Yolo Layout

Common.inc

@@ -96,6 +96,8 @@ IF MCU_48MHZ < 2
 	;$include (Layouts/Y.inc)			; Select pinout Y
 	ELSEIF ESCNO == Z_
 	$include (Layouts/Z.inc)				; Select pinout Z
+	ELSEIF ESCNO == 0
+	$include (Layouts/Yolo.inc)			; Temporary
 	ENDIF
 ENDIF
 

Layouts/Yolo.inc

@@ -0,0 +1,185 @@
+;**** **** **** **** ****
+;
+; 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/>.
+;
+;**** **** **** **** ****
+;
+; Testing only! - using "@" as layout identifier.
+; Not BLHeli_S compatible!
+;
+; Using 3 pwm channels (duplicate damp) to accommodate swapped Bp/Bc pair
+; Outputs are open-drain
+;
+; Am Cm Bm Vm __ RX __ __	Ac Ap Bp Bc Cc Cp __ __
+;
+;**** **** **** **** ****
+
+PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
+COM_ACTIVE_HIGH	EQU	0		; Damping non-inverted
+
+COMPARATOR_PORT	EQU	0		; All comparator (mux) pins must be on the same port
+
+IF DEADTIME == 0
+	ERROR_NOT_IMPLEMENTED
+
+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
+
+	PCA0CPM_DAMP2	EQU	PCA0CPM2	; Duplicate damping channel
+	PCA0CPL_DAMP2	EQU	PCA0CPL2
+	PCA0CPH_DAMP2	EQU	PCA0CPH2
+ENDIF
+
+;*********************
+; PORT 0 definitions *
+;*********************
+TMP_0		EQU	7
+;			EQU	6
+RTX_PIN		EQU	5
+;			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	0
+P0_SKIP		EQU	0FFh
+
+
+;*********************
+; PORT 1 definitions *
+;*********************
+;			EQU	7
+;			EQU	6
+C_Pwm		EQU	5
+C_Com		EQU	4
+B_Com		EQU	3
+B_Pwm		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_Com) + (1 SHL B_Com) + (1 SHL C_Com)	; Active low com fets
+P1_PUSHPULL	EQU	0			; All outputs are open-drain
+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)
+
+
+;**** **** **** **** ****
+; PWM Setup
+;**** **** **** **** ****
+Initialize_Crossbar MACRO
+	mov	XBR2, #40h			;; Crossbar enabled
+	mov	XBR1, #03h			;; CEX0, CEX1 and CEX2 routed to pins
+ENDM
+
+Set_Pwm_Polarity MACRO
+	mov	PCA0POL, #((COM_ACTIVE_HIGH SHL 2) + ((1 - PWM_ACTIVE_HIGH) SHL 1) + COM_ACTIVE_HIGH)
+ENDM
+
+
+;**** **** **** **** ****
+; PWM Phase
+;**** **** **** **** ****
+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
+	mov	P1SKIP, #0FFh			;; Ensure channels on port 1 does not change (swap)
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #(NOT ((1 SHL A_Pwm) + (1 SHL A_Com)))
+ENDM
+
+Set_Pwm_Phase_B MACRO
+	mov	P1SKIP, #0FFh			;; Ensure channels on port 1 does not change (swap)
+	mov	P0SKIP, #(NOT (1 SHL TMP_0))	;; Normal damping in TMP_0
+	mov	P1SKIP, #(NOT ((1 SHL B_Pwm) + (1 SHL B_Com)))	;; Power in B_Pwm and duplicate damping in B_Com
+ENDM
+
+Set_Pwm_Phase_C MACRO
+	mov	P1SKIP, #0FFh			;; Ensure channels on port 1 does not change (swap)
+	mov	P0SKIP, #0FFh
+	mov	P1SKIP, #(NOT ((1 SHL C_Pwm) + (1 SHL C_Com)))
+ENDM
+
+Set_All_Pwm_Phases_Off MACRO
+	mov	P1SKIP, #0FFh
+	mov	P0SKIP, #0FFh
+ENDM
+
+
+;**** **** **** **** ****
+; PWM Update
+;**** **** **** **** ****
+Enable_Power_Pwm_Module MACRO
+	mov	PCA0CPM_POWER, #42h		;; Enable comparator of module, set pwm mode
+ENDM
+
+Enable_Damp_Pwm_Module MACRO
+	mov	PCA0CPM_DAMP, #42h		;; Enable comparator of module, set pwm mode
+	mov	PCA0CPM_DAMP2, #42h		;; Enable comparator of module, set pwm mode
+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
+	mov	PCA0CPL_DAMP2, value	;; Duplicate damp channel
+ENDM
+
+Set_Damp_Pwm_Reg_H MACRO value
+	mov	PCA0CPH_DAMP, value
+	mov	PCA0CPH_DAMP2, value	;; Duplicate damp channel
+ENDM
+
+
+;**** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** ****
+$set(CUSTOM_PWM_SETUP, CUSTOM_PWM_PHASE, CUSTOM_PWM_UPDATE)
+$include (Base.inc)

Makefile

@@ -3,7 +3,7 @@ TAG			:= $(shell git describe --tags --abbrev=0)
 VERSION		?= $(TAG)
 
 # 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 Z
+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
 LAYOUTS_X		= A B C
 MCUS_X		= X
@@ -38,7 +38,7 @@ LX51_FLAGS	=
 
 # Source files
 ASM_SRC		= Bluejay.asm
-ASM_INC		= $(LAYOUTS:%=Layouts/%.inc) Layouts/Base.inc Common.inc BLHeliBootLoad.inc Silabs/SI_EFM8BB1_Defs.inc Silabs/SI_EFM8BB2_Defs.inc
+ASM_INC		= Layouts/*.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)