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refactor!: Remove legacy (non-DShot) protocols

main
Mathias Rasmussen 4 years ago
parent
7410d30136
commit
efde8c430d
3 changed files with 10 additions and 704 deletions
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  1. 56
      BLHeliPgm.inc
  2. 627
      BLHeli_S.asm
  3. 31
      Common.inc

56
BLHeliPgm.inc
View File

@ -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

627
BLHeli_S.asm
View File

@ -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

31
Common.inc
View File

@ -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

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