;**** **** **** **** ****
;
; Bluejay digital ESC firmware for controlling brushless motors in multirotors
;
; Copyright 2020, 2021 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 .
;
;**** **** **** **** ****
;
; Bluejay is a fork of BLHeli_S by Steffen Skaug.
;
; The input signal can be DShot with rates: DShot150, DShot300 and DShot600.
;
; This file is best viewed with tab width set to 5.
;
;**** **** **** **** ****
; 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 pulse timing
; 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
;
;**** **** **** **** ****
; 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 ESCs
; PORT 0 PORT 1 PWM COM PWM LED
; P0 P1 P2 P3 P4 P5 P6 P7 P0 P1 P2 P3 P4 P5 P6 P7 inv inv side n
; ----------------------- ----------------------- ------------------
A_ EQU 1 ; Vn Am Bm Cm __ RX __ __ Ap Ac Bp Bc Cp Cc __ __ no no high _
B_ EQU 2 ; Vn Am Bm Cm __ RX __ __ Cc Cp Bc Bp Ac Ap __ __ no no high _
C_ EQU 3 ; RX __ Vn Am Bm Cm Ap Ac Bp Bc Cp Cc __ __ __ __ no no high _
D_ EQU 4 ; Bm Cm Am Vn __ RX __ __ Ap Ac Bp Bc Cp Cc __ __ no yes high _
E_ EQU 5 ; Vn Am Bm Cm __ RX L0 L1 Ap Ac Bp Bc Cp Cc L2 __ no no high 3 Pinout like A, with LEDs
F_ EQU 6 ; Vn Cm Bm Am __ RX __ __ Ap Ac Bp Bc Cp Cc __ __ no no high _
G_ EQU 7 ; Bm Cm Am Vn __ RX __ __ Ap Ac Bp Bc Cp Cc __ __ no no high _ Pinout like D, but non-inverted com fets
H_ EQU 8 ; Cm Vn Bm Am __ __ __ RX Cc Bc Ac __ Cp Bp Ap __ no no high _
I_ EQU 9 ; Vn Am Bm Cm __ RX __ __ Cp Bp Ap Cc Bc Ac __ __ no no high _
J_ EQU 10 ; Am Cm Bm Vn RX L0 L1 L2 Ap Bp Cp Ac Bc Cc __ __ no no high 3
K_ EQU 11 ; RX Am Vn Bm __ Cm __ __ Ac Bc Cc Cp Bp Ap __ __ no yes high _
L_ EQU 12 ; Cm Bm Am Vn __ RX __ __ Cp Bp Ap Cc Bc Ac __ __ no no high _
M_ EQU 13 ; __ __ L0 RX Bm Vn Cm Am __ Ap Bp Cp Ac Bc Cc __ no no high 1
N_ EQU 14 ; Vn Am Bm Cm __ RX __ __ Ac Ap Bc Bp Cc Cp __ __ no no high _
O_ EQU 15 ; Bm Cm Am Vn __ RX __ __ Ap Ac Bp Bc Cp Cc __ __ no yes low _ Pinout Like D, but low side pwm
P_ EQU 16 ; __ Cm Bm Vn Am RX __ __ __ Ap Bp Cp Ac Bc Cc __ no no high _
Q_ EQU 17 ; __ RX __ L0 L1 Ap Bp Cp Ac Bc Cc Vn Cm Bm Am __ no no high 2
R_ EQU 18 ; Vn Am Bm Cm __ RX __ __ Cp Bp Ap Cc Bc Ac __ __ no no high _ Same as I
S_ EQU 19 ; Bm Cm Am Vn __ RX __ __ Ac Ap Bc Bp Cc Cp __ __ no no high _
T_ EQU 20 ; __ Cm Vn Bm __ Am __ RX Cc Bc Ac Ap Bp Cp __ __ no no high _
U_ EQU 21 ; L2 L1 L0 RX Bm Vn Cm Am __ Ap Bp Cp Ac Bc Cc __ no no high 3 Pinout like M, with 3 LEDs
V_ EQU 22 ; Am Bm Vn Cm __ RX __ Cc Cp Bc __ __ Bp Ac Ap __ no no high _
W_ EQU 23 ; __ __ Am Vn __ Bm Cm RX __ __ __ __ Cp Bp Ap __ n/a n/a high _ Tristate gate driver
X_ EQU 24
Y_ EQU 25
Z_ EQU 26 ; Bm Cm Am Vn __ RX __ __ Ac Ap Bc Bp Cc Cp __ __ yes no high - Pinout like S, but inverted pwm fets
;**** **** **** **** ****
; 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 dead time (or unselect for use with external batch compile file)
;DEADTIME EQU 15 ; 20.4ns per step
;**** **** **** **** ****
; Select the pwm frequency (or unselect for use with external batch compile file)
;PWM_FREQ EQU 0 ; 0=24, 1=48, 2=96 kHz
PWM_CENTERED EQU DEADTIME > 0 ; Use center aligned pwm on ESCs with dead time
IF MCU_48MHZ < 2 AND PWM_FREQ < 3
; Number of bits in pwm high byte
PWM_BITS_H EQU (2 + MCU_48MHZ - PWM_CENTERED - PWM_FREQ)
ENDIF
$include (Common.inc) ; Include common source code for EFM8BBx based ESCs
;**** **** **** **** ****
; Programming defaults
DEFAULT_PGM_RPM_POWER_SLOPE EQU 9 ; 0=Off, 1..13 (Power limit factor in relation to rpm)
DEFAULT_PGM_COMM_TIMING EQU 4 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
DEFAULT_PGM_DEMAG_COMP EQU 2 ; 1=Disabled 2=Low 3=High
DEFAULT_PGM_DIRECTION EQU 1 ; 1=Normal 2=Reversed 3=Bidir 4=Bidir rev
DEFAULT_PGM_BEEP_STRENGTH EQU 40 ; 0..255 (BLHeli_S is 1..255)
DEFAULT_PGM_BEACON_STRENGTH EQU 80 ; 0..255
DEFAULT_PGM_BEACON_DELAY EQU 4 ; 1=1m 2=2m 3=5m 4=10m 5=Infinite
DEFAULT_PGM_ENABLE_TEMP_PROT EQU 7 ; 0=Disabled 1=80C 2=90C 3=100C 4=110C 5=120C 6=130C 7=140C
DEFAULT_PGM_BRAKE_ON_STOP EQU 0 ; 1=Enabled 0=Disabled
DEFAULT_PGM_LED_CONTROL EQU 0 ; Byte for LED control. 2bits per LED, 0=Off, 1=On
DEFAULT_PGM_STARTUP_POWER_MIN EQU 51 ; 0..255 => (1000..1125 Throttle): value * (1000 / 2047) + 1000
DEFAULT_PGM_STARTUP_BEEP EQU 1 ; 0=Short beep, 1=Melody
DEFAULT_PGM_DITHERING EQU 1 ; 0=Disabled, 1=Enabled
DEFAULT_PGM_STARTUP_POWER_MAX EQU 25 ; 0..255 => (1000..2000 Throttle): Maximum startup power
;**** **** **** **** ****
; Temporary register definitions
Temp1 EQU R0
Temp2 EQU R1
Temp3 EQU R2
Temp4 EQU R3
Temp5 EQU R4
Temp6 EQU R5
Temp7 EQU R6
Temp8 EQU R7
;**** **** **** **** ****
; RAM definitions
; Bit-addressable data segment
DSEG AT 20h
Bit_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)
Flags0: DS 1 ; State flags. Reset upon motor_start
Flag_Startup_Phase BIT Flags0.0 ; Set when in startup phase
Flag_Initial_Run_Phase BIT Flags0.1 ; Set when in initial run phase (or startup phase), before synchronized run is achieved.
Flag_Motor_Dir_Rev BIT Flags0.2 ; Set if the current spinning direction is reversed
Flags1: DS 1 ; State flags. Reset upon motor_start
Flag_Timer3_Pending BIT Flags1.0 ; Timer 3 pending flag
Flag_Demag_Detected BIT Flags1.1 ; Set when excessive demag time is detected
Flag_Comp_Timed_Out BIT Flags1.2 ; Set when comparator reading timed out
Flag_Motor_Running BIT Flags1.3
Flag_Motor_Started BIT Flags1.4 ; Set when motor is started
Flag_Dir_Change_Brake BIT Flags1.5 ; Set when braking before direction change
Flag_High_Rpm BIT Flags1.6 ; Set when motor rpm is high (Comm_Period4x_H less than 2)
Flag_Low_Pwm_Power BIT Flags1.7 ; Set when pwm duty cycle is below 50%
Flags2: DS 1 ; State flags. NOT reset upon motor_start
; BIT Flags2.0
Flag_Pgm_Dir_Rev BIT Flags2.1 ; Set if the programmed direction is reversed
Flag_Pgm_Bidir BIT Flags2.2 ; Set if the programmed control mode is bidirectional operation
Flag_Skip_Timer2_Int BIT Flags2.3 ; Set for 48MHz MCUs when timer 2 interrupt shall be ignored
Flag_Clock_At_48MHz BIT Flags2.4 ; Set if 48MHz MCUs run at 48MHz
Flag_Rcp_Stop BIT Flags2.5 ; Set if the RC pulse value is zero or if timeout occurs
Flag_Rcp_Dir_Rev BIT Flags2.6 ; 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 motor_start
Flag_Telemetry_Pending BIT Flags3.0 ; DShot telemetry data packet is ready to be sent
Flag_Dithering BIT Flags3.1 ; PWM dithering enabled
Flag_Had_Signal BIT Flags3.2 ; Used to detect reset after having had a valid signal
Tlm_Data_L: DS 1 ; DShot telemetry data (lo byte)
Tlm_Data_H: DS 1 ; DShot telemetry data (hi byte)
;**** **** **** **** ****
; Direct addressing data segment
DSEG AT 30h
Rcp_Outside_Range_Cnt: DS 1 ; RC pulse outside range counter (incrementing)
Rcp_Timeout_Cntd: DS 1 ; RC pulse timeout counter (decrementing)
Rcp_Stop_Cnt: DS 1 ; Counter for RC pulses below stop value
Beacon_Delay_Cnt: DS 1 ; Counter to trigger beacon during wait for start
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)
Startup_Stall_Cnt: DS 1 ; Counts start/run attempts that resulted in stall. Reset upon a proper stop
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 rpm
Timer2_X: DS 1 ; Timer 2 extended byte
Prev_Comm_L: DS 1 ; Previous commutation timer 2 timestamp (lo byte)
Prev_Comm_H: DS 1 ; Previous commutation timer 2 timestamp (hi byte)
Prev_Comm_X: DS 1 ; Previous commutation timer 2 timestamp (ext byte)
Prev_Prev_Comm_L: DS 1 ; Pre-previous commutation timer 2 timestamp (lo byte)
Prev_Prev_Comm_H: DS 1 ; Pre-previous commutation timer 2 timestamp (hi byte)
Comm_Period4x_L: DS 1 ; Timer 2 ticks between the last 4 commutations (lo byte)
Comm_Period4x_H: DS 1 ; Timer 2 ticks 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)
Power_Pwm_Reg_L: DS 1 ; Power pwm register setting (lo byte)
Power_Pwm_Reg_H: DS 1 ; Power pwm register setting (hi byte)
Damp_Pwm_Reg_L: DS 1 ; Damping pwm register setting (lo byte)
Damp_Pwm_Reg_H: DS 1 ; Damping pwm register setting (hi byte)
Pwm_Limit: DS 1 ; Maximum allowed pwm (8-bit)
Pwm_Limit_By_Rpm: DS 1 ; Maximum allowed pwm for low or high rpm (8-bit)
Pwm_Limit_Beg: DS 1 ; Initial pwm limit (8-bit)
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)
Temp_Prot_Limit: DS 1 ; Temperature protection limit
Beep_Strength: DS 1 ; Strength of beeps
Flash_Key_1: DS 1 ; Flash key one
Flash_Key_2: DS 1 ; Flash key two
DShot_Pwm_Thr: DS 1 ; DShot pulse width threshold value (timer 0 ticks)
DShot_Timer_Preset: DS 1 ; DShot timer preset for frame sync detection (timer 1 lo byte)
DShot_Frame_Start_L: DS 1 ; DShot frame start timestamp (timer 2 lo byte)
DShot_Frame_Start_H: DS 1 ; DShot frame start timestamp (timer 2 hi byte)
DShot_Frame_Length_Thr: DS 1 ; DShot frame length criteria (timer 2 ticks)
DShot_Cmd: DS 1 ; DShot command
DShot_Cmd_Cnt: DS 1 ; DShot command count
; Pulse durations for GCR encoding DShot telemetry data
DShot_GCR_Pulse_Time_1: DS 1 ; Encodes binary: 1
DShot_GCR_Pulse_Time_2: DS 1 ; Encodes binary: 01
DShot_GCR_Pulse_Time_3: DS 1 ; Encodes binary: 001
DShot_GCR_Pulse_Time_1_Tmp: DS 1
DShot_GCR_Pulse_Time_2_Tmp: DS 1
DShot_GCR_Pulse_Time_3_Tmp: DS 1
DShot_GCR_Start_Delay: DS 1
;**** **** **** **** ****
; Indirect addressing data segments
ISEG AT 080h ; The variables below must be in this sequence
_Pgm_Gov_P_Gain: DS 1 ;
Pgm_Startup_Power_Min: DS 1 ; Minimum power during startup phase
Pgm_Startup_Beep: DS 1 ; Startup beep melody on/off
Pgm_Dithering: DS 1 ; Enable PWM dithering
Pgm_Startup_Power_Max: DS 1 ; Maximum power (limit) during startup (and starting initial run phase)
_Pgm_Rampup_Slope: DS 1 ;
Pgm_Rpm_Power_Slope: DS 1 ; Low RPM power protection slope (factor)
Pgm_Pwm_Freq: DS 1 ; PWM frequency (temporary method for display)
Pgm_Direction: DS 1 ; Rotation direction
_Pgm_Input_Pol: DS 1 ; Input PWM polarity
Initialized_L_Dummy: DS 1 ; Place holder
Initialized_H_Dummy: DS 1 ; Place holder
_Pgm_Enable_TX_Program: DS 1 ; Enable/disable value for TX programming
_Pgm_Main_Rearm_Start: DS 1 ; Enable/disable re-arming main every start
_Pgm_Gov_Setup_Target: DS 1 ; Main governor setup target
_Pgm_Startup_Rpm: DS 1 ; Startup RPM
_Pgm_Startup_Accel: DS 1 ; Startup acceleration
_Pgm_Volt_Comp: DS 1 ; Voltage comp
Pgm_Comm_Timing: DS 1 ; Commutation timing
_Pgm_Damping_Force: DS 1 ; Damping force
_Pgm_Gov_Range: DS 1 ; Governor range
_Pgm_Startup_Method: DS 1 ; Startup method
_Pgm_Min_Throttle: DS 1 ; Minimum throttle
_Pgm_Max_Throttle: DS 1 ; Maximum throttle
Pgm_Beep_Strength: DS 1 ; Beep strength
Pgm_Beacon_Strength: DS 1 ; Beacon strength
Pgm_Beacon_Delay: DS 1 ; Beacon delay
_Pgm_Throttle_Rate: DS 1 ; Throttle rate
Pgm_Demag_Comp: DS 1 ; Demag compensation
_Pgm_BEC_Voltage_High: DS 1 ; BEC voltage
_Pgm_Center_Throttle: DS 1 ; Center throttle (in bidirectional mode)
_Pgm_Main_Spoolup_Time: DS 1 ; Main spoolup time
Pgm_Enable_Temp_Prot: DS 1 ; Temperature protection enable
_Pgm_Enable_Power_Prot: DS 1 ; Low RPM power protection enable
_Pgm_Enable_Pwm_Input: DS 1 ; Enable PWM input signal
_Pgm_Pwm_Dither: DS 1 ; Output PWM dither
Pgm_Brake_On_Stop: DS 1 ; Braking when throttle is zero
Pgm_LED_Control: DS 1 ; LED control
ISEG AT 0B0h
Stack: DS 16 ; Reserved stack space
ISEG AT 0C0h
Dithering_Patterns: DS 16 ; Bit patterns for pwm dithering
ISEG AT 0D0h
Temp_Storage: DS 48 ; Temporary storage
;**** **** **** **** ****
; 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 13 ; Sub revision of the firmware
EEPROM_LAYOUT_REVISION EQU 203 ; Revision of the EEPROM layout
Eep_FW_Main_Revision: DB EEPROM_FW_MAIN_REVISION ; EEPROM firmware main revision number
Eep_FW_Sub_Revision: DB EEPROM_FW_SUB_REVISION ; EEPROM firmware sub revision number
Eep_Layout_Revision: DB EEPROM_LAYOUT_REVISION ; EEPROM layout revision number
_Eep_Pgm_Gov_P_Gain: DB 0FFh
Eep_Pgm_Startup_Power_Min: DB DEFAULT_PGM_STARTUP_POWER_MIN
Eep_Pgm_Startup_Beep: DB DEFAULT_PGM_STARTUP_BEEP
Eep_Pgm_Dithering: DB DEFAULT_PGM_DITHERING
Eep_Pgm_Startup_Power_Max: DB DEFAULT_PGM_STARTUP_POWER_MAX
_Eep_Pgm_Rampup_Slope: DB 0FFh
Eep_Pgm_Rpm_Power_Slope: DB DEFAULT_PGM_RPM_POWER_SLOPE ; EEPROM copy of programmed rpm power slope (formerly startup power)
Eep_Pgm_Pwm_Freq: DB (24 SHL PWM_FREQ) ; Temporary method for display
Eep_Pgm_Direction: DB DEFAULT_PGM_DIRECTION ; EEPROM copy of programmed rotation direction
_Eep__Pgm_Input_Pol: DB 0FFh
Eep_Initialized_L: DB 055h ; EEPROM initialized signature (lo byte)
Eep_Initialized_H: DB 0AAh ; EEPROM initialized signature (hi 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 0FFh
Eep_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 throttle
Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_BEEP_STRENGTH ; EEPROM copy of programmed beep strength
Eep_Pgm_Beacon_Strength: DB DEFAULT_PGM_BEACON_STRENGTH ; EEPROM copy of programmed beacon strength
Eep_Pgm_Beacon_Delay: DB DEFAULT_PGM_BEACON_DELAY ; EEPROM copy of programmed beacon delay
_Eep_Pgm_Throttle_Rate: DB 0FFh
Eep_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 0FFh
Eep_Pgm_Temp_Prot_Enable: DB DEFAULT_PGM_ENABLE_TEMP_PROT ; EEPROM copy of programmed temperature protection enable
_Eep_Pgm_Enable_Power_Prot: DB 0FFh ; EEPROM copy of programmed low rpm power protection enable
_Eep_Pgm_Enable_Pwm_Input: DB 0FFh
_Eep_Pgm_Pwm_Dither: DB 0FFh
Eep_Pgm_Brake_On_Stop: DB DEFAULT_PGM_BRAKE_ON_STOP ; EEPROM copy of programmed braking when throttle is zero
Eep_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 1A60h
Eep_Name: DB "Bluejay (BETA) " ; Name tag (16 Bytes)
CSEG AT 1A70h
Eep_Pgm_Startup_Tune: DB 2,58,4,32,52,66,13,0,69,45,13,0,52,66,13,0,78,39,211,0,69,45,208,25,52,25,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Eep_Dummy2: DB 0FFh ; EEPROM address for safety reason
;**** **** **** **** ****
Interrupt_Table_Definition ; SiLabs interrupts
CSEG AT 80h ; Code segment after interrupt vectors
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Macros
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
DSHOT_TLM_CLOCK EQU 24500000 ; 24.5MHz
DSHOT_TLM_START_DELAY EQU -(5 * 25 / 4) ; Start telemetry after 5 us (~30 us after receiving DShot cmd)
DSHOT_TLM_PREDELAY EQU 7 ; 7 timer 0 ticks inherent delay
IF MCU_48MHZ == 1
DSHOT_TLM_CLOCK_48 EQU 49000000 ; 49MHz
DSHOT_TLM_START_DELAY_48 EQU -(16 * 49 / 4) ; Start telemetry after 16 us (~30 us after receiving DShot cmd)
DSHOT_TLM_PREDELAY_48 EQU 11 ; 11 timer 0 ticks inherent delay
ENDIF
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))
mov DShot_GCR_Start_Delay, #DSHOT_TLM_START_DELAY
IF MCU_48MHZ == 1
mov DShot_GCR_Pulse_Time_1_Tmp, #(DSHOT_TLM_PREDELAY_48 - (1 * DSHOT_TLM_CLOCK_48 / 4 / rate))
mov DShot_GCR_Pulse_Time_2_Tmp, #(DSHOT_TLM_PREDELAY_48 - (2 * DSHOT_TLM_CLOCK_48 / 4 / rate))
mov DShot_GCR_Pulse_Time_3_Tmp, #(DSHOT_TLM_PREDELAY_48 - (3 * DSHOT_TLM_CLOCK_48 / 4 / rate))
ENDIF
ENDM
; DShot GCR encoding, adjust time by adding to previous item
GCR_Add_Time MACRO reg
mov B, @reg
mov A, DShot_GCR_Pulse_Time_2
cjne A, B, ($+5)
mov A, DShot_GCR_Pulse_Time_3
mov @reg, A
ENDM
; Prepare telemetry packet while waiting for timer 3 to wrap
Wait_For_Timer3 MACRO
LOCAL wait_for_t3 done_waiting
jb Flag_Telemetry_Pending, wait_for_t3
jnb Flag_Timer3_Pending, done_waiting
call dshot_tlm_create_packet
wait_for_t3:
jnb Flag_Timer3_Pending, done_waiting
sjmp wait_for_t3
done_waiting:
ENDM
; Used for subdividing the DShot telemetry routine into chunks,
; that will return if timer 3 has wrapped
Early_Return_Packet_Stage MACRO num
Early_Return_Packet_Stage_ num, %(num + 1)
ENDM
Early_Return_Packet_Stage_ MACRO num next
IF num > 0
inc Temp5 ;; Increment current packet stage
jb Flag_Timer3_Pending, dshot_packet_stage_&num ;; Return early if timer 3 has wrapped
pop PSW
ret
dshot_packet_stage_&num:
ENDIF
IF num < 5
cjne Temp5, #(num), dshot_packet_stage_&next ;; If this is not current stage, skip to next
ENDIF
ENDM
Decode_DShot_2Bit MACRO dest, decode_fail
movx A, @Temp1
mov Temp7, A
clr C
subb A, Temp6 ;; Subtract previous timestamp
clr C
subb A, Temp2
jc decode_fail ;; Check that bit is longer than minimum
subb A, Temp2 ;; Check if bit is zero or one
rlca dest ;; Shift bit into data byte
inc Temp1 ;; Next bit
movx A, @Temp1
mov Temp6, A
clr C
subb A, Temp7
clr C
subb A, Temp2
jc decode_fail
subb A, Temp2
rlca dest
inc Temp1
ENDM
;**** **** **** **** ****
; Compound instructions for convenience
xcha MACRO var1, var2 ;; Exchange via accumulator
mov A, var1
xch A, var2
mov var1, A
ENDM
rrca MACRO var ;; Rotate right through carry via accumulator
mov A, var
rrc A
mov var, A
ENDM
rlca MACRO var ;; Rotate left through carry via accumulator
mov A, var
rlc A
mov var, A
ENDM
rla MACRO var ;; Rotate left via accumulator
mov A, var
rl A
mov var, A
ENDM
ljc MACRO label ;; Long jump if carry set
LOCAL skip
jnc skip
jmp label
skip:
ENDM
ljz MACRO label ;; Long jump if accumulator is zero
LOCAL skip
jnz skip
jmp label
skip:
ENDM
imov MACRO reg, val ;; Increment pointer register and move
inc reg
mov @reg, val ;; Write value to memory address pointed to by register
ENDM
;**** **** **** **** ****
; Division
;
; ih, il: input (hi byte, lo byte)
; oh, ol: output (hi byte, lo byte)
;
Divide_By_16 MACRO ih, il, oh, ol
mov A, ih
swap A
mov ol, A
anl A, #00Fh
mov oh, A
mov A, ol
anl A, #0F0h
mov ol, A
mov A, il
swap A
anl A, #00Fh
orl A, ol
mov ol, A
ENDM
Divide_12Bit_By_16 MACRO ih, il, ol ;; Only if ih < 16
mov A, ih
swap A
mov ol, A
mov A, il
swap A
anl A, #00Fh
orl A, ol
mov ol, A
ENDM
Divide_By_8 MACRO ih, il, oh, ol
mov A, ih
swap A
rl A
mov ol, A
anl A, #01Fh
mov oh, A
mov A, ol
anl A, #0E0h
mov ol, A
mov A, il
swap A
rl A
anl A, #01Fh
orl A, ol
mov ol, A
ENDM
Divide_11Bit_By_8 MACRO ih, il, ol ;; Only if ih < 8
mov A, ih
swap A
rl A
mov ol, A
mov A, il
swap A
rl A
anl A, #01Fh
orl A, ol
mov ol, A
ENDM
Divide_By_4 MACRO ih, il, oh, ol
clr C
mov A, ih
rrc A
mov oh, A
mov A, il
rrc A
mov ol, A
clr C
mov A, oh
rrc A
mov oh, A
mov A, ol
rrc A
mov ol, A
ENDM
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Interrupt handlers
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Timer 0 interrupt routine (High priority)
;
; Generate DShot telemetry signal
;
; Requirements:
; - Must NOT be called while Flag_Telemetry_Pending is cleared
; - Must NOT write to Temp5, Temp8
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
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
inc Temp1 ; Set pointer to uncritical position
; If last pulse is high, telemetry is finished,
; otherwise wait for it to return to high
jb RTX_BIT, t0_int_dshot_tlm_finish
t0_int_dshot_tlm_transition:
cpl RTX_BIT ; 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_BIT ; Float high
clr IE_ET0 ; Disable timer 0 interrupts
mov CKCON0, Temp8 ; Restore regular DShot timer 0/1 clock settings
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 Flag_Telemetry_Pending ; Mark that new telemetry packet may be created
pop PSW
reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Timer 1 interrupt routine
;
; Decode DShot frame
; Process new throttle value and update pwm registers
; Schedule DShot telemetry
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
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
; Note: Interrupts are not explicitly disabled because those of higher priority:
; int0_int is already disabled and t0_int is assumed to be disabled at this point
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 ($+4)
dec Rcp_Outside_Range_Cnt
clr C
mov A, Rcp_Outside_Range_Cnt
subb A, #50 ; Allow a given number of outside pulses
jc t1_int_exit_timeout ; If outside limits - ignore first pulses
; RCP signal has not timed out, but pulses are not recognized as DShot
setb Flag_Rcp_Stop ; Set pulse length to zero
mov DShot_Cmd, #0 ; Reset DShot command
mov DShot_Cmd_Cnt, #0
ajmp t1_int_exit_no_tlm ; Exit without resetting timeout
t1_int_exit_timeout:
mov Rcp_Timeout_Cntd, #10 ; Set timeout count
ajmp t1_int_exit_no_tlm
t1_int_decode_checksum:
; Decode DShot data checksum
Decode_DShot_2Bit Temp3, t1_int_outside_range
Decode_DShot_2Bit Temp3, t1_int_outside_range
; XOR check (in inverted data, which is ok), only low nibble is considered
mov A, Temp4
swap A
xrl A, Temp4
xrl A, Temp5
xrl A, Temp3
jnb Flag_Rcp_DShot_Inverted, ($+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 ; Store in case it is a DShot command
subb A, #96
mov Temp4, A
mov A, Temp5
cpl A
anl A, #0Fh
subb A, #0
mov Temp5, A
jnc t1_int_normal_range
mov A, Temp3 ; Check for 0 or DShot command
mov Temp5, #0
mov Temp4, #0
jz t1_int_dshot_set_cmd ; Clear DShot command when RCP is zero
clr C ; We are in the special DShot range
rrc A ; Shift tlm bit into carry
jnc t1_int_dshot_clear_cmd ; Check for tlm bit set (if not telemetry, invalid command)
cjne A, DShot_Cmd, t1_int_dshot_set_cmd
inc DShot_Cmd_Cnt
sjmp t1_int_normal_range
t1_int_dshot_clear_cmd:
clr A
t1_int_dshot_set_cmd:
mov DShot_Cmd, A
mov DShot_Cmd_Cnt, #0
t1_int_normal_range:
; Check for bidirectional operation (0=stop, 96-2095->fwd, 2096-4095->rev)
jnb Flag_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 B, A
mov A, Temp5
subb A, #07h
jc t1_int_bidir_set ; Is result is positive?
mov Temp4, B ; Yes - Use the subtracted value
mov Temp5, A
t1_int_bidir_set:
jnb Flag_Pgm_Dir_Rev, ($+4) ; Check programmed direction
cpl C ; Reverse direction
mov Flag_Rcp_Dir_Rev, C ; Set rcp direction
clr C ; Multiply throttle value by 2
rlca Temp4
rlca Temp5
t1_int_not_bidir:
; From here Temp5/Temp4 should be at most 3999 (4095-96)
mov A, Temp4 ; Divide by 16 (12 to 8-bit)
anl A, #0F0h
orl A, Temp5 ; Note: Assumes Temp5 to be 4-bit
swap A
mov B, #5 ; Divide by 5 (80 in total)
div AB
mov Temp3, A
; Align to 11 bits
;clr C ; Note: Cleared by div
rrca Temp5
mov A, Temp4
rrc A
; Scale from 2000 to 2048
add A, Temp3
mov Temp4, A
mov A, Temp5
addc A, #0
mov Temp5, A
jnb ACC.3, ($+7) ; Limit to 11-bit maximum
mov Temp4, #0FFh
mov Temp5, #07h
; Do not boost when changing direction in bidirectional mode
jb Flag_Motor_Started, t1_int_startup_boosted
; Boost pwm during direct start
jnb Flag_Initial_Run_Phase, t1_int_startup_boosted
mov A, Temp5
jnz t1_int_stall_boost ; Already more power than minimum at startup
mov Temp2, #Pgm_Startup_Power_Min ; Read minimum startup power setting
mov B, @Temp2
clr C ; Set power to at least be minimum startup power
mov A, Temp4
subb A, B
jnc t1_int_stall_boost
mov Temp4, B
t1_int_stall_boost:
mov A, Startup_Stall_Cnt ; Check stall count
jz t1_int_startup_boosted
mov B, #40 ; Note: Stall count should be less than 6
mul AB
add A, Temp4 ; Add more power when failing to start motor (stalling)
mov Temp4, A
mov A, Temp5
addc A, #0
mov Temp5, A
jnb ACC.3, ($+7) ; Limit to 11-bit maximum
mov Temp4, #0FFh
mov Temp5, #07h
t1_int_startup_boosted:
; Set 8-bit value
mov A, Temp4
anl A, #0F8h
orl A, Temp5 ; Assumes Temp5 to be 3-bit (11-bit rcp)
swap A
rl A
mov Temp2, A
jnz t1_int_rcp_not_zero
mov A, Temp4 ; Only set Rcp_Stop if all all 11 bits are zero
jnz t1_int_rcp_not_zero
setb Flag_Rcp_Stop
sjmp t1_int_zero_rcp_checked
t1_int_rcp_not_zero:
mov Rcp_Stop_Cnt, #0 ; Reset rcp stop counter
clr Flag_Rcp_Stop ; Pulse ready
t1_int_zero_rcp_checked:
; Decrement outside range counter
mov A, Rcp_Outside_Range_Cnt
jz ($+4)
dec Rcp_Outside_Range_Cnt
; 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 ; 8-bit rc pulse
jnc t1_int_scale_pwm_resolution
IF PWM_BITS_H == 0 ; 8-bit pwm
mov A, Temp6
mov Temp2, A
ELSE
mov A, Temp6 ; Multiply limit by 8 for 11-bit pwm
mov B, #8
mul AB
mov Temp4, A
mov Temp5, B
ENDIF
t1_int_scale_pwm_resolution:
; Scale pwm resolution and invert (duty cycle is defined inversely)
IF PWM_BITS_H == 3 ; 11-bit pwm
mov A, Temp5
cpl A
anl A, #7
mov Temp3, A
mov A, Temp4
cpl A
mov Temp2, A
ELSEIF PWM_BITS_H == 2 ; 10-bit pwm
clr C
mov A, Temp5
rrc A
cpl A
anl A, #3
mov Temp3, A
mov A, Temp4
rrc A
cpl A
mov Temp2, A
ELSEIF PWM_BITS_H == 1 ; 9-bit pwm
mov B, Temp5
mov A, Temp4
mov C, B.0
rrc A
mov C, B.1
rrc A
cpl A
mov Temp2, A
mov A, Temp5
rr A
rr A
cpl A
anl A, #1
mov Temp3, A
ELSEIF PWM_BITS_H == 0 ; 8-bit pwm
mov A, Temp2 ; Temp2 already 8-bit
cpl A
mov Temp2, A
mov Temp3, #0
ENDIF
; 11-bit effective dithering of 8/9/10-bit pwm
IF PWM_BITS_H < 3
jnb Flag_Dithering, t1_int_set_pwm
mov A, Temp4 ; 11-bit low byte
cpl A
anl A, #((1 SHL (3 - PWM_BITS_H)) - 1); Get index into dithering pattern table
add A, #Dithering_Patterns
mov Temp1, A ; Reuse DShot pwm pointer since it is not currently in use.
mov A, @Temp1 ; Retrieve pattern
rl A ; Rotate pattern
mov @Temp1, A ; Store pattern
jnb ACC.0, t1_int_set_pwm ; Increment if bit is set
mov A, Temp2
add A, #1
mov Temp2, A
jnz t1_int_set_pwm
IF PWM_BITS_H != 0
mov A, Temp3
addc A, #0
mov Temp3, A
jnb ACC.PWM_BITS_H, t1_int_set_pwm
dec Temp3 ; Reset on overflow
ENDIF
dec Temp2
ENDIF
t1_int_set_pwm:
; Set pwm registers
IF DEADTIME != 0
; Subtract dead time from normal pwm and store as damping pwm
; Damping pwm duty cycle will be higher because numbers are inverted
clr C
mov A, Temp2 ; Skew damping fet timing
IF MCU_48MHZ == 0
subb A, #((DEADTIME + 1) SHR 1)
ELSE
subb A, #(DEADTIME)
ENDIF
mov Temp4, A
mov A, Temp3
subb A, #0
mov Temp5, A
jnc t1_int_set_pwm_damp_set
clr A ; Set to minimum value
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 DEADTIME != 0
mov Damp_Pwm_Reg_L, Temp4
mov Damp_Pwm_Reg_H, Temp5
ENDIF
mov Rcp_Timeout_Cntd, #10 ; Set timeout count
; Prepare DShot telemetry
jnb Flag_Rcp_DShot_Inverted, t1_int_exit_no_tlm ; Only send telemetry for inverted DShot
jnb Flag_Telemetry_Pending, t1_int_exit_no_tlm ; Check if telemetry packet is ready
; Prepare timer 0 for sending telemetry data
mov CKCON0, #01h ; Timer 0 is system clock divided by 4
mov TMOD, #0A2h ; Timer 0 runs free not gated by INT0
; Configure RTX_PIN for digital output
setb RTX_BIT ; Default to high level
orl RTX_MDOUT, #(1 SHL RTX_PIN) ; Set output mode to push-pull
mov Temp1, #0 ; Set pointer to start
; Note: Delay must be large enough to ensure port is ready for output
mov TL0, DShot_GCR_Start_Delay ; Telemetry will begin after this delay
clr TCON_TF0 ; Clear timer 0 overflow flag
setb IE_ET0 ; Enable timer 0 interrupts
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
;
; Update RC pulse timeout and stop counters
; Happens every 32ms
;
; Requirements: No PSW instructions or Temp registers
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
t2_int:
push ACC
clr TMR2CN0_TF2H ; Clear interrupt flag
inc Timer2_X ; Increment extended byte
IF MCU_48MHZ == 1
jnb Flag_Clock_At_48MHz, t2_int_start ; Always run if clock is 24MHz
jbc Flag_Skip_Timer2_Int, t2_int_exit ; Flag set? - Skip interrupt and clear flag
t2_int_start:
setb Flag_Skip_Timer2_Int ; Skip next interrupt
ENDIF
; Update RC pulse timeout counter
mov A, Rcp_Timeout_Cntd ; RC pulse timeout count zero?
jz t2_int_rcp_stop
dec Rcp_Timeout_Cntd ; No - decrement
jnb Flag_Rcp_Stop, t2_int_exit ; Exit if pulse is above stop value
t2_int_rcp_stop:
setb Flag_Rcp_Stop ; Set rcp stop in case of timeout
; Update RC pulse stop counter
inc Rcp_Stop_Cnt ; Increment stop counter
mov A, Rcp_Stop_Cnt
jnz ($+4) ; Branch if counter has not wrapped
dec Rcp_Stop_Cnt ; Set stop counter back to max
t2_int_exit:
pop ACC ; Restore preserved registers
reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Timer 3 interrupt routine
;
; Used for commutation timing
;
; Requirements: No PSW instructions or Temp/Acc/B registers
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
t3_int:
clr IE_EA ; Disable all interrupts
anl EIE1, #7Fh ; Disable timer 3 interrupts
anl TMR3CN0, #07Fh ; Clear timer 3 interrupt flag
mov TMR3RLL, #0FAh ; Short delay to avoid re-loading regular delay
mov TMR3RLH, #0FFh
clr Flag_Timer3_Pending ; Flag that timer has wrapped
setb IE_EA ; Enable all interrupts
reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Int0 interrupt routine (High priority)
;
; Read and store DShot pwm signal for decoding
;
; Requirements: No PSW instructions
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
int0_int:
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
;
; Used for RC pulse timing
;
; Requirements: No PSW instructions or Temp/Acc registers
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
int1_int:
clr IE_EX1 ; Disable int1 interrupts
setb TCON_TR1 ; Start timer 1
; Note: Interrupts are not explicitly disabled because those of higher priority:
; int0_int should not yet trigger if dshot signal is valid
; t0_int is assumed to be disabled at this point
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 enabled
reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; PCA interrupt routine
;
; Update pwm registers according to PCA clock signal
;
; Requirements: No PSW instructions or Temp registers
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
pca_int:
clr IE_EA ; Disable all interrupts
push ACC
IF DEADTIME != 0 ; HI/LO enable style drivers
mov A, PCA0L ; Read low byte first, to transfer high byte to holding register
mov A, PCA0H
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)
sjmp pca_int_set_pwm
pca_int_hi_pwm:
; Power above 50%, update pca in the 0x20-0x2F range
jnb ACC.PWM_BITS_H, pca_int_exit ; PWM edge selection bit (continue if down edge)
pca_int_set_pwm:
IF PWM_BITS_H != 0
jb ACC.(PWM_BITS_H-1), pca_int_exit
ELSE
mov A, PCA0L
jb ACC.7, pca_int_exit
ENDIF
ENDIF
; Set power pwm auto-reload registers
IF PWM_BITS_H != 0
Set_Power_Pwm_Reg_L Power_Pwm_Reg_L
Set_Power_Pwm_Reg_H Power_Pwm_Reg_H
ELSE
Set_Power_Pwm_Reg_H Power_Pwm_Reg_L
ENDIF
IF DEADTIME != 0
; Set damp pwm auto-reload registers
IF PWM_BITS_H != 0
Set_Damp_Pwm_Reg_L Damp_Pwm_Reg_L
Set_Damp_Pwm_Reg_H Damp_Pwm_Reg_H
ELSE
Set_Damp_Pwm_Reg_H Damp_Pwm_Reg_L
ENDIF
ENDIF
setb Flag_Low_Pwm_Power
IF PWM_BITS_H != 0
mov A, Power_Pwm_Reg_H
jb ACC.(PWM_BITS_H - 1), ($+5)
ELSE
mov A, Power_Pwm_Reg_L
jb ACC.7, ($+5)
ENDIF
clr Flag_Low_Pwm_Power
Disable_COVF_Interrupt
IF DEADTIME == 0 ; EN/PWM style drivers
Disable_CCF_Interrupt
ENDIF
anl EIE1, #0EFh ; Pwm updated, disable pca interrupts
pca_int_exit:
Clear_COVF_Interrupt
IF DEADTIME == 0
Clear_CCF_Interrupt
ENDIF
pop ACC ; Restore preserved registers
setb IE_EA ; Enable all interrupts
reti
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Misc utility functions
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Wait a number of milliseconds (Multiple entry points)
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
wait1ms:
mov Temp2, #1
sjmp wait_ms_o
wait5ms:
mov Temp2, #5
sjmp wait_ms_o
wait10ms:
mov Temp2, #10
sjmp wait_ms_o
wait100ms:
mov Temp2, #100
sjmp wait_ms_o
wait200ms:
mov Temp2, #200
sjmp wait_ms_o
wait250ms:
mov Temp2, #250
sjmp wait_ms_o
wait_ms_o: ; Outer loop
mov Temp1, #23
wait_ms_m: ; Middle loop
clr A
djnz ACC, $ ; Inner loop (41.8us - 1024 cycles)
djnz Temp1, wait_ms_m
djnz Temp2, wait_ms_o
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Beeper routines (Multiple entry points)
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
beep_f1:
mov Temp3, #66 ; Off wait loop length (Tone)
mov Temp4, #(3500 / 66) ; Number of beep pulses (Duration)
sjmp beep
beep_f2:
mov Temp3, #45
mov Temp4, #(3500 / 45)
sjmp beep
beep_f3:
mov Temp3, #38
mov Temp4, #(3500 / 38)
sjmp beep
beep_f4:
mov Temp3, #25
mov Temp4, #(3500 / 25)
sjmp beep
beep_f5:
mov Temp3, #20
mov Temp4, #(3500 / 20)
sjmp beep
beep_f1_short:
mov Temp3, #66
mov Temp4, #(2000 / 66)
sjmp beep
beep_f2_short:
mov Temp3, #45
mov Temp4, #(2000 / 45)
sjmp beep
beep:
mov A, Beep_Strength
jnz beep_start ; Start if beep strength is not 0
ret
beep_start:
mov Temp2, #2
beep_on_off:
clr A
B_Com_Fet_Off ; B com FET off
djnz ACC, $ ; Allow some time after com fet is turned off
B_Pwm_Fet_On ; B pwm FET on (in order to charge the driver of the B com FET)
djnz ACC, $ ; Let the pwm fet be turned on a while
B_Pwm_Fet_Off ; B pwm FET off again
djnz ACC, $ ; Allow some time after pwm fet is turned off
B_Com_Fet_On ; B com FET on
djnz ACC, $ ; Allow some time after com fet is turned on
mov A, Temp2 ; Turn on pwm fet
jb ACC.0, beep_a_pwm_on
A_Pwm_Fet_On
beep_a_pwm_on:
jnb ACC.0, beep_c_pwm_on
C_Pwm_Fet_On
beep_c_pwm_on:
mov A, Beep_Strength ; On time according to beep strength
djnz ACC, $
mov A, Temp2 ; Turn off pwm fet
jb ACC.0, beep_a_pwm_off
A_Pwm_Fet_Off
beep_a_pwm_off:
jnb ACC.0, beep_c_pwm_off
C_Pwm_Fet_Off
beep_c_pwm_off:
mov A, #150 ; Off for 25 us
djnz ACC, $
djnz Temp2, beep_on_off ; Toggle next pwm fet
mov A, Temp3
beep_off: ; Fets off loop
mov Temp1, #200
djnz Temp1, $
djnz ACC, beep_off ; Off time according to beep frequency
djnz Temp4, beep_start ; Number of beep pulses (duration)
B_Com_Fet_Off
ret
; Beep sequences
beep_signal_lost:
call beep_f1
call beep_f2
call beep_f3
ret
beep_enter_bootloader:
call beep_f2_short
call beep_f1
ret
beep_motor_stalled:
call beep_f3
call beep_f2
call beep_f1
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Beep melody
;
; Plays a beep melody from eeprom storage
;
; Startup tune has 64 pairs of (item1, item2) - a total of 128 items.
; the first 4 values of the 128 items are metadata
; item2 - is the duration of each pulse of the musical note, lower the value, higher the pitch
; item1 - if item2 is zero, it is the number of milliseconds of wait time, else it is the number of pulses of item2
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
startup_beep_melody:
mov DPTR, #(Eep_Pgm_Startup_Tune)
clr A
movc A, @A+DPTR
cpl A
jz startup_beep_done ; If first byte is 255, skip startup melody (settings may be invalid)
mov Temp5, #62
mov DPTR, #(Eep_Pgm_Startup_Tune + 04h)
startup_melody_loop:
; Read current location at Eep_Pgm_Startup_Tune to Temp4 and increment DPTR. If the value is 0, no point trying to play this note
clr A
movc A, @A+DPTR
inc DPTR
mov Temp4, A
jz startup_beep_done
; Read current location at Eep_Pgm_Startup_Tune to Temp3. If the value zero, that means this is a silent note
clr A
movc A, @A+DPTR
mov Temp3, A
jz startup_melody_item_wait_ms
call beep
sjmp startup_melody_loop_next_item
startup_melody_item_wait_ms:
mov A, Temp4
mov Temp2, A
call wait_ms_o
startup_melody_loop_next_item:
inc DPTR
djnz Temp5, startup_melody_loop
startup_beep_done:
mov DPTR, #Eep_Dummy2
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; LED control
;
; 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_0
led_0_done:
mov A, Temp2
anl A, #0Ch
Set_LED_1
jnz led_1_done
Clear_LED_1
led_1_done:
mov A, Temp2
anl A, #030h
Set_LED_2
jnz led_2_done
Clear_LED_2
led_2_done:
mov A, Temp2
anl A, #0C0h
Set_LED_3
jnz led_3_done
Clear_LED_3
led_3_done:
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Power and temperature control
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Switch power off routine
;
; Switches all fets off
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
switch_power_off:
All_Pwm_Fets_Off ; Turn off all pwm fets
All_Com_Fets_Off ; Turn off all commutation fets
Set_All_Pwm_Phases_Off
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Set pwm limit low rpm
;
; Sets power limit for low rpm
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
set_pwm_limit:
jb Flag_High_Rpm, set_pwm_limit_high_rpm ; If high rpm, limit pwm by rpm instead
;set_pwm_limit_low_rpm:
; Set pwm limit
mov Temp1, #0FFh ; Default full power
jb Flag_Startup_Phase, set_pwm_limit_low_rpm_exit ; Exit if startup phase set
mov A, Low_Rpm_Pwr_Slope ; Check if low RPM power protection is enabled
jz set_pwm_limit_low_rpm_exit ; Exit if disabled (zero)
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
jnb Flag_Initial_Run_Phase, ($+5) ; More protection for initial run phase
mov A, #127
mov B, Comm_Period4x_H
div AB
mov B, Low_Rpm_Pwr_Slope ; Multiply by slope
mul AB
mov Temp1, A ; Set new limit
xch A, B
jz ($+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
;
; Sets power limit for high rpm
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
set_pwm_limit_high_rpm:
clr C
mov A, Comm_Period4x_L
IF MCU_48MHZ == 1
subb A, #0A0h ; Limit Comm_Period4x to 160, which is ~510k erpm
ELSE
subb A, #0E4h ; Limit Comm_Period4x to 228, which is ~358k erpm
ENDIF
mov A, Comm_Period4x_H
subb A, #00h
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 A
set_pwm_limit_high_rpm_store:
jz ($+4)
mov Pwm_Limit_By_Rpm, A
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Check motor temperature and limit power
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
check_temp_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 temp_increase_pwm_limit ; No - increase pwm limit
; Wait for ADC conversion to complete
jnb ADC0CN0_ADINT, check_temp_and_limit_power
mov Temp3, ADC0L ; Read ADC result
mov Temp4, ADC0H
Stop_Adc
mov Adc_Conversion_Cnt, #0 ; Yes - temperature check. Reset counter
mov Temp2, #Pgm_Enable_Temp_Prot ; Is temp protection enabled?
mov A, @Temp2
jz temp_check_exit ; No - branch
mov A, Temp4 ; 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, Temp3 ; 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 zero
temp_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_Temp
temp_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
temp_increase_pwm_limit:
mov A, Pwm_Limit
add A, #16 ; Increase pwm limit
jnc ($+4) ; Check if above maximum
mov A, #255 ; Set maximum value
mov Pwm_Limit, A ; Set new pwm limit
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Commutation and timing
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Initialize timing routine
;
; 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 period
;
; Measure the duration of current commutation period,
; and update Comm_Period4x by averaging a fraction of it.
;
; Called immediately after each commutation
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
calc_next_comm_period:
; Read commutation time
clr IE_EA
clr TMR2CN0_TR2 ; Timer 2 disabled
mov Temp1, TMR2L ; Load timer 2 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_EA
IF MCU_48MHZ == 1
clr C ; Divide time by 2 on 48MHz
rrca Temp3
rrca Temp2
rrca Temp1
ENDIF
jb Flag_Startup_Phase, calc_next_comm_startup
; Calculate this commutation time
clr C
mov A, Temp1
subb A, Prev_Comm_L ; Calculate the new commutation time
mov Prev_Comm_L, Temp1 ; Save timestamp as previous commutation
mov Temp1, A ; Store commutation period in Temp1 (lo byte)
mov A, Temp2
subb A, Prev_Comm_H
mov Prev_Comm_H, Temp2 ; Save timestamp as previous commutation
IF MCU_48MHZ == 1
anl A, #7Fh
ENDIF
mov Temp2, A ; Store commutation period in Temp2 (hi byte)
jnb Flag_High_Rpm, calc_next_comm_normal ; Branch normal rpm
ajmp calc_next_comm_period_fast ; Branch high rpm
calc_next_comm_startup:
; Calculate this commutation time
mov Temp4, Prev_Comm_L
mov Temp5, Prev_Comm_H
mov Temp6, Prev_Comm_X
mov Prev_Comm_L, Temp1 ; Store timestamp as previous commutation
mov Prev_Comm_H, Temp2
mov Prev_Comm_X, Temp3 ; Store extended timestamp as previous commutation
clr C
mov A, Temp1
subb A, Temp4 ; Calculate the new commutation time
mov A, Temp2
subb A, Temp5
mov A, Temp3
subb A, Temp6 ; Calculate the new extended commutation time
IF MCU_48MHZ == 1
anl A, #7Fh
ENDIF
jz calc_next_comm_startup_no_X
; Extended byte is not zero, so commutation time is above 0xFFFF
mov Comm_Period4x_L, #0FFh
mov Comm_Period4x_H, #0FFh
ajmp calc_next_comm_done
calc_next_comm_startup_no_X:
; Extended byte = 0, so commutation time fits within two bytes
mov Temp7, Prev_Prev_Comm_L
mov Temp8, Prev_Prev_Comm_H
mov Prev_Prev_Comm_L, Temp4
mov Prev_Prev_Comm_H, Temp5
; Calculate the new commutation time based upon the two last commutations (to reduce sensitivity to offset)
clr C
mov A, Temp1
subb A, Temp7
mov Temp1, A
mov A, Temp2
subb A, Temp8
mov Temp2, A
mov Temp3, Comm_Period4x_L ; Comm_Period4x holds the time of 4 commutations
mov Temp4, Comm_Period4x_H
sjmp calc_next_comm_div_4_1
calc_next_comm_normal:
; Prepare averaging by dividing Comm_Period4x and current commutation period (Temp2/1) according to speed.
mov Temp3, Comm_Period4x_L ; Comm_Period4x holds the time of 4 commutations
mov Temp4, Comm_Period4x_H
clr C
mov A, Temp4 ; Is Comm_Period4x_H below 4? (above ~80k erpm)
subb A, #4
jc calc_next_comm_div_16_4 ; Yes - Use averaging for high speeds
subb A, #4 ; Is Comm_Period4x_H below 8? (above ~40k erpm)
jc calc_next_comm_div_8_2 ; Yes - Use averaging for low speeds
; No - Use averaging for even lower speeds
; Do not average very fast during initial run
jb Flag_Initial_Run_Phase, calc_next_comm_div_8_2_slow
calc_next_comm_div_4_1:
; Update Comm_Period4x from 1 new commutation period
; Divide Temp4/3 by 4 and store in Temp6/5
Divide_By_4 Temp4, Temp3, Temp6, Temp5
sjmp calc_next_comm_average_and_update
calc_next_comm_div_8_2:
; Update Comm_Period4x from 1/2 new commutation period
; Divide Temp4/3 by 8 and store in Temp5
Divide_11Bit_By_8 Temp4, Temp3, Temp5
mov Temp6, #0
clr C ; Divide by 2
rrca Temp2
rrca Temp1
sjmp calc_next_comm_average_and_update
calc_next_comm_div_8_2_slow:
; Update Comm_Period4x from 1/2 new commutation period
; Divide Temp4/3 by 8 and store in Temp6/5
Divide_By_8 Temp4, Temp3, Temp6, Temp5
clr C ; Divide by 2
rrca Temp2
rrca Temp1
sjmp calc_next_comm_average_and_update
calc_next_comm_div_16_4:
; Update Comm_Period4x from 1/4 new commutation period
; Divide Temp4/3 by 16 and store in Temp5
Divide_12Bit_By_16 Temp4, Temp3, Temp5
mov Temp6, #0
; Divide Temp2/1 by 4 and store in Temp2/1
Divide_By_4 Temp2, Temp1, Temp2, Temp1
calc_next_comm_average_and_update:
; Comm_Period4x = Comm_Period4x - (Comm_Period4x / (16, 8 or 4)) + (Comm_Period / (4, 2 or 1))
; Temp6/5: Comm_Period4x divided by (16, 8 or 4)
clr C ; Subtract a fraction
mov A, Temp3 ; Comm_Period4x_L
subb A, Temp5
mov Temp3, A
mov A, Temp4 ; Comm_Period4x_H
subb A, Temp6
mov Temp4, A
; Temp2/1: This commutation period divided by (4, 2 or 1)
mov A, Temp3 ; Add the divided new time
add A, Temp1
mov Comm_Period4x_L, A
mov A, Temp4
addc A, Temp2
mov Comm_Period4x_H, A
jnc calc_next_comm_done ; Is period larger than 0xffff?
mov Comm_Period4x_L, #0FFh ; Yes - Set commutation period registers to very slow timing (0xffff)
mov Comm_Period4x_H, #0FFh
calc_next_comm_done:
clr C
mov A, Comm_Period4x_H
subb A, #2 ; Is Comm_Period4x_H below 2? (above ~160k erpm)
jnc ($+4)
setb Flag_High_Rpm ; Yes - Set high rpm flag
; Load programmed commutation timing
jnb Flag_Startup_Phase, load_comm_timing_setting
mov Temp8, #3 ; Set dedicated timing during startup
sjmp calc_next_comm_15deg
load_comm_timing_setting:
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_next_comm_15deg
inc Temp8 ; Increase timing (if metric 130 or above)
clr C
mov A, Demag_Detected_Metric
subb A, #160
jc ($+3)
inc Temp8 ; Increase timing again (if metric 160 or above)
clr C
mov A, Temp8 ; Limit timing to max
subb A, #6
jc ($+4)
mov Temp8, #5 ; Set timing to max (if timing 6 or above)
calc_next_comm_15deg:
; Commutation period: 360 deg / 6 runs = 60 deg
; 60 deg / 4 = 15 deg
; Load current commutation timing and compute 15 deg timing
; Divide Comm_Period4x by 16 (Comm_Period1x divided by 4) and store in Temp4/3
Divide_By_16 Comm_Period4x_H, Comm_Period4x_L, Temp4, Temp3
; Subtract timing reduction
clr C
mov A, Temp3
subb A, #2 ; Set timing reduction
mov Temp3, A
mov A, Temp4
subb A, #0
mov Temp4, A
jc calc_next_comm_15deg_set_min ; Check that result is still positive
jnz calc_next_comm_period_exit ; Check that result is still above minimum
mov A, Temp3
jnz calc_next_comm_period_exit
calc_next_comm_15deg_set_min:
mov Temp3, #1 ; Set minimum waiting time (Timers cannot wait for a delay of 0)
mov Temp4, #0
sjmp calc_next_comm_period_exit
;**** **** **** **** ****
; Calculate next commutation timing fast routine
; Fast calculation (Comm_Period4x_H less than 2)
calc_next_comm_period_fast:
; Calculate new commutation time
mov Temp3, Comm_Period4x_L ; Comm_Period4x holds the time of 4 commutations
mov Temp4, Comm_Period4x_H
; Divide by 16 and store in Temp5
Divide_12Bit_By_16 Temp4, Temp3, Temp5
clr C
mov A, Temp3 ; Subtract a fraction
subb A, Temp5
mov Temp3, A
mov A, Temp4
subb A, #0
mov Temp4, A
; Note: Temp2 is assumed to be zero (approx. Comm_Period4x_H / 4)
mov A, Temp1 ; Divide by 4
rr A
rr A
anl A, #03Fh
add A, Temp3 ; Add the divided new time
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 ; Is Comm_Period4x_H 2 or more? (below ~160k erpm)
jc ($+4)
clr Flag_High_Rpm ; Yes - Clear high rpm bit
mov A, Temp4 ; Divide Comm_Period4x by 16 and store in Temp4/3
swap A
mov Temp7, A
mov Temp4, #0 ; Clear waiting time high byte
mov A, Temp3
swap A
anl A, #0Fh
orl A, Temp7
clr C
subb A, #2 ; Timing reduction
mov Temp3, A
jc calc_next_comm_fast_set_min ; Check that result is still positive
jnz calc_next_comm_fast_done ; Check that result is still above minimum
calc_next_comm_fast_set_min:
mov Temp3, #1 ; Set minimum waiting time (Timers cannot wait for a delay of 0)
calc_next_comm_fast_done:
mov Temp1, #Pgm_Comm_Timing ; Load timing setting
mov A, @Temp1
mov Temp8, A ; Store in Temp8
calc_next_comm_period_exit:
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Wait advance timing routine
;
; Waits for the advance timing to elapse
;
; NOTE: Be VERY careful if using temp registers. They are passed over this routine
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
wait_advance_timing:
; If it has not already, we wait here for the Wt_Adv_Start_ delay to elapse.
Wait_For_Timer3
; At this point timer 3 has (already) wrapped and been reloaded with the Wt_Zc_Scan_Start_ delay.
; In case this delay has also elapsed, timer 3 has been reloaded with a short delay any number of times.
; - The interrupt flag is set and the pending flag will clear immediately after enabling the interrupt.
mov TMR3RLL, Wt_ZC_Tout_Start_L ; Setup next wait time
mov TMR3RLH, Wt_ZC_Tout_Start_H
setb Flag_Timer3_Pending
orl EIE1, #80h ; Enable timer 3 interrupts
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Calculate new wait times routine
;
; 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, A
IF MCU_48MHZ == 1
clr C
rlca Temp1 ; Multiply by 2
rlca Temp2
ENDIF
; Temp2/1 = 15deg timer 2 period
jb Flag_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 ; Store 7.5deg in Temp5/6 (15deg / 2)
rrc A
mov Temp6, A
mov A, Temp1
rrc A
mov Temp5, A
mov Wt_Zc_Scan_Start_L, Temp5 ; Set 7.5deg time for zero cross scan delay
mov Wt_Zc_Scan_Start_H, Temp6
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
; Commutation timing setting is 2 or 4
mov A, Temp1 ; Store 22.5deg in Temp1/2 (15deg + 7.5deg)
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:
; Commutation timing setting is 1 or 5
mov A, Temp1 ; Store 30deg in Temp1/2 (15deg + 15deg)
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, #-1 ; Store minimum time (0deg) in Temp3/4
mov Temp4, #-1
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
sjmp calc_new_wait_times_exit
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
; Set very short delays for all but advance time during startup, in order to widen zero cross capture range
jnb Flag_Startup_Phase, calc_new_wait_times_exit
mov Wt_Comm_Start_L, #-16
mov Wt_Comm_Start_H, #-1
mov Wt_Zc_Scan_Start_L, #-16
mov Wt_Zc_Scan_Start_H, #-1
mov Wt_Zc_Tout_Start_L, #-16
mov Wt_Zc_Tout_Start_H, #-1
sjmp calc_new_wait_times_exit
;**** **** **** **** ****
; Calculate new wait times fast routine
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_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg)
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, #-1 ; 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)
sjmp calc_new_wait_times_exit
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)
calc_new_wait_times_exit:
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Wait before zero cross scan routine
;
; Waits for the zero cross scan wait time to elapse
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
wait_before_zc_scan:
; If it has not already, we wait here for the Wt_Zc_Scan_Start_ delay to elapse.
Wait_For_Timer3
; At this point timer 3 has (already) wrapped and been reloaded with the Wt_ZC_Tout_Start_ delay.
; In case this delay has also elapsed, timer 3 has been reloaded with a short delay any number of times.
; - The interrupt flag is set and the pending flag will clear immediately after enabling the interrupt.
mov Startup_Zc_Timeout_Cntd, #2
setup_zc_scan_timeout:
setb Flag_Timer3_Pending
orl EIE1, #80h ; Enable timer 3 interrupts
jnb Flag_Initial_Run_Phase, wait_before_zc_scan_exit
mov Temp1, Comm_Period4x_L ; Set long timeout when starting
mov Temp2, Comm_Period4x_H
clr C
rrca Temp2
rrca Temp1
IF MCU_48MHZ == 0
clr C
rrca Temp2
rrca Temp1
ENDIF
jnb Flag_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 Flag_Timer3_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
;
; Scans for comparator going low/high
; Exit if zero cross timeout has elapsed
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
wait_for_comp_out_low:
mov B, #00h ; Desired comparator output
jnb Flag_Dir_Change_Brake, comp_init
mov B, #40h
sjmp comp_init
wait_for_comp_out_high:
mov B, #40h ; Desired comparator output
jnb Flag_Dir_Change_Brake, comp_init
mov B, #00h
comp_init:
setb Flag_Demag_Detected ; Set demag detected flag as default
mov Comparator_Read_Cnt, #0 ; Reset number of comparator reads
comp_start:
; Set number of comparator readings required
mov Temp3, #(1 SHL MCU_48MHZ) ; Number of OK readings required
mov Temp4, #(1 SHL MCU_48MHZ) ; Max number of readings required
jb Flag_High_Rpm, comp_check_timeout ; Branch if high rpm
jnb Flag_Initial_Run_Phase, ($+5)
clr Flag_Demag_Detected ; Clear demag detected flag if start phases
jnb Flag_Startup_Phase, comp_not_startup
mov Temp3, #(27 SHL MCU_48MHZ) ; Set many samples during startup, approximately one pwm period
mov Temp4, #(27 SHL MCU_48MHZ)
sjmp comp_check_timeout
comp_not_startup:
; 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 Temp4, #(20 SHL MCU_48MHZ)
mov A, Comm_Period4x_H ; Set number of readings higher for lower speeds
IF MCU_48MHZ == 0
clr C
rrc A
ENDIF
jnz ($+3)
inc A ; Minimum 1
mov Temp3, A
clr C
subb A, #(20 SHL MCU_48MHZ)
jc ($+4)
mov Temp3, #(20 SHL MCU_48MHZ) ; Maximum 20
comp_check_timeout:
jb Flag_Timer3_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 yet read - ignore zero cross timeout
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 Flag_Comp_Timed_Out
sjmp comp_exit
comp_check_timeout_extend_timeout:
call setup_zc_scan_timeout
comp_check_timeout_not_timed_out:
inc Comparator_Read_Cnt ; Increment comparator read count
Read_Comparator_Output
anl A, #40h
cjne A, B, comp_read_wrong
; Comp read ok
mov A, Startup_Cnt ; Force a timeout for the first commutation
jz comp_start
jb Flag_Demag_Detected, comp_start ; Do not accept correct comparator output if it is demag
djnz Temp3, comp_check_timeout ; Decrement readings counter - repeat comparator reading if not zero
clr Flag_Comp_Timed_Out
sjmp comp_exit
comp_read_wrong:
jb Flag_Startup_Phase, comp_read_wrong_startup
jb Flag_Demag_Detected, comp_read_wrong_extend_timeout
inc Temp3 ; Increment number of OK readings required
clr C
mov A, Temp3
subb A, Temp4
jc comp_check_timeout ; If below initial requirement - take another reading
sjmp comp_start ; Otherwise - go back and restart
comp_read_wrong_startup:
inc Temp3 ; Increment number of OK readings required
clr C
mov A, Temp3
subb A, Temp4 ; If above initial requirement - do not increment further
jc ($+3)
dec Temp3
sjmp comp_check_timeout ; Continue to look for good ones
comp_read_wrong_extend_timeout:
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 Flag_High_Rpm, comp_read_wrong_low_rpm ; Branch if not high rpm
mov TMR3L, #0 ; Set timeout to ~1ms
mov TMR3H, #-(8 SHL MCU_48MHZ)
comp_read_wrong_timeout_set:
mov TMR3CN0, #04h ; Timer 3 enabled and interrupt flag cleared
setb Flag_Timer3_Pending
orl EIE1, #80h ; Enable timer 3 interrupts
jmp comp_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 long timeout
IF 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
comp_exit:
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Setup commutation timing routine
;
; Clear the zero cross timeout and sets up wait from zero cross to commutation
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
setup_comm_wait:
clr IE_EA
anl EIE1, #7Fh ; Disable timer 3 interrupts
; It is necessary to update the timer reload registers before the timer registers,
; to avoid a reload of the previous values in case of a short Wt_Comm_Start delay.
; Advance wait time will be loaded by timer 3 immediately after the commutation wait elapses
mov TMR3RLL, Wt_Adv_Start_L ; Setup next wait time
mov TMR3RLH, Wt_Adv_Start_H
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
setb Flag_Timer3_Pending
orl EIE1, #80h ; Enable timer 3 interrupts
setb IE_EA ; Enable interrupts again
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Evaluate comparator integrity
;
; Checks comparator signal behavior versus expected behavior
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
evaluate_comparator_integrity:
jb Flag_Startup_Phase, eval_comp_startup ; Do not exit run mode during startup phases
jnb Flag_Comp_Timed_Out, eval_comp_exit ; Has timeout elapsed?
jb Flag_Initial_Run_Phase, eval_comp_exit ; Do not exit run mode if initial run phase
jb Flag_Dir_Change_Brake, eval_comp_exit ; Do not exit run mode if 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 exit_run_mode_on_timeout ; Exit run mode if timeout has elapsed
eval_comp_startup:
inc Startup_Cnt ; Increment startup counter
eval_comp_exit:
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Wait for commutation routine
;
; 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 Flag_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_Pwm_Fets_Off
Set_All_Pwm_Phases_Off
wait_for_comm_wait:
; If it has not already, we wait here for the Wt_Comm_Start_ delay to elapse.
Wait_For_Timer3
; At this point timer 3 has (already) wrapped and been reloaded with the Wt_Adv_Start_ delay.
; In case this delay has also elapsed, timer 3 has been reloaded with a short delay any number of times.
; - The interrupt flag is set and the pending flag will clear immediately after enabling the interrupt.
mov TMR3RLL, Wt_Zc_Scan_Start_L ; Setup next wait time
mov TMR3RLH, Wt_Zc_Scan_Start_H
setb Flag_Timer3_Pending
orl EIE1, #80h ; Enable timer 3 interrupts
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Commutation routines
;
; Performs commutation switching
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
; Comm phase 1 to comm phase 2
comm1_comm2: ; C->A
jb Flag_Motor_Dir_Rev, comm1_comm2_rev
clr IE_EA
B_Com_Fet_Off
A_Com_Fet_On
Set_Pwm_Phase_C ; Reapply power after a demag cut
setb IE_EA
Set_Comparator_Phase_B
ret
comm1_comm2_rev: ; A->C
clr IE_EA
B_Com_Fet_Off
C_Com_Fet_On
Set_Pwm_Phase_A ; Reapply power after a demag cut
setb IE_EA
Set_Comparator_Phase_B
ret
; Comm phase 2 to comm phase 3
comm2_comm3: ; B->A
jb Flag_Motor_Dir_Rev, comm2_comm3_rev
clr IE_EA
C_Pwm_Fet_Off ; Turn off pwm fet (Necessary for EN/PWM driver)
Set_Pwm_Phase_B
A_Com_Fet_On ; Reapply power after a demag cut (Necessary for EN/PWM driver)
setb IE_EA
Set_Comparator_Phase_C
ret
comm2_comm3_rev: ; B->C
clr IE_EA
A_Pwm_Fet_Off ; Turn off pwm fet (Necessary for EN/PWM driver)
Set_Pwm_Phase_B
C_Com_Fet_On ; Reapply power after a demag cut (Necessary for EN/PWM driver)
setb IE_EA
Set_Comparator_Phase_A
ret
; Comm phase 3 to comm phase 4
comm3_comm4: ; B->C
jb Flag_Motor_Dir_Rev, comm3_comm4_rev
clr IE_EA
A_Com_Fet_Off
C_Com_Fet_On
Set_Pwm_Phase_B ; Reapply power after a demag cut
setb IE_EA
Set_Comparator_Phase_A
ret
comm3_comm4_rev: ; B->A
clr IE_EA
C_Com_Fet_Off
A_Com_Fet_On
Set_Pwm_Phase_B ; Reapply power after a demag cut
setb IE_EA
Set_Comparator_Phase_C
ret
; Comm phase 4 to comm phase 5
comm4_comm5: ; A->C
jb Flag_Motor_Dir_Rev, comm4_comm5_rev
clr IE_EA
B_Pwm_Fet_Off ; Turn off pwm fet (Necessary for EN/PWM driver)
Set_Pwm_Phase_A
C_Com_Fet_On ; Reapply power after a demag cut (Necessary for EN/PWM driver)
setb IE_EA
Set_Comparator_Phase_B
ret
comm4_comm5_rev: ; C->A
clr IE_EA
B_Pwm_Fet_Off ; Turn off pwm fet (Necessary for EN/PWM driver)
Set_Pwm_Phase_C
A_Com_Fet_On ; Reapply power after a demag cut (Necessary for EN/PWM driver)
setb IE_EA
Set_Comparator_Phase_B
ret
; Comm phase 5 to comm phase 6
comm5_comm6: ; A->B
jb Flag_Motor_Dir_Rev, comm5_comm6_rev
clr IE_EA
C_Com_Fet_Off
B_Com_Fet_On
Set_Pwm_Phase_A ; Reapply power after a demag cut
setb IE_EA
Set_Comparator_Phase_C
ret
comm5_comm6_rev: ; C->B
clr IE_EA
A_Com_Fet_Off
B_Com_Fet_On
Set_Pwm_Phase_C ; Reapply power after a demag cut
setb IE_EA
Set_Comparator_Phase_A
ret
; Comm phase 6 to comm phase 1
comm6_comm1: ; C->B
jb Flag_Motor_Dir_Rev, comm6_comm1_rev
clr IE_EA
A_Pwm_Fet_Off ; Turn off pwm fet (Necessary for EN/PWM driver)
Set_Pwm_Phase_C
B_Com_Fet_On ; Reapply power after a demag cut (Necessary for EN/PWM driver)
setb IE_EA
Set_Comparator_Phase_A
ret
comm6_comm1_rev: ; A->B
clr IE_EA
C_Pwm_Fet_Off ; Turn off pwm fet (Necessary for EN/PWM driver)
Set_Pwm_Phase_A
B_Com_Fet_On ; Reapply power after a demag cut (Necessary for EN/PWM driver)
setb IE_EA
Set_Comparator_Phase_C
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; DShot
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Detect DShot RCP level
;
; Determine if RCP signal level is normal or inverted DShot
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
detect_rcp_level:
mov A, #50 ; Must detect the same level 50 times (25 us)
mov C, RTX_BIT
detect_rcp_level_read:
jc ($+5)
jb RTX_BIT, detect_rcp_level ; Level changed from low to high - start over
jnc ($+5)
jnb RTX_BIT, detect_rcp_level ; Level changed from high to low - start over
djnz ACC, detect_rcp_level_read
mov Flag_Rcp_DShot_Inverted, C
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Check DShot command
;
; Determine received DShot command and perform action
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
dshot_cmd_check:
mov A, DShot_Cmd
jz dshot_cmd_exit_no_clear
mov Temp1, A
clr C
subb A, #6 ; Beacon beeps for command 1-5
jnc dshot_cmd_direction_normal
call beacon_beep
call wait200ms
sjmp dshot_cmd_exit
dshot_cmd_direction_normal:
clr C ; Remaining commands must be received 6 times in a row
mov A, DShot_Cmd_Cnt
subb A, #6
jc dshot_cmd_exit_no_clear
; Set motor spinning direction to normal
cjne Temp1, #7, dshot_cmd_direction_reverse
clr Flag_Pgm_Dir_Rev
sjmp dshot_cmd_exit
dshot_cmd_direction_reverse:
; Set motor spinning direction to reversed
cjne Temp1, #8, dshot_cmd_direction_bidir_off
setb Flag_Pgm_Dir_Rev
sjmp dshot_cmd_exit
dshot_cmd_direction_bidir_off:
; Set motor control mode to normal (not bidirectional)
cjne Temp1, #9, dshot_cmd_direction_bidir_on
clr Flag_Pgm_Bidir
sjmp dshot_cmd_exit
dshot_cmd_direction_bidir_on:
; Set motor control mode to bidirectional
cjne Temp1, #10, dshot_cmd_direction_user_normal
setb Flag_Pgm_Bidir
sjmp dshot_cmd_exit
dshot_cmd_direction_user_normal:
; Set motor spinning direction to user programmed direction
cjne Temp1, #20, dshot_cmd_direction_user_reverse
mov Temp2, #Pgm_Direction ; Read programmed direction
mov A, @Temp2
dec A
mov C, ACC.0 ; Set direction
mov Flag_Pgm_Dir_Rev, C
sjmp dshot_cmd_exit
dshot_cmd_direction_user_reverse: ; Temporary reverse
; Set motor spinning direction to reverse of user programmed direction
cjne Temp1, #21, dshot_cmd_save_settings
mov Temp2, #Pgm_Direction ; Read programmed direction
mov A, @Temp2
dec A
mov C, ACC.0
cpl C ; Set reverse direction
mov Flag_Pgm_Dir_Rev, C
sjmp dshot_cmd_exit
dshot_cmd_save_settings:
cjne Temp1, #12, dshot_cmd_exit
clr A ; Set programmed direction from flags
mov C, Flag_Pgm_Dir_Rev
mov ACC.0, C
mov C, Flag_Pgm_Bidir
mov ACC.1, C
inc A
mov Temp2, #Pgm_Direction ; Store programmed direction
mov @Temp2, A
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 ; Reset flash keys to invalid values
mov Flash_Key_2, #0
setb IE_EA
dshot_cmd_exit:
mov DShot_Cmd, #0 ; Clear DShot command and exit
mov DShot_Cmd_Cnt, #0
dshot_cmd_exit_no_clear:
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; DShot beacon beep
;
; Beep with beacon strength
; Beep type 1-5 in Temp1
;
; Note: This routine switches off power
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
beacon_beep:
clr IE_EA ; Disable all interrupts
call switch_power_off ; Switch power off in case braking is set
mov Temp2, #Pgm_Beacon_Strength ; Set beacon beep strength
mov Beep_Strength, @Temp2
cjne Temp1, #1, beacon_beep2
call beep_f1
sjmp beacon_beep_exit
beacon_beep2:
cjne Temp1, #2, beacon_beep3
call beep_f2
sjmp beacon_beep_exit
beacon_beep3:
cjne Temp1, #3, beacon_beep4
call beep_f3
sjmp beacon_beep_exit
beacon_beep4:
cjne Temp1, #4, beacon_beep5
call beep_f4
sjmp beacon_beep_exit
beacon_beep5:
call beep_f5
beacon_beep_exit:
mov Temp2, #Pgm_Beep_Strength ; Set normal beep strength
mov Beep_Strength, @Temp2
setb IE_EA ; Enable all interrupts
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; DShot telemetry create packet
;
; Create DShot telemetry packet and prepare it for being sent
; The routine is divided into 6 sections that can return early
; in order to reduce commutation interference
;
; Requirements: Must NOT be called while Flag_Telemetry_Pending is set
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
dshot_tlm_create_packet:
push PSW
mov PSW, #10h ; Select register bank 2
Early_Return_Packet_Stage 0
; 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
rr A
clr ACC.7
mov Temp2, A
rr A
clr ACC.7
addc A, Temp2
mov Tlm_Data_H, A
Early_Return_Packet_Stage 1
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 Tlm_Data_L, #0FFh
dshot_tlm_12bit_encoded:
Early_Return_Packet_Stage 2
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 @Temp1, DShot_GCR_Pulse_Time_1; Final transition time
call dshot_gcr_encode ; GCR encode lowest 4-bit of A (store through Temp1)
Early_Return_Packet_Stage 3
mov A, Tlm_Data_L
call dshot_gcr_encode
Early_Return_Packet_Stage 4
mov A, Tlm_Data_L
swap A
call dshot_gcr_encode
Early_Return_Packet_Stage 5
mov A, Tlm_Data_H
call dshot_gcr_encode
inc Temp1
mov Temp5, #0 ; Reset current packet stage
pop PSW
setb Flag_Telemetry_Pending ; Mark that packet is ready to be sent
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; DShot 12-bit encode
;
; Encodes 16-bit e-period as a 12-bit value of the form:
; where M SHL E ~ e-period [us]
;
; Note: Not callable to improve performance
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
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_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 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:
imov Temp1, DShot_GCR_Pulse_Time_3
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_1
ret
dshot_gcr_encode_1_11011:
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_2
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_1
ret
dshot_gcr_encode_2_10010:
GCR_Add_Time Temp1
imov Temp1, DShot_GCR_Pulse_Time_3
imov Temp1, DShot_GCR_Pulse_Time_1
ret
dshot_gcr_encode_3_10011:
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_3
imov Temp1, DShot_GCR_Pulse_Time_1
ret
dshot_gcr_encode_4_11101:
imov Temp1, DShot_GCR_Pulse_Time_2
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_1
ret
dshot_gcr_encode_5_10101:
imov Temp1, DShot_GCR_Pulse_Time_2
imov Temp1, DShot_GCR_Pulse_Time_2
imov Temp1, DShot_GCR_Pulse_Time_1
ret
dshot_gcr_encode_6_10110:
GCR_Add_Time Temp1
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_2
imov Temp1, DShot_GCR_Pulse_Time_1
ret
dshot_gcr_encode_7_10111:
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_2
imov Temp1, DShot_GCR_Pulse_Time_1
ret
dshot_gcr_encode_8_11010:
GCR_Add_Time Temp1
imov Temp1, DShot_GCR_Pulse_Time_2
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_1
ret
dshot_gcr_encode_9_01001:
imov Temp1, DShot_GCR_Pulse_Time_3
imov Temp1, DShot_GCR_Pulse_Time_2
ret
dshot_gcr_encode_A_01010:
GCR_Add_Time Temp1
imov Temp1, DShot_GCR_Pulse_Time_2
imov Temp1, DShot_GCR_Pulse_Time_2
ret
dshot_gcr_encode_B_01011:
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_2
imov Temp1, DShot_GCR_Pulse_Time_2
ret
dshot_gcr_encode_C_11110:
GCR_Add_Time Temp1
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_1
ret
dshot_gcr_encode_D_01101:
imov Temp1, DShot_GCR_Pulse_Time_2
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_2
ret
dshot_gcr_encode_E_01110:
GCR_Add_Time Temp1
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_2
ret
dshot_gcr_encode_F_01111:
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_1
imov Temp1, DShot_GCR_Pulse_Time_2
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; 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 read_melody
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_melody
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
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
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
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
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
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Read bytes from flash and store in external memory
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
read_melody:
mov Temp3, #140 ; Number of bytes
mov Temp2, #0 ; Set XRAM address
mov Temp1, #Bit_Access
mov DPTR, #Eep_Pgm_Startup_Tune ; Set flash address
read_melody_byte:
call read_eeprom_byte
mov A, Bit_Access
movx @Temp2, A ; Write to XRAM
inc Temp2
inc DPTR
djnz Temp3, read_melody_byte
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Write bytes from external memory and store in flash
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
write_melody:
mov Temp3, #140 ; Number of bytes
mov Temp2, #0 ; Set XRAM address
mov DPTR, #Eep_Pgm_Startup_Tune ; Set flash address
write_melody_byte:
movx A, @Temp2 ; Read from XRAM
call write_eeprom_byte_from_acc
inc Temp2
inc DPTR
djnz Temp3, write_melody_byte
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Settings
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Set default parameters
;
; Sets default programming parameters
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
set_default_parameters:
mov Temp1, #_Pgm_Gov_P_Gain
mov @Temp1, #0FFh ; _Pgm_Gov_P_Gain
imov Temp1, #DEFAULT_PGM_STARTUP_POWER_MIN ; Pgm_Startup_Power_Min
imov Temp1, #DEFAULT_PGM_STARTUP_BEEP ; Pgm_Startup_Beep
imov Temp1, #DEFAULT_PGM_DITHERING ; Pgm_Dithering
imov Temp1, #DEFAULT_PGM_STARTUP_POWER_MAX ; Pgm_Startup_Power_Max
imov Temp1, #0FFh ; _Pgm_Rampup_Slope
imov Temp1, #DEFAULT_PGM_RPM_POWER_SLOPE ; Pgm_Rpm_Power_Slope
imov Temp1, #(24 SHL PWM_FREQ) ; Pgm_Pwm_Freq
imov Temp1, #DEFAULT_PGM_DIRECTION ; Pgm_Direction
imov Temp1, #0FFh ; _Pgm_Input_Pol
inc Temp1 ; Skip Initialized_L_Dummy
inc Temp1 ; Skip Initialized_H_Dummy
imov Temp1, #0FFh ; _Pgm_Enable_TX_Program
imov Temp1, #0FFh ; _Pgm_Main_Rearm_Start
imov Temp1, #0FFh ; _Pgm_Gov_Setup_Target
imov Temp1, #0FFh ; _Pgm_Startup_Rpm
imov Temp1, #0FFh ; _Pgm_Startup_Accel
imov Temp1, #0FFh ; _Pgm_Volt_Comp
imov Temp1, #DEFAULT_PGM_COMM_TIMING ; Pgm_Comm_Timing
imov Temp1, #0FFh ; _Pgm_Damping_Force
imov Temp1, #0FFh ; _Pgm_Gov_Range
imov Temp1, #0FFh ; _Pgm_Startup_Method
imov Temp1, #0FFh ; _Pgm_Min_Throttle
imov Temp1, #0FFh ; _Pgm_Max_Throttle
imov Temp1, #DEFAULT_PGM_BEEP_STRENGTH ; Pgm_Beep_Strength
imov Temp1, #DEFAULT_PGM_BEACON_STRENGTH ; Pgm_Beacon_Strength
imov Temp1, #DEFAULT_PGM_BEACON_DELAY ; Pgm_Beacon_Delay
imov Temp1, #0FFh ; _Pgm_Throttle_Rate
imov Temp1, #DEFAULT_PGM_DEMAG_COMP ; Pgm_Demag_Comp
imov Temp1, #0FFh ; _Pgm_BEC_Voltage_High
imov Temp1, #0FFh ; _Pgm_Center_Throttle
imov Temp1, #0FFh ; _Pgm_Main_Spoolup_Time
imov Temp1, #DEFAULT_PGM_ENABLE_TEMP_PROT ; Pgm_Enable_Temp_Prot
imov Temp1, #0FFh ; _Pgm_Enable_Power_Prot
imov Temp1, #0FFh ; _Pgm_Enable_Pwm_Input
imov Temp1, #0FFh ; _Pgm_Pwm_Dither
imov Temp1, #DEFAULT_PGM_BRAKE_ON_STOP ; Pgm_Brake_On_Stop
imov Temp1, #DEFAULT_PGM_LED_CONTROL ; Pgm_LED_Control
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Decode settings
;
; Decodes programmed settings and set RAM variables accordingly
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
decode_settings:
mov Temp1, #Pgm_Direction ; Load programmed direction
mov A, @Temp1
dec A
mov C, ACC.1 ; Set bidirectional mode
mov Flag_Pgm_Bidir, C
mov C, ACC.0 ; Set direction (Normal / Reversed)
mov Flag_Pgm_Dir_Rev, C
; Check startup power
mov Temp1, #Pgm_Startup_Power_Max
mov A, #80 ; Limit to at most 80
subb A, @Temp1
jnc ($+4)
mov @Temp1, #80
; Check low rpm power slope
mov Temp1, #Pgm_Rpm_Power_Slope
mov A, #13 ; Limit to at most 13
subb A, @Temp1
jnc ($+4)
mov @Temp1, #13
mov Low_Rpm_Pwr_Slope, @Temp1
; 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
mov Temp1, #Pgm_Beep_Strength ; Read programmed beep strength setting
mov Beep_Strength, @Temp1 ; Set beep strength
mov Temp1, #Pgm_Dithering ; Read programmed dithering setting
mov A, @Temp1
add A, #0FFh ; Carry set if A is not zero
mov Flag_Dithering, C ; Set dithering enabled
IF PWM_BITS_H == 2 ; Initialize pwm dithering bit patterns
mov Temp1, #Dithering_Patterns ; 1-bit dithering (10-bit to 11-bit)
mov @Temp1, #00h ; 00000000
imov Temp1, #55h ; 01010101
ELSEIF PWM_BITS_H == 1
mov Temp1, #Dithering_Patterns ; 2-bit dithering (9-bit to 11-bit)
mov @Temp1, #00h ; 00000000
imov Temp1, #11h ; 00010001
imov Temp1, #55h ; 01010101
imov Temp1, #77h ; 01110111
ELSEIF PWM_BITS_H == 0
mov Temp1, #Dithering_Patterns ; 3-bit dithering (8-bit to 11-bit)
mov @Temp1, #00h ; 00000000
imov Temp1, #01h ; 00000001
imov Temp1, #11h ; 00010001
imov Temp1, #25h ; 00100101
imov Temp1, #55h ; 01010101
imov Temp1, #5Bh ; 01011011
imov Temp1, #77h ; 01110111
imov Temp1, #7fh ; 01111111
ENDIF
ret
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Main program
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Main program entry point
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
pgm_start:
mov Flash_Key_1, #0 ; Initialize flash keys to invalid values
mov Flash_Key_2, #0
mov WDTCN, #0DEh ; Disable watchdog (WDT)
mov WDTCN, #0ADh
mov SP, #Stack ; Initialize stack (16 bytes of indirect RAM)
orl VDM0CN, #080h ; Enable the VDD monitor
mov RSTSRC, #06h ; Set missing clock and VDD monitor as a reset source if not 1S capable
mov CLKSEL, #00h ; Set clock divider to 1 (Oscillator 0 at 24MHz)
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
IF MCU_48MHZ == 1
; Not available on BB1
mov SFRPAGE, #20h
mov P2MDIN, #P2_DIGITAL
mov P2SKIP, #P2_SKIP
mov SFRPAGE, #00h
ENDIF
Initialize_Crossbar ; Initialize the crossbar and related functionality
call switch_power_off ; Switch power off again, after initializing ports
; Clear RAM
clr A ; Clear accumulator
mov Temp1, A ; Clear Temp1
clear_ram:
mov @Temp1, A ; Clear RAM address
djnz Temp1, clear_ram ; Decrement address and repeat
call set_default_parameters ; Set default programmed parameters
call read_all_eeprom_parameters ; Read all programmed parameters
call decode_settings ; Decode programmed settings
; Initializing beeps
clr IE_EA ; Disable interrupts explicitly
call wait100ms ; Wait a bit to avoid audible resets if not properly powered
call startup_beep_melody ; Play startup beep melody
call led_control ; Set LEDs to programmed values
call wait100ms ; Wait for flight controller to get ready
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; No signal entry point
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
init_no_signal:
clr IE_EA ; Disable interrupts explicitly
mov Flash_Key_1, #0 ; Initialize flash keys to invalid values
mov Flash_Key_2, #0
call switch_power_off
IF MCU_48MHZ == 1
Set_MCU_Clk_24MHz ; Set clock frequency
ENDIF
mov Temp1, #9 ; Check if input signal is high for ~150ms
mov Temp2, #0
mov Temp3, #0
input_high_check:
jnb RTX_BIT, bootloader_done ; Look for low
djnz Temp3, input_high_check
djnz Temp2, input_high_check
djnz Temp1, input_high_check
call beep_enter_bootloader
ljmp 1C00h ; Jump to bootloader
bootloader_done:
jnb Flag_Had_Signal, setup_dshot ; Check if DShot signal was lost
call beep_signal_lost
call wait250ms ; Wait for flight controller to get ready
call wait250ms
call wait250ms
clr Flag_Had_Signal
setup_dshot:
; 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 (system clock divided by 12)
mov TMR3CN0, #04h ; Timer 3 enabled (system clock divided by 12)
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
call detect_rcp_level ; Detect RCP level (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 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
clr Flag_Telemetry_Pending ; Clear DShot telemetry flag
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
; Setup variables for DShot150 (Only on 24MHz because frame length threshold cannot be scaled up)
IF MCU_48MHZ == 0
mov DShot_Timer_Preset, #-64 ; Load DShot sync timer preset (for DShot150)
mov DShot_Pwm_Thr, #8 ; 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 A, Rcp_Outside_Range_Cnt ; Check if pulses were accepted
jz arming_begin
ENDIF
mov CKCON0, #0Ch ; Timer 0/1 clock is system clock (for DShot300/600)
; Setup variables for DShot300
mov DShot_Timer_Preset, #-128 ; Load DShot sync timer preset (for DShot300)
mov DShot_Pwm_Thr, #16 ; Load DShot 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 A, Rcp_Outside_Range_Cnt ; Check if pulses were accepted
jz arming_begin
; Setup variables for DShot600
mov DShot_Timer_Preset, #-64 ; Load DShot sync timer preset (for DShot600)
mov DShot_Pwm_Thr, #8 ; Load DShot 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 A, Rcp_Outside_Range_Cnt ; Check if pulses were accepted
jz arming_begin
ljmp init_no_signal
arming_begin:
push PSW
mov PSW, #10h ; Temp8 in register bank 2 holds value
mov Temp8, CKCON0 ; Save DShot clock settings for telemetry
pop PSW
setb Flag_Had_Signal ; Mark that a signal has been detected
mov Startup_Stall_Cnt, #0 ; Reset stall count
clr IE_EA
call beep_f1_short ; Beep signal that RC pulse is ready
setb IE_EA
arming_wait:
clr C
mov A, Rcp_Stop_Cnt
subb A, #10
jc arming_wait ; Wait until rcp has been zero for ~300ms
clr IE_EA
call beep_f2_short ; Beep signal that ESC is armed
setb IE_EA
wait_for_start: ; Armed and waiting for power on
clr A
mov Comm_Period4x_L, A ; Reset commutation period for telemetry
mov Comm_Period4x_H, A
mov DShot_Cmd, A ; Reset DShot command (only considered in this loop)
mov DShot_Cmd_Cnt, A
mov Beacon_Delay_Cnt, A ; Clear beacon wait counter
mov Timer2_X, A ; Clear timer 2 extended byte
wait_for_start_loop:
clr C
mov A, Timer2_X
subb A, #94
jc wait_for_start_no_beep ; Counter wrapping (about 3 sec)
mov Timer2_X, #0
inc Beacon_Delay_Cnt ; Increment beacon wait counter
mov Temp1, #Pgm_Beacon_Delay
mov A, @Temp1
mov Temp1, #20 ; 1 min
dec A
jz beep_delay_set
mov Temp1, #40 ; 2 min
dec A
jz beep_delay_set
mov Temp1, #100 ; 5 min
dec A
jz beep_delay_set
mov Temp1, #200 ; 10 min
dec A
jz beep_delay_set
mov Beacon_Delay_Cnt, #0 ; Reset beacon counter for infinite delay
beep_delay_set:
clr C
mov A, Beacon_Delay_Cnt
subb A, Temp1 ; Check against chosen delay
jc wait_for_start_no_beep ; Has delay elapsed?
dec Beacon_Delay_Cnt ; Decrement counter for continued beeping
mov Temp1, #4 ; Beep tone 4
call beacon_beep
wait_for_start_no_beep:
jb Flag_Telemetry_Pending, wait_for_start_check_rcp
call dshot_tlm_create_packet ; Create telemetry packet (0 rpm)
wait_for_start_check_rcp:
jnb Flag_Rcp_Stop, wait_for_start_nonzero ; Higher than stop, Yes - proceed
mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value
ljz init_no_signal ; If pulses are missing - go back to detect input signal
call dshot_cmd_check ; Check and process DShot command
sjmp wait_for_start_loop ; Go back to beginning of wait loop
wait_for_start_nonzero:
call wait100ms ; Wait to see if start pulse was glitch
; If Rcp returned to stop - start over
jb Flag_Rcp_Stop, wait_for_start_loop
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Motor start entry point
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
motor_start:
clr IE_EA ; Disable interrupts
call switch_power_off
setb IE_EA ; Enable interrupts
clr A
mov Flags0, A ; Clear run time flags
mov Flags1, A
mov Demag_Detected_Metric, A ; Clear demag metric
call wait1ms
; Read initial average temperature
Start_Adc ; Start adc conversion
jnb ADC0CN0_ADINT, $ ; Wait for adc conversion to complete
mov Current_Average_Temp, ADC0L ; Read initial temperature
mov A, ADC0H
jnz ($+5) ; Is reading below 256?
mov Current_Average_Temp, #0 ; Yes - set average temperature value to zero
mov Adc_Conversion_Cnt, #8 ; Make sure a temp reading is done
call check_temp_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
mov Temp2, #Pgm_Startup_Power_Max
mov Pwm_Limit_Beg, @Temp2 ; Set initial pwm limit
mov Pwm_Limit, Pwm_Limit_Beg
mov Pwm_Limit_By_Rpm, Pwm_Limit_Beg
setb IE_EA ; Enable interrupts
; Begin startup sequence
IF MCU_48MHZ == 1
Set_MCU_Clk_48MHz
; Scale DShot criteria for 48MHz
clr C
rlca DShot_Timer_Preset ; Scale sync timer preset
clr C
rlca DShot_Frame_Length_Thr ; Scale frame length criteria
clr C
rlca DShot_Pwm_Thr ; Scale pulse width criteria
; Scale DShot telemetry for 48MHz
xcha DShot_GCR_Pulse_Time_1, DShot_GCR_Pulse_Time_1_Tmp
xcha DShot_GCR_Pulse_Time_2, DShot_GCR_Pulse_Time_2_Tmp
xcha DShot_GCR_Pulse_Time_3, DShot_GCR_Pulse_Time_3_Tmp
mov DShot_GCR_Start_Delay, #DSHOT_TLM_START_DELAY_48
ENDIF
mov C, Flag_Pgm_Dir_Rev ; Read spin direction setting
mov Flag_Motor_Dir_Rev, C
jnb Flag_Pgm_Bidir, motor_start_bidir_done ; Check if bidirectional operation
mov C, Flag_Rcp_Dir_Rev ; Read force direction
mov Flag_Motor_Dir_Rev, C ; Set spinning direction
;**** **** **** **** ****
; Motor start beginning
motor_start_bidir_done:
setb Flag_Startup_Phase ; Set startup phase flags
setb Flag_Initial_Run_Phase
mov Startup_Cnt, #0 ; Reset startup phase run counter
mov Initial_Run_Rot_Cntd, #12 ; Set initial run rotation countdown
call comm5_comm6 ; Initialize commutation
call comm6_comm1
call initialize_timing ; Initialize timing
call calc_next_comm_period ; Set virtual commutation point
call initialize_timing ; Initialize timing
call calc_next_comm_period
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 high
run1:
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 comm1_comm2 ; Commutate
call calc_next_comm_period ; 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 low
run2:
call wait_for_comp_out_low
; setup_comm_wait
; evaluate_comparator_integrity
call set_pwm_limit ; Set pwm power limit for low or high rpm
call wait_for_comm
call comm2_comm3
call calc_next_comm_period
; 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 high
run3:
call wait_for_comp_out_high
; setup_comm_wait
; evaluate_comparator_integrity
call wait_for_comm
call comm3_comm4
call calc_next_comm_period
; 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 low
run4:
call wait_for_comp_out_low
; setup_comm_wait
; evaluate_comparator_integrity
call wait_for_comm
call comm4_comm5
call calc_next_comm_period
; 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 high
run5:
call wait_for_comp_out_high
; setup_comm_wait
; evaluate_comparator_integrity
call wait_for_comm
call comm5_comm6
call calc_next_comm_period
; 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 low
run6:
Start_Adc ; Start adc conversion
call wait_for_comp_out_low
; setup_comm_wait
; evaluate_comparator_integrity
call wait_for_comm
call comm6_comm1
call check_temp_and_limit_power
call calc_next_comm_period
; wait_advance_timing
; calc_new_wait_times
; wait_before_zc_scan
; Check if it is direct startup
jnb Flag_Startup_Phase, normal_run_checks
mov Pwm_Limit, Pwm_Limit_Beg ; Set initial max power
clr C
mov A, Startup_Cnt ; Load startup counter
subb A, #24 ; Is counter above requirement?
jnc startup_phase_done
jnb Flag_Rcp_Stop, run1 ; If pulse is above stop value - Continue to run
ajmp run_to_wait_for_start
startup_phase_done:
clr Flag_Startup_Phase ; Clear startup phase flag
mov Pwm_Limit, Pwm_Limit_Beg
mov Pwm_Limit_By_Rpm, Pwm_Limit_Beg
normal_run_checks:
; Check if it is initial run phase
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 rotation 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 Flag_Initial_Run_Phase ; Clear initial run phase flag
setb Flag_Motor_Started ; Set motor started
jmp run1 ; Continue with normal run
initial_run_check_startup_rot:
mov Initial_Run_Rot_Cntd, A ; Not zero - store counter
jb Flag_Pgm_Bidir, initial_run_continue_run ; Check if bidirectional operation
jb Flag_Rcp_Stop, run_to_wait_for_start ; Check if pulse is below stop value
initial_run_continue_run:
jmp run1 ; Continue to run
initial_run_phase_done:
; Reset stall count
mov Startup_Stall_Cnt, #0
setb Flag_Motor_Running
; Exit run loop after a given time
jb Flag_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_start ; Yes, go back to wait for power on
run6_check_timeout:
mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value
jz run_to_wait_for_start ; If it is zero - go back to wait for power on
run6_check_dir:
jnb Flag_Pgm_Bidir, run6_check_speed ; Check if bidirectional operation
jb Flag_Motor_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 Flag_Rcp_Dir_Rev, run6_check_dir_change
sjmp run6_check_speed
run6_check_dir_change:
jb Flag_Dir_Change_Brake, run6_check_speed
setb Flag_Dir_Change_Brake ; Set brake flag
mov Pwm_Limit, Pwm_Limit_Beg ; Set max power while braking
jmp run4 ; Go back to run 4, thereby changing force direction
run6_check_speed:
mov Temp1, #0F0h ; Default minimum speed (~1330 erpm)
jnb Flag_Dir_Change_Brake, run6_brake_done; Is it a direction change?
mov Pwm_Limit, Pwm_Limit_Beg ; Set max power while braking to initial power limit
mov Temp1, #20h ; Bidirectional braking termination speed (~9970 erpm)
run6_brake_done:
clr C
mov A, Comm_Period4x_H ; Is Comm_Period4x below minimum speed??
subb A, Temp1
ljc run1 ; No - go back to run 1
jnb Flag_Dir_Change_Brake, run_to_wait_for_start ; If it is not a direction change - stop
; Turn spinning direction
clr Flag_Dir_Change_Brake ; Clear brake
mov C, Flag_Rcp_Dir_Rev ; Read force direction
mov Flag_Motor_Dir_Rev, C ; Set spinning direction
setb Flag_Initial_Run_Phase
mov Initial_Run_Rot_Cntd, #18
mov Pwm_Limit, Pwm_Limit_Beg ; Set initial max power
jmp run1 ; Go back to run 1
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Exit run mode and power off
; on normal stop or comparator timeout
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
exit_run_mode_on_timeout:
jb Flag_Motor_Running, run_to_wait_for_start
inc Startup_Stall_Cnt ; Increment stall count if motors did not properly start
run_to_wait_for_start:
clr IE_EA ; Disable all interrupts
call switch_power_off
mov Flags0, #0 ; Clear run time flags (in case they are used in interrupts)
mov Flags1, #0
IF MCU_48MHZ == 1
Set_MCU_Clk_24MHz
; Scale DShot criteria for 24MHz
setb C
rrca DShot_Timer_Preset ; Scale sync timer preset
clr C
rrca DShot_Frame_Length_Thr ; Scale frame length criteria
clr C
rrca DShot_Pwm_Thr ; Scale pulse width criteria
; Scale DShot telemetry for 24MHz
xcha DShot_GCR_Pulse_Time_1, DShot_GCR_Pulse_Time_1_Tmp
xcha DShot_GCR_Pulse_Time_2, DShot_GCR_Pulse_Time_2_Tmp
xcha DShot_GCR_Pulse_Time_3, DShot_GCR_Pulse_Time_3_Tmp
mov DShot_GCR_Start_Delay, #DSHOT_TLM_START_DELAY
ENDIF
setb IE_EA ; Enable all interrupts
call wait100ms ; Wait for pwm to be stopped
call switch_power_off
; Check if RCP is zero, then it is a normal stop or signal timeout
jb Flag_Rcp_Stop, run_to_wait_for_start_no_stall
clr C ; Otherwise - it's a stall
mov A, Startup_Stall_Cnt
subb A, #4 ; Maximum consecutive stalls
ljc motor_start ; Go back and try starting motors again
; Stalled too many times
clr IE_EA
call beep_motor_stalled
setb IE_EA
ljmp arming_begin ; Go back and wait for arming
run_to_wait_for_start_no_stall:
mov Startup_Stall_Cnt, #0
mov Temp1, #Pgm_Brake_On_Stop ; Check if using brake on stop
mov A, @Temp1
jz run_to_wait_for_start_brake_done
A_Com_Fet_On ; Brake on stop
B_Com_Fet_On
C_Com_Fet_On
run_to_wait_for_start_brake_done:
ljmp wait_for_start ; Go back to wait for power on
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Reset
;
; Should execution ever reach this point the ESC will be reset,
; as code flash after offset 1A00 is used for EEPROM storage
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
CSEG AT 19FDh
reset:
ljmp pgm_start
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Bootloader
;
; Include source code for BLHeli bootloader
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;CSEG AT 1C00h
$include (BLHeliBootLoad.inc)
END