From efde8c430d5d256451af9b92b7fb4b5c73d8b9a4 Mon Sep 17 00:00:00 2001 From: Mathias Rasmussen Date: Sun, 27 Sep 2020 01:37:55 +0200 Subject: [PATCH] refactor!: Remove legacy (non-DShot) protocols --- BLHeliPgm.inc | 56 ----- BLHeli_S.asm | 627 +------------------------------------------------- Common.inc | 31 --- 3 files changed, 10 insertions(+), 704 deletions(-) diff --git a/BLHeliPgm.inc b/BLHeliPgm.inc index 610e87f..4bbfb63 100644 --- a/BLHeliPgm.inc +++ b/BLHeliPgm.inc @@ -271,59 +271,3 @@ wait1s_loop: call wait200ms djnz Temp5, wait1s_loop ret - - -;**;**** **** **** **** **** **** **** **** **** **** **** **** **** -; -; Success beep routine -; -; No assumptions -; -;**** **** **** **** **** **** **** **** **** **** **** **** **** -success_beep: - clr IE_EA ; Disable all interrupts - call beep_f1 - call beep_f2 - call beep_f3 - call beep_f4 - call wait10ms - call beep_f1 - call beep_f2 - call beep_f3 - call beep_f4 - call wait10ms - call beep_f1 - call beep_f2 - call beep_f3 - call beep_f4 - setb IE_EA ; Enable all interrupts - ret - - -;**;**** **** **** **** **** **** **** **** **** **** **** **** **** -; -; Success beep inverted routine -; -; No assumptions -; -;**** **** **** **** **** **** **** **** **** **** **** **** **** -success_beep_inverted: - clr IE_EA ; Disable all interrupts - call beep_f4 - call beep_f3 - call beep_f2 - call beep_f1 - call wait10ms - call beep_f4 - call beep_f3 - call beep_f2 - call beep_f1 - call wait10ms - call beep_f4 - call beep_f3 - call beep_f2 - call beep_f1 - setb IE_EA ; Enable all interrupts - ret - - diff --git a/BLHeli_S.asm b/BLHeli_S.asm index 6c115b5..a4a2f8d 100644 --- a/BLHeli_S.asm +++ b/BLHeli_S.asm @@ -72,6 +72,7 @@ $NOMOD51 ; 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 @@ -233,10 +234,10 @@ HIGH_RPM EQU 4 ; Set when motor rpm is high (Comm_Period4x_H less than 2) Flags2: DS 1 ; State flags. NOT reset upon init_start RCP_UPDATED EQU 0 ; New RC pulse length value available -RCP_ONESHOT125 EQU 1 ; RC pulse input is OneShot125 (125-250us) -RCP_ONESHOT42 EQU 2 ; RC pulse input is OneShot42 (41.67-83us) -RCP_MULTISHOT EQU 3 ; RC pulse input is Multishot (5-25us) -RCP_DSHOT EQU 4 ; RC pulse input is digital shot +;RCP_ONESHOT125 EQU 1 ; RC pulse input is OneShot125 (125-250us) +;RCP_ONESHOT42 EQU 2 ; RC pulse input is OneShot42 (41.67-83us) +;RCP_MULTISHOT EQU 3 ; RC pulse input is Multishot (5-25us) +;RCP_DSHOT EQU 4 ; RC pulse input is digital shot 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) @@ -247,7 +248,7 @@ PGM_BIDIR_REV EQU 1 ; Programmed bidirectional direction. 0=normal, 1=revers 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 -DSHOT_TLM_ACTIVE EQU 5 ; DShot telemetry data is currently being transmitted +;DSHOT_TLM_ACTIVE EQU 5 ; DShot telemetry data is currently being transmitted ; EQU 6 ; EQU 7 @@ -277,7 +278,7 @@ Demag_Detected_Metric: DS 1 ; Metric used to gauge demag event frequency Demag_Pwr_Off_Thresh: DS 1 ; Metric threshold above which power is cut Low_Rpm_Pwr_Slope: DS 1 ; Sets the slope of power increase for low rpms -Timer0_X: DS 1 ; Timer 0 extended byte +;Timer0_X: DS 1 ; Timer 0 extended byte Timer2_X: DS 1 ; Timer 2 extended byte Prev_Comm_L: DS 1 ; Previous commutation timer 3 timestamp (lo byte) Prev_Comm_H: DS 1 ; Previous commutation timer 3 timestamp (hi byte) @@ -489,13 +490,6 @@ STARTUP_POWER_TABLE: DB 04h, 06h, 08h, 0Ch, 10h, 18h, 20h, 30h, 40h, 60h, 80h, 0 ; ;**** **** **** **** **** **** **** **** **** **** **** **** **** t0_int: -IF MCU_48MHZ == 1 - inc Timer0_X -ENDIF - jb Flags3.DSHOT_TLM_ACTIVE, t0_int_dshot_tlm - reti - -t0_int_dshot_tlm: push PSW mov PSW, #10h ; Select register bank 2 for this interrupt @@ -521,7 +515,6 @@ t0_int_dshot_tlm_finish: setb RTX_PORT.RTX_PIN ; Float high clr IE_ET0 ; Disable timer 0 interrupts - clr Flags3.DSHOT_TLM_ACTIVE mov CKCON0, Temp2 ; Restore normal DShot timer 0/1 clock settings mov TMOD, #0AAh ; Timer 0/1 gated by INT0/1 @@ -890,173 +883,12 @@ t3_int: ; Used for commutation timing int0_int: ; Used for RC pulse timing push ACC mov A, TL0 ; Read pwm for DShot immediately - ; Test for DShot - jnb Flags2.RCP_DSHOT, int0_int_not_dshot - mov TL1, DShot_Timer_Preset ; Reset sync timer movx @DPTR, A ; Store pwm inc DPL pop ACC reti - ; Not DShot -int0_int_not_dshot: - pop ACC - clr IE_EA - anl EIE1, #0EFh ; Disable pca interrupts - push PSW ; Preserve registers through interrupt - push ACC - push B - setb PSW.3 ; Select register bank 1 for this interrupt - setb IE_EA - ; Get the counter values - Get_Rcp_Capture_Values - ; Scale down to 10 bits (for 24MHz, and 11 bits for 48MHz) - jnb Flags2.RCP_MULTISHOT, int0_int_fall_not_multishot - - ; Multishot - Multiply by 2 and add 1/16 and 1/32 - mov A, Temp1 ; Divide by 16 - swap A - anl A, #0Fh - mov Temp3, A - mov A, Temp2 - swap A - anl A, #0F0h - orl A, Temp3 - mov Temp3, A - clr C ; Make divided by 32 - rrc A - add A, Temp3 ; Add 1/16 to 1/32 - mov Temp3, A - clr C ; Multiply by 2 - mov A, Temp1 - rlc A - mov Temp1, A - mov A, Temp2 - rlc A - mov Temp2, A - mov A, Temp1 ; Add 1/16 and 1/32 - add A, Temp3 - mov Temp3, A - mov A, Temp2 -IF MCU_48MHZ == 0 - addc A, #03h ; Add to low end, to make signal look like 20-40us -ELSE - addc A, #06h -ENDIF - mov Temp4, A - ajmp int0_int_fall_gain_done - -int0_int_fall_not_multishot: - jnb Flags2.RCP_ONESHOT42, int0_int_fall_not_oneshot_42 - - ; Oneshot42 - Add 2/256 - clr C - mov A, Temp1 - rlc A - mov A, Temp2 - rlc A - mov Temp3, A - mov A, Temp1 - add A, Temp3 - mov Temp3, A - mov A, Temp2 - addc A, #0 - mov Temp4, A - ajmp int0_int_fall_gain_done - -int0_int_fall_not_oneshot_42: - jnb Flags2.RCP_ONESHOT125, int0_int_fall_not_oneshot_125 - - ; Oneshot125 - multiply by 86/256 - mov A, Temp1 ; Multiply by 86 and divide by 256 - mov B, #56h - mul AB - mov Temp3, B - mov A, Temp2 - mov B, #56h - mul AB - add A, Temp3 - mov Temp3, A - xch A, B - addc A, #0 - mov Temp4, A - ajmp int0_int_fall_gain_done - -int0_int_fall_not_oneshot_125: - ; Regular signal - multiply by 43/1024 -IF MCU_48MHZ == 1 - clr C - mov A, Temp3 ; Divide by 2 - rrc A - mov Temp3, A - mov A, Temp2 - rrc A - mov Temp2, A - mov A, Temp1 - rrc A - mov Temp1, A -ENDIF - mov A, Temp1 ; Multiply by 43 and divide by 1024 -IF MCU_48MHZ == 0 - mov B, #2Bh -ELSE - mov B, #56h ; Multiply by 86 -ENDIF - mul AB - mov Temp3, B - mov A, Temp2 -IF MCU_48MHZ == 0 - mov B, #2Bh -ELSE - mov B, #56h ; Multiply by 86 -ENDIF - mul AB - add A, Temp3 - mov Temp3, A - xch A, B - addc A, #0 - clr C - rrc A ; Divide by 2 for total 512 - mov Temp4, A - mov A, Temp3 - rrc A - mov Temp3, A - clr C - mov A, Temp4 ; Divide by 2 for total 1024 - rrc A - mov Temp4, A - mov A, Temp3 - rrc A - mov Temp3, A - -int0_int_fall_gain_done: - ; Check if 2235us or above (in order to ignore false pulses) - clr C - mov A, Temp4 ; Is pulse 2235us or higher? -IF MCU_48MHZ == 0 - subb A, #09h -ELSE - subb A, #12h -ENDIF - jnc int0_int_outside_range ; Yes - ignore pulse - - ; Check if below 900us (in order to ignore false pulses) - clr C - mov A, Temp3 -IF MCU_48MHZ == 0 - subb A, #9Ah -ELSE - subb A, #34h -ENDIF - mov A, Temp4 -IF MCU_48MHZ == 0 - subb A, #03h -ELSE - subb A, #07h -ENDIF - jnc int0_int_check_full_range ; No - proceed - int0_int_outside_range: inc Rcp_Outside_Range_Cnt mov A, Rcp_Outside_Range_Cnt @@ -1076,219 +908,6 @@ int0_int_exit_timeout: mov Rcp_Timeout_Cntd, #10 ; Set timeout count ajmp int0_int_exit -int0_int_check_full_range: - ; Decrement outside range counter - mov A, Rcp_Outside_Range_Cnt - jz ($+4) - - dec Rcp_Outside_Range_Cnt - - ; Calculate "1000us" plus throttle minimum - jnb Flags2.RCP_FULL_RANGE, int0_int_set_min ; Check if full range is chosen - - mov Temp5, #0 ; Set 1000us as default minimum -IF MCU_48MHZ == 0 - mov Temp6, #4 -ELSE - mov Temp6, #8 -ENDIF - ajmp int0_int_calculate - -int0_int_set_min: - mov Temp5, Min_Throttle_L ; Min throttle value scaled - mov Temp6, Min_Throttle_H - jnb Flags3.PGM_BIDIR, ($+7) - - mov Temp5, Center_Throttle_L ; Center throttle value scaled - mov Temp6, Center_Throttle_H - -int0_int_calculate: - clr C - mov A, Temp3 ; Subtract minimum - subb A, Temp5 - mov Temp3, A - mov A, Temp4 - subb A, Temp6 - mov Temp4, A - mov Bit_Access_Int.0, C - mov Temp7, Throttle_Gain ; Load Temp7/Temp8 with throttle gain - mov Temp8, Throttle_Gain_M - jnb Flags3.PGM_BIDIR, int0_int_not_bidir ; If not bidirectional operation - branch - - jnc int0_int_bidir_fwd ; If result is positive - branch - - jb Flags2.RCP_DIR_REV, int0_int_bidir_rev_chk ; If same direction - branch - - setb Flags2.RCP_DIR_REV - ajmp int0_int_bidir_rev_chk - -int0_int_bidir_fwd: - jnb Flags2.RCP_DIR_REV, int0_int_bidir_rev_chk ; If same direction - branch - - clr Flags2.RCP_DIR_REV - -int0_int_bidir_rev_chk: - jnb Flags2.RCP_DIR_REV, ($+7) - - mov Temp7, Throttle_Gain_BD_Rev ; Load Temp7/Temp8 with throttle gain for bidirectional reverse - mov Temp8, Throttle_Gain_BD_Rev_M - - jb Flags3.PGM_BIDIR_REV, ($+5) - - cpl Flags2.RCP_DIR_REV - - clr C ; Multiply throttle value by 2 - mov A, Temp3 - rlc A - mov Temp3, A - mov A, Temp4 - rlc A - mov Temp4, A - mov C, Bit_Access_Int.0 - jnc int0_int_bidir_do_deadband ; If result is positive - branch - - mov A, Temp3 ; Change sign - cpl A - add A, #1 - mov Temp3, A - mov A, Temp4 - cpl A - addc A, #0 - mov Temp4, A - -int0_int_bidir_do_deadband: - clr C ; Subtract deadband - mov A, Temp3 -IF MCU_48MHZ == 0 - subb A, #40 -ELSE - subb A, #80 -ENDIF - mov Temp3, A - mov A, Temp4 - subb A, #0 - mov Temp4, A - jnc int0_int_do_throttle_gain - - mov Temp1, #0 - mov Temp3, #0 - mov Temp4, #0 - ajmp int0_int_do_throttle_gain - -int0_int_not_bidir: - mov C, Bit_Access_Int.0 - jnc int0_int_do_throttle_gain ; If result is positive - branch - -int0_int_unidir_neg: - mov Temp1, #0 ; Yes - set to minimum - mov Temp3, #0 - mov Temp4, #0 - ajmp int0_int_pulse_ready - -int0_int_do_throttle_gain: - ; Boost pwm during direct start - mov A, Flags1 - anl A, #((1 SHL STARTUP_PHASE)+(1 SHL INITIAL_RUN_PHASE)) - jz int0_int_startup_boosted - - jb Flags1.MOTOR_STARTED, int0_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 -IF MCU_48MHZ == 1 - rlc A -ENDIF - mov Temp2, A - mov A, Temp4 - jnz int0_int_startup_boost_stall - - clr C - mov A, Temp2 - subb A, Temp3 - jc int0_int_startup_boost_stall - - mov A, Temp2 - mov Temp3, A - -int0_int_startup_boost_stall: - mov A, Stall_Cnt ; Add an extra power boost during start - swap A -IF MCU_48MHZ == 1 - rlc A -ENDIF - add A, Temp3 - mov Temp3, A - mov A, Temp4 - addc A, #0 - mov Temp4, A - -int0_int_startup_boosted: - mov A, Temp3 ; Multiply throttle value by throttle gain - mov B, Temp7 ; Temp7 has Throttle_Gain - mul AB - mov Temp2, A - mov Temp3, B - mov A, Temp4 - mov B, Temp7 ; Temp7 has Throttle_Gain - mul AB - add A, Temp3 - mov Temp3, A - xch A, B - addc A, #0 - mov Temp4, A - clr C ; Generate 8bit number - mov A, Temp4 - rrc A - mov Temp6, A - mov A, Temp3 - rrc A - mov Temp1, A -IF MCU_48MHZ == 1 - clr C - mov A, Temp6 - rrc A - mov Temp6, A - mov A, Temp1 - rrc A - mov Temp1, A -ENDIF - inc Temp8 ; Temp8 has Throttle_Gain_M -int0_int_gain_loop: - mov A, Temp8 - dec A - jz int0_int_gain_rcp_done ; Skip one multiply by 2 of New_Rcp - - clr C - mov A, Temp1 ; Multiply New_Rcp by 2 - rlc A - mov Temp1, A - -int0_int_gain_rcp_done: - clr C - mov A, Temp2 ; Multiply pwm by 2 - rlc A - mov A, Temp3 - rlc A - mov Temp3, A - mov A, Temp4 - rlc A - mov Temp4, A - djnz Temp8, int0_int_gain_loop - - mov A, Temp4 -IF MCU_48MHZ == 0 - jnb ACC.2, int0_int_pulse_ready ; Check that RC pulse is within legal range -ELSE - jnb ACC.3, int0_int_pulse_ready -ENDIF - - mov Temp1, #0FFh - mov Temp3, #0FFh -IF MCU_48MHZ == 0 - mov Temp4, #3 -ELSE - mov Temp4, #7 -ENDIF - int0_int_pulse_ready: mov New_Rcp, Temp1 ; Store new pulse length setb Flags2.RCP_UPDATED ; Set updated flag @@ -1384,8 +1003,6 @@ int0_int_set_pca_int_hi_pwm: ENDIF int0_pca_generated: - jnb Flags2.RCP_DSHOT, int0_int_exit - ; Prepare DShot telemetry IF MCU_48MHZ == 1 ; Only use telemetry for compatible clock frequency @@ -1808,7 +1425,6 @@ dshot_tlm_12bit_encoded: mov CKCON0, #01h ; Timer 0 is system clock divided by 4 mov TMOD, #0A2h ; Timer 0 runs free not gated by INT0 - setb Flags3.DSHOT_TLM_ACTIVE ; Activate DShot telemetry clr TCON_TF0 ; Clear timer 0 overflow flag setb IE_ET0 ; Enable timer 0 interrupts @@ -3632,55 +3248,6 @@ test_throttle_gain_mult: ret -;**** **** **** **** **** **** **** **** **** **** **** **** **** -; -; Average throttle -; -; Outputs result in Temp8 -; -; Averages throttle calibration readings -; -;**** **** **** **** **** **** **** **** **** **** **** **** **** -average_throttle: - setb Flags2.RCP_FULL_RANGE ; Set range to 1000-2020us - call find_throttle_gains ; Set throttle gains - call wait30ms - call wait30ms - mov Temp3, #0 - mov Temp4, #0 - mov Temp5, #16 ; Average 16 measurments -average_throttle_meas: - call wait3ms ; Wait for new RC pulse value - mov A, New_Rcp ; Get new RC pulse value - add A, Temp3 - mov Temp3, A - mov A, #0 - addc A, Temp4 - mov Temp4, A - djnz Temp5, average_throttle_meas - - mov Temp5, #4 ; Shift 4 times -average_throttle_div: - clr C - mov A, Temp4 ; Shift right - rrc A - mov Temp4, A - mov A, Temp3 - rrc A - mov Temp3, A - djnz Temp5, average_throttle_div - - mov Temp8, A ; Copy to Temp8 - mov A, Temp4 - jz ($+4) - - mov Temp8, #0FFh - - clr Flags2.RCP_FULL_RANGE - call find_throttle_gains ; Set throttle gains - ret - - ;**** **** **** **** **** **** **** **** **** **** **** **** **** ; ; LED control @@ -3826,11 +3393,7 @@ bootloader_done: IF MCU_48MHZ == 1 Set_MCU_Clk_24MHz ENDIF - ; Setup timers for pwm input - mov IT01CF, #RTX_PIN ; Route RCP input to INT0 - mov TCON, #11h ; Timer 0 run and INT0 edge triggered - mov CKCON0, #04h ; Timer 0 clock is system clock - mov TMOD, #09h ; Timer 0 set to 16bits and gated by INT0 + mov TMR2CN0, #04h ; Timer 2 enabled mov TMR3CN0, #04h ; Timer 3 enabled Initialize_PCA ; Initialize PCA @@ -3856,51 +3419,13 @@ ENDIF ; Initialize RC pulse clr Flags2.RCP_UPDATED ; Clear updated flag call wait200ms - ; Clear all shot flags - clr Flags2.RCP_ONESHOT125 ; Clear OneShot125 flag - clr Flags2.RCP_ONESHOT42 ; Clear OneShot42 flag - clr Flags2.RCP_MULTISHOT ; Clear Multishot flag - clr Flags2.RCP_DSHOT ; Clear DShot flag + mov Dshot_Cmd, #0 ; Clear Dshot command mov Dshot_Cmd_Cnt, #0 ; Clear Dshot command count - ; Test whether signal is regular pwm - mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter - call wait100ms ; Wait for new RC pulse - clr C - mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("900-2235us") - subb A, #10 - jnc ($+4) - ajmp validate_rcp_start - - ; Test whether signal is OneShot125 - setb Flags2.RCP_ONESHOT125 ; Set OneShot125 flag - mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter - call wait100ms ; Wait for new RC pulse - clr C - mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("900-2235us") - subb A, #10 - jnc ($+4) - ajmp validate_rcp_start - - ; Test whether signal is OneShot42 - clr Flags2.RCP_ONESHOT125 - setb Flags2.RCP_ONESHOT42 ; Set OneShot42 flag - mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter - call wait100ms ; Wait for new RC pulse - clr C - mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("900-2235us") - subb A, #10 - jnc ($+4) - ajmp validate_rcp_start - - clr Flags2.RCP_ONESHOT42 - setb Flags2.RCP_DSHOT ; Setup RCP for DShot call detect_rcp_level - clr Flags3.DSHOT_TLM_ACTIVE - ; Route RCP according to detected DShot signal (normal or inverted) mov IT01CF, #(80h + (RTX_PIN SHL 4) + RTX_PIN) ; Route RCP input to INT0/1, with INT1 inverted jnb Flags2.RCP_DSHOT_INVERTED, ($+6) @@ -3912,6 +3437,7 @@ ENDIF 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 + ; Setup interrupts for DShot setb IP_PT0 ; Add high priority to timer 0 interrupts clr IE_ET0 ; Disable timer 0 interrupts @@ -3991,26 +3517,6 @@ ENDIF mov Dshot_Cmd_Cnt, #0 jc validate_rcp_start - ; Setup timers for Multishot - mov IT01CF, #RTX_PIN ; Route RCP input to INT0 - mov TCON, #11h ; Timer 0 run and INT0 edge triggered - mov CKCON0, #04h ; Timer 0 clock is system clock - mov TMOD, #09h ; Timer 0 set to 16bits and gated by INT0 - ; Setup interrupts for Multishot - clr IP_PT0 ; Normal priority for timer 0 interrupts - setb IE_ET0 ; Enable timer 0 interrupts - clr IE_ET1 ; Disable timer 1 interrupts - clr IE_EX1 ; Disable int1 interrupts - ; Test whether signal is Multishot - clr Flags2.RCP_DSHOT - setb Flags2.RCP_MULTISHOT ; Set Multishot flag - mov Rcp_Outside_Range_Cnt, #0 ; Reset out of range counter - call wait100ms ; Wait for new RC pulse - clr C - mov A, Rcp_Outside_Range_Cnt ; Check how many pulses were outside normal range ("900-2235us") - subb A, #10 - jc validate_rcp_start - ajmp init_no_signal validate_rcp_start: @@ -4029,115 +3535,6 @@ validate_rcp_start: ; Arming sequence start arming_start: - jb Flags2.RCP_DSHOT, ($+6) ; Disable tx programming for DShot - jnb Flags3.PGM_BIDIR, ($+6) - - ljmp program_by_tx_checked ; Disable tx programming if bidirectional operation - - call wait3ms - mov Temp1, #Pgm_Enable_TX_Program ; Start programming mode entry if enabled - mov A, @Temp1 - clr C - subb A, #1 ; Is TX programming enabled? - jnc arming_initial_arm_check ; Yes - proceed - - jmp program_by_tx_checked ; No - branch - -arming_initial_arm_check: - mov A, Initial_Arm ; Yes - check if it is initial arm sequence - clr C - subb A, #1 ; Is it the initial arm sequence? - jnc arming_check ; Yes - proceed - - jmp program_by_tx_checked ; No - branch - -arming_check: - ; Initialize flash keys to valid values - mov Flash_Key_1, #0A5h - mov Flash_Key_2, #0F1h - ; Throttle calibration and tx program entry - mov Temp8, #2 ; Set 1 seconds wait time -throttle_high_cal: - setb Flags2.RCP_FULL_RANGE ; Set range to 1000-2020us - call find_throttle_gains ; Set throttle gains - call wait100ms ; Wait for new throttle value - clr IE_EA ; Disable interrupts (freeze New_Rcp value) - clr Flags2.RCP_FULL_RANGE ; Set programmed range - call find_throttle_gains ; Set throttle gains - clr C - mov A, New_Rcp ; Load new RC pulse value - subb A, #(255/2) ; Is RC pulse above midstick? - setb IE_EA ; Enable interrupts - jc program_by_tx_checked ; No - branch - - call wait1ms - clr IE_EA ; Disable all interrupts - call beep_f4 - setb IE_EA ; Enable all interrupts - djnz Temp8, throttle_high_cal ; Continue to wait - - call average_throttle - clr C - mov A, Temp8 - mov Temp1, #Pgm_Max_Throttle ; Store - mov @Temp1, A - call wait200ms - call success_beep - -throttle_low_cal_start: - mov Temp8, #10 ; Set 3 seconds wait time -throttle_low_cal: - setb Flags2.RCP_FULL_RANGE ; Set range to 1000-2020us - call find_throttle_gains ; Set throttle gains - call wait100ms - clr IE_EA ; Disable interrupts (freeze New_Rcp value) - clr Flags2.RCP_FULL_RANGE ; Set programmed range - call find_throttle_gains ; Set throttle gains - clr C - mov A, New_Rcp ; Load new RC pulse value - subb A, #(255/2) ; Below midstick? - setb IE_EA ; Enable interrupts - jnc throttle_low_cal_start ; No - start over - - call wait1ms - clr IE_EA ; Disable all interrupts - call beep_f1 - call wait10ms - call beep_f1 - setb IE_EA ; Enable all interrupts - djnz Temp8, throttle_low_cal ; Continue to wait - - call average_throttle - mov A, Temp8 - add A, #3 ; Add about 1% - mov Temp1, #Pgm_Min_Throttle ; Store - mov @Temp1, A - mov Temp1, A ; Min throttle in Temp1 - mov Temp2, #Pgm_Max_Throttle - mov A, @Temp2 - clr C - subb A, #35 ; Subtract 35 (140us) from max throttle - jc program_by_tx_entry_limit - subb A, Temp1 ; Subtract min from max - jnc program_by_tx_entry_store - -program_by_tx_entry_limit: - mov A, Temp1 ; Load min - add A, #35 ; Make max 140us higher than min - mov Temp1, #Pgm_Max_Throttle ; Store new max - mov @Temp1, A - -program_by_tx_entry_store: - call wait200ms - call erase_and_store_all_in_eeprom - call success_beep_inverted - -program_by_tx_entry_wait: - call wait100ms - call find_throttle_gains ; Set throttle gains - ljmp init_no_signal ; Go back - -program_by_tx_checked: ; Initialize flash keys to invalid values mov Flash_Key_1, #0 mov Flash_Key_2, #0 @@ -4544,7 +3941,6 @@ IF MCU_48MHZ == 1 Set_MCU_Clk_48MHz ; Scale DShot criteria for 48MHz - jnb Flags2.RCP_DSHOT, dshot_scaled_to_48mhz clr C mov A, DShot_Frame_Length_Thr ; Scale frame length criteria rlc A @@ -4554,7 +3950,6 @@ IF MCU_48MHZ == 1 mov A, DShot_Pwm_Thr ; Scale pulse width criteria rlc A mov DShot_Pwm_Thr, A -dshot_scaled_to_48mhz: ENDIF jnb Flags3.PGM_BIDIR, init_start_bidir_done ; Check if bidirectional operation @@ -4809,7 +4204,6 @@ IF MCU_48MHZ == 1 Set_MCU_Clk_24MHz ; Scale DShot criteria for 24MHz - jnb Flags2.RCP_DSHOT, dshot_scaled_to_24mhz clr C mov A, DShot_Frame_Length_Thr ; Scale frame length criteria rrc A @@ -4819,7 +4213,6 @@ IF MCU_48MHZ == 1 mov A, DShot_Pwm_Thr ; Scale pulse width criteria rrc A mov DShot_Pwm_Thr, A -dshot_scaled_to_24mhz: ENDIF setb IE_EA call wait100ms ; Wait for pwm to be stopped diff --git a/Common.inc b/Common.inc index 2f93f03..5e05337 100644 --- a/Common.inc +++ b/Common.inc @@ -199,37 +199,6 @@ CSEG AT 73h ; Timer3 overflow/compare interrupt jmp t3_int ENDM -Get_Rcp_Capture_Values MACRO - anl TCON, #0EFh ; Disable timer0 - mov Temp1, TL0 ; Get timer0 values - mov Temp2, TH0 -IF MCU_48MHZ == 1 - mov Temp3, Timer0_X - jnb TCON_TF0, ($+4) ; Check if interrupt is pending - inc Temp3 ; If it is pending, then timer has already wrapped -ENDIF - mov TL0, #0 ; Reset timer0 - mov TH0, #0 -IF MCU_48MHZ == 1 - mov Timer0_X, #0 -ENDIF - orl TCON, #10h ; Enable timer0 again -IF MCU_48MHZ == 1 - jb Flags3.CLOCK_SET_AT_48MHZ, Get_Rcp_End - clr C - mov A, Temp1 - rlc A - mov Temp1, A - mov A, Temp2 - rlc A - mov Temp2, A - mov A, Temp3 - rlc A - mov Temp3, A -Get_Rcp_End: -ENDIF -ENDM - Decode_DShot_2Bit MACRO dest, decode_fail movx A, @DPTR mov Temp6, A