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refactor: Add macros for compound instructions

main
Mathias Rasmussen 4 years ago
parent
c48f41f381
commit
7032033182
1 changed files with 58 additions and 96 deletions
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  1. 154
      Bluejay.asm

154
Bluejay.asm
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@ -452,9 +452,7 @@ Decode_DShot_2Bit MACRO dest, decode_fail
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
rlca dest ; Shift bit into data byte
inc Temp1 ; Next bit
movx A, @Temp1
@ -466,12 +464,36 @@ Decode_DShot_2Bit MACRO dest, decode_fail
jc decode_fail
subb A, Temp2
mov A, dest
rlc A
mov dest, A
rlca dest
inc Temp1
ENDM
;**** **** **** **** ****
; Compound instructions for convenience
xcha MACRO var1, var2 ;; Exchange via accumulator
mov A, var1
xch A, var2
mov var1, A
ENDM
rrca MACRO var ;; Rotate right through carry via accumulator
mov A, var
rrc A
mov var, A
ENDM
rlca MACRO var ;; Rotate left through carry via accumulator
mov A, var
rlc A
mov var, A
ENDM
rla MACRO var ;; Rotate left via accumulator
mov A, var
rl A
mov var, A
ENDM
;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
@ -686,12 +708,8 @@ t1_int_bidir_rev_chk:
cpl Flag_Rcp_Dir_Rev
clr C ; Multiply throttle value by 2
mov A, Temp4
rlc A
mov Temp4, A
mov A, Temp5
rlc A
mov Temp5, A
rlca Temp4
rlca Temp5
t1_int_not_bidir:
; Generate 4/256
@ -702,12 +720,8 @@ t1_int_not_bidir:
mov Temp3, A
; Align to 11 bits
clr C
mov A, Temp5
rrc A
mov Temp5, A
mov A, Temp4
rrc A
mov Temp4, A
rrca Temp5
rrca Temp4
; Scale from 2000 to 2048
mov A, Temp4
add A, Temp3 ; Holds 4/128
@ -739,9 +753,7 @@ t1_int_startup_boost_stall:
addc A, #0
mov Temp5, A
mov A, B
rl A ; Nonlinear increase
mov B, A
rla B ; Nonlinear increase
djnz Temp6, t1_int_startup_boost_stall ; Add more boost when stalling
@ -1512,15 +1524,9 @@ calc_next_comm_timing: ; Entry point for run phase
setb IE_EA
IF MCU_48MHZ == 1
clr C
mov A, Temp3
rrc A
mov Temp3, A
mov A, Temp2
rrc A
mov Temp2, A
mov A, Temp1
rrc A
mov Temp1, A
rrca Temp3
rrca Temp2
rrca Temp1
ENDIF
; Calculate this commutation time
mov Temp4, Prev_Comm_L
@ -1622,12 +1628,8 @@ calc_next_comm_normal:
calc_next_comm_avg_period_div:
clr C
mov A, Temp6
rrc A ; Divide by 2
mov Temp6, A
mov A, Temp5
rrc A
mov Temp5, A
rrca Temp6 ; Divide by 2
rrca Temp5
djnz Temp7, calc_next_comm_avg_period_div
clr C
@ -1642,12 +1644,8 @@ calc_next_comm_avg_period_div:
calc_next_comm_new_period_div:
clr C
mov A, Temp2
rrc A ; Divide by 2
mov Temp2, A
mov A, Temp1
rrc A
mov Temp1, A
rrca Temp2 ; Divide by 2
rrca Temp1
djnz Temp8, calc_next_comm_new_period_div
calc_next_comm_new_period_div_done:
@ -1846,12 +1844,8 @@ calc_new_wait_times:
mov Temp2, A
IF MCU_48MHZ == 1
clr C
mov A, Temp1 ; Multiply by 2
rlc A
mov Temp1, A
mov A, Temp2
rlc A
mov Temp2, A
rlca Temp1 ; Multiply by 2
rlca Temp2
ENDIF
jb Flag_High_Rpm, calc_new_wait_times_fast ; Branch if high rpm
@ -2006,20 +2000,12 @@ setup_zc_scan_timeout:
mov Temp1, Comm_Period4x_L ; Set long timeout when starting
mov Temp2, Comm_Period4x_H
clr C
mov A, Temp2
rrc A
mov Temp2, A
mov A, Temp1
rrc A
mov Temp1, A
rrca Temp2
rrca Temp1
IF MCU_48MHZ == 0
clr C
mov A, Temp2
rrc A
mov Temp2, A
mov A, Temp1
rrc A
mov Temp1, A
rrca Temp2
rrca Temp1
ENDIF
jnb Flag_Startup_Phase, setup_zc_scan_timeout_startup_done
@ -2103,13 +2089,9 @@ wait_for_comp_out_start:
comp_scale_samples:
IF MCU_48MHZ == 1
clr C
mov A, Temp1
rlc A
mov Temp1, A
rlca Temp1
clr C
mov A, Temp2
rlc A
mov Temp2, A
rlca Temp2
ENDIF
comp_check_timeout:
@ -3524,25 +3506,15 @@ IF MCU_48MHZ == 1
; Scale DShot criteria for 48MHz
clr C
mov A, DShot_Frame_Length_Thr ; Scale frame length criteria
rlc A
mov DShot_Frame_Length_Thr, A
rlca DShot_Frame_Length_Thr ; Scale frame length criteria
clr C
mov A, DShot_Pwm_Thr ; Scale pulse width criteria
rlc A
mov DShot_Pwm_Thr, A
rlca DShot_Pwm_Thr ; Scale pulse width criteria
; Scale DShot telemetry for 24MHz
mov A, DShot_GCR_Pulse_Time_1
xch A, DShot_GCR_Pulse_Time_1_Tmp
mov DShot_GCR_Pulse_Time_1, A
mov A, DShot_GCR_Pulse_Time_2
xch A, DShot_GCR_Pulse_Time_2_Tmp
mov DShot_GCR_Pulse_Time_2, A
mov A, DShot_GCR_Pulse_Time_3
xch A, DShot_GCR_Pulse_Time_3_Tmp
mov DShot_GCR_Pulse_Time_3, A
xcha DShot_GCR_Pulse_Time_1, DShot_GCR_Pulse_Time_1_Tmp
xcha DShot_GCR_Pulse_Time_2, DShot_GCR_Pulse_Time_2_Tmp
xcha DShot_GCR_Pulse_Time_3, DShot_GCR_Pulse_Time_3_Tmp
mov DShot_GCR_Start_Delay, #DSHOT_TLM_START_DELAY_48
ENDIF
@ -3790,25 +3762,15 @@ IF MCU_48MHZ == 1
; Scale DShot criteria for 24MHz
clr C
mov A, DShot_Frame_Length_Thr ; Scale frame length criteria
rrc A
mov DShot_Frame_Length_Thr, A
rrca DShot_Frame_Length_Thr ; Scale frame length criteria
clr C
mov A, DShot_Pwm_Thr ; Scale pulse width criteria
rrc A
mov DShot_Pwm_Thr, A
rrca DShot_Pwm_Thr ; Scale pulse width criteria
; Scale DShot telemetry for 24MHz
mov A, DShot_GCR_Pulse_Time_1
xch A, DShot_GCR_Pulse_Time_1_Tmp
mov DShot_GCR_Pulse_Time_1, A
mov A, DShot_GCR_Pulse_Time_2
xch A, DShot_GCR_Pulse_Time_2_Tmp
mov DShot_GCR_Pulse_Time_2, A
mov A, DShot_GCR_Pulse_Time_3
xch A, DShot_GCR_Pulse_Time_3_Tmp
mov DShot_GCR_Pulse_Time_3, A
xcha DShot_GCR_Pulse_Time_1, DShot_GCR_Pulse_Time_1_Tmp
xcha DShot_GCR_Pulse_Time_2, DShot_GCR_Pulse_Time_2_Tmp
xcha DShot_GCR_Pulse_Time_3, DShot_GCR_Pulse_Time_3_Tmp
mov DShot_GCR_Start_Delay, #DSHOT_TLM_START_DELAY
ENDIF

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