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docs: Update and add comments

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Mathias Rasmussen 4 years ago
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248acbcfaa
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8d20a99ca6
2 changed files with 26 additions and 22 deletions
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  1. 40
      Bluejay.asm
  2. 8
      Common.inc

40
Bluejay.asm
View File

@ -34,7 +34,7 @@ $NOMOD51
; 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
; - RC pulse measurement
; - DShot telemetry signal
; - DShot telemetry pulse timing
; Timer 1 (41.67ns counts) always counts up and is used for
; - DShot frame sync detection
; Timer 2 (500ns counts) always counts up and is used for
@ -113,7 +113,6 @@ $include (Common.inc) ; Include common source code for EFM8BBx based ESCs
;**** **** **** **** ****
; Programming defaults
;
DEFAULT_PGM_STARTUP_PWR EQU 9 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50
DEFAULT_PGM_COMM_TIMING EQU 3 ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
DEFAULT_PGM_DEMAG_COMP EQU 2 ; 1=Disabled 2=Low 3=High
@ -190,7 +189,7 @@ Initial_Run_Rot_Cntd: DS 1 ; Initial run rotations counter (decrementing)
Stall_Cnt: DS 1 ; Counts start/run attempts that resulted in stall. Reset upon a proper stop
Demag_Detected_Metric: DS 1 ; Metric used to gauge demag event frequency
Demag_Pwr_Off_Thresh: DS 1 ; Metric threshold above which power is cut
Low_Rpm_Pwr_Slope: DS 1 ; Sets the slope of power increase for low rpms
Low_Rpm_Pwr_Slope: DS 1 ; Sets the slope of power increase for low rpm
Timer2_X: DS 1 ; Timer 2 extended byte
Prev_Comm_L: DS 1 ; Previous commutation timer 3 timestamp (lo byte)
@ -222,7 +221,7 @@ Damp_Pwm_Reg_L: DS 1 ; Damping pwm register setting (lo byte)
Damp_Pwm_Reg_H: DS 1 ; Damping pwm register setting (hi byte)
Pwm_Limit: DS 1 ; Maximum allowed pwm
Pwm_Limit_By_Rpm: DS 1 ; Maximum allowed pwm for low or high rpms
Pwm_Limit_By_Rpm: DS 1 ; Maximum allowed pwm for low or high rpm
Pwm_Limit_Beg: DS 1 ; Initial pwm limit
Adc_Conversion_Cnt: DS 1 ; Adc conversion counter
@ -302,7 +301,7 @@ ISEG AT 0B0h
Stack: DS 16 ; Reserved stack space
ISEG AT 0C0h
Dithering_Patterns: DS 16
Dithering_Patterns: DS 16 ; Bit patterns for pwm dithering
ISEG AT 0D0h
Temp_Storage: DS 48 ; Temporary storage
@ -762,7 +761,7 @@ t1_int_startup_boosted:
jnz t1_int_rcp_not_zero
mov A, Temp4 ; Only set RCP_STOP if all all 11 bits are zero
mov A, Temp4 ; Only set Rcp_Stop if all all 11 bits are zero
jnz t1_int_rcp_not_zero
setb Flag_Rcp_Stop
@ -1305,7 +1304,7 @@ switch_power_off:
;
; Set pwm limit low rpm
;
; Sets power limit for low rpms and disables demag for low rpms
; Sets power limit for low rpm and disables demag for low rpm
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
set_pwm_limit:
@ -1352,7 +1351,7 @@ set_pwm_limit_low_rpm_exit:
;
; Set pwm limit high rpm
;
; Sets power limit for high rpms
; Sets power limit for high rpm
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****
set_pwm_limit_high_rpm:
@ -1734,13 +1733,14 @@ calc_new_wait_per_demag_done:
jnz calc_new_wait_times_exit
load_min_time:
mov Temp3, #1
mov Temp3, #1 ; Set minimum time
mov Temp4, #0
calc_new_wait_times_exit:
sjmp wait_advance_timing
;**** **** **** **** ****
; Calculate next commutation timing fast routine
; Fast calculation (Comm_Period4x_H less than 2)
calc_next_comm_timing_fast:
; Calculate new commutation time
@ -1799,7 +1799,7 @@ calc_next_comm_timing_fast:
jnz calc_new_wait_times_fast_done ; Check that result is still above minimum
load_min_time_fast:
mov Temp3, #1
mov Temp3, #1 ; Set minimum time
calc_new_wait_times_fast_done:
mov Temp1, #Pgm_Comm_Timing ; Load timing setting
@ -1932,6 +1932,8 @@ store_times_exit:
sjmp wait_before_zc_scan
;**** **** **** **** ****
; Calculate new wait times fast routine
calc_new_wait_times_fast:
mov A, Temp1 ; Copy values
mov Temp3, A
@ -3162,7 +3164,7 @@ decode_temp_step:
decode_temp_done:
mov Temp_Prot_Limit, A
; Dithering
; Initialize pwm dithering bit patterns
IF PWM_BITS_H == 1
mov Temp1, #Dithering_Patterns
Push_Mem Temp1, #00h
@ -3198,7 +3200,7 @@ pgm_start:
orl VDM0CN, #080h ; Enable the VDD monitor
mov RSTSRC, #06h ; Set missing clock and VDD monitor as a reset source if not 1S capable
; Set clock frequency
mov CLKSEL, #00h ; Set clock divider to 1
mov CLKSEL, #00h ; Set clock divider to 1 (Oscillator 0 at 24MHz)
; Switch power off
call switch_power_off
; Ports initialization
@ -3221,8 +3223,8 @@ pgm_start:
clr A ; Clear accumulator
mov Temp1, A ; Clear Temp1
clear_ram:
mov @Temp1, A ; Clear RAM
djnz Temp1, clear_ram ; Is A not zero? - jump
mov @Temp1, A ; Clear RAM address
djnz Temp1, clear_ram ; Decrement address and repeat
; Set default programmed parameters
call set_default_parameters
; Read all programmed parameters
@ -3245,7 +3247,7 @@ pgm_start:
call beep_f4
call beep_f4
call led_control
call led_control ; Set LEDs to programmed values
;**** **** **** **** **** **** **** **** **** **** **** **** ****
@ -3473,7 +3475,7 @@ beep_delay_set:
wait_for_power_on_no_beep:
jb Flag_Packet_Pending, wait_for_power_telemetry_done
setb Flag_Timer3_Pending ; Set flag temporarily to avoid early return
call dshot_tlm_create_packet
call dshot_tlm_create_packet ; Create telemetry packet (0 rpm)
clr Flag_Timer3_Pending
wait_for_power_telemetry_done:
@ -3490,7 +3492,7 @@ wait_for_power_on_not_missing:
jz wait_for_power_on_loop ; Check DShot command if not zero, otherwise wait for power
call dshot_cmd_check
sjmp wait_for_power_on_not_missing ; Check dshot command again, in case command needs to be received multiple times
sjmp wait_for_power_on_not_missing ; Check DShot command again, in case it needs to be received multiple times
wait_for_power_on_nonzero:
call wait100ms ; Wait to see if start pulse was only a glitch
@ -3578,6 +3580,8 @@ ENDIF
jnb Flag_Rcp_Dir_Rev, ($+5) ; Check force direction
setb Flag_Pgm_Dir_Rev ; Set spinning direction
;**** **** **** **** ****
; Motor start beginning
init_start_bidir_done:
setb Flag_Startup_Phase ; Set startup phase flag
mov Startup_Cnt, #0 ; Reset counter

8
Common.inc
View File

@ -146,7 +146,7 @@ CSEG AT 1Bh ; Timer1 overflow interrupt
jmp t1_int
CSEG AT 2Bh ; Timer2 overflow interrupt
jmp t2_int
CSEG AT 5Bh ; Pca interrupt
CSEG AT 5Bh ; PCA interrupt
jmp pca_int
CSEG AT 73h ; Timer3 overflow/compare interrupt
jmp t3_int
@ -156,7 +156,7 @@ Initialize_PCA MACRO
mov PCA0CN0, #40h ; PCA enabled
mov PCA0MD, #08h ; PCA clock is system clock
mov PCA0PWM, #(80h + PWM_BITS_H) ; PCA ARSEL set and 8/9/10/11 bits pwm
mov PCA0PWM, #(80h + PWM_BITS_H) ; Enable PCA auto-reload registers and set pwm cycle length (8-11 bits)
IF PWM_CENTERED == 1
mov PCA0CENT, #03h ; Center aligned pwm
@ -220,7 +220,7 @@ ENDIF
ENDM
Set_MCU_Clk_24MHz MACRO
mov CLKSEL, #13h ; Set clock to 24MHz
mov CLKSEL, #13h ; Set clock to 24MHz (Oscillator 1 divided by 2)
mov SFRPAGE, #10h
mov PFE0CN, #00h ; Set flash timing for 24MHz and disable prefetch engine
@ -234,7 +234,7 @@ Set_MCU_Clk_48MHz MACRO
mov PFE0CN, #30h ; Set flash timing for 48MHz and enable prefetch engine
mov SFRPAGE, #00h
mov CLKSEL, #03h ; Set clock to 48MHz
mov CLKSEL, #03h ; Set clock to 48MHz (Oscillator 1)
setb Flag_Clock_At_48MHz
ENDM
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