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$NOMOD51;**** **** **** **** ****;; Bluejay digital ESC firmware for controlling brushless motors in multirotors;; Copyright 2020 Mathias Rasmussen; Copyright 2011, 2012 Steffen Skaug;; This file is part of Bluejay.;; Bluejay 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.;; Bluejay 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 Bluejay. If not, see <http://www.gnu.org/licenses/>.;;**** **** **** **** ****;; Bluejay is a fork of BLHeli_S <https://github.com/bitdump/BLHeli> by Steffen Skaug.;; The input signal can be DShot with rates: DShot150, DShot300 and DShot600. A 48MHz MCU is required for DShot600.;; This file is best viewed with tab width set to 5.;;**** **** **** **** ****; Minimum 8K Bytes of In-System Self-Programmable Flash; Minimum 512 Bytes Internal SRAM;;**** **** **** **** ****; Master clock is internal 24MHz oscillator (or 48MHz, for which the times below are halved); Although 24/48 are used in the code, the exact clock frequencies are 24.5MHz or 49.0 MHz; Timer 0 (41.67ns counts) always counts up and is used for; - RC pulse measurement; - DShot telemetry signal; Timer 1 (41.67ns counts) always counts up and is used for; - DShot frame sync detection; Timer 2 (500ns counts) always counts up and is used for; - RC pulse timeout counts and commutation times; Timer 3 (500ns counts) always counts up and is used for; - Commutation timeouts; PCA0 (41.67ns counts) always counts up and is used for; - Hardware PWM generation;;**** **** **** **** ****; Interrupt handling; The C8051 does not disable interrupts when entering an interrupt routine.; Also some interrupt flags need to be cleared by software; The code disables interrupts in some interrupt routines; - Interrupts are disabled during beeps, to avoid audible interference from interrupts;;**** **** **** **** ****; Motor control:; - Brushless motor control with 6 states for each electrical 360 degrees; - An advance timing of 0deg has zero cross 30deg after one commutation and 30deg before the next; - Timing advance in this implementation is set to 15deg nominally; - Motor pwm is always damped light (aka complementary pwm, regenerative braking); Motor sequence starting from zero crossing:; - Timer wait: Wt_Comm 15deg ; Time to wait from zero cross to actual commutation; - Timer wait: Wt_Advance 15deg ; Time to wait for timing advance. Nominal commutation point is after this; - Timer wait: Wt_Zc_Scan 7.5deg ; Time to wait before looking for zero cross; - Scan for zero cross 22.5deg ; Nominal, with some motor variations;; Motor startup:; There is a startup phase and an initial run phase, before normal bemf commutation run begins.;;**** **** **** **** ****; List of enumerated supported ESCsA_ EQU 1 ; X X RC X MC MB MA CC X X Cc Cp Bc Bp Ac ApB_ EQU 2 ; X X RC X MC MB MA CC X X Ap Ac Bp Bc Cp CcC_ EQU 3 ; Ac Ap MC MB MA CC X RC X X X X Cc Cp Bc BpD_ EQU 4 ; X X RC X CC MA MC MB X X Cc Cp Bc Bp Ac Ap Com fets invertedE_ EQU 5 ; L1 L0 RC X MC MB MA CC X L2 Cc Cp Bc Bp Ac Ap A with LEDsF_ EQU 6 ; X X RC X MA MB MC CC X X Cc Cp Bc Bp Ac ApG_ EQU 7 ; X X RC X CC MA MC MB X X Cc Cp Bc Bp Ac Ap Like D, but noninverted com fetsH_ EQU 8 ; RC X X X MA MB CC MC X Ap Bp Cp X Ac Bc CcI_ EQU 9 ; X X RC X MC MB MA CC X X Ac Bc Cc Ap Bp CpJ_ EQU 10 ; L2 L1 L0 RC CC MB MC MA X X Cc Bc Ac Cp Bp Ap LEDsK_ EQU 11 ; X X MC X MB CC MA RC X X Ap Bp Cp Cc Bc Ac Com fets invertedL_ EQU 12 ; X X RC X CC MA MB MC X X Ac Bc Cc Ap Bp CpM_ EQU 13 ; MA MC CC MB RC L0 X X X Cc Bc Ac Cp Bp Ap X LEDN_ EQU 14 ; X X RC X MC MB MA CC X X Cp Cc Bp Bc Ap AcO_ EQU 15 ; X X RC X CC MA MC MB X X Cc Cp Bc Bp Ac Ap Like D, but low side pwmP_ EQU 16 ; X X RC MA CC MB MC X X Cc Bc Ac Cp Bp Ap XQ_ EQU 17 ; Cp Bp Ap L1 L0 X RC X X MA MB MC CC Cc Bc Ac LEDsR_ EQU 18 ; X X RC X MC MB MA CC X X Ac Bc Cc Ap Bp CpS_ EQU 19 ; X X RC X CC MA MC MB X X Cc Cp Bc Bp Ac Ap Like O, but com fets invertedT_ EQU 20 ; RC X MA X MB CC MC X X X Cp Bp Ap Ac Bc CcU_ EQU 21 ; MA MC CC MB RC L0 L1 L2 X Cc Bc Ac Cp Bp Ap X Like M, but with 3 LEDsV_ EQU 22 ; Cc X RC X MC CC MB MA X Ap Ac Bp X X Bc CpW_ EQU 23 ; RC MC MB X CC MA X X X Ap Bp Cp X X X X Tristate gate driver
;**** **** **** **** ****; Select the port mapping to use (or unselect all for use with external batch compile file);ESCNO EQU A_
;**** **** **** **** ****; Select the MCU type (or unselect for use with external batch compile file);MCU_48MHZ EQU 0
;**** **** **** **** ****; Select the fet deadtime (or unselect for use with external batch compile file);FETON_DELAY EQU 15 ; 20.4ns per step
$include (Common.inc) ; Include common source code for EFM8BBx based ESCs
;**** **** **** **** ****; Programming defaults;DEFAULT_PGM_STARTUP_PWR EQU 9 ; 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=1.50DEFAULT_PGM_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=HighDEFAULT_PGM_DEMAG_COMP EQU 2 ; 1=Disabled 2=Low 3=HighDEFAULT_PGM_DIRECTION EQU 1 ; 1=Normal 2=Reversed 3=Bidir 4=Bidir revDEFAULT_PGM_BEEP_STRENGTH EQU 40 ; Beep strengthDEFAULT_PGM_BEACON_STRENGTH EQU 80 ; Beacon strengthDEFAULT_PGM_BEACON_DELAY EQU 4 ; 1=1m 2=2m 3=5m 4=10m 5=Infinite
; COMMONDEFAULT_PGM_ENABLE_TEMP_PROT EQU 7 ; 0=Disabled 1=80C 2=90C 3=100C 4=110C 5=120C 6=130C 7=140CDEFAULT_PGM_ENABLE_POWER_PROT EQU 1 ; 1=Enabled 0=DisabledDEFAULT_PGM_BRAKE_ON_STOP EQU 0 ; 1=Enabled 0=DisabledDEFAULT_PGM_LED_CONTROL EQU 0 ; Byte for LED control. 2bits per LED, 0=Off, 1=On
;**** **** **** **** ****; Temporary register definitionsTemp1 EQU R0Temp2 EQU R1Temp3 EQU R2Temp4 EQU R3Temp5 EQU R4Temp6 EQU R5Temp7 EQU R6Temp8 EQU R7
;**** **** **** **** ****; RAM definitionsDSEG AT 20h ; Ram data segment, bit-addressableBit_Access: DS 1 ; MUST BE AT THIS ADDRESS. Variable at bit accessible address (for non interrupt routines)Bit_Access_Int: DS 1 ; Variable at bit accessible address (for interrupts)
Rcp_Outside_Range_Cnt: DS 1 ; RC pulse outside range counter (incrementing)Rcp_Timeout_Cntd: DS 1 ; RC pulse timeout counter (decrementing)
Flags0: DS 1 ; State flags. Reset upon init_startT3_PENDING EQU 0 ; Timer 3 pending flagDEMAG_DETECTED EQU 1 ; Set when excessive demag time is detectedCOMP_TIMED_OUT EQU 2 ; Set when comparator reading timed outTLM_ACTIVE EQU 3 ; DShot telemetry data is currently being transmittedPACKET_PENDING EQU 4 ; DShot telemetry data packet is ready to be sent; EQU 5; EQU 6; EQU 7
Flags1: DS 1 ; State flags. Reset upon init_startSTARTUP_PHASE EQU 0 ; Set when in startup phaseINITIAL_RUN_PHASE EQU 1 ; Set when in initial run phase, before synchronized run is achievedMOTOR_STARTED EQU 2 ; Set when motor is startedDIR_CHANGE_BRAKE EQU 3 ; Set when braking before direction changeHIGH_RPM EQU 4 ; Set when motor rpm is high (Comm_Period4x_H less than 2); EQU 5; EQU 6; EQU 7
Flags2: DS 1 ; State flags. NOT reset upon init_start;RCP_UPDATED EQU 0 ; New RC pulse length value available; EQU 1; EQU 2; EQU 3; EQU 4RCP_DIR_REV EQU 5 ; RC pulse direction in bidirectional mode;RCP_FULL_RANGE EQU 6 ; When set full input signal range is used (1000-2000us) and stored calibration values are ignoredRCP_DSHOT_INVERTED EQU 7 ; DShot RC pulse input is inverted (and supports telemetry)
Flags3: DS 1 ; State flags. NOT reset upon init_startPGM_DIR_REV EQU 0 ; Programmed direction. 0=normal, 1=reversedPGM_BIDIR_REV EQU 1 ; Programmed bidirectional direction. 0=normal, 1=reversedPGM_BIDIR EQU 2 ; Programmed bidirectional operation. 0=normal, 1=bidirectionalSKIP_T2_INT EQU 3 ; Set for 48MHz MCUs when timer 2 interrupt shall be ignoredCLOCK_SET_AT_48MHZ EQU 4 ; Set if 48MHz MCUs run at 48MHz; EQU 5; EQU 6; EQU 7
Tlm_Data_L: DS 1 ; DShot telemetry data low byteTlm_Data_H: DS 1 ; DShot telemetry data high byte
DSEG AT 30h ; Ram data segment, direct addressingPower_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)
Startup_Cnt: DS 1 ; Startup phase commutations counter (incrementing)Startup_Zc_Timeout_Cntd: DS 1 ; Startup zero cross timeout counter (decrementing)Initial_Run_Rot_Cntd: DS 1 ; Initial run rotations counter (decrementing)Stall_Cnt: DS 1 ; Counts start/run attempts that resulted in stall. Reset upon a proper stopDemag_Detected_Metric: DS 1 ; Metric used to gauge demag event frequencyDemag_Pwr_Off_Thresh: DS 1 ; Metric threshold above which power is cutLow_Rpm_Pwr_Slope: DS 1 ; Sets the slope of power increase for low rpms
Timer2_X: DS 1 ; Timer 2 extended bytePrev_Comm_L: DS 1 ; Previous commutation timer 3 timestamp (lo byte)Prev_Comm_H: DS 1 ; Previous commutation timer 3 timestamp (hi byte)Prev_Comm_X: DS 1 ; Previous commutation timer 3 timestamp (ext byte)Prev_Prev_Comm_L: DS 1 ; Pre-previous commutation timer 3 timestamp (lo byte)Prev_Prev_Comm_H: DS 1 ; Pre-previous commutation timer 3 timestamp (hi byte)Comm_Period4x_L: DS 1 ; Timer 3 counts between the last 4 commutations (lo byte)Comm_Period4x_H: DS 1 ; Timer 3 counts between the last 4 commutations (hi byte)Comparator_Read_Cnt: DS 1 ; Number of comparator reads done
Wt_Adv_Start_L: DS 1 ; Timer 3 start point for commutation advance timing (lo byte)Wt_Adv_Start_H: DS 1 ; Timer 3 start point for commutation advance timing (hi byte)Wt_Zc_Scan_Start_L: DS 1 ; Timer 3 start point from commutation to zero cross scan (lo byte)Wt_Zc_Scan_Start_H: DS 1 ; Timer 3 start point from commutation to zero cross scan (hi byte)Wt_Zc_Tout_Start_L: DS 1 ; Timer 3 start point for zero cross scan timeout (lo byte)Wt_Zc_Tout_Start_H: DS 1 ; Timer 3 start point for zero cross scan timeout (hi byte)Wt_Comm_Start_L: DS 1 ; Timer 3 start point from zero cross to commutation (lo byte)Wt_Comm_Start_H: DS 1 ; Timer 3 start point from zero cross to commutation (hi byte)
Dshot_Cmd: DS 1 ; DShot commandDshot_Cmd_Cnt: DS 1 ; DShot command count
New_Rcp: DS 1 ; New RC pulse value in pca countsRcp_Stop_Cnt: DS 1 ; Counter for RC pulses below stop value
Power_Pwm_Reg_L: DS 1 ; Power pwm register setting (lo byte)Power_Pwm_Reg_H: DS 1 ; Power pwm register setting (hi byte). 0x3F is minimum powerDamp_Pwm_Reg_L: DS 1 ; Damping pwm register setting (lo byte)Damp_Pwm_Reg_H: DS 1 ; Damping pwm register setting (hi byte)Current_Power_Pwm_Reg_H: DS 1 ; Current power pwm register setting that is loaded in the PCA register (hi byte)
Pwm_Limit: DS 1 ; Maximum allowed pwmPwm_Limit_By_Rpm: DS 1 ; Maximum allowed pwm for low or high rpmsPwm_Limit_Beg: DS 1 ; Initial pwm limit
Adc_Conversion_Cnt: DS 1 ; Adc conversion counter
Current_Average_Temp: DS 1 ; Current average temperature (lo byte ADC reading, assuming hi byte is 1)
Beep_Strength: DS 1 ; Strength of beeps
Flash_Key_1: DS 1 ; Flash key oneFlash_Key_2: DS 1 ; Flash key two
Temp_Prot_Limit: DS 1 ; Temperature protection limit
DShot_Pwm_Thr: DS 1 ; DShot pulse width threshold valueDShot_Timer_Preset: DS 1 ; DShot timer preset for frame sync detectionDShot_Frame_Start_L: DS 1 ; DShot frame start timestamp (lo byte)DShot_Frame_Start_H: DS 1 ; DShot frame start timestamp (hi byte)DShot_Frame_Length_Thr: DS 1 ; DShot frame length criteria (in units of 4 timer 2 ticks)
; Pulse durations for GCR encoding DShot telemetry dataDShot_GCR_Pulse_Time_1: DS 1 ; Encodes binary: 1DShot_GCR_Pulse_Time_2: DS 1 ; Encodes binary: 01DShot_GCR_Pulse_Time_3: DS 1 ; Encodes binary: 001
; Indirect addressing data segment. The variables below must be in this sequenceISEG AT 080h_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_Motor_Gain: DS 1 ; Programmed motor gain_Pgm_Motor_Idle: DS 1 ; Programmed motor idle speedPgm_Startup_Pwr: DS 1 ; Programmed startup power_Pgm_Pwm_Freq: DS 1 ; Programmed pwm frequencyPgm_Direction: DS 1 ; Programmed rotation direction_Pgm_Input_Pol: DS 1 ; Programmed input pwm polarityInitialized_L_Dummy: DS 1 ; Place holderInitialized_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 (unused - place holder)_Pgm_Startup_Accel: DS 1 ; Programmed startup acceleration (unused - place holder)_Pgm_Volt_Comp: DS 1 ; Place holderPgm_Comm_Timing: DS 1 ; Programmed commutation timing_Pgm_Damping_Force: DS 1 ; Programmed damping force (unused - place holder)_Pgm_Gov_Range: DS 1 ; Programmed governor range_Pgm_Startup_Method: DS 1 ; Programmed startup method (unused - place holder)_Pgm_Min_Throttle: DS 1 ; Programmed throttle minimum_Pgm_Max_Throttle: DS 1 ; Programmed throttle maximumPgm_Beep_Strength: DS 1 ; Programmed beep strengthPgm_Beacon_Strength: DS 1 ; Programmed beacon strengthPgm_Beacon_Delay: DS 1 ; Programmed beacon delay_Pgm_Throttle_Rate: DS 1 ; Programmed throttle rate (unused - place holder)Pgm_Demag_Comp: DS 1 ; Programmed demag compensation_Pgm_BEC_Voltage_High: DS 1 ; Programmed BEC voltage_Pgm_Center_Throttle: DS 1 ; Programmed throttle center (in bidirectional mode)_Pgm_Main_Spoolup_Time: DS 1 ; Programmed main spoolup timePgm_Enable_Temp_Prot: DS 1 ; Programmed temperature protection enablePgm_Enable_Power_Prot: DS 1 ; Programmed low rpm power protection enable_Pgm_Enable_Pwm_Input: DS 1 ; Programmed PWM input signal enable_Pgm_Pwm_Dither: DS 1 ; Programmed output PWM ditherPgm_Brake_On_Stop: DS 1 ; Programmed braking when throttle is zeroPgm_LED_Control: DS 1 ; Programmed LED control
; The sequence of the variables below is no longer of importancePgm_Startup_Pwr_Decoded: DS 1 ; Programmed startup power decoded
ISEG AT 0B0hStack: DS 16 ; Reserved stack space
; Indirect addressing data segmentISEG AT 0C0hTemp_Storage: DS 64 ; Temporary storage
;**** **** **** **** ****CSEG AT 1A00h ; "Eeprom" segmentEEPROM_FW_MAIN_REVISION EQU 0 ; Main revision of the firmwareEEPROM_FW_SUB_REVISION EQU 21 ; Sub revision of the firmwareEEPROM_LAYOUT_REVISION EQU 33 ; Revision of the EEPROM layout
Eep_FW_Main_Revision: DB EEPROM_FW_MAIN_REVISION ; EEPROM firmware main revision numberEep_FW_Sub_Revision: DB EEPROM_FW_SUB_REVISION ; EEPROM firmware sub revision numberEep_Layout_Revision: DB EEPROM_LAYOUT_REVISION ; EEPROM layout revision number
_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 0FFh_Eep_Pgm_Motor_Idle: DB 0FFhEep_Pgm_Startup_Pwr: DB DEFAULT_PGM_STARTUP_PWR ; EEPROM copy of programmed startup power_Eep_Pgm_Pwm_Freq: DB 0FFhEep_Pgm_Direction: DB DEFAULT_PGM_DIRECTION ; EEPROM copy of programmed rotation direction_Eep__Pgm_Input_Pol: DB 0FFhEep_Initialized_L: DB 055h ; EEPROM initialized signature low byteEep_Initialized_H: DB 0AAh ; EEPROM initialized signature high byte_Eep_Enable_TX_Program: DB 0FFh ; EEPROM TX programming enable_Eep_Main_Rearm_Start: DB 0FFh_Eep_Pgm_Gov_Setup_Target: DB 0FFh_Eep_Pgm_Startup_Rpm: DB 0FFh_Eep_Pgm_Startup_Accel: DB 0FFh_Eep_Pgm_Volt_Comp: DB 0FFhEep_Pgm_Comm_Timing: DB DEFAULT_PGM_COMM_TIMING ; EEPROM copy of programmed commutation timing_Eep_Pgm_Damping_Force: DB 0FFh_Eep_Pgm_Gov_Range: DB 0FFh_Eep_Pgm_Startup_Method: DB 0FFh_Eep_Pgm_Min_Throttle: DB 0FFh ; EEPROM copy of programmed minimum throttle_Eep_Pgm_Max_Throttle: DB 0FFh ; EEPROM copy of programmed minimum throttleEep_Pgm_Beep_Strength: DB DEFAULT_PGM_BEEP_STRENGTH ; EEPROM copy of programmed beep strengthEep_Pgm_Beacon_Strength: DB DEFAULT_PGM_BEACON_STRENGTH ; EEPROM copy of programmed beacon strengthEep_Pgm_Beacon_Delay: DB DEFAULT_PGM_BEACON_DELAY ; EEPROM copy of programmed beacon delay_Eep_Pgm_Throttle_Rate: DB 0FFhEep_Pgm_Demag_Comp: DB DEFAULT_PGM_DEMAG_COMP ; EEPROM copy of programmed demag compensation_Eep_Pgm_BEC_Voltage_High: DB 0FFh_Eep_Pgm_Center_Throttle: DB 0FFh ; EEPROM copy of programmed center throttle_Eep_Pgm_Main_Spoolup_Time: DB 0FFhEep_Pgm_Temp_Prot_Enable: DB DEFAULT_PGM_ENABLE_TEMP_PROT ; EEPROM copy of programmed temperature protection enableEep_Pgm_Enable_Power_Prot: DB DEFAULT_PGM_ENABLE_POWER_PROT ; EEPROM copy of programmed low rpm power protection enable_Eep_Pgm_Enable_Pwm_Input: DB 0FFh_Eep_Pgm_Pwm_Dither: DB 0FFhEep_Pgm_Brake_On_Stop: DB DEFAULT_PGM_BRAKE_ON_STOP ; EEPROM copy of programmed braking when throttle is zeroEep_Pgm_LED_Control: DB DEFAULT_PGM_LED_CONTROL ; EEPROM copy of programmed LED control
Eep_Dummy: DB 0FFh ; EEPROM address for safety reason
CSEG AT 1A60hEep_Name: DB "Bluejay (BETA) " ; Name tag (16 Bytes)
;**** **** **** **** ****; DShot Telemetry MacrosIF MCU_48MHZ == 1 DSHOT_TLM_CLOCK EQU 49000000 ; 49MHz DSHOT_TLM_START_DELAY EQU -(8 * 49 / 4) ; Start telemetry after 8us (~30us after receiving DShot cmd) DSHOT_TLM_PREDELAY EQU 8 ; 8 timer 0 ticks inherent delayELSE DSHOT_TLM_CLOCK EQU 24500000 ; 24.5MHz DSHOT_TLM_START_DELAY EQU -1 ; Start telemetry after 1 tick (~37us after receiving DShot cmd) DSHOT_TLM_PREDELAY EQU 6 ; 6 timer 0 ticks inherent delayENDIF
Set_DShot_Tlm_Bitrate MACRO rate mov DShot_GCR_Pulse_Time_1, #(DSHOT_TLM_PREDELAY - (1 * DSHOT_TLM_CLOCK / 4 / rate)) mov DShot_GCR_Pulse_Time_2, #(DSHOT_TLM_PREDELAY - (2 * DSHOT_TLM_CLOCK / 4 / rate)) mov DShot_GCR_Pulse_Time_3, #(DSHOT_TLM_PREDELAY - (3 * DSHOT_TLM_CLOCK / 4 / rate))ENDM
Push_Reg MACRO reg, val mov @reg, val inc regENDM
DShot_GCR_Get_Time MACRO mov A, DShot_GCR_Pulse_Time_2 cjne A, B, ($+5) mov A, DShot_GCR_Pulse_Time_3ENDM
IF FETON_DELAY != 0 IF MCU_48MHZ == 0 PCA_BIT EQU 1 PWR_H_BIT EQU 0 ELSE PCA_BIT EQU 2 PWR_H_BIT EQU 1 ENDIFELSE IF MCU_48MHZ == 0 PWR_H_BIT EQU 1 ELSE PWR_H_BIT EQU 2 ENDIFENDIF
;**** **** **** **** ****Interrupt_Table_Definition ; SiLabs interruptsCSEG AT 80h ; Code segment after interrupt vectors
;**** **** **** **** ****
; Table definitionsSTARTUP_POWER_TABLE: DB 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 60h, 80h, 0A0h, 0C0h
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Timer 0 interrupt routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****t0_int: push PSW mov PSW, #10h ; Select register bank 2 for this interrupt
dec Temp1 cjne Temp1, #(Temp_Storage-1), t0_int_dshot_tlm_transition
; If last pulse is high telemetry is finished jb RTX_PORT.RTX_PIN, t0_int_dshot_tlm_finish
inc Temp1 ; Otherwise wait for it to return to high
t0_int_dshot_tlm_transition: cpl RTX_PORT.RTX_PIN ; Invert signal level
mov TL0, @Temp1 ; Schedule next update
pop PSW reti
t0_int_dshot_tlm_finish: ; Configure RTX_PIN for digital input anl RTX_MDOUT, #(NOT (1 SHL RTX_PIN)) ; Set RTX_PIN output mode to open-drain setb RTX_PORT.RTX_PIN ; Float high
clr IE_ET0 ; Disable timer 0 interrupts
; todo: dshot150 ;mov CKCON0, Temp2 ; Restore normal DShot timer 0/1 clock settings mov CKCON0, #0Ch mov TMOD, #0AAh ; Timer 0/1 gated by INT0/1
clr TCON_IE0 ; Clear int0 pending flag clr TCON_IE1 ; Clear int1 pending flag
mov TL0, #0 ; Reset timer 0 count setb IE_EX0 ; Enable int0 interrupts setb IE_EX1 ; Enable int1 interrupts Enable_PCA_Interrupt ; Enable pca interrupts
clr Flags0.TLM_ACTIVE clr Flags0.PACKET_PENDING
pop PSW reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Timer 1 interrupt routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****t1_int: clr IE_EX0 ; Disable int0 interrupts clr TCON_TR1 ; Stop timer 1 mov TL1, DShot_Timer_Preset ; Reset sync timer
push PSW mov PSW, #8h ; Select register bank 1 for this interrupt push ACC push B
clr TMR2CN0_TR2 ; Timer 2 disabled mov Temp2, TMR2L ; Read timer value mov Temp3, TMR2H setb TMR2CN0_TR2 ; Timer 2 enabled
; Check frame time length clr C mov A, Temp2 subb A, DShot_Frame_Start_L mov Temp2, A mov A, Temp3 subb A, DShot_Frame_Start_H jnz t1_int_frame_fail ; Frame too long
clr C mov A, Temp2 subb A, DShot_Frame_Length_Thr jc t1_int_frame_fail ; Frame too short subb A, DShot_Frame_Length_Thr jnc t1_int_frame_fail ; Frame too long
; Check that correct number of pulses is received cjne Temp1, #16, t1_int_frame_fail ; Read current pointer
; Decode transmitted data mov Temp1, #0 ; Set pointer mov Temp2, DShot_Pwm_Thr ; DShot pulse width criteria mov Temp6, #0 ; Reset timestamp
; Decode DShot data Msb. Use more code space to save time (by not using loop) Decode_DShot_2Bit Temp5, t1_int_frame_fail Decode_DShot_2Bit Temp5, t1_int_frame_fail sjmp t1_int_decode_lsb
t1_int_frame_fail: sjmp t1_int_outside_range
t1_int_decode_lsb: ; Decode DShot data Lsb Decode_DShot_2Bit Temp4, t1_int_outside_range Decode_DShot_2Bit Temp4, t1_int_outside_range Decode_DShot_2Bit Temp4, t1_int_outside_range Decode_DShot_2Bit Temp4, t1_int_outside_range sjmp t1_int_decode_checksum
t1_int_outside_range: inc Rcp_Outside_Range_Cnt mov A, Rcp_Outside_Range_Cnt jnz ($+4)
dec Rcp_Outside_Range_Cnt
clr C mov A, Rcp_Outside_Range_Cnt subb A, #50 ; Allow a given number of outside pulses jc t1_int_exit_timeout ; If outside limits - ignore first pulses
clr A mov New_Rcp, A ; Set pulse length to zero mov Dshot_Cmd, A ; Clear DShot command mov Dshot_Cmd_Cnt, A ; Clear DShot command count
ajmp t1_int_exit_no_tlm ; Exit without reseting timeout
t1_int_exit_timeout: mov Rcp_Timeout_Cntd, #10 ; Set timeout count ajmp t1_int_exit_no_tlm
t1_int_decode_checksum: ; Decode DShot data checksum Decode_DShot_2Bit Temp3, t1_int_outside_range Decode_DShot_2Bit Temp3, t1_int_outside_range
; XOR check (in inverted data, which is ok) mov A, Temp4 swap A xrl A, Temp4 xrl A, Temp5 xrl A, Temp3 jnb Flags2.RCP_DSHOT_INVERTED, ($+4) cpl A ; Invert checksum if using inverted DShot anl A, #0Fh jnz t1_int_outside_range ; XOR check
; Invert DShot data and subtract 96 (still 12 bits) clr C mov A, Temp4 cpl A mov Temp3, A subb A, #96 mov Temp4, A mov A, Temp5 cpl A anl A, #0Fh subb A, #0 mov Temp5, A jnc t1_normal_range
mov A, Temp3 ; Check for 0 or DShot command mov Temp5, #0 mov Temp4, #0 jz t1_normal_range
mov Temp3, #0 clr C ; We are in the special DShot range rrc A ; Divide by 2 jnc t1_dshot_set_cmd ; Check for tlm bit set (if not telemetry, Temp3 will be zero and result in invalid command)
mov Temp3, A cjne A, Dshot_Cmd, t1_dshot_set_cmd
inc Dshot_Cmd_Cnt sjmp t1_normal_range
t1_dshot_set_cmd: mov Dshot_Cmd, Temp3 mov Dshot_Cmd_Cnt, #0
t1_normal_range: ; Check for bidirectional operation (0=stop, 96-2095->fwd, 2096-4095->rev) jnb Flags3.PGM_BIDIR, t1_int_not_bidir ; If not bidirectional operation - branch
; Subtract 2000 (still 12 bits) clr C mov A, Temp4 subb A, #0D0h mov Temp2, A mov A, Temp5 subb A, #07h mov Temp3, A jc t1_int_bidir_fwd ; If result is negative - branch
mov A, Temp2 mov Temp4, A mov A, Temp3 mov Temp5, A
setb Flags2.RCP_DIR_REV sjmp t1_int_bidir_rev_chk
t1_int_bidir_fwd: clr Flags2.RCP_DIR_REV
t1_int_bidir_rev_chk: jb Flags3.PGM_BIDIR_REV, ($+5)
cpl Flags2.RCP_DIR_REV
clr C ; Multiply throttle value by 2 mov A, Temp4 rlc A mov Temp4, A mov A, Temp5 rlc A mov Temp5, A
t1_int_not_bidir: ; Generate 4/256 mov A, Temp5 add A, Temp5 addc A, Temp5 addc A, Temp5 mov Temp3, A ; Align to 11 bits clr C mov A, Temp5 rrc A mov Temp5, A mov A, Temp4 rrc A mov Temp4, A ; Scale from 2000 to 2048 mov A, Temp4 add A, Temp3 ; Holds 4/128 mov Temp4, A mov A, Temp5 addc A, #0 mov Temp5, A jnb ACC.3, ($+7)
mov Temp4, #0FFh mov Temp5, #0FFh
; Boost pwm during direct start mov A, Flags1 anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) jz t1_int_startup_boosted
jb Flags1.MOTOR_STARTED, t1_int_startup_boosted ; Do not boost when changing direction in bidirectional mode
mov A, Pwm_Limit_Beg ; Set 25% of max startup power as minimum power rlc A mov Temp3, A mov A, Temp5 jnz t1_int_startup_boost_stall
clr C mov A, Temp3 subb A, Temp4 jc t1_int_startup_boost_stall
mov A, Temp3 mov Temp4, A
t1_int_startup_boost_stall: mov A, Stall_Cnt ; Add an extra power boost during start swap A rlc A add A, Temp4 mov Temp4, A mov A, Temp5 addc A, #0 mov Temp5, A
t1_int_startup_boosted: ; Set 8bit value clr C mov A, Temp4 rlc A swap A anl A, #0Fh mov Temp2, A mov A, Temp5 rlc A swap A anl A, #0F0h orl A, Temp2 mov Temp2, A jnz t1_int_zero_rcp_checked ; New_Rcp (Temp2) is only zero if all 11 bits are zero
mov A, Temp4 jz t1_int_zero_rcp_checked
mov Temp2, #1
t1_int_zero_rcp_checked: ; Align to 10 bits for 24MHz MCUIF MCU_48MHZ == 0 clr C mov A, Temp5 rrc A mov Temp5, A mov A, Temp4 rrc A mov Temp4, AENDIF
; Decrement outside range counter mov A, Rcp_Outside_Range_Cnt jz ($+4) dec Rcp_Outside_Range_Cnt
; Pulse ready mov New_Rcp, Temp2 ; Store new pulse length ; Check if zero mov A, Temp2 ; Load new pulse value jz ($+5) ; Check if pulse is zero
mov Rcp_Stop_Cnt, #0 ; Reset rcp stop counter
; Set pwm limit clr C mov A, Pwm_Limit ; Limit to the smallest mov Temp6, A ; Store limit in Temp6 subb A, Pwm_Limit_By_Rpm jc ($+4)
mov Temp6, Pwm_Limit_By_Rpm
; Check against limit clr C mov A, Temp6 subb A, Temp2 ; New_Rcp jnc t1_int_set_pwm_registers
mov A, Temp6 ; Multiply limit by 4 (8 for 48MHz MCUs)IF MCU_48MHZ == 0 mov B, #4ELSE mov B, #8ENDIF mul AB mov Temp4, A mov Temp5, B
t1_int_set_pwm_registers:IF FETON_DELAY != 0 clr CENDIF
mov A, Temp5 cpl AIF MCU_48MHZ == 0 anl A, #3ELSE anl A, #7ENDIFIF FETON_DELAY != 0 rrc A ; Scale to 10/9 bit pwmENDIF mov Temp3, A
mov A, Temp4 cpl AIF FETON_DELAY != 0 rrc A ; Scale to 10/9 bit pwmENDIF mov Temp2, A
IF FETON_DELAY != 0 clr C mov A, Temp2 ; Skew damping fet timingIF MCU_48MHZ == 0 subb A, #((FETON_DELAY+1) SHR 1)ELSE subb A, #(FETON_DELAY)ENDIF mov Temp4, A mov A, Temp3 subb A, #0 mov Temp5, A jnc t1_int_set_pwm_damp_set
clr A mov Temp4, A mov Temp5, A
t1_int_set_pwm_damp_set:ENDIF
mov Power_Pwm_Reg_L, Temp2 mov Power_Pwm_Reg_H, Temp3
IF FETON_DELAY != 0 mov Damp_Pwm_Reg_L, Temp4 mov Damp_Pwm_Reg_H, Temp5ENDIF
mov Rcp_Timeout_Cntd, #10 ; Set timeout count
; Prepare DShot telemetryIF MCU_48MHZ == 1 ; Only use telemetry for compatible clock frequency jnb Flags3.CLOCK_SET_AT_48MHZ, t1_int_exit_no_tlmENDIF jnb Flags2.RCP_DSHOT_INVERTED, t1_int_exit_no_tlm jnb Flags0.PACKET_PENDING, t1_int_exit_no_tlm setb Flags0.TLM_ACTIVE ;Prepare timer 0 for sending telemetry data mov TL0, #DSHOT_TLM_START_DELAY ; Timer 0 will start tlm after this delay ; todo: dshot150 ;mov Temp2, CKCON0 ; Save value to restore later mov CKCON0, #01h ; Timer 0 is system clock divided by 4 mov TMOD, #0A2h ; Timer 0 runs free not gated by INT0
clr TCON_TF0 ; Clear timer 0 overflow flag setb IE_ET0 ; Enable timer 0 interrupts
; Configure RTX_PIN for digital output setb RTX_PORT.RTX_PIN ; Default to high level orl RTX_MDOUT, #(1 SHL RTX_PIN) ; Set output mode to push-pull
mov Temp1, #0 ; Set pointer to start
sjmp t1_int_exit_no_int
t1_int_exit_no_tlm: mov Temp1, #0 ; Set pointer to start mov TL0, #0 ; Reset timer 0 setb IE_EX0 ; Enable int0 interrupts setb IE_EX1 ; Enable int1 interrupts Enable_PCA_Interrupt ; Enable pca interrupts
t1_int_exit_no_int: pop B ; Restore preserved registers pop ACC pop PSW reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Timer 2 interrupt routine;; No assumptions; Requirements: Temp variables can NOT be used since PSW.x is not set;;**** **** **** **** **** **** **** **** **** **** **** **** ****t2_int: ; Happens every 32ms push PSW ; Preserve registers through interrupt push ACC clr TMR2CN0_TF2H ; Clear interrupt flag inc Timer2_XIF MCU_48MHZ == 1 jnb Flags3.CLOCK_SET_AT_48MHZ, t2_int_start
; Check skip variable jnb Flags3.SKIP_T2_INT, t2_int_start ; Execute this interrupt
clr Flags3.SKIP_T2_INT sjmp t2_int_exit
t2_int_start: setb Flags3.SKIP_T2_INT ; Skip next interruptENDIF ; Update RC pulse timeout counter mov A, Rcp_Timeout_Cntd ; RC pulse timeout count zero? jz ($+4) ; Yes - do not decrement
dec Rcp_Timeout_Cntd ; No decrement
; Check RC pulse against stop value clr C mov A, New_Rcp ; Load new pulse value jz t2_int_rcp_stop ; Check if pulse is below stop value
; RC pulse higher than stop value, reset stop counter mov Rcp_Stop_Cnt, #0 ; Reset rcp stop counter sjmp t2_int_exit
t2_int_rcp_stop: ; RC pulse less than stop value mov A, Rcp_Stop_Cnt ; Increment stop counter add A, #1 mov Rcp_Stop_Cnt, A jnc ($+5) ; Branch if counter has not wrapped
mov Rcp_Stop_Cnt, #0FFh ; Set stop counter to max
t2_int_exit: pop ACC ; Restore preserved registers pop PSW reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Timer 3 interrupt routine;; No assumptions; Requirements: Temp variables can NOT be used since PSW.x is not set; ACC can not be used, as it is not pushed to stack;;**** **** **** **** **** **** **** **** **** **** **** **** ****t3_int: ; Used for commutation timing clr IE_EA ; Disable all interrupts anl EIE1, #7Fh ; Disable timer 3 interrupts anl TMR3CN0, #07Fh ; Clear timer 3 interrupt flag mov TMR3RLL, #0FAh ; Set a short delay before next interrupt mov TMR3RLH, #0FFh clr Flags0.T3_PENDING ; Flag that timer has wrapped setb IE_EA ; Enable all interrupts reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Int0 interrupt routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****int0_int: ; Used for RC pulse timing push ACC mov A, TL0 ; Read pwm for DShot immediately mov TL1, DShot_Timer_Preset ; Reset sync timer
; Temp1 in register bank 1 points to pwm timings push PSW mov PSW, #8h movx @Temp1, A ; Store pwm inc Temp1 pop PSW
pop ACC reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Int1 interrupt routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****int1_int: ; Used for RC pulse timing clr IE_EX1 ; Disable int1 interrupts setb TCON_TR1 ; Start timer 1 clr TMR2CN0_TR2 ; Timer 2 disabled mov DShot_Frame_Start_L, TMR2L ; Read timer value mov DShot_Frame_Start_H, TMR2H setb TMR2CN0_TR2 ; Timer 2 enabledreti
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; PCA interrupt routine;; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****pca_int: ; Used for setting pwm registers clr IE_EA push PSW ; Preserve registers through interrupt push ACC mov PSW, #8h ; Select register bank 1 for this interrupt
IF FETON_DELAY != 0 ; HI/LO enable style drivers mov Temp2, PCA0L ; Read low byte, to transfer high byte to holding register mov A, Current_Power_Pwm_Reg_H jnb ACC.PWR_H_BIT, pca_int_hi_pwm
mov A, PCA0H ; Power below 50%, update pca in the 0x00-0x0F range jb ACC.PCA_BIT, pca_int_exit ; PWM edge selection bit (continue if up edge) jb ACC.(PCA_BIT-1), pca_int_exit
sjmp pca_int_set_pwm
pca_int_hi_pwm: mov A, PCA0H ; Power above 50%, update pca in the 0x20-0x2F range jnb ACC.PCA_BIT, pca_int_exit ; PWM edge selection bit (continue if down edge) jb ACC.(PCA_BIT-1), pca_int_exit
pca_int_set_pwm:ENDIF
; Set power pwm registers mov PCA0_POWER_L, Power_Pwm_Reg_L mov PCA0_POWER_H, Power_Pwm_Reg_H
IF FETON_DELAY != 0 ; Set damp pwm registers mov PCA0_DAMP_L, Damp_Pwm_Reg_L mov PCA0_DAMP_H, Damp_Pwm_Reg_HENDIF
mov Current_Power_Pwm_Reg_H, Power_Pwm_Reg_H
Disable_COVF_InterruptIF FETON_DELAY == 0 ; EN/PWM style drivers Disable_CCF_InterruptENDIF
anl EIE1, #0EFh ; Pwm updated, disable pca interrupts
pca_int_exit: Clear_COVF_InterruptIF FETON_DELAY == 0 Clear_CCF_InterruptENDIF pop ACC ; Restore preserved registers pop PSW setb IE_EA reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; DShot GCR encode;; GCR encode e-period data for DShot telemetry;; Input; - Temp1: Data pointer for storing pulse timings; - A: 4-bit value to GCR encode; - B: Time that must be added to transition; Output; - B: Time remaining to be added to next transition;;**** **** **** **** **** **** **** **** **** **** **** **** ****dshot_gcr_encode: anl A, #0Fh rl A ; Multiply by 2 to match jump offsets mov DPTR, #dshot_gcr_encode_jump_table jmp @A+DPTR
dshot_gcr_encode_jump_table: ajmp dshot_gcr_encode_0_11001 ajmp dshot_gcr_encode_1_11011 ajmp dshot_gcr_encode_2_10010 ajmp dshot_gcr_encode_3_10011 ajmp dshot_gcr_encode_4_11101 ajmp dshot_gcr_encode_5_10101 ajmp dshot_gcr_encode_6_10110 ajmp dshot_gcr_encode_7_10111 ajmp dshot_gcr_encode_8_11010 ajmp dshot_gcr_encode_9_01001 ajmp dshot_gcr_encode_A_01010 ajmp dshot_gcr_encode_B_01011 ajmp dshot_gcr_encode_C_11110 ajmp dshot_gcr_encode_D_01101 ajmp dshot_gcr_encode_E_01110 ajmp dshot_gcr_encode_F_01111
; GCR encoding is ordered by least significant bit first,; and represented as pulse durations.dshot_gcr_encode_0_11001: Push_Reg Temp1, B Push_Reg Temp1, DShot_GCR_Pulse_Time_3 Push_Reg Temp1, DShot_GCR_Pulse_Time_1 mov B, DShot_GCR_Pulse_Time_1 ret
dshot_gcr_encode_1_11011: Push_Reg Temp1, B Push_Reg Temp1, DShot_GCR_Pulse_Time_1 Push_Reg Temp1, DShot_GCR_Pulse_Time_2 Push_Reg Temp1, DShot_GCR_Pulse_Time_1 mov B, DShot_GCR_Pulse_Time_1 ret
dshot_gcr_encode_2_10010: DShot_GCR_Get_Time Push_Reg Temp1, A Push_Reg Temp1, DShot_GCR_Pulse_Time_3 mov B, DShot_GCR_Pulse_Time_1 ret
dshot_gcr_encode_3_10011: Push_Reg Temp1, B Push_Reg Temp1, DShot_GCR_Pulse_Time_1 Push_Reg Temp1, DShot_GCR_Pulse_Time_3 mov B, DShot_GCR_Pulse_Time_1 ret
dshot_gcr_encode_4_11101: Push_Reg Temp1, B Push_Reg Temp1, DShot_GCR_Pulse_Time_2 Push_Reg Temp1, DShot_GCR_Pulse_Time_1 Push_Reg Temp1, DShot_GCR_Pulse_Time_1 mov B, DShot_GCR_Pulse_Time_1 ret
dshot_gcr_encode_5_10101: Push_Reg Temp1, B Push_Reg Temp1, DShot_GCR_Pulse_Time_2 Push_Reg Temp1, DShot_GCR_Pulse_Time_2 mov B, DShot_GCR_Pulse_Time_1 ret
dshot_gcr_encode_6_10110: DShot_GCR_Get_Time Push_Reg Temp1, A Push_Reg Temp1, DShot_GCR_Pulse_Time_1 Push_Reg Temp1, DShot_GCR_Pulse_Time_2 mov B, DShot_GCR_Pulse_Time_1 ret
dshot_gcr_encode_7_10111: Push_Reg Temp1, B Push_Reg Temp1, DShot_GCR_Pulse_Time_1 Push_Reg Temp1, DShot_GCR_Pulse_Time_1 Push_Reg Temp1, DShot_GCR_Pulse_Time_2 mov B, DShot_GCR_Pulse_Time_1 ret
dshot_gcr_encode_8_11010: DShot_GCR_Get_Time Push_Reg Temp1, A Push_Reg Temp1, DShot_GCR_Pulse_Time_2 Push_Reg Temp1, DShot_GCR_Pulse_Time_1 mov B, DShot_GCR_Pulse_Time_1 ret
dshot_gcr_encode_9_01001: Push_Reg Temp1, B Push_Reg Temp1, DShot_GCR_Pulse_Time_3 mov B, DShot_GCR_Pulse_Time_2 ret
dshot_gcr_encode_A_01010: DShot_GCR_Get_Time Push_Reg Temp1, A Push_Reg Temp1, DShot_GCR_Pulse_Time_2 mov B, DShot_GCR_Pulse_Time_2 ret
dshot_gcr_encode_B_01011: Push_Reg Temp1, B Push_Reg Temp1, DShot_GCR_Pulse_Time_1 Push_Reg Temp1, DShot_GCR_Pulse_Time_2 mov B, DShot_GCR_Pulse_Time_2 ret
dshot_gcr_encode_C_11110: DShot_GCR_Get_Time Push_Reg Temp1, A Push_Reg Temp1, DShot_GCR_Pulse_Time_1 Push_Reg Temp1, DShot_GCR_Pulse_Time_1 Push_Reg Temp1, DShot_GCR_Pulse_Time_1 mov B, DShot_GCR_Pulse_Time_1 ret
dshot_gcr_encode_D_01101: Push_Reg Temp1, B Push_Reg Temp1, DShot_GCR_Pulse_Time_2 Push_Reg Temp1, DShot_GCR_Pulse_Time_1 mov B, DShot_GCR_Pulse_Time_2 ret
dshot_gcr_encode_E_01110: DShot_GCR_Get_Time Push_Reg Temp1, A Push_Reg Temp1, DShot_GCR_Pulse_Time_1 Push_Reg Temp1, DShot_GCR_Pulse_Time_1 mov B, DShot_GCR_Pulse_Time_2 ret
dshot_gcr_encode_F_01111: Push_Reg Temp1, B Push_Reg Temp1, DShot_GCR_Pulse_Time_1 Push_Reg Temp1, DShot_GCR_Pulse_Time_1 Push_Reg Temp1, DShot_GCR_Pulse_Time_1 mov B, DShot_GCR_Pulse_Time_2 ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; DShot 12-bit encode;; Encodes 16-bit e-period as a 12-bit value of the form:; <e e e m m m m m m m m m> where M SHL E ~ e-period [us];;**** **** **** **** **** **** **** **** **** **** **** **** ****dshot_12bit_7: ;mov A, Tlm_Data_H mov C, Tlm_Data_L.7 rlc A mov Tlm_Data_L, A mov Tlm_Data_H, #0fh ajmp dshot_tlm_12bit_encoded
dshot_12bit_6: ;mov A, Tlm_Data_H mov C, Tlm_Data_L.7 rlc A mov C, Tlm_Data_L.6 rlc A mov Tlm_Data_L, A mov Tlm_Data_H, #0dh ajmp dshot_tlm_12bit_encoded
dshot_12bit_5: ;mov A, Tlm_Data_H mov C, Tlm_Data_L.7 rlc A mov C, Tlm_Data_L.6 rlc A mov C, Tlm_Data_L.5 rlc A mov Tlm_Data_L, A mov Tlm_Data_H, #0bh ajmp dshot_tlm_12bit_encoded
dshot_12bit_4: mov A, Tlm_Data_L anl A, #0f0h clr Tlm_Data_H.4 orl A, Tlm_Data_H swap A mov Tlm_Data_L, A mov Tlm_Data_H, #09h ajmp dshot_tlm_12bit_encoded
dshot_12bit_3: mov A, Tlm_Data_L mov C, Tlm_Data_H.0 rrc A mov C, Tlm_Data_H.1 rrc A mov C, Tlm_Data_H.2 rrc A mov Tlm_Data_L, A mov Tlm_Data_H, #07h ajmp dshot_tlm_12bit_encoded
dshot_12bit_2: mov A, Tlm_Data_L mov C, Tlm_Data_H.0 rrc A mov C, Tlm_Data_H.1 rrc A mov Tlm_Data_L, A mov Tlm_Data_H, #05h ajmp dshot_tlm_12bit_encoded
dshot_12bit_1: mov A, Tlm_Data_L mov C, Tlm_Data_H.0 rrc A mov Tlm_Data_L, A mov Tlm_Data_H, #03h ajmp dshot_tlm_12bit_encoded
dshot_12bit_encode: ; Encode 16-bit e-period as a 12-bit value jb ACC.7, dshot_12bit_7 ; ACC = Tlm_Data_H jb ACC.6, dshot_12bit_6 jb ACC.5, dshot_12bit_5 jb ACC.4, dshot_12bit_4 jb ACC.3, dshot_12bit_3 jb ACC.2, dshot_12bit_2 jb ACC.1, dshot_12bit_1 mov A, Tlm_Data_L ; Already 12-bit (E=0) ajmp dshot_tlm_12bit_encoded
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; DShot tlm create packet;; Create DShot telemetry packet and prepare it for being sent;;**** **** **** **** **** **** **** **** **** **** **** **** ****
; dshot_tlm_create_packet:; push PSW; mov PSW, #10h ; Select register bank 2
dshot_packet_stage_1: ; Read commutation period clr IE_EA mov Tlm_Data_L, Comm_Period4x_L mov Tlm_Data_H, Comm_Period4x_H setb IE_EA
; Multiply period by 3/4 (1/2 + 1/4) mov A, Tlm_Data_L mov C, Tlm_Data_H.0 rrc A mov Temp2, A mov C, Tlm_Data_H.1 rrc A add A, Temp2 mov Tlm_Data_L, A
mov A, Tlm_Data_H clr C rrc A mov Temp2, A clr C rrc A addc A, Temp2 mov Tlm_Data_H, A
inc Temp5 pop PSW retdshot_packet_stage_2: mov A, Tlm_Data_H
; 12-bit encode telemetry data jnz dshot_12bit_encode mov A, Tlm_Data_L ; Already 12-bit jnz dshot_tlm_12bit_encoded
; If period is zero then reset to FFFFh (FFFh for 12-bit) mov Tlm_Data_H, #0Fh mov A, #0FFh mov Tlm_Data_L, A
dshot_tlm_12bit_encoded: inc Temp5 pop PSW retdshot_packet_stage_3: mov A, Tlm_Data_L
; Compute inverted xor checksum (4-bit) swap A xrl A, Tlm_Data_L xrl A, Tlm_Data_H cpl A
; GCR encode the telemetry data (16-bit) mov Temp1, #Temp_Storage ; Store pulse timings in Temp_Storage mov B, DShot_GCR_Pulse_Time_1 ; Final transition time
call dshot_gcr_encode ; GCR encode lowest 4-bit of A (store through Temp1)
mov Temp6, B inc Temp5 pop PSW retdshot_packet_stage_4: mov B, Temp6
mov A, Tlm_Data_L call dshot_gcr_encode
mov Temp6, B inc Temp5 pop PSW retdshot_packet_stage_5: mov B, Temp6
mov A, Tlm_Data_L swap A call dshot_gcr_encode
mov Temp6, B inc Temp5 pop PSW retdshot_packet_stage_6: mov B, Temp6
mov A, Tlm_Data_H call dshot_gcr_encode
Push_Reg Temp1, B ; Initial transition time
mov Temp5, #0 setb Flags0.PACKET_PENDING
pop PSW ret
dshot_packet_factory: push PSW mov PSW, #10h ; Select register bank 2
mov A, Temp5 ; dshot_packet_stage rl A ; multiply by 2 to match jump offsets mov DPTR, #dshot_packet_stage_jump_table jmp @A+DPTRdshot_packet_stage_jump_table: ajmp dshot_packet_stage_1 ajmp dshot_packet_stage_2 ajmp dshot_packet_stage_3 ajmp dshot_packet_stage_4 ajmp dshot_packet_stage_5 ajmp dshot_packet_stage_6
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Wait xms ~(x*4*250) (Different entry points);; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****wait1ms: mov Temp2, #1 sjmp waitxms_o
wait3ms: mov Temp2, #3 sjmp waitxms_o
wait10ms: mov Temp2, #10 sjmp waitxms_o
wait30ms: mov Temp2, #30 sjmp waitxms_o
wait100ms: mov Temp2, #100 sjmp waitxms_o
wait200ms: mov Temp2, #200 sjmp waitxms_o
waitxms_o: ; Outer loop mov Temp1, #23waitxms_m: ; Middle loop clr A djnz ACC, $ ; Inner loop (42.7us - 1024 cycles) djnz Temp1, waitxms_m djnz Temp2, waitxms_o ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Set pwm limit low rpm;; No assumptions;; Sets power limit for low rpms and disables demag for low rpms;;**** **** **** **** **** **** **** **** **** **** **** **** ****set_pwm_limit_low_rpm: ; Set pwm limit mov Temp1, #0FFh ; Default full power jb Flags1.STARTUP_PHASE, set_pwm_limit_low_rpm_exit ; Exit if startup phase set
mov Temp2, #Pgm_Enable_Power_Prot ; Check if low RPM power protection is enabled mov A, @Temp2 jz set_pwm_limit_low_rpm_exit ; Exit if disabled
mov A, Comm_Period4x_H jz set_pwm_limit_low_rpm_exit ; Avoid divide by zero
mov A, #255 ; Divide 255 by Comm_Period4x_H mov B, Comm_Period4x_H div AB mov B, Low_Rpm_Pwr_Slope ; Multiply by slope jnb Flags1.INITIAL_RUN_PHASE, ($+6) ; More protection for initial run phase mov B, #5 mul AB mov Temp1, A ; Set new limit xch A, B jz ($+4) ; Limit to max
mov Temp1, #0FFh
clr C mov A, Temp1 ; Limit to min subb A, Pwm_Limit_Beg jnc set_pwm_limit_low_rpm_exit
mov Temp1, Pwm_Limit_Beg
set_pwm_limit_low_rpm_exit: mov Pwm_Limit_By_Rpm, Temp1 ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Set pwm limit high rpm;; No assumptions;; Sets power limit for high rpms;;**** **** **** **** **** **** **** **** **** **** **** **** ****set_pwm_limit_high_rpm:IF MCU_48MHZ == 1 clr C mov A, Comm_Period4x_L subb A, #0A0h ; Limit Comm_Period to 160, which is 500k erpm mov A, Comm_Period4x_H subb A, #00hELSE clr C mov A, Comm_Period4x_L subb A, #0E4h ; Limit Comm_Period to 228, which is 350k erpm mov A, Comm_Period4x_H subb A, #00hENDIF mov A, Pwm_Limit_By_Rpm jnc set_pwm_limit_high_rpm_inc_limit
dec A sjmp set_pwm_limit_high_rpm_store
set_pwm_limit_high_rpm_inc_limit: inc Aset_pwm_limit_high_rpm_store: jz ($+4)
mov Pwm_Limit_By_Rpm, A
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: inc Adc_Conversion_Cnt ; Increment conversion counter clr C mov A, Adc_Conversion_Cnt ; Is conversion count equal to temp rate? subb A, #8 jc check_voltage_start ; No - check voltage
; Wait for ADC conversion to complete jnb ADC0CN0_ADINT, check_temp_voltage_and_limit_power ; Read ADC result Read_Adc_Result ; Stop ADC Stop_Adc
mov Adc_Conversion_Cnt, #0 ; Yes - temperature check. Reset counter mov A, Temp2 ; Move ADC MSB to Temp3 mov Temp3, A mov Temp2, #Pgm_Enable_Temp_Prot ; Is temp protection enabled? mov A, @Temp2 jz temp_check_exit ; No - branch
mov A, Temp3 ; 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 sjmp 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 zerotemp_average_dec: dec A ; Decrement average sjmp temp_average_updated
temp_average_inc: inc A ; Increment average jz temp_average_dec sjmp temp_average_updated
temp_average_updated_load_acc: mov A, Current_Average_Temptemp_average_updated: mov Current_Average_Temp, A clr C subb A, Temp_Prot_Limit ; Is temperature below first limit? jc temp_check_exit ; Yes - exit
mov Pwm_Limit, #192 ; No - limit pwm
clr C subb A, #(TEMP_LIMIT_STEP/2) ; Is temperature below second limit jc temp_check_exit ; Yes - exit
mov Pwm_Limit, #128 ; No - limit pwm
clr C subb A, #(TEMP_LIMIT_STEP/2) ; Is temperature below third limit jc temp_check_exit ; Yes - exit
mov Pwm_Limit, #64 ; No - limit pwm
clr C subb A, #(TEMP_LIMIT_STEP/2) ; Is temperature below final limit jc temp_check_exit ; Yes - exit
mov Pwm_Limit, #0 ; No - limit pwm
temp_check_exit: ret
check_voltage_start: ; Increase pwm limit mov A, Pwm_Limit add A, #16 jnc ($+4) ; If not max - branch
mov A, #255
mov Pwm_Limit, A ; Increment limit ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Set startup PWM routine;; Either the SETTLE_PHASE or the STEPPER_PHASE flag must be set;; Used for pwm control during startup;;**** **** **** **** **** **** **** **** **** **** **** **** ****set_startup_pwm: ; Adjust startup power mov A, #50 ; Set power 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 Pwm_Limit_Beg, A ; Set initial pwm limit ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Initialize timing routine;; No assumptions;; Part of initialization before motor start;;**** **** **** **** **** **** **** **** **** **** **** **** ****initialize_timing: mov Comm_Period4x_L, #00h ; Set commutation period registers mov Comm_Period4x_H, #0F0h ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Calculate next commutation timing routine;; No assumptions;; Called immediately after each commutation; Also sets up timer 3 to wait advance timing; Two entry points are used;;**** **** **** **** **** **** **** **** **** **** **** **** ****calc_next_comm_timing: ; Entry point for run phase ; Read commutation time clr IE_EA clr TMR2CN0_TR2 ; Timer 2 disabled mov Temp1, TMR2L ; Load timer value mov Temp2, TMR2H mov Temp3, Timer2_X jnb TMR2CN0_TF2H, ($+4) ; Check if interrupt is pending inc Temp3 ; If it is pending, then timer has already wrapped setb TMR2CN0_TR2 ; Timer 2 enabled setb IE_EAIF MCU_48MHZ == 1 clr C mov A, Temp3 rrc A mov Temp3, A mov A, Temp2 rrc A mov Temp2, A mov A, Temp1 rrc A mov Temp1, AENDIF ; Calculate this commutation time mov Temp4, Prev_Comm_L mov Temp5, Prev_Comm_H mov Prev_Comm_L, Temp1 ; Store timestamp as previous commutation mov Prev_Comm_H, Temp2 clr C mov A, Temp1 subb A, Temp4 ; Calculate the new commutation time mov Temp1, A mov A, Temp2 subb A, Temp5 jb Flags1.STARTUP_PHASE, calc_next_comm_startup
IF MCU_48MHZ == 1 anl A, #7FhENDIF mov Temp2, A jnb Flags1.HIGH_RPM, calc_next_comm_normal ; Branch normal rpm ajmp calc_next_comm_timing_fast ; Branch high rpm
calc_next_comm_startup: mov Temp6, Prev_Comm_X mov Prev_Comm_X, Temp3 ; Store extended timestamp as previous commutation mov Temp2, A mov A, Temp3 subb A, Temp6 ; Calculate the new extended commutation timeIF MCU_48MHZ == 1 anl A, #7FhENDIF mov Temp3, A jz calc_next_comm_startup_no_X
mov Temp1, #0FFh mov Temp2, #0FFh sjmp calc_next_comm_startup_average
calc_next_comm_startup_no_X: mov Temp7, Prev_Prev_Comm_L mov Temp8, Prev_Prev_Comm_H mov Prev_Prev_Comm_L, Temp4 mov Prev_Prev_Comm_H, Temp5 mov Temp1, Prev_Comm_L ; Reload this commutation time mov Temp2, Prev_Comm_H clr C mov A, Temp1 subb A, Temp7 ; Calculate the new commutation time based upon the two last commutations (to reduce sensitivity to offset) mov Temp1, A mov A, Temp2 subb A, Temp8 mov Temp2, A
calc_next_comm_startup_average: clr C mov A, Comm_Period4x_H ; Average with previous and save rrc A mov Temp4, A mov A, Comm_Period4x_L rrc A mov Temp3, A mov A, Temp1 add A, Temp3 mov Comm_Period4x_L, A mov A, Temp2 addc A, Temp4 mov Comm_Period4x_H, A jnc ($+8)
mov Comm_Period4x_L, #0FFh mov Comm_Period4x_H, #0FFh
sjmp calc_new_wait_times_setup
calc_next_comm_normal: ; Calculate new commutation time mov Temp3, Comm_Period4x_L ; Comm_Period4x(-l-h) holds the time of 4 commutations mov Temp4, Comm_Period4x_H mov Temp5, Comm_Period4x_L ; Copy variables mov Temp6, Comm_Period4x_H mov Temp7, #4 ; Divide Comm_Period4x 4 times as default mov Temp8, #2 ; Divide new commutation time 2 times as default clr C mov A, Temp4 subb A, #04h jc calc_next_comm_avg_period_div
dec Temp7 ; Reduce averaging time constant for low speeds dec Temp8
clr C mov A, Temp4 subb A, #08h jc calc_next_comm_avg_period_div
jb Flags1.INITIAL_RUN_PHASE, calc_next_comm_avg_period_div ; Do not average very fast during initial run
dec Temp7 ; Reduce averaging time constant more for even lower speeds dec Temp8
calc_next_comm_avg_period_div: clr C mov A, Temp6 rrc A ; Divide by 2 mov Temp6, A mov A, Temp5 rrc A mov Temp5, A djnz Temp7, calc_next_comm_avg_period_div
clr C mov A, Temp3 subb A, Temp5 ; Subtract a fraction mov Temp3, A mov A, Temp4 subb A, Temp6 mov Temp4, A mov A, Temp8 ; Divide new time jz calc_next_comm_new_period_div_done
calc_next_comm_new_period_div: clr C mov A, Temp2 rrc A ; Divide by 2 mov Temp2, A mov A, Temp1 rrc A mov Temp1, A djnz Temp8, calc_next_comm_new_period_div
calc_next_comm_new_period_div_done: mov A, Temp3 add A, Temp1 ; Add the divided 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 jnc calc_new_wait_times_setup; If period larger than 0xffff - go to slow case
mov Temp4, #0FFh mov Comm_Period4x_L, Temp4 ; Set commutation period registers to very slow timing (0xffff) mov Comm_Period4x_H, Temp4
calc_new_wait_times_setup: ; Set high rpm bit (if above 156k erpm) clr C mov A, Temp4 subb A, #2 jnc ($+4)
setb Flags1.HIGH_RPM ; Set high rpm bit
; Load programmed commutation timing jnb Flags1.STARTUP_PHASE, calc_new_wait_per_startup_done ; Set dedicated timing during startup
mov Temp8, #3 sjmp calc_new_wait_per_demag_done
calc_new_wait_per_startup_done: mov Temp1, #Pgm_Comm_Timing ; Load timing setting mov A, @Temp1 mov Temp8, A ; Store in Temp8 clr C mov A, Demag_Detected_Metric ; Check demag metric subb A, #130 jc calc_new_wait_per_demag_done
inc Temp8 ; Increase timing
clr C mov A, Demag_Detected_Metric subb A, #160 jc ($+3)
inc Temp8 ; Increase timing again
clr C mov A, Temp8 ; Limit timing to max subb A, #6 jc ($+4)
mov Temp8, #5 ; Set timing to max
calc_new_wait_per_demag_done: ; Set timing reduction mov Temp7, #2 ; Load current commutation timing mov A, Comm_Period4x_H ; Divide 4 times swap A anl A, #00Fh mov Temp2, A mov A, Comm_Period4x_H swap A anl A, #0F0h mov Temp1, A mov A, Comm_Period4x_L swap A anl A, #00Fh add A, Temp1 mov Temp1, A
clr C mov A, Temp1 subb A, Temp7 mov Temp3, A mov A, Temp2 subb A, #0 mov Temp4, A jc load_min_time ; Check that result is still positive
clr C mov A, Temp3 subb A, #1 mov A, Temp4 subb A, #0 jnc calc_new_wait_times_exit ; Check that result is still above minumum
load_min_time: mov Temp3, #1 mov Temp4, #0
calc_new_wait_times_exit: ljmp wait_advance_timing
; Fast calculation (Comm_Period4x_H less than 2)calc_next_comm_timing_fast: ; Calculate new commutation time mov Temp3, Comm_Period4x_L ; Comm_Period4x(-l-h) holds the time of 4 commutations mov Temp4, Comm_Period4x_H mov A, Temp4 ; Divide by 2 4 times swap A mov Temp7, A mov A, Temp3 swap A anl A, #0Fh orl A, Temp7 mov Temp5, A clr C mov A, Temp3 ; Subtract a fraction subb A, Temp5 mov Temp3, A mov A, Temp4 subb A, #0 mov Temp4, A clr C mov A, Temp1 rrc A ; Divide by 2 2 times clr C rrc A mov Temp1, A mov A, Temp3 ; Add the divided new time add A, Temp1 mov Temp3, A mov A, Temp4 addc A, #0 mov Temp4, A mov Comm_Period4x_L, Temp3 ; Store Comm_Period4x_X mov Comm_Period4x_H, Temp4 clr C subb A, #2 ; If erpm below 156k - go to normal case jc ($+4)
clr Flags1.HIGH_RPM ; Clear high rpm bit
; Set timing reduction mov Temp1, #2 mov A, Temp4 ; Divide by 2 4 times swap A mov Temp7, A mov Temp4, #0 mov A, Temp3 swap A anl A, #0Fh orl A, Temp7 mov Temp3, A clr C subb A, Temp1 mov Temp3, A jc load_min_time_fast ; Check that result is still positive
jnz calc_new_wait_times_fast_done ; Check that result is still above minumum
load_min_time_fast: mov Temp3, #1
calc_new_wait_times_fast_done: mov Temp1, #Pgm_Comm_Timing ; Load timing setting mov A, @Temp1 mov Temp8, A ; Store in Temp8
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Wait advance timing routine;; No assumptions; NOTE: Be VERY careful if using temp registers. They are passed over this routine;; Waits for the advance timing to elapse and sets up the next zero cross wait;;**** **** **** **** **** **** **** **** **** **** **** **** ****wait_advance_timing:
; DShot telemetry jb Flags0.PACKET_PENDING, wait_advance_timing_loop jb Flags0.TLM_ACTIVE, wait_advance_timing_loop
wait_advance_timing_loop2: call dshot_packet_factory jb Flags0.PACKET_PENDING, wait_advance_timing_loop jnb Flags0.T3_PENDING, ($+5) sjmp wait_advance_timing_loop2
wait_advance_timing_loop: jnb Flags0.T3_PENDING, ($+5) sjmp wait_advance_timing_loop
; Setup next wait time mov TMR3RLL, Wt_ZC_Tout_Start_L mov TMR3RLH, Wt_ZC_Tout_Start_H setb Flags0.T3_PENDING orl EIE1, #80h ; Enable timer 3 interrupts
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Calculate new wait times routine;; No assumptions;; Calculates new wait times;;**** **** **** **** **** **** **** **** **** **** **** **** ****calc_new_wait_times: clr C clr A subb A, Temp3 ; Negate mov Temp1, A clr A subb A, Temp4 mov Temp2, AIF MCU_48MHZ == 1 clr C mov A, Temp1 ; Multiply by 2 rlc A mov Temp1, A mov A, Temp2 rlc A mov Temp2, AENDIF jb Flags1.HIGH_RPM, calc_new_wait_times_fast ; Branch if high rpm
mov A, Temp1 ; Copy values mov Temp3, A mov A, Temp2 mov Temp4, A setb C ; Negative numbers - set carry mov A, Temp2 rrc A ; Divide by 2 mov Temp6, A mov A, Temp1 rrc A mov Temp5, A mov Wt_Zc_Tout_Start_L, Temp1 ; Set 15deg time for zero cross scan timeout mov Wt_Zc_Tout_Start_H, Temp2 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
mov A, Temp1 ; Add 7.5deg and store in Temp1/2 add A, Temp5 mov Temp1, A mov A, Temp2 addc A, Temp6 mov Temp2, A mov A, Temp5 ; Store 7.5deg in Temp3/4 mov Temp3, A mov A, Temp6 mov Temp4, A sjmp store_times_up_or_down
adjust_timing_two_steps: mov A, Temp1 ; Add 15deg and store in Temp1/2 setb C ; Add 1 to final result (Temp1/2 * 2 + 1) addc A, Temp1 mov Temp1, A mov A, Temp2 addc A, Temp2 mov Temp2, A mov Temp3, #0FFh ; Store minimum time in Temp3/4 mov Temp4, #0FFh
store_times_up_or_down: clr C mov A, Temp8 subb A, #3 ; Is timing higher than normal? jc store_times_decrease ; No - branch
store_times_increase: mov Wt_Comm_Start_L, Temp3 ; Now commutation time (~60deg) divided by 4 (~15deg nominal) mov Wt_Comm_Start_H, Temp4 mov Wt_Adv_Start_L, Temp1 ; New commutation advance time (~15deg nominal) mov Wt_Adv_Start_H, Temp2 mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg) mov Wt_Zc_Scan_Start_H, Temp6 sjmp wait_before_zc_scan
store_times_decrease: mov Wt_Comm_Start_L, Temp1 ; Now commutation time (~60deg) divided by 4 (~15deg nominal) mov Wt_Comm_Start_H, Temp2 mov Wt_Adv_Start_L, Temp3 ; New commutation advance time (~15deg nominal) mov Wt_Adv_Start_H, Temp4 mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg) mov Wt_Zc_Scan_Start_H, Temp6 jnb Flags1.STARTUP_PHASE, store_times_exit
mov Wt_Comm_Start_L, #0F0h ; Set very short delays for all but advance time during startup, in order to widen zero cross capture range mov Wt_Comm_Start_H, #0FFh mov Wt_Zc_Scan_Start_L, #0F0h mov Wt_Zc_Scan_Start_H, #0FFh mov Wt_Zc_Tout_Start_L, #0F0h mov Wt_Zc_Tout_Start_H, #0FFh
store_times_exit: sjmp wait_before_zc_scan
calc_new_wait_times_fast: mov A, Temp1 ; Copy values mov Temp3, A setb C ; Negative numbers - set carry rrc A ; Divide by 2 mov Temp5, A mov Wt_Zc_Tout_Start_L, Temp1 ; Set 15deg time for zero cross scan timeout clr C mov A, Temp8 ; (Temp8 has Pgm_Comm_Timing) subb A, #3 ; Is timing normal? jz store_times_decrease_fast ; Yes - branch
mov A, Temp8 jb ACC.0, adjust_timing_two_steps_fast ; If an odd number - branch
mov A, Temp1 ; Add 7.5deg and store in Temp1 add A, Temp5 mov Temp1, A mov A, Temp5 ; Store 7.5deg in Temp3 mov Temp3, A sjmp store_times_up_or_down_fast
adjust_timing_two_steps_fast: mov A, Temp1 ; Add 15deg and store in Temp1 add A, Temp1 add A, #1 mov Temp1, A mov Temp3, #0FFh ; Store minimum time in Temp3
store_times_up_or_down_fast: clr C mov A, Temp8 subb A, #3 ; Is timing higher than normal? jc store_times_decrease_fast ; No - branch
store_times_increase_fast: mov Wt_Comm_Start_L, Temp3 ; Now commutation time (~60deg) divided by 4 (~15deg nominal) mov Wt_Adv_Start_L, Temp1 ; New commutation advance time (~15deg nominal) mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg) sjmp wait_before_zc_scan
store_times_decrease_fast: mov Wt_Comm_Start_L, Temp1 ; Now commutation time (~60deg) divided by 4 (~15deg nominal) mov Wt_Adv_Start_L, Temp3 ; New commutation advance time (~15deg nominal) mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg)
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Wait before zero cross scan routine;; No assumptions;; Waits for the zero cross scan wait time to elapse; Also sets up timer 3 for the zero cross scan timeout time;;**** **** **** **** **** **** **** **** **** **** **** **** ****wait_before_zc_scan: jnb Flags0.T3_PENDING, ($+5) sjmp wait_before_zc_scan
mov Startup_Zc_Timeout_Cntd, #2setup_zc_scan_timeout: setb Flags0.T3_PENDING orl EIE1, #80h ; Enable timer 3 interrupts mov A, Flags1 anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) jz wait_before_zc_scan_exit
mov Temp1, Comm_Period4x_L ; Set long timeout when starting mov Temp2, Comm_Period4x_H clr C mov A, Temp2 rrc A mov Temp2, A mov A, Temp1 rrc A mov Temp1, AIF MCU_48MHZ == 0 clr C mov A, Temp2 rrc A mov Temp2, A mov A, Temp1 rrc A mov Temp1, AENDIF jnb Flags1.STARTUP_PHASE, setup_zc_scan_timeout_startup_done
mov A, Temp2 add A, #40h ; Increase timeout somewhat to avoid false wind up mov Temp2, A
setup_zc_scan_timeout_startup_done: clr IE_EA anl EIE1, #7Fh ; Disable timer 3 interrupts mov TMR3CN0, #00h ; Timer 3 disabled and interrupt flag cleared clr C clr A subb A, Temp1 ; Set timeout mov TMR3L, A clr A subb A, Temp2 mov TMR3H, A mov TMR3CN0, #04h ; Timer 3 enabled and interrupt flag cleared setb Flags0.T3_PENDING orl EIE1, #80h ; Enable timer 3 interrupts setb IE_EA
wait_before_zc_scan_exit: ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Wait for comparator to go low/high routines;; No assumptions;; Waits for the zero cross scan wait time to elapse; Then scans for comparator going low/high;;**** **** **** **** **** **** **** **** **** **** **** **** ****wait_for_comp_out_low: setb Flags0.DEMAG_DETECTED ; Set demag detected flag as default mov Comparator_Read_Cnt, #0 ; Reset number of comparator reads mov Bit_Access, #00h ; Desired comparator output jnb Flags1.DIR_CHANGE_BRAKE, ($+6) mov Bit_Access, #40h sjmp wait_for_comp_out_start
wait_for_comp_out_high: setb Flags0.DEMAG_DETECTED ; Set demag detected flag as default mov Comparator_Read_Cnt, #0 ; Reset number of comparator reads mov Bit_Access, #40h ; Desired comparator output jnb Flags1.DIR_CHANGE_BRAKE, ($+6) mov Bit_Access, #00h
wait_for_comp_out_start: ; Set number of comparator readings mov Temp1, #1 ; Number of OK readings required mov Temp2, #1 ; Max number of readings required jb Flags1.HIGH_RPM, comp_scale_samples ; Branch if high rpm
mov A, Flags1 ; Clear demag detected flag if start phases anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) jz ($+4)
clr Flags0.DEMAG_DETECTED
; Too low value (~<15) causes rough running at pwm harmonics. ; Too high a value (~>35) causes the RCT4215 630 to run rough on full throttle mov Temp2, #20 mov A, Comm_Period4x_H ; Set number of readings higher for lower speeds clr C rrc A jnz ($+3) inc A mov Temp1, A clr C subb A, #20 jc ($+4)
mov Temp1, #20
jnb Flags1.STARTUP_PHASE, comp_scale_samples
mov Temp1, #27 ; Set many samples during startup, approximately one pwm period mov Temp2, #27
comp_scale_samples:IF MCU_48MHZ == 1 clr C mov A, Temp1 rlc A mov Temp1, A clr C mov A, Temp2 rlc A mov Temp2, AENDIFcomp_check_timeout: jb Flags0.T3_PENDING, comp_check_timeout_not_timed_out ; Has zero cross scan timeout elapsed?
mov A, Comparator_Read_Cnt ; Check that comparator has been read jz comp_check_timeout_not_timed_out ; If not read - branch
jnb Flags1.STARTUP_PHASE, comp_check_timeout_timeout_extended ; Extend timeout during startup
djnz Startup_Zc_Timeout_Cntd, comp_check_timeout_extend_timeout
comp_check_timeout_timeout_extended: setb Flags0.COMP_TIMED_OUT sjmp setup_comm_wait
comp_check_timeout_extend_timeout: call setup_zc_scan_timeoutcomp_check_timeout_not_timed_out: inc Comparator_Read_Cnt ; Increment comparator read count Read_Comp_Out ; Read comparator output anl A, #40h cjne A, Bit_Access, comp_read_wrong
; Comp read ok mov A, Startup_Cnt ; Force a timeout for the first commutation jz wait_for_comp_out_start
jb Flags0.DEMAG_DETECTED, wait_for_comp_out_start ; Do not accept correct comparator output if it is demag
djnz Temp1, comp_check_timeout ; Decrement readings counter - repeat comparator reading if not zero
clr Flags0.COMP_TIMED_OUT
sjmp setup_comm_wait
comp_read_wrong: jnb Flags1.STARTUP_PHASE, comp_read_wrong_not_startup
inc Temp1 ; Increment number of OK readings required clr C mov A, Temp1 subb A, Temp2 ; If above initial requirement - do not increment further jc ($+3) dec Temp1
sjmp comp_check_timeout ; Continue to look for good ones
comp_read_wrong_not_startup: jb Flags0.DEMAG_DETECTED, comp_read_wrong_extend_timeout
inc Temp1 ; Increment number of OK readings required clr C mov A, Temp1 subb A, Temp2 jc comp_check_timeout ; If below initial requirement - take another reading sjmp wait_for_comp_out_start ; Otherwise - go back and restart
comp_read_wrong_extend_timeout: clr Flags0.DEMAG_DETECTED ; Clear demag detected flag anl EIE1, #7Fh ; Disable timer 3 interrupts mov TMR3CN0, #00h ; Timer 3 disabled and interrupt flag cleared jnb Flags1.HIGH_RPM, comp_read_wrong_low_rpm ; Branch if not high rpm
mov TMR3L, #00h ; Set timeout to ~1msIF MCU_48MHZ == 1 mov TMR3H, #0F0hELSE mov TMR3H, #0F8hENDIFcomp_read_wrong_timeout_set: mov TMR3CN0, #04h ; Timer 3 enabled and interrupt flag cleared setb Flags0.T3_PENDING orl EIE1, #80h ; Enable timer 3 interrupts ajmp wait_for_comp_out_start ; If comparator output is not correct - go back and restart
comp_read_wrong_low_rpm: mov A, Comm_Period4x_H ; Set timeout to ~4x comm period 4x value mov Temp7, #0FFh ; Default to longIF MCU_48MHZ == 1 clr C rlc A jc comp_read_wrong_load_timeout
ENDIF clr C rlc A jc comp_read_wrong_load_timeout
clr C rlc A jc comp_read_wrong_load_timeout
mov Temp7, A
comp_read_wrong_load_timeout: clr C clr A subb A, Temp7 mov TMR3L, #0 mov TMR3H, A sjmp comp_read_wrong_timeout_set
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Setup commutation timing routine;; No assumptions;; Sets up and starts wait from commutation to zero cross;;**** **** **** **** **** **** **** **** **** **** **** **** ****setup_comm_wait: clr IE_EA anl EIE1, #7Fh ; Disable timer 3 interrupts mov TMR3CN0, #00h ; Timer 3 disabled and interrupt flag cleared mov TMR3L, Wt_Comm_Start_L mov TMR3H, Wt_Comm_Start_H mov TMR3CN0, #04h ; Timer 3 enabled and interrupt flag cleared ; Setup next wait time mov TMR3RLL, Wt_Adv_Start_L mov TMR3RLH, Wt_Adv_Start_H setb Flags0.T3_PENDING orl EIE1, #80h ; Enable timer 3 interrupts setb IE_EA ; Enable interrupts again
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Evaluate comparator integrity;; No assumptions;; Checks comparator signal behaviour versus expected behaviour;;**** **** **** **** **** **** **** **** **** **** **** **** ****evaluate_comparator_integrity: mov A, Flags1 anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) jz eval_comp_check_timeout
jb Flags1.INITIAL_RUN_PHASE, ($+5) ; Do not increment beyond startup phase inc Startup_Cnt ; Increment counter sjmp eval_comp_exit
eval_comp_check_timeout: jnb Flags0.COMP_TIMED_OUT, eval_comp_exit ; Has timeout elapsed? jb Flags1.DIR_CHANGE_BRAKE, eval_comp_exit ; Do not exit run mode if it is braking jb Flags0.DEMAG_DETECTED, eval_comp_exit ; Do not exit run mode if it is a demag situation dec SP ; Routine exit without "ret" command dec SP ljmp run_to_wait_for_power_on_fail ; Yes - exit run mode
eval_comp_exit: ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Wait for commutation routine;; No assumptions;; Waits from zero cross to commutation;;**** **** **** **** **** **** **** **** **** **** **** **** ****wait_for_comm: ; Update demag metric mov A, Demag_Detected_Metric ; Sliding average of 8, 256 when demag and 0 when not. Limited to minimum 120 mov B, #7 mul AB ; Multiply by 7
jnb Flags0.DEMAG_DETECTED, ($+4) ; Add new value for current demag status inc B
mov C, B.0 ; Divide by 8 rrc A mov C, B.1 rrc A mov C, B.2 rrc A mov Demag_Detected_Metric, A clr C subb A, #120 ; Limit to minimum 120 jnc ($+5) mov Demag_Detected_Metric, #120
clr C mov A, Demag_Detected_Metric ; Check demag metric subb A, Demag_Pwr_Off_Thresh jc wait_for_comm_wait ; Cut power if many consecutive demags. This will help retain sync during hard accelerations
All_pwmFETs_off Set_Pwms_Off
wait_for_comm_wait: jnb Flags0.T3_PENDING, ($+5) sjmp wait_for_comm_wait
; Setup next wait time mov TMR3RLL, Wt_Zc_Scan_Start_L mov TMR3RLH, Wt_Zc_Scan_Start_H setb Flags0.T3_PENDING orl EIE1, #80h ; Enable timer 3 interrupts ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Commutation routines;; No assumptions;; Performs commutation switching;;**** **** **** **** **** **** **** **** **** **** **** **** ****; Comm phase 1 to comm phase 2comm1comm2: Set_RPM_Out jb Flags3.PGM_DIR_REV, comm12_rev
clr IE_EA ; Disable all interrupts BcomFET_off ; Turn off comfet AcomFET_on ; Turn on comfet Set_Pwm_C ; To reapply power after a demag cut setb IE_EA Set_Comp_Phase_B ; Set comparator phase ret
comm12_rev: clr IE_EA ; Disable all interrupts BcomFET_off ; Turn off comfet CcomFET_on ; Turn on comfet (reverse) Set_Pwm_A ; To reapply power after a demag cut setb IE_EA Set_Comp_Phase_B ; Set comparator phase ret
; Comm phase 2 to comm phase 3comm2comm3: Clear_RPM_Out jb Flags3.PGM_DIR_REV, comm23_rev
clr IE_EA ; Disable all interrupts CpwmFET_off ; Turn off pwmfet Set_Pwm_B ; To reapply power after a demag cut AcomFET_on setb IE_EA Set_Comp_Phase_C ; Set comparator phase ret
comm23_rev: clr IE_EA ; Disable all interrupts ApwmFET_off ; Turn off pwmfet (reverse) Set_Pwm_B ; To reapply power after a demag cut CcomFET_on setb IE_EA Set_Comp_Phase_A ; Set comparator phase (reverse) ret
; Comm phase 3 to comm phase 4comm3comm4: Set_RPM_Out jb Flags3.PGM_DIR_REV, comm34_rev
clr IE_EA ; Disable all interrupts AcomFET_off ; Turn off comfet CcomFET_on ; Turn on comfet Set_Pwm_B ; To reapply power after a demag cut setb IE_EA Set_Comp_Phase_A ; Set comparator phase ret
comm34_rev: clr IE_EA ; Disable all interrupts CcomFET_off ; Turn off comfet (reverse) AcomFET_on ; Turn on comfet (reverse) Set_Pwm_B ; To reapply power after a demag cut setb IE_EA Set_Comp_Phase_C ; Set comparator phase (reverse) ret
; Comm phase 4 to comm phase 5comm4comm5: Clear_RPM_Out jb Flags3.PGM_DIR_REV, comm45_rev
clr IE_EA ; Disable all interrupts BpwmFET_off ; Turn off pwmfet Set_Pwm_A ; To reapply power after a demag cut CcomFET_on setb IE_EA Set_Comp_Phase_B ; Set comparator phase ret
comm45_rev: clr IE_EA ; Disable all interrupts BpwmFET_off ; Turn off pwmfet Set_Pwm_C AcomFET_on ; To reapply power after a demag cut setb IE_EA Set_Comp_Phase_B ; Set comparator phase ret
; Comm phase 5 to comm phase 6comm5comm6: Set_RPM_Out jb Flags3.PGM_DIR_REV, comm56_rev
clr IE_EA ; Disable all interrupts CcomFET_off ; Turn off comfet BcomFET_on ; Turn on comfet Set_Pwm_A ; To reapply power after a demag cut setb IE_EA Set_Comp_Phase_C ; Set comparator phase ret
comm56_rev: clr IE_EA ; Disable all interrupts AcomFET_off ; Turn off comfet (reverse) BcomFET_on ; Turn on comfet Set_Pwm_C ; To reapply power after a demag cut setb IE_EA Set_Comp_Phase_A ; Set comparator phase (reverse) ret
; Comm phase 6 to comm phase 1comm6comm1: Clear_RPM_Out jb Flags3.PGM_DIR_REV, comm61_rev
clr IE_EA ; Disable all interrupts ApwmFET_off ; Turn off pwmfet Set_Pwm_C BcomFET_on ; To reapply power after a demag cut setb IE_EA Set_Comp_Phase_A ; Set comparator phase ret
comm61_rev: clr IE_EA ; Disable all interrupts CpwmFET_off ; Turn off pwmfet (reverse) Set_Pwm_A BcomFET_on ; To reapply power after a demag cut setb IE_EA Set_Comp_Phase_C ; Set comparator phase (reverse) ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Beeper routines (4 different entry points);; No assumptions;;**** **** **** **** **** **** **** **** **** **** **** **** ****beep_f1: ; Entry point 1, load beeper frequency 1 settings mov Temp3, #20 ; Off wait loop length mov Temp4, #120 ; Number of beep pulses sjmp beep
beep_f2: ; Entry point 2, load beeper frequency 2 settings mov Temp3, #16 mov Temp4, #140 sjmp beep
beep_f3: ; Entry point 3, load beeper frequency 3 settings mov Temp3, #13 mov Temp4, #180 sjmp beep
beep_f4: ; Entry point 4, load beeper frequency 4 settings mov Temp3, #11 mov Temp4, #200 sjmp beep
beep: ; Beep loop start mov A, Beep_Strength djnz ACC, beep_start ret
beep_start: mov Temp2, #2beep_onoff: clr A BcomFET_off ; BcomFET off djnz ACC, $ ; Allow some time after comfet is turned off BpwmFET_on ; BpwmFET on (in order to charge the driver of the BcomFET) djnz ACC, $ ; Let the pwmfet be turned on a while BpwmFET_off ; BpwmFET off again djnz ACC, $ ; Allow some time after pwmfet is turned off BcomFET_on ; BcomFET on djnz ACC, $ ; Allow some time after comfet is turned on ; Turn on pwmfet mov A, Temp2 jb ACC.0, beep_apwmfet_on ApwmFET_on ; ApwmFET onbeep_apwmfet_on: jnb ACC.0, beep_cpwmfet_on CpwmFET_on ; CpwmFET onbeep_cpwmfet_on: mov A, Beep_Strength djnz ACC, $ ; Turn off pwmfet mov A, Temp2 jb ACC.0, beep_apwmfet_off ApwmFET_off ; ApwmFET offbeep_apwmfet_off: jnb ACC.0, beep_cpwmfet_off CpwmFET_off ; CpwmFET offbeep_cpwmfet_off: mov A, #150 ; 25us off djnz ACC, $ djnz Temp2, beep_onoff ; Copy variable mov A, Temp3 mov Temp1, Abeep_off: ; Fets off loop djnz ACC, $ djnz Temp1, beep_off djnz Temp4, beep BcomFET_off ; BcomFET off ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Switch power off routine;; No assumptions;; Switches all fets off;;**** **** **** **** **** **** **** **** **** **** **** **** ****switch_power_off: All_pwmFETs_Off ; Turn off all pwm fets All_comFETs_Off ; Turn off all commutation fets Set_Pwms_Off ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Set default parameters;; No assumptions;; Sets default programming parameters;;**** **** **** **** **** **** **** **** **** **** **** **** ****set_default_parameters: mov Temp1, #_Pgm_Gov_P_Gain mov @Temp1, #0FFh ; Governor P gain inc Temp1 mov @Temp1, #0FFh ; Governor I gain inc Temp1 mov @Temp1, #0FFh ; Governor mode inc Temp1 mov @Temp1, #0FFh ; Low voltage limit inc Temp1 mov @Temp1, #0FFh ; Multi gain inc Temp1 mov @Temp1, #0FFh inc Temp1 mov @Temp1, #DEFAULT_PGM_STARTUP_PWR inc Temp1 mov @Temp1, #0FFh ; Pwm freq inc Temp1 mov @Temp1, #DEFAULT_PGM_DIRECTION inc Temp1 mov @Temp1, #0FFh ; Input polarity
inc Temp1 ; Eep_Initialized_L inc Temp1 ; Eep_Initialized_H
inc Temp1 mov @Temp1, #0FFh ; Enable tx programming inc Temp1 mov @Temp1, #0FFh ; Main rearm start inc Temp1 mov @Temp1, #0FFh ; Governor setup target inc Temp1 mov @Temp1, #0FFh ; Startup rpm inc Temp1 mov @Temp1, #0FFh ; Startup accel inc Temp1 mov @Temp1, #0FFh ; Voltage comp inc Temp1 mov @Temp1, #DEFAULT_PGM_COMM_TIMING inc Temp1 mov @Temp1, #0FFh ; Damping force inc Temp1 mov @Temp1, #0FFh ; Governor range inc Temp1 mov @Temp1, #0FFh ; Startup method inc Temp1 mov @Temp1, #0FFh ; Minimum throttle inc Temp1 mov @Temp1, #0FFh ; Maximum throttle inc Temp1 mov @Temp1, #DEFAULT_PGM_BEEP_STRENGTH inc Temp1 mov @Temp1, #DEFAULT_PGM_BEACON_STRENGTH inc Temp1 mov @Temp1, #DEFAULT_PGM_BEACON_DELAY inc Temp1 mov @Temp1, #0FFh ; Throttle rate inc Temp1 mov @Temp1, #DEFAULT_PGM_DEMAG_COMP inc Temp1 mov @Temp1, #0FFh ; Bec voltage high inc Temp1 mov @Temp1, #0FFh ; Center throttle inc Temp1 mov @Temp1, #0FFh inc Temp1 mov @Temp1, #DEFAULT_PGM_ENABLE_TEMP_PROT inc Temp1 mov @Temp1, #DEFAULT_PGM_ENABLE_POWER_PROT inc Temp1 mov @Temp1, #0FFh ; Enable pwm input inc Temp1 mov @Temp1, #0FFh ; Pwm dither inc Temp1 mov @Temp1, #DEFAULT_PGM_BRAKE_ON_STOP inc Temp1 mov @Temp1, #DEFAULT_PGM_LED_CONTROL ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Decode settings;; No assumptions;; Decodes various settings;;**** **** **** **** **** **** **** **** **** **** **** **** ****decode_settings: ; Load programmed direction mov Temp1, #Pgm_Direction mov A, @Temp1 clr C subb A, #3 setb Flags3.PGM_BIDIR jnc ($+4)
clr Flags3.PGM_BIDIR
clr Flags3.PGM_DIR_REV mov A, @Temp1 jnb ACC.1, ($+5) setb Flags3.PGM_DIR_REV mov C, Flags3.PGM_DIR_REV mov Flags3.PGM_BIDIR_REV, C ; Decode 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 ; Decode low rpm power slope mov Temp1, #Pgm_Startup_Pwr mov A, @Temp1 mov Low_Rpm_Pwr_Slope, A clr C subb A, #2 jnc ($+5) mov Low_Rpm_Pwr_Slope, #2 ; Decode demag compensation mov Temp1, #Pgm_Demag_Comp mov A, @Temp1 mov Demag_Pwr_Off_Thresh, #255 ; Set default
cjne A, #2, decode_demag_high
mov Demag_Pwr_Off_Thresh, #160 ; Settings for demag comp low
decode_demag_high: cjne A, #3, decode_demag_done
mov Demag_Pwr_Off_Thresh, #130 ; Settings for demag comp high
decode_demag_done: ; Decode temperature protection limit mov Temp1, #Pgm_Enable_Temp_Prot mov A, @Temp1 mov Temp1, A jz decode_temp_done
mov A, #(TEMP_LIMIT-TEMP_LIMIT_STEP)decode_temp_step: add A, #TEMP_LIMIT_STEP djnz Temp1, decode_temp_step
decode_temp_done: mov Temp_Prot_Limit, A ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Detect DShot RCP level;; Determine if RCP signal level is normal or inverted DShot;;**** **** **** **** **** **** **** **** **** **** **** **** ****detect_rcp_level: mov A, #100 ; Must repeat the same level 100 times in a row mov C, RTX_PORT.RTX_PIN
detect_rcp_level_read: jc ($+5) jb RTX_PORT.RTX_PIN, detect_rcp_level jnc ($+5) jnb RTX_PORT.RTX_PIN, detect_rcp_level djnz ACC, detect_rcp_level_read
mov Flags2.RCP_DSHOT_INVERTED, C ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; LED control;; No assumptions;; Controls LEDs;;**** **** **** **** **** **** **** **** **** **** **** **** ****led_control: mov Temp1, #Pgm_LED_Control mov A, @Temp1 mov Temp2, A anl A, #03h Set_LED_0 jnz led_0_done Clear_LED_0led_0_done: mov A, Temp2 anl A, #0Ch Set_LED_1 jnz led_1_done Clear_LED_1led_1_done: mov A, Temp2 anl A, #030h Set_LED_2 jnz led_2_done Clear_LED_2led_2_done: mov A, Temp2 anl A, #0C0h Set_LED_3 jnz led_3_done Clear_LED_3led_3_done: ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****;**** **** **** **** **** **** **** **** **** **** **** **** ****;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Main program start;;**** **** **** **** **** **** **** **** **** **** **** **** ****;**** **** **** **** **** **** **** **** **** **** **** **** ****;**** **** **** **** **** **** **** **** **** **** **** **** ****
pgm_start: ; Initialize flash keys to invalid values mov Flash_Key_1, #0 mov Flash_Key_2, #0 ; Disable the WDT. mov WDTCN, #0DEh ; Disable watchdog mov WDTCN, #0ADh ; Initialize stack mov SP, #Stack ; 16 bytes of indirect RAM ; Initialize VDD monitor orl VDM0CN, #080h ; Enable the VDD monitor mov RSTSRC, #06h ; Set missing clock and VDD monitor as a reset source if not 1S capable ; Set clock frequency mov CLKSEL, #00h ; Set clock divider to 1 ; Switch power off call switch_power_off ; Ports initialization mov P0, #P0_INIT mov P0MDIN, #P0_DIGITAL mov P0MDOUT, #P0_PUSHPULL mov P0, #P0_INIT mov P0SKIP, #P0_SKIP mov P1, #P1_INIT mov P1MDIN, #P1_DIGITAL mov P1MDOUT, #P1_PUSHPULL mov P1, #P1_INIT mov P1SKIP, #P1_SKIP mov P2MDOUT, #P2_PUSHPULL ; Initialize the XBAR and related functionality Initialize_Xbar ; Switch power off again, after initializing ports 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 ; Set beep strength mov Temp1, #Pgm_Beep_Strength mov Beep_Strength, @Temp1 ; Initializing beep clr IE_EA ; Disable interrupts explicitly call wait200ms call beep_f1 call wait30ms call beep_f2 call wait30ms call beep_f3 call wait30ms call led_control
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; No signal entry point;;**** **** **** **** **** **** **** **** **** **** **** **** ****init_no_signal: ; Disable interrupts explicitly clr IE_EA ; Initialize flash keys to invalid values mov Flash_Key_1, #0 mov Flash_Key_2, #0 ; Check if input signal is high for more than 15ms mov Temp1, #250input_high_check_1: mov Temp2, #250input_high_check_2: jnb RTX_PORT.RTX_PIN, bootloader_done ; Look for low djnz Temp2, input_high_check_2 djnz Temp1, input_high_check_1
ljmp 1C00h ; Jump to bootloader
bootloader_done: ; Decode settings call decode_settings ; Set beep strength mov Temp1, #Pgm_Beep_Strength mov Beep_Strength, @Temp1 ; Switch power off call switch_power_off ; Set clock frequencyIF MCU_48MHZ == 1 Set_MCU_Clk_24MHzENDIF ; Setup timers for DShot mov TCON, #51h ; Timer 0/1 run and INT0 edge triggered mov CKCON0, #01h ; Timer 0/1 clock is system clock divided by 4 (for DShot150) mov TMOD, #0AAh ; Timer 0/1 set to 8bits auto reload and gated by INT0/1 mov TH0, #0 ; Auto reload value zero mov TH1, #0
mov TMR2CN0, #04h ; Timer 2 enabled mov TMR3CN0, #04h ; Timer 3 enabled
Initialize_PCA ; Initialize PCA Set_Pwm_Polarity ; Set pwm polarity Enable_Power_Pwm_Module ; Enable power pwm module Enable_Damp_Pwm_Module ; Enable damping pwm module Initialize_Comparator ; Initialize comparator Initialize_Adc ; Initialize ADC operation call wait1ms
mov Stall_Cnt, #0 ; Reset stall count
mov Dshot_Cmd, #0 ; Clear DShot command mov Dshot_Cmd_Cnt, #0 ; Clear DShot command count
; Setup RCP for DShot
call detect_rcp_level ; Detect normal or inverted DShot
; Route RCP according to detected DShot signal (normal or inverted) mov IT01CF, #(80h + (RTX_PIN SHL 4) + RTX_PIN) ; Route RCP input to INT0/1, with INT1 inverted jnb Flags2.RCP_DSHOT_INVERTED, ($+6) mov IT01CF, #(08h + (RTX_PIN SHL 4) + RTX_PIN) ; Route RCP input to INT0/1, with INT0 inverted
; Setup interrupts for DShot mov IE, #2Dh ; Enable timer 1/2 interrupts and INT0/1 interrupts mov EIE1, #90h ; Enable timer 3 and PCA0 interrupts mov IP, #03h ; High priority to timer 0 and INT0 interrupts
setb IE_EA ; Enable all interrupts call wait200ms
; Setup variables for DShot150 ; TODO: dshot150 not supported for now; IF MCU_48MHZ == 1; mov DShot_Timer_Preset, #128 ; Load DShot sync timer preset (for DShot150); ELSE; mov DShot_Timer_Preset, #192; ENDIF; ; TODO: we cannot currently support DShot150 on 48MHz (because of DShot_Frame_Length_Thr); IF MCU_48MHZ == 0; mov DShot_Pwm_Thr, #10 ; Load DShot qualification pwm threshold (for DShot150); mov DShot_Frame_Length_Thr, #160 ; Load DShot frame length criteria
; Set_DShot_Tlm_Bitrate 187500 ; = 5/4 * 150000
; ; Test whether signal is DShot150; mov Rcp_Outside_Range_Cnt, #10 ; Set out of range counter; call wait100ms ; Wait for new RC pulse; mov DShot_Pwm_Thr, #8 ; Load DShot regular pwm threshold; clr C; mov A, Rcp_Outside_Range_Cnt ; Check if pulses were accepted; subb A, #10; mov Dshot_Cmd, #0; mov Dshot_Cmd_Cnt, #0; jc arming_begin; ENDIF
mov CKCON0, #0Ch ; Timer 0/1 clock is system clock (for DShot300/600)
; Setup variables for DShot300IF MCU_48MHZ == 1 mov DShot_Timer_Preset, #0 ; Load DShot sync timer preset (for DShot300)ELSE mov DShot_Timer_Preset, #128ENDIF
mov DShot_Pwm_Thr, #20 ; Load DShot qualification pwm threshold (for DShot300) mov DShot_Frame_Length_Thr, #80 ; Load DShot frame length criteria
Set_DShot_Tlm_Bitrate 375000 ; = 5/4 * 300000
; Test whether signal is DShot300 mov Rcp_Outside_Range_Cnt, #10 ; Set out of range counter call wait100ms ; Wait for new RC pulse mov DShot_Pwm_Thr, #16 ; Load DShot regular pwm threshold clr C mov A, Rcp_Outside_Range_Cnt ; Check if pulses were accepted subb A, #10 mov Dshot_Cmd, #0 mov Dshot_Cmd_Cnt, #0 jc arming_begin
; Setup variables for DShot600IF MCU_48MHZ == 1 mov DShot_Timer_Preset, #128 ; Load DShot sync timer preset (for DShot600)ELSE mov DShot_Timer_Preset, #192ENDIF
mov DShot_Pwm_Thr, #10 ; Load DShot qualification pwm threshold (for DShot600) mov DShot_Frame_Length_Thr, #40 ; Load DShot frame length criteria
Set_DShot_Tlm_Bitrate 750000 ; = 5/4 * 600000
; Test whether signal is DShot600 mov Rcp_Outside_Range_Cnt, #10 ; Set out of range counter call wait100ms ; Wait for new RC pulse mov DShot_Pwm_Thr, #8 ; Load DShot regular pwm threshold clr C mov A, Rcp_Outside_Range_Cnt ; Check if pulses were accepted subb A, #10 mov Dshot_Cmd, #0 mov Dshot_Cmd_Cnt, #0 jc arming_begin
ajmp init_no_signal
arming_begin: ; Beep arm sequence start signal clr IE_EA ; Disable all interrupts call beep_f1 ; Signal that RC pulse is ready call beep_f1 call beep_f1 setb IE_EA ; Enable all interrupts call wait200ms
; Arming sequence startarming_wait: call wait100ms ; Wait for new throttle value
mov A, New_Rcp ; Load new RC pulse value jnz arming_wait ; Start over if not below stop
; Beep arm sequence end signal clr IE_EA ; Disable all interrupts call beep_f4 ; Signal that RC pulse is ready call beep_f4 call beep_f4 setb IE_EA ; Enable all interrupts call wait200ms
; Armed and waiting for power onwait_for_power_on: clr A mov Comm_Period4x_L, A ; Reset commutation period for telemetry mov Comm_Period4x_H, A mov Power_On_Wait_Cnt_L, A ; Clear wait counter mov Power_On_Wait_Cnt_H, Await_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 3 sec)
inc Power_On_Wait_Cnt_H ; Increment high wait counter mov Temp1, #Pgm_Beacon_Delay mov A, @Temp1 mov Temp1, #25 ; Approximately 1 min dec A jz beep_delay_set
mov Temp1, #50 ; Approximately 2 min dec A jz beep_delay_set
mov Temp1, #125 ; Approximately 5 min dec A jz beep_delay_set
mov Temp1, #250 ; Approximately 10 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?
call switch_power_off ; Switch power off in case braking is set call wait1ms dec Power_On_Wait_Cnt_H ; Decrement high wait counter mov Power_On_Wait_Cnt_L, #0 ; Set low wait counter mov Temp1, #Pgm_Beacon_Strength mov Beep_Strength, @Temp1 clr IE_EA ; Disable all interrupts call beep_f4 ; Signal that there is no signal setb IE_EA ; Enable all interrupts 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 wait10ms mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value jnz wait_for_power_on_not_missing ; If it is not zero - proceed
ajmp init_no_signal ; If pulses missing - go back to detect input signal
wait_for_power_on_not_missing: mov A, New_Rcp ; Load new RC pulse value jnz wait_for_power_on_nonzero ; Higher than stop, Yes - proceed
mov A, Dshot_Cmd jnz check_dshot_cmd ; Check DShot command (if not zero)
sjmp wait_for_power_on_loop ; If not DShot command - start over
wait_for_power_on_nonzero: lcall wait100ms ; Wait to see if start pulse was only a glitch mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value jnz ($+5) ; If it is not zero - proceed ajmp init_no_signal ; If it is zero (pulses missing) - go back to detect input signal
mov Dshot_Cmd, #0 mov Dshot_Cmd_Cnt, #0 jmp init_start
check_dshot_cmd: mov Temp1, Dshot_Cmd cjne Temp1, #1, dshot_beep_2
clr IE_EA call switch_power_off ; Switch power off in case braking is set mov Temp1, #Pgm_Beacon_Strength mov Beep_Strength, @Temp1 call beep_f1 mov Temp1, #Pgm_Beep_Strength mov Beep_Strength, @Temp1 setb IE_EA call wait100ms ajmp clear_dshot_cmd
dshot_beep_2: cjne Temp1, #2, dshot_beep_3
clr IE_EA call switch_power_off ; Switch power off in case braking is set mov Temp1, #Pgm_Beacon_Strength mov Beep_Strength, @Temp1 call beep_f2 mov Temp1, #Pgm_Beep_Strength mov Beep_Strength, @Temp1 setb IE_EA call wait100ms ajmp clear_dshot_cmd
dshot_beep_3: cjne Temp1, #3, dshot_beep_4
clr IE_EA call switch_power_off ; Switch power off in case braking is set mov Temp1, #Pgm_Beacon_Strength mov Beep_Strength, @Temp1 call beep_f3 mov Temp1, #Pgm_Beep_Strength mov Beep_Strength, @Temp1 setb IE_EA call wait100ms ajmp clear_dshot_cmd
dshot_beep_4: cjne Temp1, #4, dshot_beep_5
clr IE_EA call switch_power_off ; Switch power off in case braking is set mov Temp1, #Pgm_Beacon_Strength mov Beep_Strength, @Temp1 call beep_f4 mov Temp1, #Pgm_Beep_Strength mov Beep_Strength, @Temp1 setb IE_EA call wait100ms sjmp clear_dshot_cmd
dshot_beep_5: cjne Temp1, #5, dshot_direction_1
clr IE_EA call switch_power_off ; Switch power off in case braking is set mov Temp1, #Pgm_Beacon_Strength mov Beep_Strength, @Temp1 call beep_f4 mov Temp1, #Pgm_Beep_Strength mov Beep_Strength, @Temp1 setb IE_EA call wait100ms sjmp clear_dshot_cmd
dshot_direction_1: cjne Temp1, #7, dshot_direction_2
clr C mov A, Dshot_Cmd_Cnt subb A, #6 ; Needs to receive it 6 times in a row jc dont_clear_dshot_cmd
mov A, #1 jnb Flags3.PGM_BIDIR, ($+5) mov A, #3 mov Temp1, #Pgm_Direction mov @Temp1, A clr Flags3.PGM_DIR_REV clr Flags3.PGM_BIDIR_REV sjmp clear_dshot_cmd
dshot_direction_2: cjne Temp1, #8, dshot_direction_bidir_off
clr C mov A, Dshot_Cmd_Cnt subb A, #6 ; Needs to receive it 6 times in a row jc dont_clear_dshot_cmd
mov A, #2 jnb Flags3.PGM_BIDIR, ($+5) mov A, #4 mov Temp1, #Pgm_Direction mov @Temp1, A setb Flags3.PGM_DIR_REV setb Flags3.PGM_BIDIR_REV sjmp clear_dshot_cmd
dshot_direction_bidir_off: cjne Temp1, #9, dshot_direction_bidir_on
clr C mov A, Dshot_Cmd_Cnt subb A, #6 ; Needs to receive it 6 times in a row jc dont_clear_dshot_cmd
jnb Flags3.PGM_BIDIR, clear_dshot_cmd
clr C mov Temp1, #Pgm_Direction mov A, @Temp1 subb A, #2 mov @Temp1, A clr Flags3.PGM_BIDIR sjmp clear_dshot_cmd
dshot_direction_bidir_on: cjne Temp1, #10, dshot_direction_normal
clr C mov A, Dshot_Cmd_Cnt subb A, #6 ; Needs to receive it 6 times in a row jc dont_clear_dshot_cmd
jb Flags3.PGM_BIDIR, clear_dshot_cmd
mov Temp1, #Pgm_Direction mov A, @Temp1 add A, #2 mov @Temp1, A setb Flags3.PGM_BIDIR
clear_dshot_cmd: mov Dshot_Cmd, #0 mov Dshot_Cmd_Cnt, #0
dont_clear_dshot_cmd: ajmp wait_for_power_on_not_missing
dshot_direction_normal: cjne Temp1, #20, dshot_direction_reverse
clr C mov A, Dshot_Cmd_Cnt subb A, #6 ; Needs to receive it 6 times in a row jc dont_clear_dshot_cmd
clr IE_EA ; DPTR used in interrupts mov DPTR, #Eep_Pgm_Direction ; Read from flash mov A, #0 movc A, @A+DPTR setb IE_EA mov Temp1, #Pgm_Direction mov @Temp1, A rrc A ; Lsb to carry clr Flags3.PGM_DIR_REV clr Flags3.PGM_BIDIR_REV jc ($+4) setb Flags3.PGM_DIR_REV jc ($+4) setb Flags3.PGM_BIDIR_REV sjmp clear_dshot_cmd
dshot_direction_reverse: ; Temporary reverse cjne Temp1, #21, dshot_save_settings
clr C mov A, Dshot_Cmd_Cnt subb A, #6 ; Needs to receive it 6 times in a row jc dont_clear_dshot_cmd
clr IE_EA ; DPTR used in interrupts mov DPTR, #Eep_Pgm_Direction ; Read from flash mov A, #0 movc A, @A+DPTR setb IE_EA mov Temp1, A cjne Temp1, #1, ($+5) mov A, #2 cjne Temp1, #2, ($+5) mov A, #1 cjne Temp1, #3, ($+5) mov A, #4 cjne Temp1, #4, ($+5) mov A, #3 mov Temp1, #Pgm_Direction mov @Temp1, A rrc A ; Lsb to carry clr Flags3.PGM_DIR_REV clr Flags3.PGM_BIDIR_REV jc ($+4) setb Flags3.PGM_DIR_REV jc ($+4) setb Flags3.PGM_BIDIR_REV sjmp clear_dshot_cmd
dshot_save_settings: cjne Temp1, #12, clear_dshot_cmd
clr C mov A, Dshot_Cmd_Cnt subb A, #6 ; Needs to receive it 6 times in a row jc dont_clear_dshot_cmd
mov Flash_Key_1, #0A5h ; Initialize flash keys to valid values mov Flash_Key_2, #0F1h
call erase_and_store_all_in_eeprom
mov Flash_Key_1, #0 ; Initialize flash keys to invalid values mov Flash_Key_2, #0
setb IE_EA
jmp clear_dshot_cmd
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Start entry point;;**** **** **** **** **** **** **** **** **** **** **** **** ****init_start: clr IE_EA call switch_power_off clr A setb IE_EA clr A mov Adc_Conversion_Cnt, A mov Flags0, A ; Clear flags0 mov Flags1, A ; Clear flags1 mov Demag_Detected_Metric, A ; Clear demag metric ;**** **** **** **** **** ; Motor start beginning ;**** **** **** **** **** mov Adc_Conversion_Cnt, #8 ; Make sure a temp reading is done call wait1ms Start_Adc ; Start adc conversionread_initial_temp: jnb ADC0CN0_ADINT, read_initial_temp Read_Adc_Result ; Read initial temperature mov A, Temp2 jnz ($+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, #8 ; Make sure a temp reading is done next time
; Set up start operating conditions clr IE_EA ; Disable interrupts call set_startup_pwm mov Pwm_Limit, Pwm_Limit_Beg mov Pwm_Limit_By_Rpm, Pwm_Limit_Beg setb IE_EA
; Begin startup sequenceIF MCU_48MHZ == 1 Set_MCU_Clk_48MHz
; Scale DShot criteria for 48MHz clr C mov A, DShot_Frame_Length_Thr ; Scale frame length criteria rlc A mov DShot_Frame_Length_Thr, A
clr C mov A, DShot_Pwm_Thr ; Scale pulse width criteria rlc A mov DShot_Pwm_Thr, AENDIF jnb Flags3.PGM_BIDIR, init_start_bidir_done ; Check if bidirectional operation
clr Flags3.PGM_DIR_REV ; Set spinning direction. Default fwd jnb Flags2.RCP_DIR_REV, ($+5) ; Check force direction setb Flags3.PGM_DIR_REV ; Set spinning direction
init_start_bidir_done: setb Flags1.STARTUP_PHASE ; Set startup phase flag mov Startup_Cnt, #0 ; Reset counter call comm5comm6 ; Initialize commutation call comm6comm1 call initialize_timing ; Initialize timing call calc_next_comm_timing ; Set virtual commutation point call initialize_timing ; Initialize timing call calc_next_comm_timing call initialize_timing ; Initialize timing
;**** **** **** **** **** **** **** **** **** **** **** **** ****;; Run entry point;;**** **** **** **** **** **** **** **** **** **** **** **** ****
; Run 1 = B(p-on) + C(n-pwm) - comparator A evaluated; Out_cA changes from low to highrun1: call wait_for_comp_out_high ; Wait for high; setup_comm_wait ; Setup wait time from zero cross to commutation; evaluate_comparator_integrity ; Check whether comparator reading has been normal call wait_for_comm ; Wait from zero cross to commutation call comm1comm2 ; Commutate call calc_next_comm_timing ; Calculate next timing and wait advance timing wait; wait_advance_timing ; Wait advance timing and start zero cross wait; calc_new_wait_times; wait_before_zc_scan ; Wait zero cross wait and start zero cross timeout
; Run 2 = A(p-on) + C(n-pwm) - comparator B evaluated; Out_cB changes from high to lowrun2: call wait_for_comp_out_low; setup_comm_wait; evaluate_comparator_integrity jb Flags1.HIGH_RPM, ($+6) ; Skip if high rpm lcall set_pwm_limit_low_rpm jnb Flags1.HIGH_RPM, ($+6) ; Do if high rpm lcall set_pwm_limit_high_rpm call wait_for_comm call comm2comm3 call calc_next_comm_timing; wait_advance_timing; calc_new_wait_times; wait_before_zc_scan
; Run 3 = A(p-on) + B(n-pwm) - comparator C evaluated; Out_cC changes from low to highrun3: call wait_for_comp_out_high; setup_comm_wait; evaluate_comparator_integrity call wait_for_comm call comm3comm4 call calc_next_comm_timing; wait_advance_timing; calc_new_wait_times; wait_before_zc_scan
; Run 4 = C(p-on) + B(n-pwm) - comparator A evaluated; Out_cA changes from high to lowrun4: call wait_for_comp_out_low; setup_comm_wait; evaluate_comparator_integrity call wait_for_comm call comm4comm5 call calc_next_comm_timing; wait_advance_timing; calc_new_wait_times; wait_before_zc_scan
; Run 5 = C(p-on) + A(n-pwm) - comparator B evaluated; Out_cB changes from low to highrun5: call wait_for_comp_out_high; setup_comm_wait; evaluate_comparator_integrity call wait_for_comm call comm5comm6 call calc_next_comm_timing; wait_advance_timing; calc_new_wait_times; wait_before_zc_scan
; Run 6 = B(p-on) + A(n-pwm) - comparator C evaluated; Out_cC changes from high to lowrun6: Start_Adc ; Start adc conversion call wait_for_comp_out_low; setup_comm_wait; evaluate_comparator_integrity call wait_for_comm call comm6comm1 call check_temp_voltage_and_limit_power call calc_next_comm_timing; wait_advance_timing; calc_new_wait_times; wait_before_zc_scan
; Check if it is direct startup jnb Flags1.STARTUP_PHASE, normal_run_checks
; Set spoolup power variables mov Pwm_Limit, Pwm_Limit_Beg ; Set initial max power ; Check startup counter mov Temp2, #24 ; Set nominal startup parameters mov Temp3, #12 clr C mov A, Startup_Cnt ; Load counter subb A, Temp2 ; Is counter above requirement? jc direct_start_check_rcp ; No - proceed
clr Flags1.STARTUP_PHASE ; Clear startup phase flag setb Flags1.INITIAL_RUN_PHASE ; Set initial run phase flag mov Initial_Run_Rot_Cntd, Temp3 ; Set initial run rotation count mov Pwm_Limit, Pwm_Limit_Beg mov Pwm_Limit_By_Rpm, Pwm_Limit_Beg sjmp normal_run_checks
direct_start_check_rcp: mov A, New_Rcp ; Load new pulse value jnz run1 ; If pulse is above stop value - Continue to run
ajmp run_to_wait_for_power_on
normal_run_checks: ; Check if it is initial run phase jnb Flags1.INITIAL_RUN_PHASE, initial_run_phase_done ; If not initial run phase - branch jb Flags1.DIR_CHANGE_BRAKE, initial_run_phase_done ; If a direction change - branch
; Decrement startup rotaton count mov A, Initial_Run_Rot_Cntd dec A ; Check number of initial rotations jnz initial_run_check_startup_rot ; Branch if counter is not zero
clr Flags1.INITIAL_RUN_PHASE ; Clear initial run phase flag setb Flags1.MOTOR_STARTED ; Set motor started ajmp run1 ; Continue with normal run
initial_run_check_startup_rot: mov Initial_Run_Rot_Cntd, A ; Not zero - store counter
jb Flags3.PGM_BIDIR, initial_run_continue_run ; Check if bidirectional operation
mov A, New_Rcp ; Load new pulse value jz run_to_wait_for_power_on ; Check if pulse is below stop value
initial_run_continue_run: ajmp run1 ; Continue to run
initial_run_phase_done: ; Reset stall count mov Stall_Cnt, #0 ; Exit run loop after a given time jb Flags3.PGM_BIDIR, run6_check_timeout ; Check if bidirectional operation
mov Temp1, #250 mov Temp2, #Pgm_Brake_On_Stop mov A, @Temp2 jz ($+4)
mov Temp1, #3 ; About 100ms before stopping when brake is set
clr C mov A, Rcp_Stop_Cnt ; Load stop RC pulse counter low byte value subb A, Temp1 ; Is number of stop RC pulses above limit? jnc run_to_wait_for_power_on ; Yes, go back to wait for poweron
run6_check_timeout: mov A, Rcp_Timeout_Cntd ; 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_dir: jnb Flags3.PGM_BIDIR, run6_check_speed ; Check if bidirectional operation
jb Flags3.PGM_DIR_REV, run6_check_dir_rev ; Check if actual rotation direction jb Flags2.RCP_DIR_REV, run6_check_dir_change ; Matches force direction sjmp run6_check_speed
run6_check_dir_rev: jnb Flags2.RCP_DIR_REV, run6_check_dir_change sjmp run6_check_speed
run6_check_dir_change: jb Flags1.DIR_CHANGE_BRAKE, run6_check_speed
setb Flags1.DIR_CHANGE_BRAKE ; Set brake flag mov Pwm_Limit, Pwm_Limit_Beg ; Set max power while braking ajmp run4 ; Go back to run 4, thereby changing force direction
run6_check_speed: mov Temp1, #0F0h ; Default minimum speed jnb Flags1.DIR_CHANGE_BRAKE, run6_brake_done; Is it a direction change?
mov Pwm_Limit, Pwm_Limit_Beg ; Set max power while braking mov Temp1, #20h ; Bidirectional braking termination speed
run6_brake_done: clr C mov A, Comm_Period4x_H ; Is Comm_Period4x more than 32ms (~1220 eRPM)? subb A, Temp1 jnc ($+5) ; Yes - stop or turn direction ajmp run1 ; No - go back to run 1
jnb Flags1.DIR_CHANGE_BRAKE, run_to_wait_for_power_on ; If it is not a direction change - stop
clr Flags1.DIR_CHANGE_BRAKE ; Clear brake flag clr Flags3.PGM_DIR_REV ; Set spinning direction. Default fwd jnb Flags2.RCP_DIR_REV, ($+5) ; Check force direction setb Flags3.PGM_DIR_REV ; Set spinning direction setb Flags1.INITIAL_RUN_PHASE mov Initial_Run_Rot_Cntd, #18 mov Pwm_Limit, Pwm_Limit_Beg ; Set initial max power ajmp run1 ; Go back to run 1
run_to_wait_for_power_on_fail: inc Stall_Cnt ; Increment stall count mov A, New_Rcp ; Check if RCP is zero, then it is a normal stop jnz run_to_wait_for_power_on_stall_done
run_to_wait_for_power_on: mov Stall_Cnt, #0
run_to_wait_for_power_on_stall_done: clr IE_EA call switch_power_off mov Flags0, #0 ; Clear flags0 mov Flags1, #0 ; Clear flags1IF MCU_48MHZ == 1 Set_MCU_Clk_24MHz
; Scale DShot criteria for 24MHz clr C mov A, DShot_Frame_Length_Thr ; Scale frame length criteria rrc A mov DShot_Frame_Length_Thr, A
clr C mov A, DShot_Pwm_Thr ; Scale pulse width criteria rrc A mov DShot_Pwm_Thr, AENDIF setb IE_EA call wait100ms ; Wait for pwm to be stopped call switch_power_off mov Temp1, #Pgm_Brake_On_Stop mov A, @Temp1 jz run_to_wait_for_power_on_brake_done
AcomFET_on BcomFET_on CcomFET_on
run_to_wait_for_power_on_brake_done: clr C mov A, Stall_Cnt subb A, #4 jc jmp_wait_for_power_on ljmp init_no_signal
jmp_wait_for_power_on: ljmp wait_for_power_on ; Go back to wait for power on
;**** **** **** **** **** **** **** **** **** **** **** **** ****
$include (BLHeliPgm.inc) ; Include source code for programming the ESC$include (BLHeliBootLoad.inc) ; Include source code for bootloader
;**** **** **** **** **** **** **** **** **** **** **** **** ****
CSEG AT 19FDhreset:ljmp pgm_start
END
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