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155 lines
3.3 KiB
155 lines
3.3 KiB
;**** **** **** **** ****
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;
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; Bluejay digital ESC firmware for controlling brushless motors in multirotors
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;
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; Copyright 2020 Mathias Rasmussen
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; Copyright 2011, 2012 Steffen Skaug
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;
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; This file is part of Bluejay.
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;
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; Bluejay is free software: you can redistribute it and/or modify
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; it under the terms of the GNU General Public License as published by
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; the Free Software Foundation, either version 3 of the License, or
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; (at your option) any later version.
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;
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; Bluejay is distributed in the hope that it will be useful,
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; but WITHOUT ANY WARRANTY; without even the implied warranty of
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; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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; GNU General Public License for more details.
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;
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; You should have received a copy of the GNU General Public License
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; along with Bluejay. If not, see <http://www.gnu.org/licenses/>.
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;
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;**** **** **** **** ****
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;
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; Hardware definition file "C"
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; Ac Ap MC MB MA CC X RC X X X X Cc Cp Bc Bp
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;
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;**** **** **** **** ****
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PWM_ACTIVE_HIGH EQU 1 ; Pwm non-inverted
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COMPWM_ACTIVE_HIGH EQU 1 ; Damping inverted
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; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
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COMP_PORT EQU 0
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;*********************
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; PORT 0 definitions *
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;*********************
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A_com EQU 7 ;o
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A_pwm EQU 6 ;o
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C_Mux EQU 5 ;i
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B_Mux EQU 4 ;i
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A_Mux EQU 3 ;i
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Comp_Com EQU 2 ;i
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; EQU 1 ;i
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Rcp_In EQU 0 ;i
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P0_DIGITAL EQU NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL Comp_Com))
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P0_INIT EQU NOT((1 SHL A_pwm) + (1 SHL A_com))
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P0_PUSHPULL EQU (1 SHL A_pwm) + (1 SHL A_com)
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P0_SKIP EQU 0FFh
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IF FETON_DELAY == 0
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PCA0_POWER_MODULE EQU PCA0CPM0
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PCA0_POWER_L EQU PCA0CPL0
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PCA0_POWER_H EQU PCA0CPH0
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PCA0_DAMP_MODULE EQU PCA0CPM1
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PCA0_DAMP_L EQU PCA0CPL1
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PCA0_DAMP_H EQU PCA0CPH1
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ELSE
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PCA0_POWER_MODULE EQU PCA0CPM0
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PCA0_POWER_L EQU PCA0CPL0
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PCA0_POWER_H EQU PCA0CPH0
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PCA0_DAMP_MODULE EQU PCA0CPM1
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PCA0_DAMP_L EQU PCA0CPL1
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PCA0_DAMP_H EQU PCA0CPH1
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ENDIF
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;*********************
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; PORT 1 definitions *
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;*********************
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; EQU 7 ;i
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; EQU 6 ;i
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; EQU 5 ;i
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; EQU 4 ;i
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C_com EQU 3 ;o
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C_pwm EQU 2 ;o
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B_com EQU 1 ;o
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B_pwm EQU 0 ;o
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P_ApwmFET EQU P0.A_pwm
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P_AcomFET EQU P0.A_com
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P_BpwmFET EQU P1.B_pwm
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P_BcomFET EQU P1.B_com
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P_CpwmFET EQU P1.C_pwm
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P_CcomFET EQU P1.C_com
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P1_DIGITAL EQU (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL B_com) + (1 SHL C_com)
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P1_INIT EQU 00h
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P1_PUSHPULL EQU (1 SHL B_pwm) + (1 SHL C_pwm) + (1 SHL B_com) + (1 SHL C_com)
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P1_SKIP EQU 0FFh
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Set_Pwm_A MACRO
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IF FETON_DELAY == 0
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cON P_AcomFET
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mov P0SKIP, #(NOT (1 SHL A_pwm))
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mov P1SKIP, #0FFh
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ELSE
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mov P0SKIP, #(NOT ((1 SHL A_pwm) + (1 SHL A_com)))
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mov P1SKIP, #0FFh
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ENDIF
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ENDM
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Set_Pwm_B MACRO
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IF FETON_DELAY == 0
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cON P_BcomFET
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mov P0SKIP, #0FFh
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mov P1SKIP, #(NOT (1 SHL B_pwm))
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ELSE
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mov P0SKIP, #0FFh
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mov P1SKIP, #(NOT ((1 SHL B_pwm) + (1 SHL B_com)))
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ENDIF
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ENDM
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Set_Pwm_C MACRO
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IF FETON_DELAY == 0
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cON P_CcomFET
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mov P0SKIP, #0FFh
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mov P1SKIP, #(NOT (1 SHL C_pwm))
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ELSE
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mov P0SKIP, #0FFh
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mov P1SKIP, #(NOT ((1 SHL C_pwm) + (1 SHL C_com)))
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ENDIF
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ENDM
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Set_Pwms_Off MACRO
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mov P0SKIP, #0FFh
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mov P1SKIP, #0FFh
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ENDM
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;*********************
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; PORT 2 definitions *
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;*********************
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DebugPin EQU 0 ;o
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P2_DIGITAL EQU (1 SHL DebugPin)
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P2_PUSHPULL EQU (1 SHL DebugPin)
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P2_SKIP EQU 0FFh
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;**** **** **** **** ****
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; Inherit base layout
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;**** **** **** **** ****
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$set(CUSTOM_PWM_PHASE)
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$include (Base.inc)
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