chore: Merge pull request #9 from mathiasvr/layouts

Simplify ESC layout configuration

Bluejay.asm

@@ -61,29 +61,35 @@ $NOMOD51
 ;
 ;**** **** **** **** ****
 ; List of enumerated supported ESCs
-A_	EQU	1		; X  X  RC X  MC MB MA CC	X  X  Cc Cp Bc Bp Ac Ap
-B_	EQU	2		; X  X  RC X  MC MB MA CC	X  X  Ap Ac Bp Bc Cp Cc
-C_	EQU	3		; Ac Ap MC MB MA CC X  RC	X  X  X  X  Cc Cp Bc Bp
-D_	EQU	4		; X  X  RC X  CC MA MC MB	X  X  Cc Cp Bc Bp Ac Ap	Com fets inverted
-E_	EQU	5		; L1 L0 RC X  MC MB MA CC	X  L2 Cc Cp Bc Bp Ac Ap	A with LEDs
-F_	EQU	6		; X  X  RC X  MA MB MC CC	X  X  Cc Cp Bc Bp Ac Ap
-G_	EQU	7		; X  X  RC X  CC MA MC MB	X  X  Cc Cp Bc Bp Ac Ap	Like D, but non-inverted com fets
-H_	EQU	8		; RC X  X  X  MA MB CC MC	X  Ap Bp Cp X  Ac Bc Cc
-I_	EQU	9		; X  X  RC X  MC MB MA CC	X  X  Ac Bc Cc Ap Bp Cp
-J_	EQU	10		; L2 L1 L0 RC CC MB MC MA	X  X  Cc Bc Ac Cp Bp Ap	LEDs
-K_	EQU	11		; X  X  MC X  MB CC MA RC	X  X  Ap Bp Cp Cc Bc Ac	Com fets inverted
-L_	EQU	12		; X  X  RC X  CC MA MB MC	X  X  Ac Bc Cc Ap Bp Cp
-M_	EQU	13		; MA MC CC MB RC L0 X  X 	X  Cc Bc Ac Cp Bp Ap X	LED
-N_	EQU	14		; X  X  RC X  MC MB MA CC	X  X  Cp Cc Bp Bc Ap Ac
-O_	EQU	15		; X  X  RC X  CC MA MC MB	X  X  Cc Cp Bc Bp Ac Ap	Like D, but low side pwm
-P_	EQU	16		; X  X  RC MA CC MB MC X 	X  Cc Bc Ac Cp Bp Ap X
-Q_	EQU	17		; Cp Bp Ap L1 L0 X  RC X 	X  MA MB MC CC Cc Bc Ac	LEDs
-R_	EQU	18		; X  X  RC X  MC MB MA CC	X  X  Ac Bc Cc Ap Bp Cp
-S_	EQU	19		; X  X  RC X  CC MA MC MB	X  X  Cc Cp Bc Bp Ac Ap	Like O, but com fets inverted
-T_	EQU	20		; RC X  MA X  MB CC MC X 	X  X  Cp Bp Ap Ac Bc Cc
-U_	EQU	21		; MA MC CC MB RC L0 L1 L2	X  Cc Bc Ac Cp Bp Ap X	Like M, but with 3 LEDs
-V_	EQU	22		; Cc X  RC X  MC CC MB MA	X  Ap Ac Bp X  X  Bc Cp
-W_	EQU	23		; RC MC MB X  CC MA X X		X  Ap Bp Cp X  X  X  X	Tristate gate driver
+				; PORT 0					PORT 1
+				; P0 P1 P2 P3 P4 P5 P6 P7	P0 P1 P2 P3 P4 P5 P6 P7
+				; -----------------------	-----------------------
+A_	EQU	1		; Vn Am Bm Cm __ RX __ __	Ap Ac Bp Bc Cp Cc __ __
+B_	EQU	2		; Vn Am Bm Cm __ RX __ __	Cc Cp Bc Bp Ac Ap __ __
+C_	EQU	3		; RX __ Vn Am Bm Cm Ap Ac	Bp Bc Cp Cc __ __ __ __
+D_	EQU	4		; Bm Cm Am Vn __ RX __ __	Ap Ac Bp Bc Cp Cc __ __	Com fets inverted
+E_	EQU	5		; Vn Am Bm Cm __ RX L0 L1	Ap Ac Bp Bc Cp Cc L2 __	A with LEDs
+F_	EQU	6		; Vn Cm Bm Am __ RX __ __	Ap Ac Bp Bc Cp Cc __ __
+G_	EQU	7		; Bm Cm Am Vn __ RX __ __	Ap Ac Bp Bc Cp Cc __ __	Like D, but non-inverted com fets
+H_	EQU	8		; Cm Vn Bm Am __ __ __ RX	Cc Bc Ac __ Cp Bp Ap __
+I_	EQU	9		; Vn Am Bm Cm __ RX __ __	Cp Bp Ap Cc Bc Ac __ __
+J_	EQU	10		; Am Cm Bm Vn RX L0 L1 L2	Ap Bp Cp Ac Bc Cc __ __	LEDs
+K_	EQU	11		; RX Am Vn Bm __ Cm __ __	Ac Bc Cc Cp Bp Ap __ __	Com fets inverted
+L_	EQU	12		; Cm Bm Am Vn __ RX __ __	Cp Bp Ap Cc Bc Ac __ __	Like I with different mux pins
+M_	EQU	13		; __ __ L0 RX Bm Vn Cm Am	__ Ap Bp Cp Ac Bc Cc __	LED
+N_	EQU	14		; Vn Am Bm Cm __ RX __ __	Ac Ap Bc Bp Cc Cp __ __	Like B, with A and C fets swapped
+O_	EQU	15		; Bm Cm Am Vn __ RX __ __	Ap Ac Bp Bc Cp Cc __ __	Like D, but low side pwm
+P_	EQU	16		; __ Cm Bm Vn Am RX __ __	__ Ap Bp Cp Ac Bc Cc __	Like M, without LEDs and different mux
+Q_	EQU	17		; __ RX __ L0 L1 Ap Bp Cp	Ac Bc Cc Vn Cm Bm Am __	LEDs
+R_	EQU	18		; Vn Am Bm Cm __ RX __ __	Cp Bp Ap Cc Bc Ac __ __	Like L, with different mux pins
+S_	EQU	19		; Bm Cm Am Vn __ RX __ __	Ap Ac Bp Bc Cp Cc __ __	Like O, but com fets inverted
+T_	EQU	20		; __ Cm Vn Bm __ Am __ RX	Cc Bc Ac Ap Bp Cp __ __
+U_	EQU	21		; L2 L1 L0 RX Bm Vn Cm Am	__ Ap Bp Cp Ac Bc Cc __	Like M, but with 3 LEDs
+V_	EQU	22		; Am Bm Vn Cm __ RX __ Cc	Cp Bc __ __ Bp Ac Ap __
+W_	EQU	23		; __ __ Am Vn __ Bm Cm RX	__ __ __ __ Cp Bp Ap __	Tristate gate driver
+X_	EQU	24
+Y_	EQU	25
+Z_	EQU	26		; Bm Cm Am Vn __ RX __ __	Ac Ap Bc Bp Cc Cp __ __	Pwm fets inverted
 
 ;**** **** **** **** ****
 ; Select the port mapping to use (or unselect all for use with external batch compile file)
@@ -1133,19 +1139,19 @@ ENDIF
 
 ; Set power pwm auto-reload registers
 IF PWM_BITS_H != 0
-	mov	PCA0_POWER_L, Power_Pwm_Reg_L
-	mov	PCA0_POWER_H, Power_Pwm_Reg_H
+	Set_Power_Pwm_Reg_L Power_Pwm_Reg_L
+	Set_Power_Pwm_Reg_H Power_Pwm_Reg_H
 ELSE
-	mov	PCA0_POWER_H, Power_Pwm_Reg_L
+	Set_Power_Pwm_Reg_H Power_Pwm_Reg_L
 ENDIF
 
 IF FETON_DELAY != 0
 	; Set damp pwm auto-reload registers
 	IF PWM_BITS_H != 0
-		mov	PCA0_DAMP_L, Damp_Pwm_Reg_L
-		mov	PCA0_DAMP_H, Damp_Pwm_Reg_H
+		Set_Damp_Pwm_Reg_L Damp_Pwm_Reg_L
+		Set_Damp_Pwm_Reg_H Damp_Pwm_Reg_H
 	ELSE
-		mov	PCA0_DAMP_H, Damp_Pwm_Reg_L
+		Set_Damp_Pwm_Reg_H Damp_Pwm_Reg_L
 	ENDIF
 ENDIF
 
@@ -3509,6 +3515,11 @@ pgm_start:
 	mov	P1, #P1_INIT
 	mov	P1SKIP, #P1_SKIP
 	mov	P2MDOUT, #P2_PUSHPULL
+IF MCU_48MHZ == 1
+	; Not available on BB1
+	mov	P2MDIN, #P2_DIGITAL
+	mov	P2SKIP, #P2_SKIP
+ENDIF
 	Initialize_Xbar				; Initialize the XBAR and related functionality
 	call	switch_power_off			; Switch power off again, after initializing ports
 

Common.inc

@@ -42,51 +42,64 @@ ENDIF
 ;**** **** **** **** ****
 ; ESC selection statements
 IF ESCNO == A_
-$include (targets/A.inc)				; Select pinout A
+$include (Layouts/A.inc)				; Select pinout A
 ELSEIF ESCNO == B_
-$include (targets/B.inc)				; Select pinout B
+$include (Layouts/B.inc)				; Select pinout B
 ELSEIF ESCNO == C_
-$include (targets/C.inc)				; Select pinout C
+$include (Layouts/C.inc)				; Select pinout C
 ELSEIF ESCNO == D_
-$include (targets/D.inc)				; Select pinout D
+$include (Layouts/D.inc)				; Select pinout D
 ELSEIF ESCNO == E_
-$include (targets/E.inc)				; Select pinout E
+$include (Layouts/E.inc)				; Select pinout E
 ELSEIF ESCNO == F_
-$include (targets/F.inc)				; Select pinout F
+$include (Layouts/F.inc)				; Select pinout F
 ELSEIF ESCNO == G_
-$include (targets/G.inc)				; Select pinout G
+$include (Layouts/G.inc)				; Select pinout G
 ELSEIF ESCNO == H_
-$include (targets/H.inc)				; Select pinout H
+$include (Layouts/H.inc)				; Select pinout H
 ELSEIF ESCNO == I_
-$include (targets/I.inc)				; Select pinout I
+$include (Layouts/I.inc)				; Select pinout I
 ELSEIF ESCNO == J_
-$include (targets/J.inc)				; Select pinout J
+$include (Layouts/J.inc)				; Select pinout J
 ELSEIF ESCNO == K_
-$include (targets/K.inc)				; Select pinout K
+$include (Layouts/K.inc)				; Select pinout K
 ELSEIF ESCNO == L_
-$include (targets/L.inc)				; Select pinout L
+$include (Layouts/L.inc)				; Select pinout L
 ELSEIF ESCNO == M_
-$include (targets/M.inc)				; Select pinout M
+$include (Layouts/M.inc)				; Select pinout M
 ELSEIF ESCNO == N_
-$include (targets/N.inc)				; Select pinout N
+$include (Layouts/N.inc)				; Select pinout N
 ELSEIF ESCNO == O_
-$include (targets/O.inc)				; Select pinout O
+$include (Layouts/O.inc)				; Select pinout O
 ELSEIF ESCNO == P_
-$include (targets/P.inc)				; Select pinout P
+$include (Layouts/P.inc)				; Select pinout P
 ELSEIF ESCNO == Q_
-$include (targets/Q.inc)				; Select pinout Q
+$include (Layouts/Q.inc)				; Select pinout Q
 ELSEIF ESCNO == R_
-$include (targets/R.inc)				; Select pinout R
+$include (Layouts/R.inc)				; Select pinout R
 ELSEIF ESCNO == S_
-$include (targets/S.inc)				; Select pinout S
+$include (Layouts/S.inc)				; Select pinout S
 ELSEIF ESCNO == T_
-$include (targets/T.inc)				; Select pinout T
+$include (Layouts/T.inc)				; Select pinout T
 ELSEIF ESCNO == U_
-$include (targets/U.inc)				; Select pinout U
+$include (Layouts/U.inc)				; Select pinout U
 ELSEIF ESCNO == V_
-$include (targets/V.inc)				; Select pinout V
+$include (Layouts/V.inc)				; Select pinout V
 ELSEIF ESCNO == W_
-$include (targets/W.inc)				; Select pinout W
+$include (Layouts/W.inc)				; Select pinout W
+;ELSEIF ESCNO == X_
+;$include (Layouts/X.inc)			; Select pinout X
+;ELSEIF ESCNO == Y_
+;$include (Layouts/Y.inc)			; Select pinout Y
+ELSEIF ESCNO == Z_
+$include (Layouts/Z.inc)				; Select pinout Z
+ENDIF
+
+SIGNATURE_001			EQU	0E8h		; Device signature
+IF MCU_48MHZ == 0
+SIGNATURE_002			EQU	0B1h
+ELSE
+SIGNATURE_002			EQU	0B2h
 ENDIF
 
 ;**** **** **** **** ****
@@ -146,34 +159,20 @@ Initialize_PCA MACRO
 	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
+	mov	PCA0CENT, #07h				;; Center aligned pwm
 ELSE
 	mov	PCA0CENT, #00h				;; Edge aligned pwm
 ENDIF
 ENDM
 
-Enable_Power_Pwm_Module MACRO
-IF FETON_DELAY == 0
-	mov	PCA0_POWER_MODULE, #4Ah		;; Enable comparator of module, enable match, set pwm mode
-ELSE
-	mov	PCA0_POWER_MODULE, #42h		;; Enable comparator of module, set pwm mode
-ENDIF
-ENDM
-
-Enable_Damp_Pwm_Module MACRO
-IF FETON_DELAY == 0
-	mov	PCA0_DAMP_MODULE, #00h		;; Disable
-ELSE
-	mov	PCA0_DAMP_MODULE, #42h		;; Enable comparator of module, set pwm mode
-ENDIF
-ENDM
-
 Clear_COVF_Interrupt MACRO
 	anl	PCA0PWM, #0DFh
 ENDM
+
 Enable_COVF_Interrupt MACRO
 	orl	PCA0PWM, #40h
 ENDM
+
 Disable_COVF_Interrupt MACRO
 	anl	PCA0PWM, #0BFh
 ENDM
@@ -182,9 +181,11 @@ ENDM
 Clear_CCF_Interrupt MACRO
 	anl	PCA0CN0, #0FEh
 ENDM
+
 Enable_CCF_Interrupt MACRO
 	orl	PCA0CPM0,#01h
 ENDM
+
 Disable_CCF_Interrupt MACRO
 	anl	PCA0CPM0,#0FEh
 ENDM
@@ -225,3 +226,9 @@ Set_MCU_Clk_48MHz MACRO
 
 	setb	Flag_Clock_At_48MHz
 ENDM
+
+Set_RPM_Out MACRO
+ENDM
+
+Clear_RPM_Out MACRO
+ENDM

Layouts/A.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "A"
+; X  X  RC X  MC MB MA CC    X  X  Cc Cp Bc Bp Ac Ap
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+C_Mux		EQU	3
+B_Mux		EQU	2
+A_Mux		EQU	1
+V_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+C_com		EQU	5
+C_pwm		EQU	4
+B_com		EQU	3
+B_pwm		EQU	2
+A_com		EQU	1
+A_pwm		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/B.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "B". Equals "A", but with A and C fets swapped and pwm and com fets swapped
+; X  X  RC X  MC MB MA CC    X  X  Ap Ac Bp Bc Cp Cc
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM1
+	PCA0CPL_POWER	EQU	PCA0CPL1
+	PCA0CPH_POWER	EQU	PCA0CPH1
+
+	PCA0CPM_DAMP	EQU	PCA0CPM0
+	PCA0CPL_DAMP	EQU	PCA0CPL0
+	PCA0CPH_DAMP	EQU	PCA0CPH0
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+C_Mux		EQU	3
+B_Mux		EQU	2
+A_Mux		EQU	1
+V_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+A_pwm		EQU	5
+A_com		EQU	4
+B_pwm		EQU	3
+B_com		EQU	2
+C_pwm		EQU	1
+C_com		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/Base.inc

@@ -0,0 +1,372 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Base layout
+;
+; The inheriting layout should
+; - Specify PWM_ACTIVE_HIGH, COMPWM_ACTIVE_HIGH and COMPARATOR_PORT
+; - Set CUSTOM_* flags to override default implementation
+;
+;**** **** **** **** ****
+
+
+;**** **** **** **** ****
+; Bootloader definitions
+;**** **** **** **** ****
+; Note: The RTX pin must be on port 0 because we use the IT01CF register for interrupts
+RTX_PORT		EQU	P0				; Receive/Transmit port
+RTX_MDOUT		EQU	P0MDOUT			; Set to 1 for PUSHPULL
+RTX_MDIN		EQU	P0MDIN			; Set to 1 for DIGITAL
+RTX_SKIP		EQU	P0SKIP			; Set to 1 for SKIP
+RTX_PIN		EQU	Rcp_In			; RTX pin
+
+
+;**** **** **** **** ****
+; PWM pin routing and polarity setup
+;**** **** **** **** ****
+$if NOT CUSTOM_PWM_SETUP
+
+Initialize_Xbar MACRO
+	mov	XBR2, #40h				;; Xbar enabled
+	mov	XBR1, #02h				;; CEX0 and CEX1 routed to pins
+ENDM
+
+Set_Pwm_Polarity MACRO
+IF PCA0CPM_POWER == PCA0CPM0
+	mov	PCA0POL, #((COMPWM_ACTIVE_HIGH SHL 1) + (1 - PWM_ACTIVE_HIGH))
+ELSE
+	mov	PCA0POL, #(((1 - PWM_ACTIVE_HIGH) SHL 1) + COMPWM_ACTIVE_HIGH)
+ENDIF
+ENDM
+
+$endif
+
+
+;**** **** **** **** ****
+; PWM channels and updating
+;**** **** **** **** ****
+$if NOT CUSTOM_PWM_UPDATE
+
+Enable_Power_Pwm_Module MACRO
+IF FETON_DELAY == 0
+	mov	PCA0CPM_POWER, #4Ah		;; Enable comparator of module, enable match, set pwm mode
+ELSE
+	mov	PCA0CPM_POWER, #42h		;; Enable comparator of module, set pwm mode
+ENDIF
+ENDM
+
+Enable_Damp_Pwm_Module MACRO
+IF FETON_DELAY == 0
+	mov	PCA0CPM_DAMP, #00h		;; Disable
+ELSE
+	mov	PCA0CPM_DAMP, #42h		;; Enable comparator of module, set pwm mode
+ENDIF
+ENDM
+
+Set_Power_Pwm_Reg_L MACRO value
+	mov	PCA0CPL_POWER, value
+ENDM
+
+Set_Power_Pwm_Reg_H MACRO value
+	mov	PCA0CPH_POWER, value
+ENDM
+
+Set_Damp_Pwm_Reg_L MACRO value
+	mov	PCA0CPL_DAMP, value
+ENDM
+
+Set_Damp_Pwm_Reg_H MACRO value
+	mov	PCA0CPH_DAMP, value
+ENDM
+
+$endif
+
+
+;**** **** **** **** ****
+; Comparator setup and phase change
+;**** **** **** **** ****
+IF COMPARATOR_PORT == 0
+CMP_CN0		EQU	CMP0CN0
+CMP_MD		EQU	CMP0MD
+CMP_MX		EQU	CMP0MX
+ELSE
+CMP_CN0		EQU	CMP1CN0
+CMP_MD		EQU	CMP1MD
+CMP_MX		EQU	CMP1MX
+ENDIF
+
+$if NOT CUSTOM_COMP_SETUP
+
+Initialize_Comparator MACRO
+	mov	CMP_CN0, #80h				;; Comparator enabled, no hysteresis
+	mov	CMP_MD, #00h				;; Comparator response time 100ns
+ENDM
+
+$endif
+
+Read_Comp_Out MACRO
+	mov	A, CMP_CN0				;; Read comparator output
+ENDM
+
+; Set comparator multiplexer to phase A
+Set_Comp_Phase_A MACRO
+	mov	CMP_MX, #((A_Mux SHL 4) + V_Mux)
+ENDM
+
+; Set comparator multiplexer to phase B
+Set_Comp_Phase_B MACRO
+	mov	CMP_MX, #((B_Mux SHL 4) + V_Mux)
+ENDM
+
+; Set comparator multiplexer to phase C
+Set_Comp_Phase_C MACRO
+	mov	CMP_MX, #((C_Mux SHL 4) + V_Mux)
+ENDM
+
+
+; Toggle FETs 'on' and 'off'
+IF PWM_ACTIVE_HIGH == 1				; PWM FET active high
+pON	LIT	'setb'
+pOFF	LIT	'clr'
+ELSE								; PWM FET active low
+pON	LIT	'clr'
+pOFF	LIT	'setb'
+ENDIF
+
+IF COMPWM_ACTIVE_HIGH == 1			; COM FET active high
+cON	LIT	'setb'
+cOFF	LIT	'clr'
+ELSE								; COM FET active low
+cON	LIT	'clr'
+cOFF	LIT	'setb'
+ENDIF
+
+
+;**** **** **** **** ****
+; PWM phase change
+;**** **** **** **** ****
+$if NOT CUSTOM_PWM_PHASE
+
+; All pwm and complementary pwm pins must be on port 1 to use the base code below
+P_ApwmFET		EQU	P1.A_pwm
+P_AcomFET		EQU	P1.A_com
+P_BpwmFET		EQU	P1.B_pwm
+P_BcomFET		EQU	P1.B_com
+P_CpwmFET		EQU	P1.C_pwm
+P_CcomFET		EQU	P1.C_com
+
+Set_Pwm_A MACRO
+IF FETON_DELAY == 0
+	cON	P_AcomFET
+	mov	P1SKIP, #(NOT (1 SHL A_pwm))
+ELSE
+	mov	P1SKIP, #(NOT ((1 SHL A_pwm) + (1 SHL A_com)))
+ENDIF
+ENDM
+
+Set_Pwm_B MACRO
+IF FETON_DELAY == 0
+	cON	P_BcomFET
+	mov	P1SKIP, #(NOT (1 SHL B_pwm))
+ELSE
+	mov	P1SKIP, #(NOT ((1 SHL B_pwm) + (1 SHL B_com)))
+ENDIF
+ENDM
+
+Set_Pwm_C MACRO
+IF FETON_DELAY == 0
+	cON	P_CcomFET
+	mov	P1SKIP, #(NOT (1 SHL C_pwm))
+ELSE
+	mov	P1SKIP, #(NOT ((1 SHL C_pwm) + (1 SHL C_com)))
+ENDIF
+ENDM
+
+Set_Pwms_Off MACRO
+	mov	P1SKIP, #0FFh
+ENDM
+
+$endif
+
+
+;**** **** **** **** ****
+; Toggling FETs on/off
+;**** **** **** **** ****
+$if NOT CUSTOM_FET_TOGGLING
+
+ApwmFET_on MACRO
+	pON	P_ApwmFET
+IF FETON_DELAY == 0
+	cON	P_AcomFET
+ENDIF
+ENDM
+
+ApwmFET_off MACRO
+IF FETON_DELAY != 0
+	pOFF	P_ApwmFET
+ELSE
+	cOFF	P_AcomFET
+ENDIF
+ENDM
+
+BpwmFET_on MACRO
+	pON	P_BpwmFET
+IF FETON_DELAY == 0
+	cON	P_BcomFET
+ENDIF
+ENDM
+
+BpwmFET_off MACRO
+IF FETON_DELAY != 0
+	pOFF	P_BpwmFET
+ELSE
+	cOFF	P_BcomFET
+ENDIF
+ENDM
+
+CpwmFET_on MACRO
+	pON	P_CpwmFET
+IF FETON_DELAY == 0
+	cON	P_CcomFET
+ENDIF
+ENDM
+
+CpwmFET_off MACRO
+IF FETON_DELAY != 0
+	pOFF	P_CpwmFET
+ELSE
+	cOFF	P_CcomFET
+ENDIF
+ENDM
+
+All_pwmFETs_Off MACRO
+	ApwmFET_off
+	BpwmFET_off
+	CpwmFET_off
+ENDM
+
+
+AcomFET_on MACRO
+IF FETON_DELAY == 0
+	pOFF	P_ApwmFET
+ENDIF
+	cON	P_AcomFET
+ENDM
+
+AcomFET_off MACRO
+	cOFF	P_AcomFET
+ENDM
+
+BcomFET_on MACRO
+IF FETON_DELAY == 0
+	pOFF	P_BpwmFET
+ENDIF
+	cON	P_BcomFET
+ENDM
+
+BcomFET_off MACRO
+	cOFF	P_BcomFET
+ENDM
+
+CcomFET_on MACRO
+IF FETON_DELAY == 0
+	pOFF	P_CpwmFET
+ENDIF
+	cON	P_CcomFET
+ENDM
+
+CcomFET_off MACRO
+	cOFF	P_CcomFET
+ENDM
+
+All_comFETs_Off MACRO
+	AcomFET_off
+	BcomFET_off
+	CcomFET_off
+ENDM
+
+$endif
+
+
+;**** **** **** **** ****
+; ADC and temperature measurement
+;**** **** **** **** ****
+TEMP_LIMIT		EQU	49			; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
+TEMP_LIMIT_STEP	EQU	9			; Temperature measurement ADC value increment for another 10degC
+
+Initialize_Adc MACRO
+	mov	REF0CN, #0Ch				;; Set vdd (3.3V) as reference. Enable temp sensor and bias
+IF MCU_48MHZ == 0
+	mov	ADC0CF, #59h				;; ADC clock 2MHz, PGA gain 1
+ELSE
+	mov	ADC0CF, #0B9h				;; ADC clock 2MHz, PGA gain 1
+ENDIF
+	mov	ADC0MX, #10h				;; Select temp sensor input
+	mov	ADC0CN0, #80h				;; ADC enabled
+	mov	ADC0CN1, #01h				;; Common mode buffer enabled
+ENDM
+
+Start_Adc MACRO
+	mov	ADC0CN0, #90h				;; ADC start
+ENDM
+
+Read_Adc_Result MACRO
+	mov	Temp1, ADC0L
+	mov	Temp2, ADC0H
+ENDM
+
+Stop_Adc MACRO
+ENDM
+
+
+;**** **** **** **** ****
+; LEDs
+;**** **** **** **** ****
+$if NOT CUSTOM_LED
+
+Set_LED_0 MACRO
+ENDM
+
+Clear_LED_0 MACRO
+ENDM
+
+Set_LED_1 MACRO
+ENDM
+
+Clear_LED_1 MACRO
+ENDM
+
+Set_LED_2 MACRO
+ENDM
+
+Clear_LED_2 MACRO
+ENDM
+
+Set_LED_3 MACRO
+ENDM
+
+Clear_LED_3 MACRO
+ENDM
+
+$endif

Layouts/C.inc

@@ -0,0 +1,155 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "C"
+; Ac Ap MC MB MA CC X  RC    X  X  X  X  Cc Cp Bc Bp
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+A_com		EQU	7
+A_pwm		EQU	6
+C_Mux		EQU	5
+B_Mux		EQU	4
+A_Mux		EQU	3
+V_Mux		EQU	2
+;			EQU	1
+Rcp_In		EQU	0
+
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	NOT((1 SHL A_pwm) + (1 SHL A_com))
+P0_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL A_com)
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+;			EQU	5
+;			EQU	4
+C_com		EQU	3
+C_pwm		EQU	2
+B_com		EQU	1
+B_pwm		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; PWM Phase
+;**** **** **** **** ****
+P_ApwmFET		EQU	P0.A_pwm
+P_AcomFET		EQU	P0.A_com
+P_BpwmFET		EQU	P1.B_pwm
+P_BcomFET		EQU	P1.B_com
+P_CpwmFET		EQU	P1.C_pwm
+P_CcomFET		EQU	P1.C_com
+
+Set_Pwm_A MACRO
+IF FETON_DELAY == 0
+	cON	P_AcomFET
+	mov	P0SKIP, #(NOT (1 SHL A_pwm))
+	mov	P1SKIP, #0FFh
+ELSE
+	mov	P0SKIP, #(NOT ((1 SHL A_pwm) + (1 SHL A_com)))
+	mov	P1SKIP, #0FFh
+ENDIF
+ENDM
+
+Set_Pwm_B MACRO
+IF FETON_DELAY == 0
+	cON	P_BcomFET
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #(NOT (1 SHL B_pwm))
+ELSE
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #(NOT ((1 SHL B_pwm) + (1 SHL B_com)))
+ENDIF
+ENDM
+
+Set_Pwm_C MACRO
+IF FETON_DELAY == 0
+	cON	P_CcomFET
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #(NOT (1 SHL C_pwm))
+ELSE
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #(NOT ((1 SHL C_pwm) + (1 SHL C_com)))
+ENDIF
+ENDM
+
+Set_Pwms_Off MACRO
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #0FFh
+ENDM
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$set(CUSTOM_PWM_PHASE)
+$include (Base.inc)

Layouts/D.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "D". Com fets are active low for H/L_N driver and EN_N/PWM driver. A with different comp
+; X  X  RC X  CC MA MC MB    X  X  Cc Cp Bc Bp Ac Ap
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	0		; Damping non-inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+V_Mux		EQU	3
+A_Mux		EQU	2
+C_Mux		EQU	1
+B_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+C_com		EQU	5
+C_pwm		EQU	4
+B_com		EQU	3
+B_pwm		EQU	2
+A_com		EQU	1
+A_pwm		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	(1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/E.inc

@@ -0,0 +1,164 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "E". Equals "A", but with LED control. And with HIP2103/4 driver initialization
+; L1 L0 RC X  MC MB MA CC    X  L2 Cc Cp Bc Bp Ac Ap
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+LED_1		EQU	7
+LED_0		EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+C_Mux		EQU	3
+B_Mux		EQU	2
+A_Mux		EQU	1
+V_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	NOT((1 SHL LED_0) + (1 SHL LED_1))
+P0_PUSHPULL	EQU	(1 SHL LED_0) + (1 SHL LED_1)
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+LED_2		EQU	6
+C_com		EQU	5
+C_pwm		EQU	4
+B_com		EQU	3
+B_pwm		EQU	2
+A_com		EQU	1
+A_pwm		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com) + (1 SHL LED_2)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com) + (1 SHL LED_2)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; ESC specific
+;**** **** **** **** ****
+Initialize_Xbar MACRO
+	mov	XBR2, #40h	;; Xbar enabled
+	mov	XBR1, #02h	;; CEX0 and CEX1 routed to pins
+
+	All_pwmFETs_off	;; For unlocking of HIP2103/4 driver circuits
+	call	wait100ms
+	AcomFET_on
+	BcomFET_on
+	CcomFET_on
+	call	wait1ms
+	All_comFETs_off
+ENDM
+
+Set_Pwm_Polarity MACRO
+IF PCA0CPM_POWER == PCA0CPM0
+	mov	PCA0POL, #((COMPWM_ACTIVE_HIGH SHL 1) + (1 - PWM_ACTIVE_HIGH))
+ELSE
+	mov	PCA0POL, #(((1 - PWM_ACTIVE_HIGH) SHL 1) + COMPWM_ACTIVE_HIGH)
+ENDIF
+ENDM
+
+
+;**** **** **** **** ****
+; LED configuration
+;**** **** **** **** ****
+Set_LED_0 MACRO
+	setb	P0.LED_0
+ENDM
+
+Clear_LED_0 MACRO
+	clr	P0.LED_0
+ENDM
+
+Set_LED_1 MACRO
+	setb	P0.LED_1
+ENDM
+
+Clear_LED_1 MACRO
+	clr	P0.LED_1
+ENDM
+
+Set_LED_2 MACRO
+	setb	P1.LED_2
+ENDM
+
+Clear_LED_2 MACRO
+	clr	P1.LED_2
+ENDM
+
+Set_LED_3 MACRO
+ENDM
+
+Clear_LED_3 MACRO
+ENDM
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$set(CUSTOM_PWM_SETUP, CUSTOM_LED)
+$include (Base.inc)

Layouts/F.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "F". Equals "A", but with A_Mux and C_Mux swapped
+; X  X  RC X  MA MB MC CC    X  X  Cc Cp Bc Bp Ac Ap
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+A_Mux		EQU	3
+B_Mux		EQU	2
+C_Mux		EQU	1
+V_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+C_com		EQU	5
+C_pwm		EQU	4
+B_com		EQU	3
+B_pwm		EQU	2
+A_com		EQU	1
+A_pwm		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/G.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "G". A with different comp ordering
+; X  X  RC X  CC MA MC MB    X  X  Cc Cp Bc Bp Ac Ap
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+V_Mux		EQU	3
+A_Mux		EQU	2
+C_Mux		EQU	1
+B_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+C_com		EQU	5
+C_pwm		EQU	4
+B_com		EQU	3
+B_pwm		EQU	2
+A_com		EQU	1
+A_pwm		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/H.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "H".
+; RC X  X  X  MA MB CC MC    X  Ap Bp Cp X  Ac Bc Cc
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM1
+	PCA0CPL_POWER	EQU	PCA0CPL1
+	PCA0CPH_POWER	EQU	PCA0CPH1
+
+	PCA0CPM_DAMP	EQU	PCA0CPM0
+	PCA0CPL_DAMP	EQU	PCA0CPL0
+	PCA0CPH_DAMP	EQU	PCA0CPH0
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+Rcp_In		EQU	7
+;			EQU	6
+;  			EQU	5
+;			EQU	4
+A_Mux		EQU	3
+B_Mux		EQU	2
+V_Mux		EQU	1
+C_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+A_pwm		EQU	6
+B_pwm		EQU	5
+C_pwm		EQU	4
+;			EQU	3
+A_com		EQU	2
+B_com		EQU	1
+C_com		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/I.inc

@@ -0,0 +1,106 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "I"
+; X  X  RC X  MC MB MA CC    X  X  Ac Bc Cc Ap Bp Cp
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+C_Mux		EQU	3
+B_Mux		EQU	2
+A_Mux		EQU	1
+V_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+A_com		EQU	5
+B_com		EQU	4
+C_com		EQU	3
+A_pwm		EQU	2
+B_pwm		EQU	1
+C_pwm		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/J.inc

@@ -0,0 +1,139 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "J"
+; L2 L1 L0 RC CC MB MC MA    X  X  Cc Bc Ac Cp Bp Ap
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+LED_2		EQU	7
+LED_1		EQU	6
+LED_0		EQU	5
+Rcp_In		EQU	4
+V_Mux		EQU	3
+B_Mux		EQU	2
+C_Mux		EQU	1
+A_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	(1 SHL LED_0) + (1 SHL LED_1) + (1 SHL LED_2)
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+C_com		EQU	5
+B_com		EQU	4
+A_com		EQU	3
+C_pwm		EQU	2
+B_pwm		EQU	1
+A_pwm		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; LED configuration
+;**** **** **** **** ****
+Set_LED_0 MACRO
+	clr	P0.LED_0
+ENDM
+
+Clear_LED_0 MACRO
+	setb	P0.LED_0
+ENDM
+
+Set_LED_1 MACRO
+	clr	P0.LED_1
+ENDM
+
+Clear_LED_1 MACRO
+	setb	P0.LED_1
+ENDM
+
+Set_LED_2 MACRO
+	clr	P0.LED_2
+ENDM
+
+Clear_LED_2 MACRO
+	setb	P0.LED_2
+ENDM
+
+Set_LED_3 MACRO
+ENDM
+
+Clear_LED_3 MACRO
+ENDM
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$set(CUSTOM_LED)
+$include (Base.inc)

Layouts/K.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "K". Com fets are active low for H/L_N driver and EN_N/PWM driver
+; X  X  MC X  MB CC MA RC    X  X  Ap Bp Cp Cc Bc Ac	Com fets inverted
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	0		; Damping non-inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM1
+	PCA0CPL_POWER	EQU	PCA0CPL1
+	PCA0CPH_POWER	EQU	PCA0CPH1
+
+	PCA0CPM_DAMP	EQU	PCA0CPM0
+	PCA0CPL_DAMP	EQU	PCA0CPL0
+	PCA0CPH_DAMP	EQU	PCA0CPH0
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;  			EQU	7
+;			EQU	6
+C_Mux		EQU	5
+;			EQU	4
+B_Mux		EQU	3
+V_Mux		EQU	2
+A_Mux		EQU	1
+Rcp_In		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+A_pwm		EQU	5
+B_pwm		EQU	4
+C_pwm		EQU	3
+C_com		EQU	2
+B_com		EQU	1
+A_com		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	(1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/L.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "L". I with different comp ordering
+; X  X  RC X  CC MA MB MC    X  X  Ac Bc Cc Ap Bp Cp
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+V_Mux		EQU	3
+A_Mux		EQU	2
+B_Mux		EQU	1
+C_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+A_com		EQU	5
+B_com		EQU	4
+C_com		EQU	3
+A_pwm		EQU	2
+B_pwm		EQU	1
+C_pwm		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/M.inc

@@ -0,0 +1,135 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "M".
+; MA MC CC MB RC L0 X  X     X  Cc Bc Ac Cp Bp Ap X
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+A_Mux		EQU	7
+C_Mux		EQU	6
+V_Mux  	EQU	5
+B_Mux		EQU	4
+Rcp_In		EQU	3
+LED_0		EQU	2
+;			EQU	1
+;			EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	NOT(1 SHL LED_0)
+P0_PUSHPULL	EQU	(1 SHL LED_0)
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+C_com		EQU	6
+B_com		EQU	5
+A_com		EQU	4
+C_pwm		EQU	3
+B_pwm		EQU	2
+A_pwm		EQU	1
+;			EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; LED configuration
+;**** **** **** **** ****
+Set_LED_0 MACRO
+	setb	P0.LED_0
+ENDM
+
+Clear_LED_0 MACRO
+	clr	P0.LED_0
+ENDM
+
+Set_LED_1 MACRO
+ENDM
+
+Clear_LED_1 MACRO
+ENDM
+
+Set_LED_2 MACRO
+ENDM
+
+Clear_LED_2 MACRO
+ENDM
+
+Set_LED_3 MACRO
+ENDM
+
+Clear_LED_3 MACRO
+ENDM
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$set(CUSTOM_LED)
+$include (Base.inc)

Layouts/N.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "N". B with A and C fets swapped
+; X  X  RC X  MC MB MA CC    X  X  Cp Cc Bp Bc Ap Ac
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM1
+	PCA0CPL_POWER	EQU	PCA0CPL1
+	PCA0CPH_POWER	EQU	PCA0CPH1
+
+	PCA0CPM_DAMP	EQU	PCA0CPM0
+	PCA0CPL_DAMP	EQU	PCA0CPL0
+	PCA0CPH_DAMP	EQU	PCA0CPH0
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+C_Mux		EQU	3
+B_Mux		EQU	2
+A_Mux		EQU	1
+V_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+C_pwm		EQU	5
+C_com		EQU	4
+B_pwm		EQU	3
+B_com		EQU	2
+A_pwm		EQU	1
+A_com		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/O.inc

@@ -0,0 +1,114 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "O". Com fets are active low for H/L_N driver and EN_N/PWM driver. Low side pwm and 1S flag set
+; X  X  RC X  CC MA MC MB    X  X  Cc Cp Bc Bp Ac Ap
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	0		; Damping non-inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+V_Mux		EQU	3
+A_Mux		EQU	2
+C_Mux		EQU	1
+B_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+C_com		EQU	5
+C_pwm		EQU	4
+B_com		EQU	3
+B_pwm		EQU	2
+A_com		EQU	1
+A_pwm		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	(1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Comparator setup
+;**** **** **** **** ****
+Initialize_Comparator MACRO
+	mov	CMP_CN0, #80h	;; Comparator enabled, no hysteresis
+	mov	CMP_MD, #40h	;; Comparator response time 100ns, Output polarity inverted
+ENDM
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$set(CUSTOM_COMP_SETUP)
+$include (Base.inc)

Layouts/P.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "P". M with different comp and no LEDs
+; X  X  RC MA CC MB MC X     X  Cc Bc Ac Cp Bp Ap X
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+Rcp_In 		EQU	5
+A_Mux		EQU	4
+V_Mux		EQU	3
+B_Mux		EQU	2
+C_Mux		EQU	1
+;			EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+C_com		EQU	6
+B_com		EQU	5
+A_com		EQU	4
+C_pwm		EQU	3
+B_pwm		EQU	2
+A_pwm		EQU	1
+;			EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/Q.inc

@@ -0,0 +1,187 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "Q"
+; Cp Bp Ap L1 L0 X  RC X     X  MA MB MC CC Cc Bc Ac
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	1
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+C_pwm		EQU	7
+B_pwm		EQU	6
+A_pwm		EQU	5
+LED_1		EQU	4
+LED_0		EQU	3
+;			EQU	2
+Rcp_In		EQU	1
+;			EQU	0
+
+
+P0_DIGITAL	EQU	0FFh
+P0_INIT		EQU	(1 SHL Rcp_In)
+P0_PUSHPULL	EQU	(1 SHL LED_0) + (1 SHL LED_1) + (1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm)
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+A_Mux		EQU	6
+B_Mux		EQU	5
+C_Mux		EQU	4
+V_Mux		EQU	3
+C_com		EQU	2
+B_com		EQU	1
+A_com		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; PWM Phase
+;**** **** **** **** ****
+P_ApwmFET		EQU	P0.A_pwm
+P_AcomFET		EQU	P1.A_com
+P_BpwmFET		EQU	P0.B_pwm
+P_BcomFET		EQU	P1.B_com
+P_CpwmFET		EQU	P0.C_pwm
+P_CcomFET		EQU	P1.C_com
+
+Set_Pwm_A MACRO
+IF FETON_DELAY == 0
+	cON	P_AcomFET
+	mov	P0SKIP, #(NOT (1 SHL A_pwm))
+	mov	P1SKIP, #0FFh
+ELSE
+	mov	P0SKIP, #(NOT (1 SHL A_pwm))
+	mov	P1SKIP, #(NOT (1 SHL A_com))
+ENDIF
+ENDM
+
+Set_Pwm_B MACRO
+IF FETON_DELAY == 0
+	cON	P_BcomFET
+	mov	P0SKIP, #(NOT (1 SHL B_pwm))
+	mov	P1SKIP, #0FFh
+ELSE
+	mov	P0SKIP, #(NOT (1 SHL B_pwm))
+	mov	P1SKIP, #(NOT (1 SHL B_com))
+ENDIF
+ENDM
+
+Set_Pwm_C MACRO
+IF FETON_DELAY == 0
+	cON	P_CcomFET
+	mov	P0SKIP, #(NOT (1 SHL C_pwm))
+	mov	P1SKIP, #0FFh
+ELSE
+	mov	P0SKIP, #(NOT (1 SHL C_pwm))
+	mov	P1SKIP, #(NOT (1 SHL C_com))
+ENDIF
+ENDM
+
+Set_Pwms_Off MACRO
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #0FFh
+ENDM
+
+
+;**** **** **** **** ****
+; LED configuration
+;**** **** **** **** ****
+Set_LED_0 MACRO
+	setb	P0.LED_0
+ENDM
+
+Clear_LED_0 MACRO
+	clr	P0.LED_0
+ENDM
+
+Set_LED_1 MACRO
+	setb	P0.LED_1
+ENDM
+
+Clear_LED_1 MACRO
+	clr	P0.LED_1
+ENDM
+
+Set_LED_2 MACRO
+ENDM
+
+Clear_LED_2 MACRO
+ENDM
+
+Set_LED_3 MACRO
+ENDM
+
+Clear_LED_3 MACRO
+ENDM
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$set(CUSTOM_PWM_PHASE, CUSTOM_LED)
+$include (Base.inc)

Layouts/R.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "R". L with different comp
+; X  X  RC X  MC MB MA CC    X  X  Ac Bc Cc Ap Bp Cp
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;			EQU	7
+;  			EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+C_Mux		EQU	3
+B_Mux		EQU	2
+A_Mux		EQU	1
+V_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+A_com		EQU	5
+B_com		EQU	4
+C_com		EQU	3
+A_pwm		EQU	2
+B_pwm		EQU	1
+C_pwm		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/S.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "S". like "O" but Com fets are active high, Pwm fets are active low. N with different comp
+; X  X  RC X  CC MA MC MB    X  X  Cc Cp Bc Bp Ac Ap
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM1
+	PCA0CPL_POWER	EQU	PCA0CPL1
+	PCA0CPH_POWER	EQU	PCA0CPH1
+
+	PCA0CPM_DAMP	EQU	PCA0CPM0
+	PCA0CPL_DAMP	EQU	PCA0CPL0
+	PCA0CPH_DAMP	EQU	PCA0CPH0
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+V_Mux		EQU	3
+A_Mux		EQU	2
+C_Mux		EQU	1
+B_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+C_pwm		EQU	5
+C_com		EQU	4
+B_pwm		EQU	3
+B_com		EQU	2
+A_pwm		EQU	1
+A_com		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/T.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "T".
+; RC X  MA X  MB CC MC X     X  X  Cp Bp Ap Ac Bc Cc
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM1
+	PCA0CPL_POWER	EQU	PCA0CPL1
+	PCA0CPH_POWER	EQU	PCA0CPH1
+
+	PCA0CPM_DAMP	EQU	PCA0CPM0
+	PCA0CPL_DAMP	EQU	PCA0CPL0
+	PCA0CPH_DAMP	EQU	PCA0CPH0
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+Rcp_In		EQU	7
+;			EQU	6
+A_Mux		EQU	5
+;			EQU	4
+B_Mux		EQU	3
+V_Mux		EQU	2
+C_Mux		EQU	1
+;			EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+C_pwm		EQU	5
+B_pwm		EQU	4
+A_pwm		EQU	3
+A_com		EQU	2
+B_com		EQU	1
+C_com		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Layouts/U.inc

@@ -0,0 +1,139 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "U". Like M, but with 3 LEDs
+; MA MC CC MB RC L0 L1 L2     X  Cc Bc Ac Cp Bp Ap X
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+A_Mux		EQU	7
+C_Mux		EQU	6
+V_Mux		EQU	5
+B_Mux		EQU	4
+Rcp_In		EQU	3
+LED_0		EQU	2
+LED_1		EQU	1
+LED_2		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	(1 SHL LED_0) + (1 SHL LED_1) + (1 SHL LED_2)
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+C_com		EQU	6
+B_com		EQU	5
+A_com		EQU	4
+C_pwm		EQU	3
+B_pwm		EQU	2
+A_pwm		EQU	1
+;			EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; LED configuration
+;**** **** **** **** ****
+Set_LED_0 MACRO
+	clr	P0.LED_0
+ENDM
+
+Clear_LED_0 MACRO
+	setb	P0.LED_0
+ENDM
+
+Set_LED_1 MACRO
+	clr	P0.LED_1
+ENDM
+
+Clear_LED_1 MACRO
+	setb	P0.LED_1
+ENDM
+
+Set_LED_2 MACRO
+	clr	P0.LED_2
+ENDM
+
+Clear_LED_2 MACRO
+	setb	P0.LED_2
+ENDM
+
+Set_LED_3 MACRO
+ENDM
+
+Clear_LED_3 MACRO
+ENDM
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$set(CUSTOM_LED)
+$include (Base.inc)

Layouts/V.inc

@@ -0,0 +1,155 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "V"
+; Cc X  RC X  MC CC MB MA    X  Ap Ac Bp X  X  Bc Cp
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM1
+	PCA0CPL_POWER	EQU	PCA0CPL1
+	PCA0CPH_POWER	EQU	PCA0CPH1
+
+	PCA0CPM_DAMP	EQU	PCA0CPM0
+	PCA0CPL_DAMP	EQU	PCA0CPL0
+	PCA0CPH_DAMP	EQU	PCA0CPH0
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+C_com		EQU	7
+;			EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+C_Mux		EQU	3
+V_Mux		EQU	2
+B_Mux		EQU	1
+A_Mux		EQU	0
+
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	NOT(1 SHL C_com)
+P0_PUSHPULL	EQU	(1 SHL C_com)
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+A_pwm		EQU	6
+A_com		EQU	5
+B_pwm		EQU	4
+;			EQU	3
+;			EQU	2
+B_com		EQU	1
+C_pwm		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com)
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; PWM Phase
+;**** **** **** **** ****
+P_ApwmFET		EQU	P1.A_pwm
+P_AcomFET		EQU	P1.A_com
+P_BpwmFET		EQU	P1.B_pwm
+P_BcomFET		EQU	P1.B_com
+P_CpwmFET		EQU	P1.C_pwm
+P_CcomFET		EQU	P0.C_com
+
+Set_Pwm_A MACRO
+IF FETON_DELAY == 0
+	cON	P_AcomFET
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #(NOT (1 SHL A_pwm))
+ELSE
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #(NOT ((1 SHL A_pwm) + (1 SHL A_com)))
+ENDIF
+ENDM
+
+Set_Pwm_B MACRO
+IF FETON_DELAY == 0
+	cON	P_BcomFET
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #(NOT (1 SHL B_pwm))
+ELSE
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #(NOT ((1 SHL B_pwm) + (1 SHL B_com)))
+ENDIF
+ENDM
+
+Set_Pwm_C MACRO
+IF FETON_DELAY == 0
+	cON	P_CcomFET
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #(NOT (1 SHL C_pwm))
+ELSE
+	mov	P0SKIP, #(NOT (1 SHL C_com))
+	mov	P1SKIP, #(NOT (1 SHL C_pwm))
+ENDIF
+ENDM
+
+Set_Pwms_Off MACRO
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #0FFh
+ENDM
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$set(CUSTOM_PWM_PHASE)
+$include (Base.inc)

Layouts/W.inc

@@ -0,0 +1,189 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "W". This is for tristate input style FET driver chips
+; RC MC MB X CC MA X X     X  Ap Bp Cp X X X X
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM1
+	PCA0CPL_POWER	EQU	PCA0CPL1
+	PCA0CPH_POWER	EQU	PCA0CPH1
+
+	PCA0CPM_DAMP	EQU	PCA0CPM0
+	PCA0CPL_DAMP	EQU	PCA0CPL0
+	PCA0CPH_DAMP	EQU	PCA0CPH0
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+Rcp_In		EQU	7
+C_Mux		EQU	6
+B_Mux		EQU	5
+;			EQU	4
+V_Mux		EQU	3
+A_Mux		EQU	2
+;			EQU	1
+;			EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+A_pwm		EQU	6
+B_pwm		EQU	5
+C_pwm		EQU	4
+;			EQU	3
+;			EQU	2
+;			EQU	1
+;			EQU	0
+
+
+; pwm outputs start as analog in -> floating
+; this ensures all mosfet drivers start with floating outputs
+P1_DIGITAL	EQU	NOT((1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm))
+P1_INIT		EQU	00h
+P1_PUSHPULL	EQU	((1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm))
+P1_SKIP		EQU	0FFh
+
+
+ApwmFET_on MACRO
+	setb	P1.A_pwm				; set pin to high
+	orl	P1MDIN, #(1 SHL A_pwm)	; enable pin driver
+ENDM
+
+ApwmFET_off MACRO
+	anl	P1MDIN, #(NOT(1 SHL A_pwm))	; analog in -> pullup, driver and digital in is disable = floating
+ENDM
+
+BpwmFET_on MACRO
+	setb	P1.B_pwm				; set pin to high
+	orl	P1MDIN, #(1 SHL B_pwm)	; enable pin driver
+ENDM
+
+BpwmFET_off MACRO
+	anl	P1MDIN, #(NOT(1 SHL B_pwm))	; analog in -> pullup, driver and digital in is disable = floating
+ENDM
+
+CpwmFET_on MACRO
+	setb	P1.C_pwm				; set pin to high
+	orl	P1MDIN, #(1 SHL C_pwm)	; enable pin driver
+ENDM
+
+CpwmFET_off MACRO
+	anl	P1MDIN, #(NOT(1 SHL C_pwm))	; analog in -> pullup, driver and digital in is disable = floating
+ENDM
+
+All_pwmFETs_Off MACRO
+	anl	P1MDIN, #(NOT((1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm)))	; analog in -> pullup, driver and digital in is disable = floating
+ENDM
+
+AcomFET_on MACRO
+	clr	P1.A_pwm				; set pin to low
+	orl	P1MDIN, #(1 SHL A_pwm)	; enable pin driver
+ENDM
+
+AcomFET_off MACRO
+	anl	P1MDIN, #(NOT(1 SHL A_pwm))	; analog in -> pullup, driver and digital in is disable = floating
+ENDM
+
+BcomFET_on MACRO
+	clr	P1.B_pwm				; set pin to low
+	orl	P1MDIN, #(1 SHL B_pwm)	; enable pin driver
+ENDM
+
+BcomFET_off MACRO
+	anl	P1MDIN, #(NOT(1 SHL B_pwm))	; analog in -> pullup, driver and digital in is disable = floating
+ENDM
+
+CcomFET_on MACRO
+	clr	P1.C_pwm				; set pin to low
+	orl	P1MDIN, #(1 SHL C_pwm)	; enable pin driver
+ENDM
+
+CcomFET_off MACRO
+	anl	P1MDIN, #(NOT(1 SHL C_pwm))	; analog in -> pullup, driver and digital in is disable = floating
+ENDM
+
+All_comFETs_Off MACRO
+	anl	P1MDIN, #(NOT((1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm)))	; analog in -> pullup, driver and digital in is disable = floating
+ENDM
+
+Set_Pwm_A MACRO
+	mov	P1SKIP, #(NOT(1 SHL A_pwm));
+	orl	P1MDIN, #(1 SHL A_pwm)	; enable pin driver
+ENDM
+
+Set_Pwm_B MACRO
+	mov	P1SKIP, #(NOT(1 SHL B_pwm));
+	orl	P1MDIN, #(1 SHL B_pwm)	; enable pin driver
+ENDM
+
+Set_Pwm_C MACRO
+	mov	P1SKIP, #(NOT(1 SHL C_pwm));
+	orl	P1MDIN, #(1 SHL C_pwm)	; enable pin driver
+ENDM
+
+Set_Pwms_Off MACRO
+	mov	P1SKIP, #P1_SKIP;
+ENDM
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$set(CUSTOM_PWM_PHASE, CUSTOM_FET_TOGGLING)
+$include (Base.inc)

Layouts/Z.inc

@@ -0,0 +1,104 @@
+;**** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2020 Mathias Rasmussen
+; Copyright 2011, 2012 Steffen Skaug
+;
+; This file is part of Bluejay.
+;
+; Bluejay is free software: you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation, either version 3 of the License, or
+; (at your option) any later version.
+;
+; Bluejay is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
+;
+;**** **** **** **** ****
+;
+; Hardware definition file "Z". N different comp and pwm active low
+; X  X  RC X  CC MA MC MB    X  X  Cp Cc Bp Bc Ap Ac
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	0		; Pwm inverted
+COMPWM_ACTIVE_HIGH	EQU	1		; Damping inverted
+
+; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
+COMPARATOR_PORT	EQU	0
+
+IF FETON_DELAY == 0
+	PCA0CPM_POWER	EQU	PCA0CPM0
+	PCA0CPL_POWER	EQU	PCA0CPL0
+	PCA0CPH_POWER	EQU	PCA0CPH0
+
+	PCA0CPM_DAMP	EQU	PCA0CPM1
+	PCA0CPL_DAMP	EQU	PCA0CPL1
+	PCA0CPH_DAMP	EQU	PCA0CPH1
+ELSE
+	PCA0CPM_POWER	EQU	PCA0CPM1
+	PCA0CPL_POWER	EQU	PCA0CPL1
+	PCA0CPH_POWER	EQU	PCA0CPH1
+
+	PCA0CPM_DAMP	EQU	PCA0CPM0
+	PCA0CPL_DAMP	EQU	PCA0CPL0
+	PCA0CPH_DAMP	EQU	PCA0CPH0
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+Rcp_In		EQU	5
+;			EQU	4
+V_Mux		EQU	3
+A_Mux		EQU	2
+C_Mux		EQU	1
+B_Mux		EQU	0
+
+P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL V_Mux))
+P0_INIT		EQU	0FFh
+P0_PUSHPULL	EQU	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+C_pwm		EQU	5
+C_com		EQU	4
+B_pwm		EQU	3
+B_com		EQU	2
+A_pwm		EQU	1
+A_com		EQU	0
+
+
+P1_DIGITAL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_INIT		EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm)
+P1_PUSHPULL	EQU	(1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL A_com) + (1 SHL B_com) + (1 SHL C_com)
+P1_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 2 definitions *
+;*********************
+DebugPin		EQU	0
+
+P2_DIGITAL	EQU	(1 SHL DebugPin)
+P2_PUSHPULL	EQU	(1 SHL DebugPin)
+P2_SKIP		EQU	0FFh
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$include (Base.inc)

Makefile

@@ -2,7 +2,7 @@
 VERSION		?= v0.10
 
 # Target parameters
-LAYOUTS		= A B C D E F G H I J K L M N O P Q R S T U V W
+LAYOUTS		= A B C D E F G H I J K L M N O P Q R S T U V W Z
 MCUS		= H L
 DEADTIMES	= 0 5 10 15 20 25 30 40 50 70 90
 PWM_FREQS	= 24 48 96
@@ -36,7 +36,7 @@ LX51_FLAGS	=
 
 # Source files
 ASM_SRC		= Bluejay.asm
-ASM_INC		= $(LAYOUTS:%=targets/%.inc) Common.inc BLHeliBootLoad.inc Silabs/SI_EFM8BB1_Defs.inc Silabs/SI_EFM8BB2_Defs.inc
+ASM_INC		= $(LAYOUTS:%=Layouts/%.inc) Layouts/Base.inc Common.inc BLHeliBootLoad.inc Silabs/SI_EFM8BB1_Defs.inc Silabs/SI_EFM8BB2_Defs.inc
 
 # Check that wine/simplicity studio is available
 EXECUTABLES	= $(AX51_BIN) $(LX51_BIN) $(OX51_BIN)

targets/A.inc

@@ -1,290 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "A"
-; X  X  RC X  MC MB MA CC    X  X  Cc Cp Bc Bp Ac Ap
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-Rcp_In		EQU	5	;i
-;			EQU	4	;i
-Mux_C		EQU	3	;i
-Mux_B		EQU	2	;i
-Mux_A		EQU	1	;i
-Comp_Com		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #02h				; Damping inverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-CcomFET		EQU	5	;o
-CpwmFET		EQU	4	;o
-BcomFET		EQU	3	;o
-BpwmFET		EQU	2	;o
-AcomFET		EQU	1	;o
-ApwmFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #3Eh
-ELSE
-	mov	P1SKIP, #3Ch
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #3Bh
-ELSE
-	mov	P1SKIP, #33h
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #2Fh
-ELSE
-	mov	P1SKIP, #0Fh
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #3Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #10h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #20h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #30h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/B.inc

@@ -1,295 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "B". Equals "A", but with A and C fets swapped and pwm and com fets swapped
-; X  X  RC X  MC MB MA CC    X  X  Ap Ac Bp Bc Cp Cc
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-
-;*********************
-; PORT 0 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-Rcp_In		EQU	5	;i
-;			EQU	4	;i
-Mux_C		EQU	3	;i
-Mux_B		EQU	2	;i
-Mux_A		EQU	1	;i
-Comp_Com		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-IF FETON_DELAY == 0
-	mov	PCA0POL, #00h				; Pwm noninverted
-ELSE
-	mov	PCA0POL, #01h				; Damping inverted, pwm noninverted
-ENDIF
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM1
-	PCA0_POWER_L		EQU	PCA0CPL1
-	PCA0_POWER_H		EQU	PCA0CPH1
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM0
-	PCA0_DAMP_L		EQU	PCA0CPL0
-	PCA0_DAMP_H		EQU	PCA0CPH0
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-ApwmFET		EQU	5	;o
-AcomFET		EQU	4	;o
-BpwmFET		EQU	3	;o
-BcomFET		EQU	2	;o
-CpwmFET		EQU	1	;o
-CcomFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #1Fh
-ELSE
-	mov	P1SKIP, #0Fh
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #37h
-ELSE
-	mov	P1SKIP, #33h
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #3Dh
-ELSE
-	mov	P1SKIP, #3Ch
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #3Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #10h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #20h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #30h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/C.inc

@@ -1,297 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "C"
-; Ac Ap MC MB MA CC X  RC    X  X  X  X  Cc Cp Bc Bp
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	0		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-AcomFET		EQU	7	;o
-ApwmFET		EQU	6	;o
-Mux_C		EQU	5	;i
-Mux_B		EQU	4	;i
-Mux_A		EQU	3	;i
-Comp_Com		EQU	2	;i
-;			EQU	1	;i
-Rcp_In		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	NOT((1 SHL ApwmFET)+(1 SHL AcomFET))
-P0_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL AcomFET)
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #02h				; Damping inverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-;			EQU	5	;i
-;			EQU	4	;i
-CcomFET		EQU	3	;o
-CpwmFET		EQU	2	;o
-BcomFET		EQU	1	;o
-BpwmFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	0Fh
-
-ApwmFET_on MACRO
-	setb	P0.ApwmFET
-IF FETON_DELAY == 0
-	setb	P0.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P0.ApwmFET
-ELSE
-	clr	P0.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P0.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P0.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P0.ApwmFET
-ENDIF
-	setb	P0.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P0.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P0.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P0.AcomFET
-	mov	P0SKIP, #0BFh
-	mov	P1SKIP, #0Fh
-ELSE
-	mov	P0SKIP, #03Fh
-	mov	P1SKIP, #0Fh
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P0SKIP, #0FFh
-	mov	P1SKIP, #0Eh
-ELSE
-	mov	P0SKIP, #0FFh
-	mov	P1SKIP, #0Ch
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P0SKIP, #0FFh
-	mov	P1SKIP, #0Bh
-ELSE
-	mov	P0SKIP, #0FFh
-	mov	P1SKIP, #03h
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P0SKIP, #0FFh
-	mov	P1SKIP, #0Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #32h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #42h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #52h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/D.inc

@@ -1,290 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "D". Com fets are active low for H/L_N driver and EN_N/PWM driver
-; X  X  RC X  CC MA MC MB    X  X  Cc Cp Bc Bp Ac Ap
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-Rcp_In		EQU	5	;i
-;			EQU	4	;i
-Comp_Com		EQU	3	;i
-Mux_A		EQU	2	;i
-Mux_C		EQU	1	;i
-Mux_B		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #00h				; Damping noninverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-CcomFET		EQU	5	;o
-CpwmFET		EQU	4	;o
-BcomFET		EQU	3	;o
-BpwmFET		EQU	2	;o
-AcomFET		EQU	1	;o
-ApwmFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	clr	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	setb	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	clr	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	setb	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	clr	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	setb	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	setb	P1.AcomFET
-	setb	P1.BcomFET
-	setb	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	clr	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	setb	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	clr	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	setb	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	clr	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	setb	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	setb	P1.AcomFET
-	setb	P1.BcomFET
-	setb	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	clr	P1.AcomFET
-	mov	P1SKIP, #3Eh
-ELSE
-	mov	P1SKIP, #3Ch
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	clr	P1.BcomFET
-	mov	P1SKIP, #3Bh
-ELSE
-	mov	P1SKIP, #33h
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	clr	P1.CcomFET
-	mov	P1SKIP, #2Fh
-ELSE
-	mov	P1SKIP, #0Fh
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #3Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #23h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #03h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #13h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/E.inc

@@ -1,303 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "E". Equals "A", but with LED control. And with HIP2103/4 driver initialization
-; L1 L0 RC X  MC MB MA CC    X  L2 Cc Cp Bc Bp Ac Ap
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-LED_1		EQU	7	;o
-LED_0		EQU	6	;o
-Rcp_In		EQU	5	;i
-;			EQU	4	;i
-Mux_C		EQU	3	;i
-Mux_B		EQU	2	;i
-Mux_A		EQU	1	;i
-Comp_Com		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	NOT((1 SHL LED_0)+(1 SHL LED_1))
-P0_PUSHPULL	EQU	(1 SHL LED_0)+(1 SHL LED_1)
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #02h				; Damping inverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-LED_2		EQU	6	;o
-CcomFET		EQU	5	;o
-CpwmFET		EQU	4	;o
-BcomFET		EQU	3	;o
-BpwmFET		EQU	2	;o
-AcomFET		EQU	1	;o
-ApwmFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)+(1 SHL LED_2)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)+(1 SHL LED_2)
-P1_SKIP		EQU	7Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #7Eh
-ELSE
-	mov	P1SKIP, #7Ch
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #7Bh
-ELSE
-	mov	P1SKIP, #73h
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #6Fh
-ELSE
-	mov	P1SKIP, #4Fh
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #7Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #10h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #20h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #30h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-	All_pwmFETs_off	; For unlocking of HIP2103/4 driver circuits
-	call wait100ms
-	AcomFET_on
-	BcomFET_on
-	CcomFET_on
-	call wait1ms
-	All_comFETs_off
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-	setb	P0.LED_0
-ENDM
-Clear_LED_0 MACRO
-	clr	P0.LED_0
-ENDM
-Set_LED_1 MACRO
-	setb	P0.LED_1
-ENDM
-Clear_LED_1 MACRO
-	clr	P0.LED_1
-ENDM
-Set_LED_2 MACRO
-	setb	P1.LED_2
-ENDM
-Clear_LED_2 MACRO
-	clr	P1.LED_2
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/F.inc

@@ -1,290 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "F". Equals "A", but with Mux_A and Mux_C swapped
-; X  X  RC X  MA MB MC CC    X  X  Cc Cp Bc Bp Ac Ap
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-Rcp_In		EQU	5	;i
-;			EQU	4	;i
-Mux_A		EQU	3	;i
-Mux_B		EQU	2	;i
-Mux_C		EQU	1	;i
-Comp_Com		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #02h				; Damping inverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-CcomFET		EQU	5	;o
-CpwmFET		EQU	4	;o
-BcomFET		EQU	3	;o
-BpwmFET		EQU	2	;o
-AcomFET		EQU	1	;o
-ApwmFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #3Eh
-ELSE
-	mov	P1SKIP, #3Ch
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #3Bh
-ELSE
-	mov	P1SKIP, #33h
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #2Fh
-ELSE
-	mov	P1SKIP, #0Fh
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #3Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #30h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #20h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #10h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/G.inc

@@ -1,290 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "G"
-; X  X  RC X  CC MA MC MB    X  X  Cc Cp Bc Bp Ac Ap
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-Rcp_In		EQU	5	;i
-;			EQU	4	;i
-Comp_Com		EQU	3	;i
-Mux_A		EQU	2	;i
-Mux_C		EQU	1	;i
-Mux_B		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #02h				; Damping inverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-CcomFET		EQU	5	;o
-CpwmFET		EQU	4	;o
-BcomFET		EQU	3	;o
-BpwmFET		EQU	2	;o
-AcomFET		EQU	1	;o
-ApwmFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #3Eh
-ELSE
-	mov	P1SKIP, #3Ch
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #3Bh
-ELSE
-	mov	P1SKIP, #33h
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #2Fh
-ELSE
-	mov	P1SKIP, #0Fh
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #3Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #23h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #03h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #13h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/H.inc

@@ -1,295 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "H".
-; RC X  X  X  MA MB CC MC    X  Ap Bp Cp X  Ac Bc Cc
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	7		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-
-;*********************
-; PORT 0 definitions *
-;*********************
-Rcp_In		EQU	7	;i
-;			EQU	6	;i
-;  			EQU	5	;i
-;			EQU	4	;i
-Mux_A		EQU	3	;i
-Mux_B		EQU	2	;i
-Comp_Com		EQU	1	;i
-Mux_C		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-IF FETON_DELAY == 0
-	mov	PCA0POL, #00h				; Pwm noninverted
-ELSE
-	mov	PCA0POL, #01h				; Damping inverted, pwm noninverted
-ENDIF
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM1
-	PCA0_POWER_L		EQU	PCA0CPL1
-	PCA0_POWER_H		EQU	PCA0CPH1
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM0
-	PCA0_DAMP_L		EQU	PCA0CPL0
-	PCA0_DAMP_H		EQU	PCA0CPH0
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-ApwmFET		EQU	6	;o
-BpwmFET		EQU	5	;o
-CpwmFET		EQU	4	;o
-;			EQU	3	;i
-AcomFET		EQU	2	;o
-BcomFET		EQU	1	;o
-CcomFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	7Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #3Fh
-ELSE
-	mov	P1SKIP, #3Bh
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #5Fh
-ELSE
-	mov	P1SKIP, #5Dh
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #6Fh
-ELSE
-	mov	P1SKIP, #6Eh
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #7Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #31h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #21h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #01h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/I.inc

@@ -1,289 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "I"
-; X  X  RC X  MC MB MA CC    X  X  Ac Bc Cc Ap Bp Cp
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-Rcp_In		EQU	5	;i
-;			EQU	4	;i
-Mux_C		EQU	3	;i
-Mux_B		EQU	2	;i
-Mux_A		EQU	1	;i
-Comp_Com		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #02h				; Damping inverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-AcomFET		EQU	5	;o
-BcomFET		EQU	4	;o
-CcomFET		EQU	3	;o
-ApwmFET		EQU	2	;o
-BpwmFET		EQU	1	;o
-CpwmFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #3Bh
-ELSE
-	mov	P1SKIP, #1Bh
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #3Dh
-ELSE
-	mov	P1SKIP, #2Dh
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #3Eh
-ELSE
-	mov	P1SKIP, #36h
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #7Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #10h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #20h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #30h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/J.inc

@@ -1,295 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "J"
-; L2 L1 L0 RC CC MB MC MA    X  X  Cc Bc Ac Cp Bp Ap
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	4		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-LED_2		EQU	7	;o
-LED_1		EQU	6	;o
-LED_0		EQU	5	;o
-Rcp_In		EQU	4	;i
-Comp_Com		EQU	3	;i
-Mux_B		EQU	2	;i
-Mux_C		EQU	1	;i
-Mux_A		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	(1 SHL LED_0)+(1 SHL LED_1)+(1 SHL LED_2)
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #02h				; Damping inverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-CcomFET		EQU	5	;o
-BcomFET		EQU	4	;o
-AcomFET		EQU	3	;o
-CpwmFET		EQU	2	;o
-BpwmFET		EQU	1	;o
-ApwmFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #3Eh
-ELSE
-	mov	P1SKIP, #36h
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #3Dh
-ELSE
-	mov	P1SKIP, #2Dh
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #3Bh
-ELSE
-	mov	P1SKIP, #1Bh
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #7Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #03h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #23h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #13h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-	clr	P0.LED_0
-ENDM
-Clear_LED_0 MACRO
-	setb	P0.LED_0
-ENDM
-Set_LED_1 MACRO
-	clr	P0.LED_1
-ENDM
-Clear_LED_1 MACRO
-	setb	P0.LED_1
-ENDM
-Set_LED_2 MACRO
-	clr	P0.LED_2
-ENDM
-Clear_LED_2 MACRO
-	setb	P0.LED_2
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/K.inc

@@ -1,291 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "K". Com fets are active low for H/L_N driver and EN_N/PWM driver
-; X  X  MC X  MB CC MA RC    X  X  Ap Bp Cp Cc Bc Ac	Com fets inverted
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	0		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-
-;*********************
-; PORT 0 definitions *
-;*********************
-;  			EQU	7	;i
-;			EQU	6	;i
-Mux_C		EQU	5	;i
-;			EQU	4	;i
-Mux_B		EQU	3	;i
-Comp_Com		EQU	2	;i
-Mux_A		EQU	1	;i
-Rcp_In		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #00h				; Damping noninverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM1
-	PCA0_POWER_L		EQU	PCA0CPL1
-	PCA0_POWER_H		EQU	PCA0CPH1
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM0
-	PCA0_DAMP_L		EQU	PCA0CPL0
-	PCA0_DAMP_H		EQU	PCA0CPH0
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-ApwmFET		EQU	5	;o
-BpwmFET		EQU	4	;o
-CpwmFET		EQU	3	;o
-CcomFET		EQU	2	;o
-BcomFET		EQU	1	;o
-AcomFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	clr	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	setb	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	clr	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	setb	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	clr	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	setb	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	setb	P1.AcomFET
-	setb	P1.BcomFET
-	setb	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	clr	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	setb	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	clr	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	setb	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	clr	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	setb	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	setb	P1.AcomFET
-	setb	P1.BcomFET
-	setb	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	clr	P1.AcomFET
-	mov	P1SKIP, #1Fh
-ELSE
-	mov	P1SKIP, #1Eh
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	clr	P1.BcomFET
-	mov	P1SKIP, #2Fh
-ELSE
-	mov	P1SKIP, #2Dh
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	clr	P1.CcomFET
-	mov	P1SKIP, #37h
-ELSE
-	mov	P1SKIP, #33h
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #3Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #12h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #32h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #52h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/L.inc

@@ -1,289 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "L"
-; X  X  RC X  CC MA MB MC    X  X  Ac Bc Cc Ap Bp Cp
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-Rcp_In		EQU	5	;i
-;			EQU	4	;i
-Comp_Com		EQU	3	;i
-Mux_A		EQU	2	;i
-Mux_B		EQU	1	;i
-Mux_C		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #02h				; Damping inverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-AcomFET		EQU	5	;o
-BcomFET		EQU	4	;o
-CcomFET		EQU	3	;o
-ApwmFET		EQU	2	;o
-BpwmFET		EQU	1	;o
-CpwmFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #3Bh
-ELSE
-	mov	P1SKIP, #1Bh
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #3Dh
-ELSE
-	mov	P1SKIP, #2Dh
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #3Eh
-ELSE
-	mov	P1SKIP, #36h
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #7Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #23h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #13h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #03h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/M.inc

@@ -1,294 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "M".
-; MA MC CC MB RC L0 X  X     X  Cc Bc Ac Cp Bp Ap X
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	3		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-
-;*********************
-; PORT 0 definitions *
-;*********************
-Mux_A		EQU	7	;i
-Mux_C		EQU	6	;i
-Comp_Com  	EQU	5	;i
-Mux_B		EQU	4	;i
-Rcp_In		EQU	3	;i
-LED_0		EQU	2	;i
-;			EQU	1	;i
-;			EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	NOT(1 SHL LED_0)
-P0_PUSHPULL	EQU	(1 SHL LED_0)
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #02h				; Damping inverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-CcomFET		EQU	6	;o
-BcomFET		EQU	5	;o
-AcomFET		EQU	4	;o
-CpwmFET		EQU	3	;i
-BpwmFET		EQU	2	;o
-ApwmFET		EQU	1	;o
-;			EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	7Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #7Dh
-ELSE
-	mov	P1SKIP, #6Dh
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #7Bh
-ELSE
-	mov	P1SKIP, #5Bh
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #77h
-ELSE
-	mov	P1SKIP, #37h
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #7Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #75h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #45h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #65h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-	setb	P0.LED_0
-ENDM
-Clear_LED_0 MACRO
-     clr	P0.LED_0
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/N.inc

@@ -1,295 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "N"
-; X  X  RC X  MC MB MA CC    X  X  Cp Cc Bp Bc Ap Ac
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-
-;*********************
-; PORT 0 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-Rcp_In		EQU	5	;i
-;			EQU	4	;i
-Mux_C		EQU	3	;i
-Mux_B		EQU	2	;i
-Mux_A		EQU	1	;i
-Comp_Com		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-IF FETON_DELAY == 0
-	mov	PCA0POL, #00h				; Pwm noninverted
-ELSE
-	mov	PCA0POL, #01h				; Damping inverted, pwm noninverted
-ENDIF
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM1
-	PCA0_POWER_L		EQU	PCA0CPL1
-	PCA0_POWER_H		EQU	PCA0CPH1
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM0
-	PCA0_DAMP_L		EQU	PCA0CPL0
-	PCA0_DAMP_H		EQU	PCA0CPH0
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-CpwmFET		EQU	5	;o
-CcomFET		EQU	4	;o
-BpwmFET		EQU	3	;o
-BcomFET		EQU	2	;o
-ApwmFET		EQU	1	;o
-AcomFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #3Dh
-ELSE
-	mov	P1SKIP, #3Ch
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #37h
-ELSE
-	mov	P1SKIP, #33h
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #1Fh
-ELSE
-	mov	P1SKIP, #0Fh
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #3Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #10h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #20h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #30h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/O.inc

@@ -1,291 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "O". Com fets are active low for H/L_N driver and EN_N/PWM driver. Low side pwm and 1S flag set
-; X  X  RC X  CC MA MC MB    X  X  Cc Cp Bc Bp Ac Ap
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-Rcp_In		EQU	5	;i
-;			EQU	4	;i
-Comp_Com		EQU	3	;i
-Mux_A		EQU	2	;i
-Mux_C		EQU	1	;i
-Mux_B		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #00h				; Damping noninverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-CcomFET		EQU	5	;o
-CpwmFET		EQU	4	;o
-BcomFET		EQU	3	;o
-BpwmFET		EQU	2	;o
-AcomFET		EQU	1	;o
-ApwmFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	clr	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	setb	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	clr	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	setb	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	clr	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	setb	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	setb	P1.AcomFET
-	setb	P1.BcomFET
-	setb	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	clr	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	setb	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	clr	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	setb	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	clr	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	setb	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	setb	P1.AcomFET
-	setb	P1.BcomFET
-	setb	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	clr	P1.AcomFET
-	mov	P1SKIP, #3Eh
-ELSE
-	mov	P1SKIP, #3Ch
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	clr	P1.BcomFET
-	mov	P1SKIP, #3Bh
-ELSE
-	mov	P1SKIP, #33h
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	clr	P1.CcomFET
-	mov	P1SKIP, #2Fh
-ELSE
-	mov	P1SKIP, #0Fh
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #3Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #23h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #03h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #13h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-	cpl A
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/P.inc

@@ -1,292 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "P".
-; X  X  RC MA CC MB MC X     X  Cc Bc Ac Cp Bp Ap X
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-
-;*********************
-; PORT 0 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-Rcp_In 		EQU	5	;i
-Mux_A		EQU	4	;i
-Comp_Com		EQU	3	;i
-Mux_B		EQU	2	;i
-Mux_C		EQU	1	;i
-;			EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #02h				; Damping inverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-CcomFET		EQU	6	;o
-BcomFET		EQU	5	;o
-AcomFET		EQU	4	;o
-CpwmFET		EQU	3	;i
-BpwmFET		EQU	2	;o
-ApwmFET		EQU	1	;o
-;			EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	7Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #7Dh
-ELSE
-	mov	P1SKIP, #6Dh
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #7Bh
-ELSE
-	mov	P1SKIP, #5Bh
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #77h
-ELSE
-	mov	P1SKIP, #37h
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #7Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #43h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #23h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #13h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/Q.inc

@@ -1,301 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "Q"
-; Cp Bp Ap L1 L0 X  RC X     X  MA MB MC CC Cc Bc Ac
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	1		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-CpwmFET		EQU	7	;o
-BpwmFET		EQU	6	;o
-ApwmFET		EQU	5	;o
-LED_1		EQU	4	;i
-LED_0		EQU	3	;i
-;			EQU	2	;i
-Rcp_In		EQU	1	;i
-;			EQU	0	;i
-
-P0_DIGITAL	EQU	0FFh
-P0_INIT		EQU	(1 SHL Rcp_In)
-P0_PUSHPULL	EQU	(1 SHL LED_0)+(1 SHL LED_1)+(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #02h				; Damping inverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-Mux_A		EQU	6	;i
-Mux_B		EQU	5	;i
-Mux_C		EQU	4	;i
-Comp_Com		EQU	3	;o
-CcomFET		EQU	2	;o
-BcomFET		EQU	1	;o
-AcomFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	07h
-
-ApwmFET_on MACRO
-	setb	P0.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P0.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P0.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P0.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P0.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P0.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P0.ApwmFET
-	clr	P0.BpwmFET
-	clr	P0.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P0.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P0.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P0.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P0SKIP, #0DFh
-	mov	P1SKIP, #07h
-ELSE
-	mov	P0SKIP, #0DFh
-	mov	P1SKIP, #06h
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P0SKIP, #0BFh
-	mov	P1SKIP, #07h
-ELSE
-	mov	P0SKIP, #0BFh
-	mov	P1SKIP, #05h
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P0SKIP, #07Fh
-	mov	P1SKIP, #07h
-ELSE
-	mov	P0SKIP, #07Fh
-	mov	P1SKIP, #03h
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P0SKIP, #0FFh
-	mov	P1SKIP, #07h
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP1MX, #63h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP1MX, #53h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP1MX, #43h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP1CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP1CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP1MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-	setb	P0.LED_0
-ENDM
-Clear_LED_0 MACRO
-	clr	P0.LED_0
-ENDM
-Set_LED_1 MACRO
-	setb	P0.LED_1
-ENDM
-Clear_LED_1 MACRO
-	clr	P0.LED_1
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/R.inc

@@ -1,289 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "R".
-; X  X  RC X  MC MB MA CC    X  X  Ac Bc Cc Ap Bp Cp
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-;			EQU	7	;i
-;  			EQU	6	;i
-Rcp_In		EQU	5	;i
-;			EQU	4	;i
-Mux_C		EQU	3	;i
-Mux_B		EQU	2	;i
-Mux_A		EQU	1	;i
-Comp_Com		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #02h				; Damping inverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-AcomFET		EQU	5	;o
-BcomFET		EQU	4	;o
-CcomFET		EQU	3	;o
-ApwmFET		EQU	2	;o
-BpwmFET		EQU	1	;o
-CpwmFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #3Bh
-ELSE
-	mov	P1SKIP, #1Bh
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #3Dh
-ELSE
-	mov	P1SKIP, #2Dh
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #3Eh
-ELSE
-	mov	P1SKIP, #36h
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #3Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #10h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #20h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #30h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/S.inc

@@ -1,294 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "S". like "O" but Com fets are active high, Pwm fets are active low
-; X  X  RC X  CC MA MC MB    X  X  Cc Cp Bc Bp Ac Ap
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-Rcp_In		EQU	5	;i
-;			EQU	4	;i
-Comp_Com		EQU	3	;i
-Mux_A		EQU	2	;i
-Mux_C		EQU	1	;i
-Mux_B		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-IF FETON_DELAY == 0
-	mov	PCA0POL, #00h				; Pwm noninverted
-ELSE
-	mov	PCA0POL, #01h				; Damping inverted, pwm noninverted
-ENDIF
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM1
-	PCA0_POWER_L		EQU	PCA0CPL1
-	PCA0_POWER_H		EQU	PCA0CPH1
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM0
-	PCA0_DAMP_L		EQU	PCA0CPL0
-	PCA0_DAMP_H		EQU	PCA0CPH0
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-CpwmFET		EQU	5	;o
-CcomFET		EQU	4	;o
-BpwmFET		EQU	3	;o
-BcomFET		EQU	2	;o
-ApwmFET		EQU	1	;o
-AcomFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	(0 SHL AcomFET)+(0 SHL BcomFET)+(0 SHL CcomFET)
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #3Dh
-ELSE
-	mov	P1SKIP, #3Ch
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #37h
-ELSE
-	mov	P1SKIP, #33h
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #1Fh
-ELSE
-	mov	P1SKIP, #0Fh
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #3Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #23h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #03h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #13h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/T.inc

@@ -1,295 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "T".
-; RC X  MA X  MB CC MC X     X  X  Cp Bp Ap Ac Bc Cc
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	7		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-
-;*********************
-; PORT 0 definitions *
-;*********************
-Rcp_In		EQU	7	;i
-;			EQU	6	;i
-Mux_A		EQU	5	;i
-;			EQU	4	;i
-Mux_B		EQU	3	;i
-Comp_Com		EQU	2	;i
-Mux_C		EQU	1	;i
-;			EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-IF FETON_DELAY == 0
-	mov	PCA0POL, #00h				; Pwm noninverted
-ELSE
-	mov	PCA0POL, #01h				; Damping inverted, pwm noninverted
-ENDIF
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM1
-	PCA0_POWER_L		EQU	PCA0CPL1
-	PCA0_POWER_H		EQU	PCA0CPH1
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM0
-	PCA0_DAMP_L		EQU	PCA0CPL0
-	PCA0_DAMP_H		EQU	PCA0CPH0
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-;			EQU	6	;i
-CpwmFET		EQU	5	;o
-BpwmFET		EQU	4	;o
-ApwmFET		EQU	3	;o
-AcomFET		EQU	2	;o
-BcomFET		EQU	1	;o
-CcomFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	3Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #37h
-ELSE
-	mov	P1SKIP, #33h
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #2Fh
-ELSE
-	mov	P1SKIP, #2Dh
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #1Fh
-ELSE
-	mov	P1SKIP, #1Eh
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #3Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #52h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #32h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #12h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/U.inc

@@ -1,299 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "U".
-; MA MC CC MB RC L0 L1 L2     X  Cc Bc Ac Cp Bp Ap X
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	3		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-
-;*********************
-; PORT 0 definitions *
-;*********************
-Mux_A		EQU	7	;i
-Mux_C		EQU	6	;i
-Comp_Com  	EQU	5	;i
-Mux_B		EQU	4	;i
-Rcp_In		EQU	3	;i
-LED_0		EQU	2	;i
-LED_1		EQU	1	;i
-LED_2		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	(1 SHL LED_0)+(1 SHL LED_1)+(1 SHL LED_2)
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-	mov	PCA0POL, #02h				; Damping inverted, pwm noninverted
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ENDIF
-
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-CcomFET		EQU	6	;o
-BcomFET		EQU	5	;o
-AcomFET		EQU	4	;o
-CpwmFET		EQU	3	;i
-BpwmFET		EQU	2	;o
-ApwmFET		EQU	1	;o
-;			EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)+(1 SHL CcomFET)
-P1_SKIP		EQU	7Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb	P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P1.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P1.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P1.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P1SKIP, #7Dh
-ELSE
-	mov	P1SKIP, #6Dh
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P1SKIP, #7Bh
-ELSE
-	mov	P1SKIP, #5Bh
-ENDIF
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P1.CcomFET
-	mov	P1SKIP, #77h
-ELSE
-	mov	P1SKIP, #37h
-ENDIF
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #7Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #75h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #45h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #65h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-	clr	P0.LED_0
-ENDM
-Clear_LED_0 MACRO
-	setb	P0.LED_0
-ENDM
-Set_LED_1 MACRO
-	clr	P0.LED_1
-ENDM
-Clear_LED_1 MACRO
-	setb	P0.LED_1
-ENDM
-Set_LED_2 MACRO
-	clr	P0.LED_2
-ENDM
-Clear_LED_2 MACRO
-	setb	P0.LED_2
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM
-

targets/V.inc

@@ -1,301 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "V"
-; Cc X  RC X  MC CC MB MA    X  Ap Ac Bp X  X  Bc Cp
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	5		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-;*********************
-; PORT 0 definitions *
-;*********************
-CcomFET		EQU	7	;o
-;			EQU	6	;i
-Rcp_In		EQU	5	;i
-;			EQU	4	;i
-Mux_C		EQU	3	;i
-Comp_Com	EQU	2	;i
-Mux_B		EQU	1	;i
-Mux_A		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	NOT(1 SHL CcomFET)
-P0_PUSHPULL	EQU	(1 SHL CcomFET)
-P0_SKIP		EQU	0FFh
-
-Set_Pwm_Polarity MACRO
-IF FETON_DELAY == 0
-	mov	PCA0POL, #00h				; Pwm noninverted
-ELSE
-	mov	PCA0POL, #01h				; Damping inverted, pwm noninverted
-ENDIF
-	ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM1
-	PCA0_POWER_L		EQU	PCA0CPL1
-	PCA0_POWER_H		EQU	PCA0CPH1
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM0
-	PCA0_DAMP_L		EQU	PCA0CPL0
-	PCA0_DAMP_H		EQU	PCA0CPH0
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;			EQU	7	;i
-ApwmFET		EQU	6	;i
-AcomFET		EQU	5	;i
-BpwmFET		EQU	4	;o
-;    		EQU	3	;o
-;    		EQU	2	;o
-BcomFET		EQU	1	;o
-CpwmFET		EQU	0	;o
-
-P1_DIGITAL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	(1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET)+(1 SHL AcomFET)+(1 SHL BcomFET)
-P1_SKIP		EQU	7Fh
-
-ApwmFET_on MACRO
-	setb	P1.ApwmFET
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-ENDIF
-ENDM
-ApwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-ELSE
-	clr	P1.AcomFET
-ENDIF
-ENDM
-BpwmFET_on MACRO
-	setb	P1.BpwmFET
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-ENDIF
-ENDM
-BpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.BpwmFET
-ELSE
-	clr	P1.BcomFET
-ENDIF
-ENDM
-CpwmFET_on MACRO
-	setb	P1.CpwmFET
-IF FETON_DELAY == 0
-	setb	P0.CcomFET
-ENDIF
-ENDM
-CpwmFET_off MACRO
-IF FETON_DELAY != 0
-	clr	P1.CpwmFET
-ELSE
-	clr	P0.CcomFET
-ENDIF
-ENDM
-All_pwmFETs_Off MACRO
-IF FETON_DELAY != 0
-	clr	P1.ApwmFET
-	clr	P1.BpwmFET
-	clr	P1.CpwmFET
-ELSE
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P0.CcomFET
-ENDIF
-ENDM
-
-AcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.ApwmFET
-ENDIF
-	setb P1.AcomFET
-ENDM
-AcomFET_off MACRO
-	clr	P1.AcomFET
-ENDM
-BcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.BpwmFET
-ENDIF
-	setb	P1.BcomFET
-ENDM
-BcomFET_off MACRO
-	clr	P1.BcomFET
-ENDM
-CcomFET_on MACRO
-IF FETON_DELAY == 0
-	clr	P1.CpwmFET
-ENDIF
-	setb	P0.CcomFET
-ENDM
-CcomFET_off MACRO
-	clr	P0.CcomFET
-ENDM
-All_comFETs_Off MACRO
-	clr	P1.AcomFET
-	clr	P1.BcomFET
-	clr	P0.CcomFET
-ENDM
-
-Set_Pwm_A MACRO
-IF FETON_DELAY == 0
-	setb	P1.AcomFET
-	mov	P0SKIP, #0FFh
-	mov	P1SKIP, #3Fh
-ELSE
-	mov	P0SKIP, #0FFh
-	mov	P1SKIP, #1Fh
-ENDIF
-ENDM
-Set_Pwm_B MACRO
-IF FETON_DELAY == 0
-	setb	P1.BcomFET
-	mov	P0SKIP, #0FFh
-	mov	P1SKIP, #6Fh
-ELSE
-	mov	P0SKIP, #0FFh
-	mov	P1SKIP, #6Dh
-endif
-ENDM
-Set_Pwm_C MACRO
-IF FETON_DELAY == 0
-	setb	P0.CcomFET
-	mov	P0SKIP, #0FFh
-	mov	P1SKIP, #7Fh
-ELSE
-	mov	P0SKIP, #7Fh
-	mov	P1SKIP, #7Eh
-endif
-ENDM
-Set_Pwms_Off MACRO
-	mov	P0SKIP, #0FFh
-	mov	P1SKIP, #7Fh
-ENDM
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #02h	; Set comparator multiplexer to phase A
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #12h	; Set comparator multiplexer to phase B
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #32h	; Set comparator multiplexer to phase C
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM

targets/W.inc

@@ -1,255 +0,0 @@
-;**** **** **** **** ****
-;
-; Bluejay digital ESC firmware for controlling brushless motors in multirotors
-;
-; Copyright 2020 Mathias Rasmussen
-; Copyright 2011, 2012 Steffen Skaug
-;
-; This file is part of Bluejay.
-;
-; Bluejay is free software: you can redistribute it and/or modify
-; it under the terms of the GNU General Public License as published by
-; the Free Software Foundation, either version 3 of the License, or
-; (at your option) any later version.
-;
-; Bluejay is distributed in the hope that it will be useful,
-; but WITHOUT ANY WARRANTY; without even the implied warranty of
-; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-; GNU General Public License for more details.
-;
-; You should have received a copy of the GNU General Public License
-; along with Bluejay.  If not, see <http://www.gnu.org/licenses/>.
-;
-;**** **** **** **** ****
-;
-; Hardware definition file "W". This is for tristate input style FET driver chips
-; RC MC MB X CC MA X X     X  Ap Bp Cp X X X X
-;
-;**** **** **** **** ****
-
-TEMP_LIMIT			EQU 	49	; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
-TEMP_LIMIT_STEP		EQU	9	; Temperature measurement ADC value increment for another 10degC
-
-;**** **** **** **** ****
-; Bootloader definitions
-;**** **** **** **** ****
-RTX_PORT		  		EQU 	P0		; Receive/Transmit port
-RTX_MDOUT				EQU	P0MDOUT	; Set to 1 for PUSHPULL
-RTX_MDIN				EQU	P0MDIN	; Set to 1 for DIGITAL
-RTX_SKIP				EQU	P0SKIP	; Set to 1 for SKIP
-RTX_PIN				EQU 	7		; RTX pin
-
-SIGNATURE_001			EQU	0E8h		; Device signature
-IF MCU_48MHZ == 0
-SIGNATURE_002			EQU	0B1h
-ELSE
-SIGNATURE_002			EQU	0B2h
-ENDIF
-
-
-;*********************
-; PORT 0 definitions *
-;*********************
-Rcp_In		EQU	7	;i
-Mux_C		EQU	6	;i
-Mux_B		EQU	5	;i
-;		EQU	4	;i
-Comp_Com	EQU	3	;i
-Mux_A		EQU	2	;i
-;		EQU	1	;i
-;		EQU	0	;i
-
-P0_DIGITAL	EQU	NOT((1 SHL Mux_A)+(1 SHL Mux_B)+(1 SHL Mux_C)+(1 SHL Comp_Com))
-P0_INIT		EQU	0FFh
-P0_PUSHPULL	EQU	0
-P0_SKIP		EQU	0FFh
-
-
-Set_Pwm_Polarity MACRO
-IF FETON_DELAY == 0
-	mov	PCA0POL, #00h				; Pwm noninverted
-ELSE
-	mov	PCA0POL, #01h				; Damping inverted, pwm noninverted
-ENDIF
-ENDM
-
-IF FETON_DELAY == 0
-	PCA0_POWER_MODULE	EQU	PCA0CPM0
-	PCA0_POWER_L		EQU	PCA0CPL0
-	PCA0_POWER_H		EQU	PCA0CPH0
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM1
-	PCA0_DAMP_L		EQU	PCA0CPL1
-	PCA0_DAMP_H		EQU	PCA0CPH1
-ELSE
-	PCA0_POWER_MODULE	EQU	PCA0CPM1
-	PCA0_POWER_L		EQU	PCA0CPL1
-	PCA0_POWER_H		EQU	PCA0CPH1
-
-	PCA0_DAMP_MODULE	EQU	PCA0CPM0
-	PCA0_DAMP_L		EQU	PCA0CPL0
-	PCA0_DAMP_H		EQU	PCA0CPH0
-ENDIF
-
-
-;*********************
-; PORT 1 definitions *
-;*********************
-;		EQU	7	;i
-ApwmFET		EQU	6	;o
-BpwmFET		EQU	5	;o
-CpwmFET		EQU	4	;o
-;		EQU	3	;i
-;		EQU	2	;i
-;		EQU	1	;i
-;		EQU	0	;i
-; pwm outputs start as analog in -> floating
-; this ensures all mosfet drivers start with floating outputs
-P1_DIGITAL	EQU	NOT((1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET))
-P1_INIT		EQU 	00h
-P1_PUSHPULL	EQU	((1 SHL ApwmFET)+(1 SHL BpwmFET)+(1 SHL CpwmFET))
-;
-P1_SKIP		EQU     0FFh
-
-
-ApwmFET_on MACRO
-	setb     P1.ApwmFET		; set pin to high
-	orl P1MDIN, #(1 SHL ApwmFET)	; enable pin driver
-ENDM
-ApwmFET_off MACRO
-	anl P1MDIN, #(NOT(1 SHL ApwmFET))	; analog in -> pullup, driver and digital in is disable = floating
-ENDM
-BpwmFET_on MACRO
-	setb P1.BpwmFET		; set pin to high
-	orl P1MDIN, #(1 SHL BpwmFET)	; enable pin driver
-ENDM
-BpwmFET_off MACRO
-	anl P1MDIN, #(NOT(1 SHL BpwmFET))	; analog in -> pullup, driver and digital in is disable = floating
-ENDM
-CpwmFET_on MACRO
-	setb     P1.CpwmFET		; set pin to high
-	orl P1MDIN, #(1 SHL CpwmFET)	; enable pin driver
-ENDM
-CpwmFET_off MACRO
-	anl P1MDIN, #(NOT(1 SHL CpwmFET))	; analog in -> pullup, driver and digital in is disable = floating
-ENDM
-All_pwmFETs_Off MACRO
-	anl P1MDIN, #(NOT((1 SHL ApwmFET) + (1 SHL BpwmFET) + (1 SHL CpwmFET)))	; analog in -> pullup, driver and digital in is disable = floating
-ENDM
-
-AcomFET_on MACRO
-	clr P1.ApwmFET			; set pin to low
-	orl P1MDIN, #(1 SHL ApwmFET)	; enable pin driver
-ENDM
-AcomFET_off MACRO
-	anl P1MDIN, #(NOT(1 SHL ApwmFET))	; analog in -> pullup, driver and digital in is disable = floating
-ENDM
-BcomFET_on MACRO
-	clr P1.BpwmFET			; set pin to low
-	orl P1MDIN, #(1 SHL BpwmFET)	; enable pin driver
-ENDM
-BcomFET_off MACRO
-	anl P1MDIN, #(NOT(1 SHL BpwmFET))	; analog in -> pullup, driver and digital in is disable = floating
-ENDM
-CcomFET_on MACRO
-	clr P1.CpwmFET			; set pin to low
-	orl P1MDIN, #(1 SHL CpwmFET)	; enable pin driver
-ENDM
-CcomFET_off MACRO
-	anl P1MDIN, #(NOT(1 SHL CpwmFET))	; analog in -> pullup, driver and digital in is disable = floating
-ENDM
-All_comFETs_Off MACRO
-	anl P1MDIN, #(NOT((1 SHL ApwmFET) + (1 SHL BpwmFET) + (1 SHL CpwmFET)))	; analog in -> pullup, driver and digital in is disable = floating
-ENDM
-Set_Pwm_A MACRO
-	mov	P1SKIP, #(NOT(1 SHL ApwmFET));
-	orl	P1MDIN, #(1 SHL ApwmFET)	; enable pin driver
-ENDM
-Set_Pwm_B MACRO
-	mov	P1SKIP, #(NOT(1 SHL BpwmFET));
-	orl	P1MDIN, #(1 SHL BpwmFET)	; enable pin driver
-ENDM
-Set_Pwm_C MACRO
-	mov	P1SKIP, #(NOT(1 SHL CpwmFET));
-	orl	P1MDIN, #(1 SHL CpwmFET)	; enable pin driver
-ENDM
-Set_Pwms_Off MACRO
-	mov	P1SKIP, #P1_SKIP;
-ENDM
-
-
-
-Set_Comp_Phase_A MACRO
-	mov	CMP0MX, #((Mux_A) SHL 4)+((Comp_Com) SHL 0);
-ENDM
-Set_Comp_Phase_B MACRO
-	mov	CMP0MX, #((Mux_B) SHL 4)+((Comp_Com) SHL 0);
-ENDM
-Set_Comp_Phase_C MACRO
-	mov	CMP0MX, #((Mux_C) SHL 4)+((Comp_Com) SHL 0);
-ENDM
-Read_Comp_Out MACRO
-	mov	A, CMP0CN0	; Read comparator output
-ENDM
-
-
-
-;*********************
-; PORT 2 definitions *
-;*********************
-DebugPin		EQU	0	;o
-
-P2_PUSHPULL	EQU	(1 SHL DebugPin)
-
-
-;**********************
-; MCU specific macros *
-;**********************
-Initialize_Xbar MACRO
-	mov	XBR2, #40h	; Xbar enabled
-	mov	XBR1, #02h	; CEX0 and CEX1 routed to pins
-ENDM
-Initialize_Comparator MACRO
-	mov	CMP0CN0, #80h	; Comparator enabled, no hysteresis
-	mov	CMP0MD, #00h	; Comparator response time 100ns
-ENDM
-Initialize_Adc MACRO
-	mov	REF0CN, #0Ch	; Set vdd (3.3V) as reference. Enable temp sensor and bias
-IF MCU_48MHZ == 0
-	mov	ADC0CF, #59h	; ADC clock 2MHz, PGA gain 1
-ELSE
-	mov	ADC0CF, #0B9h	; ADC clock 2MHz, PGA gain 1
-ENDIF
-	mov	ADC0MX, #10h	; Select temp sensor input
-	mov	ADC0CN0, #80h	; ADC enabled
-	mov	ADC0CN1, #01h	; Common mode buffer enabled
-ENDM
-Start_Adc MACRO
-	mov	ADC0CN0, #90h	; ADC start
-ENDM
-Read_Adc_Result MACRO
-	mov	Temp1, ADC0L
-	mov	Temp2, ADC0H
-ENDM
-Stop_Adc MACRO
-ENDM
-Set_RPM_Out MACRO
-ENDM
-Clear_RPM_Out MACRO
-ENDM
-Set_LED_0 MACRO
-ENDM
-Clear_LED_0 MACRO
-ENDM
-Set_LED_1 MACRO
-ENDM
-Clear_LED_1 MACRO
-ENDM
-Set_LED_2 MACRO
-ENDM
-Clear_LED_2 MACRO
-ENDM
-Set_LED_3 MACRO
-ENDM
-Clear_LED_3 MACRO
-ENDM