOP ; Check if pulse is below stop value
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jc ($+5)
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ljmp run1 ; Continue to run
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jmp run_to_wait_for_power_on
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normal_run_checks:
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; Check if it is initial run phase
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jnb Flags1.INITIAL_RUN_PHASE, initial_run_phase_done; If not initial run phase - branch
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; Decrement startup rotaton count
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mov A, Startup_Rot_Cnt
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dec A
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; Check number of nondamped rotations
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jnz normal_run_check_startup_rot ; Branch if counter is not zero
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clr Flags1.INITIAL_RUN_PHASE ; Clear initial run phase flag
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ljmp damped_transition ; Do damped transition if counter is zero
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normal_run_check_startup_rot:
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mov Startup_Rot_Cnt, A ; Not zero - store counter
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clr C
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mov A, New_Rcp ; Load new pulse value
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subb A, #RCP_STOP ; Check if pulse is below stop value
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jc ($+5)
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|
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ljmp run1 ; Continue to run
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|
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jmp run_to_wait_for_power_on
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|
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initial_run_phase_done:
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; Exit run loop after a given time
|
|
clr C
|
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mov A, Rcp_Stop_Cnt ; Load stop RC pulse counter value
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;///// subb A, #RCP_STOP_LIMIT ; Is number of stop RC pulses above limit?
|
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subb A, Rcp_Stop_Limit ; Is number of stop RC pulses above limit?
|
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jnc run_to_wait_for_power_on ; Yes, go back to wait for poweron
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|
|
|
run6_check_rcp_timeout:
|
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; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
; anl A, Flags3 ; Check pwm frequency flags
|
|
; jnz run6_check_speed ; If a flag is set (PWM) - branch
|
|
|
|
mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
|
|
jz run_to_wait_for_power_on ; If it is zero - go back to wait for poweron
|
|
|
|
run6_check_speed:
|
|
clr C
|
|
mov A, Comm_Period4x_H ; Is Comm_Period4x more than 32ms (~1220 eRPM)?
|
|
subb A, #0F0h
|
|
jnc run_to_wait_for_power_on ; Yes - go back to motor start
|
|
jmp run1 ; Go back to run 1
|
|
|
|
|
|
run_to_wait_for_power_on:
|
|
|
|
call switch_power_off
|
|
mov Temp1, #Pgm_Pwm_Freq
|
|
mov A, @Temp1
|
|
mov Temp7, A ; Store setting in Temp7
|
|
mov @Temp1, #1 ; Set low pwm mode (in order to turn off damping)
|
|
call decode_parameters ; (Decode_parameters uses Temp1 and Temp8)
|
|
mov Temp1, #Pgm_Pwm_Freq
|
|
mov A, Temp7
|
|
mov @Temp1, A ; Restore settings
|
|
clr A
|
|
mov Requested_Pwm, A ; Set requested pwm to zero
|
|
mov Governor_Req_Pwm, A ; Set governor requested pwm to zero
|
|
mov Current_Pwm, A ; Set current pwm to zero
|
|
mov Current_Pwm_Limited, A ; Set limited current pwm to zero
|
|
mov Pwm_Motor_Idle, A ; Set motor idle to zero
|
|
clr Flags1.MOTOR_SPINNING ; Clear motor spinning flag
|
|
call wait1ms ; Wait for pwm to be stopped
|
|
call switch_power_off
|
|
call wait10ms
|
|
clr ET0
|
|
jb Flags2.PGM_PWMOFF_DAMPED, light_damp
|
|
ajmp damp_exit
|
|
|
|
light_damp:
|
|
jb Flags2.PGM_PWMOFF_DAMPED_LIGHT, ($+7)
|
|
setb P1.BnFET
|
|
ajmp damp_exit
|
|
jb Flags2.PGM_PWMOFF_DAMPED_FULL, high_damp
|
|
A_B_nFETs_On
|
|
ajmp damp_exit
|
|
high_damp:
|
|
All_nFETs_On
|
|
damp_exit:
|
|
|
|
IF MODE == 0 ; Main
|
|
mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
anl A, Flags3 ; Check pwm frequency flags
|
|
jnz run_to_next_state_main ; If a flag is set (PWM) - branch
|
|
|
|
mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
|
|
jnz run_to_next_state_main ; If it is not zero - branch
|
|
|
|
jmp measure_pwm_freq_init ; If it is zero (pulses missing) - go back to measure pwm frequency
|
|
|
|
run_to_next_state_main:
|
|
mov Temp1, #Pgm_Startup_Method ; Check if it is stepped startup
|
|
mov A, @Temp1
|
|
jnb ACC.0, run_to_next_state_main_wait_done ; If direct startup - jump
|
|
|
|
call wait1s ; 3 second delay before new startup (in stepped mode)
|
|
call wait1s
|
|
call wait1s
|
|
run_to_next_state_main_wait_done:
|
|
;读取Pgm_Main_Rearm_Start
|
|
mov Temp1, #Pgm_Main_Rearm_Start
|
|
mov A, @Temp1
|
|
clr C
|
|
subb A, #1 ; Is re-armed start enabled?
|
|
jc jmp_wait_for_power_on ; No - do like tail and start immediately
|
|
|
|
jmp validate_rcp_start ; Yes - go back to validate RC pulse
|
|
;Pgm_Main_Rearm_Start = 第2项 disabled
|
|
jmp_wait_for_power_on:
|
|
jmp wait_for_power_on ; Go back to wait for power on
|
|
ENDIF
|
|
IF MODE >= 1 ; Tail or multi
|
|
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
|
|
; anl A, Flags3 ; Check pwm frequency flags
|
|
; jnz jmp_wait_for_power_on ; If a flag is set (PWM) - branch
|
|
|
|
mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
|
|
jnz jmp_wait_for_power_on ; If it is not zero - go back to wait for poweron
|
|
|
|
jmp measure_pwm_freq_init ; If it is zero (pulses missing) - go back to measure pwm frequency
|
|
|
|
jmp_wait_for_power_on:
|
|
jmp wait_for_power_on_loop ; Go back to wait for power on
|
|
ENDIF
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
|
|
$include (BLHeliTxPgm.inc) ; Include source code for programming the ESC with the TX
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
|
|
|
|
|
|
|
|
END
|