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;**** **** **** **** ****
;
; BLHeli program for controlling brushless motors in helicopters and multirotors
;
; Copyright 2011, 2012 Steffen Skaug
; This program is distributed under the terms of the GNU General Public License
;
; This file is part of BLHeli.
;
; BLHeli is free software: you can redistribute it and/or modify
; it under the terms of the GNU General Public License as published by
; the Free Software Foundation, either version 3 of the License, or
; (at your option) any later version.
;
; BLHeli is distributed in the hope that it will be useful,
; but WITHOUT ANY WARRANTY; without even the implied warranty of
; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
; GNU General Public License for more details.
;
; You should have received a copy of the GNU General Public License
; along with BLHeli. If not, see <http://www.gnu.org/licenses/>.
;
;**** **** **** **** ****
;
; Hardware definition file "J"
; L2 L1 L0 RC CC MB MC MA X X Cc Bc Ac Cp Bp Ap
;
;**** **** **** **** ****
;*********************
; Device SiLabs EFM8BB1x/2x
;*********************
IF MCU_48MHZ == 0
$include (SI_EFM8BB1_Defs.inc)
ELSE
$include (SI_EFM8BB2_Defs.inc)
ENDIF
;**** **** **** **** ****
; Uses internal calibrated oscillator set to 24/48Mhz
;**** **** **** **** ****
;**** **** **** **** ****
; Constant definitions
;**** **** **** **** ****
IF MCU_48MHZ == 0
CSEG AT 1A40h
IF FETON_DELAY == 0
Eep_ESC_Layout: DB "#J_L_00# " ; ESC layout tag
ELSEIF FETON_DELAY == 5
Eep_ESC_Layout: DB "#J_L_05# "
ELSEIF FETON_DELAY == 10
Eep_ESC_Layout: DB "#J_L_10# "
ELSEIF FETON_DELAY == 15
Eep_ESC_Layout: DB "#J_L_15# "
ELSEIF FETON_DELAY == 20
Eep_ESC_Layout: DB "#J_L_20# "
ELSEIF FETON_DELAY == 25
Eep_ESC_Layout: DB "#J_L_25# "
ELSEIF FETON_DELAY == 30
Eep_ESC_Layout: DB "#J_L_30# "
ELSEIF FETON_DELAY == 40
Eep_ESC_Layout: DB "#J_L_40# "
ELSEIF FETON_DELAY == 50
Eep_ESC_Layout: DB "#J_L_50# "
ELSEIF FETON_DELAY == 70
Eep_ESC_Layout: DB "#J_L_70# "
ELSEIF FETON_DELAY == 90
Eep_ESC_Layout: DB "#J_L_90# "
ENDIF
CSEG AT 1A50h
Eep_ESC_MCU: DB "#BLHELI$EFM8B10#" ; Project and MCU tag (16 Bytes)
ELSE
CSEG AT 1A40h
IF FETON_DELAY == 0
Eep_ESC_Layout: DB "#J_H_00# " ; ESC layout tag
ELSEIF FETON_DELAY == 5
Eep_ESC_Layout: DB "#J_H_05# "
ELSEIF FETON_DELAY == 10
Eep_ESC_Layout: DB "#J_H_10# "
ELSEIF FETON_DELAY == 15
Eep_ESC_Layout: DB "#J_H_15# "
ELSEIF FETON_DELAY == 20
Eep_ESC_Layout: DB "#J_H_20# "
ELSEIF FETON_DELAY == 25
Eep_ESC_Layout: DB "#J_H_25# "
ELSEIF FETON_DELAY == 30
Eep_ESC_Layout: DB "#J_H_30# "
ELSEIF FETON_DELAY == 40
Eep_ESC_Layout: DB "#J_H_40# "
ELSEIF FETON_DELAY == 50
Eep_ESC_Layout: DB "#J_H_50# "
ELSEIF FETON_DELAY == 70
Eep_ESC_Layout: DB "#J_H_70# "
ELSEIF FETON_DELAY == 90
Eep_ESC_Layout: DB "#J_H_90# "
ENDIF
CSEG AT 1A50h
Eep_ESC_MCU: DB "#BLHELI$EFM8B21#" ; Project and MCU tag (16 Bytes)
ENDIF
TEMP_LIMIT EQU 49 ; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
TEMP_LIMIT_STEP EQU 9 ; Temperature measurement ADC value increment for another 10degC
;**** **** **** **** ****
; Bootloader definitions
;**** **** **** **** ****
RTX_PORT EQU P0 ; Receive/Transmit port
RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL
RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL
RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP
RTX_PIN EQU 4 ; RTX pin
SIGNATURE_001 EQU 0E8h ; Device signature
IF MCU_48MHZ == 0
SIGNATURE_002 EQU 0B1h
ELSE
SIGNATURE_002 EQU 0B2h
ENDIF
;*********************
; PORT 0 definitions *
;*********************
LED_2 EQU 7 ;o
LED_1 EQU 6 ;o
LED_0 EQU 5 ;o
Rcp_In EQU 4 ;i
Comp_Com EQU 3 ;i
Mux_B EQU 2 ;i
Mux_C EQU 1 ;i
Mux_A EQU 0 ;i
P0_DIGITAL EQU NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
P0_INIT EQU 0FFh
P0_PUSHPULL EQU (1 SHL LED_0)+(1 SHL LED_1)+(1 SHL LED_2)
P0_SKIP EQU 0FFh
Get_Rcp_Capture_Values MACRO
anl TCON, #0EFh ; Disable timer0
mov Temp1, TL0 ; Get timer0 values
mov Temp2, TH0
IF MCU_48MHZ == 1
mov Temp3, Timer0_X
jnb TCON_TF0, ($+4) ; Check if interrupt is pending
inc Temp3 ; If it is pending, then timer has already wrapped
ENDIF
mov TL0, #0 ; Reset timer0
mov TH0, #0
IF MCU_48MHZ == 1
mov Timer0_X, #0
ENDIF
orl TCON, #10h ; Enable timer0 again
IF MCU_48MHZ == 1
mov A, Clock_Set_At_48MHz
jnz Get_Rcp_End
clr C
mov A, Temp1
rlc A
mov Temp1, A
mov A, Temp2
rlc A
mov Temp2, A
mov A, Temp3
rlc A
mov Temp3, A
Get_Rcp_End:
ENDIF
ENDM
Decode_Dshot_2Msb MACRO
movx A, @DPTR
mov Temp6, A
clr C
subb A, Temp5 ; Subtract previous timestamp
clr C
subb A, Temp1
jc t1_int_msb_fail ; Check that bit is longer than minimum
subb A, Temp1 ; Check if bit is zero or one
mov A, Temp4 ; Shift bit into data byte
rlc A
mov Temp4, A
inc DPL ; Next bit
movx A, @DPTR
mov Temp5, A
clr C
subb A, Temp6
clr C
subb A, Temp1
jc t1_int_msb_fail
subb A, Temp1
mov A, Temp4
rlc A
mov Temp4, A
inc DPL
ENDM
Decode_Dshot_2Lsb MACRO
movx A, @DPTR
mov Temp6, A
clr C
subb A, Temp5 ; Subtract previous timestamp
clr C
subb A, Temp1
jc t1_int_lsb_fail ; Check that bit is longer than minimum
subb A, Temp1 ; Check if bit is zero or one
mov A, Temp3 ; Shift bit into data byte
rlc A
mov Temp3, A
inc DPL ; Next bit
movx A, @DPTR
mov Temp5, A
clr C
subb A, Temp6
clr C
subb A, Temp1
jc t1_int_lsb_fail
subb A, Temp1
mov A, Temp3
rlc A
mov Temp3, A
inc DPL
ENDM
Initialize_PCA MACRO
mov PCA0CN0, #40h ; PCA enabled
mov PCA0MD, #08h ; PCA clock is system clock
IF FETON_DELAY == 0
IF MCU_48MHZ == 0
mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm
ELSE
mov PCA0PWM, #83h ; PCA ARSEL set and 11bits pwm
ENDIF
mov PCA0CENT, #00h ; Edge aligned pwm
ELSE
IF MCU_48MHZ == 0
mov PCA0PWM, #81h ; PCA ARSEL set and 9bits pwm
ELSE
mov PCA0PWM, #82h ; PCA ARSEL set and 10bits pwm
ENDIF
mov PCA0CENT, #03h ; Center aligned pwm
ENDIF
ENDM
Set_Pwm_Polarity MACRO
mov PCA0POL, #02h ; Damping inverted, pwm noninverted
ENDM
Enable_Power_Pwm_Module MACRO
IF FETON_DELAY == 0
mov PCA0CPM0, #4Ah ; Enable comparator of module, enable match, set pwm mode
ELSE
mov PCA0CPM0, #42h ; Enable comparator of module, set pwm mode
ENDIF
ENDM
Enable_Damp_Pwm_Module MACRO
IF FETON_DELAY == 0
mov PCA0CPM1, #00h ; Disable
ELSE
mov PCA0CPM1, #42h ; Enable comparator of module, set pwm mode
ENDIF
ENDM
Set_Power_Pwm_Regs MACRO
IF FETON_DELAY == 0
mov PCA0CPL0, Power_Pwm_Reg_L
mov PCA0CPH0, Power_Pwm_Reg_H
ELSE
clr C
mov A, Power_Pwm_Reg_H
rrc A
mov Temp1, A
mov A, Power_Pwm_Reg_L
rrc A
mov PCA0CPL0, A
mov PCA0CPH0, Temp1
ENDIF
ENDM
Set_Damp_Pwm_Regs MACRO
IF FETON_DELAY == 0
mov PCA0CPL1, Damp_Pwm_Reg_L
mov PCA0CPH1, Damp_Pwm_Reg_H
ELSE
clr C
mov A, Damp_Pwm_Reg_H
rrc A
mov Temp1, A
mov A, Damp_Pwm_Reg_L
rrc A
mov PCA0CPL1, A
mov PCA0CPH1, Temp1
ENDIF
ENDM
Clear_COVF_Interrupt MACRO
anl PCA0PWM, #0DFh
ENDM
Clear_CCF_Interrupt MACRO
anl PCA0CN0, #0FEh
ENDM
Enable_COVF_Interrupt MACRO
orl PCA0PWM, #40h
ENDM
Enable_CCF_Interrupt MACRO
orl PCA0CPM0,#01h
ENDM
Disable_COVF_Interrupt MACRO
anl PCA0PWM, #0BFh
ENDM
Disable_CCF_Interrupt MACRO
anl PCA0CPM0,#0FEh
ENDM
;*********************
; PORT 1 definitions *
;*********************
; EQU 7 ;i
; EQU 6 ;i
CcomFET EQU 5 ;o
BcomFET EQU 4 ;o
AcomFET EQU 3 ;o
CpwmFET EQU 2 ;o
BpwmFET EQU 1 ;o
ApwmFET EQU 0 ;o
P1_DIGITAL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
P1_INIT EQU 00h
P1_PUSHPULL EQU (1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
P1_SKIP EQU 3Fh
ApwmFET_on MACRO
setb P1.ApwmFET
IF FETON_DELAY == 0
setb P1.AcomFET
ENDIF
ENDM
ApwmFET_off MACRO
IF FETON_DELAY != 0
clr P1.ApwmFET
ELSE
clr P1.AcomFET
ENDIF
ENDM
BpwmFET_on MACRO
setb P1.BpwmFET
IF FETON_DELAY == 0
setb P1.BcomFET
ENDIF
ENDM
BpwmFET_off MACRO
IF FETON_DELAY != 0
clr P1.BpwmFET
ELSE
clr P1.BcomFET
ENDIF
ENDM
CpwmFET_on MACRO
setb P1.CpwmFET
IF FETON_DELAY == 0
setb P1.CcomFET
ENDIF
ENDM
CpwmFET_off MACRO
IF FETON_DELAY != 0
clr P1.CpwmFET
ELSE
clr P1.CcomFET
ENDIF
ENDM
All_pwmFETs_Off MACRO
IF FETON_DELAY != 0
clr P1.ApwmFET
clr P1.BpwmFET
clr P1.CpwmFET
ELSE
clr P1.AcomFET
clr P1.BcomFET
clr P1.CcomFET
ENDIF
ENDM
AcomFET_on MACRO
IF FETON_DELAY == 0
clr P1.ApwmFET
ENDIF
setb P1.AcomFET
ENDM
AcomFET_off MACRO
clr P1.AcomFET
ENDM
BcomFET_on MACRO
IF FETON_DELAY == 0
clr P1.BpwmFET
ENDIF
setb P1.BcomFET
ENDM
BcomFET_off MACRO
clr P1.BcomFET
ENDM
CcomFET_on MACRO
IF FETON_DELAY == 0
clr P1.CpwmFET
ENDIF
setb P1.CcomFET
ENDM
CcomFET_off MACRO
clr P1.CcomFET
ENDM
All_comFETs_Off MACRO
clr P1.AcomFET
clr P1.BcomFET
clr P1.CcomFET
ENDM
Set_Pwm_A MACRO
IF FETON_DELAY == 0
setb P1.AcomFET
mov P1SKIP, #3Eh
ELSE
mov P1SKIP, #36h
ENDIF
ENDM
Set_Pwm_B MACRO
IF FETON_DELAY == 0
setb P1.BcomFET
mov P1SKIP, #3Dh
ELSE
mov P1SKIP, #2Dh
ENDIF
ENDM
Set_Pwm_C MACRO
IF FETON_DELAY == 0
setb P1.CcomFET
mov P1SKIP, #3Bh
ELSE
mov P1SKIP, #1Bh
ENDIF
ENDM
Set_Pwms_Off MACRO
mov P1SKIP, #7Fh
ENDM
Set_Comp_Phase_A MACRO
mov CMP0MX, #03h ; Set comparator multiplexer to phase A
ENDM
Set_Comp_Phase_B MACRO
mov CMP0MX, #23h ; Set comparator multiplexer to phase B
ENDM
Set_Comp_Phase_C MACRO
mov CMP0MX, #13h ; Set comparator multiplexer to phase C
ENDM
Read_Comp_Out MACRO
mov A, CMP0CN0 ; Read comparator output
ENDM
;*********************
; PORT 2 definitions *
;*********************
DebugPin EQU 0 ;o
P2_PUSHPULL EQU (1 SHL DebugPin)
;**********************
; MCU specific macros *
;**********************
Interrupt_Table_Definition MACRO
CSEG AT 0 ; Code segment start
jmp reset
CSEG AT 03h ; Int0 interrupt
jmp int0_int
IF MCU_48MHZ == 1
CSEG AT 0Bh ; Timer0 overflow interrupt
jmp t0_int
ENDIF
CSEG AT 13h ; Int1 interrupt
jmp int1_int
CSEG AT 1Bh ; Timer1 overflow interrupt
jmp t1_int
CSEG AT 2Bh ; Timer2 overflow interrupt
jmp t2_int
CSEG AT 5Bh ; Pca interrupt
jmp pca_int
CSEG AT 73h ; Timer3 overflow/compare interrupt
jmp t3_int
ENDM
Initialize_Xbar MACRO
mov XBR2, #40h ; Xbar enabled
mov XBR1, #02h ; CEX0 and CEX1 routed to pins
ENDM
Initialize_Comparator MACRO
mov CMP0CN0, #80h ; Comparator enabled, no hysteresis
mov CMP0MD, #00h ; Comparator response time 100ns
ENDM
Initialize_Adc MACRO
mov REF0CN, #0Ch ; Set vdd (3.3V) as reference. Enable temp sensor and bias
IF MCU_48MHZ == 0
mov ADC0CF, #59h ; ADC clock 2MHz, PGA gain 1
ELSE
mov ADC0CF, #0B9h ; ADC clock 2MHz, PGA gain 1
ENDIF
mov ADC0MX, #10h ; Select temp sensor input
mov ADC0CN0, #80h ; ADC enabled
mov ADC0CN1, #01h ; Common mode buffer enabled
ENDM
Start_Adc MACRO
mov ADC0CN0, #90h ; ADC start
ENDM
Read_Adc_Result MACRO
mov Temp1, ADC0L
mov Temp2, ADC0H
ENDM
Stop_Adc MACRO
ENDM
Set_RPM_Out MACRO
ENDM
Clear_RPM_Out MACRO
ENDM
Set_MCU_Clk_24MHz MACRO
mov CLKSEL, #13h ; Set clock to 24MHz
mov SFRPAGE, #10h
mov PFE0CN, #00h ; Set flash timing for 24MHz
mov SFRPAGE, #00h
mov Clock_Set_At_48MHz, #0
ENDM
Set_MCU_Clk_48MHz MACRO
mov SFRPAGE, #10h
mov PFE0CN, #30h ; Set flash timing for 48MHz
mov SFRPAGE, #00h
mov CLKSEL, #03h ; Set clock to 48MHz
mov Clock_Set_At_48MHz, #1
ENDM
Set_LED_0 MACRO
clr P0.LED_0
ENDM
Clear_LED_0 MACRO
setb P0.LED_0
ENDM
Set_LED_1 MACRO
clr P0.LED_1
ENDM
Clear_LED_1 MACRO
setb P0.LED_1
ENDM
Set_LED_2 MACRO
clr P0.LED_2
ENDM
Clear_LED_2 MACRO
setb P0.LED_2
ENDM
Set_LED_3 MACRO
ENDM
Clear_LED_3 MACRO
ENDM