You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
103 lines
2.5 KiB
103 lines
2.5 KiB
;**** **** **** **** ****
|
|
;
|
|
; Bluejay digital ESC firmware for controlling brushless motors in multirotors
|
|
;
|
|
; Copyright 2020, 2021 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
|
|
COM_ACTIVE_HIGH EQU 1 ; Damping inverted
|
|
|
|
COMPARATOR_PORT EQU 0 ; All comparator (mux) pins must be on the same port
|
|
|
|
IF DEADTIME == 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
|
|
RTX_PIN 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 (1 SHL DebugPin)
|
|
|
|
|
|
;**** **** **** **** ****
|
|
; Inherit base layout
|
|
;**** **** **** **** ****
|
|
$include (Base.inc)
|