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Merge pull request #186 from bird-sanctuary/v0.21
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V0.21.0-RC1
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@stylesuxx
stylesuxx committed Jan 7, 2024
2 parents 9f73dde + c45edfa commit 9276e71
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Showing 3 changed files with 13 additions and 82 deletions.
24 changes: 9 additions & 15 deletions src/Bluejay.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -167,11 +167,10 @@ DEFAULT_PGM_POWER_RATING EQU 2 ; 1=1S,2=2S+
DEFAULT_PGM_BRAKE_ON_STOP EQU 0 ; 1=Enabled 0=Disabled
DEFAULT_PGM_LED_CONTROL EQU 0 ; Byte for LED control. 2 bits per LED,0=Off,1=On

DEFAULT_PGM_STARTUP_POWER_MIN EQU 51 ; 0..255 => (1000..1125 Throttle): value * (1000 / 2047) + 1000
DEFAULT_PGM_STARTUP_POWER_MIN EQU 21 ; 0..255 => (1000..1125 Throttle): value * (1000 / 2047) + 1000
DEFAULT_PGM_STARTUP_BEEP EQU 1 ; 0=Short beep,1=Melody
DEFAULT_PGM_DITHERING EQU 0 ; 0=Disabled,1=Enabled

DEFAULT_PGM_STARTUP_POWER_MAX EQU 25 ; 0..255 => (1000..2000 Throttle): Maximum startup power
DEFAULT_PGM_STARTUP_POWER_MAX EQU 5 ; 0..255 => (1000..2000 Throttle): Maximum startup power
DEFAULT_PGM_BRAKING_STRENGTH EQU 255 ; 0..255 => 0..100 % Braking

DEFAULT_PGM_SAFETY_ARM EQU 0 ; EDT safety arm is disabled by default
Expand Down Expand Up @@ -225,9 +224,8 @@ Flags2: DS 1 ; State flags. NOT reset upon motor_star

Flags3: DS 1 ; State flags. NOT reset upon motor_start
Flag_Telemetry_Pending BIT Flags3.0 ; DShot telemetry data packet is ready to be sent
Flag_Dithering BIT Flags3.1 ; PWM dithering enabled
Flag_Had_Signal BIT Flags3.2 ; Used to detect reset after having had a valid signal
Flag_User_Reverse_Requested BIT Flags3.3 ; It is set when user request to reverse motors in turtle mode
Flag_Had_Signal BIT Flags3.1 ; Used to detect reset after having had a valid signal
Flag_User_Reverse_Requested BIT Flags3.2 ; It is set when user request to reverse motors in turtle mode


Tlm_Data_L: DS 1 ; DShot telemetry data (lo byte)
Expand Down Expand Up @@ -302,7 +300,7 @@ ISEG AT 080h ; The variables below must be in this se
_Pgm_Gov_P_Gain: DS 1 ;
Pgm_Startup_Power_Min: DS 1 ; Minimum power during startup phase
Pgm_Startup_Beep: DS 1 ; Startup beep melody on/off
Pgm_Dithering: DS 1 ; Enable PWM dithering
_Pgm_Dithering: DS 1 ; Enable PWM dithering
Pgm_Startup_Power_Max: DS 1 ; Maximum power (limit) during startup (and starting initial run phase)
_Pgm_Rampup_Slope: DS 1 ;
Pgm_Rpm_Power_Slope: DS 1 ; Low RPM power protection slope (factor)
Expand Down Expand Up @@ -343,9 +341,6 @@ Pgm_Safety_Arm: DS 1 ; Various flag settings: bit 0 is requir
ISEG AT 0B0h
Stack: DS 16 ; Reserved stack space

ISEG AT 0C0h
Dithering_Patterns: DS 16 ; Bit patterns for pwm dithering

ISEG AT 0D0h
Temp_Storage: DS 48 ; Temporary storage (internal memory)

Expand All @@ -355,8 +350,8 @@ Temp_Storage: DS 48 ; Temporary storage (internal memory)
;**** **** **** **** **** **** **** **** **** **** **** **** ****
CSEG AT CSEG_EEPROM
EEPROM_FW_MAIN_REVISION EQU 0 ; Main revision of the firmware
EEPROM_FW_SUB_REVISION EQU 20 ; Sub revision of the firmware
EEPROM_LAYOUT_REVISION EQU 207 ; Revision of the EEPROM layout
EEPROM_FW_SUB_REVISION EQU 21 ; Sub revision of the firmware
EEPROM_LAYOUT_REVISION EQU 208 ; Revision of the EEPROM layout
EEPROM_B2_PARAMETERS_COUNT EQU 28 ; Number of parameters

Eep_FW_Main_Revision: DB EEPROM_FW_MAIN_REVISION ; EEPROM firmware main revision number
Expand All @@ -365,7 +360,7 @@ Eep_Layout_Revision: DB EEPROM_LAYOUT_REVISION ; EEPROM layout revision number
_Eep_Pgm_Gov_P_Gain: DB 0FFh
Eep_Pgm_Startup_Power_Min: DB DEFAULT_PGM_STARTUP_POWER_MIN
Eep_Pgm_Startup_Beep: DB DEFAULT_PGM_STARTUP_BEEP
Eep_Pgm_Dithering: DB DEFAULT_PGM_DITHERING
_Eep_Pgm_Dithering: DB 0FFh
Eep_Pgm_Startup_Power_Max: DB DEFAULT_PGM_STARTUP_POWER_MAX
_Eep_Pgm_Rampup_Slope: DB 0FFh
Eep_Pgm_Rpm_Power_Slope: DB DEFAULT_PGM_RPM_POWER_SLOPE ; EEPROM copy of programmed rpm power slope (formerly startup power)
Expand Down Expand Up @@ -406,7 +401,7 @@ Eep_Pgm_Safety_Arm: DB DEFAULT_PGM_SAFETY_ARM ; Various flag settings: bit 0 is

Eep_Dummy: DB 0FFh ; EEPROM address for safety reason
CSEG AT CSEG_NAME
Eep_Name: DB "Bluejay (.1 RC2)" ; Name tag (16 Bytes)
Eep_Name: DB "Bluejay (.0 RC1)" ; Name tag (16 Bytes)

CSEG AT CSEG_MELODY
Eep_Pgm_Beep_Melody: DB 2,58,4,32,52,66,13,0,69,45,13,0,52,66,13,0,78,39,211,0,69,45,208,25,52,25,0
Expand Down Expand Up @@ -1046,7 +1041,6 @@ exit_run_mode:
call switch_power_off
mov Flags0, #0 ; Clear run time flags (in case they are used in interrupts)
mov Flags1, #0
clr Flag_Ext_Tele ; Clear extended DSHOT telemetry flag

IF MCU_TYPE == MCU_BB2 or MCU_TYPE == MCU_BB51
Set_MCU_Clk_24MHz
Expand Down
30 changes: 0 additions & 30 deletions src/Modules/Isrs.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -414,36 +414,6 @@ ELSEIF PWM_BITS_H == PWM_8_BIT
mov Temp3, #0
ENDIF

; 11-bit effective dithering of 8/9/10-bit pwm
IF PWM_BITS_H == PWM_8_BIT or PWM_BITS_H == PWM_9_BIT or PWM_BITS_H == PWM_10_BIT
jnb Flag_Dithering, t1_int_set_pwm

mov A, Temp4 ; 11-bit low byte
cpl A
anl A, #((1 SHL (3 - PWM_BITS_H)) - 1); Get index into dithering pattern table

add A, #Dithering_Patterns
mov Temp1, A ; Reuse DShot pwm pointer since it is not currently in use.
mov A, @Temp1 ; Retrieve pattern
rl A ; Rotate pattern
mov @Temp1, A ; Store pattern

jnb ACC.0, t1_int_set_pwm ; Increment if bit is set

mov A, Temp2
add A, #1
mov Temp2, A
jnz t1_int_set_pwm
IF PWM_BITS_H != PWM_8_BIT
mov A, Temp3
addc A, #0
mov Temp3, A
jnb ACC.PWM_BITS_H, t1_int_set_pwm
dec Temp3 ; Reset on overflow
ENDIF
dec Temp2
ENDIF

t1_int_set_pwm:
; Set PWM registers
IF DEADTIME != 0
Expand Down
41 changes: 4 additions & 37 deletions src/Modules/Settings.asm
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ set_default_parameters:
mov @Temp1, #0FFh ; _Pgm_Gov_P_Gain
imov Temp1, #DEFAULT_PGM_STARTUP_POWER_MIN ; Pgm_Startup_Power_Min
imov Temp1, #DEFAULT_PGM_STARTUP_BEEP ; Pgm_Startup_Beep
imov Temp1, #DEFAULT_PGM_DITHERING ; Pgm_Dithering
imov Temp1, #0FFh ; _Pgm_Dithering
imov Temp1, #DEFAULT_PGM_STARTUP_POWER_MAX ; Pgm_Startup_Power_Max
imov Temp1, #0FFh ; _Pgm_Rampup_Slope
imov Temp1, #DEFAULT_PGM_RPM_POWER_SLOPE ; Pgm_Rpm_Power_Slope
Expand Down Expand Up @@ -199,42 +199,9 @@ ELSEIF PWM_BITS_H == PWM_8_BIT
mov Pwm_Braking_H, #0
mov Pwm_Braking_L, A
ENDIF
cjne @Temp1, #0FFh, decode_pwm_dithering
cjne @Temp1, #0FFh, decode_end
mov Pwm_Braking_L, #0FFh ; Apply full braking if setting is max

;**** **** **** **** **** **** **** **** **** **** **** **** ****
;
; Dithering
;
; Depending on resolution, different dithering patterns are available.
;
;**** **** **** **** **** **** **** **** **** **** **** **** ****

decode_pwm_dithering:
mov Temp1, #Pgm_Dithering ; Read programmed dithering setting
mov A, @Temp1
add A, #0FFh ; Carry set if A is not zero
mov Flag_Dithering, C ; Set dithering enabled

IF PWM_BITS_H == PWM_10_BIT ; Initialize pwm dithering bit patterns
mov Temp1, #Dithering_Patterns ; 1-bit dithering (10-bit to 11-bit)
mov @Temp1, #00h ; 00000000
imov Temp1, #55h ; 01010101
ELSEIF PWM_BITS_H == PWM_9_BIT
mov Temp1, #Dithering_Patterns ; 2-bit dithering (9-bit to 11-bit)
mov @Temp1, #00h ; 00000000
imov Temp1, #11h ; 00010001
imov Temp1, #55h ; 01010101
imov Temp1, #77h ; 01110111
ELSEIF PWM_BITS_H == PWM_8_BIT
mov Temp1, #Dithering_Patterns ; 3-bit dithering (8-bit to 11-bit)
mov @Temp1, #00h ; 00000000
imov Temp1, #01h ; 00000001
imov Temp1, #11h ; 00010001
imov Temp1, #25h ; 00100101
imov Temp1, #55h ; 01010101
imov Temp1, #5Bh ; 01011011
imov Temp1, #77h ; 01110111
imov Temp1, #7fh ; 01111111
ENDIF
decode_end:
; Return
ret

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