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4158 lines
112 KiB
4158 lines
112 KiB
$NOMOD51
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;**** **** **** **** ****
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;
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; Bluejay digital ESC firmware for controlling brushless motors in multirotors
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;
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; Copyright 2020 Mathias Rasmussen
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; Copyright 2011, 2012 Steffen Skaug
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;
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; This file is part of Bluejay.
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;
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; Bluejay is free software: you can redistribute it and/or modify
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; it under the terms of the GNU General Public License as published by
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; the Free Software Foundation, either version 3 of the License, or
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; (at your option) any later version.
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;
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; Bluejay is distributed in the hope that it will be useful,
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; but WITHOUT ANY WARRANTY; without even the implied warranty of
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; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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; GNU General Public License for more details.
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;
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; You should have received a copy of the GNU General Public License
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; along with Bluejay. If not, see <http://www.gnu.org/licenses/>.
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;
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;**** **** **** **** ****
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;
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; Bluejay is a fork of BLHeli_S <https://github.com/bitdump/BLHeli> by Steffen Skaug.
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;
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; The input signal can be DShot with rates: DShot150, DShot300 and DShot600.
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;
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; This file is best viewed with tab width set to 5.
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;
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;**** **** **** **** ****
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; Master clock is internal 24MHz oscillator (or 48MHz, for which the times below are halved)
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; Although 24/48 are used in the code, the exact clock frequencies are 24.5MHz or 49.0 MHz
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; Timer 0 (41.67ns counts) always counts up and is used for
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; - RC pulse measurement
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; - DShot telemetry pulse timing
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; Timer 1 (41.67ns counts) always counts up and is used for
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; - DShot frame sync detection
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; Timer 2 (500ns counts) always counts up and is used for
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; - RC pulse timeout counts and commutation times
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; Timer 3 (500ns counts) always counts up and is used for
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; - Commutation timeouts
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; PCA0 (41.67ns counts) always counts up and is used for
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; - Hardware PWM generation
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;
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;**** **** **** **** ****
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; Motor control:
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; - Brushless motor control with 6 states for each electrical 360 degrees
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; - An advance timing of 0deg has zero cross 30deg after one commutation and 30deg before the next
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; - Timing advance in this implementation is set to 15deg nominally
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; - Motor pwm is always damped light (aka complementary pwm, regenerative braking)
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; Motor sequence starting from zero crossing:
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; - Timer wait: Wt_Comm 15deg ; Time to wait from zero cross to actual commutation
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; - Timer wait: Wt_Advance 15deg ; Time to wait for timing advance. Nominal commutation point is after this
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; - Timer wait: Wt_Zc_Scan 7.5deg ; Time to wait before looking for zero cross
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; - Scan for zero cross 22.5deg ; Nominal, with some motor variations
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;
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; Motor startup:
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; There is a startup phase and an initial run phase, before normal bemf commutation run begins.
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;
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;**** **** **** **** ****
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; List of enumerated supported ESCs
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A_ EQU 1 ; X X RC X MC MB MA CC X X Cc Cp Bc Bp Ac Ap
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B_ EQU 2 ; X X RC X MC MB MA CC X X Ap Ac Bp Bc Cp Cc
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C_ EQU 3 ; Ac Ap MC MB MA CC X RC X X X X Cc Cp Bc Bp
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D_ EQU 4 ; X X RC X CC MA MC MB X X Cc Cp Bc Bp Ac Ap Com fets inverted
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E_ EQU 5 ; L1 L0 RC X MC MB MA CC X L2 Cc Cp Bc Bp Ac Ap A with LEDs
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F_ EQU 6 ; X X RC X MA MB MC CC X X Cc Cp Bc Bp Ac Ap
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G_ EQU 7 ; X X RC X CC MA MC MB X X Cc Cp Bc Bp Ac Ap Like D, but non-inverted com fets
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H_ EQU 8 ; RC X X X MA MB CC MC X Ap Bp Cp X Ac Bc Cc
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I_ EQU 9 ; X X RC X MC MB MA CC X X Ac Bc Cc Ap Bp Cp
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J_ EQU 10 ; L2 L1 L0 RC CC MB MC MA X X Cc Bc Ac Cp Bp Ap LEDs
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K_ EQU 11 ; X X MC X MB CC MA RC X X Ap Bp Cp Cc Bc Ac Com fets inverted
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L_ EQU 12 ; X X RC X CC MA MB MC X X Ac Bc Cc Ap Bp Cp
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M_ EQU 13 ; MA MC CC MB RC L0 X X X Cc Bc Ac Cp Bp Ap X LED
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N_ EQU 14 ; X X RC X MC MB MA CC X X Cp Cc Bp Bc Ap Ac
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O_ EQU 15 ; X X RC X CC MA MC MB X X Cc Cp Bc Bp Ac Ap Like D, but low side pwm
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P_ EQU 16 ; X X RC MA CC MB MC X X Cc Bc Ac Cp Bp Ap X
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Q_ EQU 17 ; Cp Bp Ap L1 L0 X RC X X MA MB MC CC Cc Bc Ac LEDs
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R_ EQU 18 ; X X RC X MC MB MA CC X X Ac Bc Cc Ap Bp Cp
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S_ EQU 19 ; X X RC X CC MA MC MB X X Cc Cp Bc Bp Ac Ap Like O, but com fets inverted
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T_ EQU 20 ; RC X MA X MB CC MC X X X Cp Bp Ap Ac Bc Cc
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U_ EQU 21 ; MA MC CC MB RC L0 L1 L2 X Cc Bc Ac Cp Bp Ap X Like M, but with 3 LEDs
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V_ EQU 22 ; Cc X RC X MC CC MB MA X Ap Ac Bp X X Bc Cp
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W_ EQU 23 ; RC MC MB X CC MA X X X Ap Bp Cp X X X X Tristate gate driver
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;**** **** **** **** ****
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; Select the port mapping to use (or unselect all for use with external batch compile file)
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;ESCNO EQU A_
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;**** **** **** **** ****
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; Select the MCU type (or unselect for use with external batch compile file)
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;MCU_48MHZ EQU 0
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;**** **** **** **** ****
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; Select the fet dead time (or unselect for use with external batch compile file)
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;FETON_DELAY EQU 15 ; 20.4ns per step
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;**** **** **** **** ****
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; Select the pwm frequency (or unselect for use with external batch compile file)
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;PWM_FREQ EQU 0 ; 0=24, 1=48, 2=96 kHz
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PWM_CENTERED EQU FETON_DELAY > 0 ; Use center aligned pwm on ESCs with dead time
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IF MCU_48MHZ < 2 AND PWM_FREQ < 3
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; Number of bits in pwm high byte
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PWM_BITS_H EQU (2 + MCU_48MHZ - PWM_CENTERED - PWM_FREQ)
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ENDIF
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$include (Common.inc) ; Include common source code for EFM8BBx based ESCs
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;**** **** **** **** ****
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; Programming defaults
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DEFAULT_PGM_STARTUP_PWR EQU 9 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50
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DEFAULT_PGM_COMM_TIMING EQU 4 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
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DEFAULT_PGM_DEMAG_COMP EQU 2 ; 1=Disabled 2=Low 3=High
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DEFAULT_PGM_DIRECTION EQU 1 ; 1=Normal 2=Reversed 3=Bidir 4=Bidir rev
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DEFAULT_PGM_BEEP_STRENGTH EQU 40 ; 0..255 (BLHeli_S is 1..255)
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DEFAULT_PGM_BEACON_STRENGTH EQU 80 ; 0..255
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DEFAULT_PGM_BEACON_DELAY EQU 4 ; 1=1m 2=2m 3=5m 4=10m 5=Infinite
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DEFAULT_PGM_ENABLE_TEMP_PROT EQU 7 ; 0=Disabled 1=80C 2=90C 3=100C 4=110C 5=120C 6=130C 7=140C
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DEFAULT_PGM_ENABLE_POWER_PROT EQU 1 ; 1=Enabled 0=Disabled
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DEFAULT_PGM_BRAKE_ON_STOP EQU 0 ; 1=Enabled 0=Disabled
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DEFAULT_PGM_LED_CONTROL EQU 0 ; Byte for LED control. 2bits per LED, 0=Off, 1=On
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DEFAULT_PGM_STARTUP_BOOST EQU 51 ; 0..255 (1000..1125 Throttle): value * (1000 / 2047) + 1000
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DEFAULT_PGM_STARTUP_BEEP EQU 1 ; 0=Short beep, 1=Melody
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DEFAULT_PGM_DITHERING EQU 1 ; 0=Disabled, 1=Enabled
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;**** **** **** **** ****
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; Temporary register definitions
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Temp1 EQU R0
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Temp2 EQU R1
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Temp3 EQU R2
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Temp4 EQU R3
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Temp5 EQU R4
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Temp6 EQU R5
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Temp7 EQU R6
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Temp8 EQU R7
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;**** **** **** **** ****
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; RAM definitions
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; Bit-addressable data segment
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DSEG AT 20h
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Bit_Access: DS 1 ; MUST BE AT THIS ADDRESS. Variable at bit accessible address (for non interrupt routines)
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Bit_Access_Int: DS 1 ; Variable at bit accessible address (for interrupts)
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Flags_Startup: DS 1 ; State flags. Reset upon init_start
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Flag_Startup_Phase BIT Flags_Startup.0 ; Set when in startup phase
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Flag_Initial_Run_Phase BIT Flags_Startup.1 ; Set when in initial run phase, before synchronized run is achieved
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; Note: Remaining bits must be cleared
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Flags1: DS 1 ; State flags. Reset upon init_start
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Flag_Timer3_Pending BIT Flags1.0 ; Timer 3 pending flag
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Flag_Demag_Detected BIT Flags1.1 ; Set when excessive demag time is detected
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Flag_Comp_Timed_Out BIT Flags1.2 ; Set when comparator reading timed out
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Flag_Motor_Running BIT Flags1.3
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Flag_Motor_Started BIT Flags1.4 ; Set when motor is started
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Flag_Dir_Change_Brake BIT Flags1.5 ; Set when braking before direction change
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Flag_High_Rpm BIT Flags1.6 ; Set when motor rpm is high (Comm_Period4x_H less than 2)
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Flag_Low_Pwm_Power BIT Flags1.7 ; Set when pwm duty cycle is below 50%
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Flags2: DS 1 ; State flags. NOT reset upon init_start
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Flag_Pgm_Dir_Rev BIT Flags2.0 ; Programmed direction. 0=normal, 1=reversed
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Flag_Pgm_Bidir_Rev BIT Flags2.1 ; Programmed bidirectional direction. 0=normal, 1=reversed
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Flag_Pgm_Bidir BIT Flags2.2 ; Programmed bidirectional operation. 0=normal, 1=bidirectional
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Flag_Skip_Timer2_Int BIT Flags2.3 ; Set for 48MHz MCUs when timer 2 interrupt shall be ignored
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Flag_Clock_At_48MHz BIT Flags2.4 ; Set if 48MHz MCUs run at 48MHz
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Flag_Rcp_Stop BIT Flags2.5 ; Set if the RC pulse value is zero
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Flag_Rcp_Dir_Rev BIT Flags2.6 ; RC pulse direction in bidirectional mode
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Flag_Rcp_DShot_Inverted BIT Flags2.7 ; DShot RC pulse input is inverted (and supports telemetry)
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Flags3: DS 1 ; State flags. NOT reset upon init_start
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Flag_Telemetry_Pending BIT Flags3.0 ; DShot telemetry data packet is ready to be sent
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Flag_Dithering BIT Flags3.1 ; Dithering enabled
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Tlm_Data_L: DS 1 ; DShot telemetry data (lo byte)
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Tlm_Data_H: DS 1 ; DShot telemetry data (hi byte)
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Tmp_B: DS 1
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;**** **** **** **** ****
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; Direct addressing data segment
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DSEG AT 30h
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Rcp_Outside_Range_Cnt: DS 1 ; RC pulse outside range counter (incrementing)
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Rcp_Timeout_Cntd: DS 1 ; RC pulse timeout counter (decrementing)
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Rcp_Stop_Cnt: DS 1 ; Counter for RC pulses below stop value
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Power_On_Wait_Cnt_L: DS 1 ; Power on wait counter (lo byte)
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Power_On_Wait_Cnt_H: DS 1 ; Power on wait counter (hi byte)
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Startup_Cnt: DS 1 ; Startup phase commutations counter (incrementing)
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Startup_Zc_Timeout_Cntd: DS 1 ; Startup zero cross timeout counter (decrementing)
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Initial_Run_Rot_Cntd: DS 1 ; Initial run rotations counter (decrementing)
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Startup_Stall_Cnt: DS 1 ; Counts start/run attempts that resulted in stall. Reset upon a proper stop
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Demag_Detected_Metric: DS 1 ; Metric used to gauge demag event frequency
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Demag_Pwr_Off_Thresh: DS 1 ; Metric threshold above which power is cut
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Low_Rpm_Pwr_Slope: DS 1 ; Sets the slope of power increase for low rpm
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Timer2_X: DS 1 ; Timer 2 extended byte
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Prev_Comm_L: DS 1 ; Previous commutation timer 2 timestamp (lo byte)
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Prev_Comm_H: DS 1 ; Previous commutation timer 2 timestamp (hi byte)
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Prev_Comm_X: DS 1 ; Previous commutation timer 2 timestamp (ext byte)
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Prev_Prev_Comm_L: DS 1 ; Pre-previous commutation timer 2 timestamp (lo byte)
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Prev_Prev_Comm_H: DS 1 ; Pre-previous commutation timer 2 timestamp (hi byte)
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Comm_Period4x_L: DS 1 ; Timer 2 counts between the last 4 commutations (lo byte)
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Comm_Period4x_H: DS 1 ; Timer 2 counts between the last 4 commutations (hi byte)
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Comparator_Read_Cnt: DS 1 ; Number of comparator reads done
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Wt_Adv_Start_L: DS 1 ; Timer 3 start point for commutation advance timing (lo byte)
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Wt_Adv_Start_H: DS 1 ; Timer 3 start point for commutation advance timing (hi byte)
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Wt_Zc_Scan_Start_L: DS 1 ; Timer 3 start point from commutation to zero cross scan (lo byte)
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Wt_Zc_Scan_Start_H: DS 1 ; Timer 3 start point from commutation to zero cross scan (hi byte)
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Wt_Zc_Tout_Start_L: DS 1 ; Timer 3 start point for zero cross scan timeout (lo byte)
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Wt_Zc_Tout_Start_H: DS 1 ; Timer 3 start point for zero cross scan timeout (hi byte)
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Wt_Comm_Start_L: DS 1 ; Timer 3 start point from zero cross to commutation (lo byte)
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Wt_Comm_Start_H: DS 1 ; Timer 3 start point from zero cross to commutation (hi byte)
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Power_Pwm_Reg_L: DS 1 ; Power pwm register setting (lo byte)
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Power_Pwm_Reg_H: DS 1 ; Power pwm register setting (hi byte). 0x3F is minimum power
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Damp_Pwm_Reg_L: DS 1 ; Damping pwm register setting (lo byte)
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Damp_Pwm_Reg_H: DS 1 ; Damping pwm register setting (hi byte)
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Pwm_Limit: DS 1 ; Maximum allowed pwm (8-bit)
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Pwm_Limit_By_Rpm: DS 1 ; Maximum allowed pwm for low or high rpm (8-bit)
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Pwm_Limit_Beg: DS 1 ; Initial pwm limit (8-bit)
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Adc_Conversion_Cnt: DS 1 ; Adc conversion counter
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Current_Average_Temp: DS 1 ; Current average temperature (lo byte ADC reading, assuming hi byte is 1)
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Temp_Prot_Limit: DS 1 ; Temperature protection limit
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Beep_Strength: DS 1 ; Strength of beeps
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Flash_Key_1: DS 1 ; Flash key one
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Flash_Key_2: DS 1 ; Flash key two
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DShot_Pwm_Thr: DS 1 ; DShot pulse width threshold value (timer 0 ticks)
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DShot_Timer_Preset: DS 1 ; DShot timer preset for frame sync detection (timer 1 lo byte)
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DShot_Frame_Start_L: DS 1 ; DShot frame start timestamp (timer 2 lo byte)
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DShot_Frame_Start_H: DS 1 ; DShot frame start timestamp (timer 2 hi byte)
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DShot_Frame_Length_Thr: DS 1 ; DShot frame length criteria (timer 2 ticks)
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DShot_Cmd: DS 1 ; DShot command
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DShot_Cmd_Cnt: DS 1 ; DShot command count
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; Pulse durations for GCR encoding DShot telemetry data
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DShot_GCR_Pulse_Time_1: DS 1 ; Encodes binary: 1
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DShot_GCR_Pulse_Time_2: DS 1 ; Encodes binary: 01
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DShot_GCR_Pulse_Time_3: DS 1 ; Encodes binary: 001
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DShot_GCR_Pulse_Time_1_Tmp: DS 1
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DShot_GCR_Pulse_Time_2_Tmp: DS 1
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DShot_GCR_Pulse_Time_3_Tmp: DS 1
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DShot_GCR_Start_Delay: DS 1
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;**** **** **** **** ****
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; Indirect addressing data segments
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ISEG AT 080h ; The variables below must be in this sequence
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_Pgm_Gov_P_Gain: DS 1 ; Governor P gain
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Pgm_Startup_Boost: DS 1 ; Governor I gain
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Pgm_Startup_Beep: DS 1 ; Governor mode
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Pgm_Dithering: DS 1 ; Low voltage limit
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_Pgm_Motor_Gain: DS 1 ; Motor gain
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_Pgm_Motor_Idle: DS 1 ; Motor idle speed
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Pgm_Startup_Pwr: DS 1 ; Startup power
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_Pgm_Pwm_Freq: DS 1 ; PWM frequency
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Pgm_Direction: DS 1 ; Rotation direction
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_Pgm_Input_Pol: DS 1 ; Input PWM polarity
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Initialized_L_Dummy: DS 1 ; Place holder
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Initialized_H_Dummy: DS 1 ; Place holder
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_Pgm_Enable_TX_Program: DS 1 ; Enable/disable value for TX programming
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_Pgm_Main_Rearm_Start: DS 1 ; Enable/disable re-arming main every start
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_Pgm_Gov_Setup_Target: DS 1 ; Main governor setup target
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_Pgm_Startup_Rpm: DS 1 ; Startup RPM
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_Pgm_Startup_Accel: DS 1 ; Startup acceleration
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_Pgm_Volt_Comp: DS 1 ; Voltage comp
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Pgm_Comm_Timing: DS 1 ; Commutation timing
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_Pgm_Damping_Force: DS 1 ; Damping force
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_Pgm_Gov_Range: DS 1 ; Governor range
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_Pgm_Startup_Method: DS 1 ; Startup method
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_Pgm_Min_Throttle: DS 1 ; Minimum throttle
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_Pgm_Max_Throttle: DS 1 ; Maximum throttle
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Pgm_Beep_Strength: DS 1 ; Beep strength
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Pgm_Beacon_Strength: DS 1 ; Beacon strength
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Pgm_Beacon_Delay: DS 1 ; Beacon delay
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_Pgm_Throttle_Rate: DS 1 ; Throttle rate
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Pgm_Demag_Comp: DS 1 ; Demag compensation
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_Pgm_BEC_Voltage_High: DS 1 ; BEC voltage
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_Pgm_Center_Throttle: DS 1 ; Center throttle (in bidirectional mode)
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_Pgm_Main_Spoolup_Time: DS 1 ; Main spoolup time
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Pgm_Enable_Temp_Prot: DS 1 ; Temperature protection enable
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Pgm_Enable_Power_Prot: DS 1 ; Low RPM power protection enable
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_Pgm_Enable_Pwm_Input: DS 1 ; Enable PWM input signal
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_Pgm_Pwm_Dither: DS 1 ; Output PWM dither
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Pgm_Brake_On_Stop: DS 1 ; Braking when throttle is zero
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Pgm_LED_Control: DS 1 ; LED control
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; The sequence of the variables below is no longer of importance
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Pgm_Startup_Pwr_Decoded: DS 1 ; Programmed startup power decoded
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ISEG AT 0B0h
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Stack: DS 16 ; Reserved stack space
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ISEG AT 0C0h
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Dithering_Patterns: DS 16 ; Bit patterns for pwm dithering
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ISEG AT 0D0h
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Temp_Storage: DS 48 ; Temporary storage
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;**** **** **** **** ****
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; EEPROM code segments
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; A segment of the flash is used as "EEPROM", which is not available in SiLabs MCUs
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CSEG AT 1A00h
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EEPROM_FW_MAIN_REVISION EQU 0 ; Main revision of the firmware
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EEPROM_FW_SUB_REVISION EQU 9 ; Sub revision of the firmware
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EEPROM_LAYOUT_REVISION EQU 200 ; Revision of the EEPROM layout
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Eep_FW_Main_Revision: DB EEPROM_FW_MAIN_REVISION ; EEPROM firmware main revision number
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Eep_FW_Sub_Revision: DB EEPROM_FW_SUB_REVISION ; EEPROM firmware sub revision number
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Eep_Layout_Revision: DB EEPROM_LAYOUT_REVISION ; EEPROM layout revision number
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_Eep_Pgm_Gov_P_Gain: DB 0FFh
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Eep_Pgm_Startup_Boost: DB DEFAULT_PGM_STARTUP_BOOST
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Eep_Pgm_Startup_Beep: DB DEFAULT_PGM_STARTUP_BEEP
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Eep_Pgm_Dithering: DB DEFAULT_PGM_DITHERING
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_Eep_Pgm_Motor_Gain: DB 0FFh
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_Eep_Pgm_Motor_Idle: DB 0FFh
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Eep_Pgm_Startup_Pwr: DB DEFAULT_PGM_STARTUP_PWR ; EEPROM copy of programmed startup power
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_Eep_Pgm_Pwm_Freq: DB 0FFh
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Eep_Pgm_Direction: DB DEFAULT_PGM_DIRECTION ; EEPROM copy of programmed rotation direction
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_Eep__Pgm_Input_Pol: DB 0FFh
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Eep_Initialized_L: DB 055h ; EEPROM initialized signature (lo byte)
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Eep_Initialized_H: DB 0AAh ; EEPROM initialized signature (hi byte)
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_Eep_Enable_TX_Program: DB 0FFh ; EEPROM TX programming enable
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_Eep_Main_Rearm_Start: DB 0FFh
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_Eep_Pgm_Gov_Setup_Target: DB 0FFh
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_Eep_Pgm_Startup_Rpm: DB 0FFh
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_Eep_Pgm_Startup_Accel: DB 0FFh
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_Eep_Pgm_Volt_Comp: DB 0FFh
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Eep_Pgm_Comm_Timing: DB DEFAULT_PGM_COMM_TIMING ; EEPROM copy of programmed commutation timing
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_Eep_Pgm_Damping_Force: DB 0FFh
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_Eep_Pgm_Gov_Range: DB 0FFh
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_Eep_Pgm_Startup_Method: DB 0FFh
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_Eep_Pgm_Min_Throttle: DB 0FFh ; EEPROM copy of programmed minimum throttle
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_Eep_Pgm_Max_Throttle: DB 0FFh ; EEPROM copy of programmed minimum throttle
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Eep_Pgm_Beep_Strength: DB DEFAULT_PGM_BEEP_STRENGTH ; EEPROM copy of programmed beep strength
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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 DEFAULT_PGM_ENABLE_POWER_PROT ; 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)
|
|
|
|
;**** **** **** **** ****
|
|
Interrupt_Table_Definition ; SiLabs interrupts
|
|
CSEG AT 80h ; Code segment after interrupt vectors
|
|
|
|
;**** **** **** **** ****
|
|
; Table definitions
|
|
; Rampup pwm power (8-bit)
|
|
STARTUP_POWER_TABLE: DB 1, 2, 3, 4, 6, 9, 12, 18, 25, 37, 50, 62, 75
|
|
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; 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
|
|
|
|
Push_Mem MACRO reg, val
|
|
mov @reg, val ;; Write value to memory address pointed to by register
|
|
inc reg ;; Increment pointer
|
|
ENDM
|
|
|
|
DShot_GCR_Get_Time MACRO
|
|
mov A, DShot_GCR_Pulse_Time_2
|
|
cjne A, Tmp_B, ($+5)
|
|
mov A, DShot_GCR_Pulse_Time_3
|
|
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
|
|
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; 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_PORT.RTX_PIN, t0_int_dshot_tlm_finish
|
|
|
|
t0_int_dshot_tlm_transition:
|
|
cpl RTX_PORT.RTX_PIN ; 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_PORT.RTX_PIN ; 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
|
|
|
|
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
|
|
|
|
setb Flag_Rcp_Stop ; Set pulse length to zero
|
|
clr A
|
|
mov DShot_Cmd, A ; Clear DShot command
|
|
mov DShot_Cmd_Cnt, A ; Clear DShot command count
|
|
|
|
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, ($+4)
|
|
cpl A ; Invert checksum if using inverted DShot
|
|
anl A, #0Fh
|
|
jnz t1_int_outside_range ; XOR check
|
|
|
|
; Invert DShot data and subtract 96 (still 12 bits)
|
|
clr C
|
|
mov A, Temp4
|
|
cpl A
|
|
mov Temp3, A
|
|
subb A, #96
|
|
mov Temp4, A
|
|
mov A, Temp5
|
|
cpl A
|
|
anl A, #0Fh
|
|
subb A, #0
|
|
mov Temp5, A
|
|
jnc t1_normal_range
|
|
|
|
mov A, Temp3 ; Check for 0 or DShot command
|
|
mov Temp5, #0
|
|
mov Temp4, #0
|
|
jz t1_normal_range
|
|
|
|
mov Temp3, #0
|
|
clr C ; We are in the special DShot range
|
|
rrc A ; Divide by 2
|
|
jnc t1_dshot_set_cmd ; Check for tlm bit set (if not telemetry, Temp3 will be zero and result in invalid command)
|
|
|
|
mov Temp3, A
|
|
cjne A, DShot_Cmd, t1_dshot_set_cmd
|
|
|
|
inc DShot_Cmd_Cnt
|
|
sjmp t1_normal_range
|
|
|
|
t1_dshot_set_cmd:
|
|
mov DShot_Cmd, Temp3
|
|
mov DShot_Cmd_Cnt, #0
|
|
|
|
t1_normal_range:
|
|
; Check for bidirectional operation (0=stop, 96-2095->fwd, 2096-4095->rev)
|
|
jnb Flag_Pgm_Bidir, t1_int_not_bidir ; If not bidirectional operation - branch
|
|
|
|
; Subtract 2000 (still 12 bits)
|
|
clr C
|
|
mov A, Temp4
|
|
subb A, #0D0h
|
|
mov B, A
|
|
mov A, Temp5
|
|
subb A, #07h
|
|
clr Flag_Rcp_Dir_Rev
|
|
jc t1_int_bidir_rev_chk ; If result is negative - branch
|
|
|
|
mov Temp4, B
|
|
mov Temp5, A
|
|
|
|
setb Flag_Rcp_Dir_Rev
|
|
|
|
t1_int_bidir_rev_chk:
|
|
jb Flag_Pgm_Bidir_Rev, ($+5)
|
|
cpl Flag_Rcp_Dir_Rev
|
|
|
|
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, ($+7) ; Limit to 11-bit maximum
|
|
mov Temp4, #0FFh
|
|
mov Temp5, #07h
|
|
|
|
; Do not boost when changing direction in bidirectional mode
|
|
jb Flag_Motor_Started, t1_int_startup_boosted
|
|
|
|
mov A, Flags_Startup ; Boost pwm during direct start
|
|
jz t1_int_startup_boosted
|
|
|
|
mov A, Temp5
|
|
jnz t1_int_stall_boost ; Already more power than minimum at startup
|
|
|
|
mov Temp2, #Pgm_Startup_Boost ; Read startup boost setting (power at startup)
|
|
mov B, @Temp2
|
|
|
|
clr C ; Set power to at least be minimum startup power
|
|
mov A, Temp4
|
|
subb A, B
|
|
jnc t1_int_stall_boost
|
|
mov Temp4, B
|
|
|
|
t1_int_stall_boost:
|
|
mov A, Startup_Stall_Cnt ; Check stall count
|
|
jz t1_int_startup_boosted
|
|
mov B, #40 ; Note: Stall count should be less than 6
|
|
mul AB
|
|
|
|
add A, Temp4 ; Add more power when failing to start motor (stalling)
|
|
mov Temp4, A
|
|
mov A, Temp5
|
|
addc A, #0
|
|
mov Temp5, A
|
|
jnb ACC.3, ($+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 FETON_DELAY != 0
|
|
clr C
|
|
mov A, Temp2 ; Skew damping fet timing
|
|
IF MCU_48MHZ == 0
|
|
subb A, #((FETON_DELAY+1) SHR 1)
|
|
ELSE
|
|
subb A, #(FETON_DELAY)
|
|
ENDIF
|
|
mov Temp4, A
|
|
mov A, Temp3
|
|
subb A, #0
|
|
mov Temp5, A
|
|
jnc t1_int_set_pwm_damp_set
|
|
|
|
clr A
|
|
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 FETON_DELAY != 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_PORT.RTX_PIN ; 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: Temp variables can NOT be used since PSW.x is not set
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
t2_int:
|
|
push ACC
|
|
clr TMR2CN0_TF2H ; Clear interrupt flag
|
|
inc Timer2_X
|
|
|
|
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 ($+4) ; Yes - do not decrement
|
|
dec Rcp_Timeout_Cntd ; No - decrement
|
|
|
|
jnb Flag_Rcp_Stop, t2_int_exit ; Exit if pulse is above stop value
|
|
|
|
; Update RC pulse stop counter
|
|
inc Rcp_Stop_Cnt ; Increment stop counter
|
|
mov A, Rcp_Stop_Cnt
|
|
jnz ($+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: Temp variables can NOT be used since PSW.x is not set
|
|
; ACC can not be used, as it is not pushed to stack
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
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 ; Set a short delay before next interrupt
|
|
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
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
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
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
int1_int:
|
|
clr IE_EX1 ; Disable int1 interrupts
|
|
setb TCON_TR1 ; Start timer 1
|
|
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
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
pca_int:
|
|
clr IE_EA ; Disable all interrupts
|
|
push ACC
|
|
|
|
IF FETON_DELAY != 0 ; HI/LO enable style drivers
|
|
mov A, PCA0L ; Read low byte first, to transfer high byte to holding register
|
|
mov A, PCA0H
|
|
|
|
jnb 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
|
|
mov PCA0_POWER_L, Power_Pwm_Reg_L
|
|
mov PCA0_POWER_H, Power_Pwm_Reg_H
|
|
ELSE
|
|
mov PCA0_POWER_H, Power_Pwm_Reg_L
|
|
ENDIF
|
|
|
|
IF FETON_DELAY != 0
|
|
; Set damp pwm auto-reload registers
|
|
IF PWM_BITS_H != 0
|
|
mov PCA0_DAMP_L, Damp_Pwm_Reg_L
|
|
mov PCA0_DAMP_H, Damp_Pwm_Reg_H
|
|
ELSE
|
|
mov PCA0_DAMP_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 FETON_DELAY == 0 ; EN/PWM style drivers
|
|
Disable_CCF_Interrupt
|
|
ENDIF
|
|
|
|
anl EIE1, #0EFh ; Pwm updated, disable pca interrupts
|
|
|
|
pca_int_exit:
|
|
Clear_COVF_Interrupt
|
|
IF FETON_DELAY == 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_onoff:
|
|
clr A
|
|
BcomFET_off ; BcomFET off
|
|
djnz ACC, $ ; Allow some time after comfet is turned off
|
|
BpwmFET_on ; BpwmFET on (in order to charge the driver of the BcomFET)
|
|
djnz ACC, $ ; Let the pwmfet be turned on a while
|
|
BpwmFET_off ; BpwmFET off again
|
|
djnz ACC, $ ; Allow some time after pwmfet is turned off
|
|
BcomFET_on ; BcomFET on
|
|
djnz ACC, $ ; Allow some time after comfet is turned on
|
|
|
|
mov A, Temp2 ; Turn on pwmfet
|
|
jb ACC.0, beep_apwmfet_on
|
|
ApwmFET_on
|
|
beep_apwmfet_on:
|
|
jnb ACC.0, beep_cpwmfet_on
|
|
CpwmFET_on
|
|
beep_cpwmfet_on:
|
|
|
|
mov A, Beep_Strength ; On time according to beep strength
|
|
djnz ACC, $
|
|
|
|
mov A, Temp2 ; Turn off pwmfet
|
|
jb ACC.0, beep_apwmfet_off
|
|
ApwmFET_off
|
|
beep_apwmfet_off:
|
|
jnb ACC.0, beep_cpwmfet_off
|
|
CpwmFET_off
|
|
beep_cpwmfet_off:
|
|
|
|
mov A, #150 ; Off for 25 us
|
|
djnz ACC, $
|
|
|
|
djnz Temp2, beep_onoff ; Toggle next pwmfet
|
|
|
|
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)
|
|
|
|
BcomFET_off
|
|
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_pwmFETs_Off ; Turn off all pwm fets
|
|
All_comFETs_Off ; Turn off all commutation fets
|
|
Set_Pwms_Off
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Set pwm limit low rpm
|
|
;
|
|
; Sets power limit for low rpm and disables demag 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 Temp2, #Pgm_Enable_Power_Prot ; Check if low RPM power protection is enabled
|
|
mov A, @Temp2
|
|
jz set_pwm_limit_low_rpm_exit ; Exit if disabled
|
|
|
|
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
|
|
mov B, Comm_Period4x_H
|
|
div AB
|
|
mov B, Low_Rpm_Pwr_Slope ; Multiply by slope
|
|
jnb Flag_Initial_Run_Phase, ($+6) ; More protection for initial run phase
|
|
mov B, #5
|
|
mul AB
|
|
mov Temp1, A ; Set new limit
|
|
xch A, B
|
|
jz ($+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_Period to 160, which is 500k erpm
|
|
ELSE
|
|
subb A, #0E4h ; Limit Comm_Period to 228, which is 350k 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
|
|
; Read ADC result
|
|
Read_Adc_Result
|
|
; Stop ADC
|
|
Stop_Adc
|
|
|
|
mov Adc_Conversion_Cnt, #0 ; Yes - temperature check. Reset counter
|
|
mov A, Temp2 ; Move ADC MSB to Temp3
|
|
mov Temp3, A
|
|
mov Temp2, #Pgm_Enable_Temp_Prot ; Is temp protection enabled?
|
|
mov A, @Temp2
|
|
jz temp_check_exit ; No - branch
|
|
|
|
mov A, Temp3 ; 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, Temp1 ; 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 timing routine
|
|
;
|
|
; Called immediately after each commutation
|
|
; Also sets up timer 3 to wait advance timing
|
|
; Two entry points are used
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
calc_next_comm_timing: ; Entry point for run phase
|
|
; 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
|
|
rrca Temp3
|
|
rrca Temp2
|
|
rrca Temp1
|
|
ENDIF
|
|
; Calculate this commutation time
|
|
mov Temp4, Prev_Comm_L
|
|
mov Temp5, Prev_Comm_H
|
|
mov Prev_Comm_L, Temp1 ; Store timestamp as previous commutation
|
|
mov Prev_Comm_H, Temp2
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, Temp4 ; Calculate the new commutation time
|
|
mov Temp1, A
|
|
mov A, Temp2
|
|
subb A, Temp5
|
|
jb Flag_Startup_Phase, calc_next_comm_startup
|
|
|
|
IF MCU_48MHZ == 1
|
|
anl A, #7Fh
|
|
ENDIF
|
|
mov Temp2, A
|
|
jnb Flag_High_Rpm, calc_next_comm_normal ; Branch normal rpm
|
|
ajmp calc_next_comm_timing_fast ; Branch high rpm
|
|
|
|
calc_next_comm_startup:
|
|
mov Temp6, Prev_Comm_X
|
|
mov Prev_Comm_X, Temp3 ; Store extended timestamp as previous commutation
|
|
mov Temp2, A
|
|
mov A, Temp3
|
|
subb A, Temp6 ; Calculate the new extended commutation time
|
|
IF MCU_48MHZ == 1
|
|
anl A, #7Fh
|
|
ENDIF
|
|
mov Temp3, A
|
|
jz calc_next_comm_startup_no_X
|
|
|
|
mov Temp1, #0FFh
|
|
mov Temp2, #0FFh
|
|
sjmp calc_next_comm_startup_average
|
|
|
|
calc_next_comm_startup_no_X:
|
|
mov Temp7, Prev_Prev_Comm_L
|
|
mov Temp8, Prev_Prev_Comm_H
|
|
mov Prev_Prev_Comm_L, Temp4
|
|
mov Prev_Prev_Comm_H, Temp5
|
|
mov Temp1, Prev_Comm_L ; Reload this commutation time
|
|
mov Temp2, Prev_Comm_H
|
|
|
|
; 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
|
|
|
|
calc_next_comm_startup_average:
|
|
clr C
|
|
mov A, Comm_Period4x_H ; Average with previous and save
|
|
rrc A
|
|
mov Temp4, A
|
|
mov A, Comm_Period4x_L
|
|
rrc A
|
|
mov Temp3, A
|
|
mov A, Temp1
|
|
add A, Temp3
|
|
mov Comm_Period4x_L, A
|
|
mov A, Temp2
|
|
addc A, Temp4
|
|
mov Comm_Period4x_H, A
|
|
jnc ($+8)
|
|
|
|
mov Comm_Period4x_L, #0FFh
|
|
mov Comm_Period4x_H, #0FFh
|
|
|
|
sjmp calc_new_wait_times_setup
|
|
|
|
calc_next_comm_normal:
|
|
; Calculate new commutation time
|
|
mov Temp3, Comm_Period4x_L ; Comm_Period4x(-l-h) holds the time of 4 commutations
|
|
mov Temp4, Comm_Period4x_H
|
|
mov Temp5, Comm_Period4x_L ; Copy variables
|
|
mov Temp6, Comm_Period4x_H
|
|
mov Temp7, #4 ; Divide Comm_Period4x 4 times as default
|
|
mov Temp8, #2 ; Divide new commutation time 2 times as default
|
|
clr C
|
|
mov A, Temp4
|
|
subb A, #04h
|
|
jc calc_next_comm_avg_period_div
|
|
|
|
dec Temp7 ; Reduce averaging time constant for low speeds
|
|
dec Temp8
|
|
|
|
clr C
|
|
mov A, Temp4
|
|
subb A, #08h
|
|
jc calc_next_comm_avg_period_div
|
|
|
|
jb Flag_Initial_Run_Phase, calc_next_comm_avg_period_div ; Do not average very fast during initial run
|
|
|
|
dec Temp7 ; Reduce averaging time constant more for even lower speeds
|
|
dec Temp8
|
|
|
|
calc_next_comm_avg_period_div:
|
|
clr C
|
|
rrca Temp6 ; Divide by 2
|
|
rrca Temp5
|
|
djnz Temp7, calc_next_comm_avg_period_div
|
|
|
|
clr C
|
|
mov A, Temp3
|
|
subb A, Temp5 ; Subtract a fraction
|
|
mov Temp3, A
|
|
mov A, Temp4
|
|
subb A, Temp6
|
|
mov Temp4, A
|
|
mov A, Temp8 ; Divide new time
|
|
jz calc_next_comm_new_period_div_done
|
|
|
|
calc_next_comm_new_period_div:
|
|
clr C
|
|
rrca Temp2 ; Divide by 2
|
|
rrca Temp1
|
|
djnz Temp8, calc_next_comm_new_period_div
|
|
|
|
calc_next_comm_new_period_div_done:
|
|
mov A, Temp3
|
|
add A, Temp1 ; Add the divided new time
|
|
mov Temp3, A
|
|
mov A, Temp4
|
|
addc A, Temp2
|
|
mov Temp4, A
|
|
mov Comm_Period4x_L, Temp3 ; Store Comm_Period4x_X
|
|
mov Comm_Period4x_H, Temp4
|
|
jnc calc_new_wait_times_setup ; If period larger than 0xffff - go to slow case
|
|
|
|
mov Temp4, #0FFh
|
|
mov Comm_Period4x_L, Temp4 ; Set commutation period registers to very slow timing (0xffff)
|
|
mov Comm_Period4x_H, Temp4
|
|
|
|
calc_new_wait_times_setup:
|
|
; Set high rpm bit (if above 156k erpm)
|
|
clr C
|
|
mov A, Temp4
|
|
subb A, #2
|
|
jnc ($+4)
|
|
|
|
setb Flag_High_Rpm ; Set high rpm bit
|
|
|
|
; Load programmed commutation timing
|
|
jnb Flag_Startup_Phase, calc_new_wait_per_startup_done ; Set dedicated timing during startup
|
|
|
|
mov Temp8, #3
|
|
sjmp calc_new_wait_per_demag_done
|
|
|
|
calc_new_wait_per_startup_done:
|
|
mov Temp1, #Pgm_Comm_Timing ; Load timing setting
|
|
mov A, @Temp1
|
|
mov Temp8, A ; Store in Temp8
|
|
clr C
|
|
mov A, Demag_Detected_Metric ; Check demag metric
|
|
subb A, #130
|
|
jc calc_new_wait_per_demag_done
|
|
|
|
inc Temp8 ; Increase timing
|
|
|
|
clr C
|
|
mov A, Demag_Detected_Metric
|
|
subb A, #160
|
|
jc ($+3)
|
|
|
|
inc Temp8 ; Increase timing again
|
|
|
|
clr C
|
|
mov A, Temp8 ; Limit timing to max
|
|
subb A, #6
|
|
jc ($+4)
|
|
|
|
mov Temp8, #5 ; Set timing to max
|
|
|
|
calc_new_wait_per_demag_done:
|
|
; Set timing reduction
|
|
mov Temp7, #2
|
|
; Load current commutation timing
|
|
mov A, Comm_Period4x_H ; Divide 4 times
|
|
swap A
|
|
anl A, #00Fh
|
|
mov Temp2, A
|
|
mov A, Comm_Period4x_H
|
|
swap A
|
|
anl A, #0F0h
|
|
mov Temp1, A
|
|
mov A, Comm_Period4x_L
|
|
swap A
|
|
anl A, #00Fh
|
|
add A, Temp1
|
|
mov Temp1, A
|
|
|
|
clr C
|
|
mov A, Temp1
|
|
subb A, Temp7
|
|
mov Temp3, A
|
|
mov A, Temp2
|
|
subb A, #0
|
|
mov Temp4, A
|
|
jc load_min_time ; Check that result is still positive
|
|
jnz calc_next_comm_timing_exit ; Check that result is still above minimum
|
|
mov A, Temp3
|
|
jnz calc_next_comm_timing_exit
|
|
|
|
load_min_time:
|
|
mov Temp3, #1 ; Set minimum time
|
|
mov Temp4, #0
|
|
|
|
sjmp calc_next_comm_timing_exit
|
|
|
|
;**** **** **** **** ****
|
|
; Calculate next commutation timing fast routine
|
|
; Fast calculation (Comm_Period4x_H less than 2)
|
|
calc_next_comm_timing_fast:
|
|
; Calculate new commutation time
|
|
mov Temp3, Comm_Period4x_L ; Comm_Period4x(-l-h) holds the time of 4 commutations
|
|
mov Temp4, Comm_Period4x_H
|
|
mov A, Temp4 ; Divide by 2 4 times
|
|
swap A
|
|
mov Temp7, A
|
|
mov A, Temp3
|
|
swap A
|
|
anl A, #0Fh
|
|
orl A, Temp7
|
|
mov Temp5, A
|
|
clr C
|
|
mov A, Temp3 ; Subtract a fraction
|
|
subb A, Temp5
|
|
mov Temp3, A
|
|
mov A, Temp4
|
|
subb A, #0
|
|
mov Temp4, A
|
|
clr C
|
|
mov A, Temp1
|
|
rrc A ; Divide by 2 2 times
|
|
clr C
|
|
rrc A
|
|
mov Temp1, A
|
|
mov A, Temp3 ; Add the divided new time
|
|
add A, Temp1
|
|
mov Temp3, A
|
|
mov A, Temp4
|
|
addc A, #0
|
|
mov Temp4, A
|
|
mov Comm_Period4x_L, Temp3 ; Store Comm_Period4x_X
|
|
mov Comm_Period4x_H, Temp4
|
|
clr C
|
|
subb A, #2 ; If erpm below 156k - go to normal case
|
|
jc ($+4)
|
|
|
|
clr Flag_High_Rpm ; Clear high rpm bit
|
|
|
|
; Set timing reduction
|
|
mov Temp1, #2
|
|
mov A, Temp4 ; Divide by 2 4 times
|
|
swap A
|
|
mov Temp7, A
|
|
mov Temp4, #0
|
|
mov A, Temp3
|
|
swap A
|
|
anl A, #0Fh
|
|
orl A, Temp7
|
|
mov Temp3, A
|
|
clr C
|
|
subb A, Temp1
|
|
mov Temp3, A
|
|
jc load_min_time_fast ; Check that result is still positive
|
|
jnz calc_new_wait_times_fast_done ; Check that result is still above minimum
|
|
|
|
load_min_time_fast:
|
|
mov Temp3, #1 ; Set minimum time
|
|
|
|
calc_new_wait_times_fast_done:
|
|
mov Temp1, #Pgm_Comm_Timing ; Load timing setting
|
|
mov A, @Temp1
|
|
mov Temp8, A ; Store in Temp8
|
|
|
|
calc_next_comm_timing_exit:
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Wait advance timing routine
|
|
; NOTE: Be VERY careful if using temp registers. They are passed over this routine
|
|
;
|
|
; Waits for the advance timing to elapse and sets up the next zero cross wait
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
wait_advance_timing:
|
|
Wait_For_Timer3
|
|
|
|
; Setup next wait time
|
|
mov TMR3RLL, Wt_ZC_Tout_Start_L
|
|
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
|
|
|
|
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
|
|
rrc A ; Divide by 2
|
|
mov Temp6, A
|
|
mov A, Temp1
|
|
rrc A
|
|
mov Temp5, A
|
|
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
|
|
|
|
mov A, Temp1 ; Add 7.5deg and store in Temp1/2
|
|
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:
|
|
mov A, Temp1 ; Add 15deg and store in Temp1/2
|
|
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, #0FFh ; Store minimum time in Temp3/4
|
|
mov Temp4, #0FFh
|
|
|
|
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
|
|
mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg)
|
|
mov Wt_Zc_Scan_Start_H, Temp6
|
|
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
|
|
mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg)
|
|
mov Wt_Zc_Scan_Start_H, Temp6
|
|
|
|
; 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, #0F0h
|
|
mov Wt_Comm_Start_H, #0FFh
|
|
mov Wt_Zc_Scan_Start_L, #0F0h
|
|
mov Wt_Zc_Scan_Start_H, #0FFh
|
|
mov Wt_Zc_Tout_Start_L, #0F0h
|
|
mov Wt_Zc_Tout_Start_H, #0FFh
|
|
|
|
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_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, #0FFh ; 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)
|
|
mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg)
|
|
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)
|
|
mov Wt_Zc_Scan_Start_L, Temp5 ; Use this value for zero cross scan delay (7.5deg)
|
|
|
|
calc_new_wait_times_exit:
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Wait before zero cross scan routine
|
|
;
|
|
; Waits for the zero cross scan wait time to elapse
|
|
; Also sets up timer 3 for the zero cross scan timeout time
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
wait_before_zc_scan:
|
|
Wait_For_Timer3
|
|
|
|
mov Startup_Zc_Timeout_Cntd, #2
|
|
setup_zc_scan_timeout:
|
|
setb Flag_Timer3_Pending
|
|
orl EIE1, #80h ; Enable timer 3 interrupts
|
|
mov A, Flags_Startup
|
|
jz 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
|
|
;
|
|
; Waits for the zero cross scan wait time to elapse
|
|
; Then scans for comparator going low/high
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
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
|
|
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
|
|
|
|
mov A, Flags_Startup ; Clear demag detected flag if start phases
|
|
jz ($+4)
|
|
clr Flag_Demag_Detected
|
|
|
|
jnb Flag_Startup_Phase, comp_not_startup
|
|
mov Temp3, #(27 SHL MCU_48MHZ) ; Set many samples during startup, approximately one pwm period
|
|
mov Temp4, #(27 SHL MCU_48MHZ)
|
|
sjmp comp_check_timeout
|
|
|
|
comp_not_startup:
|
|
; Too low value (~<15) causes rough running at pwm harmonics.
|
|
; Too high a value (~>35) causes the RCT4215 630 to run rough on full throttle
|
|
mov Temp4, #(20 SHL MCU_48MHZ)
|
|
mov A, Comm_Period4x_H ; Set number of readings higher for lower speeds
|
|
IF MCU_48MHZ == 0
|
|
clr C
|
|
rrc A
|
|
ENDIF
|
|
jnz ($+3)
|
|
inc A ; Minimum 1
|
|
mov Temp3, A
|
|
clr C
|
|
subb A, #(20 SHL MCU_48MHZ)
|
|
jc ($+4)
|
|
mov Temp3, #(20 SHL MCU_48MHZ) ; Maximum 20
|
|
|
|
comp_check_timeout:
|
|
jb Flag_Timer3_Pending, comp_check_timeout_not_timed_out ; Has zero cross scan timeout elapsed?
|
|
|
|
mov A, Comparator_Read_Cnt ; Check that comparator has been read
|
|
jz comp_check_timeout_not_timed_out ; If not read - branch
|
|
|
|
jnb Flag_Startup_Phase, comp_check_timeout_timeout_extended ; Extend timeout during startup
|
|
|
|
djnz Startup_Zc_Timeout_Cntd, comp_check_timeout_extend_timeout
|
|
|
|
comp_check_timeout_timeout_extended:
|
|
setb Flag_Comp_Timed_Out
|
|
sjmp comp_exit
|
|
|
|
comp_check_timeout_extend_timeout:
|
|
call setup_zc_scan_timeout
|
|
|
|
comp_check_timeout_not_timed_out:
|
|
inc Comparator_Read_Cnt ; Increment comparator read count
|
|
Read_Comp_Out ; Read comparator output
|
|
anl A, #40h
|
|
cjne A, B, comp_read_wrong
|
|
|
|
; Comp read ok
|
|
mov A, Startup_Cnt ; Force a timeout for the first commutation
|
|
jz comp_start
|
|
|
|
jb Flag_Demag_Detected, comp_start ; Do not accept correct comparator output if it is demag
|
|
|
|
djnz Temp3, comp_check_timeout ; Decrement readings counter - repeat comparator reading if not zero
|
|
|
|
clr Flag_Comp_Timed_Out
|
|
sjmp comp_exit
|
|
|
|
comp_read_wrong:
|
|
jb Flag_Startup_Phase, comp_read_wrong_startup
|
|
jb Flag_Demag_Detected, comp_read_wrong_extend_timeout
|
|
|
|
inc Temp3 ; Increment number of OK readings required
|
|
clr C
|
|
mov A, Temp3
|
|
subb A, Temp4
|
|
jc comp_check_timeout ; If below initial requirement - take another reading
|
|
sjmp comp_start ; Otherwise - go back and restart
|
|
|
|
comp_read_wrong_startup:
|
|
inc Temp3 ; Increment number of OK readings required
|
|
clr C
|
|
mov A, Temp3
|
|
subb A, Temp4 ; If above initial requirement - do not increment further
|
|
jc ($+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, #00h ; 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
|
|
|
|
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
|
|
;
|
|
; Sets up and starts wait from commutation to zero cross
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
setup_comm_wait:
|
|
clr IE_EA
|
|
anl EIE1, #7Fh ; Disable timer 3 interrupts
|
|
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
|
|
; Setup next wait time
|
|
mov TMR3RLL, Wt_Adv_Start_L
|
|
mov TMR3RLH, Wt_Adv_Start_H
|
|
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:
|
|
mov A, Flags_Startup
|
|
jz eval_comp_check_timeout
|
|
|
|
jb Flag_Initial_Run_Phase, ($+5) ; Do not increment beyond startup phase
|
|
inc Startup_Cnt ; Increment counter
|
|
sjmp eval_comp_exit
|
|
|
|
eval_comp_check_timeout:
|
|
jnb Flag_Comp_Timed_Out, eval_comp_exit ; Has timeout elapsed?
|
|
jb Flag_Dir_Change_Brake, eval_comp_exit ; Do not exit run mode if it is braking
|
|
jb Flag_Demag_Detected, eval_comp_exit ; Do not exit run mode if it is a demag situation
|
|
dec SP ; Routine exit without "ret" command
|
|
dec SP
|
|
ljmp run_to_wait_for_power_on_fail ; Yes - exit run mode
|
|
|
|
eval_comp_exit:
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Wait for commutation routine
|
|
;
|
|
; Waits from zero cross to commutation
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
wait_for_comm:
|
|
; Update demag metric
|
|
mov A, Demag_Detected_Metric ; Sliding average of 8, 256 when demag and 0 when not. Limited to minimum 120
|
|
mov B, #7
|
|
mul AB ; Multiply by 7
|
|
|
|
jnb Flag_Demag_Detected, ($+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_pwmFETs_off
|
|
Set_Pwms_Off
|
|
|
|
wait_for_comm_wait:
|
|
Wait_For_Timer3
|
|
|
|
; Setup next wait time
|
|
mov TMR3RLL, Wt_Zc_Scan_Start_L
|
|
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:
|
|
Set_RPM_Out
|
|
jb Flag_Pgm_Dir_Rev, comm1_comm2_rev
|
|
|
|
clr IE_EA ; Disable all interrupts
|
|
BcomFET_off ; Turn off comfet
|
|
AcomFET_on ; Turn on comfet
|
|
Set_Pwm_C ; To reapply power after a demag cut
|
|
setb IE_EA
|
|
Set_Comp_Phase_B ; Set comparator phase
|
|
ret
|
|
|
|
comm1_comm2_rev:
|
|
clr IE_EA ; Disable all interrupts
|
|
BcomFET_off ; Turn off comfet
|
|
CcomFET_on ; Turn on comfet (reverse)
|
|
Set_Pwm_A ; To reapply power after a demag cut
|
|
setb IE_EA
|
|
Set_Comp_Phase_B ; Set comparator phase
|
|
ret
|
|
|
|
; Comm phase 2 to comm phase 3
|
|
comm2_comm3:
|
|
Clear_RPM_Out
|
|
jb Flag_Pgm_Dir_Rev, comm2_comm3_rev
|
|
|
|
clr IE_EA ; Disable all interrupts
|
|
CpwmFET_off ; Turn off pwmfet
|
|
Set_Pwm_B ; To reapply power after a demag cut
|
|
AcomFET_on
|
|
setb IE_EA
|
|
Set_Comp_Phase_C ; Set comparator phase
|
|
ret
|
|
|
|
comm2_comm3_rev:
|
|
clr IE_EA ; Disable all interrupts
|
|
ApwmFET_off ; Turn off pwmfet (reverse)
|
|
Set_Pwm_B ; To reapply power after a demag cut
|
|
CcomFET_on
|
|
setb IE_EA
|
|
Set_Comp_Phase_A ; Set comparator phase (reverse)
|
|
ret
|
|
|
|
; Comm phase 3 to comm phase 4
|
|
comm3_comm4:
|
|
Set_RPM_Out
|
|
jb Flag_Pgm_Dir_Rev, comm3_comm4_rev
|
|
|
|
clr IE_EA ; Disable all interrupts
|
|
AcomFET_off ; Turn off comfet
|
|
CcomFET_on ; Turn on comfet
|
|
Set_Pwm_B ; To reapply power after a demag cut
|
|
setb IE_EA
|
|
Set_Comp_Phase_A ; Set comparator phase
|
|
ret
|
|
|
|
comm3_comm4_rev:
|
|
clr IE_EA ; Disable all interrupts
|
|
CcomFET_off ; Turn off comfet (reverse)
|
|
AcomFET_on ; Turn on comfet (reverse)
|
|
Set_Pwm_B ; To reapply power after a demag cut
|
|
setb IE_EA
|
|
Set_Comp_Phase_C ; Set comparator phase (reverse)
|
|
ret
|
|
|
|
; Comm phase 4 to comm phase 5
|
|
comm4_comm5:
|
|
Clear_RPM_Out
|
|
jb Flag_Pgm_Dir_Rev, comm4_comm5_rev
|
|
|
|
clr IE_EA ; Disable all interrupts
|
|
BpwmFET_off ; Turn off pwmfet
|
|
Set_Pwm_A ; To reapply power after a demag cut
|
|
CcomFET_on
|
|
setb IE_EA
|
|
Set_Comp_Phase_B ; Set comparator phase
|
|
ret
|
|
|
|
comm4_comm5_rev:
|
|
clr IE_EA ; Disable all interrupts
|
|
BpwmFET_off ; Turn off pwmfet
|
|
Set_Pwm_C
|
|
AcomFET_on ; To reapply power after a demag cut
|
|
setb IE_EA
|
|
Set_Comp_Phase_B ; Set comparator phase
|
|
ret
|
|
|
|
; Comm phase 5 to comm phase 6
|
|
comm5_comm6:
|
|
Set_RPM_Out
|
|
jb Flag_Pgm_Dir_Rev, comm5_comm6_rev
|
|
|
|
clr IE_EA ; Disable all interrupts
|
|
CcomFET_off ; Turn off comfet
|
|
BcomFET_on ; Turn on comfet
|
|
Set_Pwm_A ; To reapply power after a demag cut
|
|
setb IE_EA
|
|
Set_Comp_Phase_C ; Set comparator phase
|
|
ret
|
|
|
|
comm5_comm6_rev:
|
|
clr IE_EA ; Disable all interrupts
|
|
AcomFET_off ; Turn off comfet (reverse)
|
|
BcomFET_on ; Turn on comfet
|
|
Set_Pwm_C ; To reapply power after a demag cut
|
|
setb IE_EA
|
|
Set_Comp_Phase_A ; Set comparator phase (reverse)
|
|
ret
|
|
|
|
; Comm phase 6 to comm phase 1
|
|
comm6_comm1:
|
|
Clear_RPM_Out
|
|
jb Flag_Pgm_Dir_Rev, comm6_comm1_rev
|
|
|
|
clr IE_EA ; Disable all interrupts
|
|
ApwmFET_off ; Turn off pwmfet
|
|
Set_Pwm_C
|
|
BcomFET_on ; To reapply power after a demag cut
|
|
setb IE_EA
|
|
Set_Comp_Phase_A ; Set comparator phase
|
|
ret
|
|
|
|
comm6_comm1_rev:
|
|
clr IE_EA ; Disable all interrupts
|
|
CpwmFET_off ; Turn off pwmfet (reverse)
|
|
Set_Pwm_A
|
|
BcomFET_on ; To reapply power after a demag cut
|
|
setb IE_EA
|
|
Set_Comp_Phase_C ; Set comparator phase (reverse)
|
|
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_PORT.RTX_PIN
|
|
|
|
detect_rcp_level_read:
|
|
jc ($+5)
|
|
jb RTX_PORT.RTX_PIN, detect_rcp_level ; Level changed from low to high - start over
|
|
jnc ($+5)
|
|
jnb RTX_PORT.RTX_PIN, detect_rcp_level ; Level changed from high to low - start over
|
|
djnz ACC, detect_rcp_level_read
|
|
|
|
mov Flag_Rcp_DShot_Inverted, C
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Check DShot command
|
|
;
|
|
; Determine received DShot command and perform action
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
dshot_cmd_check:
|
|
mov A, DShot_Cmd
|
|
jz dshot_cmd_exit_no_clear
|
|
|
|
mov Temp1, A
|
|
clr C
|
|
subb A, #6 ; Beacon beeps for command 1-5
|
|
jnc dshot_cmd_direction_1
|
|
|
|
call beacon_beep
|
|
call wait200ms
|
|
|
|
sjmp dshot_cmd_exit
|
|
|
|
dshot_cmd_direction_1:
|
|
; Change programmed motor direction to normal
|
|
cjne Temp1, #7, dshot_cmd_direction_2
|
|
|
|
clr C
|
|
mov A, DShot_Cmd_Cnt
|
|
subb A, #6 ; Needs to receive it 6 times in a row
|
|
jc dshot_cmd_exit_no_clear
|
|
|
|
mov A, #1
|
|
jnb Flag_Pgm_Bidir, ($+5)
|
|
mov A, #3
|
|
mov Temp1, #Pgm_Direction
|
|
mov @Temp1, A
|
|
clr Flag_Pgm_Dir_Rev
|
|
clr Flag_Pgm_Bidir_Rev
|
|
|
|
sjmp dshot_cmd_exit
|
|
|
|
dshot_cmd_direction_2:
|
|
; Change programmed motor direction to reversed
|
|
cjne Temp1, #8, dshot_cmd_direction_bidir_off
|
|
|
|
clr C
|
|
mov A, DShot_Cmd_Cnt
|
|
subb A, #6 ; Needs to receive it 6 times in a row
|
|
jc dshot_cmd_exit_no_clear
|
|
|
|
mov A, #2
|
|
jnb Flag_Pgm_Bidir, ($+5)
|
|
mov A, #4
|
|
mov Temp1, #Pgm_Direction
|
|
mov @Temp1, A
|
|
setb Flag_Pgm_Dir_Rev
|
|
setb Flag_Pgm_Bidir_Rev
|
|
|
|
sjmp dshot_cmd_exit
|
|
|
|
dshot_cmd_direction_bidir_off:
|
|
; Change programmed motor mode to normal (not bidirectional)
|
|
cjne Temp1, #9, dshot_cmd_direction_bidir_on
|
|
|
|
clr C
|
|
mov A, DShot_Cmd_Cnt
|
|
subb A, #6 ; Needs to receive it 6 times in a row
|
|
jc dshot_cmd_exit_no_clear
|
|
|
|
jnb Flag_Pgm_Bidir, dshot_cmd_exit
|
|
|
|
clr C
|
|
mov Temp1, #Pgm_Direction
|
|
mov A, @Temp1
|
|
subb A, #2
|
|
mov @Temp1, A
|
|
clr Flag_Pgm_Bidir
|
|
|
|
sjmp dshot_cmd_exit
|
|
|
|
dshot_cmd_direction_bidir_on:
|
|
; Change programmed motor mode to bidirectional
|
|
cjne Temp1, #10, dshot_cmd_direction_normal
|
|
|
|
clr C
|
|
mov A, DShot_Cmd_Cnt
|
|
subb A, #6 ; Needs to receive it 6 times in a row
|
|
jc dshot_cmd_exit_no_clear
|
|
|
|
jb Flag_Pgm_Bidir, dshot_cmd_exit
|
|
|
|
mov Temp1, #Pgm_Direction
|
|
mov A, @Temp1
|
|
add A, #2
|
|
mov @Temp1, A
|
|
setb Flag_Pgm_Bidir
|
|
|
|
dshot_cmd_exit:
|
|
mov DShot_Cmd, #0
|
|
mov DShot_Cmd_Cnt, #0
|
|
|
|
dshot_cmd_exit_no_clear:
|
|
ret
|
|
|
|
dshot_cmd_direction_normal:
|
|
; Change programmed motor direction to that stored in eeprom
|
|
cjne Temp1, #20, dshot_cmd_direction_reverse
|
|
|
|
clr C
|
|
mov A, DShot_Cmd_Cnt
|
|
subb A, #6 ; Needs to receive it 6 times in a row
|
|
jc dshot_cmd_exit_no_clear
|
|
|
|
clr IE_EA ; DPTR used in interrupts
|
|
mov DPTR, #Eep_Pgm_Direction ; Read from flash
|
|
mov A, #0
|
|
movc A, @A+DPTR
|
|
setb IE_EA
|
|
mov Temp1, #Pgm_Direction
|
|
mov @Temp1, A
|
|
rrc A ; Lsb to carry
|
|
clr Flag_Pgm_Dir_Rev
|
|
clr Flag_Pgm_Bidir_Rev
|
|
jc ($+4)
|
|
setb Flag_Pgm_Dir_Rev
|
|
jc ($+4)
|
|
setb Flag_Pgm_Bidir_Rev
|
|
|
|
sjmp dshot_cmd_exit
|
|
|
|
dshot_cmd_direction_reverse: ; Temporary reverse
|
|
; Change programmed motor direction to the reverse of what is stored in eeprom
|
|
cjne Temp1, #21, dshot_cmd_save_settings
|
|
|
|
clr C
|
|
mov A, DShot_Cmd_Cnt
|
|
subb A, #6 ; Needs to receive it 6 times in a row
|
|
jc dshot_cmd_exit_no_clear
|
|
|
|
clr IE_EA ; DPTR used in interrupts
|
|
mov DPTR, #Eep_Pgm_Direction ; Read from flash
|
|
mov A, #0
|
|
movc A, @A+DPTR
|
|
setb IE_EA
|
|
mov Temp1, A
|
|
cjne Temp1, #1, ($+5)
|
|
mov A, #2
|
|
cjne Temp1, #2, ($+5)
|
|
mov A, #1
|
|
cjne Temp1, #3, ($+5)
|
|
mov A, #4
|
|
cjne Temp1, #4, ($+5)
|
|
mov A, #3
|
|
mov Temp1, #Pgm_Direction
|
|
mov @Temp1, A
|
|
rrc A ; Lsb to carry
|
|
clr Flag_Pgm_Dir_Rev
|
|
clr Flag_Pgm_Bidir_Rev
|
|
jc ($+4)
|
|
setb Flag_Pgm_Dir_Rev
|
|
jc ($+4)
|
|
setb Flag_Pgm_Bidir_Rev
|
|
|
|
sjmp dshot_cmd_exit
|
|
|
|
dshot_cmd_save_settings:
|
|
cjne Temp1, #12, dshot_cmd_exit
|
|
|
|
clr C
|
|
mov A, DShot_Cmd_Cnt
|
|
subb A, #6 ; Needs to receive it 6 times in a row
|
|
jc dshot_cmd_exit_no_clear
|
|
|
|
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 ; Initialize flash keys to invalid values
|
|
mov Flash_Key_2, #0
|
|
|
|
setb IE_EA
|
|
|
|
jmp dshot_cmd_exit
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; 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 Tmp_B, 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
|
|
|
|
Push_Mem Temp1, Tmp_B ; Initial transition time
|
|
|
|
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:
|
|
; <e e e m m m m m m m m m> 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:
|
|
Push_Mem Temp1, Tmp_B
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_3
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_1
|
|
ret
|
|
|
|
dshot_gcr_encode_1_11011:
|
|
Push_Mem Temp1, Tmp_B
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_2
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_1
|
|
ret
|
|
|
|
dshot_gcr_encode_2_10010:
|
|
DShot_GCR_Get_Time
|
|
Push_Mem Temp1, A
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_3
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_1
|
|
ret
|
|
|
|
dshot_gcr_encode_3_10011:
|
|
Push_Mem Temp1, Tmp_B
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_3
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_1
|
|
ret
|
|
|
|
dshot_gcr_encode_4_11101:
|
|
Push_Mem Temp1, Tmp_B
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_2
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_1
|
|
ret
|
|
|
|
dshot_gcr_encode_5_10101:
|
|
Push_Mem Temp1, Tmp_B
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_2
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_2
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_1
|
|
ret
|
|
|
|
dshot_gcr_encode_6_10110:
|
|
DShot_GCR_Get_Time
|
|
Push_Mem Temp1, A
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_2
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_1
|
|
ret
|
|
|
|
dshot_gcr_encode_7_10111:
|
|
Push_Mem Temp1, Tmp_B
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_2
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_1
|
|
ret
|
|
|
|
dshot_gcr_encode_8_11010:
|
|
DShot_GCR_Get_Time
|
|
Push_Mem Temp1, A
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_2
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_1
|
|
ret
|
|
|
|
dshot_gcr_encode_9_01001:
|
|
Push_Mem Temp1, Tmp_B
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_3
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_2
|
|
ret
|
|
|
|
dshot_gcr_encode_A_01010:
|
|
DShot_GCR_Get_Time
|
|
Push_Mem Temp1, A
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_2
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_2
|
|
ret
|
|
|
|
dshot_gcr_encode_B_01011:
|
|
Push_Mem Temp1, Tmp_B
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_2
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_2
|
|
ret
|
|
|
|
dshot_gcr_encode_C_11110:
|
|
DShot_GCR_Get_Time
|
|
Push_Mem Temp1, A
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_1
|
|
ret
|
|
|
|
dshot_gcr_encode_D_01101:
|
|
Push_Mem Temp1, Tmp_B
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_2
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_2
|
|
ret
|
|
|
|
dshot_gcr_encode_E_01110:
|
|
DShot_GCR_Get_Time
|
|
Push_Mem Temp1, A
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
mov Tmp_B, DShot_GCR_Pulse_Time_2
|
|
ret
|
|
|
|
dshot_gcr_encode_F_01111:
|
|
Push_Mem Temp1, Tmp_B
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
Push_Mem Temp1, DShot_GCR_Pulse_Time_1
|
|
mov Tmp_B, 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 erase_flash ; Erase flash
|
|
|
|
mov DPTR, #Eep_FW_Main_Revision ; Store firmware main revision
|
|
mov A, #EEPROM_FW_MAIN_REVISION
|
|
call write_eeprom_byte_from_acc
|
|
|
|
inc DPTR ; Now firmware sub revision
|
|
mov A, #EEPROM_FW_SUB_REVISION
|
|
call write_eeprom_byte_from_acc
|
|
|
|
inc DPTR ; Now layout revision
|
|
mov A, #EEPROM_LAYOUT_REVISION
|
|
call write_eeprom_byte_from_acc
|
|
|
|
; Write eeprom
|
|
mov DPTR, #_Eep_Pgm_Gov_P_Gain
|
|
mov Temp1, #_Pgm_Gov_P_Gain
|
|
mov Temp4, #10 ; 10 parameters
|
|
write_eeprom_block1:
|
|
call write_eeprom_byte
|
|
inc DPTR
|
|
inc Temp1
|
|
djnz Temp4, write_eeprom_block1
|
|
|
|
mov DPTR, #_Eep_Enable_TX_Program
|
|
mov Temp1, #_Pgm_Enable_TX_Program
|
|
mov Temp4, #26 ; 26 parameters
|
|
write_eeprom_block2:
|
|
call write_eeprom_byte
|
|
inc DPTR
|
|
inc Temp1
|
|
djnz Temp4, write_eeprom_block2
|
|
|
|
call write_tags
|
|
call write_eeprom_signature
|
|
mov DPTR, #Eep_Dummy ; Set pointer to uncritical area
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Read eeprom byte routine
|
|
;
|
|
; Gives data in A and in address given by Temp1
|
|
; Assumes address in DPTR
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
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
|
|
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Settings
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Set default parameters
|
|
;
|
|
; Sets default programming parameters
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
set_default_parameters:
|
|
mov Temp1, #_Pgm_Gov_P_Gain
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Gov_P_Gain
|
|
Push_Mem Temp1, #DEFAULT_PGM_STARTUP_BOOST ; Pgm_Startup_Boost
|
|
Push_Mem Temp1, #DEFAULT_PGM_STARTUP_BEEP ; Pgm_Startup_Beep
|
|
Push_Mem Temp1, #DEFAULT_PGM_DITHERING ; Pgm_Dithering
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Motor_Gain
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Motor_Idle
|
|
Push_Mem Temp1, #DEFAULT_PGM_STARTUP_PWR ; Pgm_Startup_Pwr
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Pwm_Freq
|
|
Push_Mem Temp1, #DEFAULT_PGM_DIRECTION ; Pgm_Direction
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Input_Pol
|
|
|
|
inc Temp1 ; Skip Initialized_L_Dummy
|
|
inc Temp1 ; Skip Initialized_H_Dummy
|
|
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Enable_TX_Program
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Main_Rearm_Start
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Gov_Setup_Target
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Startup_Rpm
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Startup_Accel
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Volt_Comp
|
|
Push_Mem Temp1, #DEFAULT_PGM_COMM_TIMING ; Pgm_Comm_Timing
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Damping_Force
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Gov_Range
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Startup_Method
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Min_Throttle
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Max_Throttle
|
|
Push_Mem Temp1, #DEFAULT_PGM_BEEP_STRENGTH ; Pgm_Beep_Strength
|
|
Push_Mem Temp1, #DEFAULT_PGM_BEACON_STRENGTH ; Pgm_Beacon_Strength
|
|
Push_Mem Temp1, #DEFAULT_PGM_BEACON_DELAY ; Pgm_Beacon_Delay
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Throttle_Rate
|
|
Push_Mem Temp1, #DEFAULT_PGM_DEMAG_COMP ; Pgm_Demag_Comp
|
|
Push_Mem Temp1, #0FFh ; _Pgm_BEC_Voltage_High
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Center_Throttle
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Main_Spoolup_Time
|
|
Push_Mem Temp1, #DEFAULT_PGM_ENABLE_TEMP_PROT ; Pgm_Enable_Temp_Prot
|
|
Push_Mem Temp1, #DEFAULT_PGM_ENABLE_POWER_PROT ; Pgm_Enable_Power_Prot
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Enable_Pwm_Input
|
|
Push_Mem Temp1, #0FFh ; _Pgm_Pwm_Dither
|
|
Push_Mem Temp1, #DEFAULT_PGM_BRAKE_ON_STOP ; Pgm_Brake_On_Stop
|
|
Push_Mem Temp1, #DEFAULT_PGM_LED_CONTROL ; Pgm_LED_Control
|
|
|
|
ret
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Decode settings
|
|
;
|
|
; Decodes various settings
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
decode_settings:
|
|
; Load programmed direction
|
|
mov Temp1, #Pgm_Direction
|
|
mov A, @Temp1
|
|
clr C
|
|
subb A, #3
|
|
setb Flag_Pgm_Bidir
|
|
jnc ($+4)
|
|
|
|
clr Flag_Pgm_Bidir
|
|
|
|
clr Flag_Pgm_Dir_Rev
|
|
mov A, @Temp1
|
|
jnb ACC.1, ($+5)
|
|
setb Flag_Pgm_Dir_Rev
|
|
mov C, Flag_Pgm_Dir_Rev
|
|
mov Flag_Pgm_Bidir_Rev, C
|
|
; Decode startup power
|
|
mov Temp1, #Pgm_Startup_Pwr
|
|
mov A, @Temp1
|
|
dec A
|
|
mov DPTR, #STARTUP_POWER_TABLE
|
|
movc A, @A+DPTR
|
|
mov Temp1, #Pgm_Startup_Pwr_Decoded
|
|
mov @Temp1, A
|
|
; Decode low rpm power slope
|
|
mov Temp1, #Pgm_Startup_Pwr
|
|
mov A, @Temp1
|
|
mov Low_Rpm_Pwr_Slope, A
|
|
clr C
|
|
subb A, #2
|
|
jnc ($+5)
|
|
mov Low_Rpm_Pwr_Slope, #2
|
|
; 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_Dithering ; Read programmed dithering setting
|
|
mov A, @Temp1
|
|
clr Flag_Dithering
|
|
jz decode_dithering
|
|
setb Flag_Dithering
|
|
|
|
decode_dithering:
|
|
IF PWM_BITS_H == 2 ; Initialize pwm dithering bit patterns
|
|
mov Temp1, #Dithering_Patterns
|
|
Push_Mem Temp1, #00h
|
|
Push_Mem Temp1, #55h
|
|
ELSEIF PWM_BITS_H == 1
|
|
mov Temp1, #Dithering_Patterns
|
|
Push_Mem Temp1, #00h
|
|
Push_Mem Temp1, #11h
|
|
Push_Mem Temp1, #55h
|
|
Push_Mem Temp1, #77h
|
|
ELSEIF PWM_BITS_H == 0
|
|
mov Temp1, #Dithering_Patterns
|
|
Push_Mem Temp1, #00h
|
|
Push_Mem Temp1, #01h
|
|
Push_Mem Temp1, #11h
|
|
Push_Mem Temp1, #25h
|
|
Push_Mem Temp1, #55h
|
|
Push_Mem Temp1, #5Bh
|
|
Push_Mem Temp1, #77h
|
|
Push_Mem Temp1, #7fh
|
|
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
|
|
Initialize_Xbar ; Initialize the XBAR 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
|
|
mov Temp1, #Pgm_Beep_Strength ; Read programmed beep strength
|
|
mov Beep_Strength, @Temp1 ; Set beep strength
|
|
|
|
; Initializing beeps
|
|
clr IE_EA ; Disable interrupts explicitly
|
|
call wait100ms ; Wait a bit to avoid audible resets if not properly powered
|
|
|
|
mov Temp1, #Pgm_Startup_Beep ; Read programmed startup beep setting
|
|
mov A, @Temp1
|
|
jnz startup_beep_melody
|
|
|
|
call beep_f2_short ; Short startup beep
|
|
call wait250ms
|
|
call wait250ms
|
|
call wait250ms
|
|
call wait250ms
|
|
sjmp startup_beep_done
|
|
|
|
startup_beep_melody:
|
|
call beep_f1 ; Normal startup melody
|
|
call wait5ms
|
|
call beep_f2
|
|
call wait5ms
|
|
call beep_f1
|
|
call wait5ms
|
|
call beep_f3
|
|
call wait200ms
|
|
call beep_f2
|
|
call beep_f4
|
|
call beep_f4
|
|
|
|
startup_beep_done:
|
|
call led_control ; Set LEDs to programmed values
|
|
|
|
call wait250ms ; Wait for flight controller to get ready
|
|
call wait250ms
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; 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
|
|
|
|
mov Temp1, #250 ; Check if input signal is high for more than 15ms
|
|
input_high_check_1:
|
|
mov Temp2, #250
|
|
input_high_check_2:
|
|
jnb RTX_PORT.RTX_PIN, bootloader_done ; Look for low
|
|
djnz Temp2, input_high_check_2
|
|
djnz Temp1, input_high_check_1
|
|
|
|
ljmp 1C00h ; Jump to bootloader
|
|
|
|
bootloader_done:
|
|
call decode_settings
|
|
mov Temp1, #Pgm_Beep_Strength ; Set beep strength
|
|
mov Beep_Strength, @Temp1
|
|
call switch_power_off
|
|
IF MCU_48MHZ == 1
|
|
Set_MCU_Clk_24MHz ; Set clock frequency
|
|
ENDIF
|
|
; 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
|
|
|
|
mov Startup_Stall_Cnt, #0 ; Reset stall count
|
|
|
|
mov DShot_Cmd, #0 ; Clear DShot command
|
|
mov DShot_Cmd_Cnt, #0 ; Clear DShot command count
|
|
clr Flag_Telemetry_Pending ; Clear DShot telemetry
|
|
|
|
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
|
|
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
|
|
mov DShot_Cmd, #0
|
|
mov DShot_Cmd_Cnt, #0
|
|
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
|
|
mov DShot_Cmd, #0
|
|
mov DShot_Cmd_Cnt, #0
|
|
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
|
|
mov DShot_Cmd, #0
|
|
mov DShot_Cmd_Cnt, #0
|
|
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
|
|
|
|
clr IE_EA
|
|
call beep_f1_short ; Beep signal that RC pulse is ready
|
|
setb IE_EA
|
|
|
|
arming_wait:
|
|
call wait100ms
|
|
jnb Flag_Rcp_Stop, arming_wait ; Wait until throttle is zero
|
|
|
|
clr IE_EA
|
|
call beep_f2_short ; Beep signal that ESC is armed
|
|
setb IE_EA
|
|
|
|
wait_for_power_on: ; Armed and waiting for power on
|
|
clr A
|
|
mov Comm_Period4x_L, A ; Reset commutation period for telemetry
|
|
mov Comm_Period4x_H, A
|
|
mov Power_On_Wait_Cnt_L, A ; Clear beacon wait counter
|
|
mov Power_On_Wait_Cnt_H, A
|
|
|
|
wait_for_power_on_loop:
|
|
inc Power_On_Wait_Cnt_L ; Increment low wait counter
|
|
mov A, Power_On_Wait_Cnt_L
|
|
cpl A
|
|
jnz wait_for_power_on_no_beep ; Counter wrapping (about 3 sec)
|
|
|
|
inc Power_On_Wait_Cnt_H ; Increment high 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 Power_On_Wait_Cnt_H, #0 ; Reset counter for infinite delay
|
|
|
|
beep_delay_set:
|
|
clr C
|
|
mov A, Power_On_Wait_Cnt_H
|
|
subb A, Temp1 ; Check against chosen delay
|
|
jc wait_for_power_on_no_beep ; Has delay elapsed?
|
|
|
|
dec Power_On_Wait_Cnt_H ; Decrement high wait counter for continued beeping
|
|
|
|
mov Temp1, #4 ; Beep tone 4
|
|
call beacon_beep
|
|
|
|
wait_for_power_on_no_beep:
|
|
jb Flag_Telemetry_Pending, wait_for_power_telemetry_done
|
|
setb Flag_Timer3_Pending ; Set flag to avoid early return
|
|
call dshot_tlm_create_packet ; Create telemetry packet (0 rpm)
|
|
|
|
wait_for_power_telemetry_done:
|
|
call wait10ms
|
|
mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value
|
|
jnz wait_for_power_on_not_missing ; If it is not zero - proceed
|
|
|
|
ljmp init_no_signal ; If pulses missing - go back to detect input signal
|
|
|
|
wait_for_power_on_not_missing:
|
|
jnb Flag_Rcp_Stop, wait_for_power_on_nonzero ; Higher than stop, Yes - proceed
|
|
|
|
mov A, DShot_Cmd
|
|
jz wait_for_power_on_loop ; Check DShot command if not zero, otherwise wait for power
|
|
|
|
call dshot_cmd_check
|
|
sjmp wait_for_power_on_not_missing ; Check DShot command again, in case it needs to be received multiple times
|
|
|
|
wait_for_power_on_nonzero:
|
|
call wait100ms ; Wait to see if start pulse was only a glitch
|
|
|
|
mov DShot_Cmd, #0 ; Reset DShot command
|
|
mov DShot_Cmd_Cnt, #0
|
|
|
|
mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value
|
|
jnz init_start ; If it is not zero - proceed
|
|
|
|
ljmp init_no_signal ; If it is zero (pulses missing) - go back to detect input signal
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
;
|
|
; Motor start entry point
|
|
;
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
init_start:
|
|
clr IE_EA ; Disable interrupts
|
|
call switch_power_off
|
|
setb IE_EA ; Enable interrupts
|
|
|
|
clr A
|
|
mov Flags1, A ; Clear flags1
|
|
mov Flags_Startup, A ; Clear startup flags
|
|
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
|
|
|
|
Read_Adc_Result ; Read initial temperature
|
|
mov A, Temp2
|
|
jnz ($+3) ; Is reading below 256?
|
|
mov Temp1, A ; Yes - set average temperature value to zero
|
|
|
|
mov Current_Average_Temp, Temp1 ; Set initial average temperature
|
|
|
|
mov Adc_Conversion_Cnt, #8 ; Make sure a temp reading is done
|
|
call check_temp_and_limit_power
|
|
mov Adc_Conversion_Cnt, #8 ; Make sure a temp reading is done next time
|
|
|
|
; Set up start operating conditions
|
|
clr IE_EA ; Disable interrupts
|
|
mov Temp2, #Pgm_Startup_Pwr_Decoded
|
|
mov Pwm_Limit_Beg, @Temp2 ; Set initial pwm limit
|
|
mov Pwm_Limit, Pwm_Limit_Beg
|
|
mov Pwm_Limit_By_Rpm, Pwm_Limit_Beg
|
|
setb IE_EA ; Enable interrupts
|
|
|
|
; Begin startup sequence
|
|
IF MCU_48MHZ == 1
|
|
Set_MCU_Clk_48MHz
|
|
|
|
; Scale DShot criteria for 48MHz
|
|
clr C
|
|
rlca DShot_Timer_Preset ; Scale sync timer preset
|
|
|
|
clr C
|
|
rlca DShot_Frame_Length_Thr ; Scale frame length criteria
|
|
|
|
clr C
|
|
rlca DShot_Pwm_Thr ; Scale pulse width criteria
|
|
|
|
; Scale DShot telemetry for 24MHz
|
|
xcha DShot_GCR_Pulse_Time_1, DShot_GCR_Pulse_Time_1_Tmp
|
|
xcha DShot_GCR_Pulse_Time_2, DShot_GCR_Pulse_Time_2_Tmp
|
|
xcha DShot_GCR_Pulse_Time_3, DShot_GCR_Pulse_Time_3_Tmp
|
|
|
|
mov DShot_GCR_Start_Delay, #DSHOT_TLM_START_DELAY_48
|
|
ENDIF
|
|
jnb Flag_Pgm_Bidir, init_start_bidir_done ; Check if bidirectional operation
|
|
|
|
clr Flag_Pgm_Dir_Rev ; Set spinning direction. Default fwd
|
|
jnb Flag_Rcp_Dir_Rev, ($+5) ; Check force direction
|
|
setb Flag_Pgm_Dir_Rev ; Set spinning direction
|
|
|
|
;**** **** **** **** ****
|
|
; Motor start beginning
|
|
init_start_bidir_done:
|
|
setb Flag_Startup_Phase ; Set startup phase flag
|
|
mov Startup_Cnt, #0 ; Reset counter
|
|
call comm5_comm6 ; Initialize commutation
|
|
call comm6_comm1
|
|
call initialize_timing ; Initialize timing
|
|
call calc_next_comm_timing ; Set virtual commutation point
|
|
call initialize_timing ; Initialize timing
|
|
call calc_next_comm_timing
|
|
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_timing ; 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_timing
|
|
; wait_advance_timing
|
|
; calc_new_wait_times
|
|
; wait_before_zc_scan
|
|
|
|
; Run 3 = A(p-on) + B(n-pwm) - comparator C evaluated
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|
; 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
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|
call calc_next_comm_timing
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|
; 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_timing
|
|
; 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_timing
|
|
; 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_timing
|
|
; wait_advance_timing
|
|
; calc_new_wait_times
|
|
; wait_before_zc_scan
|
|
|
|
; Check if it is direct startup
|
|
jnb Flag_Startup_Phase, normal_run_checks
|
|
|
|
; Set spoolup power variables
|
|
mov Pwm_Limit, Pwm_Limit_Beg ; Set initial max power
|
|
; Check startup counter
|
|
mov Temp2, #24 ; Set nominal startup parameters
|
|
mov Temp3, #12
|
|
clr C
|
|
mov A, Startup_Cnt ; Load counter
|
|
subb A, Temp2 ; Is counter above requirement?
|
|
jc direct_start_check_rcp ; No - proceed
|
|
|
|
clr Flag_Startup_Phase ; Clear startup phase flag
|
|
setb Flag_Initial_Run_Phase ; Set initial run phase flag
|
|
mov Initial_Run_Rot_Cntd, Temp3 ; Set initial run rotation count
|
|
mov Pwm_Limit, Pwm_Limit_Beg
|
|
mov Pwm_Limit_By_Rpm, Pwm_Limit_Beg
|
|
sjmp normal_run_checks
|
|
|
|
direct_start_check_rcp:
|
|
jnb Flag_Rcp_Stop, run1 ; If pulse is above stop value - Continue to run
|
|
|
|
ajmp run_to_wait_for_power_on
|
|
|
|
|
|
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_power_on ; 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 ($+4)
|
|
|
|
mov Temp1, #3 ; About 100ms before stopping when brake is set
|
|
|
|
clr C
|
|
mov A, Rcp_Stop_Cnt ; Load stop RC pulse counter low byte value
|
|
subb A, Temp1 ; Is number of stop RC pulses above limit?
|
|
jnc run_to_wait_for_power_on ; Yes, go back to wait for power on
|
|
|
|
run6_check_timeout:
|
|
mov A, Rcp_Timeout_Cntd ; Load RC pulse timeout counter value
|
|
jz run_to_wait_for_power_on ; If it is zero - go back to wait for power on
|
|
|
|
run6_check_dir:
|
|
jnb Flag_Pgm_Bidir, run6_check_speed ; Check if bidirectional operation
|
|
|
|
jb Flag_Pgm_Dir_Rev, run6_check_dir_rev ; Check if actual rotation direction
|
|
jb Flag_Rcp_Dir_Rev, run6_check_dir_change ; Matches force direction
|
|
sjmp run6_check_speed
|
|
|
|
run6_check_dir_rev:
|
|
jnb Flag_Rcp_Dir_Rev, run6_check_dir_change
|
|
sjmp run6_check_speed
|
|
|
|
run6_check_dir_change:
|
|
jb Flag_Dir_Change_Brake, run6_check_speed
|
|
|
|
setb Flag_Dir_Change_Brake ; Set brake flag
|
|
mov Pwm_Limit, Pwm_Limit_Beg ; Set max power while braking
|
|
jmp run4 ; Go back to run 4, thereby changing force direction
|
|
|
|
run6_check_speed:
|
|
mov Temp1, #0F0h ; Default minimum speed
|
|
jnb Flag_Dir_Change_Brake, run6_brake_done; Is it a direction change?
|
|
|
|
mov Pwm_Limit, Pwm_Limit_Beg ; Set max power while braking
|
|
mov Temp1, #20h ; Bidirectional braking termination speed
|
|
|
|
run6_brake_done:
|
|
clr C
|
|
mov A, Comm_Period4x_H ; Is Comm_Period4x more than 32ms (~1220 eRPM)?
|
|
subb A, Temp1
|
|
ljc run1 ; No - go back to run 1
|
|
|
|
jnb Flag_Dir_Change_Brake, run_to_wait_for_power_on ; If it is not a direction change - stop
|
|
|
|
; Turn spinning direction
|
|
clr Flag_Dir_Change_Brake ; Clear brake flag
|
|
clr Flag_Pgm_Dir_Rev ; Set spinning direction. Default fwd
|
|
jnb Flag_Rcp_Dir_Rev, ($+5) ; Check force direction
|
|
setb Flag_Pgm_Dir_Rev ; Set spinning direction
|
|
setb Flag_Initial_Run_Phase
|
|
mov Initial_Run_Rot_Cntd, #18
|
|
mov Pwm_Limit, Pwm_Limit_Beg ; Set initial max power
|
|
jmp run1 ; Go back to run 1
|
|
|
|
run_to_wait_for_power_on_fail:
|
|
jb Flag_Motor_Running, run_to_wait_for_power_on
|
|
inc Startup_Stall_Cnt ; Increment stall count if motors did not properly start
|
|
|
|
run_to_wait_for_power_on:
|
|
clr IE_EA ; Disable all interrupts
|
|
call switch_power_off
|
|
mov Flags1, #0 ; Clear flags1
|
|
mov Flags_Startup, #0 ; Clear startup flags
|
|
|
|
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
|
|
|
|
mov Temp1, #Pgm_Brake_On_Stop ; Check if using brake on stop
|
|
mov A, @Temp1
|
|
jz run_to_wait_for_power_on_brake_done
|
|
|
|
AcomFET_on
|
|
BcomFET_on
|
|
CcomFET_on
|
|
|
|
run_to_wait_for_power_on_brake_done:
|
|
jnb Flag_Rcp_Stop, ($+6) ; Check if RCP is zero, then it is a normal stop
|
|
mov Startup_Stall_Cnt, #0
|
|
|
|
clr C
|
|
mov A, Startup_Stall_Cnt
|
|
subb A, #4 ; Maximum consecutive stalls before stopping
|
|
ljc wait_for_power_on ; Go back to wait for power on
|
|
|
|
ljmp init_no_signal ; Stalled too many times
|
|
|
|
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
|
|
$include (BLHeliBootLoad.inc) ; Include source code for bootloader
|
|
|
|
;**** **** **** **** **** **** **** **** **** **** **** **** ****
|
|
|
|
|
|
|
|
CSEG AT 19FDh
|
|
reset:
|
|
ljmp pgm_start
|
|
|
|
|
|
|
|
END
|