/
XP_12A.inc
276 lines (254 loc) · 6.86 KB
/
XP_12A.inc
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;**** **** **** **** ****
;
; BLHeli program for controlling brushless motors in helicopters
;
; Copyright 2011, 2012 Steffen Skaug
; This program is distributed under the terms of the GNU General Public License
;
; This file is part of BLHeli.
;
; BLHeli is free software: you can redistribute it and/or modify
; it under the terms of the GNU General Public License as published by
; the Free Software Foundation, either version 3 of the License, or
; (at your option) any later version.
;
; BLHeli is distributed in the hope that it will be useful,
; but WITHOUT ANY WARRANTY; without even the implied warranty of
; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
; GNU General Public License for more details.
;
; You should have received a copy of the GNU General Public License
; along with BLHeli. If not, see <http://www.gnu.org/licenses/>.
;
;**** **** **** **** ****
;
; XP 12A hardware definition file
;
;**** **** **** **** ****
;*********************
; Device SiLabs F330
;*********************
$include (c8051f330.inc)
;**** **** **** **** ****
; Uses internal calibrated oscillator set to 24Mhz
;**** **** **** **** ****
;**** **** **** **** ****
; Constant definitions
;**** **** **** **** ****
CSEG AT 1A40h
Eep_ESC_Layout: DB "#XP12A# " ; ESC layout tag
DAMPED_MODE_ENABLE EQU 0 ; Damped mode disabled
NFETON_DELAY EQU 70 ; Wait delay from pfets off to nfets on
PFETON_DELAY EQU 1 ; Wait delay from nfets off to pfets on
COMP_PWM_HIGH_ON_DELAY EQU 30 ; Wait delay from pwm on until comparator can be read (for high pwm frequency)
COMP_PWM_HIGH_OFF_DELAY EQU 15 ; Wait delay from pwm off until comparator can be read (for high pwm frequency)
COMP_PWM_LOW_ON_DELAY EQU 10 ; Wait delay from pwm on until comparator can be read (for low pwm frequency)
COMP_PWM_LOW_OFF_DELAY EQU 5 ; Wait delay from pwm off until comparator can be read (for low pwm frequency)
ADC_LIMIT_L EQU 116 ; Power supply measurement ADC value for which main motor power is limited (low byte)
ADC_LIMIT_H EQU 0 ; Power supply measurement ADC value for which main motor power is limited (2 MSBs)
TEMP_LIMIT_L EQU 246 ; Temperature measurement ADC value for which main motor power is limited (low byte)
TEMP_LIMIT_H EQU 1 ; Temperature measurement ADC value for which main motor power is limited (2 msbs)
TEMP_LIMIT_STEP EQU 6 ; Temperature measurement ADC value increment for which main motor power is further limited
;*********************
; PORT 0 definitions *
;*********************
Rcp_In EQU 7 ;i
Adc_Ip EQU 6 ;i
Mux_A EQU 5 ;i
; EQU 4 ;i
Mux_B EQU 3 ;i
Comp_Com EQU 2 ;i
Mux_C EQU 1 ;i
Vref EQU 0 ;i
P0_DIGITAL EQU NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com)+(1 SHL Adc_Ip)+(1 SHL Vref))
P0_INIT EQU 0FFh
P0_PUSHPULL EQU 0
P0_SKIP EQU NOT(1 SHL Rcp_In) AND 0FFh
MACRO Read_Rcp_Int
mov A, P0
jnb Flags3.PGM_RCP_PWM_POL, ($+4) ; Is pwm polarity negative?
cpl A ; Yes - invert
ENDM
MACRO Rcp_Int_Enable
orl PCA0CPM0, #01h ; Interrupt enabled
ENDM
MACRO Rcp_Int_Disable
anl PCA0CPM0, #0FEh ; Interrupt disabled
ENDM
MACRO Rcp_Int_First
anl PCA0CPM0, #0CFh
jb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity positive?
orl PCA0CPM0, #20h ; Capture rising edge
jnb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity negative?
orl PCA0CPM0, #10h ; Capture falling edge
ENDM
MACRO Rcp_Int_Second
anl PCA0CPM0, #0CFh
jb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity positive?
orl PCA0CPM0, #10h ; Capture falling edge
jnb Flags3.PGM_RCP_PWM_POL, ($+6) ; Is pwm polarity negative?
orl PCA0CPM0, #20h ; Capture rising edge
ENDM
MACRO Rcp_Clear_Int_Flag
clr CCF0 ; Clear interrupt flag
ENDM
;*********************
; PORT 1 definitions *
;*********************
; EQU 7 ;i
; EQU 6 ;i
ApFET EQU 5 ;o
BpFET EQU 4 ;o
CpFET EQU 3 ;o
AnFET EQU 2 ;o
BnFET EQU 1 ;o
CnFET EQU 0 ;o
P1_DIGITAL EQU (1 SHL AnFET)+(1 SHL BnFET)+(1 SHL CnFET)+(1 SHL ApFET)+(1 SHL BpFET)+(1 SHL CpFET)
P1_INIT EQU 0
P1_PUSHPULL EQU (1 SHL AnFET)+(1 SHL BnFET)+(1 SHL CnFET)+(1 SHL ApFET)+(1 SHL BpFET)+(1 SHL CpFET)
P1_SKIP EQU 0
MACRO AnFET_on
mov A, Current_Pwm_Limited
jz ($+12)
jb Flags3.PGM_DIR_REV, ($+5)
setb P1.AnFET
jnb Flags3.PGM_DIR_REV, ($+5)
setb P1.CnFET
ENDM
MACRO AnFET_off
jb Flags3.PGM_DIR_REV, ($+5)
clr P1.AnFET
jnb Flags3.PGM_DIR_REV, ($+5)
clr P1.CnFET
ENDM
MACRO BnFET_on
mov A, Current_Pwm_Limited
jz ($+4)
setb P1.BnFET
ENDM
MACRO BnFET_off
clr P1.BnFET
ENDM
MACRO CnFET_on
mov A, Current_Pwm_Limited
jz ($+12)
jb Flags3.PGM_DIR_REV, ($+5)
setb P1.CnFET
jnb Flags3.PGM_DIR_REV, ($+5)
setb P1.AnFET
ENDM
MACRO CnFET_off
jb Flags3.PGM_DIR_REV, ($+5)
clr P1.CnFET
jnb Flags3.PGM_DIR_REV, ($+5)
clr P1.AnFET
ENDM
MACRO All_nFETs_Off
clr P1.AnFET
clr P1.BnFET
clr P1.CnFET
ENDM
MACRO ApFET_on
jb Flags3.PGM_DIR_REV, ($+5)
setb P1.ApFET
jnb Flags3.PGM_DIR_REV, ($+5)
setb P1.CpFET
ENDM
MACRO ApFET_off
jb Flags3.PGM_DIR_REV, ($+5)
clr P1.ApFET
jnb Flags3.PGM_DIR_REV, ($+5)
clr P1.CpFET
ENDM
MACRO BpFET_on
setb P1.BpFET
ENDM
MACRO BpFET_off
clr P1.BpFET
ENDM
MACRO CpFET_on
jb Flags3.PGM_DIR_REV, ($+5)
setb P1.CpFET
jnb Flags3.PGM_DIR_REV, ($+5)
setb P1.ApFET
ENDM
MACRO CpFET_off
jb Flags3.PGM_DIR_REV, ($+5)
clr P1.CpFET
jnb Flags3.PGM_DIR_REV, ($+5)
clr P1.ApFET
ENDM
MACRO All_pFETs_Off
clr P1.ApFET
clr P1.BpFET
clr P1.CpFET
ENDM
MACRO All_pFETs_On
setb P1.ApFET
setb P1.BpFET
setb P1.CpFET
ENDM
MACRO Set_Comp_Phase_A
jb Flags3.PGM_DIR_REV, ($+6)
mov CPT0MX, #21h ; Set comparator multiplexer to phase A
jnb Flags3.PGM_DIR_REV, ($+6)
mov CPT0MX, #01h
ENDM
MACRO Set_Comp_Phase_B
mov CPT0MX, #11h ; Set comparator multiplexer to phase B
ENDM
MACRO Set_Comp_Phase_C
jb Flags3.PGM_DIR_REV, ($+6)
mov CPT0MX, #01h ; Set comparator multiplexer to phase C
jnb Flags3.PGM_DIR_REV, ($+6)
mov CPT0MX, #21h
ENDM
MACRO Read_Comp_Out
mov A, CPT0CN ; Read comparator output
cpl A ; Invert output
ENDM
;*********************
; PORT 2 definitions *
;*********************
DebugPin EQU 0 ;o
P2_PUSHPULL EQU (1 SHL DebugPin)
;**********************
; MCU specific macros *
;**********************
MACRO Interrupt_Table_Definition
CSEG AT 0 ; Code segment start
jmp reset
CSEG AT 0Bh ; Timer0 interrupt
jmp t0_int
CSEG AT 2Bh ; Timer2 interrupt
jmp t2_int
CSEG AT 5Bh ; PCA interrupt
jmp pca_int
CSEG AT 73h ; Timer3 interrupt
jmp t3_int
ENDM
MACRO Initialize_Adc
mov REF0CN, #07h ; Enable temp sensor, bias and reference buffer
mov ADC0CF, #0B8h ; ADC clock 1MHz
mov AMX0P, #Adc_Ip ; Select positive input
mov AMX0N, #11h ; Select negative input as ground
mov ADC0CN, #80h ; ADC enabled
ENDM
MACRO Set_Adc_Ip_Volt
mov AMX0P, #Adc_Ip ; Select positive input
ENDM
MACRO Set_Adc_Ip_Temp
mov AMX0P, #10h ; Select temp sensor input
ENDM
MACRO Start_Adc
mov ADC0CN, #90h ; ADC start
ENDM
MACRO Get_Adc_Status
mov A, ADC0CN
ENDM
MACRO Read_Adc_Result
mov Temp1, ADC0L
mov Temp2, ADC0H
ENDM
MACRO Stop_Adc
ENDM