Fork from bluejay at github and modified for my custom ESC. I need to modify it because some mistake design on my ESC hardware.
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# Changelog
All notable changes to this project will be documented in this file.
## [0.12](https://github.com/mathiasvr/bluejay/compare/v0.11...v0.12) (2021-04-13)
### Features
* Make startup melody user configurable ([#8](https://github.com/mathiasvr/bluejay/pull/8)) ([3b355fb](https://github.com/mathiasvr/bluejay/commit/3b355fb02a6ac54a26c1f9e6c5d39a94780180a2))
### Bug Fixes
* Avoid entering bootloader during FC reboot ([fb804ea](https://github.com/mathiasvr/bluejay/commit/fb804ea743dae63450f06f7657616f5f570ac9fe))* Change startup melody length from 64 to 62 notes ([#20](https://github.com/mathiasvr/bluejay/pull/20)) ([e2c249b](https://github.com/mathiasvr/bluejay/commit/e2c249bba2851928fb75ba5ffebb5330132a8249))* Increase bootloader signal duration ([bffd76e](https://github.com/mathiasvr/bluejay/commit/bffd76eb830c66cada459282271ba6f4cee7d676))* Port 2 was not skipped by crossbar ([0b15dc3](https://github.com/mathiasvr/bluejay/commit/0b15dc327f0aa753c90eae4a6683b51aefc2e54f))
## [0.11](https://github.com/mathiasvr/bluejay/compare/v0.10...v0.11) (2021-03-30)
- Major refactoring of the ESC layout configuration ([#9](https://github.com/mathiasvr/bluejay/pull/9))
### Features
* Add Z layout ([55eda69](https://github.com/mathiasvr/bluejay/commit/55eda69689249ce5e3946f223289618eca8d42f2))* Store programmed PWM frequency for display ([047c86b](https://github.com/mathiasvr/bluejay/commit/047c86b95c15c6cdeac47e0e197d30c3af71183f))
### Bug Fixes
* Avoid incorrect reload of the commutation wait timer ([a480fbf](https://github.com/mathiasvr/bluejay/commit/a480fbfdbd8628bd75cf9fa2661ff6496994c56b))
### Performance Improvements
* Optimize usage of startup phase flags ([14dfb1a](https://github.com/mathiasvr/bluejay/commit/14dfb1acc6e2a91325896d5c4adeaeb651b5c88f))
## [0.10](https://github.com/mathiasvr/bluejay/compare/v0.9...v0.10) (2021-02-10)
### Features
* Separate startup and rampup power settings ([ad46bab](https://github.com/mathiasvr/bluejay/commit/ad46bab50605834db0161cde13ec5202e810431f))
### Bug Fixes
* DShot commands could cause invalid direction settings ([30fbf47](https://github.com/mathiasvr/bluejay/commit/30fbf477074d3283b9d1c2b04840768514c8395f))* Fix and optimize direction handling ([f5911b6](https://github.com/mathiasvr/bluejay/commit/f5911b673e3b1b34f227586d31985e87d502b2f7))
## [0.9](https://github.com/mathiasvr/bluejay/compare/v0.8...v0.9) (2021-01-29)
### ⚠ BREAKING CHANGES
* Change eeprom layout version for beta ([3d30c6c](https://github.com/mathiasvr/bluejay/commit/3d30c6cb590188f9353a2a08b4c336f2acd72c13))
### Features
* Add dithering setting ([4769b19](https://github.com/mathiasvr/bluejay/commit/4769b19696828483365e62d98f4ca3b9fab86ac2))* Add startup beep setting ([09ff60c](https://github.com/mathiasvr/bluejay/commit/09ff60cbc605a8d3d0ee3e3f68023421184b6e3d))* Default to medium high timing ([c1b6d3d](https://github.com/mathiasvr/bluejay/commit/c1b6d3dfcb173986463c669763c023980193b698))* Increase dithering to 11-bit ([054d1d9](https://github.com/mathiasvr/bluejay/commit/054d1d9a2bc7fe783d7bf606d0ae20f7df57185a))* Startup boost setting ([03544f9](https://github.com/mathiasvr/bluejay/commit/03544f91174244a842f241113984197d49affb64))
### Bug Fixes
* Update telemetry timings ([98ae2d5](https://github.com/mathiasvr/bluejay/commit/98ae2d5706f6908b74358bc19a08176ba097b567))
## [0.8](https://github.com/mathiasvr/bluejay/compare/v0.7...v0.8) (2021-01-21)
### Features
* Add DShot150 support on 24MHz MCUs ([f16cd2c](https://github.com/mathiasvr/bluejay/commit/f16cd2c4da336f40c923c4bdb81b881551ea168d))
### Bug Fixes
* Fix bug in comparator routine ([32ae3df](https://github.com/mathiasvr/bluejay/commit/32ae3dfbfb9db8872762defc18a1dee5d630eb86))
### Performance Improvements
* Optimize comparator wait routine on 48MHz ([661be1b](https://github.com/mathiasvr/bluejay/commit/661be1b9540a6129275975b2a356926fe4251254))
## [0.7](https://github.com/mathiasvr/bluejay/compare/v0.6...v0.7) (2021-01-16)
### Features
* Smoother DShot throttle scaling ([2268e16](https://github.com/mathiasvr/bluejay/commit/2268e16d5f834efb72d91d61f86dddd130c56faa))
### Bug Fixes
* Add delay between beacon beeps ([3b4fad9](https://github.com/mathiasvr/bluejay/commit/3b4fad93e48eb6d6a1500bfd675f9223e0d07f8c))* Adjust telemetry timing and ensure port is ready ([5ad0a92](https://github.com/mathiasvr/bluejay/commit/5ad0a925aac33828b983e378c746a0e8f329925a))* Delay stall count reset in case of gradual power down ([1ee21f5](https://github.com/mathiasvr/bluejay/commit/1ee21f55df631fa873c67b8a0bcaef79014c8fc0))* Fix bug causing excessive startup boost ([98e7de9](https://github.com/mathiasvr/bluejay/commit/98e7de9983c8f1e40f4a741d9eed43063b72e24b))* Only boost power when stalling from failed starts ([3652e31](https://github.com/mathiasvr/bluejay/commit/3652e3183e2721cf4808ea8043a844ff10cfb591))* Scale DShot sync timer during signal detection ([36f70ce](https://github.com/mathiasvr/bluejay/commit/36f70ce668d10e6f9feba84af8239f44f05aa00b))
### Performance Improvements
* Optimize startup boost check order ([2c96991](https://github.com/mathiasvr/bluejay/commit/2c96991ae08e6cf17b44bdfb3a2568edf18c7d5a))
## [0.6](https://github.com/mathiasvr/bluejay/compare/v0.5...v0.6) (2021-01-08)
### Bug Fixes
* Adjust duration of lost signal beacon delay ([bf3b8e9](https://github.com/mathiasvr/bluejay/commit/bf3b8e90cbe3c7d899e52e522ef18fcedc4a71b7))* Correct duration of beep tone 5 ([944d3fd](https://github.com/mathiasvr/bluejay/commit/944d3fd2c0430d9d76d4141c3356eb7255a136eb))* Do not reset telemetry flag on motor start ([c54412c](https://github.com/mathiasvr/bluejay/commit/c54412c7f30be978d562e8cbcf1232174603ac32))* Enable timer 0 interrupt vector on BB1 MCUs ([7c0b18f](https://github.com/mathiasvr/bluejay/commit/7c0b18f61724d1e3dbd462e479b63d036d8d87e6))* Wait for FC to initialize during startup ([ec73e39](https://github.com/mathiasvr/bluejay/commit/ec73e39dfe147b44d8aea863be6beae2d30b1782))
## [0.5](https://github.com/mathiasvr/bluejay/compare/v0.4.0...v0.5) (2021-01-04)
### Features
* Rework beeper routines and add a 5th beacon tone ([5659d3b](https://github.com/mathiasvr/bluejay/commit/5659d3b9201a72d3696b3cb7d03ccaa705bbe8fc))
### Bug Fixes
* Rework startup boost, increase max number of stalls ([a23e3a1](https://github.com/mathiasvr/bluejay/commit/a23e3a12cf8388f6b6e598452fc221f1170f6758))* Scale telemetry timings for 24MHz mode ([97d9cdc](https://github.com/mathiasvr/bluejay/commit/97d9cdc459d2cc322f4ff509b7aac7c3cbfbeda7))
### Performance Improvements
* Micro-optimize calc new wait times ([e2bc285](https://github.com/mathiasvr/bluejay/commit/e2bc285dc447cc2eb00f82ff551d6159144543c9))* Optimize decoding of bidirectional power ([636436e](https://github.com/mathiasvr/bluejay/commit/636436e408942fe15ee3c1b1634636541e3e2eb9))* Optimize startup boost handling ([ab829ed](https://github.com/mathiasvr/bluejay/commit/ab829ed15763226a4c7988a06a3b73735b198ee4))* Optimize telemetry packet generation and reduce commutation interference ([b3b8560](https://github.com/mathiasvr/bluejay/commit/b3b8560dd5ed0e8d21de688de638183efdb63645))
## [0.4.0](https://github.com/mathiasvr/bluejay/compare/v0.3.0...v0.4.0) (2020-11-07)
### Features
* Add 10-bit dithering ([240d307](https://github.com/mathiasvr/bluejay/commit/240d3078fdbbb3f8e6a538c4a1d9bae713dcbd03))* Add 96kHz pwm for 48MHz mcus ([8818252](https://github.com/mathiasvr/bluejay/commit/8818252485af2939bfc4339f6983537afac95923))
### Performance Improvements
* Optimize pwm scaling ([9eebccb](https://github.com/mathiasvr/bluejay/commit/9eebccb3f3e15141da84f2e71e744f6a22eb4e2f))* Optimize timer 2 interrupt ([70829f9](https://github.com/mathiasvr/bluejay/commit/70829f97beef91d1dd8507ac06c922cb19813d6e))
## [0.3.0](https://github.com/mathiasvr/bluejay/compare/v0.2.1...v0.3.0) (2020-10-31)
### Features
* Add 48kHz pwm option ([01642d7](https://github.com/mathiasvr/bluejay/commit/01642d718a83105b1fb22a8b12fdf5a125f5c110))
### Bug Fixes
* Fix telemetry data conversion bug ([8e56a2a](https://github.com/mathiasvr/bluejay/commit/8e56a2a3772f94acbaef8d0237dbc114ae72b14f))* Update telemetry start delay ([596d3be](https://github.com/mathiasvr/bluejay/commit/596d3bee2c698d775a090cf670c4d3ab69009934))
### Performance Improvements
* Micro-optimize telemetry packet creation ([c9640f9](https://github.com/mathiasvr/bluejay/commit/c9640f9e5ae6dc4f11ec2650603d30b37596ee38))
## [0.2.1](https://github.com/mathiasvr/bluejay/compare/v0.2.0...v0.2.1) (2020-10-25)
### Bug Fixes
* Reduce telemetry commutation interference ([9e95239](https://github.com/mathiasvr/bluejay/commit/9e95239c4a99694a6923d3ddf24dd99d2e47dcda))
### Performance Improvements
* Optimize some jumps ([a23c3b8](https://github.com/mathiasvr/bluejay/commit/a23c3b8372bc3022ba1f00490c198a8fc85b35af))* Remove adc conversion call ([1d69c07](https://github.com/mathiasvr/bluejay/commit/1d69c071f74ed4459f83c6a462ef812f94e23775))* Remove redundant instruction in telemetry code ([753bb73](https://github.com/mathiasvr/bluejay/commit/753bb73f80c428d434a459f9397914aea385906c))* Remove rendundant jumps ([9bd8ffe](https://github.com/mathiasvr/bluejay/commit/9bd8ffe6cc40b5539dfe73a7b9ef6681b6e62c43))
## [0.2.0](https://github.com/mathiasvr/bluejay/compare/v0.1.0...v0.2.0) (2020-10-21)
First version with **Bluejay** as project name.
### ⚠ BREAKING CHANGES
* Remove legacy (non-DShot) protocols ([efde8c4](https://github.com/mathiasvr/bluejay/commit/efde8c430d5d256451af9b92b7fb4b5c73d8b9a4))
### Bug Fixes
* Clear DShot cmd on pulse outside range ([2030235](https://github.com/mathiasvr/bluejay/commit/2030235ea7b7a69db24ed2c33ddf96a7adae7fed))* Correct DShot 12-bit encoding ([a4f706e](https://github.com/mathiasvr/bluejay/commit/a4f706e3a6e45409d78c30a51a2bf816a61b58f7))* Reset commutation period on idle ([d805fb6](https://github.com/mathiasvr/bluejay/commit/d805fb6ee1a6dd9fa58e7f996d5ed0a724cba7f0))
### Performance Improvements
* Micro-optimize RCP limit check ([1d7dcef](https://github.com/mathiasvr/bluejay/commit/1d7dcef3d9b1bae2660935fc18114c412a1593c8))* Optimize a few zero checks ([40fe9e9](https://github.com/mathiasvr/bluejay/commit/40fe9e9e7395f80868ec35550f1c34e12f08e725))* Optimize adjust_timing_two_steps routine ([a9ca295](https://github.com/mathiasvr/bluejay/commit/a9ca2957a3d2743580d9d85222ca2e5caf08923d))* Optimize comp read jumps ([703d70a](https://github.com/mathiasvr/bluejay/commit/703d70acfd8b2f520600da151b8163ca2b5d40ed))* Optimize new_rcp stop check ([6300e84](https://github.com/mathiasvr/bluejay/commit/6300e84999b1c86f4a681068dc3f295293d681a2))* Remove a few unnecessary instructions ([44ff551](https://github.com/mathiasvr/bluejay/commit/44ff551a1f1e955a7a5650f76985d11c02770fdc))* Remove double jumps ([8d19ac1](https://github.com/mathiasvr/bluejay/commit/8d19ac133839503ea2fcc6693d4f21045c8703d6))* Simplify demag update check ([23df751](https://github.com/mathiasvr/bluejay/commit/23df7513b0c60633082c23be97e8b8e909b1a0c8))
## [0.1.0](https://github.com/mathiasvr/bluejay/compare/b2a7afbfb86c67aafa7ce7f9fe54047175a1d50a...v0.1.0) (2020-10-18)
Initial version based on BLHeli_S revision 16.7.
- Telemetry encoding method credits to [JazzMaverick](https://github.com/JazzMaverick).
### Features
* Add bidirectional DShot e-period telemetry ([b3b7467](https://github.com/mathiasvr/bluejay/commit/b3b7467852e4d9da7f11545e1bd9e96b4812aa52))
### Performance Improvements
* Prescale DShot thresholds ([c11769a](https://github.com/mathiasvr/bluejay/commit/c11769a5f66dc71f04799ed2f47906ed631c7d2c))* Prescale DShot thresholds (further) ([5e55c7f](https://github.com/mathiasvr/bluejay/commit/5e55c7f27fc0fc4a1142898748e8961c7ed9f885))* Reduce DShot decode code ([b2a7afb](https://github.com/mathiasvr/bluejay/commit/b2a7afbfb86c67aafa7ce7f9fe54047175a1d50a))* Reduce DShot decode code (further) ([6a65bab](https://github.com/mathiasvr/bluejay/commit/6a65babc3bc74bd98bc27770329ef7b896eb7cdb))* Reduce DShot invert code ([ac6b456](https://github.com/mathiasvr/bluejay/commit/ac6b4567d1dbebd629da044c16e1813fa1e0fa38))
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