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;**** **** **** **** **** ; ; Bluejay digital ESC firmware for controlling brushless motors in multirotors ; ; Copyright 2020, 2021 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 (Layouts/A.inc) ; Select pinout A ELSEIF ESCNO == B_ $include (Layouts/B.inc) ; Select pinout B ELSEIF ESCNO == C_ $include (Layouts/C.inc) ; Select pinout C ELSEIF ESCNO == D_ $include (Layouts/D.inc) ; Select pinout D ELSEIF ESCNO == E_ $include (Layouts/E.inc) ; Select pinout E ELSEIF ESCNO == F_ $include (Layouts/F.inc) ; Select pinout F ELSEIF ESCNO == G_ $include (Layouts/G.inc) ; Select pinout G ELSEIF ESCNO == H_ $include (Layouts/H.inc) ; Select pinout H ELSEIF ESCNO == I_ $include (Layouts/I.inc) ; Select pinout I ELSEIF ESCNO == J_ $include (Layouts/J.inc) ; Select pinout J ELSEIF ESCNO == K_ $include (Layouts/K.inc) ; Select pinout K ELSEIF ESCNO == L_ $include (Layouts/L.inc) ; Select pinout L ELSEIF ESCNO == M_ $include (Layouts/M.inc) ; Select pinout M ELSEIF ESCNO == N_ $include (Layouts/N.inc) ; Select pinout N ELSEIF ESCNO == O_ $include (Layouts/O.inc) ; Select pinout O ELSEIF ESCNO == P_ $include (Layouts/P.inc) ; Select pinout P ELSEIF ESCNO == Q_ $include (Layouts/Q.inc) ; Select pinout Q ELSEIF ESCNO == R_ $include (Layouts/R.inc) ; Select pinout R ELSEIF ESCNO == S_ $include (Layouts/S.inc) ; Select pinout S ELSEIF ESCNO == T_ $include (Layouts/T.inc) ; Select pinout T ELSEIF ESCNO == U_ $include (Layouts/U.inc) ; Select pinout U ELSEIF ESCNO == V_ $include (Layouts/V.inc) ; Select pinout V ELSEIF ESCNO == W_ $include (Layouts/W.inc) ; Select pinout W ;ELSEIF ESCNO == X_ ;$include (Layouts/X.inc) ; Select pinout X ;ELSEIF ESCNO == Y_ ;$include (Layouts/Y.inc) ; Select pinout Y ELSEIF ESCNO == Z_ $include (Layouts/Z.inc) ; Select pinout Z ENDIF
SIGNATURE_001 EQU 0E8h ; Device signature IF MCU_48MHZ == 0 SIGNATURE_002 EQU 0B1h ELSE SIGNATURE_002 EQU 0B2h ENDIF
;**** **** **** **** **** ; Constant definitions ;**** **** **** **** **** ESC_C EQU "A" + ESCNO - 1 ; ESC target letter
IF MCU_48MHZ == 0 ; MCU letter (24Mhz=L, 48Mhz=H) MCU_C EQU "L" ELSE MCU_C EQU "H" ENDIF ENDIF
; Dead time number as chars DT_C2 EQU "0" + (DEADTIME / 100) DT_C1 EQU "0" + ((DEADTIME / 10) MOD 10) DT_C0 EQU "0" + (DEADTIME MOD 10)
CSEG AT 1A40h ; ESC layout tag IF DEADTIME < 100 Eep_ESC_Layout: DB "#", ESC_C, "_", MCU_C, "_", DT_C1, DT_C0, "# " ELSE Eep_ESC_Layout: DB "#", ESC_C, "_", MCU_C, "_", DT_C2, DT_C1, DT_C0, "# " ENDIF
CSEG AT 1A50h ; Project and MCU tag (16 Bytes) IF MCU_48MHZ == 0 Eep_ESC_MCU: DB "#BLHELI$EFM8B10#" ELSE Eep_ESC_MCU: DB "#BLHELI$EFM8B21#" ENDIF
Interrupt_Table_Definition MACRO CSEG AT 0 ;; Code segment start jmp reset CSEG AT 03h ;; Int0 interrupt jmp int0_int CSEG AT 0Bh ;; Timer0 overflow interrupt jmp t0_int 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
Initialize_PCA MACRO mov PCA0CN0, #40h ;; PCA enabled mov PCA0MD, #08h ;; PCA clock is system clock
mov PCA0PWM, #(80h + PWM_BITS_H) ;; Enable PCA auto-reload registers and set pwm cycle length (8-11 bits)
IF PWM_CENTERED == 1 mov PCA0CENT, #07h ;; Center aligned pwm ELSE mov PCA0CENT, #00h ;; Edge aligned pwm ENDIF ENDM
Set_MCU_Clk_24MHz MACRO mov CLKSEL, #13h ;; Set clock to 24MHz (Oscillator 1 divided by 2)
mov SFRPAGE, #10h mov PFE0CN, #00h ;; Set flash timing for 24MHz and disable prefetch engine mov SFRPAGE, #00h
clr Flag_Clock_At_48MHz ENDM
Set_MCU_Clk_48MHz MACRO mov SFRPAGE, #10h mov PFE0CN, #30h ;; Set flash timing for 48MHz and enable prefetch engine mov SFRPAGE, #00h
mov CLKSEL, #03h ;; Set clock to 48MHz (Oscillator 1)
setb Flag_Clock_At_48MHz ENDM
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