l127F
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qǥͮɥNNSL51 asmF, ݪܦYO, qaФjao...

NݹLCode{:
A. PWMCommutation, ePWM|Q~Uh, Timer 0QAsp.
Hcomm6comm1:  [qComm6(300~360)->Comm1(0~60)], YCommɤWMOSO ON, hUhOON, (YOffhNOffo)
...
comm61_nfet:
    AnFET_off                    ; An off
    jnb    Flags0.PWM_ON, comm61_cp    ; Is pwm on?
    CnFET_on                    ; Yes - Cn on =>Comm6PWM,~ On/OffUh
comm61_cp:
...

B. bESC.incwq
(e.g. XP_7A.inc:A On,  C On
MACRO AnFET_on
    mov    A, Current_Pwm_Limited
    jz    ($+12)
    jb    Flags3.PGM_DIR_REV, ($+5)
    setb    P1.AnFET
    jnb    Flags3.PGM_DIR_REV, ($+5)
    setb    P1.CnFET
ENDM)

S, O_ͬݹL"Governor SiLabs High and Low.xls", 䤤
GovHigh:Comm_Period4x_H target = 1 + 2*((255-PWM)/256) - 0.25
GovLow:Comm_Period4x_H target = 2 + 8*((255-PWM)/256) - 0.25
O_a観O? ı{wPWMͦ,Fγ\|nAѦp󲣥PWM...
(ԣBlHelinH4ӴۨӭpPWM??)
(ثebVOQaOPWMTͪTimer 0)

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l128F
##########
BlHeli Timer0jPŪ
̫ chan.chenhao  2013~613 02:32 PM s

A.]wTimer
    mov    CKCON, #01h        ; Timer0 set for clk/4 (22kHz pwm)
    =>24M/4/255[255(or 256?)ӰƧΦ@PWMT]=>PWMT=23.5K HZ
    or
    mov    CKCON, #00h        ; Timer0 set for clk/12 (8kHz pwm)
    =>24M/12/255[255ӰƧΦ@PWMT]=>PWMT=7.84K HZ
   
B.HTL0OnLXPulse޵oTrigger.

C.Ĳot0_int:
C.1.YثeOPWM_ONht0_int_pwm_off
C.2.YثeOPWM_OFFhثeCommutationFET_ON (pwm_a[or b or c]fet_on=>Comm|OثenOnFET)
=>PWMTO
pwm_a[or b or c]fet_on []wOn ɶ in Timer 0]->t0_int_pwm_off []wOffɶ in Timer 0]-> ......
o˲զ.

LA.xlsk...


