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Test for maximum speed withour remote controller
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@hugokernel
hugokernel committed Apr 13, 2013
1 parent aed221f commit 3267790
Showing 1 changed file with 100 additions and 72 deletions.
172 changes: 100 additions & 72 deletions SiLabs/BLHeli.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -289,7 +289,7 @@ RCTimer_6A_Multi EQU 87

;**** **** **** **** ****
; Select the ESC and mode to use (or unselect all for use with external batch compile file)
;BESC EQU XP_3A_Main
BESC EQU XP_3A_Main
;BESC EQU XP_3A_Tail
;BESC EQU XP_3A_Multi
;BESC EQU XP_7A_Main
Expand Down Expand Up @@ -1875,6 +1875,7 @@ IF MODE == 2 ; Multi
ENDIF

t2_int_pwm_exit:
mov Current_Pwm_Limited, #0FFh ; New line added
; Check if high byte flag is set
jb TF2H, t2h_int
pop ACC ; Restore preserved registers
Expand Down Expand Up @@ -5011,21 +5012,23 @@ clear_ram:
mov TMR3CN, #04h ; Timer3 enabled
; PCA
mov PCA0CN, #40h ; PCA enabled
; Initializing beep
call wait200ms
call beep_f1
call wait30ms
call beep_f2
call wait30ms
call beep_f3
call wait30ms

; Wait for receiver to initialize
call wait1s
call wait200ms
call wait200ms
call wait100ms


; HUGO : Skip beep !
; ; Initializing beep
; call wait200ms
; call beep_f1
; call wait30ms
; call beep_f2
; call wait30ms
; call beep_f3
; call wait30ms
;
; ; Wait for receiver to initialize
; call wait1s
; call wait200ms
; call wait200ms
; call wait100ms

; Enable interrupts
mov IE, #22h ; Enable timer0 and timer2 interrupts
mov IP, #02h ; High priority to timer0 interrupts
Expand Down Expand Up @@ -5054,60 +5057,75 @@ ENDIF

; Measure PWM frequency
measure_pwm_freq_init:
setb Flags0.RCP_MEAS_PWM_FREQ ; Set measure pwm frequency flag
measure_pwm_freq_start:
mov Temp3, #5 ; Number of pulses to measure
measure_pwm_freq_loop:
; Check if period diff was accepted
mov A, Rcp_Period_Diff_Accepted
jnz ($+4)

mov Temp3, #5 ; Reset number of pulses to measure

call wait3ms ; Wait for next pulse (NB: Uses Temp1/2!)
mov A, New_Rcp ; Load value
clr C
subb A, #RCP_VALIDATE ; Higher than validate level?
jc measure_pwm_freq_start ; No - start over

mov A, Flags3 ; Check pwm frequency flags
anl A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
mov Prev_Rcp_Pwm_Freq, Curr_Rcp_Pwm_Freq ; Store as previous flags for next pulse
mov Curr_Rcp_Pwm_Freq, A ; Store current flags for next pulse
cjne A, Prev_Rcp_Pwm_Freq, measure_pwm_freq_start ; Go back if new flags not same as previous

djnz Temp3, measure_pwm_freq_loop ; Go back if not required number of pulses seen

; BEGIN HUGO
mov Prev_Rcp_Pwm_Freq, #RCP_VALIDATE
mov Curr_Rcp_Pwm_Freq, #RCP_VALIDATE

; Clear measure pwm frequency flag
clr Flags0.RCP_MEAS_PWM_FREQ
; Set up RC pulse interrupts after pwm frequency measurement
clr Flags0.RCP_MEAS_PWM_FREQ
Rcp_Int_First ; Enable interrupt and set to first edge
Rcp_Clear_Int_Flag ; Clear interrupt flag
clr Flags2.RCP_EDGE_NO ; Set first edge flag
call wait100ms ; Wait for new RC pulse

; Validate RC pulse
validate_rcp_start:
call wait3ms ; Wait for next pulse (NB: Uses Temp1/2!)
mov Temp1, #RCP_VALIDATE ; Set validate level as default
mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
anl A, Flags3 ; Check pwm frequency flags
jnz ($+4) ; If a flag is set (PWM) - branch

mov Temp1, #0 ; Set level to zero for PPM (any level will be accepted)

clr C
mov A, New_Rcp ; Load value
subb A, Temp1 ; Higher than validate level?
jc validate_rcp_start ; No - start over

; Beep arm sequence start signal
clr EA ; Disable all interrupts
call beep_f1 ; Signal that RC pulse is ready
call beep_f1
call beep_f1
setb EA ; Enable all interrupts
call wait200ms
; END HUGO

; HUGO : Skip pwm measure
; setb Flags0.RCP_MEAS_PWM_FREQ ; Set measure pwm frequency flag
;measure_pwm_freq_start:
; mov Temp3, #5 ; Number of pulses to measure
;measure_pwm_freq_loop:
; ; Check if period diff was accepted
; mov A, Rcp_Period_Diff_Accepted
; jnz ($+4)
;
; mov Temp3, #5 ; Reset number of pulses to measure
;
; call wait3ms ; Wait for next pulse (NB: Uses Temp1/2!)
; mov A, New_Rcp ; Load value
; clr C
; subb A, #RCP_VALIDATE ; Higher than validate level?
; jc measure_pwm_freq_start ; No - start over
;
; mov A, Flags3 ; Check pwm frequency flags
; anl A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
; mov Prev_Rcp_Pwm_Freq, Curr_Rcp_Pwm_Freq ; Store as previous flags for next pulse
; mov Curr_Rcp_Pwm_Freq, A ; Store current flags for next pulse
; cjne A, Prev_Rcp_Pwm_Freq, measure_pwm_freq_start ; Go back if new flags not same as previous
;
; djnz Temp3, measure_pwm_freq_loop ; Go back if not required number of pulses seen
;
; ; Clear measure pwm frequency flag
; clr Flags0.RCP_MEAS_PWM_FREQ
; ; Set up RC pulse interrupts after pwm frequency measurement
; Rcp_Int_First ; Enable interrupt and set to first edge
; Rcp_Clear_Int_Flag ; Clear interrupt flag
; clr Flags2.RCP_EDGE_NO ; Set first edge flag
; call wait100ms ; Wait for new RC pulse

; ; Validate RC pulse
validate_rcp_start:

; HUGO
; call wait3ms ; Wait for next pulse (NB: Uses Temp1/2!)
; mov Temp1, #RCP_VALIDATE ; Set validate level as default
; mov A, #((1 SHL RCP_PWM_FREQ_1KHZ)+(1 SHL RCP_PWM_FREQ_2KHZ)+(1 SHL RCP_PWM_FREQ_4KHZ)+(1 SHL RCP_PWM_FREQ_8KHZ))
; anl A, Flags3 ; Check pwm frequency flags
; jnz ($+4) ; If a flag is set (PWM) - branch
;
; mov Temp1, #0 ; Set level to zero for PPM (any level will be accepted)
;
; clr C
; mov A, New_Rcp ; Load value
; subb A, Temp1 ; Higher than validate level?
; jc validate_rcp_start ; No - start over

; HUGO : Skip beep
; ; Beep arm sequence start signal
; clr EA ; Disable all interrupts
; call beep_f1 ; Signal that RC pulse is ready
; call beep_f1
; call beep_f1
; setb EA ; Enable all interrupts
; call wait200ms

; Arming sequence start
mov Gov_Arm_Target, #0 ; Clear governor arm target
Expand All @@ -5117,11 +5135,14 @@ arming_start:
mov A, @Temp1
clr C
subb A, #1 ; Is TX programming enabled?
jnc arming_initial_arm_check ; Yes - proceed

; HUGO: Skip program mode !
;jnc arming_initial_arm_check ; Yes - proceed

jmp program_by_tx_checked ; No - branch

arming_initial_arm_check:

mov A, Initial_Arm ; Yes - check if it is initial arm sequence
clr C
subb A, #1 ; Is it the initial arm sequence?
Expand Down Expand Up @@ -5250,17 +5271,23 @@ arm_target_updated:
subb A, #RCP_STOP ; Below stop?
jc arm_end_beep ; Yes - proceed

jmp arming_start ; No - start over
; HUGO: Run !
;jmp arming_start ; No - start over

arm_end_beep:

; Begin HUGO : No Beep !
; Beep arm sequence end signal
clr EA ; Disable all interrupts
call beep_f4 ; Signal that rcpulse is ready
call beep_f4
call beep_f4
; WHY WHEN a remove this line, program don't work !
;call beep_f4
;call beep_f4
setb EA ; Enable all interrupts
call wait200ms

;call wait200ms
;setb EA ; Enable all interrupts
; End HUGO

; Clear initial arm variable
mov Initial_Arm, #0

Expand Down Expand Up @@ -5312,6 +5339,7 @@ beep_delay_set:
mov Beep_Strength, @Temp1
call wait100ms ; Wait for new RC pulse to be measured

; HUGO: If a comment code below, motor turn little, stop, turn, stop, etc...
wait_for_power_on_no_beep:
call wait3ms
mov A, Rcp_Timeout_Cnt ; Load RC pulse timeout counter value
Expand Down

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