Fork from bluejay at github and modified for my custom ESC. I need to modify it because some mistake design on my ESC hardware.
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;**** **** **** **** ****
;
; 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/>.
;
;**** **** **** **** ****
;
; Base layout
;
; The inheriting layout should
; - Specify PWM_ACTIVE_HIGH, COM_ACTIVE_HIGH and COMPARATOR_PORT
; - Set CUSTOM_* flags to override default implementation
;
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; Bootloader definitions
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; 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_BIT EQU RTX_PORT.RTX_PIN ; RTX pin value
;**** **** **** **** ****
; PWM pin routing and polarity setup
;**** **** **** **** ****
$if NOT CUSTOM_PWM_SETUP
Initialize_Crossbar MACRO
mov XBR2, #40h ;; Crossbar enabled
mov XBR1, #02h ;; CEX0 and CEX1 routed to pins
ENDM
Set_Pwm_Polarity MACRO
IF PCA0CPM_POWER == PCA0CPM0
mov PCA0POL, #((COM_ACTIVE_HIGH SHL 1) + (1 - PWM_ACTIVE_HIGH))
ELSE
mov PCA0POL, #(((1 - PWM_ACTIVE_HIGH) SHL 1) + COM_ACTIVE_HIGH)
ENDIF
ENDM
$endif
;**** **** **** **** ****
; PWM channels and updating
;**** **** **** **** ****
$if NOT CUSTOM_PWM_UPDATE
Enable_Power_Pwm_Module MACRO
IF DEADTIME == 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 DEADTIME == 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
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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_COMPARATOR_SETUP
Initialize_Comparator MACRO
mov CMP_CN0, #80h ;; Comparator enabled, no hysteresis
mov CMP_MD, #00h ;; Comparator response time 100ns
ENDM
$endif
Read_Comparator_Output MACRO
mov A, CMP_CN0 ;; Read comparator output
ENDM
; Set comparator multiplexer to phase A
Set_Comparator_Phase_A MACRO
mov CMP_MX, #((A_Mux SHL 4) + V_Mux)
ENDM
; Set comparator multiplexer to phase B
Set_Comparator_Phase_B MACRO
mov CMP_MX, #((B_Mux SHL 4) + V_Mux)
ENDM
; Set comparator multiplexer to phase C
Set_Comparator_Phase_C MACRO
mov CMP_MX, #((C_Mux SHL 4) + V_Mux)
ENDM
; Toggle FETs 'on' and 'off'
IF PWM_ACTIVE_HIGH == 1 ; PWM FET active high
pON LIT 'setb'
pOFF LIT 'clr'
ELSE ; PWM FET active low
pON LIT 'clr'
pOFF LIT 'setb'
ENDIF
IF COM_ACTIVE_HIGH == 1 ; COM FET active high
cON LIT 'setb'
cOFF LIT 'clr'
ELSE ; COM FET active low
cON LIT 'clr'
cOFF LIT 'setb'
ENDIF
;**** **** **** **** ****
; PWM phase change
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$if NOT CUSTOM_PWM_PHASE
; All pwm and complementary pwm pins must be on port 1 to use the base code below
P_A_Pwm EQU P1.A_Pwm
P_A_Com EQU P1.A_Com
P_B_Pwm EQU P1.B_Pwm
P_B_Com EQU P1.B_Com
P_C_Pwm EQU P1.C_Pwm
P_C_Com EQU P1.C_Com
Set_Pwm_Phase_A MACRO
IF DEADTIME == 0
cON P_A_Com
mov P1SKIP, #(NOT (1 SHL A_Pwm))
ELSE
mov P1SKIP, #(NOT ((1 SHL A_Pwm) + (1 SHL A_Com)))
ENDIF
ENDM
Set_Pwm_Phase_B MACRO
IF DEADTIME == 0
cON P_B_Com
mov P1SKIP, #(NOT (1 SHL B_Pwm))
ELSE
mov P1SKIP, #(NOT ((1 SHL B_Pwm) + (1 SHL B_Com)))
ENDIF
ENDM
Set_Pwm_Phase_C MACRO
IF DEADTIME == 0
cON P_C_Com
mov P1SKIP, #(NOT (1 SHL C_Pwm))
ELSE
mov P1SKIP, #(NOT ((1 SHL C_Pwm) + (1 SHL C_Com)))
ENDIF
ENDM
Set_All_Pwm_Phases_Off MACRO
mov P1SKIP, #0FFh
ENDM
$endif
;**** **** **** **** ****
; Toggling FETs on/off
;**** **** **** **** ****
$if NOT CUSTOM_FET_TOGGLING
A_Pwm_Fet_On MACRO
pON P_A_Pwm
IF DEADTIME == 0
cON P_A_Com
ENDIF
ENDM
A_Pwm_Fet_Off MACRO
IF DEADTIME != 0
pOFF P_A_Pwm
ELSE
cOFF P_A_Com
ENDIF
ENDM
B_Pwm_Fet_On MACRO
pON P_B_Pwm
IF DEADTIME == 0
cON P_B_Com
ENDIF
ENDM
B_Pwm_Fet_Off MACRO
IF DEADTIME != 0
pOFF P_B_Pwm
ELSE
cOFF P_B_Com
ENDIF
ENDM
C_Pwm_Fet_On MACRO
pON P_C_Pwm
IF DEADTIME == 0
cON P_C_Com
ENDIF
ENDM
C_Pwm_Fet_Off MACRO
IF DEADTIME != 0
pOFF P_C_Pwm
ELSE
cOFF P_C_Com
ENDIF
ENDM
All_Pwm_Fets_Off MACRO
A_Pwm_Fet_Off
B_Pwm_Fet_Off
C_Pwm_Fet_Off
ENDM
A_Com_Fet_On MACRO
IF DEADTIME == 0
pOFF P_A_Pwm
ENDIF
cON P_A_Com
ENDM
A_Com_Fet_Off MACRO
cOFF P_A_Com
ENDM
B_Com_Fet_On MACRO
IF DEADTIME == 0
pOFF P_B_Pwm
ENDIF
cON P_B_Com
ENDM
B_Com_Fet_Off MACRO
cOFF P_B_Com
ENDM
C_Com_Fet_On MACRO
IF DEADTIME == 0
pOFF P_C_Pwm
ENDIF
cON P_C_Com
ENDM
C_Com_Fet_Off MACRO
cOFF P_C_Com
ENDM
All_Com_Fets_Off MACRO
A_Com_Fet_Off
B_Com_Fet_Off
C_Com_Fet_Off
ENDM
$endif
;**** **** **** **** ****
; ADC and temperature measurement
;**** **** **** **** ****
TEMP_LIMIT EQU 49 ; Temperature measurement ADC value for which main motor power is limited at 80degC (low byte, assuming high byte is 1)
TEMP_LIMIT_STEP EQU 9 ; Temperature measurement ADC value increment for another 10degC
Initialize_Adc MACRO
mov REF0CN, #0Ch ;; Set vdd (3.3V) as reference. Enable temp sensor and bias
IF MCU_48MHZ == 0
mov ADC0CF, #59h ;; ADC clock 2MHz, PGA gain 1
ELSE
mov ADC0CF, #0B9h ;; ADC clock 2MHz, PGA gain 1
ENDIF
mov ADC0MX, #10h ;; Select temp sensor input
mov ADC0CN0, #80h ;; ADC enabled
mov ADC0CN1, #01h ;; Common mode buffer enabled
ENDM
Start_Adc MACRO
mov ADC0CN0, #90h ;; Enable ADC and initiate conversion
ENDM
Stop_Adc MACRO
ENDM
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; LEDs
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$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