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style: Update style and comments

Mathias Rasmussen 4 years ago
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5d1325b108
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1188358946
2 changed files with 97 additions and 102 deletions
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  1. 191
      Bluejay.asm
  2. 8
      Common.inc

191
Bluejay.asm
View File

@ -25,15 +25,11 @@ $NOMOD51
; ;
; Bluejay is a fork of BLHeli_S <https://github.com/bitdump/BLHeli> by Steffen Skaug. ; Bluejay is a fork of BLHeli_S <https://github.com/bitdump/BLHeli> by Steffen Skaug.
; ;
; The input signal can be DShot with rates: DShot150, DShot300 and DShot600. A 48MHz MCU is required for DShot600.
; The input signal can be DShot with rates: DShot150, DShot300 and DShot600.
; ;
; This file is best viewed with tab width set to 5. ; This file is best viewed with tab width set to 5.
; ;
;**** **** **** **** **** ;**** **** **** **** ****
; Minimum 8K Bytes of In-System Self-Programmable Flash
; Minimum 512 Bytes Internal SRAM
;
;**** **** **** **** ****
; Master clock is internal 24MHz oscillator (or 48MHz, for which the times below are halved) ; Master clock is internal 24MHz oscillator (or 48MHz, for which the times below are halved)
; Although 24/48 are used in the code, the exact clock frequencies are 24.5MHz or 49.0 MHz ; Although 24/48 are used in the code, the exact clock frequencies are 24.5MHz or 49.0 MHz
; Timer 0 (41.67ns counts) always counts up and is used for ; Timer 0 (41.67ns counts) always counts up and is used for
@ -49,13 +45,6 @@ $NOMOD51
; - Hardware PWM generation ; - Hardware PWM generation
; ;
;**** **** **** **** **** ;**** **** **** **** ****
; Interrupt handling
; The C8051 does not disable interrupts when entering an interrupt routine.
; Also some interrupt flags need to be cleared by software
; The code disables interrupts in some interrupt routines
; - Interrupts are disabled during beeps, to avoid audible interference from interrupts
;
;**** **** **** **** ****
; Motor control: ; Motor control:
; - Brushless motor control with 6 states for each electrical 360 degrees ; - Brushless motor control with 6 states for each electrical 360 degrees
; - An advance timing of 0deg has zero cross 30deg after one commutation and 30deg before the next ; - An advance timing of 0deg has zero cross 30deg after one commutation and 30deg before the next
@ -253,44 +242,44 @@ DShot_GCR_Pulse_Time_3: DS 1 ; Encodes binary: 001
; Indirect addressing data segment. The variables below must be in this sequence ; Indirect addressing data segment. The variables below must be in this sequence
ISEG AT 080h ISEG AT 080h
_Pgm_Gov_P_Gain: DS 1 ; Programmed governor P gain
_Pgm_Gov_I_Gain: DS 1 ; Programmed governor I gain
_Pgm_Gov_Mode: DS 1 ; Programmed governor mode
_Pgm_Low_Voltage_Lim: DS 1 ; Programmed low voltage limit
_Pgm_Motor_Gain: DS 1 ; Programmed motor gain
_Pgm_Motor_Idle: DS 1 ; Programmed motor idle speed
Pgm_Startup_Pwr: DS 1 ; Programmed startup power
_Pgm_Pwm_Freq: DS 1 ; Programmed pwm frequency
Pgm_Direction: DS 1 ; Programmed rotation direction
_Pgm_Input_Pol: DS 1 ; Programmed input pwm polarity
_Pgm_Gov_P_Gain: DS 1 ; Governor P gain
_Pgm_Gov_I_Gain: DS 1 ; Governor I gain
_Pgm_Gov_Mode: DS 1 ; Governor mode
_Pgm_Low_Voltage_Lim: DS 1 ; Low voltage limit
_Pgm_Motor_Gain: DS 1 ; Motor gain
_Pgm_Motor_Idle: DS 1 ; Motor idle speed
Pgm_Startup_Pwr: DS 1 ; Startup power
_Pgm_Pwm_Freq: DS 1 ; PWM frequency
Pgm_Direction: DS 1 ; Rotation direction
_Pgm_Input_Pol: DS 1 ; Input PWM polarity
Initialized_L_Dummy: DS 1 ; Place holder Initialized_L_Dummy: DS 1 ; Place holder
Initialized_H_Dummy: DS 1 ; Place holder Initialized_H_Dummy: DS 1 ; Place holder
_Pgm_Enable_TX_Program: DS 1 ; Programmed enable/disable value for TX programming
_Pgm_Main_Rearm_Start: DS 1 ; Programmed enable/disable re-arming main every start
_Pgm_Gov_Setup_Target: DS 1 ; Programmed main governor setup target
_Pgm_Startup_Rpm: DS 1 ; Programmed startup rpm (unused - place holder)
_Pgm_Startup_Accel: DS 1 ; Programmed startup acceleration (unused - place holder)
_Pgm_Volt_Comp: DS 1 ; Place holder
Pgm_Comm_Timing: DS 1 ; Programmed commutation timing
_Pgm_Damping_Force: DS 1 ; Programmed damping force (unused - place holder)
_Pgm_Gov_Range: DS 1 ; Programmed governor range
_Pgm_Startup_Method: DS 1 ; Programmed startup method (unused - place holder)
_Pgm_Min_Throttle: DS 1 ; Programmed throttle minimum
_Pgm_Max_Throttle: DS 1 ; Programmed throttle maximum
Pgm_Beep_Strength: DS 1 ; Programmed beep strength
Pgm_Beacon_Strength: DS 1 ; Programmed beacon strength
Pgm_Beacon_Delay: DS 1 ; Programmed beacon delay
_Pgm_Throttle_Rate: DS 1 ; Programmed throttle rate (unused - place holder)
Pgm_Demag_Comp: DS 1 ; Programmed demag compensation
_Pgm_BEC_Voltage_High: DS 1 ; Programmed BEC voltage
_Pgm_Center_Throttle: DS 1 ; Programmed throttle center (in bidirectional mode)
_Pgm_Main_Spoolup_Time: DS 1 ; Programmed main spoolup time
Pgm_Enable_Temp_Prot: DS 1 ; Programmed temperature protection enable
Pgm_Enable_Power_Prot: DS 1 ; Programmed low rpm power protection enable
_Pgm_Enable_Pwm_Input: DS 1 ; Programmed PWM input signal enable
_Pgm_Pwm_Dither: DS 1 ; Programmed output PWM dither
Pgm_Brake_On_Stop: DS 1 ; Programmed braking when throttle is zero
Pgm_LED_Control: DS 1 ; Programmed LED control
_Pgm_Enable_TX_Program: DS 1 ; Enable/disable value for TX programming
_Pgm_Main_Rearm_Start: DS 1 ; Enable/disable re-arming main every start
_Pgm_Gov_Setup_Target: DS 1 ; Main governor setup target
_Pgm_Startup_Rpm: DS 1 ; Startup RPM
_Pgm_Startup_Accel: DS 1 ; Startup acceleration
_Pgm_Volt_Comp: DS 1 ; Voltage comp
Pgm_Comm_Timing: DS 1 ; Commutation timing
_Pgm_Damping_Force: DS 1 ; Damping force
_Pgm_Gov_Range: DS 1 ; Governor range
_Pgm_Startup_Method: DS 1 ; Startup method
_Pgm_Min_Throttle: DS 1 ; Minimum throttle
_Pgm_Max_Throttle: DS 1 ; Maximum throttle
Pgm_Beep_Strength: DS 1 ; Beep strength
Pgm_Beacon_Strength: DS 1 ; Beacon strength
Pgm_Beacon_Delay: DS 1 ; Beacon delay
_Pgm_Throttle_Rate: DS 1 ; Throttle rate
Pgm_Demag_Comp: DS 1 ; Demag compensation
_Pgm_BEC_Voltage_High: DS 1 ; BEC voltage
_Pgm_Center_Throttle: DS 1 ; Center throttle (in bidirectional mode)
_Pgm_Main_Spoolup_Time: DS 1 ; Main spoolup time
Pgm_Enable_Temp_Prot: DS 1 ; Temperature protection enable
Pgm_Enable_Power_Prot: DS 1 ; Low RPM power protection enable
_Pgm_Enable_Pwm_Input: DS 1 ; Enable PWM input signal
_Pgm_Pwm_Dither: DS 1 ; Output PWM dither
Pgm_Brake_On_Stop: DS 1 ; Braking when throttle is zero
Pgm_LED_Control: DS 1 ; LED control
; The sequence of the variables below is no longer of importance ; The sequence of the variables below is no longer of importance
Pgm_Startup_Pwr_Decoded: DS 1 ; Programmed startup power decoded Pgm_Startup_Pwr_Decoded: DS 1 ; Programmed startup power decoded
@ -529,7 +518,6 @@ t1_int_outside_range:
inc Rcp_Outside_Range_Cnt inc Rcp_Outside_Range_Cnt
mov A, Rcp_Outside_Range_Cnt mov A, Rcp_Outside_Range_Cnt
jnz ($+4) jnz ($+4)
dec Rcp_Outside_Range_Cnt dec Rcp_Outside_Range_Cnt
clr C clr C
@ -791,7 +779,7 @@ IF PWM_BITS_H < 2
rl A ; Rotate pattern rl A ; Rotate pattern
mov @Temp1, A ; Store pattern mov @Temp1, A ; Store pattern
jnb ACC.0, dithering_done
jnb ACC.0, dithering_done
mov A, Temp2 mov A, Temp2
add A, #1 add A, #1
@ -1430,10 +1418,10 @@ dshot_packet_stage_6:
dshot_packet_factory: dshot_packet_factory:
push PSW push PSW
mov PSW, #10h ; Select register bank 2
mov PSW, #10h ; Select register bank 2
mov A, Temp5 ; dshot_packet_stage
rl A ; multiply by 2 to match jump offsets
mov A, Temp5 ; dshot_packet_stage
rl A ; Multiply by 2 to match jump offsets
mov DPTR, #dshot_packet_stage_jump_table mov DPTR, #dshot_packet_stage_jump_table
jmp @A+DPTR jmp @A+DPTR
dshot_packet_stage_jump_table: dshot_packet_stage_jump_table:
@ -1563,9 +1551,9 @@ ENDIF
set_pwm_limit_high_rpm_inc_limit: set_pwm_limit_high_rpm_inc_limit:
inc A inc A
set_pwm_limit_high_rpm_store: set_pwm_limit_high_rpm_store:
jz ($+4) jz ($+4)
mov Pwm_Limit_By_Rpm, A mov Pwm_Limit_By_Rpm, A
ret ret
@ -2016,8 +2004,7 @@ calc_next_comm_timing_fast:
clr C clr C
subb A, Temp1 subb A, Temp1
mov Temp3, A mov Temp3, A
jc load_min_time_fast ; Check that result is still positive
jc load_min_time_fast ; Check that result is still positive
jnz calc_new_wait_times_fast_done ; Check that result is still above minumum jnz calc_new_wait_times_fast_done ; Check that result is still above minumum
load_min_time_fast: load_min_time_fast:
@ -2158,7 +2145,8 @@ store_times_decrease:
mov Wt_Zc_Scan_Start_H, Temp6 mov Wt_Zc_Scan_Start_H, Temp6
jnb Flag_STARTUP_PHASE, store_times_exit jnb Flag_STARTUP_PHASE, store_times_exit
mov Wt_Comm_Start_L, #0F0h ; Set very short delays for all but advance time during startup, in order to widen zero cross capture range
; Set very short delays for all but advance time during startup, in order to widen zero cross capture range
mov Wt_Comm_Start_L, #0F0h
mov Wt_Comm_Start_H, #0FFh mov Wt_Comm_Start_H, #0FFh
mov Wt_Zc_Scan_Start_L, #0F0h mov Wt_Zc_Scan_Start_L, #0F0h
mov Wt_Zc_Scan_Start_H, #0FFh mov Wt_Zc_Scan_Start_H, #0FFh
@ -2803,46 +2791,46 @@ switch_power_off:
;**** **** **** **** **** **** **** **** **** **** **** **** **** ;**** **** **** **** **** **** **** **** **** **** **** **** ****
set_default_parameters: set_default_parameters:
mov Temp1, #_Pgm_Gov_P_Gain mov Temp1, #_Pgm_Gov_P_Gain
Push_Mem Temp1, #0FFh ; Governor P gain
Push_Mem Temp1, #0FFh ; Governor I gain
Push_Mem Temp1, #0FFh ; Governor mode
Push_Mem Temp1, #0FFh ; Low voltage limit
Push_Mem Temp1, #0FFh ; Multi gain
Push_Mem Temp1, #0FFh
Push_Mem Temp1, #DEFAULT_PGM_STARTUP_PWR
Push_Mem Temp1, #0FFh ; Pwm freq
Push_Mem Temp1, #DEFAULT_PGM_DIRECTION
Push_Mem Temp1, #0FFh ; Input polarity
inc Temp1 ; Skip Eep_Initialized_L
inc Temp1 ; Skip Eep_Initialized_H
Push_Mem Temp1, #0FFh ; Enable tx programming
Push_Mem Temp1, #0FFh ; Main rearm start
Push_Mem Temp1, #0FFh ; Governor setup target
Push_Mem Temp1, #0FFh ; Startup rpm
Push_Mem Temp1, #0FFh ; Startup accel
Push_Mem Temp1, #0FFh ; Voltage comp
Push_Mem Temp1, #DEFAULT_PGM_COMM_TIMING
Push_Mem Temp1, #0FFh ; Damping force
Push_Mem Temp1, #0FFh ; Governor range
Push_Mem Temp1, #0FFh ; Startup method
Push_Mem Temp1, #0FFh ; Minimum throttle
Push_Mem Temp1, #0FFh ; Maximum throttle
Push_Mem Temp1, #DEFAULT_PGM_BEEP_STRENGTH
Push_Mem Temp1, #DEFAULT_PGM_BEACON_STRENGTH
Push_Mem Temp1, #DEFAULT_PGM_BEACON_DELAY
Push_Mem Temp1, #0FFh ; Throttle rate
Push_Mem Temp1, #DEFAULT_PGM_DEMAG_COMP
Push_Mem Temp1, #0FFh ; Bec voltage high
Push_Mem Temp1, #0FFh ; Center throttle
Push_Mem Temp1, #0FFh
Push_Mem Temp1, #DEFAULT_PGM_ENABLE_TEMP_PROT
Push_Mem Temp1, #DEFAULT_PGM_ENABLE_POWER_PROT
Push_Mem Temp1, #0FFh ; Enable pwm input
Push_Mem Temp1, #0FFh ; Pwm dither
Push_Mem Temp1, #DEFAULT_PGM_BRAKE_ON_STOP
Push_Mem Temp1, #DEFAULT_PGM_LED_CONTROL
Push_Mem Temp1, #0FFh ; _Pgm_Gov_P_Gain
Push_Mem Temp1, #0FFh ; _Pgm_Gov_I_Gain
Push_Mem Temp1, #0FFh ; _Pgm_Gov_Mode
Push_Mem Temp1, #0FFh ; _Pgm_Low_Voltage_Lim
Push_Mem Temp1, #0FFh ; _Pgm_Motor_Gain
Push_Mem Temp1, #0FFh ; _Pgm_Motor_Idle
Push_Mem Temp1, #DEFAULT_PGM_STARTUP_PWR ; Pgm_Startup_Pwr
Push_Mem Temp1, #0FFh ; _Pgm_Pwm_Freq
Push_Mem Temp1, #DEFAULT_PGM_DIRECTION ; Pgm_Direction
Push_Mem Temp1, #0FFh ; _Pgm_Input_Pol
inc Temp1 ; Skip Initialized_L_Dummy
inc Temp1 ; Skip Initialized_H_Dummy
Push_Mem Temp1, #0FFh ; _Pgm_Enable_TX_Program
Push_Mem Temp1, #0FFh ; _Pgm_Main_Rearm_Start
Push_Mem Temp1, #0FFh ; _Pgm_Gov_Setup_Target
Push_Mem Temp1, #0FFh ; _Pgm_Startup_Rpm
Push_Mem Temp1, #0FFh ; _Pgm_Startup_Accel
Push_Mem Temp1, #0FFh ; _Pgm_Volt_Comp
Push_Mem Temp1, #DEFAULT_PGM_COMM_TIMING ; Pgm_Comm_Timing
Push_Mem Temp1, #0FFh ; _Pgm_Damping_Force
Push_Mem Temp1, #0FFh ; _Pgm_Gov_Range
Push_Mem Temp1, #0FFh ; _Pgm_Startup_Method
Push_Mem Temp1, #0FFh ; _Pgm_Min_Throttle
Push_Mem Temp1, #0FFh ; _Pgm_Max_Throttle
Push_Mem Temp1, #DEFAULT_PGM_BEEP_STRENGTH ; Pgm_Beep_Strength
Push_Mem Temp1, #DEFAULT_PGM_BEACON_STRENGTH ; Pgm_Beacon_Strength
Push_Mem Temp1, #DEFAULT_PGM_BEACON_DELAY ; Pgm_Beacon_Delay
Push_Mem Temp1, #0FFh ; _Pgm_Throttle_Rate
Push_Mem Temp1, #DEFAULT_PGM_DEMAG_COMP ; Pgm_Demag_Comp
Push_Mem Temp1, #0FFh ; _Pgm_BEC_Voltage_High
Push_Mem Temp1, #0FFh ; _Pgm_Center_Throttle
Push_Mem Temp1, #0FFh ; _Pgm_Main_Spoolup_Time
Push_Mem Temp1, #DEFAULT_PGM_ENABLE_TEMP_PROT ; Pgm_Enable_Temp_Prot
Push_Mem Temp1, #DEFAULT_PGM_ENABLE_POWER_PROT ; Pgm_Enable_Power_Prot
Push_Mem Temp1, #0FFh ; _Pgm_Enable_Pwm_Input
Push_Mem Temp1, #0FFh ; _Pgm_Pwm_Dither
Push_Mem Temp1, #DEFAULT_PGM_BRAKE_ON_STOP ; Pgm_Brake_On_Stop
Push_Mem Temp1, #DEFAULT_PGM_LED_CONTROL ; Pgm_LED_Control
ret ret
@ -2995,7 +2983,6 @@ led_3_done:
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** **** ;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** **** ;**** **** **** **** **** **** **** **** **** **** **** **** ****
; ;
@ -3003,8 +2990,6 @@ led_3_done:
; ;
;**** **** **** **** **** **** **** **** **** **** **** **** **** ;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** **** ;**** **** **** **** **** **** **** **** **** **** **** **** ****
;**** **** **** **** **** **** **** **** **** **** **** **** ****
pgm_start: pgm_start:
; Initialize flash keys to invalid values ; Initialize flash keys to invalid values
mov Flash_Key_1, #0 mov Flash_Key_1, #0
@ -3385,6 +3370,7 @@ dshot_beep_5:
sjmp clear_dshot_cmd sjmp clear_dshot_cmd
dshot_direction_1: dshot_direction_1:
; Change programmed motor direction to normal
cjne Temp1, #7, dshot_direction_2 cjne Temp1, #7, dshot_direction_2
clr C clr C
@ -3402,6 +3388,7 @@ dshot_direction_1:
sjmp clear_dshot_cmd sjmp clear_dshot_cmd
dshot_direction_2: dshot_direction_2:
; Change programmed motor direction to reversed
cjne Temp1, #8, dshot_direction_bidir_off cjne Temp1, #8, dshot_direction_bidir_off
clr C clr C
@ -3419,6 +3406,7 @@ dshot_direction_2:
sjmp clear_dshot_cmd sjmp clear_dshot_cmd
dshot_direction_bidir_off: dshot_direction_bidir_off:
; Change programmed motor mode to normal (not bidirectional)
cjne Temp1, #9, dshot_direction_bidir_on cjne Temp1, #9, dshot_direction_bidir_on
clr C clr C
@ -3437,6 +3425,7 @@ dshot_direction_bidir_off:
sjmp clear_dshot_cmd sjmp clear_dshot_cmd
dshot_direction_bidir_on: dshot_direction_bidir_on:
; Change programmed motor mode to bidirectional
cjne Temp1, #10, dshot_direction_normal cjne Temp1, #10, dshot_direction_normal
clr C clr C
@ -3460,6 +3449,7 @@ dont_clear_dshot_cmd:
ajmp wait_for_power_on_not_missing ajmp wait_for_power_on_not_missing
dshot_direction_normal: dshot_direction_normal:
; Change programmed motor direction to that stored in eeprom
cjne Temp1, #20, dshot_direction_reverse cjne Temp1, #20, dshot_direction_reverse
clr C clr C
@ -3484,6 +3474,7 @@ dshot_direction_normal:
sjmp clear_dshot_cmd sjmp clear_dshot_cmd
dshot_direction_reverse: ; Temporary reverse dshot_direction_reverse: ; Temporary reverse
; Change programmed motor direction to the reverse of what is stored in eeprom
cjne Temp1, #21, dshot_save_settings cjne Temp1, #21, dshot_save_settings
clr C clr C

8
Common.inc
View File

@ -253,16 +253,20 @@ ENDM
Set_MCU_Clk_24MHz MACRO Set_MCU_Clk_24MHz MACRO
mov CLKSEL, #13h ; Set clock to 24MHz mov CLKSEL, #13h ; Set clock to 24MHz
mov SFRPAGE, #10h mov SFRPAGE, #10h
mov PFE0CN, #00h ; Set flash timing for 24MHz
mov PFE0CN, #00h ; Set flash timing for 24MHz and disable prefetch engine
mov SFRPAGE, #00h mov SFRPAGE, #00h
clr Flag_CLOCK_SET_AT_48MHZ clr Flag_CLOCK_SET_AT_48MHZ
ENDM ENDM
Set_MCU_Clk_48MHz MACRO Set_MCU_Clk_48MHz MACRO
mov SFRPAGE, #10h mov SFRPAGE, #10h
mov PFE0CN, #30h ; Set flash timing for 48MHz
mov PFE0CN, #30h ; Set flash timing for 48MHz and enable prefetch engine
mov SFRPAGE, #00h mov SFRPAGE, #00h
mov CLKSEL, #03h ; Set clock to 48MHz mov CLKSEL, #03h ; Set clock to 48MHz
setb Flag_CLOCK_SET_AT_48MHZ setb Flag_CLOCK_SET_AT_48MHZ
ENDM ENDM
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