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;**** **** **** **** **** ; ; Bluejay digital ESC firmware for controlling brushless motors in multirotors ; ; Copyright 2020 Mathias Rasmussen ; Copyright 2011, 2012 Steffen Skaug ; ; This file is part of Bluejay. ; ; Bluejay is free software: you can redistribute it and/or modify ; it under the terms of the GNU General Public License as published by ; the Free Software Foundation, either version 3 of the License, or ; (at your option) any later version. ; ; Bluejay is distributed in the hope that it will be useful, ; but WITHOUT ANY WARRANTY; without even the implied warranty of ; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ; GNU General Public License for more details. ; ; You should have received a copy of the GNU General Public License ; along with Bluejay. If not, see <http://www.gnu.org/licenses/>.
; ;**** **** **** **** **** ; ; Common definitions for EFM8BB1x/2x based ESCs ; ;**** **** **** **** ****
;********************* ; Device SiLabs EFM8BB1x/2x ;********************* IF MCU_48MHZ == 0 $include (Silabs/SI_EFM8BB1_Defs.inc) ELSE $include (Silabs/SI_EFM8BB2_Defs.inc) ENDIF
;**** **** **** **** **** ; Uses internal calibrated oscillator set to 24/48Mhz ;**** **** **** **** ****
;**** **** **** **** **** ; ESC selection statements IF ESCNO == A_ $include (targets/A.inc) ; Select pinout A ELSEIF ESCNO == B_ $include (targets/B.inc) ; Select pinout B ELSEIF ESCNO == C_ $include (targets/C.inc) ; Select pinout C ELSEIF ESCNO == D_ $include (targets/D.inc) ; Select pinout D ELSEIF ESCNO == E_ $include (targets/E.inc) ; Select pinout E ELSEIF ESCNO == F_ $include (targets/F.inc) ; Select pinout F ELSEIF ESCNO == G_ $include (targets/G.inc) ; Select pinout G ELSEIF ESCNO == H_ $include (targets/H.inc) ; Select pinout H ELSEIF ESCNO == I_ $include (targets/I.inc) ; Select pinout I ELSEIF ESCNO == J_ $include (targets/J.inc) ; Select pinout J ELSEIF ESCNO == K_ $include (targets/K.inc) ; Select pinout K ELSEIF ESCNO == L_ $include (targets/L.inc) ; Select pinout L ELSEIF ESCNO == M_ $include (targets/M.inc) ; Select pinout M ELSEIF ESCNO == N_ $include (targets/N.inc) ; Select pinout N ELSEIF ESCNO == O_ $include (targets/O.inc) ; Select pinout O ELSEIF ESCNO == P_ $include (targets/P.inc) ; Select pinout P ELSEIF ESCNO == Q_ $include (targets/Q.inc) ; Select pinout Q ELSEIF ESCNO == R_ $include (targets/R.inc) ; Select pinout R ELSEIF ESCNO == S_ $include (targets/S.inc) ; Select pinout S ELSEIF ESCNO == T_ $include (targets/T.inc) ; Select pinout T ELSEIF ESCNO == U_ $include (targets/U.inc) ; Select pinout U ELSEIF ESCNO == V_ $include (targets/V.inc) ; Select pinout V ELSEIF ESCNO == W_ $include (targets/W.inc) ; Select pinout W ENDIF
;**** **** **** **** **** ; Constant definitions ;**** **** **** **** **** ESC_LETTER EQU 40h + ESCNO
IF MCU_48MHZ == 0 MCU_MHZ_LETTER EQU "L" ELSE MCU_MHZ_LETTER EQU "H" ENDIF
CSEG AT 1A40h IF FETON_DELAY == 0 Eep_ESC_Layout: DB "#",ESC_LETTER,"_",MCU_MHZ_LETTER,"_00# " ; ESC layout tag ELSEIF FETON_DELAY == 5 Eep_ESC_Layout: DB "#",ESC_LETTER,"_",MCU_MHZ_LETTER,"_05# " ELSEIF FETON_DELAY == 10 Eep_ESC_Layout: DB "#",ESC_LETTER,"_",MCU_MHZ_LETTER,"_10# " ELSEIF FETON_DELAY == 15 Eep_ESC_Layout: DB "#",ESC_LETTER,"_",MCU_MHZ_LETTER,"_15# " ELSEIF FETON_DELAY == 20 Eep_ESC_Layout: DB "#",ESC_LETTER,"_",MCU_MHZ_LETTER,"_20# " ELSEIF FETON_DELAY == 25 Eep_ESC_Layout: DB "#",ESC_LETTER,"_",MCU_MHZ_LETTER,"_25# " ELSEIF FETON_DELAY == 30 Eep_ESC_Layout: DB "#",ESC_LETTER,"_",MCU_MHZ_LETTER,"_30# " ELSEIF FETON_DELAY == 40 Eep_ESC_Layout: DB "#",ESC_LETTER,"_",MCU_MHZ_LETTER,"_40# " ELSEIF FETON_DELAY == 50 Eep_ESC_Layout: DB "#",ESC_LETTER,"_",MCU_MHZ_LETTER,"_50# " ELSEIF FETON_DELAY == 70 Eep_ESC_Layout: DB "#",ESC_LETTER,"_",MCU_MHZ_LETTER,"_70# " ELSEIF FETON_DELAY == 90 Eep_ESC_Layout: DB "#",ESC_LETTER,"_",MCU_MHZ_LETTER,"_90# " ENDIF
IF MCU_48MHZ == 0 CSEG AT 1A50h Eep_ESC_MCU: DB "#BLHELI$EFM8B10#" ; Project and MCU tag (16 Bytes) ELSE CSEG AT 1A50h Eep_ESC_MCU: DB "#BLHELI$EFM8B21#" ; Project and MCU tag (16 Bytes) ENDIF
Interrupt_Table_Definition MACRO CSEG AT 0 ; Code segment start jmp reset CSEG AT 03h ; Int0 interrupt jmp int0_int IF MCU_48MHZ == 1 CSEG AT 0Bh ; Timer0 overflow interrupt jmp t0_int ENDIF CSEG AT 13h ; Int1 interrupt jmp int1_int CSEG AT 1Bh ; Timer1 overflow interrupt jmp t1_int CSEG AT 2Bh ; Timer2 overflow interrupt jmp t2_int CSEG AT 5Bh ; Pca interrupt jmp pca_int CSEG AT 73h ; Timer3 overflow/compare interrupt jmp t3_int ENDM
Decode_DShot_2Bit MACRO dest, decode_fail movx A, @Temp1 mov Temp7, A clr C subb A, Temp6 ; Subtract previous timestamp clr C subb A, Temp2 jc decode_fail ; Check that bit is longer than minimum
subb A, Temp2 ; Check if bit is zero or one mov A, dest ; Shift bit into data byte rlc A mov dest, A inc Temp1 ; Next bit
movx A, @Temp1 mov Temp6, A clr C subb A, Temp7 clr C subb A, Temp2 jc decode_fail
subb A, Temp2 mov A, dest rlc A mov dest, A inc Temp1 ENDM
Initialize_PCA MACRO mov PCA0CN0, #40h ; PCA enabled mov PCA0MD, #08h ; PCA clock is system clock
mov PCA0PWM, #(80h + PWM_BITS_H) ; PCA ARSEL set and 8/9/10/11 bits pwm
IF PWM_CENTERED == 1 mov PCA0CENT, #03h ; Center aligned pwm ELSE mov PCA0CENT, #00h ; Edge aligned pwm ENDIF ENDM
Enable_Power_Pwm_Module MACRO IF FETON_DELAY == 0 mov PCA0_POWER_MODULE, #4Ah ; Enable comparator of module, enable match, set pwm mode ELSE mov PCA0_POWER_MODULE, #42h ; Enable comparator of module, set pwm mode ENDIF ENDM
Enable_Damp_Pwm_Module MACRO IF FETON_DELAY == 0 mov PCA0_DAMP_MODULE, #00h ; Disable ELSE mov PCA0_DAMP_MODULE, #42h ; Enable comparator of module, set pwm mode ENDIF ENDM
Clear_COVF_Interrupt MACRO anl PCA0PWM, #0DFh ENDM Enable_COVF_Interrupt MACRO orl PCA0PWM, #40h ENDM Disable_COVF_Interrupt MACRO anl PCA0PWM, #0BFh ENDM
; CCF interrupt is only used for FETON_DELAY == 0 Clear_CCF_Interrupt MACRO anl PCA0CN0, #0FEh ENDM Enable_CCF_Interrupt MACRO orl PCA0CPM0,#01h ENDM Disable_CCF_Interrupt MACRO anl PCA0CPM0,#0FEh ENDM
Enable_PCA_Interrupt MACRO LOCAL pca_enabled set_pca_int_hi_pwm IF FETON_DELAY != 0 Enable_COVF_Interrupt ELSE jnb Flag_LOW_PWM_POWER, set_pca_int_hi_pwm
Enable_COVF_Interrupt sjmp pca_enabled
set_pca_int_hi_pwm: Enable_CCF_Interrupt pca_enabled: ENDIF orl EIE1, #10h ; Enable pca interrupts ENDM
Set_MCU_Clk_24MHz MACRO mov CLKSEL, #13h ; Set clock to 24MHz mov SFRPAGE, #10h mov PFE0CN, #00h ; Set flash timing for 24MHz mov SFRPAGE, #00h clr Flag_CLOCK_SET_AT_48MHZ ENDM
Set_MCU_Clk_48MHz MACRO mov SFRPAGE, #10h mov PFE0CN, #30h ; Set flash timing for 48MHz mov SFRPAGE, #00h mov CLKSEL, #03h ; Set clock to 48MHz setb Flag_CLOCK_SET_AT_48MHZ ENDM
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