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660 lines
13 KiB
660 lines
13 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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; BLHeliTxPgm Atmel
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;
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;**** **** **** **** ****
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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;
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; Read all eeprom parameters routine
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;
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; No assumptions
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;
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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read_all_eeprom_parameters:
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.IF MODE == 0 ; Main
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; Check initialized signature
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ldi ZL, low(Eep_Initialized_L)
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ldi ZH, high(Eep_Initialized_L)
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xcall read_eeprom_byte
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cpi Temp1, 0xA5
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breq PC+2
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rjmp read_eeprom_store_defaults
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ldi ZL, low(Eep_Initialized_H)
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ldi ZH, high(Eep_Initialized_H)
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xcall read_eeprom_byte
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cpi Temp1, 0x5A
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breq PC+2
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rjmp read_eeprom_store_defaults
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.ENDIF
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.IF MODE == 1 ; Tail
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; Check initialized signature
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ldi ZL, low(Eep_Initialized_L)
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ldi ZH, high(Eep_Initialized_L)
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xcall read_eeprom_byte
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cpi Temp1, 0x5A
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breq PC+2
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rjmp read_eeprom_store_defaults
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ldi ZL, low(Eep_Initialized_H)
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ldi ZH, high(Eep_Initialized_H)
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xcall read_eeprom_byte
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cpi Temp1, 0xA5
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breq PC+2
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rjmp read_eeprom_store_defaults
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.ENDIF
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.IF MODE == 2 ; Multi
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; Check initialized signature
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ldi ZL, low(Eep_Initialized_L)
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ldi ZH, high(Eep_Initialized_L)
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xcall read_eeprom_byte
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cpi Temp1, 0x55
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breq PC+2
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rjmp read_eeprom_store_defaults
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ldi ZL, low(Eep_Initialized_H)
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ldi ZH, high(Eep_Initialized_H)
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xcall read_eeprom_byte
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cpi Temp1, 0xAA
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breq PC+2
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rjmp read_eeprom_store_defaults
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.ENDIF
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; Read eeprom
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ldi Temp4, 10 ; 10 parameters
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ldi XL, low(Pgm_Gov_P_Gain)
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ldi XH, high(Pgm_Gov_P_Gain)
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.IF MODE == 0 || MODE ==2
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ldi ZL, low(Eep_Pgm_Gov_P_Gain)
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ldi ZH, high(Eep_Pgm_Gov_P_Gain)
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.ENDIF
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.IF MODE == 1
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ldi ZL, low(_Eep_Pgm_Gov_P_Gain)
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ldi ZH, high(_Eep_Pgm_Gov_P_Gain)
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.ENDIF
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read_eeprom_block1:
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xcall read_eeprom_byte
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st X+, Temp1
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adiw Z, 1
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dec Temp4
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brne read_eeprom_block1
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ldi Temp4, 21 ; 21 parameters
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ldi XL, low(Pgm_Enable_TX_Program)
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ldi XH, high(Pgm_Enable_TX_Program)
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ldi ZL, low(Eep_Enable_TX_Program)
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ldi ZH, high(Eep_Enable_TX_Program)
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read_eeprom_block2:
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xcall read_eeprom_byte
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st X+, Temp1
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adiw Z, 1
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dec Temp4
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brne read_eeprom_block2
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rjmp read_eeprom_exit
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read_eeprom_store_defaults:
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xcall set_default_parameters
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xcall store_all_in_eeprom
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read_eeprom_exit:
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ldi ZL, low(Eep_Dummy) ; Set pointer to uncritical area
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ldi ZH, high(Eep_Dummy)
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ret
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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;
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; Read eeprom byte routine
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;
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; Assumes data in Temp1 and address in Z
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;
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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read_eeprom_byte:
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; Wait for completion of previous write
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Check_Eeprom_Ready
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rjmp read_eeprom_byte
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; Set up address in address register
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Set_Eeprom_Address ZL, ZH
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; Start eeprom read
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sbi EECR, EERE
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in Temp1, EEDR
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ret
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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;
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; Store all parameter values in EEPROM routine
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;
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; Assumes interrupts to be off
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;
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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store_all_in_eeprom:
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; Clear initialized signature
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xcall clear_eeprom_signature
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; Write eeprom
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ldi Temp4, 10 ; 10 parameters
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ldi XL, low(Pgm_Gov_P_Gain)
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ldi XH, high(Pgm_Gov_P_Gain)
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.IF MODE == 0 || MODE ==2
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ldi ZL, low(Eep_Pgm_Gov_P_Gain)
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ldi ZH, high(Eep_Pgm_Gov_P_Gain)
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.ENDIF
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.IF MODE == 1
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ldi ZL, low(_Eep_Pgm_Gov_P_Gain)
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ldi ZH, high(_Eep_Pgm_Gov_P_Gain)
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.ENDIF
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write_eeprom_block1:
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ld Temp1, X+
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xcall write_eeprom_byte
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adiw Z, 1
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dec Temp4
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brne write_eeprom_block1
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ldi Temp4, 21 ; 21 parameters
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ldi XL, low(Pgm_Enable_TX_Program)
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ldi XH, high(Pgm_Enable_TX_Program)
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ldi ZL, low(Eep_Enable_TX_Program)
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ldi ZH, high(Eep_Enable_TX_Program)
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write_eeprom_block2:
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ld Temp1, X+
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xcall write_eeprom_byte
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adiw Z, 1
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dec Temp4
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brne write_eeprom_block2
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; Write initialized signature
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xcall write_eeprom_signature
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ret
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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;
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; Write eeprom byte routine
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;
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; Assumes data in Temp1 and address in Z
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;
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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write_eeprom_byte:
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; Wait for completion of previous write
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Check_Eeprom_Ready
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rjmp write_eeprom_byte
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; Set up address in address register
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out EEDR, Temp1
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Set_Eeprom_Address ZL, ZH
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; Set write enables and start writing
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Start_Eeprom_Write
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ret
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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;
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; Clear eeprom signature routine
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;
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; No assumptions
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;
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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clear_eeprom_signature:
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ldi ZL, low(Eep_Initialized_L)
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ldi ZH, high(Eep_Initialized_L)
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ldi Temp1, 0xFF
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xcall write_eeprom_byte
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ldi ZL, low(Eep_Initialized_H)
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ldi ZH, high(Eep_Initialized_H)
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ldi Temp1, 0xFF
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xcall write_eeprom_byte
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ret
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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;
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; Write eeprom signature routine
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;
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; No assumptions
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;
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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write_eeprom_signature:
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.IF MODE == 0 ; Main
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ldi ZL, low(Eep_Initialized_L)
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ldi ZH, high(Eep_Initialized_L)
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ldi Temp1, 0xA5
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xcall write_eeprom_byte
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ldi ZL, low(Eep_Initialized_H)
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ldi ZH, high(Eep_Initialized_H)
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ldi Temp1, 0x5A
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xcall write_eeprom_byte
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.ENDIF
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.IF MODE == 1 ; Tail
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ldi ZL, low(Eep_Initialized_L)
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ldi ZH, high(Eep_Initialized_L)
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ldi Temp1, 0x5A
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xcall write_eeprom_byte
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ldi ZL, low(Eep_Initialized_H)
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ldi ZH, high(Eep_Initialized_H)
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ldi Temp1, 0xA5
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xcall write_eeprom_byte
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.ENDIF
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.IF MODE == 2 ; Multi
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ldi ZL, low(Eep_Initialized_L)
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ldi ZH, high(Eep_Initialized_L)
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ldi Temp1, 0x55
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xcall write_eeprom_byte
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ldi ZL, low(Eep_Initialized_H)
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ldi ZH, high(Eep_Initialized_H)
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ldi Temp1, 0xAA
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xcall write_eeprom_byte
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.ENDIF
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ret
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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;
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; Store new parameter value in ram routine
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;
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; No assumptions
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;
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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store_new_value_in_ram:
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lds Temp4, Tx_Pgm_Func_No ; Function no
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lds Temp1, Tx_Pgm_Paraval_No ; Parameter value no
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.IF MODE == 0
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cpi Temp4, 1
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brne PC+3
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sts Pgm_Gov_P_Gain, Temp1
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cpi Temp4, 2
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brne PC+3
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sts Pgm_Gov_I_Gain, Temp1
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cpi Temp4, 3
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brne PC+3
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sts Pgm_Gov_Mode, Temp1
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cpi Temp4, 4
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brne PC+3
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sts Pgm_Gov_Range, Temp1
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cpi Temp4, 5
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brne PC+3
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sts Pgm_Low_Voltage_Lim, Temp1
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cpi Temp4, 6
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brne PC+3
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sts Pgm_Startup_Pwr, Temp1
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cpi Temp4, 7
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brne PC+3
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sts Pgm_Comm_Timing, Temp1
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cpi Temp4, 8
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brne PC+3
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sts Pgm_Throttle_Rate, Temp1
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cpi Temp4, 9
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brne PC+3
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sts Pgm_Damping_Force, Temp1
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cpi Temp4, 10
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brne PC+3
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sts Pgm_Pwm_Freq, Temp1
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cpi Temp4, 11
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brne PC+3
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sts Pgm_Demag_Comp, Temp1
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cpi Temp4, 12
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brne PC+3
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sts Pgm_Direction, Temp1
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cpi Temp4, 13
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brne PC+3
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sts Pgm_Input_Pol, Temp1
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.ENDIF
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.IF MODE == 1
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cpi Temp4, 1
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brne PC+3
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sts Pgm_Motor_Gain, Temp1
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cpi Temp4, 2
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brne PC+3
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sts Pgm_Motor_Idle, Temp1
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cpi Temp4, 3
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brne PC+3
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sts Pgm_Startup_Pwr, Temp1
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cpi Temp4, 4
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brne PC+3
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sts Pgm_Comm_Timing, Temp1
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cpi Temp4, 5
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brne PC+3
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sts Pgm_Throttle_Rate, Temp1
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cpi Temp4, 6
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brne PC+3
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sts Pgm_Damping_Force, Temp1
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cpi Temp4, 7
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brne PC+3
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sts Pgm_Pwm_Freq, Temp1
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cpi Temp4, 8
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brne PC+3
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sts Pgm_Demag_Comp, Temp1
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cpi Temp4, 9
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brne PC+3
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sts Pgm_Direction, Temp1
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cpi Temp4, 10
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brne PC+3
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sts Pgm_Input_Pol, Temp1
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.ENDIF
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.IF MODE == 2
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cpi Temp4, 1
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brne PC+3
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sts Pgm_Gov_P_Gain, Temp1
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cpi Temp4, 2
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brne PC+3
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sts Pgm_Gov_I_Gain, Temp1
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cpi Temp4, 3
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brne PC+3
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sts Pgm_Gov_Mode, Temp1
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cpi Temp4, 4
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brne PC+3
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sts Pgm_Motor_Gain, Temp1
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cpi Temp4, 5
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brne PC+3
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sts Pgm_Low_Voltage_Lim, Temp1
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cpi Temp4, 6
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brne PC+3
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sts Pgm_Startup_Pwr, Temp1
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cpi Temp4, 7
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brne PC+3
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sts Pgm_Comm_Timing, Temp1
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cpi Temp4, 8
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brne PC+3
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sts Pgm_Throttle_Rate, Temp1
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cpi Temp4, 9
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brne PC+3
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sts Pgm_Damping_Force, Temp1
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cpi Temp4, 10
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brne PC+3
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sts Pgm_Pwm_Freq, Temp1
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cpi Temp4, 11
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brne PC+3
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sts Pgm_Demag_Comp, Temp1
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cpi Temp4, 12
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brne PC+3
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sts Pgm_Direction, Temp1
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cpi Temp4, 13
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brne PC+3
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sts Pgm_Input_Pol, Temp1
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.ENDIF
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ret
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;**;**** **** **** **** **** **** **** **** **** **** **** **** ****
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;
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; Wait 1 second routine
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;
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; No assumptions
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;
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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wait1s:
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ldi Temp3, 5
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wait1s_loop:
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xcall wait200ms
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dec Temp3
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brne wait1s_loop
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ret
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;**;**** **** **** **** **** **** **** **** **** **** **** **** ****
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;
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; Success beep routine
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;
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; Assumes interrupts to be off
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;
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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success_beep:
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xcall beep_f1
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xcall beep_f2
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xcall beep_f3
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xcall beep_f4
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xcall wait10ms
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xcall beep_f1
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xcall beep_f2
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xcall beep_f3
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xcall beep_f4
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xcall wait10ms
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xcall beep_f1
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xcall beep_f2
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xcall beep_f3
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xcall beep_f4
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ret
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;**;**** **** **** **** **** **** **** **** **** **** **** **** ****
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;
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; Success beep inverted routine
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;
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; Assumes interrupts to be off
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;
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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success_beep_inverted:
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xcall beep_f4
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xcall beep_f3
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xcall beep_f2
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xcall beep_f1
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xcall wait10ms
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xcall beep_f4
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xcall beep_f3
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xcall beep_f2
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xcall beep_f1
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xcall wait10ms
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xcall beep_f4
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xcall beep_f3
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xcall beep_f2
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xcall beep_f1
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ret
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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;
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; Function and parameter value beep routine
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;
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; No assumptions
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;
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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function_paraval_beep:
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lds Temp7, Tx_Pgm_Func_No ; Function no
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lds Temp8, Tx_Pgm_Paraval_No ; Parameter value no
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function_beep:
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xcall beep_f1
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xcall beep_f1
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xcall beep_f1
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xcall wait10ms
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dec Temp7
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brne function_beep
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paraval_beep:
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xcall beep_f4
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xcall wait10ms
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dec Temp8
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brne paraval_beep
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ret
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
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;
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; Program by TX routine
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;
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; No assumptions
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;
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;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
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program_by_tx:
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; Programming mode entry beeps
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cli
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xcall success_beep
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sei
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xcall wait1s
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xcall wait1s
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; Start at function 1, parameter value 1
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ldi XH, 1
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sts Tx_Pgm_Func_No, XH
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paraval_no_entry:
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ldi XH, 1
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sts Tx_Pgm_Paraval_No, XH
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beep_no_entry:
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sts Tx_Pgm_Beep_No, Zero
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func_paraval:
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cli
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xcall function_paraval_beep
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sei
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ldi XH, 5 ; Wait is 5x 200ms
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mov Temp5, XH
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func_paraval_wait:
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lds Temp6, New_Rcp ; Load RC pulse
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xcall wait200ms
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lds XH, New_Rcp
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cp Temp6, XH ; Is RC pulse stable? (Avoid issues from 3in1 interference)
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brne func_paraval_wait ; No - branch
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cpi XH, RCP_STOP ; Below stop?
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brcs func_paraval_store ; Yes - branch
|
|
|
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cpi XH, RCP_MAX ; Below max?
|
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brcs function_next ; Yes - branch
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|
|
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rjmp func_paraval_cont_wait ; No - branch
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|
|
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func_paraval_store:
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xcall store_new_value_in_ram ; Yes - store new value in RAM
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cli ; Disable all interrupts
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xcall store_all_in_eeprom ; Store all values in EEPROM
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xcall success_beep ; Beep success
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Enable_Watchdog XH ; Generate hardware reset from watchdog
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xcall wait1s
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|
|
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func_paraval_cont_wait:
|
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dec Temp5
|
|
brne func_paraval_wait
|
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lds XH, Tx_Pgm_Beep_No ; Check number of beeps
|
|
inc XH
|
|
sts Tx_Pgm_Beep_No, XH
|
|
cpi XH, 3 ; Three beeps done?
|
|
brcc paraval_next ; Yes - Next parameter value
|
|
|
|
rjmp func_paraval ; No - go back
|
|
|
|
paraval_next:
|
|
xcall wait1s
|
|
lds XH, Tx_Pgm_Paraval_No ; Parameter value no
|
|
inc XH
|
|
sts Tx_Pgm_Paraval_No, XH
|
|
cli
|
|
.IF MODE == 0
|
|
lds XH, Tx_Pgm_Func_No ; Decode number of parameters
|
|
dec XH
|
|
ldi ZL, low(TX_PGM_PARAMS_MAIN<<1)
|
|
ldi ZH, high(TX_PGM_PARAMS_MAIN<<1)
|
|
add ZL, XH
|
|
adc ZH, Zero
|
|
lpm Temp1, Z
|
|
.ENDIF
|
|
.IF MODE == 1
|
|
lds XH, Tx_Pgm_Func_No ; Decode number of parameters
|
|
dec XH
|
|
ldi ZL, low(TX_PGM_PARAMS_TAIL<<1)
|
|
ldi ZH, high(TX_PGM_PARAMS_TAIL<<1)
|
|
add ZL, XH
|
|
adc ZH, Zero
|
|
lpm Temp1, Z
|
|
.ENDIF
|
|
.IF MODE == 2
|
|
lds XH, Tx_Pgm_Func_No ; Decode number of parameters
|
|
dec XH
|
|
ldi ZL, low(TX_PGM_PARAMS_MULTI<<1)
|
|
ldi ZH, high(TX_PGM_PARAMS_MULTI<<1)
|
|
add ZL, XH
|
|
adc ZH, Zero
|
|
lpm Temp1, Z
|
|
.ENDIF
|
|
sei
|
|
inc Temp1
|
|
lds XH, Tx_Pgm_Paraval_No
|
|
cp XH, Temp1
|
|
brcc function_next ; Last parameter value?
|
|
rjmp beep_no_entry ; No - go back
|
|
|
|
function_next: ; Yes - Next function value
|
|
xcall wait1s
|
|
xcall wait1s
|
|
lds XH, Tx_Pgm_Func_No ; Function value no
|
|
inc XH
|
|
sts Tx_Pgm_Func_No, XH
|
|
.IF MODE == 0
|
|
lds XH, Tx_Pgm_Func_No
|
|
cpi XH, 14 ; Main has 13 functions
|
|
.ENDIF
|
|
.IF MODE == 1
|
|
lds XH, Tx_Pgm_Func_No
|
|
cpi XH, 11 ; Tail has 10 functions
|
|
.ENDIF
|
|
.IF MODE == 2
|
|
lds XH, Tx_Pgm_Func_No
|
|
cpi XH, 14 ; Multi has 13 functions
|
|
.ENDIF
|
|
brcc program_by_tx_exit ; Last function value?
|
|
rjmp paraval_no_entry ; No - go back
|
|
|
|
program_by_tx_exit:
|
|
xcall set_default_parameters ; Load all defaults
|
|
cli ; Disable all interrupts
|
|
xcall store_all_in_eeprom ; Erase flash and program
|
|
Enable_Watchdog XH ; Generate hardware reset from watchdog
|
|
xcall wait1s
|
|
|