englebert
/
bluejay
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

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
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 154
      Bluejay.asm

154
Bluejay.asm
View File

@ -452,9 +452,7 @@ Decode_DShot_2Bit MACRO dest, decode_fail
jc decode_fail ; Check that bit is longer than minimum jc decode_fail ; Check that bit is longer than minimum
subb A, Temp2 ; Check if bit is zero or one 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 inc Temp1 ; Next bit
movx A, @Temp1 movx A, @Temp1
@ -466,12 +464,36 @@ Decode_DShot_2Bit MACRO dest, decode_fail
jc decode_fail jc decode_fail
subb A, Temp2 subb A, Temp2
mov A, dest
rlc A
mov dest, A
rlca dest
inc Temp1 inc Temp1
ENDM 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 cpl Flag_Rcp_Dir_Rev
clr C ; Multiply throttle value by 2 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: t1_int_not_bidir:
; Generate 4/256 ; Generate 4/256
@ -702,12 +720,8 @@ t1_int_not_bidir:
mov Temp3, A mov Temp3, A
; Align to 11 bits ; Align to 11 bits
clr C 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 ; Scale from 2000 to 2048
mov A, Temp4 mov A, Temp4
add A, Temp3 ; Holds 4/128 add A, Temp3 ; Holds 4/128
@ -739,9 +753,7 @@ t1_int_startup_boost_stall:
addc A, #0 addc A, #0
mov Temp5, A 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 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 setb IE_EA
IF MCU_48MHZ == 1 IF MCU_48MHZ == 1
clr C 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 ENDIF
; Calculate this commutation time ; Calculate this commutation time
mov Temp4, Prev_Comm_L mov Temp4, Prev_Comm_L
@ -1622,12 +1628,8 @@ calc_next_comm_normal:
calc_next_comm_avg_period_div: calc_next_comm_avg_period_div:
clr C 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 djnz Temp7, calc_next_comm_avg_period_div
clr C clr C
@ -1642,12 +1644,8 @@ calc_next_comm_avg_period_div:
calc_next_comm_new_period_div: calc_next_comm_new_period_div:
clr C 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 djnz Temp8, calc_next_comm_new_period_div
calc_next_comm_new_period_div_done: calc_next_comm_new_period_div_done:
@ -1846,12 +1844,8 @@ calc_new_wait_times:
mov Temp2, A mov Temp2, A
IF MCU_48MHZ == 1 IF MCU_48MHZ == 1
clr C 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 ENDIF
jb Flag_High_Rpm, calc_new_wait_times_fast ; Branch if high rpm 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 Temp1, Comm_Period4x_L ; Set long timeout when starting
mov Temp2, Comm_Period4x_H mov Temp2, Comm_Period4x_H
clr C 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 IF MCU_48MHZ == 0
clr C clr C
mov A, Temp2
rrc A
mov Temp2, A
mov A, Temp1
rrc A
mov Temp1, A
rrca Temp2
rrca Temp1
ENDIF ENDIF
jnb Flag_Startup_Phase, setup_zc_scan_timeout_startup_done jnb Flag_Startup_Phase, setup_zc_scan_timeout_startup_done
@ -2103,13 +2089,9 @@ wait_for_comp_out_start:
comp_scale_samples: comp_scale_samples:
IF MCU_48MHZ == 1 IF MCU_48MHZ == 1
clr C clr C
mov A, Temp1
rlc A
mov Temp1, A
rlca Temp1
clr C clr C
mov A, Temp2
rlc A
mov Temp2, A
rlca Temp2
ENDIF ENDIF
comp_check_timeout: comp_check_timeout:
@ -3524,25 +3506,15 @@ IF MCU_48MHZ == 1
; Scale DShot criteria for 48MHz ; Scale DShot criteria for 48MHz
clr C 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 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 ; 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 mov DShot_GCR_Start_Delay, #DSHOT_TLM_START_DELAY_48
ENDIF ENDIF
@ -3790,25 +3762,15 @@ IF MCU_48MHZ == 1
; Scale DShot criteria for 24MHz ; Scale DShot criteria for 24MHz
clr C 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 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 ; 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 mov DShot_GCR_Start_Delay, #DSHOT_TLM_START_DELAY
ENDIF ENDIF

Write Preview
Loading…
Cancel
Save