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282 lines
7.3 KiB
282 lines
7.3 KiB
;**** **** **** **** ****
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;
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; BLHeli program for controlling brushless motors in helicopters and multirotors
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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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; Align RCE-BL15P 15A hardware definition file
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;
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;**** **** **** **** ****
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;*********************
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; Device SiLabs F330
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;*********************
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$include (c8051f330.inc)
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;**** **** **** **** ****
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; Uses internal calibrated oscillator set to 24Mhz
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;**** **** **** **** ****
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;**** **** **** **** ****
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; Constant definitions
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;**** **** **** **** ****
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CSEG AT 1A40h
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Eep_ESC_Layout: DB "#AlignBL15P# " ; ESC layout tag
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CSEG AT 1A50h
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Eep_ESC_MCU: DB "#BLHELI#F330# " ; Project and MCU tag (16 Bytes)
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MCU_48MHZ EQU 0 ; Set to 1 if MCU can run at 48MHz
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ONE_S_CAPABLE EQU 0 ; Set to 1 if ESC can operate at 1S
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PORT3_EXIST EQU 0 ; Set to 1 if MCU has port3
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COMP1_USED EQU 0 ; Set to 1 if MCU has comparator 1 and it is being used
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LOCK_BYTE_ADDRESS_16K EQU 3FFFh ; Address of lock byte if 16k flash size
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LOCK_BYTE_ADDRESS_8K EQU 1DFFh ; Address of lock byte if 8k flash size
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HIGH_BEC_VOLTAGE EQU 0 ; Set to 1 or more if high BEC voltage is supported
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DAMPED_MODE_ENABLE EQU 0 ; Damped mode disabled
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NFETON_DELAY EQU 16 ; Wait delay from pfets off to nfets on
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PFETON_DELAY EQU 30 ; Wait delay from nfets off to pfets on
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ADC_LIMIT_L EQU 85 ; Power supply measurement ADC value for which main motor power is limited (low byte)
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ADC_LIMIT_H EQU 0 ; Power supply measurement ADC value for which main motor power is limited (2 MSBs)
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TEMP_LIMIT EQU 109 ; Temperature measurement ADC value for which main motor power is limited (low byte, assuming high byte is 1)
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TEMP_LIMIT_STEP EQU 4 ; Temperature measurement ADC value increment for which main motor power is further limited
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;**** **** **** **** ****
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; ESC specific defaults
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;**** **** **** **** ****
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DEFAULT_PGM_MAIN_SPOOLUP_TIME EQU 10 ; Main motor spoolup time
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DEFAULT_PGM_MAIN_STARTUP_PWR EQU 10 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50
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DEFAULT_PGM_TAIL_STARTUP_PWR EQU 10 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50
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DEFAULT_PGM_MULTI_STARTUP_PWR EQU 10 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50
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;**** **** **** **** ****
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; Bootloader definitions
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;**** **** **** **** ****
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RTX_PORT EQU P0 ; Receive/Transmit port
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RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL
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RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL
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RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP
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RTX_PIN EQU 5 ; RTX pin
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SIGNATURE_001 EQU 0f3h ; Device signature
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SIGNATURE_002 EQU 030h
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;*********************
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; PORT 0 definitions *
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;*********************
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Mux_A EQU 7 ;i
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AnFET EQU 6 ;o
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Rcp_In EQU 5 ;i
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; EQU 4 ;i
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; EQU 3 ;i
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; EQU 2 ;i
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; EQU 1 ;i
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; EQU 0 ;i
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P0_DIGITAL EQU NOT(1 SHL Mux_A) AND 0FFh
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P0_INIT EQU NOT(1 SHL AnFET) AND 0FFh
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P0_PUSHPULL EQU (1 SHL AnFET)
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P0_SKIP EQU NOT(1 SHL Rcp_In) AND 0FFh
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MACRO Get_Rcp_Capture_Values
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mov Temp1, PCA0CPL0 ; Get PCA capture values
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mov Temp2, PCA0CPH0
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ENDM
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MACRO Read_Rcp_Int
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mov A, P0
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jnb Flags3.PGM_RCP_PWM_POL, ($+4) ; Is pwm polarity negative?
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cpl A ; Yes - invert
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ENDM
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MACRO Rcp_Int_Enable
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orl PCA0CPM0, #01h ; Interrupt enabled
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ENDM
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MACRO Rcp_Int_Disable
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anl PCA0CPM0, #0FEh ; Interrupt disabled
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ENDM
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MACRO Rcp_Int_First
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anl PCA0CPM0, #0CFh
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jb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity positive?
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orl PCA0CPM0, #20h ; Capture rising edge
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jnb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity negative?
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orl PCA0CPM0, #10h ; Capture falling edge
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ENDM
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MACRO Rcp_Int_Second
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anl PCA0CPM0, #0CFh
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jb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity positive?
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orl PCA0CPM0, #10h ; Capture falling edge
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jnb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity negative?
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orl PCA0CPM0, #20h ; Capture rising edge
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ENDM
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MACRO Rcp_Clear_Int_Flag
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clr CCF0 ; Clear interrupt flag
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ENDM
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;*********************
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; PORT 1 definitions *
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;*********************
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Mux_C EQU 7 ;i
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CpFET EQU 6 ;o
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CnFET EQU 5 ;o
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Comp_Com EQU 4 ;i
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Mux_B EQU 3 ;i
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BpFET EQU 2 ;o
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BnFET EQU 1 ;o
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ApFET EQU 0 ;o
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P1_DIGITAL EQU NOT((1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com)) AND 0FFh
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P1_INIT EQU NOT((1 SHL ApFET)+(1 SHL BnFET)+(1 SHL BpFET)+(1 SHL CnFET)+(1 SHL CpFET)) AND 0FFh
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P1_PUSHPULL EQU (1 SHL ApFET)+(1 SHL BnFET)+(1 SHL BpFET)+(1 SHL CnFET)+(1 SHL CpFET)
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P1_SKIP EQU 0
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MACRO AnFET_on
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setb P0.AnFET
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ENDM
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MACRO AnFET_off
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clr P0.AnFET
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ENDM
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MACRO BnFET_on
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setb P1.BnFET
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ENDM
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MACRO BnFET_off
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clr P1.BnFET
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ENDM
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MACRO CnFET_on
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setb P1.CnFET
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ENDM
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MACRO CnFET_off
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clr P1.CnFET
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ENDM
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MACRO All_nFETs_Off
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clr P0.AnFET
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clr P1.BnFET
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clr P1.CnFET
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ENDM
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MACRO ApFET_on
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setb P1.ApFET
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ENDM
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MACRO ApFET_off
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clr P1.ApFET
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ENDM
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MACRO BpFET_on
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setb P1.BpFET
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ENDM
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MACRO BpFET_off
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clr P1.BpFET
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ENDM
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MACRO CpFET_on
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setb P1.CpFET
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ENDM
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MACRO CpFET_off
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clr P1.CpFET
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ENDM
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MACRO All_pFETs_Off
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clr P1.ApFET
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clr P1.BpFET
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clr P1.CpFET
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ENDM
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MACRO Brake_FETs_On
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AnFET_on
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BnFET_on
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CnFET_on
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ENDM
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MACRO Damping_FET_On
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mov A, DampingFET
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orl P1, A
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ENDM
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MACRO Set_Comp_Phase_A
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mov CPT0MX, #36h ; Set comparator multiplexer to phase A
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ENDM
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MACRO Set_Comp_Phase_B
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mov CPT0MX, #56h ; Set comparator multiplexer to phase B
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ENDM
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MACRO Set_Comp_Phase_C
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mov CPT0MX, #76h ; Set comparator multiplexer to phase C
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ENDM
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MACRO Read_Comp_Out
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mov A, CPT0CN ; Read comparator output
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cpl A ; Invert output
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ENDM
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;*********************
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; PORT 2 definitions *
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;*********************
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DebugPin EQU 0 ;o
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P2_PUSHPULL EQU (1 SHL DebugPin)
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;**********************
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; MCU specific macros *
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;**********************
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MACRO Interrupt_Table_Definition
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CSEG AT 0 ; Code segment start
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jmp reset
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CSEG AT 0Bh ; Timer0 interrupt
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jmp t0_int
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CSEG AT 2Bh ; Timer2 interrupt
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jmp t2_int
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CSEG AT 5Bh ; PCA interrupt
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jmp pca_int
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CSEG AT 73h ; Timer3 interrupt
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jmp t3_int
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ENDM
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MACRO Initialize_Xbar
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mov XBR1, #41h ; Xbar enabled, CEX0 routed to pin Rcp_In
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ENDM
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MACRO Initialize_Adc
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mov REF0CN, #0Eh ; Set vdd (3.3V) as reference. Enable temp sensor and bias
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mov ADC0CF, #58h ; ADC clock 2MHz
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mov AMX0P, #(8+Mux_B) ; Select positive input (use comparator input B)
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mov AMX0N, #11h ; Select negative input as ground
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mov ADC0CN, #80h ; ADC enabled
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ENDM
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MACRO Set_Adc_Ip_Volt
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mov AMX0P, #(8+Mux_B) ; Select positive input (use comparator input B)
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ENDM
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MACRO Set_Adc_Ip_Temp
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mov AMX0P, #10h ; Select temp sensor input
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ENDM
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MACRO Start_Adc
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mov ADC0CN, #90h ; ADC start
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ENDM
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MACRO Read_Adc_Result
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mov Temp1, ADC0L
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mov Temp2, ADC0H
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ENDM
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MACRO Stop_Adc
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ENDM
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MACRO Set_RPM_Out
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ENDM
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MACRO Clear_RPM_Out
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ENDM
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MACRO Set_MCU_Clk_24MHz
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ENDM
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MACRO Set_MCU_Clk_48MHz
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ENDM
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