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refactor: Map bitflags to specific bits

main
Mathias Rasmussen 4 years ago
parent
4478d0f811
commit
d9ba2fc883
2 changed files with 158 additions and 171 deletions
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  1. 323
      Bluejay.asm
  2. 6
      Common.inc

323
Bluejay.asm
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@ -152,44 +152,33 @@ 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_start
T3_PENDING EQU 0 ; Timer 3 pending flag
DEMAG_DETECTED EQU 1 ; Set when excessive demag time is detected
COMP_TIMED_OUT EQU 2 ; Set when comparator reading timed out
TLM_ACTIVE EQU 3 ; DShot telemetry data is currently being transmitted
PACKET_PENDING EQU 4 ; DShot telemetry data packet is ready to be sent
; EQU 5
; EQU 6
; EQU 7
Flag_T3_PENDING BIT Flags0.0 ; Timer 3 pending flag
Flag_DEMAG_DETECTED BIT Flags0.1 ; Set when excessive demag time is detected
Flag_COMP_TIMED_OUT BIT Flags0.2 ; Set when comparator reading timed out
Flag_TLM_ACTIVE BIT Flags0.3 ; DShot telemetry data is currently being transmitted
Flag_PACKET_PENDING BIT Flags0.4 ; DShot telemetry data packet is ready to be sent
Flags1: DS 1 ; State flags. Reset upon init_start
STARTUP_PHASE EQU 0 ; Set when in startup phase
INITIAL_RUN_PHASE EQU 1 ; Set when in initial run phase, before synchronized run is achieved
MOTOR_STARTED EQU 2 ; Set when motor is started
DIR_CHANGE_BRAKE EQU 3 ; Set when braking before direction change
HIGH_RPM EQU 4 ; Set when motor rpm is high (Comm_Period4x_H less than 2)
LOW_PWM_POWER EQU 5 ; Set when pwm duty cycle is below 50%
; EQU 6
; EQU 7
Flag_MOTOR_STARTED BIT Flags1.2 ; Set when motor is started
Flag_DIR_CHANGE_BRAKE BIT Flags1.3 ; Set when braking before direction change
Flag_HIGH_RPM BIT Flags1.4 ; Set when motor rpm is high (Comm_Period4x_H less than 2)
Flag_LOW_PWM_POWER BIT Flags1.5 ; Set when pwm duty cycle is below 50%
Flags_Startup: DS 1 ; State flags. Reset upon init_start
Flag_STARTUP_PHASE BIT Flags_Startup.0 ; Set when in startup phase
Flag_INITIAL_RUN_PHASE BIT Flags_Startup.1 ; Set when in initial run phase, before synchronized run is achieved
; Remaining bits must be cleared
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 4
RCP_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 ignored
RCP_DSHOT_INVERTED EQU 7 ; DShot RC pulse input is inverted (and supports telemetry)
Flag_RCP_DIR_REV BIT Flags2.5 ; RC pulse direction in bidirectional mode
Flag_RCP_DSHOT_INVERTED BIT Flags2.7 ; DShot RC pulse input is inverted (and supports telemetry)
Flags3: DS 1 ; State flags. NOT reset upon init_start
PGM_DIR_REV EQU 0 ; Programmed direction. 0=normal, 1=reversed
PGM_BIDIR_REV EQU 1 ; Programmed bidirectional direction. 0=normal, 1=reversed
PGM_BIDIR EQU 2 ; Programmed bidirectional operation. 0=normal, 1=bidirectional
SKIP_T2_INT EQU 3 ; Set for 48MHz MCUs when timer 2 interrupt shall be ignored
CLOCK_SET_AT_48MHZ EQU 4 ; Set if 48MHz MCUs run at 48MHz
; EQU 5
; EQU 6
; EQU 7
Flag_PGM_DIR_REV BIT Flags3.0 ; Programmed direction. 0=normal, 1=reversed
Flag_PGM_BIDIR_REV BIT Flags3.1 ; Programmed bidirectional direction. 0=normal, 1=reversed
Flag_PGM_BIDIR BIT Flags3.2 ; Programmed bidirectional operation. 0=normal, 1=bidirectional
Flag_SKIP_T2_INT BIT Flags3.3 ; Set for 48MHz MCUs when timer 2 interrupt shall be ignored
Flag_CLOCK_SET_AT_48MHZ BIT Flags3.4 ; Set if 48MHz MCUs run at 48MHz
Tlm_Data_L: DS 1 ; DShot telemetry data low byte
Tlm_Data_H: DS 1 ; DShot telemetry data high byte
@ -464,8 +453,8 @@ t0_int_dshot_tlm_finish:
setb IE_EX1 ; Enable int1 interrupts
Enable_PCA_Interrupt ; Enable pca interrupts
clr Flags0.TLM_ACTIVE
clr Flags0.PACKET_PENDING
clr Flag_TLM_ACTIVE
clr Flag_PACKET_PENDING
pop PSW
reti
@ -567,7 +556,7 @@ t1_int_decode_checksum:
xrl A, Temp4
xrl A, Temp5
xrl A, Temp3
jnb Flags2.RCP_DSHOT_INVERTED, ($+4)
jnb Flag_RCP_DSHOT_INVERTED, ($+4)
cpl A ; Invert checksum if using inverted DShot
anl A, #0Fh
jnz t1_int_outside_range ; XOR check
@ -608,7 +597,7 @@ t1_dshot_set_cmd:
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
jnb Flag_PGM_BIDIR, t1_int_not_bidir ; If not bidirectional operation - branch
; Subtract 2000 (still 12 bits)
clr C
@ -625,16 +614,16 @@ t1_normal_range:
mov A, Temp3
mov Temp5, A
setb Flags2.RCP_DIR_REV
setb Flag_RCP_DIR_REV
sjmp t1_int_bidir_rev_chk
t1_int_bidir_fwd:
clr Flags2.RCP_DIR_REV
clr Flag_RCP_DIR_REV
t1_int_bidir_rev_chk:
jb Flags3.PGM_BIDIR_REV, ($+5)
jb Flag_PGM_BIDIR_REV, ($+5)
cpl Flags2.RCP_DIR_REV
cpl Flag_RCP_DIR_REV
clr C ; Multiply throttle value by 2
mov A, Temp4
@ -672,11 +661,10 @@ t1_int_not_bidir:
mov Temp5, #0FFh
; Boost pwm during direct start
mov A, Flags1
anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE))
mov A, Flags_Startup
jz t1_int_startup_boosted
jb Flags1.MOTOR_STARTED, t1_int_startup_boosted ; Do not boost when changing direction in bidirectional mode
jb Flag_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
@ -840,11 +828,11 @@ ENDIF
; Prepare DShot telemetry
IF MCU_48MHZ == 1
; Only use telemetry for compatible clock frequency
jnb Flags3.CLOCK_SET_AT_48MHZ, t1_int_exit_no_tlm
jnb Flag_CLOCK_SET_AT_48MHZ, t1_int_exit_no_tlm
ENDIF
jnb Flags2.RCP_DSHOT_INVERTED, t1_int_exit_no_tlm
jnb Flags0.PACKET_PENDING, t1_int_exit_no_tlm
setb Flags0.TLM_ACTIVE
jnb Flag_RCP_DSHOT_INVERTED, t1_int_exit_no_tlm
jnb Flag_PACKET_PENDING, t1_int_exit_no_tlm
setb Flag_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
@ -891,16 +879,16 @@ t2_int: ; Happens every 32ms
clr TMR2CN0_TF2H ; Clear interrupt flag
inc Timer2_X
IF MCU_48MHZ == 1
jnb Flags3.CLOCK_SET_AT_48MHZ, t2_int_start
jnb Flag_CLOCK_SET_AT_48MHZ, t2_int_start
; Check skip variable
jnb Flags3.SKIP_T2_INT, t2_int_start ; Execute this interrupt
jnb Flag_SKIP_T2_INT, t2_int_start ; Execute this interrupt
clr Flags3.SKIP_T2_INT
clr Flag_SKIP_T2_INT
sjmp t2_int_exit
t2_int_start:
setb Flags3.SKIP_T2_INT ; Skip next interrupt
setb Flag_SKIP_T2_INT ; Skip next interrupt
ENDIF
; Update RC pulse timeout counter
mov A, Rcp_Timeout_Cntd ; RC pulse timeout count zero?
@ -947,7 +935,7 @@ t3_int: ; Used for commutation timing
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
clr Flag_T3_PENDING ; Flag that timer has wrapped
setb IE_EA ; Enable all interrupts
reti
@ -1007,7 +995,7 @@ IF FETON_DELAY != 0 ; HI/LO enable style drivers
mov A, PCA0L ; Read low byte first, to transfer high byte to holding register
mov A, PCA0H
jnb Flags1.LOW_PWM_POWER, pca_int_hi_pwm
jnb Flag_LOW_PWM_POWER, pca_int_hi_pwm
; Power below 50%, update pca in the 0x00-0x0F range
jb ACC.PWM_BITS_H, pca_int_exit ; PWM edge selection bit (continue if up edge)
@ -1045,7 +1033,7 @@ IF FETON_DELAY != 0
ENDIF
ENDIF
setb Flags1.LOW_PWM_POWER
setb Flag_LOW_PWM_POWER
IF PWM_BITS_H != 0
mov A, Power_Pwm_Reg_H
jb ACC.(PWM_BITS_H-1), ($+5)
@ -1053,7 +1041,7 @@ ELSE
mov A, Power_Pwm_Reg_L
jb ACC.7, ($+5)
ENDIF
clr Flags1.LOW_PWM_POWER
clr Flag_LOW_PWM_POWER
Disable_COVF_Interrupt
IF FETON_DELAY == 0 ; EN/PWM style drivers
@ -1432,7 +1420,7 @@ dshot_packet_stage_6:
Push_Reg Temp1, B ; Initial transition time
mov Temp5, #0
setb Flags0.PACKET_PENDING
setb Flag_PACKET_PENDING
pop PSW
ret
@ -1508,7 +1496,7 @@ waitxms_m: ; Middle loop
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
jb Flag_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
@ -1521,7 +1509,7 @@ set_pwm_limit_low_rpm:
mov B, Comm_Period4x_H
div AB
mov B, Low_Rpm_Pwr_Slope ; Multiply by slope
jnb Flags1.INITIAL_RUN_PHASE, ($+6) ; More protection for initial run phase
jnb Flag_INITIAL_RUN_PHASE, ($+6) ; More protection for initial run phase
mov B, #5
mul AB
mov Temp1, A ; Set new limit
@ -1762,13 +1750,13 @@ ENDIF
mov Temp1, A
mov A, Temp2
subb A, Temp5
jb Flags1.STARTUP_PHASE, calc_next_comm_startup
jb Flag_STARTUP_PHASE, calc_next_comm_startup
IF MCU_48MHZ == 1
anl A, #7Fh
ENDIF
mov Temp2, A
jnb Flags1.HIGH_RPM, calc_next_comm_normal ; Branch normal rpm
jnb Flag_HIGH_RPM, calc_next_comm_normal ; Branch normal rpm
ajmp calc_next_comm_timing_fast ; Branch high rpm
calc_next_comm_startup:
@ -1844,7 +1832,7 @@ calc_next_comm_normal:
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
jb Flag_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
@ -1901,10 +1889,10 @@ calc_new_wait_times_setup:
subb A, #2
jnc ($+4)
setb Flags1.HIGH_RPM ; Set high rpm bit
setb Flag_HIGH_RPM ; Set high rpm bit
; Load programmed commutation timing
jnb Flags1.STARTUP_PHASE, calc_new_wait_per_startup_done ; Set dedicated timing during startup
jnb Flag_STARTUP_PHASE, calc_new_wait_per_startup_done ; Set dedicated timing during startup
mov Temp8, #3
sjmp calc_new_wait_per_demag_done
@ -2014,7 +2002,7 @@ calc_next_comm_timing_fast:
subb A, #2 ; If erpm below 156k - go to normal case
jc ($+4)
clr Flags1.HIGH_RPM ; Clear high rpm bit
clr Flag_HIGH_RPM ; Clear high rpm bit
; Set timing reduction
mov Temp1, #2
@ -2056,23 +2044,23 @@ calc_new_wait_times_fast_done:
wait_advance_timing:
; DShot telemetry
jb Flags0.PACKET_PENDING, wait_advance_timing_loop
jb Flags0.TLM_ACTIVE, wait_advance_timing_loop
jb Flag_PACKET_PENDING, wait_advance_timing_loop
jb Flag_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, ($+5)
jb Flag_PACKET_PENDING, wait_advance_timing_loop
jnb Flag_T3_PENDING, ($+5)
sjmp wait_advance_timing_loop2
wait_advance_timing_loop:
jnb Flags0.T3_PENDING, ($+5)
jnb Flag_T3_PENDING, ($+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
setb Flag_T3_PENDING
orl EIE1, #80h ; Enable timer 3 interrupts
@ -2102,7 +2090,7 @@ IF MCU_48MHZ == 1
rlc A
mov Temp2, A
ENDIF
jb Flags1.HIGH_RPM, calc_new_wait_times_fast ; Branch if high rpm
jb Flag_HIGH_RPM, calc_new_wait_times_fast ; Branch if high rpm
mov A, Temp1 ; Copy values
mov Temp3, A
@ -2170,7 +2158,7 @@ store_times_decrease:
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
jnb Flag_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
@ -2241,15 +2229,14 @@ store_times_decrease_fast:
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
wait_before_zc_scan:
jnb Flags0.T3_PENDING, ($+5)
jnb Flag_T3_PENDING, ($+5)
sjmp wait_before_zc_scan
mov Startup_Zc_Timeout_Cntd, #2
setup_zc_scan_timeout:
setb Flags0.T3_PENDING
setb Flag_T3_PENDING
orl EIE1, #80h ; Enable timer 3 interrupts
mov A, Flags1
anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE))
mov A, Flags_Startup
jz wait_before_zc_scan_exit
mov Temp1, Comm_Period4x_L ; Set long timeout when starting
@ -2270,7 +2257,7 @@ IF MCU_48MHZ == 0
rrc A
mov Temp1, A
ENDIF
jnb Flags1.STARTUP_PHASE, setup_zc_scan_timeout_startup_done
jnb Flag_STARTUP_PHASE, setup_zc_scan_timeout_startup_done
mov A, Temp2
add A, #40h ; Increase timeout somewhat to avoid false wind up
@ -2288,7 +2275,7 @@ setup_zc_scan_timeout_startup_done:
subb A, Temp2
mov TMR3H, A
mov TMR3CN0, #04h ; Timer 3 enabled and interrupt flag cleared
setb Flags0.T3_PENDING
setb Flag_T3_PENDING
orl EIE1, #80h ; Enable timer 3 interrupts
setb IE_EA
@ -2307,31 +2294,30 @@ wait_before_zc_scan_exit:
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
wait_for_comp_out_low:
setb Flags0.DEMAG_DETECTED ; Set demag detected flag as default
setb Flag_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, ($+6)
jnb Flag_DIR_CHANGE_BRAKE, ($+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
setb Flag_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, ($+6)
jnb Flag_DIR_CHANGE_BRAKE, ($+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
jb Flag_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))
mov A, Flags_Startup ; Clear demag detected flag if start phases
jz ($+4)
clr Flags0.DEMAG_DETECTED
clr Flag_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
@ -2348,7 +2334,7 @@ wait_for_comp_out_start:
mov Temp1, #20
jnb Flags1.STARTUP_PHASE, comp_scale_samples
jnb Flag_STARTUP_PHASE, comp_scale_samples
mov Temp1, #27 ; Set many samples during startup, approximately one pwm period
mov Temp2, #27
@ -2365,17 +2351,17 @@ IF MCU_48MHZ == 1
mov Temp2, A
ENDIF
comp_check_timeout:
jb Flags0.T3_PENDING, comp_check_timeout_not_timed_out ; Has zero cross scan timeout elapsed?
jb Flag_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
jnb Flag_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
setb Flag_COMP_TIMED_OUT
sjmp setup_comm_wait
comp_check_timeout_extend_timeout:
@ -2390,16 +2376,16 @@ comp_check_timeout_not_timed_out:
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
jb Flag_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
clr Flag_COMP_TIMED_OUT
sjmp setup_comm_wait
comp_read_wrong:
jnb Flags1.STARTUP_PHASE, comp_read_wrong_not_startup
jnb Flag_STARTUP_PHASE, comp_read_wrong_not_startup
inc Temp1 ; Increment number of OK readings required
clr C
@ -2411,7 +2397,7 @@ comp_read_wrong:
sjmp comp_check_timeout ; Continue to look for good ones
comp_read_wrong_not_startup:
jb Flags0.DEMAG_DETECTED, comp_read_wrong_extend_timeout
jb Flag_DEMAG_DETECTED, comp_read_wrong_extend_timeout
inc Temp1 ; Increment number of OK readings required
clr C
@ -2421,10 +2407,10 @@ comp_read_wrong_not_startup:
sjmp wait_for_comp_out_start ; Otherwise - go back and restart
comp_read_wrong_extend_timeout:
clr Flags0.DEMAG_DETECTED ; Clear demag detected flag
clr Flag_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
jnb Flag_HIGH_RPM, comp_read_wrong_low_rpm ; Branch if not high rpm
mov TMR3L, #00h ; Set timeout to ~1ms
IF MCU_48MHZ == 1
@ -2434,7 +2420,7 @@ ELSE
ENDIF
comp_read_wrong_timeout_set:
mov TMR3CN0, #04h ; Timer 3 enabled and interrupt flag cleared
setb Flags0.T3_PENDING
setb Flag_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
@ -2485,7 +2471,7 @@ setup_comm_wait:
; Setup next wait time
mov TMR3RLL, Wt_Adv_Start_L
mov TMR3RLH, Wt_Adv_Start_H
setb Flags0.T3_PENDING
setb Flag_T3_PENDING
orl EIE1, #80h ; Enable timer 3 interrupts
setb IE_EA ; Enable interrupts again
@ -2500,18 +2486,17 @@ setup_comm_wait:
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
evaluate_comparator_integrity:
mov A, Flags1
anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE))
mov A, Flags_Startup
jz eval_comp_check_timeout
jb Flags1.INITIAL_RUN_PHASE, ($+5) ; Do not increment beyond startup phase
jb Flag_INITIAL_RUN_PHASE, ($+5) ; Do not increment beyond startup phase
inc Startup_Cnt ; Increment counter
sjmp eval_comp_exit
eval_comp_check_timeout:
jnb Flags0.COMP_TIMED_OUT, eval_comp_exit ; Has timeout elapsed?
jb Flags1.DIR_CHANGE_BRAKE, eval_comp_exit ; Do not exit run mode if it is braking
jb Flags0.DEMAG_DETECTED, eval_comp_exit ; Do not exit run mode if it is a demag situation
jnb Flag_COMP_TIMED_OUT, eval_comp_exit ; Has timeout elapsed?
jb Flag_DIR_CHANGE_BRAKE, eval_comp_exit ; Do not exit run mode if it is braking
jb Flag_DEMAG_DETECTED, eval_comp_exit ; Do not exit run mode if it is a demag situation
dec SP ; Routine exit without "ret" command
dec SP
ljmp run_to_wait_for_power_on_fail ; Yes - exit run mode
@ -2535,7 +2520,7 @@ wait_for_comm:
mov B, #7
mul AB ; Multiply by 7
jnb Flags0.DEMAG_DETECTED, ($+4) ; Add new value for current demag status
jnb Flag_DEMAG_DETECTED, ($+4) ; Add new value for current demag status
inc B
mov C, B.0 ; Divide by 8
@ -2559,13 +2544,13 @@ wait_for_comm:
Set_Pwms_Off
wait_for_comm_wait:
jnb Flags0.T3_PENDING, ($+5)
jnb Flag_T3_PENDING, ($+5)
sjmp wait_for_comm_wait
; Setup next wait time
mov TMR3RLL, Wt_Zc_Scan_Start_L
mov TMR3RLH, Wt_Zc_Scan_Start_H
setb Flags0.T3_PENDING
setb Flag_T3_PENDING
orl EIE1, #80h ; Enable timer 3 interrupts
ret
@ -2582,7 +2567,7 @@ wait_for_comm_wait:
; Comm phase 1 to comm phase 2
comm1comm2:
Set_RPM_Out
jb Flags3.PGM_DIR_REV, comm12_rev
jb Flag_PGM_DIR_REV, comm12_rev
clr IE_EA ; Disable all interrupts
BcomFET_off ; Turn off comfet
@ -2605,7 +2590,7 @@ comm12_rev:
; Comm phase 2 to comm phase 3
comm2comm3:
Clear_RPM_Out
jb Flags3.PGM_DIR_REV, comm23_rev
jb Flag_PGM_DIR_REV, comm23_rev
clr IE_EA ; Disable all interrupts
CpwmFET_off ; Turn off pwmfet
@ -2628,7 +2613,7 @@ comm23_rev:
; Comm phase 3 to comm phase 4
comm3comm4:
Set_RPM_Out
jb Flags3.PGM_DIR_REV, comm34_rev
jb Flag_PGM_DIR_REV, comm34_rev
clr IE_EA ; Disable all interrupts
AcomFET_off ; Turn off comfet
@ -2651,7 +2636,7 @@ comm34_rev:
; Comm phase 4 to comm phase 5
comm4comm5:
Clear_RPM_Out
jb Flags3.PGM_DIR_REV, comm45_rev
jb Flag_PGM_DIR_REV, comm45_rev
clr IE_EA ; Disable all interrupts
BpwmFET_off ; Turn off pwmfet
@ -2674,7 +2659,7 @@ comm45_rev:
; Comm phase 5 to comm phase 6
comm5comm6:
Set_RPM_Out
jb Flags3.PGM_DIR_REV, comm56_rev
jb Flag_PGM_DIR_REV, comm56_rev
clr IE_EA ; Disable all interrupts
CcomFET_off ; Turn off comfet
@ -2697,7 +2682,7 @@ comm56_rev:
; Comm phase 6 to comm phase 1
comm6comm1:
Clear_RPM_Out
jb Flags3.PGM_DIR_REV, comm61_rev
jb Flag_PGM_DIR_REV, comm61_rev
clr IE_EA ; Disable all interrupts
ApwmFET_off ; Turn off pwmfet
@ -2913,17 +2898,17 @@ decode_settings:
mov A, @Temp1
clr C
subb A, #3
setb Flags3.PGM_BIDIR
setb Flag_PGM_BIDIR
jnc ($+4)
clr Flags3.PGM_BIDIR
clr Flag_PGM_BIDIR
clr Flags3.PGM_DIR_REV
clr Flag_PGM_DIR_REV
mov A, @Temp1
jnb ACC.1, ($+5)
setb Flags3.PGM_DIR_REV
mov C, Flags3.PGM_DIR_REV
mov Flags3.PGM_BIDIR_REV, C
setb Flag_PGM_DIR_REV
mov C, Flag_PGM_DIR_REV
mov Flag_PGM_BIDIR_REV, C
; Decode startup power
mov Temp1, #Pgm_Startup_Pwr
mov A, @Temp1
@ -2989,7 +2974,7 @@ detect_rcp_level_read:
jnb RTX_PORT.RTX_PIN, detect_rcp_level
djnz ACC, detect_rcp_level_read
mov Flags2.RCP_DSHOT_INVERTED, C
mov Flag_RCP_DSHOT_INVERTED, C
ret
@ -3163,7 +3148,7 @@ ENDIF
; Route RCP according to detected DShot signal (normal or inverted)
mov IT01CF, #(80h + (RTX_PIN SHL 4) + RTX_PIN) ; Route RCP input to INT0/1, with INT1 inverted
jnb Flags2.RCP_DSHOT_INVERTED, ($+6)
jnb Flag_RCP_DSHOT_INVERTED, ($+6)
mov IT01CF, #(08h + (RTX_PIN SHL 4) + RTX_PIN) ; Route RCP input to INT0/1, with INT0 inverted
; Setup interrupts for DShot
@ -3433,12 +3418,12 @@ dshot_direction_1:
jc dont_clear_dshot_cmd
mov A, #1
jnb Flags3.PGM_BIDIR, ($+5)
jnb Flag_PGM_BIDIR, ($+5)
mov A, #3
mov Temp1, #Pgm_Direction
mov @Temp1, A
clr Flags3.PGM_DIR_REV
clr Flags3.PGM_BIDIR_REV
clr Flag_PGM_DIR_REV
clr Flag_PGM_BIDIR_REV
sjmp clear_dshot_cmd
dshot_direction_2:
@ -3450,12 +3435,12 @@ dshot_direction_2:
jc dont_clear_dshot_cmd
mov A, #2
jnb Flags3.PGM_BIDIR, ($+5)
jnb Flag_PGM_BIDIR, ($+5)
mov A, #4
mov Temp1, #Pgm_Direction
mov @Temp1, A
setb Flags3.PGM_DIR_REV
setb Flags3.PGM_BIDIR_REV
setb Flag_PGM_DIR_REV
setb Flag_PGM_BIDIR_REV
sjmp clear_dshot_cmd
dshot_direction_bidir_off:
@ -3466,14 +3451,14 @@ dshot_direction_bidir_off:
subb A, #6 ; Needs to receive it 6 times in a row
jc dont_clear_dshot_cmd
jnb Flags3.PGM_BIDIR, clear_dshot_cmd
jnb Flag_PGM_BIDIR, clear_dshot_cmd
clr C
mov Temp1, #Pgm_Direction
mov A, @Temp1
subb A, #2
mov @Temp1, A
clr Flags3.PGM_BIDIR
clr Flag_PGM_BIDIR
sjmp clear_dshot_cmd
dshot_direction_bidir_on:
@ -3484,13 +3469,13 @@ dshot_direction_bidir_on:
subb A, #6 ; Needs to receive it 6 times in a row
jc dont_clear_dshot_cmd
jb Flags3.PGM_BIDIR, clear_dshot_cmd
jb Flag_PGM_BIDIR, clear_dshot_cmd
mov Temp1, #Pgm_Direction
mov A, @Temp1
add A, #2
mov @Temp1, A
setb Flags3.PGM_BIDIR
setb Flag_PGM_BIDIR
clear_dshot_cmd:
mov Dshot_Cmd, #0
@ -3515,12 +3500,12 @@ dshot_direction_normal:
mov Temp1, #Pgm_Direction
mov @Temp1, A
rrc A ; Lsb to carry
clr Flags3.PGM_DIR_REV
clr Flags3.PGM_BIDIR_REV
clr Flag_PGM_DIR_REV
clr Flag_PGM_BIDIR_REV
jc ($+4)
setb Flags3.PGM_DIR_REV
setb Flag_PGM_DIR_REV
jc ($+4)
setb Flags3.PGM_BIDIR_REV
setb Flag_PGM_BIDIR_REV
sjmp clear_dshot_cmd
dshot_direction_reverse: ; Temporary reverse
@ -3548,12 +3533,12 @@ dshot_direction_reverse: ; Temporary reverse
mov Temp1, #Pgm_Direction
mov @Temp1, A
rrc A ; Lsb to carry
clr Flags3.PGM_DIR_REV
clr Flags3.PGM_BIDIR_REV
clr Flag_PGM_DIR_REV
clr Flag_PGM_BIDIR_REV
jc ($+4)
setb Flags3.PGM_DIR_REV
setb Flag_PGM_DIR_REV
jc ($+4)
setb Flags3.PGM_BIDIR_REV
setb Flag_PGM_BIDIR_REV
sjmp clear_dshot_cmd
dshot_save_settings:
@ -3592,6 +3577,7 @@ init_start:
mov Adc_Conversion_Cnt, A
mov Flags0, A ; Clear flags0
mov Flags1, A ; Clear flags1
mov Flags_Startup, A ; Clear startup flags
mov Demag_Detected_Metric, A ; Clear demag metric
;**** **** **** **** ****
; Motor start beginning
@ -3633,14 +3619,14 @@ IF MCU_48MHZ == 1
rlc A
mov DShot_Pwm_Thr, A
ENDIF
jnb Flags3.PGM_BIDIR, init_start_bidir_done ; Check if bidirectional operation
jnb Flag_PGM_BIDIR, init_start_bidir_done ; Check if bidirectional operation
clr Flags3.PGM_DIR_REV ; Set spinning direction. Default fwd
jnb Flags2.RCP_DIR_REV, ($+5) ; Check force direction
setb Flags3.PGM_DIR_REV ; Set spinning direction
clr Flag_PGM_DIR_REV ; Set spinning direction. Default fwd
jnb Flag_RCP_DIR_REV, ($+5) ; Check force direction
setb Flag_PGM_DIR_REV ; Set spinning direction
init_start_bidir_done:
setb Flags1.STARTUP_PHASE ; Set startup phase flag
setb Flag_STARTUP_PHASE ; Set startup phase flag
mov Startup_Cnt, #0 ; Reset counter
call comm5comm6 ; Initialize commutation
call comm6comm1
@ -3677,9 +3663,9 @@ run2:
call wait_for_comp_out_low
; setup_comm_wait
; evaluate_comparator_integrity
jb Flags1.HIGH_RPM, ($+6) ; Skip if high rpm
jb Flag_HIGH_RPM, ($+6) ; Skip if high rpm
lcall set_pwm_limit_low_rpm
jnb Flags1.HIGH_RPM, ($+6) ; Do if high rpm
jnb Flag_HIGH_RPM, ($+6) ; Do if high rpm
lcall set_pwm_limit_high_rpm
call wait_for_comm
call comm2comm3
@ -3743,7 +3729,7 @@ run6:
; wait_before_zc_scan
; Check if it is direct startup
jnb Flags1.STARTUP_PHASE, normal_run_checks
jnb Flag_STARTUP_PHASE, normal_run_checks
; Set spoolup power variables
mov Pwm_Limit, Pwm_Limit_Beg ; Set initial max power
@ -3755,8 +3741,8 @@ run6:
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
clr Flag_STARTUP_PHASE ; Clear startup phase flag
setb Flag_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
@ -3771,8 +3757,8 @@ direct_start_check_rcp:
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
jnb Flag_INITIAL_RUN_PHASE, initial_run_phase_done ; If not initial run phase - branch
jb Flag_DIR_CHANGE_BRAKE, initial_run_phase_done ; If a direction change - branch
; Decrement startup rotaton count
mov A, Initial_Run_Rot_Cntd
@ -3780,14 +3766,14 @@ normal_run_checks:
; 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
clr Flag_INITIAL_RUN_PHASE ; Clear initial run phase flag
setb Flag_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
jb Flag_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
@ -3799,7 +3785,7 @@ 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
jb Flag_PGM_BIDIR, run6_check_timeout ; Check if bidirectional operation
mov Temp1, #250
mov Temp2, #Pgm_Brake_On_Stop
@ -3818,26 +3804,26 @@ run6_check_timeout:
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
jnb Flag_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
jb Flag_PGM_DIR_REV, run6_check_dir_rev ; Check if actual rotation direction
jb Flag_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
jnb Flag_RCP_DIR_REV, run6_check_dir_change
sjmp run6_check_speed
run6_check_dir_change:
jb Flags1.DIR_CHANGE_BRAKE, run6_check_speed
jb Flag_DIR_CHANGE_BRAKE, run6_check_speed
setb Flags1.DIR_CHANGE_BRAKE ; Set brake flag
setb Flag_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?
jnb Flag_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
@ -3849,13 +3835,13 @@ run6_brake_done:
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
jnb Flag_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, ($+5) ; Check force direction
setb Flags3.PGM_DIR_REV ; Set spinning direction
setb Flags1.INITIAL_RUN_PHASE
clr Flag_DIR_CHANGE_BRAKE ; Clear brake flag
clr Flag_PGM_DIR_REV ; Set spinning direction. Default fwd
jnb Flag_RCP_DIR_REV, ($+5) ; Check force direction
setb Flag_PGM_DIR_REV ; Set spinning direction
setb Flag_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
@ -3873,6 +3859,7 @@ run_to_wait_for_power_on_stall_done:
call switch_power_off
mov Flags0, #0 ; Clear flags0
mov Flags1, #0 ; Clear flags1
mov Flags_Startup, #0 ; Clear startup flags
IF MCU_48MHZ == 1
Set_MCU_Clk_24MHz

6
Common.inc
View File

@ -239,7 +239,7 @@ LOCAL pca_enabled set_pca_int_hi_pwm
IF FETON_DELAY != 0
Enable_COVF_Interrupt
ELSE
jnb Flags1.LOW_PWM_POWER, set_pca_int_hi_pwm
jnb Flag_LOW_PWM_POWER, set_pca_int_hi_pwm
Enable_COVF_Interrupt
sjmp pca_enabled
@ -256,7 +256,7 @@ Set_MCU_Clk_24MHz MACRO
mov SFRPAGE, #10h
mov PFE0CN, #00h ; Set flash timing for 24MHz
mov SFRPAGE, #00h
clr Flags3.CLOCK_SET_AT_48MHZ
clr Flag_CLOCK_SET_AT_48MHZ
ENDM
Set_MCU_Clk_48MHz MACRO
@ -264,5 +264,5 @@ Set_MCU_Clk_48MHz MACRO
mov PFE0CN, #30h ; Set flash timing for 48MHz
mov SFRPAGE, #00h
mov CLKSEL, #03h ; Set clock to 48MHz
setb Flags3.CLOCK_SET_AT_48MHZ
setb Flag_CLOCK_SET_AT_48MHZ
ENDM
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