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Servoking_Monster_30A_Pro.inc
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Servoking_Monster_30A_Pro.inc
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;**** **** **** **** ****
;
; BLHeli program for controlling brushless motors in helicopters and multirotors
;
; 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/>.
;
;**** **** **** **** ****
;
; Servoking Monster 30A Pro hardware definition file
;
;**** **** **** **** ****
;*********************
; Device SiLabs F390
;*********************
$include (c8051f390.inc)
;**** **** **** **** ****
; Uses internal calibrated oscillator set to 24/48Mhz
;**** **** **** **** ****
;**** **** **** **** ****
; Constant definitions
;**** **** **** **** ****
CSEG AT 1A40h
Eep_ESC_Layout: DB "#SKMonster30APr#" ; ESC layout tag
CSEG AT 1A50h
Eep_ESC_MCU: DB "#BLHELI#F390# " ; Project and MCU tag (16 Bytes)
MCU_48MHZ EQU 1 ; Set to 1 if MCU can run at 48MHz
ONE_S_CAPABLE EQU 0 ; Set to 1 if ESC can operate at 1S
PORT3_EXIST EQU 0 ; Set to 1 if MCU has port3
COMP1_USED EQU 0 ; Set to 1 if MCU has comparator 1 and it is being used
LOCK_BYTE_ADDRESS_16K EQU 3FFFh ; Address of lock byte if 16k flash size
LOCK_BYTE_ADDRESS_8K EQU 1FFFh ; Address of lock byte if 8k flash size
HIGH_BEC_VOLTAGE EQU 0 ; Set to 1 or more if high BEC voltage is supported
DAMPED_MODE_ENABLE EQU 1 ; Damped mode enabled
NFETON_DELAY EQU 8 ; Wait delay from pfets off to nfets on
PFETON_DELAY EQU 4 ; Wait delay from nfets off to pfets on
ADC_LIMIT_L EQU 85 ; 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 EQU 114 ; Temperature measurement ADC value for which main motor power is limited (low byte, assuming high byte is 1)
TEMP_LIMIT_STEP EQU 4 ; Temperature measurement ADC value increment for which main motor power is further limited
;**** **** **** **** ****
; ESC specific defaults
;**** **** **** **** ****
DEFAULT_PGM_MAIN_SPOOLUP_TIME EQU 10 ; Main motor spoolup time
DEFAULT_PGM_MAIN_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
DEFAULT_PGM_TAIL_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
DEFAULT_PGM_MULTI_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
;**** **** **** **** ****
; Bootloader definitions
;**** **** **** **** ****
RTX_PORT EQU P0 ; Receive/Transmit port
RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL
RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL
RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP
RTX_PIN EQU 5 ; RTX pin
SIGNATURE_001 EQU 0f3h ; Device signature
SIGNATURE_002 EQU 090h
;*********************
; PORT 0 definitions *
;*********************
; EQU 7 ;i
Mux_C EQU 6 ;i
Rcp_In EQU 5 ;i
; EQU 4 ;i
Comp_Com EQU 3 ;i
Mux_B EQU 2 ;i
; EQU 1 ;i
Mux_A EQU 0 ;i
P0_DIGITAL EQU NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
P0_INIT EQU 0FFh
P0_PUSHPULL EQU 0
P0_SKIP EQU NOT(1 SHL Rcp_In)
MACRO Get_Rcp_Capture_Values
mov Temp1, PCA0CPL0 ; Get PCA capture values
mov Temp2, PCA0CPH0
IF MCU_48MHZ == 1
mov A, Clock_Set_At_48MHz
jz Get_Rcp_End
clr C
mov A, Temp2
rrc A
mov Temp2, A
mov A, Temp1
rrc A
mov Temp1, A
Get_Rcp_End:
ENDIF
ENDM
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 *
;*********************
BnFET EQU 7 ;o
BpFET EQU 6 ;o
AnFET EQU 5 ;o
ApFET EQU 4 ;o
CnFET EQU 3 ;o
CpFET EQU 2 ;o
; EQU 1 ;i
Adc_Ip EQU 0 ;i
P1_DIGITAL EQU NOT(1 SHL Adc_Ip)
P1_INIT EQU (1 SHL Adc_Ip) ; Setting ADC ip sets it tristate
P1_PUSHPULL EQU (1 SHL AnFET)+(1 SHL BnFET)+(1 SHL CnFET)+(1 SHL ApFET)+(1 SHL BpFET)+(1 SHL CpFET)
P1_SKIP EQU (1 SHL Adc_Ip)
MACRO AnFET_on
setb P1.AnFET
ENDM
MACRO AnFET_off
clr P1.AnFET
ENDM
MACRO BnFET_on
setb P1.BnFET
ENDM
MACRO BnFET_off
clr P1.BnFET
ENDM
MACRO CnFET_on
setb P1.CnFET
ENDM
MACRO CnFET_off
clr P1.CnFET
ENDM
MACRO All_nFETs_Off
clr P1.AnFET
clr P1.CnFET
clr P1.BnFET
ENDM
MACRO ApFET_on
setb P1.ApFET
ENDM
MACRO ApFET_off
clr P1.ApFET
ENDM
MACRO BpFET_on
setb P1.BpFET
ENDM
MACRO BpFET_off
clr P1.BpFET
ENDM
MACRO CpFET_on
setb P1.CpFET
ENDM
MACRO CpFET_off
clr P1.CpFET
ENDM
MACRO All_pFETs_Off
clr P1.ApFET
clr P1.CpFET
clr P1.BpFET
ENDM
MACRO Brake_FETs_On
AnFET_on
BnFET_on
CnFET_on
ENDM
MACRO Damping_FET_On
mov A, DampingFET
orl P1, A
ENDM
MACRO Set_Comp_Phase_A
mov CPT0MX, #10h ; Set comparator multiplexer to phase A
ENDM
MACRO Set_Comp_Phase_B
mov CPT0MX, #11h ; Set comparator multiplexer to phase B
ENDM
MACRO Set_Comp_Phase_C
mov CPT0MX, #13h ; Set comparator multiplexer to phase C
ENDM
MACRO Read_Comp_Out
mov A, CPT0CN ; Read comparator 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_Xbar
mov XBR1, #41h ; Xbar enabled, CEX0 routed to pin Rcp_In
ENDM
MACRO Initialize_Adc
mov REF0CN, #0Eh ; Set vdd (3.3V) as reference. Enable temp sensor and bias
IF MCU_48MHZ == 0
mov ADC0CF, #58h ; ADC clock 2MHz
ELSE
mov ADC0CF, #0C0h ; ADC clock 2MHz
ENDIF
mov AMX0P, #(8+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, #(8+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 Read_Adc_Result
mov Temp1, ADC0L
mov Temp2, ADC0H
ENDM
MACRO Stop_Adc
ENDM
MACRO Set_RPM_Out
ENDM
MACRO Clear_RPM_Out
ENDM
MACRO Set_MCU_Clk_24MHz
mov CLKSEL, #0 ; Set clock to 24MHz
mov FLSCL, #80h ; Set flash timing for 24MHz
mov Clock_Set_At_48MHz, #0
ENDM
MACRO Set_MCU_Clk_48MHz
mov FLSCL, #90h ; Set flash timing for 48MHz
mov CLKSEL, #3 ; Set clock to 48MHz
mov Clock_Set_At_48MHz, #1
ENDM