From 7b8a87b829af0e40cc343e384c32161139ed583e Mon Sep 17 00:00:00 2001 From: Mathias Rasmussen Date: Sat, 9 Jan 2021 11:30:36 +0100 Subject: [PATCH] style: Clean up and update comments --- Bluejay.asm | 36 +++++++++++++++++------------------- 1 file changed, 17 insertions(+), 19 deletions(-) diff --git a/Bluejay.asm b/Bluejay.asm index 7378738..4503b37 100644 --- a/Bluejay.asm +++ b/Bluejay.asm @@ -120,8 +120,6 @@ DEFAULT_PGM_DIRECTION EQU 1 ; 1=Normal 2=Reversed 3=Bidir 4=Bidir rev DEFAULT_PGM_BEEP_STRENGTH EQU 40 ; Beep strength DEFAULT_PGM_BEACON_STRENGTH EQU 80 ; Beacon strength DEFAULT_PGM_BEACON_DELAY EQU 4 ; 1=1m 2=2m 3=5m 4=10m 5=Infinite - -; COMMON DEFAULT_PGM_ENABLE_TEMP_PROT EQU 7 ; 0=Disabled 1=80C 2=90C 3=100C 4=110C 5=120C 6=130C 7=140C DEFAULT_PGM_ENABLE_POWER_PROT EQU 1 ; 1=Enabled 0=Disabled DEFAULT_PGM_BRAKE_ON_STOP EQU 0 ; 1=Enabled 0=Disabled @@ -232,11 +230,11 @@ Beep_Strength: DS 1 ; Strength of beeps Flash_Key_1: DS 1 ; Flash key one Flash_Key_2: DS 1 ; Flash key two -DShot_Pwm_Thr: DS 1 ; DShot pulse width threshold value -DShot_Timer_Preset: DS 1 ; DShot timer preset for frame sync detection -DShot_Frame_Start_L: DS 1 ; DShot frame start timestamp (lo byte) -DShot_Frame_Start_H: DS 1 ; DShot frame start timestamp (hi byte) -DShot_Frame_Length_Thr: DS 1 ; DShot frame length criteria (in units of 4 timer 2 ticks) +DShot_Pwm_Thr: DS 1 ; DShot pulse width threshold value (timer 0 ticks) +DShot_Timer_Preset: DS 1 ; DShot timer preset for frame sync detection (timer 1 lo byte) +DShot_Frame_Start_L: DS 1 ; DShot frame start timestamp (timer 2 lo byte) +DShot_Frame_Start_H: DS 1 ; DShot frame start timestamp (timer 2 hi byte) +DShot_Frame_Length_Thr: DS 1 ; DShot frame length criteria (timer 2 ticks) DShot_Cmd: DS 1 ; DShot command DShot_Cmd_Cnt: DS 1 ; DShot command count @@ -452,14 +450,14 @@ Decode_DShot_2Bit MACRO dest, decode_fail movx A, @Temp1 mov Temp7, A clr C - subb A, Temp6 ; Subtract previous timestamp + subb A, Temp6 ;; Subtract previous timestamp clr C subb A, Temp2 - 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 - rlca dest ; Shift bit into data byte - inc Temp1 ; Next bit + subb A, Temp2 ;; Check if bit is zero or one + rlca dest ;; Shift bit into data byte + inc Temp1 ;; Next bit movx A, @Temp1 mov Temp6, A @@ -1624,9 +1622,11 @@ calc_next_comm_startup_no_X: mov Prev_Prev_Comm_H, Temp5 mov Temp1, Prev_Comm_L ; Reload this commutation time mov Temp2, Prev_Comm_H + + ; Calculate the new commutation time based upon the two last commutations (to reduce sensitivity to offset) clr C mov A, Temp1 - subb A, Temp7 ; Calculate the new commutation time based upon the two last commutations (to reduce sensitivity to offset) + subb A, Temp7 mov Temp1, A mov A, Temp2 subb A, Temp8 @@ -3569,8 +3569,8 @@ ENDIF mov TH0, #0 ; Auto reload value zero mov TH1, #0 - mov TMR2CN0, #04h ; Timer 2 enabled - mov TMR3CN0, #04h ; Timer 3 enabled + mov TMR2CN0, #04h ; Timer 2 enabled (system clock divided by 12) + mov TMR3CN0, #04h ; Timer 3 enabled (system clock divided by 12) Initialize_PCA ; Initialize PCA Set_Pwm_Polarity ; Set pwm polarity @@ -3585,9 +3585,7 @@ ENDIF mov DShot_Cmd, #0 ; Clear DShot command mov DShot_Cmd_Cnt, #0 ; Clear DShot command count - ; Setup RCP for DShot - - call detect_rcp_level ; Detect normal or inverted DShot + call detect_rcp_level ; Detect RCP level (normal or inverted DShot) ; Route RCP according to detected DShot signal (normal or inverted) mov IT01CF, #(80h + (RTX_PIN SHL 4) + RTX_PIN) ; Route RCP input to INT0/1, with INT1 inverted @@ -3690,7 +3688,7 @@ wait_for_power_on: ; Armed and waiting for power on clr A mov Comm_Period4x_L, A ; Reset commutation period for telemetry mov Comm_Period4x_H, A - mov Power_On_Wait_Cnt_L, A ; Clear lost signal beacon wait counter + mov Power_On_Wait_Cnt_L, A ; Clear beacon wait counter mov Power_On_Wait_Cnt_H, A wait_for_power_on_loop: