diff --git a/BLHeliPgm.inc b/BLHeliPgm.inc deleted file mode 100644 index e23c073..0000000 --- a/BLHeliPgm.inc +++ /dev/null @@ -1,244 +0,0 @@ -;**** **** **** **** **** -; -; 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 . -; -;**** **** **** **** **** -; -; BLHeliTxPgm SiLabs -; -; EEPROM is not available in SiLabs MCUs -; Therefore a segment of the flash is used as "EEPROM" -; -;**** **** **** **** **** - - -;**** **** **** **** **** **** **** **** **** **** **** **** **** -; -; Read all eeprom parameters routine -; -;**** **** **** **** **** **** **** **** **** **** **** **** **** -read_all_eeprom_parameters: - ; Check initialized signature - mov DPTR, #Eep_Initialized_L - mov Temp1, #Bit_Access - call read_eeprom_byte - mov A, Bit_Access - cjne A, #055h, read_eeprom_store_defaults - inc DPTR ; Now Eep_Initialized_H - call read_eeprom_byte - mov A, Bit_Access - cjne A, #0AAh, read_eeprom_store_defaults - jmp read_eeprom_read - -read_eeprom_store_defaults: - mov Flash_Key_1, #0A5h - mov Flash_Key_2, #0F1h - call set_default_parameters - call erase_and_store_all_in_eeprom - mov Flash_Key_1, #0 - mov Flash_Key_2, #0 - jmp read_eeprom_exit - -read_eeprom_read: - ; Read eeprom - mov DPTR, #_Eep_Pgm_Gov_P_Gain - mov Temp1, #_Pgm_Gov_P_Gain - mov Temp4, #10 ; 10 parameters -read_eeprom_block1: - call read_eeprom_byte - inc DPTR - inc Temp1 - djnz Temp4, read_eeprom_block1 - - mov DPTR, #_Eep_Enable_TX_Program - mov Temp1, #_Pgm_Enable_TX_Program - mov Temp4, #26 ; 26 parameters -read_eeprom_block2: - call read_eeprom_byte - inc DPTR - inc Temp1 - djnz Temp4, read_eeprom_block2 - - mov DPTR, #Eep_Dummy ; Set pointer to uncritical area - -read_eeprom_exit: - ret - - -;**** **** **** **** **** **** **** **** **** **** **** **** **** -; -; Erase flash and store all parameter value in EEPROM routine -; -;**** **** **** **** **** **** **** **** **** **** **** **** **** -erase_and_store_all_in_eeprom: - clr IE_EA ; Disable interrupts - call read_tags - call erase_flash ; Erase flash - - mov DPTR, #Eep_FW_Main_Revision ; Store firmware main revision - mov A, #EEPROM_FW_MAIN_REVISION - call write_eeprom_byte_from_acc - - inc DPTR ; Now firmware sub revision - mov A, #EEPROM_FW_SUB_REVISION - call write_eeprom_byte_from_acc - - inc DPTR ; Now layout revision - mov A, #EEPROM_LAYOUT_REVISION - call write_eeprom_byte_from_acc - - ; Write eeprom - mov DPTR, #_Eep_Pgm_Gov_P_Gain - mov Temp1, #_Pgm_Gov_P_Gain - mov Temp4, #10 ; 10 parameters -write_eeprom_block1: - call write_eeprom_byte - inc DPTR - inc Temp1 - djnz Temp4, write_eeprom_block1 - - mov DPTR, #_Eep_Enable_TX_Program - mov Temp1, #_Pgm_Enable_TX_Program - mov Temp4, #26 ; 26 parameters -write_eeprom_block2: - call write_eeprom_byte - inc DPTR - inc Temp1 - djnz Temp4, write_eeprom_block2 - - call write_tags - call write_eeprom_signature - mov DPTR, #Eep_Dummy ; Set pointer to uncritical area - ret - - -;**** **** **** **** **** **** **** **** **** **** **** **** **** -; -; Read eeprom byte routine -; -; Gives data in A and in address given by Temp1. Assumes address in DPTR -; Also assumes address high byte to be zero -; -;**** **** **** **** **** **** **** **** **** **** **** **** **** -read_eeprom_byte: - clr A - movc A, @A+DPTR ; Read from flash - mov @Temp1, A - ret - - -;**** **** **** **** **** **** **** **** **** **** **** **** **** -; -; Write eeprom byte routine -; -; Assumes data in address given by Temp1, or in accumulator. Assumes address in DPTR -; Also assumes address high byte to be zero -; -;**** **** **** **** **** **** **** **** **** **** **** **** **** -write_eeprom_byte: - mov A, @Temp1 -write_eeprom_byte_from_acc: - orl PSCTL, #01h ; Set the PSWE bit - anl PSCTL, #0FDh ; Clear the PSEE bit - mov Temp8, A - clr C - mov A, DPH ; Check that address is not in bootloader area - subb A, #1Ch - jc ($+3) - - ret - - mov A, Temp8 - mov FLKEY, Flash_Key_1 ; First key code - mov FLKEY, Flash_Key_2 ; Second key code - movx @DPTR, A ; Write to flash - anl PSCTL, #0FEh ; Clear the PSWE bit - ret - - -;**** **** **** **** **** **** **** **** **** **** **** **** **** -; -; Erase flash routine (erases the flash segment used for "eeprom" variables) -; -;**** **** **** **** **** **** **** **** **** **** **** **** **** -erase_flash: - orl PSCTL, #02h ; Set the PSEE bit - orl PSCTL, #01h ; Set the PSWE bit - mov FLKEY, Flash_Key_1 ; First key code - mov FLKEY, Flash_Key_2 ; Second key code - mov DPTR, #Eep_Initialized_L - movx @DPTR, A - anl PSCTL, #0FCh ; Clear the PSEE and PSWE bits - ret - - -;**** **** **** **** **** **** **** **** **** **** **** **** **** -; -; Write eeprom signature routine -; -;**** **** **** **** **** **** **** **** **** **** **** **** **** -write_eeprom_signature: - mov DPTR, #Eep_Initialized_L - mov A, #055h - call write_eeprom_byte_from_acc - - mov DPTR, #Eep_Initialized_H - mov A, #0AAh - call write_eeprom_byte_from_acc - ret - - -;**** **** **** **** **** **** **** **** **** **** **** **** **** -; -; Read all tags from flash and store in temporary storage -; -;**** **** **** **** **** **** **** **** **** **** **** **** **** -read_tags: - mov Temp3, #48 ; Number of tags - mov Temp2, #Temp_Storage ; Set RAM address - mov Temp1, #Bit_Access - mov DPTR, #Eep_ESC_Layout ; Set flash address -read_tag: - call read_eeprom_byte - mov A, Bit_Access - mov @Temp2, A ; Write to RAM - inc Temp2 - inc DPTR - djnz Temp3, read_tag - ret - - -;**** **** **** **** **** **** **** **** **** **** **** **** **** -; -; Write all tags from temporary storage and store in flash -; -;**** **** **** **** **** **** **** **** **** **** **** **** **** -write_tags: - mov Temp3, #48 ; Number of tags - mov Temp2, #Temp_Storage ; Set RAM address - mov DPTR, #Eep_ESC_Layout ; Set flash address -write_tag: - mov A, @Temp2 ; Read from RAM - call write_eeprom_byte_from_acc - inc Temp2 - inc DPTR - djnz Temp3, write_tag - ret diff --git a/Bluejay.asm b/Bluejay.asm index db87790..afd6266 100644 --- a/Bluejay.asm +++ b/Bluejay.asm @@ -307,7 +307,8 @@ ISEG AT 0D0h Temp_Storage: DS 48 ; Temporary storage ;**** **** **** **** **** -; "EEPROM" code segments +; EEPROM code segments +; A segment of the flash is used as "EEPROM", which is not available in SiLabs MCUs CSEG AT 1A00h EEPROM_FW_MAIN_REVISION EQU 0 ; Main revision of the firmware EEPROM_FW_SUB_REVISION EQU 5 ; Sub revision of the firmware @@ -3092,6 +3093,230 @@ dshot_gcr_encode_F_01111: +;**** **** **** **** **** **** **** **** **** **** **** **** **** +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; ESC programming (EEPROM emulation) +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +;**** **** **** **** **** **** **** **** **** **** **** **** **** + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Read all eeprom parameters routine +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +read_all_eeprom_parameters: + ; Check initialized signature + mov DPTR, #Eep_Initialized_L + mov Temp1, #Bit_Access + call read_eeprom_byte + mov A, Bit_Access + cjne A, #055h, read_eeprom_store_defaults + inc DPTR ; Now Eep_Initialized_H + call read_eeprom_byte + mov A, Bit_Access + cjne A, #0AAh, read_eeprom_store_defaults + jmp read_eeprom_read + +read_eeprom_store_defaults: + mov Flash_Key_1, #0A5h + mov Flash_Key_2, #0F1h + call set_default_parameters + call erase_and_store_all_in_eeprom + mov Flash_Key_1, #0 + mov Flash_Key_2, #0 + jmp read_eeprom_exit + +read_eeprom_read: + ; Read eeprom + mov DPTR, #_Eep_Pgm_Gov_P_Gain + mov Temp1, #_Pgm_Gov_P_Gain + mov Temp4, #10 ; 10 parameters +read_eeprom_block1: + call read_eeprom_byte + inc DPTR + inc Temp1 + djnz Temp4, read_eeprom_block1 + + mov DPTR, #_Eep_Enable_TX_Program + mov Temp1, #_Pgm_Enable_TX_Program + mov Temp4, #26 ; 26 parameters +read_eeprom_block2: + call read_eeprom_byte + inc DPTR + inc Temp1 + djnz Temp4, read_eeprom_block2 + + mov DPTR, #Eep_Dummy ; Set pointer to uncritical area + +read_eeprom_exit: + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Erase flash and store all parameter value in EEPROM routine +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +erase_and_store_all_in_eeprom: + clr IE_EA ; Disable interrupts + call read_tags + call erase_flash ; Erase flash + + mov DPTR, #Eep_FW_Main_Revision ; Store firmware main revision + mov A, #EEPROM_FW_MAIN_REVISION + call write_eeprom_byte_from_acc + + inc DPTR ; Now firmware sub revision + mov A, #EEPROM_FW_SUB_REVISION + call write_eeprom_byte_from_acc + + inc DPTR ; Now layout revision + mov A, #EEPROM_LAYOUT_REVISION + call write_eeprom_byte_from_acc + + ; Write eeprom + mov DPTR, #_Eep_Pgm_Gov_P_Gain + mov Temp1, #_Pgm_Gov_P_Gain + mov Temp4, #10 ; 10 parameters +write_eeprom_block1: + call write_eeprom_byte + inc DPTR + inc Temp1 + djnz Temp4, write_eeprom_block1 + + mov DPTR, #_Eep_Enable_TX_Program + mov Temp1, #_Pgm_Enable_TX_Program + mov Temp4, #26 ; 26 parameters +write_eeprom_block2: + call write_eeprom_byte + inc DPTR + inc Temp1 + djnz Temp4, write_eeprom_block2 + + call write_tags + call write_eeprom_signature + mov DPTR, #Eep_Dummy ; Set pointer to uncritical area + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Read eeprom byte routine +; +; Gives data in A and in address given by Temp1. Assumes address in DPTR +; Also assumes address high byte to be zero +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +read_eeprom_byte: + clr A + movc A, @A+DPTR ; Read from flash + mov @Temp1, A + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Write eeprom byte routine +; +; Assumes data in address given by Temp1, or in accumulator. Assumes address in DPTR +; Also assumes address high byte to be zero +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +write_eeprom_byte: + mov A, @Temp1 +write_eeprom_byte_from_acc: + orl PSCTL, #01h ; Set the PSWE bit + anl PSCTL, #0FDh ; Clear the PSEE bit + mov Temp8, A + clr C + mov A, DPH ; Check that address is not in bootloader area + subb A, #1Ch + jc ($+3) + + ret + + mov A, Temp8 + mov FLKEY, Flash_Key_1 ; First key code + mov FLKEY, Flash_Key_2 ; Second key code + movx @DPTR, A ; Write to flash + anl PSCTL, #0FEh ; Clear the PSWE bit + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Erase flash routine (erases the flash segment used for "eeprom" variables) +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +erase_flash: + orl PSCTL, #02h ; Set the PSEE bit + orl PSCTL, #01h ; Set the PSWE bit + mov FLKEY, Flash_Key_1 ; First key code + mov FLKEY, Flash_Key_2 ; Second key code + mov DPTR, #Eep_Initialized_L + movx @DPTR, A + anl PSCTL, #0FCh ; Clear the PSEE and PSWE bits + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Write eeprom signature routine +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +write_eeprom_signature: + mov DPTR, #Eep_Initialized_L + mov A, #055h + call write_eeprom_byte_from_acc + + mov DPTR, #Eep_Initialized_H + mov A, #0AAh + call write_eeprom_byte_from_acc + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Read all tags from flash and store in temporary storage +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +read_tags: + mov Temp3, #48 ; Number of tags + mov Temp2, #Temp_Storage ; Set RAM address + mov Temp1, #Bit_Access + mov DPTR, #Eep_ESC_Layout ; Set flash address +read_tag: + call read_eeprom_byte + mov A, Bit_Access + mov @Temp2, A ; Write to RAM + inc Temp2 + inc DPTR + djnz Temp3, read_tag + ret + + +;**** **** **** **** **** **** **** **** **** **** **** **** **** +; +; Write all tags from temporary storage and store in flash +; +;**** **** **** **** **** **** **** **** **** **** **** **** **** +write_tags: + mov Temp3, #48 ; Number of tags + mov Temp2, #Temp_Storage ; Set RAM address + mov DPTR, #Eep_ESC_Layout ; Set flash address +write_tag: + mov A, @Temp2 ; Read from RAM + call write_eeprom_byte_from_acc + inc Temp2 + inc DPTR + djnz Temp3, write_tag + ret + + + ;**** **** **** **** **** **** **** **** **** **** **** **** **** ;**** **** **** **** **** **** **** **** **** **** **** **** **** ; @@ -3446,7 +3671,7 @@ ENDIF mov DShot_Cmd_Cnt, #0 jz arming_begin - ajmp init_no_signal + ljmp init_no_signal arming_begin: clr IE_EA @@ -3516,7 +3741,7 @@ wait_for_power_telemetry_done: mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value jnz wait_for_power_on_not_missing ; If it is not zero - proceed - jmp init_no_signal ; If pulses missing - go back to detect input signal + ljmp init_no_signal ; If pulses missing - go back to detect input signal wait_for_power_on_not_missing: jnb Flag_Rcp_Stop, wait_for_power_on_nonzero ; Higher than stop, Yes - proceed @@ -3535,7 +3760,8 @@ wait_for_power_on_nonzero: mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value jnz init_start ; If it is not zero - proceed - jmp init_no_signal ; If it is zero (pulses missing) - go back to detect input signal + + ljmp init_no_signal ; If it is zero (pulses missing) - go back to detect input signal ;**** **** **** **** **** **** **** **** **** **** **** **** **** @@ -3877,7 +4103,6 @@ run_to_wait_for_power_on_brake_done: ;**** **** **** **** **** **** **** **** **** **** **** **** **** -$include (BLHeliPgm.inc) ; Include source code for programming the ESC $include (BLHeliBootLoad.inc) ; Include source code for bootloader ;**** **** **** **** **** **** **** **** **** **** **** **** **** diff --git a/Makefile b/Makefile index 17626d8..a5e52e5 100644 --- a/Makefile +++ b/Makefile @@ -38,7 +38,7 @@ LX51_FLAGS = # set up sources ASM_SRC = Bluejay.asm -ASM_INC = $(TARGETS:%=targets/%.inc) Common.inc BLHeliBootLoad.inc BLHeliPgm.inc Silabs/SI_EFM8BB1_Defs.inc Silabs/SI_EFM8BB2_Defs.inc +ASM_INC = $(TARGETS:%=targets/%.inc) Common.inc BLHeliBootLoad.inc Silabs/SI_EFM8BB1_Defs.inc Silabs/SI_EFM8BB2_Defs.inc # check that wine/simplicity studio is available EXECUTABLES = $(WINE_BIN) $(AX51_BIN) $(LX51_BIN) $(OX51_BIN)