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@ -1,14 +1,44 @@ |
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;**** **** **** **** **** |
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; |
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; Bluejay digital ESC firmware for controlling brushless motors in multirotors |
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; |
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; Copyright 2020 Mathias Rasmussen |
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; Copyright 2011, 2012 Steffen Skaug |
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; |
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; This file is part of Bluejay. |
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; |
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; Bluejay is free software: you can redistribute it and/or modify |
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; it under the terms of the GNU General Public License as published by |
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; the Free Software Foundation, either version 3 of the License, or |
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; (at your option) any later version. |
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; |
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; Bluejay is distributed in the hope that it will be useful, |
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; but WITHOUT ANY WARRANTY; without even the implied warranty of |
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; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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; GNU General Public License for more details. |
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; |
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; You should have received a copy of the GNU General Public License |
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; along with Bluejay. If not, see <http://www.gnu.org/licenses/>. |
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; |
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;**** **** **** **** **** |
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; |
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; Base layout |
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; |
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; The inheriting layout should |
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; - Specify PWM_ACTIVE_HIGH, COMPWM_ACTIVE_HIGH and COMP_PORT |
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; - Set CUSTOM_* flags to override default implementation |
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; |
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;**** **** **** **** **** |
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;**** **** **** **** **** |
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; Bootloader definitions |
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;**** **** **** **** **** |
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RTX_PORT EQU P0 ; Receive/Transmit port |
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RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL |
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RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL |
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RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP |
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RTX_PIN EQU Rcp_In ; RTX pin |
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RTX_PORT EQU P0 ; Receive/Transmit port |
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RTX_MDOUT EQU P0MDOUT ; Set to 1 for PUSHPULL |
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RTX_MDIN EQU P0MDIN ; Set to 1 for DIGITAL |
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RTX_SKIP EQU P0SKIP ; Set to 1 for SKIP |
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RTX_PIN EQU Rcp_In ; RTX pin |
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;**** **** **** **** **** |
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@ -17,8 +47,8 @@ RTX_PIN EQU Rcp_In ; RTX pin |
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$if NOT CUSTOM_PWM_SETUP |
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Initialize_Xbar MACRO |
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mov XBR2, #40h ;; Xbar enabled |
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mov XBR1, #02h ;; CEX0 and CEX1 routed to pins |
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mov XBR2, #40h ;; Xbar enabled |
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mov XBR1, #02h ;; CEX0 and CEX1 routed to pins |
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ENDM |
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Set_Pwm_Polarity MACRO |
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@ -36,41 +66,41 @@ $endif |
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; Comparator setup and phase change |
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;**** **** **** **** **** |
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IF COMP_PORT == 0 |
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CMP_CN0 EQU CMP0CN0 |
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CMP_MD EQU CMP0MD |
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CMP_MX EQU CMP0MX |
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CMP_CN0 EQU CMP0CN0 |
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CMP_MD EQU CMP0MD |
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CMP_MX EQU CMP0MX |
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ELSE |
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CMP_CN0 EQU CMP1CN0 |
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CMP_MD EQU CMP1MD |
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CMP_MX EQU CMP1MX |
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CMP_CN0 EQU CMP1CN0 |
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CMP_MD EQU CMP1MD |
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CMP_MX EQU CMP1MX |
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ENDIF |
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$if NOT CUSTOM_COMP_SETUP |
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Initialize_Comparator MACRO |
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mov CMP_CN0, #80h ;; Comparator enabled, no hysteresis |
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mov CMP_MD, #00h ;; Comparator response time 100ns |
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mov CMP_CN0, #80h ;; Comparator enabled, no hysteresis |
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mov CMP_MD, #00h ;; Comparator response time 100ns |
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ENDM |
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Read_Comp_Out MACRO |
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mov A, CMP_CN0 ;; Read comparator output |
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mov A, CMP_CN0 ;; Read comparator output |
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ENDM |
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$endif |
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; Set comparator multiplexer to phase A |
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Set_Comp_Phase_A MACRO |
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mov CMP_MX, #((A_Mux SHL 4) + Comp_Com) |
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mov CMP_MX, #((A_Mux SHL 4) + Comp_Com) |
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ENDM |
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; Set comparator multiplexer to phase B |
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Set_Comp_Phase_B MACRO |
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mov CMP_MX, #((B_Mux SHL 4) + Comp_Com) |
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mov CMP_MX, #((B_Mux SHL 4) + Comp_Com) |
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ENDM |
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; Set comparator multiplexer to phase C |
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Set_Comp_Phase_C MACRO |
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mov CMP_MX, #((C_Mux SHL 4) + Comp_Com) |
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mov CMP_MX, #((C_Mux SHL 4) + Comp_Com) |
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ENDM |
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@ -122,22 +152,22 @@ $endif |
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;**** **** **** **** **** |
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; Fets on/off toggling |
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; Toggling FETs on/off |
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;**** **** **** **** **** |
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$if NOT CUSTOM_FET_TOGGLING |
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IF PWM_ACTIVE_HIGH == 1 ; fet active high |
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IF PWM_ACTIVE_HIGH == 1 ; PWM FET active high |
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pON LIT 'setb' |
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pOFF LIT 'clr' |
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ELSE ; fet active low |
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ELSE ; PWM FET active low |
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pON LIT 'clr' |
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pOFF LIT 'setb' |
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ENDIF |
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IF COMPWM_ACTIVE_HIGH == 1 ; comfet active high |
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IF COMPWM_ACTIVE_HIGH == 1 ; COM FET active high |
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cON LIT 'setb' |
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cOFF LIT 'clr' |
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ELSE ; comfet active low |
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ELSE ; COM FET active low |
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cON LIT 'clr' |
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cOFF LIT 'setb' |
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ENDIF |
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@ -194,7 +224,6 @@ All_pwmFETs_Off MACRO |
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ENDM |
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AcomFET_on MACRO |
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IF FETON_DELAY == 0 |
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pOFF P_ApwmFET |
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@ -237,39 +266,11 @@ ENDM |
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$endif |
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$if NOT CUSTOM_LED |
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Set_LED_0 MACRO |
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ENDM |
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Clear_LED_0 MACRO |
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ENDM |
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Set_LED_1 MACRO |
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ENDM |
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Clear_LED_1 MACRO |
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ENDM |
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Set_LED_2 MACRO |
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ENDM |
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Clear_LED_2 MACRO |
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ENDM |
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Set_LED_3 MACRO |
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ENDM |
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Clear_LED_3 MACRO |
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ENDM |
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$endif |
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;**** **** **** **** **** |
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; ADC and temperature measurement |
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;**** **** **** **** **** |
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TEMP_LIMIT EQU 49 ; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1) |
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TEMP_LIMIT_STEP EQU 9 ; Temperature measurement ADC value increment for another 10degC |
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TEMP_LIMIT EQU 49 ; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1) |
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TEMP_LIMIT_STEP EQU 9 ; Temperature measurement ADC value increment for another 10degC |
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Initialize_Adc MACRO |
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mov REF0CN, #0Ch ;; Set vdd (3.3V) as reference. Enable temp sensor and bias |
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@ -296,3 +297,33 @@ Stop_Adc MACRO |
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ENDM |
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;**** **** **** **** **** |
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; LEDs |
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;**** **** **** **** **** |
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$if NOT CUSTOM_LED |
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Set_LED_0 MACRO |
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ENDM |
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Clear_LED_0 MACRO |
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ENDM |
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Set_LED_1 MACRO |
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ENDM |
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Clear_LED_1 MACRO |
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ENDM |
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Set_LED_2 MACRO |
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ENDM |
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Clear_LED_2 MACRO |
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ENDM |
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Set_LED_3 MACRO |
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ENDM |
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Clear_LED_3 MACRO |
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ENDM |
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$endif |
Mathias Rasmussen
4 years ago