;----------------------------------------------------------------------------- ; Copyright (C) 2006 by Takao. ; All rights reserved. ; CURRENT_LIMITER: NOT AVAILABLE CURRENT_LIMITER ; ; FILE NAME : BL_ESC_100A.ASM July. 30th. '05 ; FILE NAME : BL_ESC_100Aa.ASM Aug. 15th. '05 ; FILE NAME : BL_ESC_100A_LDP.ASM Aug. 25th. '05 ; FILE NAME : BL_ESC_100A_LDP.ASM OCt. 10th. '05 for 1mm dia. x 23T 6-teeth 8P LDP motor ; FILE NAME : BL_ESC_100A_LDP.ASM Oct. 30th. '05 for 0.7mm dia. x 2s x 15T LDP motor ; FILE NAME : BL_ESC_100A2.ASM Jan. 1st. '06 for 0.7mm dia. x 2s x 15T LDP motor ; FILE NAME : BL_ESC_100A3.ASM Feb. 13. '06 for AXI 2820/12 motor ; FILE NAME : 100A series. BL_ESC_100A_307A.ASM, Apr. 21th '06 ; ; Starting BEMF on-duty is 25% at INC_STEPPING_START_ON_DUTY: ; ; ACCELERATION_CKECK_AVERAGE_FILTER_COUNTER checkes max rpm in BEMF mode ; for smooth change to zero cross mode ; BEMF_SAMPLING_COUNTER checks slow down from zero cross to BEMF mode ; to avoid under BEMF sampling. ; ; TARGET MCU : C8051F330D ; DESCRIPTION : Quick power on buzzer sound ; + Start with Position detection + minimize the start current ; + BEMF for start run(BEMF_START_SPIN:) ; + reverse spin check(REVERSE_SPIN:) ; + BEMF power controlled run(BEMF_START0:) ; + Zero Cross switching 50%-100% power drive ; + Motor stop protection by WDT + Plane find motor buzzer ; + 5V minimum power voltage keeper + Current Limitter ; ; I hope that No need to adjust SAMPLING_TIMING by measuring BEMF OFF-DUTY inductive kick time ; I hope that No need to adjust START_CURRENT_ON_DUTY by minimize the start current routine ; ; Keep run if the power on time is over REAR_EDGE_TO_ZC_POINT by back to the BEMF mode ; Keep a few second run mode when stick off for PPM reciever ; ; ; NOTES: ; START_ON_DUTY_CONTROL: CloopX timing is chenged to 500nS as 2 times faster ; BEMF for start run(BEMF_START_SPIN:) with drive state sequence check to avoid reverse start spin ; BEMF<->ZeroCross control BEMF_FULL_ON is adjusted to 75% by BEMF high sampling rate at OFF_DUTY: ; sound is just one beep for quick start. ; The Spin current limitter function with LM339 ; 5V power supply volatge keeper is added by D/A. ; $include (c8051f330.inc) ; Include register definition file. ;----------------------------------------------------------------------------- ; EQUATES Parameters ;----------------------------------------------------------------------------- REAR_EDGE_TO_ZC_POINT equ 5 ; This value concerns with zero cross max speed stability. ; Safty Margin of POWER on Time of the rear edge od inductive kick to zero cross point. ; May be "7" is for low voltage CD-ROM motor drive, may be "2" is good for high speed spin as ducted fan. ; This value is (T2) Sync out as "COULD_NOT_CATCH_CROSS_POINT" in zero cross mode. ; The time should be less than 500uS to get until zero coross point after inductive kick rear edge. IND_KICK_TIME_CHECK equ 3 ; 490nS x 255 x this value ; The inductive kick time is checked by T2 high. and if the time is over this value. ; It means could not catch the indutive kick as sync. out. BEMF_Duty_Inc_Timing equ 10 ; BEMF power step up increasing timing frame on Timer 2 ;Starting parameters START_STEPPING_DUTY_FRAME equ 80 ; Start duty checking Duty frame include shaft position routine START_CURRENT_ON_DUTY equ 20 ; Init Current limit setting in on-duty setting INC_START_CURRENT_ON_DUTY_STEP equ 5 ; Start power increasing step up while could not spin STEPPING_ON_DUTY_CHOPPING_COUNT equ 35 ; Init Stepping starting current limit chopping count END_OF_STEPPING_START_CNT equ 5 ; max starting try count of STEPPING_START. This is for motor burn-up protection at starting over load. BEMF_start_run_on_duty_time_after_stepping_drive equ 50 ; Setting first BEMF spin torque BEMF_start_run_off_duty_time_after_stepping_drive equ 250 SAMPLE_COUNT equ 6 ; minimum sampling count at one phase to avoid mis-fire in BEMF mode. SAMPLING_TIMING equ 10 ; sampling frq. for default timing(max. 20) in BEMF mode. This value also concerns starting current. BEMF_MAX_ON_DUTY equ 180 ; BEMF max On duty. OFF duty= BEMF_ON_DUTY - (ON_DUTY x2) ; SLOW_START equ THROTTLE_OFF+STICK_BACK_HYS ; BEMF lowest power runs with this low power duty(%). THROTTLE_OFF equ 10 ; Throttle off stick position data MISFIRE_COUNT equ 50 ; Noise filter count to ensure the reverse spin Slowest_Spin_Speed_Check_Time equ 60 ; SPIN_FREE check time value. Used Timer0 high FIND_TIMER_DELAY equ 36 ; find timer start delay after throttle off(ex.value 24: 24 x 8sec=3min) ;RX_NOISE_TIM_CNT equ 10 ; the Rx noise as throttle off signal timer counter setting data STICK_BACK_HYS equ 2 ; return back stick hyteresis to avoid RX signal jitter MIN_OFFSET equ 1150 ; uS. minimum control pulse width offset CTRL_MIN equ 2347 ; *MIN_OFFSET/0.49(=12/SYSCLK); number of timer counts PCA 1/12 sys.clk in ; capture range sample(0800h - 1065h) ZERO_CROSS_INIT_STEPS equ 7 ; initial ZC_STEPS value as stick to ou-duty time in zerocross mode. ZC_SAMPLING_DUTY_INC_TIMING equ 10 ; power-step up increasing timing on Timer 3 in zerocross mode. V_ERR_MAX equ 200 ; The voltage error detection value for V_ERR_CNT MAX_BEMF_RPM_DATA_CHECK_HIGHER equ 2 ; <<<<<<< ;----------------------------------------------------------------------------- RX_IN equ P0.7 ; Control pulse input from Rx. COMP_D equ R0 ; Comparator result strage ; R1 is partially used for find buzzer timer, ; timing advance counter in full on mode ; and single sample duty calc. ; R2: Partially used in sound and stepping start sequence, single sample duty calc. ; R1: timing advance high byte data strage ; R2: timing advance low byte data strage TEMP3 equ R3 RX_ERROR_COUNT equ R4 ; RX throttle off signal counter to avoid Rx noise motor shut off ON_DUTY equ R5 ; ON duty control data storage TEMP0 equ R6 ; ; BRAKING_TIMER is used for braking timer ;TEMP equ R7 ; Just temporally register ;STACKs IO_SETTING equ 01ah ; P1 setting storage while motor 3ST OFF to Re-On in BEMF running DIVIDED_L equ 01bh ; Timer low byte storage for devide calc DIVIDED_H equ 01ch ; Timer high byte storage for devide calc P0_IO equ 01dh ; P0 IO storage used in stepping sequence STEPPING_ON_DUTY equ 01eh ; Used for starting on-duty timing up with current limit function STEPPING_ON_DUTY_CHOPPING_COUNTER equ 01fh ; Used for starting current limited on-duty timing PCA0_CAP_L equ 020h ; PCA low byte holding register at the rising edge of speed control input from Rx PCA0_CAP_H equ 021h ; PCA high byte holding register at the rising edge of speed control input from Rx PULSE_WIDTH_L equ 022h ; measured pulse width low byte data storage(12bits resolution) PULSE_WIDTH_H equ 023h ; measured pulse width high byte data storage(12bits resolution) CONTROL_DATA_L equ 024h ; The data storage of checked low byte of 12bit resolution input control pulse width CONTROL_DATA_H equ 025h ; The data storage of checked High byte of 12bit resolution input control pulse width CONTROL_DATA equ 026h ; The data storage of 8bit resolution input control pulse width SAMPLING_COUNTER_L equ 027h ; sampling counter at one phase drive SAMPLING_COUNTER_H equ 028h TEMP_MEMORY equ 029h ; Just TEMP memory BRAKING_TIMER equ 02ah ; is used for braking timer ; On/Off duty timing data memory in BEMF mode RX_NOISE_FILTER_COUNTER equ 02bh ; SPIN COUTER for ZC => BEMF mode Rx noise filtering Rx_Noise_Count equ 20 ; Almost 0.1 sec noise count to avoid immediate stop for PPM noisy Rx TMR1L equ 030h ; Storage space for when single sample to BEMF sampling back 1 phase frame timing data TMR1H equ 031h INPUT_COUNTER_L equ 032h ; This counter is used for input signal loss check INPUT_COUNTER_H equ 033h ; This counter is used for input signal loss check ROUND_CHK_FLAG equ 034h PREV_COMP_D equ 035h ;T2_LOWEST_L equ 036h ; BEMF max speed one phase spin timing as single sample min. spin timing ;T2_LOWEST_H equ 037h ; BEMF max speed one phase spin timing as single sample min. spin timing BEMF_OFF_EXT_TIMER equ 038h BEMF_FULL_ON equ 039h SPIN_COUNTER equ 03ah ; Spin counter T2_ON_DUTY_LOW equ 03bh ; set on_duty timer low storage SS mode RAM T2_ON_DUTY_HIGH equ 03ch ; set on_duty timer high storage SS mode RAM STORAGE_B equ 03dh ; Stack for AccB SPIN_MODE equ 03eh ; BEMF START mode(unstable):3 ; BEMF stable run mode(as 5 or less BEMF samples in one state):2 ; BEFM very high speed critical mode(as one BEMF sample in one state):1 ; Zero Cross mode:0 DRV_SEQUENCE_CHECK_ENABLE equ 03fh ; flag CURRENT_LIMITER_ENABLE_FLAG equ 040h ; "1" Eanble, "0" Disable for BEMF<->Zerocross one shot rush current enable ZC_STEPS equ 041h ; zero cross stick timing resolution COMP1_A equ 042h ; comparator result temporaly storage COMP1_B equ 043h ; comparator result temporaly storage COMP1_C equ 044h ; comparator result temporaly storage ;ZC_BREAK_IN_COUNTER equ 045h ; BEMF Duty 50% run to stable half power before starting ZC control. STEP_START_FLAG equ 046h ; Stepping start flag to control small on-duty just after stepping start. ZC_OFF_DUTY_L equ 047h ZC_OFF_DUTY_H equ 048h ;NEED_MORE_T_ADVANCE_FLAG equ 049h BEMF_OFF_DUTY_TIME_L equ 04ah ; used in BEMF power timing check BEMF_OFF_DUTY_TIME_H equ 04bh ; used in BEMF power timing check BEMF_DUTY_TIME_L equ 04ch ; used in BEMF power timing check BEMF_DUTY_TIME_H equ 04dh ; used in BEMF power timing check ;ADVANCE_ENABLE equ 04ch ; used for Timing advance enable flag. BEMF_PWR_OVER_CHECK_COUNTER equ 04eh ACCELERATION_CKECK_AVERAGE_FILTER_COUNTER equ 04fh ; used for BEMF increasing speed up check enable flag MISFIRE_COUNTER equ 050h ; mis-fire counter as reverse spin. PACK equ 051h ; 2 or 3 Li-Po Package detection result(2=2PACK, 3=3PACK) AD_SEQUENCE equ 052h ; Voltage and temprature check ad conversion sequence flag CONTROL_DATA_MAX equ 053h ; for decreasing stick power limit at Li-Po voltage down and/or Li-Po or CPU over heat FIND_TIMER equ 054h ; plane find buzzer timer counter TMR2M_H equ 056h ; rear edge of inductive kick T2 high data storage to check the weak motor generative volage p-p level in zero cross TMR2M_L equ 057h ; rear edge of inductive kick T2 low data storage to check the weak motor generative volage p-p level in zero cross LIPO_T_ERR_CNT equ 058h ; the over heat counter W_TERMINAL_V_CHK_FLAG equ 059h ; check Vdd line voltage throough P-ch W-state MOSFET ON TOP_V_ERR_CNT equ 05ah ; the top cell voltage down counter V2_ERR_CNT equ 05bh ; The GND to cell2 volatge drop counter to avoid shot voltage dip. CHK_TOP_V_SEQUENCE equ 05ch ;top cell as pack voltage check sequence counter TOP_V_LOW equ 05dh ; Top voltage low data stored here TOP_V_HIGH equ 05eh ; Top voltage high data stored here V1_ERR_CNT equ 05fh ; The bottom cell volatge drop counter to avoid shot voltage dip. V3_ERR_CNT equ 060h ; The Top cell volatge drop counter to avoid shot voltage dip in 3S mode. MID_CELL_DIP_CNT equ 061h ; bottom cell to middle cell volatge drop counter to avoid shot voltage dip. DRIVE_STATE equ 062h ; drive state storage START_DRIVE_STATE equ 063h ; PREV_DRIVE_STATE equ 064h ; Previous drive state storage PREV_DRV_STATE equ 065h ; previous drive state storage in stepping start control NEXT_DRV_STATE equ 066h ; next drive state storage in stepping start control fpr reverse spin check NEXT_NEXT_DRV_STATE equ 067h ; next next drive state storage in stepping start control fpr reverse spin check COMP_REMEASURE_COUNTER equ 068h COMP_PD equ 070h ; comparator previous data strage to avoid oscillation TEMP1 equ 071h ; Used in timing delay routine TEMP_L equ 072h ; 16 bit calc temporaly storage low TEMP4 equ 074h ; Used in Rx pulse width counter in interrup routine TEMP5 equ 075h TEMP_H equ 076h ; 16 bit calc temporaly storage low TEMP7 equ 077h ; 1st BEMF running(bit0), brake ON flag(bit1), BEMP direction check flag(bit2,3) ; # of sampling in one phase is OK=1 flag(bit4), over mask time flag(bit5), ; ZERO cross timing is OK=1 fkg(bit6), BAD comparator flag(bit7) DUTY equ 078h ; Temp. Used in BEMF run power duty control timer routine IO_MODE_M equ 079h ; P1 mode setting storage while motor 3ST OFF to Re-On in BEMF running ;----------------------------------------------------------------------------- ; RESET and INTERRUPT VECTORS ;----------------------------------------------------------------------------- ;Reset Vector cseg AT 0 ljmp Main ; Locate a jump to the start of code at the reset vector. org 005bh ljmp PCA0_PLS ; Uses about 6uS. PCA0 Mode0 plus pulse width count capture interrupt ;----------------------------------------------------------------------------- ; CODE SEGMENT ;----------------------------------------------------------------------------- BL_ESC segment CODE rseg BL_ESC ; Switch to this code segment. using 0 ; Specify register bank for the following program code. Main: ; Disable the WDT. anl PCA0MD, #NOT(040h) ; clear Watchdog Enable bit and 1/12 system clock usage for PCA mov OSCICN, #10000011b ; make 24.5MHz run ;------------------------------------- INIT: mov PULSE_WIDTH_L,#0 ; Init. control pulse data[初始化PWM的宽度值] mov PULSE_WIDTH_H,#0 mov CONTROL_DATA, #0 ; Init. Rx input pulse width data[初始化油门信号值] mov TEMP7, #0 ; 1st BEMF running(bit-0) and brake ON flag(bit-1) clear mov RX_ERROR_COUNT, #0 mov ROUND_CHK_FLAG, #0 ; Clear the BEMF running monitor flag mov TMR3RLL, #0 mov TMR3RLH, #0 mov BEMF_FULL_ON, #BEMF_MAX_ON_DUTY ; mov DIVIDED_H, #255 orl TMR3CN, #00000100b ; start T3 count-up used in BEMF 50% power timing check and zero cross power increase timing mov TMOD, #00010001b ; Set Timer0,1 16 bit counter mode mov DRV_SEQUENCE_CHECK_ENABLE, #0 ; starting routine uses complimentary sequence to avoid shaft spin mov ZC_STEPS, #ZERO_CROSS_INIT_STEPS mov TEMP_L, #255 mov TEMP_H, #255 ;mov CONTROL_DATA_MAX, #THROTTLE_OFF+2 mov CONTROL_DATA_MAX, #255 mov TMR1L, #255 mov TMR1H, #255 mov AD_SEQUENCE, #0 mov LIPO_T_ERR_CNT, #0 mov V1_ERR_CNT, #0 mov V2_ERR_CNT, #0 mov V3_ERR_CNT, #0 mov W_TERMINAL_V_CHK_FLAG, #0 mov CHK_TOP_V_SEQUENCE, #0 mov CURRENT_LIMITER_ENABLE_FLAG, #1 ; Enable mov MISFIRE_COUNTER, #0 ;mov ZC_BREAK_IN_COUNTER, #0 ;mov NEED_MORE_T_ADVANCE_FLAG, #0 mov ACCELERATION_CKECK_AVERAGE_FILTER_COUNTER, #127 ; Checking BEMF max speed enable (avaraging) flag mov BEMF_PWR_OVER_CHECK_COUNTER, #0 ;-------------------- mov PCA0CPL2, #255 ; wathc dog timing is 32mS interval orl PCA0MD, #11000000b ; PCA suspend while CPU is supended and WDT is "ON". ;clr P2.0 ; Test pin "L" setb P2.0 ; P2.0 pin "H" with open drain ADC_Init: mov ADC0CF, #00111000b ; 3MHz AD SAR CLOCK, right justified setb AD0EN ; enable ADC Voltage_Reference_Init: mov REF0CN, #00Eh ; Peripheral specific initialization functions, Port_IO_Init: ; P0.0 - Skipped, Open-Drain, Analog ; P0.1 - Skipped, Open-Drain, D/A output Analog ; P0.2 - Skipped, Open-Drain, Analog ; P0.3 - Skipped, Open-Drain, Analog ; P0.4 - Skipped, Open-Drain, Analog ; P0.5 - Skipped, Open-Drain, Analog ; P0.6 - Skipped, Push-Pull, Digital ; P0.7 - CEX0 (PCA), Open-Drain, Digital ; P1.0 - Skipped, Push-Pull, Digital ; P1.1 - Skipped, Open-Drain, Analog ; P1.2 - Skipped, Open-Drain, Analog ; P1.3 - Skipped, Open-Drain, Analog ; P1.4 - Unassigned, Push-Pull, Digital ; P1.5 - Unassigned, Push-Pull, Digital ; P1.6 - Unassigned, Push-Pull, Digital ; P1.7 - Unassigned, Push-Pull, Digital call SPIN_FREE ; P0=0; mov P0MDIN, #0C0h ; 输入方式配置.0:模拟输入;1:非模拟输入 mov P1MDIN, #0F1h mov P0MDOUT, #040h ; 输出方式配置.0:漏极开路;1:推免方式 mov P1MDOUT, #0F1h mov P2MDOUT, #001h mov P0SKIP, #07Fh ; 端口跳过配置 mov P1SKIP, #00Fh mov XBR1, #041h ; 端口I/O交叉开关.交叉开关使能 and CEX0连到端口引脚 DAC_Init: ;bit7： 1---IDA0使能。 ;bit6-4: 111---写IDA0H触发DAC输出更新。 ;bit3-2: nothing ;bit1-0: 1x---2.0 mA满度输出电流。 mov IDA0CN, #0F2h ;mov XBR1, #11000001b ; no weak pull-ups, cross bar enabled on out put pins, CEX0 routed to Port pin. ; All out puts are "L", just after RESET. ;比较器0控制寄存器 ;bit7: 比较器0使能 ;bit6:比较器0输出状态标志0：电压值CP0+ < CP0-。1：电压值CP0+ > CP0-。 ;bit5-4:比较器0上/下升沿中断标志 ;bit3-0:禁止正负向回差电压 mov CPT0CN, #10000000b ; bit7: Comp0 Enable, bit6: Comp out, bit5,4: no interrupt, bit3-0: no hys. ; Timer0,1 16bit counter with pre-scaled system clock is 1/48=1960nS.<<<<<<<<<<<<<<<< T01_SET: ;时钟控制寄存器:系统时钟/48 orl CKCON, #00000010b PCA0_INT: ; Programable Counter Array is used in Edge-triggered Caputure Mode for power control input from Rx. ;禁止PCA计数器/定时器。 orl PCA0CN, #01000000b ; Run Programmable Counter 0 ;mov PCA0MD, #00000000b ; PCA0 works in 1/12 system clock ;负沿捕捉功能使能/当 CCFn 位被置‘1’时，允许捕捉/比较标志的中断请求。 orl PCA0CPM0, #00100001b ; PCA0 is captured by positive edge first on P0.7, Also generates the interrupt. orl EIE1, #00010000b ; enable PCA0 interrupts clr CCF0 ; clear PCA0 module0 interrupt flag ;orl EIP1,#00010000b ; PCA0 innterrupt set to high priority level. ;比较器0配置[使能/禁止中断/100NS] call WAKE_UP_CP ; wait for comparator wake up. setb EA ; enable global interrupts ;-------------------- PWR_ON_SOUND: ;上电声 SOUND_1 equ 1 ; Sound frame time[声音帧时间] ;************************************ SND_ON_DUTY equ 200 ; Sound pitch[声音间距] ;************************************ mov TEMP3, #SOUND_1 ; mov TEMP5, #SND_ON_DUTY ; call SOUNDER ;调用声音发生程序 call NO_SOUND_TIM ;停止发声延时 mov TEMP3, #SOUND_1 ; mov TEMP5, #SND_ON_DUTY ; call SOUNDER call NO_SOUND_TIM mov TEMP3, #SOUND_1 ; mov TEMP5, #SND_ON_DUTY ; call SOUNDER call NO_SOUND_TIM ;**************************************************************** ;PACK_TEST: ; call LIPO_2S_3S_CHK ; Test the P0.6 voltage for 2 or 3 Li-Po pack detection ;**************************************************************** GET_INPUT_PULSE:;捕获输入油门信号 call SPIN_FREE ; make the outputs are open drain as 3-Sate open to reduce the SW noise FIND_BUZZER_INT: mov TEMP0, #0 ; clear T2 repeat counter as TEMP0 ;mov FIND_TIMER, #1 ; TEST ONLY: T2 x TEMP0 x FIND_TIMER timer(8 sec.) mov FIND_TIMER, #FIND_TIMER_DELAY ; T2 x TEMP0 x FIND_TIMER timer(x 8sec.) ; BUG found on Mar. 17, call START_T2 ; clear T2 counter 32mS ;----------------- THROTTLE_POS_CHK: call WDT_OFF mov a, CONTROL_DATA ; Get Rx input pulse[获得油门信号数据] BRAKE_SET_CHK: clr c subb a, #060h ; Almost Full throttle?[几乎全油门?] jnc BRAKE_FLAG_ON ; Yes. Then Brake fuction ON jmp THROTTLE_OFF_CHK BRAKE_FLAG_ON: orl TEMP7, #00000010b ; Turn on Brake_ON flag THROTTLE_OFF_CHK: call WDT_OFF mov a, CONTROL_DATA ; Get Rx input pulse jz THROTTLE_OFF_CHK ; wait for first Rx pulse[等待有油门信号输入] clr c subb a, #THROTTLE_OFF ; wait for throttle OFF position[等待油门信号"关闭] jc READY_SOUND ; Is the input pulse less than 940uS?[油门信号"关闭?] jmp THROTTLE_OFF_CHK ; No.[没有,等待] READY_SOUND: ; 油门信号已经关闭,准备好了.;准备好声音 SOUND_2 equ 1 ;******************************************* SND_ON_DUTY2 equ 100 ;mov b, #pack mov b, #3 ;******************************************* GO_SOUND_LOOP: ; 准备好声音发出 mov TEMP3, #SOUND_2 mov TEMP5, #SND_ON_DUTY2 call SOUNDER call NO_SOUND_TIM djnz b, GO_SOUND_LOOP ;;****** Vdd check TEST ONLY mov R1, #0 ; 延时 LOOP0: djnz R1, LOOP0 V_TEST: call ALL_H ; 高桥为高电平输出 ;call CHECK_TOP_CELL_VOLTAGE call SPIN_FREE ; 全部清0 call WDT_OFF ; jmp LOOP0 BRAKE_TIMER_INT: mov BRAKING_TIMER, #0 ; BRAKING_TIMER is used for brake timer counter with TF2H over flow ;CB_THROTTLE_ON_CHK THROTTLE_ON_CHK: jnb TF2H, RX_IN_CHK ; 是否溢出中断?不是跳 call SPIN_FREE call WDT_OFF INC_T2_REPEAT_CNT: clr TF2H BRAKE_TIMER_COUNT_TRIG: inc R7 cjne R7, #10, FIND_BUZZER_TIMER_CNT_TRIG ; 32msec x10= 320mS sec. ;BRAKE_TIMER_COUNT_TRIG: ; mov a, BRAKING_TIMER ; inc a ; mov BRAKING_TIMER, a ; clr c ; subb a, #10 ; jnz FIND_BUZZER_TIMER_CNT_TRIG ; 32msec x10= 320mS sec. mov BRAKING_TIMER, #0 dec BRAKING_TIMER BRAKE_ON_CHK: mov a, TEMP7 anl a, #00000010b jz FIND_BUZZER_TIMER_CNT_TRIG ; Brake function Off mode call BRAKING FIND_BUZZER_TIMER_CNT_TRIG: inc TEMP0 cjne TEMP0, #0, RX_IN_CHK ; 32mS x 255 = 8.16 sec. dec FIND_TIMER ; 8.16 x 22 = 3 min. mov a, FIND_TIMER jnz RX_IN_CHK ; mov FIND_TIMER, #FIND_TIMER_DELAY ; jmp FIND_BUZZER_ON ;------------------------------------------------------------------------------- ;CB_RX_IN_CHK,输入检测 ;------------------------------------------------------------------------------- RX_IN_CHK: setb EA call SPIN_FREE call WDT_OFF mov CONTROL_DATA_MAX, #255 mov MISFIRE_COUNTER, #0 mov a, CONTROL_DATA ; Get Rx input pulse clr c subb a, #THROTTLE_OFF ; wait for throttle OFF position jc THROTTLE_ON_CHK ; the input pulse more than 940uS jmp THROTTLE_OFF_CHK1 ; Yes. ;------------------------------------------------------------------------------- ;CB_SOUNDER,声音处理程序 ;------------------------------------------------------------------------------- SOUNDER: ;clr EA SOUNDER1: mov TEMP0, #010h SOUNDING: call S_WDT_OFF call STATE1_ON call SOUND_DRIVE_CNT call SPIN_FREE call STATE2_ON call SOUND_DRIVE_CNT call SPIN_FREE call STATE3_ON call SOUND_DRIVE_CNT call SPIN_FREE call STATE4_ON call SOUND_DRIVE_CNT call SPIN_FREE call STATE5_ON call SOUND_DRIVE_CNT call SPIN_FREE call STATE6_ON call SOUND_DRIVE_CNT call SPIN_FREE djnz TEMP0, SOUNDING mov TEMP0, #010h djnz TEMP3, SOUNDING ;setb EA ret ;------------------------------------------------------------------------------- ;CB_THROTTLE_ON_CHK_A ;------------------------------------------------------------------------------- THROTTLE_ON_CHK_A: jmp THROTTLE_ON_CHK ;long jmp help ;------------------------------------------------------------------------------- ;CB_SOUND_DRIVE_CNT ;------------------------------------------------------------------------------- SOUND_DRIVE_CNT: SND_ON_TIM: mov ON_DUTY, TEMP5 SND_ON_LOOP: nop djnz ON_DUTY, SND_ON_LOOP ALL_3ST: call SPIN_FREE ;********************************************* call S_WDT_OFF SND_OFF_TIM: mov ON_DUTY, TEMP5 ; 1:10 as 10% power for sound SND_OFF_LOOP: nop nop nop nop nop nop nop nop nop nop djnz ON_DUTY, SND_OFF_LOOP ret ;------------------------------------------------------------------------------- ;CB_NO_SOUND_TIM ;------------------------------------------------------------------------------- NO_SOUND_TIM: call SPIN_FREE mov TEMP3, #0 mov TEMP5, #20 NO_SOUND1: call WAIT_10uS call S_WDT_OFF djnz TEMP3, NO_SOUND1 djnz TEMP5, NO_SOUND1 ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- FIND_BUZZER_ON: mov R1, #230 BUZZER: mov TEMP3, #1 ; (Sound frame time) mov TEMP5, R1 ; Sound pitch call SOUNDER1 call SPIN_FREE THROTTLE_ON_CHK_B: mov a, CONTROL_DATA ; Get Rx input pulse clr c subb a, #THROTTLE_OFF ; check the throttle OFF position jnc READY_SOUND_1 dec R1 cjne R1, #100, BUZZER ; highest frequency. COOLING_MOTOR: mov R1, #128 ; 4sec off sound to avoid motor heat-up CMTR1: mov R2, #0 CMTR2: mov R3, #0 CMTR3: mov a, CONTROL_DATA ; Get Rx input pulse clr c subb a, #THROTTLE_OFF ; check the throttle OFF position jnc READY_SOUND_1 call S_WDT_OFF djnz R3, CMTR3 djnz R2, CMTR2 djnz R1, CMTR1 jmp FIND_BUZZER_ON ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- READY_SOUND_1: call SPIN_FREE ;jmp READY_SOUND ; long branch help jmp RX_IN_CHK ; Spin immediately. '06/02/06 ;------------------------------------------------------------------------------- ;CB_STEPPING_START//CB_THROTTLE_OFF_CHK1 ;------------------------------------------------------------------------------- STEPPING_START: ;-------------- THROTTLE_OFF_CHK1: mov DRV_SEQUENCE_CHECK_ENABLE, #0 ; enable drive sequence check for starting sequence by this flag ;mov DRV_TIM, #SAMPLING_TIMING ; set default sampling timing mov STEPPING_ON_DUTY_CHOPPING_COUNTER, #STEPPING_ON_DUTY_CHOPPING_COUNT mov STEPPING_ON_DUTY, #START_CURRENT_ON_DUTY mov a, CONTROL_DATA ; Get Rx input pulse [得到油门信号值] mov TEMP3, a clr c subb a, #THROTTLE_OFF ; check the throttle OFF position[判断是否小于无效油门信号值] jc THROTTLE_ON_CHK_A ; the input pulse less than 940uS[输入信号小于940us,即认为无油门信号] ;--------------- MOTOR_START: call BRAKING ;1]U、V、W =0;HIN=H，LIN=L。 call WAIT_10uS SPIN_START: ;预定位 call GET_START_SHAFT_POSITION1 SPIN_START1: mov PREV_DRV_STATE, START_DRIVE_STATE ; 保持当前状态 call GET_NEXT_DRIVE_STATE ; for reverse spin check as well mov NEXT_DRV_STATE, START_DRIVE_STATE ; 获得下一状态 call GET_NEXT_DRIVE_STATE ; 2 Step move for sure mov NEXT_NEXT_DRV_STATE, START_DRIVE_STATE ; 获得下下状态 mov START_DRIVE_STATE, PREV_DRV_STATE ; 恢复当前状态 call SHAFT_POSITION_TRIMMING ; Spin motor with one stepping[驱动当前状态] ;call BRAKING mov b, #250 ; spin responce timer WAIT_SPIN_RESPONCE1: call WAIT_1uS call WDT_OFF djnz b, WAIT_SPIN_RESPONCE1 THROTTLE_OFF_CHK0: ;重新判断油门信号 mov a, CONTROL_DATA ; Get Rx input pulse clr c subb a, #THROTTLE_OFF ; wait for throttle OFF position jc STEPPING_START ; the input pulse more than 940uS SPIN_START_CHECK1: ; call test_pin_on ; 再次预定位 call GET_START_SHAFT_POSITION1 ; START_DRIVE_STATE = Now state+1 ;call GET_COMP_DATA ;mov a, COMP_D mov a, START_DRIVE_STATE clr c REVERSE_SPIN_CHECK: subb a, NEXT_DRV_STATE ; Reverse spin check is here jz START_STEPPING_DRIVE2 ; one step spin with turned on_duty ;jz NEXT_SPIN_START ; 和上次预定位相符 jmp COULD_NOT_START_SPIN ; 不相符 ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- START_STEPPING_DRIVE2: ; Make sure two steps spin stepping drive mov START_DRIVE_STATE, NEXT_DRV_STATE ; 驱动下一状态[当前] call SHAFT_POSITION_TRIMMING ; Spin motor with next one stepping ;call BRAKING mov b, #250 ; spin responce timer WAIT_SPIN_RESPONCE2: call WAIT_1uS call WDT_OFF djnz b, WAIT_SPIN_RESPONCE2 SPIN_START_CHECK2: call GET_START_SHAFT_POSITION1 ; START_DRIVE_STATE = Now state+1 mov a, START_DRIVE_STATE ; 再次预定位 clr c SPIN_CHECK2: subb a, NEXT_NEXT_DRV_STATE ; Reverse spin check is here jz START_STEPPING_DRIVE ; two step spin with turned on_duty[强制换相] jmp COULD_NOT_START_SPIN ;----------------------------------------------------------------------------------------- ;CB_COULD_NOT_START_SPIN ;----------------------------------------------------------------------------------------- COULD_NOT_START_SPIN: INC_STEPPING_START_ON_DUTY: call BRAKING ; For high site drive power call WAIT_10uS mov a, STEPPING_ON_DUTY add a, #INC_START_CURRENT_ON_DUTY_STEP ; inc as on_duty+5[加大驱动力] clr c subb a, #START_STEPPING_DUTY_FRAME/4 ; <<<<<<<<< 25% limit power duty for start jc ADD_MORE_START_PWR ; 驱动里符合要求 jmp CAN_NOT_SPIN_START ; 驱动离超过了限制 ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- ADD_MORE_START_PWR: ; 加大驱动力 mov a, STEPPING_ON_DUTY add a, #INC_START_CURRENT_ON_DUTY_STEP ; inc as on_duty mov STEPPING_ON_DUTY, a TRY_WITH_MORE_START_POWER: jmp SPIN_START ; 重新处理 ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- CAN_NOT_SPIN_START: jmp START_STEPPING_DRIVE ; force Start[强制驱动] ;--------------------------------------------------------------- ;CB_START_STEPPING_DRIVE ;--------------------------------------------------------------- START_STEPPING_DRIVE: call STEP_START1 mov STEP_START_FLAG, #1 ; Set STEP_START_FLAG[开始闭环驱动] jmp BEMF_START_SPIN ;--------------------------------------------------------------- ;CB_START_STEPPING_DRIVE ;--------------------------------------------------------------- GET_START_SHAFT_POSITION: STEP_START_BARKING: call BRAKING mov b, #10 ; Make sure the Shaft stop to get next step start state SHAFT_BRAKE_B: mov a, #0 SHAFT_BRAKE_A: dec a call WDT_OFF call WAIT_10uS jnz SHAFT_BRAKE_A djnz b, SHAFT_BRAKE_B ;----------------------------------------------------------------- ;CB_GET_START_SHAFT_POSITION1 ;----------------------------------------------------------------- GET_START_SHAFT_POSITION1: DG4: ;驱动其中一路 call STATE1_ON ; U=1, V=0, W=3ST call MEASURE_INDUCTIVE_KICK_LENGTH DG1: call STATE4_ON ; U=0, V=1, W=3ST call MEASURE_INDUCTIVE_KICK_LENGTH DG5: call STATE2_ON ; U=1, V=3ST, W=0 call MEASURE_INDUCTIVE_KICK_LENGTH DG2: call STATE5_ON ; U=0, V=3ST, W=1 call MEASURE_INDUCTIVE_KICK_LENGTH DG6: call STATE3_ON ; U=3ST, V=1, W=0 call MEASURE_INDUCTIVE_KICK_LENGTH DG3: call STATE6_ON ; U=3ST, V=0, W=1 call MEASURE_INDUCTIVE_KICK_LENGTH jmp STEP_START ;------------------------------------------------------------------------------- ;CB_MEASURE_INDUCTIVE_KICK_LENGTH ;------------------------------------------------------------------------------- MEASURE_INDUCTIVE_KICK_LENGTH: clr EA mov IDA0L, #00000000b ; 10mV sense as 0.1V on @10mili ohm MOSFET and divided to 1:10 mov IDA0H, #00000001b ; SAMPLE_ON_DUTY: mov b, #20 ; Less than 10uS, Could not measure the inductive kick. SAMPLE_ON_Loop: ; 延迟是一段时间 call WAIT_1uS djnz b, SAMPLE_ON_Loop call SPIN_FREE mov a, DRIVE_STATE ; 驱动状态 ;------------------------------------------------------------------------------- SAMPLE_KICK1: cjne a, #1, SAMPLE_KICK2 ; U=1, V=0, W=3ST jmp S_KICK12 ; 状态12 ;------------------------------------------------------------------------------- ;CB_SAMPLE_KICK2 ;------------------------------------------------------------------------------- SAMPLE_KICK2: cjne a, #2, SAMPLE_KICK3 ; U=1, V=3ST, W=0 ; U=1 -> U=GND-0.7V(3ST) -> U=V=W S_KICK12: ; 比较器输入选择 mov CPT0MX, #00000000b ; CP in-: P0.1(D/A), CP in+: P0.0(U) with UP slope jmp BEFORE_KICK ;------------------------------------------------------------------------------- ;CB_SAMPLE_KICK3 ;------------------------------------------------------------------------------- SAMPLE_KICK3: cjne a, #3, SAMPLE_KICK4 ; U=3ST, V=1, W=0 jmp S_KICK34 ;------------------------------------------------------------------------------- ;CB_SAMPLE_KICK4 ;------------------------------------------------------------------------------- SAMPLE_KICK4: cjne a, #4, SAMPLE_KICK5 ; U=0, V=1, W=3ST ; V=1 -> V=GND-0.7V(3ST) -> U=V=W S_KICK34: mov CPT0MX, #00000001b ; CP in-: P0.1(D/A), CP in+: P0.2(V) with UP slope jmp BEFORE_KICK ;------------------------------------------------------------------------------- ;CB_SAMPLE_KICK5 ;------------------------------------------------------------------------------- SAMPLE_KICK5: ; W=1 at stae 5 and 6 ; W=1 -> W=GND-0.7V(3ST) -> U=V=W S_KICK56: mov CPT0MX, #00000010b ; CP in-: P0.1(D/A), CP in+: P0.4(W) with UP slope jmp BEFORE_KICK ;------------------------------------------------------------------------------- ;CB_BEFORE_KICK //预定位 ;1、驱动一路 ;2、选择相应检测相 ;3、计时检测相电压大等于设定电压的时间 ;------------------------------------------------------------------------------- BEFORE_KICK: KICK_COUNTER_HL: call START_T2 ; T2从0开始计时 call WAIT_1uS ; Comparator responce等待一个时间 COUNT_KICK_LH: mov a, CPT0CN ; Get Comparator result [比较器0输出状态标志0：电压值CP0+ < CP0-。1：电压值CP0+ > CP0-] anl a, #01000000b ; Get CP0OUT bit jz COUNT_KICK_LH ; checking the negative edge of inductive kick.[A=0跳] clr TR2 ; Stop Timer2[1：电压值CP0+ > CP0-] setb EA jmp GET_START_POSITION ;------------------------------------------------------------------------------- ;CB_GET_START_POSITION ;------------------------------------------------------------------------------- GET_START_POSITION: call WDT_OFF mov a, TMR2L ; compare the previous inductive kick timing length clr c subb a, TEMP_L ; [TMR2H*256+TMR2L]-[TEMP_H*256+TEMP_L]=TMR2-TEMP mov a, TMR2H ; subb a, TEMP_H jnc SAMPLE_OFF_DUTY ; Get minimum timing for starting[C=1,跳] mov TEMP_H, TMR2H ; Store the minimum inductive kick length "H" as start position mov TEMP_L, TMR2L ; Store the minimum inductive kick length "L" mov START_DRIVE_STATE, DRIVE_STATE ; Get start drive pattern SAMPLE_OFF_DUTY: call BRAKING ; H_Bridge=H mov TEMP5, #20 SAMPLE_OFF_DUTY_LOOP: ; Delay_Time call WDT_OFF mov b, #10 ; <<<<<< OFF_Loop3: call WAIT_1uS djnz b, OFF_Loop3 djnz TEMP5, SAMPLE_OFF_DUTY_LOOP ret ;------------------------------------------------------------------------------- ;CB_STEP_START//强制换向? ;------------------------------------------------------------------------------- STEP_START: mov SPIN_COUNTER, #20 ; Off Timer WAIT_TO_START: call SAMPLE_OFF_DUTY djnz SPIN_COUNTER, WAIT_TO_START mov TEMP_L, 0ffh ; Re-Store the minimum inductive kick length "L" for next start mov TEMP_H, 0ffh ; Re-Store the minimum inductive kick length "H" for next start ;CB_GET_NEXT_DRIVE_STATE GET_NEXT_DRIVE_STATE: mov a, START_DRIVE_STATE mov DRV_SEQUENCE_CHECK_ENABLE, #0 ; also, diable sequence check by this flag inc a ; Next start drive Phase clr c subb a, #7 ; If START6, Then step start1 jz STEP_START1_ add a, #7 mov START_DRIVE_STATE, a ret ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- STEP_START1_: mov a, #1 mov START_DRIVE_STATE, a ret ;------------------------------------------------------------------------------- ;CB_SHAFT_POSITION_TRIMMING ;------------------------------------------------------------------------------- SHAFT_POSITION_TRIMMING: mov TEMP5, #STEPPING_ON_DUTY_CHOPPING_COUNT SHAFT_TRIM_START1: ; Stepping start with duty control as current limitter. CHOP_DRIVE1: call STEP_DRIVE_STATE ;驱动上下桥 call START_ON_DUTY_CONTROL ;PWM设置,完全是通过延时处理 djnz TEMP5, CHOP_DRIVE1 TRIM_DRIVE_OFF: mov SPIN_COUNTER, #0 ;call test_pin_on ret ;------------------------------------------------------------------------------- ;CB_STEP_DRIVE_STATE ;------------------------------------------------------------------------------- STEP_DRIVE_STATE: mov a, DRIVE_STATE ;StepNum STEP_DRIVE_STATE1: cjne a, #1, STEP_DRIVE_STATE2 call PRE_CHARGE_STATE1_DRIVER ;H_STATE1_SET call STATE1_ON ;STATE1_H_L_SET ret ;------------------------------------------------------------------------------- ;CB_STEP_DRIVE_STATE2 ;------------------------------------------------------------------------------- STEP_DRIVE_STATE2: cjne a, #2, STEP_DRIVE_STATE3 call PRE_CHARGE_STATE2_DRIVER call STATE2_ON ret ;------------------------------------------------------------------------------- ;CB_STEP_DRIVE_STATE3 ;------------------------------------------------------------------------------- STEP_DRIVE_STATE3: cjne a, #3, STEP_DRIVE_STATE4 call PRE_CHARGE_STATE3_DRIVER call STATE3_ON ret ;------------------------------------------------------------------------------- ;CB_STEP_DRIVE_STATE4 ;------------------------------------------------------------------------------- STEP_DRIVE_STATE4: cjne a, #4, STEP_DRIVE_STATE5 call PRE_CHARGE_STATE4_DRIVER call STATE4_ON ret ;------------------------------------------------------------------------------- ;CB_STEP_DRIVE_STATE5 ;------------------------------------------------------------------------------- STEP_DRIVE_STATE5: cjne a, #5, STEP_DRIVE_STATE6 call PRE_CHARGE_STATE5_DRIVER call STATE5_ON ret ;------------------------------------------------------------------------------- ;CB_STEP_DRIVE_STATE6 ;------------------------------------------------------------------------------- STEP_DRIVE_STATE6: call PRE_CHARGE_STATE6_DRIVER call STATE6_ON ret ;------------------------------------------------------------------------------- ;CB_STEP_START1 强制换相 ;------------------------------------------------------------------------------- STEP_START1: mov a, START_DRIVE_STATE cjne a, #1, STEP_START2 call STATE1_ON call STEP_DRIVE_CNT call STATE2_ON call STEP_DRIVE_CNT call STATE3_ON call STEP_DRIVE_CNT call STATE4_ON call STEP_DRIVE_CNT call STATE5_ON call STEP_DRIVE_CNT call STATE6_ON call STEP_DRIVE_CNT jmp STEP_TO_BEMF STEP_START2: cjne a, #2, STEP_START3 call STATE2_ON call STEP_DRIVE_CNT call STATE3_ON call STEP_DRIVE_CNT call STATE4_ON call STEP_DRIVE_CNT call STATE5_ON call STEP_DRIVE_CNT call STATE6_ON call STEP_DRIVE_CNT call STATE6_ON call STEP_DRIVE_CNT jmp STEP_TO_BEMF STEP_START3: cjne a, #3, STEP_START4 call STATE3_ON call STEP_DRIVE_CNT call STATE4_ON call STEP_DRIVE_CNT call STATE5_ON call STEP_DRIVE_CNT call STATE6_ON call STEP_DRIVE_CNT call STATE1_ON call STEP_DRIVE_CNT call STATE2_ON call STEP_DRIVE_CNT jmp STEP_TO_BEMF STEP_START4: cjne a, #4, STEP_START5 call STATE4_ON call STEP_DRIVE_CNT call STATE5_ON call STEP_DRIVE_CNT call STATE6_ON call STEP_DRIVE_CNT call STATE1_ON call STEP_DRIVE_CNT call STATE2_ON call STEP_DRIVE_CNT call STATE3_ON call STEP_DRIVE_CNT jmp STEP_TO_BEMF STEP_START5: cjne a, #5, STEP_START6 call STATE5_ON call STEP_DRIVE_CNT call STATE6_ON call STEP_DRIVE_CNT call STATE1_ON call STEP_DRIVE_CNT call STATE2_ON call STEP_DRIVE_CNT call STATE3_ON call STEP_DRIVE_CNT call STATE4_ON call STEP_DRIVE_CNT jmp STEP_TO_BEMF STEP_START6: call STATE6_ON call STEP_DRIVE_CNT call STATE1_ON call STEP_DRIVE_CNT call STATE2_ON call STEP_DRIVE_CNT call STATE3_ON call STEP_DRIVE_CNT call STATE4_ON call STEP_DRIVE_CNT call STATE5_ON call STEP_DRIVE_CNT STEP_TO_BEMF: ;call SPIN_FREE ; No reverse spin check here. ;mov SPIN_COUNTER, #0 ret ;------------------------------------------------------------------------------- ;CB_STEP_DRIVE_CNT ;------------------------------------------------------------------------------- STEP_DRIVE_CNT: mov TEMP5, STEPPING_ON_DUTY_CHOPPING_COUNTER CHOP_ON_DUTY: call STEP_DRIVE_STATE ;6拍驱动 call START_ON_DUTY_CONTROL ;驱动时间 djnz TEMP5, CHOP_ON_DUTY dec STEPPING_ON_DUTY_CHOPPING_COUNTER ; speed up for next state drive[为下一状态加速] dec STEPPING_ON_DUTY_CHOPPING_COUNTER ; as accelaration dec STEPPING_ON_DUTY_CHOPPING_COUNTER dec STEPPING_ON_DUTY_CHOPPING_COUNTER ret ;------------------------------------------------------------------------------- ;CB_START_ON_DUTY_CONTROL ;------------------------------------------------------------------------------- START_ON_DUTY_CONTROL: ON_DUTY_TIM1: mov b, STEPPING_ON_DUTY CLoop1: ;call WAIT_500nS call WAIT_1uS call WAIT_1uS djnz b, CLoop1 ;********************************************* mov P0_IO, P0 ; IO data storage for P0[保存P0口数据] mov IO_MODE_M, P1MDOUT ; GPIO mode setting data storage mov IO_SETTING, P1 ; IO data storage ;********************************************* call SPIN_FREE ; takes a few uS for MOSFET OFF call WDT_OFF OFF_DUTY_TIM1: mov a, #START_STEPPING_DUTY_FRAME clr c subb a, STEPPING_ON_DUTY mov b,a CLoop2: call WAIT_500nS ;call WAIT_1uS djnz b, CLoop2 ;********************************************* mov P0, P0_IO ; IO data storage for P0 mov P1, IO_SETTING ; IO data storage mov P1MDOUT, IO_MODE_M ; GPIO mode setting data storage ;********************************************* ret ;------------------------------------------------------------------------------- ;CB_BEMF_START_SPIN ;------------------------------------------------------------------------------- BEMF_START_SPIN: mov STEP_START_FLAG, #1 ; Set STEP_START_FLAG mov SPIN_COUNTER, #0 ; First some spins with BEMF call WDT_OFF BEMF_START_SPIN1: mov a, #BEMF_start_run_on_duty_time_after_stepping_drive ; BEMF start run on_duty timing call BEMF_START_DUTY_TIMER ; 延时 call SPIN_FREE mov a, #BEMF_start_run_off_duty_time_after_stepping_drive ; BEMF start run off_duty timing call BEMF_START_DUTY_TIMER ; 延时 mov a, DRV_SEQUENCE_CHECK_ENABLE jnz SPIN_WITH_DRV_SEQUENCE_CHECK_BEMF_SPIN NO_DRV_SEQUENCE_CHECK_BEMF_SPIN: inc SPIN_COUNTER mov a, SPIN_COUNTER clr c subb a, #5 ; one times for first BEMF spin jc BEMF_START_SPIN_A SPIN_WITH_DRV_SEQUENCE_CHECK_BEMF_SPIN: mov DRV_SEQUENCE_CHECK_ENABLE, #1 ; Reverse spin check enabled inc SPIN_COUNTER mov a, SPIN_COUNTER jnz BEMF_START_SPIN_A ; 256 times spin//测试256次 jmp BEMF_START0 ; start spins with BEMF with PWR control ;------------------------------------------------------------------------------- ;CB_BEMF_START_SPIN_A ;------------------------------------------------------------------------------- BEMF_START_SPIN_A: clr EA call GET_COMP_DATA setb EA mov a, COMP_D call WDT_OFF BEMF_START_SPIN_STATE1: cjne a, #1, BEMF_START_SPIN_STATE2 call STATE1 jmp BEMF_START_SPIN1 ;------------------------------------------------------------------------------- ;CB_BEMF_START_SPIN_STATE2 ;------------------------------------------------------------------------------- BEMF_START_SPIN_STATE2: cjne a, #2, BEMF_START_SPIN_STATE3 call STATE2 jmp BEMF_START_SPIN1 ;------------------------------------------------------------------------------- ;CB_BEMF_START_SPIN_STATE3 ;------------------------------------------------------------------------------- BEMF_START_SPIN_STATE3: cjne a, #3, BEMF_START_SPIN_STATE4 call STATE3 jmp BEMF_START_SPIN1 ;------------------------------------------------------------------------------- ;CB_BEMF_START_SPIN_STATE4 ;------------------------------------------------------------------------------- BEMF_START_SPIN_STATE4: cjne a, #4, BEMF_START_SPIN_STATE5 call STATE4 jmp BEMF_START_SPIN1 ;------------------------------------------------------------------------------- ;CB_BEMF_START_SPIN_STATE5 ;------------------------------------------------------------------------------- BEMF_START_SPIN_STATE5: cjne a, #5, BEMF_START_SPIN_STATE6 call STATE5 jmp BEMF_START_SPIN1 ;------------------------------------------------------------------------------- ;CB_BEMF_START_SPIN_STATE6 ;------------------------------------------------------------------------------- BEMF_START_SPIN_STATE6: call STATE6 jmp BEMF_START_SPIN1 ;------------------------------------------------------------------------------- ;CB_BEMF_START_DUTY_TIMER ;------------------------------------------------------------------------------- BEMF_START_DUTY_TIMER: call WAIT_1uS dec a jnz BEMF_START_DUTY_TIMER ret ;------------------------------------------------------------------------------- ;CB_BEMF_START0 ;------------------------------------------------------------------------------- BEMF_START0: mov SPIN_MODE, #1 ; set to BEMF mode mov ON_DUTY, #SLOW_START ; BEMF slow start run duty BEMF_START1: call START_T0 ; comparator oscillation loop reset BEMF_RESTART: mov CONTROL_DATA_MAX, #255 ; Current Limiter initialize data mov MISFIRE_COUNTER, #0 mov TEMP0, #0 ; times of T2 over flow counter for increasing throttle timer SET_BEMF_TIMER: call T2_SET ; Start T2 timer for slow BEMF control time call SPIN_FREE ; ;--------------------- GET_BEMF: BEMF_SPEED_CNT: mov TEMP3, CONTROL_DATA ; Get Rx input pulse THROTTLE_OFF_CHK2: mov a, temp3 ; Get Rx input pulse to check stop clr c subb a, #THROTTLE_OFF ; check the throttle OFF position. Is the input pulse less than 940uS? jc THROTTLE_OFF_CHK_TIMER2 ; mov RX_ERROR_COUNT, #0 ; clr T2(32mS interval) repeat counter RUN_NORMALLY0: jmp RUN_NORMALLY ;-------------------------------------------------------------------------------- ; ;-------------------------------------------------------------------------------- THROTTLE_OFF_CHK_TIMER2: mov FIND_TIMER, #FIND_TIMER_DELAY jnb TF2H, RUN_NORMALLY0 ; confirm the Rx noise pulse T160mS_INTERVAL: clr TF2H call WDT_OFF inc RX_ERROR_COUNT mov a, RX_ERROR_COUNT clr c subb a, #5 ; over 160mS throttle off signal come? jc RUN_NORMALLY ; Checking free spining before stepping fire CHECK_FREE_SPINING: call SPIN_FREE call START_T0 mov b, #0 CHECK_FREE_SPIN: call WDT_OFF call GET_COMP_DATA mov a, COMP_D SPIN_STATE1: cjne a, #1, SPIN_STATE2 orl b, #00000001b jmp CHECK_ALL_SPIN_PATTERN SPIN_STATE2: cjne a, #2, SPIN_STATE3 orl b, #00000010b jmp CHECK_ALL_SPIN_PATTERN SPIN_STATE3: cjne a, #3, SPIN_STATE4 orl b, #00000100b jmp CHECK_ALL_SPIN_PATTERN SPIN_STATE4: cjne a, #4, SPIN_STATE5 orl b, #00001000b jmp CHECK_ALL_SPIN_PATTERN SPIN_STATE5: cjne a, #5, SPIN_STATE6 orl b, #00010000b jmp CHECK_ALL_SPIN_PATTERN SPIN_STATE6: cjne a, #6, RE_START_STEPPING orl b, #00100000b ; 或 CHECK_ALL_SPIN_PATTERN: mov a, b clr c subb a, #00111111b ; spin with all pattern? jz CHECK_FREE_SPINING ; Yes. 0则跳 ;------------------- THROTLE_RE_ON_CHECK: mov CONTROL_DATA_MAX, #255 mov MISFIRE_COUNTER, #0 mov a, CONTROL_DATA ; Get Rx input pulse mov TEMP3, a clr c subb a, #THROTTLE_OFF ; check the throttle OFF position. Is the input pulse less than 940uS? jnc RUN_NORMALLY_ mov a, TH0 clr c subb a, #Slowest_Spin_Speed_Check_Time ; Stiil spin a little bit to avoid reverse start spin jc CHECK_FREE_SPIN THROTTLE_OFF2: ; Is the input pulse still less than 940uS? RE_START_STEPPING: mov RX_ERROR_COUNT, #0 ; ;mov CONTROL_DATA_MAX, #THROTTLE_OFF+2 jmp THROTTLE_ON_CHK ; re-start with stepping spin ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- RUN_NORMALLY_: mov RX_ERROR_COUNT, #0 ; jmp BEMF_PWR_SETTING RUN_NORMALLY: ;;****** Added for reverse spin check and retry routine is here mov DRV_SEQUENCE_CHECK_ENABLE, #1 ; Spin drive with correct sequence SPIN_SPEED_CHECK: mov a, TH1 clr c ; subb a, #10 ; spin enough for BEMF(490nS x 4 x 255 x 10= 5mS/spin)? jc REVERSE_SPIN_CHECK1 mov a, ON_DUTY clr c subb a, #THROTTLE_OFF+3 ; Spin direction check work area is between THROTTLE_OFF and THROTTLE_OFF+* jc BEMF_PWR_SETTING mov a, ON_DUTY clr c subb a, #THROTTLE_OFF+10 ; Spin direction check work area is between THROTTLE_OFF and THROTTLE_OFF+* jnc BEMF_PWR_SETTING REVERSE_SPIN_CHECK1: mov a, MISFIRE_COUNTER ; MISFIRE_COUNTER is in drive state routine clr c ADJ_REVERSE_SENSE: subb a, #MISFIRE_COUNT ; Noise filter to ensure the reverse spin and avoid immidiate Stop motor jnc REVERSE_SPIN jmp BEMF_PWR_SETTING ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- REVERSE_SPIN: ;jmp REVERSE_SPIN ; TEST ONLY ;call BRAKING ; dangerous TEST mov MISFIRE_COUNTER, #0 ; Just for timer use only ;jmp CHECK_FREE_SPIN ; Unstable BUG check ONLY call BRK_TIM0 ; <<<<<<<< mov MISFIRE_COUNTER, #0 call BRAKING ; call BRK_TIM0 mov MISFIRE_COUNTER, #0 jmp STEPPING_START ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- BRK_TIM0: call start_T0 BRK_TIM1: call WDT_OFF jnb TF0, BRK_TIM1 ; 32mS loop inc MISFIRE_COUNTER mov a, MISFIRE_COUNTER clr c subb a, #5 ; loop as about 160mS ; <<<<<<< jc BRK_TIM0 ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- ;;********** BEMF_PWR_SETTING: ; 12uS max. from OFF_TIMER end setb TR2 cjne RX_ERROR_COUNT, #0, GET_CMP_DATA ; No duty control jmp. May be Throttle off Rx noise "<< mov a, TEMP3 ; Get Rx input pulse clr c subb a, ON_DUTY ; DUTY >= Rx input pulse? jc DEC_PWR ; Yes. jz GET_CMP_DATA INC_DUTY: mov a, STEP_START_FLAG ; Need small on_duty to avoid MOSFET melt just after stepping starting? jz INC_DUTY_ON ; No. mov a, SPIN_COUNTER ; SPIN_COUNTER is increased in state1 drive. clr c subb a, #10 ; Do not increase the starting power before 10 spins. jc SET_START_POWER ; set small on_duty to avoid MOSFET melt for starting. mov STEP_START_FLAG, #0 ; Clear STEP_START_FLAG INC_DUTY_ON: mov a, TMR2H clr c subb a, #BEMF_Duty_Inc_Timing jnc INC_ONDUTY jmp GET_CMP_DATA INC_ONDUTY: call START_T2 inc ON_DUTY jmp GET_CMP_DATA SET_START_POWER: mov ON_DUTY, #SLOW_START ; BEMF slow start run duty mov DRV_SEQUENCE_CHECK_ENABLE, #1 ; Reverse spin check jmp GET_CMP_DATA DEC_PWR: ;mov a, ON_DUTY ; Test monitor only dec ON_DUTY ;----------------- GET_CMP_DATA: clr EA call GET_COMP_DATA ; Compare the motor generative voltage while drive 3-ST timing. setb EA ;13uS from OFF_TIMER end with stick midium. mov a, ROUND_CHK_FLAG ; anl a, #11111100b ; cjne a, #11111100b, COMP_STATE1 ; spin with all state sequence? call WDT_OFF ; Yes. Spinning check by WDT for MOSFET protection mov a, ROUND_CHK_FLAG ; Round check for WDT power off protection control anl a, #00000011b ; Clear the spinning status mov ROUND_CHK_FLAG, a ; cjne a, #3, COMP_STATE1_3SPINS ; a few times run round in BEMF mode? BACK_TO_BEMF: mov ROUND_CHK_FLAG, #0 ; reset the round check flag jmp COMP_STATE1 ; ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- COMP_STATE1_3SPINS: mov a, ROUND_CHK_FLAG inc a mov ROUND_CHK_FLAG, a COMP_STATE1: cjne COMP_D, #1, COMP_STATE2 orl ROUND_CHK_FLAG, #00000100b ; Spin check flag to make sure the starting call STATE1 jmp BEMF_DRIVE_ON ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- COMP_STATE2: cjne COMP_D, #2, COMP_STATE3 orl ROUND_CHK_FLAG, #00001000b call STATE2 jmp BEMF_DRIVE_ON ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- COMP_STATE3: cjne COMP_D, #3, COMP_STATE4 orl ROUND_CHK_FLAG, #00010000b NORMAL_RUN: COMP_STATE_03: call STATE3 jmp BEMF_DRIVE_ON ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- COMP_STATE4: cjne COMP_D, #4, COMP_STATE5 orl ROUND_CHK_FLAG, #00100000b call STATE4 jmp BEMF_DRIVE_ON ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- COMP_STATE5: cjne COMP_D, #5, COMP_STATE6 orl ROUND_CHK_FLAG, #01000000b BEMF_DRIVE_5: call STATE5 jmp BEMF_DRIVE_ON ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- COMP_STATE6: ;cjne COMP_D, #6, COMP_STATE_STOP_OVER ; COMP_D =7 DRIVE_6: orl ROUND_CHK_FLAG, #10000000b call STATE6 jmp BEMF_DRIVE_ON ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- ;COMP_STATE_STOP_OVER: ; COMP_D =7 ;jmp GET_BEMF ; Time over when motor stops and the comparator can work properly BEMF_DRIVE_ON: ;26uS from OFF_TIMER end with stick midium. ; <<<<<<<< mov a, SAMPLING_COUNTER_L ; inc number of sampling counts clr c add a, #1 mov SAMPLING_COUNTER_L, a mov a, SAMPLING_COUNTER_H addc a, #0 mov SAMPLING_COUNTER_H, a call ON_TIMER ;call CHECK_TOP_CELL_VOLTAGE ; voltage down and over current check routine BEMF_MAX_THROTTLE_CHK1: mov a, ON_DUTY ; May be ON_DUTY is 100 at low voltage driving clr c subb a, BEMF_FULL_ON ; Is it full throttle drive condition? jnc ZERO_CROSS_IN ; Yes, start zero cross drive jmp GET_BEMF ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- GET_BEMF1: call SPIN_FREE mov ROUND_CHK_FLAG, #11111100b ; spin all sequence mov ON_DUTY, BEMF_FULL_ON dec ON_DUTY ; -1 mov DRV_SEQUENCE_CHECK_ENABLE, #0 ; Not sure the first spin state at here mov RX_NOISE_FILTER_COUNTER, #0 mov ACCELERATION_CKECK_AVERAGE_FILTER_COUNTER, #127 ; Checking BEMF max speed mov SPIN_MODE, #1 ; set to BEMF mode mov SPIN_COUNTER, #5 ; check slow down with this value spins TWICE_SAME_SAMPLING_DATA_CHECK: ;<<<<<<<< call START_BEMF_SAMPLING_COUNTER call GET_COMP_DATA mov TEMP_MEMORY, COMP_D ; call WDT_OFF CHECK_BEMF_SAMPLING_TIME_END: mov a, TMR3CN ; BEMF_SAMPLING_TIME_END? anl a, #10000000b ; cheking timer3 over flow flag high jnz TWICE_SAME_SAMPLING_DATA_CHECK ; time over call GET_COMP_DATA mov a, COMP_D clr c subb a, TEMP_MEMORY jz CHECK_BEMF_SAMPLING_TIME_END ; Still same BEMF data ; MAke sure slow enough for sampling as BEMF spin? SLOW_DOWN_CHECK_WITH_SOME_SPINS: dec SPIN_COUNTER mov a, SPIN_COUNTER jnz TWICE_SAME_SAMPLING_DATA_CHECK WAIT_SET_BEMF_RUN: mov SPIN_COUNTER, #20 ;setb p0.6 ; MONITOR call START_T3 jmp GET_BEMF ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- ZERO_CROSS_IN: ;setb p0.6 ; MONITOR ; BEMF_ACCELERATION_MONITOR: mov a, ACCELERATION_CKECK_AVERAGE_FILTER_COUNTER clr c subb a, #127 ; Cheking the acceleration average + or - jc THROTTLE_OFF_CHK3 ;setb p0.6 ; MONITOR jmp GET_BEMF ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- THROTTLE_OFF_CHK3: ;clr p0.6 ; MONITOR mov TEMP3, CONTROL_DATA ; Get Rx input pulse to check stop ;------------------------------ ZERO_CROSS_RUN: mov SPIN_MODE, #0 ; set to Zero Cross spin mode ; Accelerate timer makes inc/dec power calc only for power control. mov SPIN_COUNTER, #1 ; stay 50% power run 254 spins at zero cross mode starting by this count ; advance timing should be low to get near 50% power at mode changing. call SPIN_FREE ; turn off sysc. rectifier for GET_COMP_DATA STATE_CHECK_3: ZERO_C4: ;** IF SOMETHING HAPPENED HERE, THEN SYSTEM STOPS BY WATCH DOG TIMER!!! ** clr EA call GET_COMP_DATA setb EA cjne COMP_D, #4, ZERO_C4 ; Get start point of state4 mov PREV_DRIVE_STATE, #3 call STATE4 ; U=3ST, V=1, W=0 -> U=0, V=1, W=3ST mov CPT0MX, #01010010b ; CP in-: P1.3(HALFW), CP in+: P0.4(W) with UP slope ; call INDUCKTIVE_KICK_DET_LH ; NO INDUCTIVE KICK.Then Start T2 call START_T2 call ZERO_CROSS_CHK_UP ; call SPIN_FREE7 ; 50% power for the start call WDT_OFF WAIT_T2_OVER34: jnb TF2H, WAIT_T2_OVER34 mov ON_DUTY, #0 jmp ZERO_CROSS5 ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- ZERO_CROSS3: call STATE3 ; U=1, V=3ST, W=0 -> U=3ST, V=1, W=0 ; P0.2 and P0.3(V), P0.4 and P0.5(W) are connected togather by solder. mov CPT0MX, #01000000b ; CP in-: P1.1(HALFU), P0.0(U) with DOWN slope call INDUCKTIVE_KICK_DET_LH ; call ZERO_CROSS_CHK_DOWN ; ;call SPIN_FREE7 ; TEST ONLY 50% power run TEST call ZERO_CROSS_OFF_DUTY ZERO_CROSS4: call STATE4 ; U=3ST, V=1, W=0 -> U=0, V=1, W=3ST mov CPT0MX, #01010010b ; CP in-: P1.3(HALFW), CP in+: P0.4(W) with UP slope call INDUCKTIVE_KICK_DET_HL ; Inductive kick L->H and H->L detector call ZERO_CROSS_CHK_UP ; Inputs are reversed. ;call SPIN_FREE7 ; TEST ONLY call ZERO_CROSS_OFF_DUTY ZERO_CROSS5: call STATE5 ; U=0, V=1, W=3ST -> U=0, V=3ST, W=1 mov CPT0MX, #00010101b ; CP in-: P0.3(V), CP in+: P1.2(HALFV) with DOWN slope call INDUCKTIVE_KICK_DET_HL ; Inductive kick L->H and H->L detector call ZERO_CROSS_CHK_UP ; ;call SPIN_FREE7 ; TEST ONLY 50% power run TEST call ZERO_CROSS_OFF_DUTY ;----------------- ZERO_CROSS6: call STATE6 ; U=0, V=3ST, W=1 -> U=3ST, V=0, W=1 mov CPT0MX, #01000000b ; CP in-: P1.1(HALFU), CP in+: P0.0(U) with UP slope call INDUCKTIVE_KICK_DET_HL ; Inductive kick L->L and H->L detector call ZERO_CROSS_CHK_UP ; ;call SPIN_FREE7 ; TEST ONLY 50% power run TEST call ZERO_CROSS_OFF_DUTY ZERO_CROSS1: call STATE1 ; U=3ST, V=0, W=1 -> U=1, V=0, W=3ST mov CPT0MX, #01010010b ; CP in-: P1.3(HALFW), CP in+: P0.4(W) with DOWN slope call INDUCKTIVE_KICK_DET_LH ; Inputs are reversed. Inductive kick H->L to L->H detector call ZERO_CROSS_CHK_DOWN ; ;call SPIN_FREE7 ; TEST ONLY 50% power run TEST call ZERO_CROSS_OFF_DUTY ZERO_CROSS2: call STATE2 ; U=1, V=0, W=3ST -> U=1, V=3ST, W=0 mov CPT0MX, #00010101b ; CP in-: P0.3(V), CP in+: P1.2(HALFV)with UP slope call INDUCKTIVE_KICK_DET_LH ; Inputs are reversed. Inductive kick H->L and L->H detector call ZERO_CROSS_CHK_DOWN ;call SPIN_FREE7 ; TEST ONLY 50% power run TEST call ZERO_CROSS_OFF_DUTY ;----------------------- ZERO_CROSS_RUN_PWR_CONTROL: ;call SPIN_FREE ; TEST ONLY THROTTLE_OFF_CHK5: mov TEMP3, CONTROL_DATA ; Get Rx input pulse to check stop mov a, TEMP3 ; Get Rx input pulse add a, #STICK_BACK_HYS ; hysteresis margin for Rx input pulse jitter clr c subb a, BEMF_FULL_ON ; MAX throttle position as 50% run in BEMF mode jc RX_NOISE_CANCELLER mov RX_NOISE_FILTER_COUNTER, #0 PWR_CNTRL5: ;mov a, NEED_MORE_T_ADVANCE_FLAG ;jz ZC_PWR_SETTING mov a, SPIN_COUNTER jnz ZC_PWR_SETTING ;mov NEED_MORE_T_ADVANCE_FLAG, #0 jmp ZERO_CROSS3_ ; 255 spin with 37% timing advance to avoid sync. out ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- ZC_PWR_SETTING: mov a, TEMP3 clr c subb a, BEMF_FULL_ON ; MAX throttle position as 50% run in BEMF mode ;jc ZERO_CROSS3_ ; BUGBUG MUST cosider the stick hysteresis value. jnc INC_DEC5 jmp ZERO_CROSS3_ ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- INC_DEC5: subb a, ON_DUTY ;jmp ZERO_CROSS3_ ; 50% power TEST ONLY jz ZERO_CROSS3_ jnc INC_PWR5 jmp DEC_PWR5 ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- INC_PWR5: mov a, TMR3CN ; T3 is used for slow increase power-up timer as same as BEMF T2 mode anl a, #01000000b ; Ckeck T3 low byte overflow flag jnz INC_DUTY_5 ; T3 overflow? jmp SET_ON_DUTY_TIMER ; Not yet ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- INC_DUTY_5: anl TMR3CN, #00111111b ; Clear T3 overflow flags inc TEMP0 ; Also, TEMP0 is used for 256 loops slow power-up timer counter with T3 cjne TEMP0, #ZC_SAMPLING_DUTY_INC_TIMING, ZERO_CROSS3_ mov TEMP0, #0 inc ON_DUTY jmp ZERO_CROSS3 ; Still in zero cross run <<<<<<<< ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- ZERO_CROSS3_: jmp ZERO_CROSS3 ; Still in zero cross run DEC_PWR5: dec ON_DUTY jmp ZERO_CROSS3 ; Still in zero cross run ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- SET_ON_DUTY_TIMER: clr TR2 ; Stop T2 mov a, T2_ON_DUTY_LOW ; Get previous timing data cpl a mov TMR2L, a ; set T2 low byte data mov a, T2_ON_DUTY_HIGH ; Get previous timing data cpl a mov TMR2H, a ; set T2 high byte data START_DUTY_ON: clr TF2H ; clear T2 high byte over flow bit setb TR2 ; start T2 count-up for power on duty time jmp ZERO_CROSS3 ; Still in zero cross run ;ret ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- GET_BEMF_02: jmp GET_BEMF1 ; long branch help ;--------------- RX_NOISE_CANCELLER: clr c mov a, RX_NOISE_FILTER_COUNTER add a, #1 clr c mov RX_NOISE_FILTER_COUNTER, a subb a, #Rx_Noise_Count ; almost 0.1 sec margin to protect Rx stick down noise jnc GET_BEMF_02 ; get back to BEMF mode jmp ZERO_CROSS3 ; Still in zero cross run ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- INDUCKTIVE_KICK_DET_LH: call START_T2 call WAIT_1uS ; comparator res. to avoid inductive kick front edge ; IND_KICK_NEG_LEVEL_CHK: mov a, CPT0CN ; Get Comparator result anl a, #01000000b ; Get CP0OUT bit jz IND_KICK_POS_EDGE_CHK ; The inductive kick is already done in off duty timing. clr TR2 mov TMR2M_H, TMR2H mov TMR2M_L, TMR2L setb TR2 ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- IND_KICK_POS_EDGE_CHK: clr c mov a, TMR2H subb a, #IND_KICK_TIME_CHECK ; Sync out value in T2. Over 350uS to get zero coross point as over load. jnc SMALL_ZC_MARGIN_POS ZC_POS_CHK: call WAIT_1uS ; Comparator responce mov a, CPT0CN ; Get Comparator result anl a, #01000000b ; Get CP0OUT bit jz IND_KICK_POS_EDGE_CHK ; checking the positive edge of inductive kick. clr TR2 mov TMR2M_H, TMR2H mov TMR2M_L, TMR2L setb TR2 ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- SMALL_ZC_MARGIN_POS: call SPIN_FREE mov a, ON_DUTY ; May be accelating. Power down to avoid un-sync. clr c subb a, #1 jc ZERO_ON_DUTY_POS mov ON_DUTY, a ZERO_ON_DUTY_POS: jmp ZC_POS_CHK ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- COULD_NOT_CATCH_CROSS_POINT_: call SPIN_FREE jmp MOTOR_UNUSUAL_STOP ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- ZERO_CROSS_CHK_DOWN: call WAIT_10uS ; Avoid chatter clr EA ZERO_CROSS_CHK_D: mov a, TMR2H clr c subb a, #REAR_EDGE_TO_ZC_POINT ; Sync out value in T2. Over 500uS to get zero coross point as over load. jnc COULD_NOT_CATCH_CROSS_POINT_ ; System shut down to protect FETs. call WAIT_1uS ; comparator responce. mov a, CPT0CN ; Get Comparator result anl a, #01000000b ; Get CP0OUT bit jnz ZERO_CROSS_CHK_D ; checking the DOWN SLOPE until over zero cross point STOP_T2: clr TR2 ; stop the T2 count-up setb EA OVER_ZERO_CHECK: ;call SPIN_FREE ; TEST ONLY!!!!!! ;check_point: ;nop OVER_ZERO_CHECK_H: mov a, TMR2H ; Checking the T2 is zero jnz TIMING_ADVANCE ; No, It is normal OVER_ZERO_CHECK_L: mov a, TMR2L anl a, #11100000b ; Cut T2 low 4bits as Is the zero cross time less than 31 as 15uS? jnz TIMING_ADVANCE ; No, It is normal SET_TF2H: call SPIN_FREE setb TF2H ; some thing wrong. speed up next T2 end check routine(T2 over flow check). ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- TIMING_ADVANCE: mov R1, TMR2L mov R2, TMR2H call TIMING_ADVANCE_CALC jmp T_ADV_ADJ_END ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- TIMING_ADVANCE_CALC: mov a, R2 clr c rrc a ; 1/2 as 25% timing advance mov R2, a mov a, R1 rrc a mov R1, a ; ;mov a, NEED_MORE_T_ADVANCE_FLAG ;jnz TWO_BIT_RIGHT_SHIFT ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- TWO_BIT_RIGHT_SHIFT: mov b, R1 mov TEMP_MEMORY, R2 mov a, R2 clr c rrc a ; 1/4 as 1/8 12.5% Timing advance(1/2 phase measuring) mov R2, a mov a, R1 rrc a mov R1, a ; ;ret ADD_FOR_37_PERCENT_AD_TIMING: ; 37.5% advance for only start of zero cross control clr c add a, b mov R1, a mov a, R2 addc a,TEMP_MEMORY mov R2, a ret ; mov a, R2 clr c rrc a ; 1/8 as 1/16 6.3% Timing advance(1/2 phase measuring) mov R2, a mov a, R1 rrc a mov R1, a ret ; mov a, R2 clr c rrc a ; 1/16 as 1/32 3% Timing advance(1/2 phase measuring) mov R2, a mov a, R1 rrc a mov R1, a END_T_ADJ: ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- T_ADV_ADJ_END: STORE_ADV_T_L: mov a, TMR2L clr c subb a, R1 ; Advanced time "L" is in R1 mov R1, a ; R1 is temp STORE_ADV_T_H: mov a, TMR2H subb a, R2 ;jc NO_ADVANCE_TIME_SET mov R2, a ; Advanced time "H" is in R2 ;--------- STICK_POWER_ADDING: mov a, ON_DUTY jz ZERO_ON_DUTY ; no adding power. keep 50% duty mov b, ZC_STEPS ; zero cross power up STEPS mul ab mov TMR2L, a ; TMR2L is temporary data storage for T2 Time set as stick control "L" mov TMR2H, b ; TMR2H is temporary data storage for T2 Time set as stick control "H" ;----------- COMP_FULL_ON_LIMIT_CHK: mov a, R1 ; Advanced timing "L" clr c subb a, TMR2L ; mov ZC_OFF_DUTY_L, a ; set ZC power off duty control time COMP_FULL_ON_H: mov a, R2 ; Advanced timing "H" subb a, TMR2H mov ZC_OFF_DUTY_H, a ; set ZC power off duty control time jc FULL_POWER_TIME_SET ; Over 100% setting? ZC_ADD_POWER: mov R1, TMR2L mov R2, TMR2H jmp ZC_T2_SET ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- FULL_POWER_TIME_SET: mov ZC_OFF_DUTY_H, #0 ; full on power setting mov R2, #0 mov ZC_OFF_DUTY_L, #1 ; ZC_OFF_DUTY_L must be never zero mov R1, #1 ZC_T2_SET: mov a, R1 ; get low byte of T2 zero cross timing data (Also Advanced timing "L", if time set over) cpl a ; T2 is the count-up timer mov TMR2L, a ; low byte re-load data mov a, R2 ; get high byte of T2 zero cross timing data(Also Advanced timing "H", if time set over) cpl a mov TMR2H, a ; high byte re-load data clr TF2H setb TR2 ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- ZERO_ON_DUTY: mov ZC_OFF_DUTY_L, R1 ; keep 50% power duty mov ZC_OFF_DUTY_H, R2 jmp ZC_T2_SET ;***************** ZERO_CROSS_OFF_DUTY: call CURRENT_LIMITER ;call LESS_THAN_5V_CHECK ZC_OFF_TIME_SET: ;;;;***************** ;call SPIN_FREE call SPIN_FREE8 mov a, DRIVE_STATE clr c subb a, #6 ; State 6 driving? jnz ZC_OFF_TIME_SET1 ;call CHECK_TOP_CELL_VOLTAGE ; voltage down and over current check routine ;;;;;******** ZC_OFF_TIME_SET1: call WDT_OFF clr TR2 mov TMR2L, ZC_OFF_DUTY_L mov TMR2H, ZC_OFF_DUTY_H mov a, TMR2L ; get low byte of T2 zero cross timing data cpl a ; T2 is the count-up timer mov TMR2L, a ; low byte re-load data mov a, TMR2H ; get high byte of T2 zero cross timing data cpl a mov TMR2H, a ; high byte re-load data clr TF2H setb TR2 ZC_POWER_OFF_TIME: jnb TF2H, ZC_POWER_OFF_TIME ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- MOTOR_UNUSUAL_STOP: call SPIN_FREE JMP GET_BEMF1 ; Keep run ;-------------- INDUCKTIVE_KICK_DET_HL: call START_T2 call WAIT_1uS ; Avoid inductive kick front edge IND_KICK_POS_LEVEL_CHK: mov a, CPT0CN ; Get Comparator result anl a, #01000000b ; Get CP0OUT bit jnz IND_KICK_NEG_EDGE_CHK ; The inductive kick is already done in off duty timing. clr TR2 mov TMR2M_H, TMR2H mov TMR2M_L, TMR2L setb TR2 ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- IND_KICK_NEG_EDGE_CHK: clr c mov a, TMR2H subb a, #IND_KICK_TIME_CHECK ; Sync out value in T2. Over 350uS to get zero coross point as over load. jnc SMALL_ZC_MARGIN_NEG ZC_NEG_CHK: call WAIT_1uS ; Comparator responce mov a, CPT0CN ; Get Comparator result anl a, #01000000b ; Get CP0OUT bit jnz IND_KICK_NEG_EDGE_CHK ; checking the negative edge of inductive kick. clr TR2 mov TMR2M_H, TMR2H mov TMR2M_L, TMR2L setb TR2 ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- SMALL_ZC_MARGIN_NEG: call SPIN_FREE mov a, ON_DUTY ; May be accelating. Power down to avoid un-sync. clr c subb a, #1 jc ZERO_ON_DUTY_NEG mov ON_DUTY, a ZERO_ON_DUTY_NEG: jmp ZC_NEG_CHK ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- ZERO_CROSS_CHK_UP: call WAIT_10uS ; Avoid chatter clr EA ZERO_CROSS_CHK_U: mov a, TMR2H clr c subb a, #REAR_EDGE_TO_ZC_POINT ; Sync out value in T2. Over 250uS to get zero coross point as over load. jnc COULD_NOT_CATCH_CROSS_POINT mov CPT0CN, #10000000b call WAIT_1uS ; comparator responce. mov a, CPT0CN ; Get Comparator result anl a, #01000000b ; Get CP0OUT bit jz ZERO_CROSS_CHK_U ; checking the UP SLOPE until over zero cross point setb EA STOP_T2_2: clr TR2 ; stop the T2 count-up CALC_TIMING_ADVANCE: jmp OVER_ZERO_CHECK ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- COULD_NOT_CATCH_CROSS_POINT: call SPIN_FREE jmp MOTOR_UNUSUAL_STOP ;----------------------------------------------------------------------------------------- ; ;----------------------------------------------------------------------------------------- CHECK_T2_END: ;call WAIT_20uS T2_END_CHECK: jnb TF2H, T2_END_CHECK ; wait untill T2 high byte over flow flag for T2 time over. clr TF2H ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- ;as well as Auto timing adjust routine OVER_SHOOT_CHK: call WAIT_1uS ; avoid comparator responce delay OVER_SHOOT_CHK_: jnb TF2H, OVER_SHOOT_CHK_ ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- OVER_SHOOT_CHK_UD: mov a, CPT0CN ; Get Comparator result anl a, #01000000b ; Get CP0OUT bit. Checking the SLOPE until over GND or VCC. jnz KEEP_RUN ; No. No Problem. ;call SPIN_FREE ; TEST ONLY ret ; SLOPE over GND or VCC. ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- KEEP_RUN: jnb TF2H, OVER_SHOOT_CHK_UD ; Checking T2 high byte over flow flag for T2 time over. ;call SPIN_FREE ; TEST ONLY ret ; Yes, T2 time over. ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- TIMER_20uS: call WAIT_20uS ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- SAME_RPM: jmp SET_ON_DUTY_TIMER ;------------------------------------------------------------------------------- ;CB_GET_COMP_DATA ;------------------------------------------------------------------------------- GET_COMP_DATA: ; mov a, ON_DUTY ; clr c ; subb a, #SLOW_START-1 ; <<<<<<<< Spin enough as BEMF enough? ; jc SPIN_SPEED_NOT_ENOUGH ; call COMP_MEASURE ; to get high responce ; ret SPIN_SPEED_NOT_ENOUGH: mov COMP_REMEASURE_COUNTER, #50 call COMP_MEASURE ;call WDT_OFF ; Motor off and No burning if re-measure loop time is so long. GET_FIRST_BEMF_DATA: mov PREV_COMP_D, COMP_D RE_MEASURE: dec COMP_REMEASURE_COUNTER ; BEMF Re-measure loop timing limitter call COMP_MEASURE ; Re-check mov a, COMP_D ; cjne a, PREV_COMP_D, NOISE_DATA ; Same comp. result? GOT_BEMF_DATA: ret ; Yes ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- NOISE_DATA: mov a, COMP_REMEASURE_COUNTER ; Try 50 times to get stable result. jz NOISE mov PREV_COMP_D, COMP_D ; No jmp RE_MEASURE NOISE: ;mov a, COMP_D ; system failer jmp NOISE jmp GOT_BEMF_DATA ;----------------------------------------------------------------------------- ; Interrupt routine to get Rx input pulse ; 油门信号捕获 ;----------------------------------------------------------------------------- PCA0_PLS: clr CCF0 ; clear PCA0 module0 interrupt flag[清除捕获标志] push PSW ; Program Status Word, preserve registers mov STORAGE_B, b push acc Capture_Edge_check: mov a, PCA0CPM0 anl a, #00100000b ;Caputure rise edge select data on PCA0, is bit 5 jz fall_edge ;下降沿捕获 ; rise_edge: ;上升沿捕获 mov PCA0_CAP_L, PCA0CPL0 ; Save 16 bit counter low byte value at positive front edge time mov PCA0_CAP_H, PCA0CPH0 ; Save 16 bit counter high byte value at positive front edge time mov PCA0CPM0, #00010001b ; PCA0 is captured by negative edge on P0.7 first and generates the interrupt. ;捕获中断允许,并改为下降沿捕获 pop acc mov b, STORAGE_B pop PSW reti ;------------------------------------------------------------------------------- ;CB_fall_edge ;------------------------------------------------------------------------------- fall_edge: mov PCA0CPM0, #00100001b ; PCA0 is captured by positive edge on P0.7 first and generates the interrupt. mov a, PCA0CPL0 clr c subb a, PCA0_CAP_L mov PULSE_WIDTH_L, a mov a, PCA0CPH0 subb a, PCA0_CAP_H mov PULSE_WIDTH_H, a clr c mov a, PULSE_WIDTH_L subb a, #LOW(CTRL_MIN) ; offset control minimum pulse width(about 1mS) mov PULSE_WIDTH_L, a mov a, PULSE_WIDTH_H subb a, #HIGH(CTRL_MIN) ; offset control minimum pulse width jc ALMOST_ZERO ; Minus after offset adj. mov PULSE_WIDTH_H, a CNTRL_PULSE_CHK: mov a, PULSE_WIDTH_H ; 00 - 09 range for normal input. jz MIN_WIDTH_NEGO jmp MAX_WIDTH_CHK MIN_WIDTH_NEGO: mov a, PULSE_WIDTH_L clr c subb a, #080h ; no need low nibble. Less than "8" is Zero jc ALMOST_ZERO MAX_WIDTH_CHK: mov a, PULSE_WIDTH_H ; 00 - 09 range for normal input. clr c subb a, #10 jnc BAD_PULSE ; range over pulse(over 10 or less than 0) mov a, PULSE_WIDTH_L mov CONTROL_DATA_L, a mov a, PULSE_WIDTH_H mov CONTROL_DATA_H, a ;------------------------------------------------------------------------------- ;站空比处理 ;------------------------------------------------------------------------------- DUTY_CALC: mov a, CONTROL_DATA_L ; The pulse width count resolution is 0000 - 0900 anl a, #11110000b rr a ; no need low nibble rr a rr a rr a mov b, a mov a, CONTROL_DATA_H anl a, #00001111b clr c subb a, #9 ; over 8 as 9? jz max_08h_hi jmp cut_hi_nibble_0 max_08h_hi: mov a, CONTROL_DATA_H dec a jmp cut_hi_nibble cut_hi_nibble_0: mov a, CONTROL_DATA_H cut_hi_nibble: rl a ; not use in upper nibble rl a rl a rl a add a,b mov CONTROL_DATA, a clr c ; subb a, CONTROL_DATA_MAX ; When over heat or Li-Po voltage down, Then MAX duty decreaced. jnc MAX_DOWN jmp RETURN_I MAX_DOWN: mov CONTROL_DATA, CONTROL_DATA_MAX ; Power limit at emergency condition ; RETURN_I: mov a, CONTROL_DATA ; input pulse noise filter clr c subb a, TEMP4 ; Is it same as previous Rx in pulse width? jz RET_I ; Yes. mov TEMP4, CONTROL_DATA ; No. RET_I: mov INPUT_COUNTER_L, #0 ; clear input signal lose check counter mov INPUT_COUNTER_H, #0 ; This counter is cleared in State2 on pop acc mov b, STORAGE_B pop PSW reti ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- ALMOST_ZERO: mov CONTROL_DATA, #1 ; Debug on Mar. 8th '05 jmp RETURN_I BAD_PULSE: jmp RETURN_I ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- ; Timer0 16bit counter with pre-scaled clock is 24.5MHz/12=490nS. START_T0: mov TL0, #0 ; mov TH0, #0 ; clr TF0 setb TR0 ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- ; Timer1 16bit counter with pre-scaled clock is 24.5MHz/12=490nS. START_T1: clr TR1 mov TL1, #0 ; mov TH1, #0 ; clr TF1 setb TR1 ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- ; Timer2 16bit counter with auto re-load, pre-scaled clock is 1/12=490nS. T2_SET: anl CKCON, #11001111b ; T2 clock source select internal OSC orl TMR2CN, #00000100b ; Enable Timer2 ;;;;********** anl CKCON, #11001111b ; Timer2 with 1/12 sys. clock. jmp START_T2 H_T2_SET: mov CKCON, #0 ; T2 clock source select internal OSC orl CKCON, #00110000b ; Timer2 with sys. clock. orl TMR2CN, #00000100b ; Enable Timer2 ;CB_START_T2 START_T2: clr TR2 mov TMR2RLL, #0h ; low byte re-load data mov TMR2RLH, #0h ; High byte re-load data mov TMR2L, #0h ; mov TMR2H, #0h ; clr TF2H clr TF2L setb TR2 ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- START_T3: anl TMR3CN, #00111011b ; clr TF3H, clr TF3L and clr TR3 "<<<<<<<< mov TMR3RLL, #0h ; low byte re-load data; mov TMR3RLH, #0h ; High byte re-load data mov TMR3L, #0h ; mov TMR3H, #0h ; orl TMR3CN, #00000100b ; setb TR3 ret ;------------------------------------------------------------------------------- ;CB_ON_TIMER ;------------------------------------------------------------------------------- ; BEMF run power duty control timer routine ON_TIMER: ;setb P1.7 anl TMR3CN, #11111011b ; clr TR3 to get BEMF off-duty time mov BEMF_OFF_DUTY_TIME_L, TMR3L ; get off duty time mov BEMF_OFF_DUTY_TIME_H, TMR3H call START_T3 ; start to measure the on-duty time by T3 L1: mov a, ON_DUTY ; on-duty timer add a, ON_DUTY ; x2 ;add a, ON_DUTY ; x3 mov DUTY, a L2: call WAIT_500nS djnz DUTY, L2 ; High speed sampling ;clr P1.7 OFF_DUTY: anl TMR3CN, #11111011b ; stop timer3 to get BEMF on-duty time call SPIN_FREE ; set off-duty mov R1, TMR3L ; get on-duty time mov R2, TMR3H ; mov a, BEMF_OFF_DUTY_TIME_L clr c add a, R1 mov BEMF_DUTY_TIME_L, a mov a, BEMF_OFF_DUTY_TIME_H addc a, R2 mov BEMF_DUTY_TIME_H, a ; Storage sampling time using for returning from ZC mode ; call TIMING_ADVANCE_CALC mov a, TMR3L ; adjust the off-duty time with timing advanced time. clr c subb a, R1 mov R1,a mov a, TMR3H subb a, R2 mov R2, a ; mov a, BEMF_OFF_DUTY_TIME_L ; off-duty time - on-duty time < 0 as zero-cross in power? clr c subb a, R1 mov a, BEMF_OFF_DUTY_TIME_H subb a, R2 jc OVER_BEMF_POWER jmp OFF_RUN ;------------------------------------------------------------------------------- ;CB_OVER_BEMF_POWER ;------------------------------------------------------------------------------- OVER_BEMF_POWER: ;setb p0.6 inc BEMF_PWR_OVER_CHECK_COUNTER mov a, BEMF_PWR_OVER_CHECK_COUNTER clr c subb a, #100 ; power over continusly? jnc TRY_TO_GO_ZC jmp TRIG_OFF_DUTY_MEASURING_TIMER ;------------------------------------------------------------------------------- ;CB_TO_GO_ZC ;------------------------------------------------------------------------------- TRY_TO_GO_ZC: mov a, ON_DUTY clr c subb a, #SLOW_START ; <<<<<<<< jc OFF_RUN ; too small for BEMF_FULL_ON. just for safe. dec ON_DUTY ; <<<< U=GND-0.7V(3ST) -> U=V=W I_KICK12: mov CPT0MX, #00000000b ; CP in-: P0.1(D/A), CP in+: P0.0(U) with UP slope GET_I_KICK: mov TEMP_MEMORY, #100 ; as 50uS timer while speed down as no inductive kick I_KICK_LH: call WAIT_500nS ; Comparator responce dec TEMP_MEMORY mov a, TEMP_MEMORY jz OFF_DUTY_TIME_OVER mov a, CPT0CN ; Get Comparator result anl a, #01000000b ; Get CP0OUT bit jz I_KICK_LH ; checking the negative edge of inductive kick. OFF_DUTY_TIME_OVER: setb EA ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- I_KICK3: cjne a, #3, I_KICK4 ; U=3ST, V=1, W=0 jmp I_KICK34 I_KICK4: cjne a, #4, I_KICK5 ; U=0, V=1, W=3ST ; V=1 -> V=GND-0.7V(3ST) -> U=V=W I_KICK34: mov CPT0MX, #00000001b ; CP in-: P0.1(D/A), CP in+: P0.2(V) with UP slope jmp GET_I_KICK ; I_KICK5: ; W=1 at stae 5 and 6 ; W=1 -> W=GND-0.7V(3ST) -> U=V=W I_KICK56: mov CPT0MX, #00000010b ; CP in-: P0.1(D/A), CP in+: P0.4(W) with UP slope jmp GET_I_KICK ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- START_BEMF_SAMPLING_COUNTER: anl TMR3CN, #00111011b ; clr TF3H, clr TF3L and clr TR3 mov a, BEMF_DUTY_TIME_L cpl a mov TMR3RLL, a ; low byte re-load data; mov a, BEMF_DUTY_TIME_H cpl a mov TMR3RLH, a ; High byte re-load data mov TMR3L, #0ffh ; mov TMR3H, #0ffh ; CHECK_BEMF_SAMPLING_TIME: ; orl TMR3CN, #00000100b ; setb TR3 to start WAIT_T3_RELOAD: mov a, TMR3CN anl a, #10000000b ; Checks TF3H jz WAIT_T3_RELOAD anl TMR3CN, #00111111b ; clr TF3H, clr TF3L START_BEMF_SAMPLING_TIMING_COUNTER: ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- COMPARATOR_RES_DELAY: WAIT_500nS: mov TEMP1, #3 ; consider the call instruction delay jmp W_10L WAIT_1uS: mov TEMP1, #9 jmp W_10L WAIT_20uS: mov TEMP1, #190 ; 95 at 24.5MHz jmp W_10L ;CB_WAKE_UP_CP WAKE_UP_CP: ;使能比较器0 orl CPT0CN, #10000000b ; bit7: Comp. Enable, bit6: Comp out, bit5,4: no interrupt, bit3-0: no hys. ;比较器方式选择寄存器 mov CPT0MD, #0 ; 100nS responce WAIT_10uS: mov TEMP1, #95 ; 95 at 24.5MHz W_10L: nop ; 1 cycle clock = 40nS nop ; 1 cycle clock = 40nS djnz TEMP1, W_10L ; 2/3 cycle clock = 26nS ret ;------------------------------------------------------------------------------- ;CB_COMP_MEASURE ;------------------------------------------------------------------------------- COMP_MEASURE: ; P0.2 and P0.3(V), P0.4 and P0.5(W) are connected togather by solder. COMP_A1: mov CPT0MX, #00100000b ; CP in-: P0.5(W), CP in+: P0.0(U) call COMPARATOR_RES_DELAY mov a, CPT0CN ; Get Comparator result anl a, #01000000b ; Get CPOUT bit mov COMP1_A, a ; store the result COMP_B1: mov CPT0MX, #00010000b ; CP in-: P0.3(V), CP in+: P0.0(U) call COMPARATOR_RES_DELAY mov a, CPT0CN ; Get Comparator result anl a, #01000000b ; Get CPOUT bit mov COMP1_B, a COMP_C1: mov CPT0MX, #00100001b ; CP in-: P0.5(W), CP in+: P0.2(V) call COMPARATOR_RES_DELAY mov a, CPT0CN ; Get Comparator result anl a, #01000000b ; Get CP0OUT bit mov COMP1_C, a ;------------------------------------------------------------------------------- COMP_LOGIC: UW: mov a, COMP1_A ; CP in+:(U), CP in-:(W): CP in-: P0.5(W), CP in+: P0.0(U) jnz UV ; U>W jmp WV ; W>U ;------------------------------------------------------------------------------- UV: mov a, COMP1_B ; CP in+:(U), CP in-:(V): CP in-: P0.3(V), CP in+: P0.0(U) jnz UH_VW ; U>V jmp VH_UM_WL ; V>U, #3 ;------------------------------------------------------------------------------- WV: mov a, COMP1_C ; CP in+:(V), CP in-:(W): CP in-: P0.5(W), CP in+: P0.2(V) jnz VH_WM_UL ; V>W, #4 jmp WH_UV ; W>V ;------------------------------------------------------------------------------- UH_VW: mov a, COMP1_C ; CP in+:(V), CP in-:(W): CP in-: P0.5(W), CP in+: P0.2(V) jnz UH_VM_WL ; V>W, #2 or All"1" offset check with connection V on the +input jmp UH_WM_VL ; W>V, #1 ;------------------------------------------------------------------------------- WH_UV: mov a, COMP1_B ; CP in+:(U), CP in-:(V): CP in-: P0.3(V), CP in+: P0.0(U) jnz WH_UM_VL ; U>V, #6 jmp WH_VM_UL ; V>U, #5 or All"0" offset check with connection V on the +input ;------------------------------------------------------------------------------- UH_WM_VL: mov COMP_D, #1 ; Inductive Kick is #4 ret ;------------------------------------------------------------------------------- UH_VM_WL: mov COMP_D, #2 ; Inductive Kick is #5 ret ;------------------------------------------------------------------------------- VH_UM_WL: mov COMP_D, #3 ; Inductive Kick is #6 ret ;------------------------------------------------------------------------------- VH_WM_UL: mov COMP_D, #4 ; Inductive Kick is #1 ret ;------------------------------------------------------------------------------- WH_VM_UL: mov COMP_D, #5 ; Inductive Kick is #2 ret ;------------------------------------------------------------------------------- WH_UM_VL: mov COMP_D, #6 ; Inductive Kick is #3 ret ;------------------------------------------------------------------------------- ;CB_STATE1 ;------------------------------------------------------------------------------- ; Motor drive each states control STATE1: ;setb p0.6 ; MONITOR mov a, DRV_SEQUENCE_CHECK_ENABLE ; Step Start routine must egnore the drive sequence jz STATE1_ON_ mov a, PREV_DRIVE_STATE cjne a, #6, SAME_DRIVE_CHK1 jmp START_MEASURE_FRAME_TIME ;------------------------------------------------------------------------------- ;CB_SAME_DRIVE_CHK1 ;------------------------------------------------------------------------------- SAME_DRIVE_CHK1: cjne a, #1, MISFIRE01 STATE1_ON_: jmp STATE1_ON MISFIRE01: jmp MISFIRE1 ;------------------------------------------------------------------------------- ;CB_START_MEASURE_FRAME_TIME ;------------------------------------------------------------------------------- START_MEASURE_FRAME_TIME: mov a, TH1 clr c ; Noise filter if state6 to state1 drive caused twice or more. subb a, #MAX_BEMF_RPM_DATA_CHECK_HIGHER ; spin too fast? jc STATE1_ON ; Misfired. ; SAMPLING_SPEED_CHECK_IN_BEMF_MODE: mov a, SPIN_MODE jz RE_STORE_SPEED_DATA ; It is in Zero cross control mode as 0 ;速度采样 SAMPLING_SPEED_CHECK: mov SPIN_MODE, #3 mov a, SAMPLING_COUNTER_L ; SAMPLING_COUNTER_L is incremented in each state drive clr c subb a, #60 ; Very Stable spin as more than 5 samples in one state in BEMF mode mov a, SAMPLING_COUNTER_H subb a, #0 jc SET_BEMF2_MODE jmp ACCELERATION_CHECK ;加速度采样 ;------------------------------------------------------------------------------- ;CB_SET_BEMF2_MODE ;------------------------------------------------------------------------------- SET_BEMF2_MODE: mov SPIN_MODE, #2 ; mov a, SAMPLING_COUNTER_L ; SAMPLING_COUNTER_L is incremented in each state drive clr c subb a, #7 ; The system must be more than 1 sample spin in one state mov a, SAMPLING_COUNTER_H subb a, #0 jc OVER_SPEED_IN_BEMF_MODE jmp ACCELERATION_CHECK ;------------------------------------------------------------------------------- ;CB_OVER_SPEED_IN_BEMF_MODE ;------------------------------------------------------------------------------- OVER_SPEED_IN_BEMF_MODE: dec ON_DUTY ; Speed limit over in BEMF mode as sampling speed is not enough. mov SPIN_MODE, #1 ; set SPIN_MODE as Very critical spin call SPIN_FREE nop ; ACCELERATION_CHECK: clr TR1 mov a, TL1 clr c subb a, TMR1L mov a, TH1 subb a, TMR1H jz STABLE_SPIN jnc NO_MORE_ACCELERATION ;jc ACCELERATION_IN_BEMF_MODE ACCELERATION_IN_BEMF_MODE: inc ACCELERATION_CKECK_AVERAGE_FILTER_COUNTER mov a, ACCELERATION_CKECK_AVERAGE_FILTER_COUNTER jz AVERAGE_FLAG_OVER jmp CLR_SAMPLING_COUNTER AVERAGE_FLAG_OVER: dec ACCELERATION_CKECK_AVERAGE_FILTER_COUNTER jmp CLR_SAMPLING_COUNTER NO_MORE_ACCELERATION: dec ACCELERATION_CKECK_AVERAGE_FILTER_COUNTER mov a, ACCELERATION_CKECK_AVERAGE_FILTER_COUNTER jz AVERAGE_FLAG_OVER jmp CLR_SAMPLING_COUNTER AVERAGE_FLAG_UNDER_OVER: inc ACCELERATION_CKECK_AVERAGE_FILTER_COUNTER jmp CLR_SAMPLING_COUNTER STABLE_SPIN: mov ACCELERATION_CKECK_AVERAGE_FILTER_COUNTER, #0 CLR_SAMPLING_COUNTER: mov SAMPLING_COUNTER_L, #0 ; clear number of sampling counts in frame mov SAMPLING_COUNTER_H, #0 ;ACCELERATION_MONITOR: ; mov a, ACCELERATION_CKECK_AVERAGE_FILTER_COUNTER ; clr c ; subb a, #127 ; Cheking the average + or - with offset(1H:2L signal ration at perfect stable codition) ; jc UNDER ; ;OVER: setb p0.6 ; MONITOR ; jmp RE_STORE_SPEED_DATA ; ;UNDER: ; clr p0.6 RE_STORE_SPEED_DATA: mov TMR1L, TL1 mov TMR1H, TH1 call START_T1 ; Timer1 always measure the one drive frame timing inc SPIN_COUNTER ; spin count ;CB_STATE1_ON STATE1_ON: setb TR1 STATE1_DRV: mov DRIVE_STATE, #1 call SPIN_FREE ; U=1, V=0, W=3ST setb P0.6 ; UH(P0.6)="H" mov P1, #00101110b ; UL(P1.0)="L", VH(P1.4)="L", VL(P1.5)="H", WH(P1.6)="L", WL(P1.7) ="L" mov MISFIRE_COUNTER, #0 ret ;------------------------------------------------------------------------------- ;CB_PRE_CHARGE_STATE1_DRIVER ;------------------------------------------------------------------------------- PRE_CHARGE_STATE1_DRIVER: ; for all N-ch MODFET boot strap driver circuit PRE_CHARGE_STATE2_DRIVER: call SPIN_FREE ; setb P0.6 ; UH(P0.6)="H" mov P1, #00001110b ; UL(P1.0)="L", VH(P1.4)="L", VL(P1.5)="L", WH(P1.6)="L", WL(P1.7) ="L" ; charge up U-high-site drive power call WAIT_10uS ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- MISFIRE1: call SPIN_FREE inc MISFIRE_COUNTER ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- BRAKING: call SPIN_FREE7 ; U=0, V=0, W=0 clr P0.6 ; UH(P0.6)="L" mov P1, #10101111b ; UL(P1.0)="H", VH(P1.4)="L", VL(P1.5)="H", WH(P1.6)="L", WL(P1.7) ="H" ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- STATE2: ;clr p0.6 ; MONITOR mov a, DRV_SEQUENCE_CHECK_ENABLE ; Step Start routine must egnore the drive sequence jz STATE2_ON mov a, PREV_DRIVE_STATE cjne a, #1, SAME_DRIVE_CHK2 jmp STATE2_ON SAME_DRIVE_CHK2: cjne a, #2, MISFIRE2 STATE2_ON: mov DRIVE_STATE, #2 call SPIN_FREE setb P0.6 ; UH(P0.6)="H" mov P1, #10001110b ; UL(P1.0)="L", VH(P1.4)="L", VL(P1.5)="L", WH(P1.6)="L", WL(P1.7) ="H" mov a, INPUT_COUNTER_L ; inc input signal loss check timing counter clr c add a, #1 mov INPUT_COUNTER_L,a jc INC_INPUT_COUNTER_H ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- INC_INPUT_COUNTER_H: inc INPUT_COUNTER_H mov a, INPUT_COUNTER_H clr c subb a, #10 jnc INPUT_SIGNAL_LOSS ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- INPUT_SIGNAL_LOSS: mov CONTROL_DATA, #0 ;System Shut Off call SPIN_FREE ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- MISFIRE2: call SPIN_FREE inc MISFIRE_COUNTER ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- STATE3: mov a, DRV_SEQUENCE_CHECK_ENABLE ; Step Start routine must egnore the drive sequence jz STATE3_ON mov a, PREV_DRIVE_STATE cjne a, #2, SAME_DRIVE_CHK3 jmp STATE3_ON SAME_DRIVE_CHK3: cjne a, #3, MISFIRE3 STATE3_ON: mov DRIVE_STATE, #3 call SPIN_FREE STATE3_DRV: clr P0.6 ; UH(P0.6)="L" mov P1, #10011110b ; UL(P1.0)="L", VH(P1.4)="H", VL(P1.5)="L", WH(P1.6)="L", WL(P1.7) ="H" ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- PRE_CHARGE_STATE3_DRIVER: PRE_CHARGE_STATE4_DRIVER: call SPIN_FREE ; clr P0.6 ; UH(P0.6)="L" mov P1, #00011110b ; UL(P1.0)="L", VH(P1.4)="H", VL(P1.5)="L", WH(P1.6)="L", WL(P1.7) ="H" ; UD=3ST, VD=1, WD=3ST ; charge up V-high-site drive power call WAIT_10uS ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- MISFIRE3: call SPIN_FREE inc MISFIRE_COUNTER ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- STATE4: mov a, DRV_SEQUENCE_CHECK_ENABLE ; Step Start routine must egnore the drive sequence jz STATE4_ON mov a, PREV_DRIVE_STATE cjne a, #3, SAME_DRIVE_CHK4 jmp STATE4_ON SAME_DRIVE_CHK4: cjne a, #4, MISFIRE4 STATE4_ON: mov DRIVE_STATE, #4 call SPIN_FREE STATE4_DRV: clr P0.6 ; UH(P0.6)="L" mov P1, #00011111b ; UL(P1.0)="H", VH(P1.4)="H", VL(P1.5)="L", WH(P1.6)="L", WL(P1.7) ="L" ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- MISFIRE4: call SPIN_FREE inc MISFIRE_COUNTER ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- STATE5: mov a, DRV_SEQUENCE_CHECK_ENABLE ; Step Start routine must egnore the drive sequence jz STATE5_ON mov a, PREV_DRIVE_STATE cjne a, #4, SAME_DRIVE_CHK5 jmp STATE5_ON SAME_DRIVE_CHK5: cjne a, #5, MISFIRE5 STATE5_ON: mov DRIVE_STATE, #5 call SPIN_FREE STATE5_DRV: clr P0.6 ; UH(P0.6)="L" mov P1, #01001111b ; UL(P1.0)="H", VH(P1.4)="L", VL(P1.5)="L", WH(P1.6)="H", WL(P1.7) ="L" ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- PRE_CHARGE_STATE5_DRIVER: PRE_CHARGE_STATE6_DRIVER: call SPIN_FREE ; clr P0.6 ; UH(P0.6)="L" mov P1, #01001110b ; UL(P1.0)="L", VH(P1.4)="L", VL(P1.5)="L", WH(P1.6)="H", WL(P1.7) ="L" ; UD=3ST, VD=3ST, WD=1 ; charge up W-high-site drive power call WAIT_10uS ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- MISFIRE5: call SPIN_FREE inc MISFIRE_COUNTER ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- STATE6: mov a, DRV_SEQUENCE_CHECK_ENABLE ; Step Start routine must egnore the drive sequence jz STATE6_ON mov a, PREV_DRIVE_STATE cjne a, #5, SAME_DRIVE_CHK6 jmp STATE6_ON SAME_DRIVE_CHK6: cjne a, #6, MISFIRE6 STATE6_ON: mov DRIVE_STATE, #6 call SPIN_FREE STATE6_DRV: clr P0.6 ; UH(P0.6)="L" mov P1, #01101110b ; UL(P1.0)="L", VH(P1.4)="L", VL(P1.5)="H", WH(P1.6)="H", WL(P1.7) ="L" ;;;;***** call CHECK_TOP_CELL_VOLTAGE ; voltage down and over current check routine ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- MISFIRE6: call SPIN_FREE inc MISFIRE_COUNTER ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- SPIN_FREE: SPIN_FREE7: ; U, V, W=3ST mov PREV_DRIVE_STATE, DRIVE_STATE ;store the previous state drive status[保存前一个驱动状态] clr P0.6 anl P1, #00001110b ; UL(P1.0), VH(P1.4), VL(P1.5), WH(P1.6), WL(P1.7) ="L" MOS_WAIT: call WAIT_1uS ; MOSFET gate capacitance delay + threw rate of OP amp call WAIT_1uS call WAIT_1uS ;call WAIT_1uS ;call WAIT_1uS ;call WAIT_1uS ;call WAIT_1uS ret SPIN_FREE8: ; U, V, W=3ST clr P0.6 anl P1, #00001110b ; UL(P1.0), VH(P1.4), VL(P1.5), WH(P1.6), WL(P1.7) ="L" call WAIT_1uS call WAIT_1uS call WAIT_1uS ;call WAIT_1uS ;call WAIT_1uS ret ;------------------------------------------------------------------------------- ;CB_ALL_H ;------------------------------------------------------------------------------- ALL_H: orl P0, #01000000b ; UH(P0.6)="H" mov P1, #01011110b ; UL(P1.0)="L", VH(P1.4)="H", VL(P1.5)="L", WH(P1.6)="H", WL(P1.7) ="L" ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- TEST_PIN_ON: setb P2.0 clr P2.0 ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- CURRENT_LIMITER: ret ; NOT AVAILABLE THE CURRENT_LIMITER mov a, CURRENT_LIMITER_ENABLE_FLAG jnz SET_DA ret ;jmp LESS_THAN_5V_CHECK ; TEST ONLY ;checking current over at the drain voltage of Nch. MOSFET by LM339 ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- SET_DA: mov a, DRIVE_STATE CURRENT_LIMIT_CHECK4: cjne a, #4, CURRENT_LIMIT_CHECK5 ; U=0, V=1, W=3ST jmp CURRENT_LIMIT_CHECK45 CURRENT_LIMIT_CHECK5: cjne a, #5, CURRENT_LIMIT_CHECK6 ; U=0, V=3ST, W=1 ; U=0 CURRENT_LIMIT_CHECK45: mov a, P1 ; P1.4 is Over Current V drive sensing port anl a, #00010000b jnz LESS_THAN_5V_CHECK ; OK. ;call SPIN_FREE jmp I_OVER ; Current over ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- CURRENT_LIMIT_CHECK6: cjne a, #6, CURRENT_LIMIT_CHECK1 ; U=3ST, V=0, W=1 jmp CURRENT_LIMIT_CHECK61 CURRENT_LIMIT_CHECK1: cjne a, #1, CURRENT_LIMIT_CHECK2 ; U=1, V=0, W=3ST ; V=0 CURRENT_LIMIT_CHECK61: mov a, P2 ; P2.0 is Over Current V drive sensing port anl a, #00000001b jnz LESS_THAN_5V_CHECK ; OK. ;call SPIN_FREE jmp I_OVER ; Current over ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- CURRENT_LIMIT_CHECK2: ; U=1, V=3ST, W=0 CURRENT_LIMIT_CHECK3: ; U=3ST, V=1, W=0 ; W=0 CURRENT_LIMIT_CHECK23: mov a, P1 ; P1.3 is Over Current W drive sensing port anl a, #00001000b CHECK_NCH_DRAIN_V_UP: jnz LESS_THAN_5V_CHECK ; OK. ;call SPIN_FREE jmp I_OVER ; Current over ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- LESS_THAN_5V_CHECK: ;checking Less than 5V voltage drop or over current. SET_D_A_1V: mov IDA0H, #39 ; 3.3mV/digit. 10bits, high byte at 0.5V on P0.1 and R is divided to 1:10 mov a, DRIVE_STATE LESS_THAN_5V_CHECK1: cjne a, #1, LESS_THAN_5V_CHECK2 ; U=1, V=0, W=3ST jmp LESS_THAN_5V_CHECK12 LESS_THAN_5V_CHECK2: cjne a, #2, LESS_THAN_5V_CHECK3 ; U=1, V=3ST, W=0 ; U=1 LESS_THAN_5V_CHECK12: mov CPT0MX, #00000000b ; CP in-: P0.1(D/A), CP in+: P0.0(U) W jmp CHECK_PCH_DRAIN_V_DROP ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- LESS_THAN_5V_CHECK3: cjne a, #3, LESS_THAN_5V_CHECK4 ; U=3ST, V=1, W=0 jmp LESS_THAN_5V_CHECK34 LESS_THAN_5V_CHECK4: cjne a, #4, LESS_THAN_5V_CHECK5 ; U=0, V=1, W=3ST ; V=1 LESS_THAN_5V_CHECK34: mov CPT0MX, #00000001b ; CP in-: P0.1(D/A), CP in+: P0.2(V) jmp CHECK_PCH_DRAIN_V_DROP ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- LESS_THAN_5V_CHECK5: ; W=1 at state 5 and 6 ; W=1 LESS_THAN_5V_CHECK56: mov CPT0MX, #00000010b ; CP in-: P0.1(D/A), CP in+: P0.4(W) CHECK_PCH_DRAIN_V_DROP: call WAIT_1uS ; Comparator and D/A settling time 5uS call WAIT_1uS ; Comparator and D/A settling time call WAIT_1uS ; Comparator and D/A settling time call WAIT_1uS ; Comparator and D/A settling time call WAIT_1uS ; Comparator and D/A settling time mov a, CPT0CN ; Get Comparator result anl a, #01000000b ; Get CP0OUT bit jnz OVER_Pch_OUT_5V ; OK. LESS_THAN_5V: ;call TEST_PIN_ON ; Less than 5V voltage drop or over current. ;call SPIN_FREE ; TEST ONLY ;mov a, DRIVE_STATE ; Monitor Only mov a, CONTROL_DATA clr c subb a, #2 jc LO_VOL mov CONTROL_DATA_MAX, a ; Power limitter LO_VOL: ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- OVER_Pch_OUT_5V: mov a, CONTROL_DATA_MAX ; No volatge drop or over current clr c subb a, #100 jnc MAX_LIMIT mov a, CONTROL_DATA inc a inc a ;inc a ; two more "inc" means for stick feeling better mov CONTROL_DATA_MAX, a MAX_LIMIT: ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- I_OVER: ;call TEST_PIN_ON ; Less than 5V voltage drop or over current. ;call SPIN_FREE ; TEST ONLY ;mov a, DRIVE_STATE ; Monitor Only mov a, CONTROL_DATA clr c subb a, #1 jz I_LIMIT mov CONTROL_DATA_MAX, a ; Power limitter I_LIMIT: ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- S_WDT_OFF: mov PCA0CPH2, #0 ; Clear the watch dog timer in sound mode ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- WDT_OFF: mov PCA0CPH2, #0 ; Clear the watch dog timer in spin mode ret ; No Li-Po protection function. ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- AD_START: nop nop nop nop nop ; wait 200nS clr AD0INT setb AD0BUSY ; Start the AD conversion. nop ; No reason. Need for monitoring. Why?????? ret ;------------------------------------------------------------------------------- ; ;------------------------------------------------------------------------------- AD_END_CHK: jnb AD0INT, AD_END_CHK ; AD complete? ret ; End of file. END ;------------------------------------------------------------------------------ ;一、预定转子的位置 ;原理： ;A)分别6步驱动电机，并分别用一定时器记下测量反电动势的比较器触发的时间，获得最小时间的那步,设为A步. ;B)并得到其顺序下的另外两步,设为B步和C步。 ;C)接着驱动A步一定时间. ;D)重复A)操作 ;E)得到最小时时间D步,与B步比较是否相等 ;F)相等的话,接着驱动D/B步一定时间,并重复A)操作 ;G)得到最小时时间E步,与C步比较是否相等 ;H)相等的话,则预定转子的位置完成,进入强制加速换相阶段 ;I)如果E)及H)处不相等的话,加大驱动,从A)处重新操作 ;J)当驱动超出了限定值时,则直接进入强制加速换相阶段或关机等其他动作. ;注: ; 6步驱动顺序:Step4--->Step1--->Step5--->Step2--->Step6--->Step3 ;二、强制换相 ;1、根据预定状态进行加速驱动. ;2、驱动过程中,驱动时间应该减小,以达到加速效果. ;3、并且,驱动过程中读取步拍值,并根据其来驱动. ;-----------------------------------------------------------------------------