Merge branch 'release/0.21.1-RC1'

.gitignore

@@ -1,4 +1,5 @@
 /build
+/user
 /tools/.wine
 *.diff
 .project

Makefile

@@ -1,12 +1,13 @@
 # Current version
 TAG			:= $(shell git describe --tags --abbrev=0)
 VERSION		?= $(TAG)
+SETTINGSDIR	?= ./src/Settings
 
 # 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 \
 			  OA
 MCUS			= H
-LAYOUTS_X		= A B C
+LAYOUTS_X		= A B C D E
 MCUS_X		= X
 DEADTIMES		= 0 5 10 15 20 25 30 40 50 70 90 120
 PWM_FREQS		= 24 48 96
@@ -44,7 +45,6 @@ ASM_INC		= 								\
 			$(LAYOUTS:%=src/Layouts/%.inc)	\
 			src/Layouts/Base.inc			\
 			src/BLHeliBootLoad.inc			\
-			src/Silabs/SI_EFM8BB1_Defs.inc	\
 			src/Silabs/SI_EFM8BB2_Defs.inc	\
 			src/Silabs/SI_EFM8BB51_Defs.inc	\
 			src/Silabs/SI_EFM8LB1_Defs.inc	\
@@ -93,6 +93,7 @@ $(OUTPUT_DIR)/$(1)_$(2)_$(3)_$(4)_$(VERSION).OBJ : $(ASM_SRC) $(ASM_INC)
 	@mkdir -p $(OUTPUT_DIR)
 	@echo "AX51 : $$@"
 	@$(AX51) $(ASM_SRC) \
+		"INCDIR($(SETTINGSDIR)) " \
 		"DEFINE(ESCNO=$(_ESCNO)) " \
 		"DEFINE(MCU_TYPE=$(_MCU_TYPE)) "\
 		"DEFINE(DEADTIME=$(_DEADTIME)) "\

README.md

@@ -73,6 +73,7 @@ We are in a very lucky position to have manufacturers who keep helping us out co
 * [T-Motor](https://tmotorhobby.com/) - for providing us with an AIO flight-controller
 * [TuneRC](https://www.tunerc.com/) - for providing us with AIO flight-controllers
 * [weBLEEDfpv](https://webleedfpv.com/) - for a set of "Gore V2" motors
+* [HAKRC](https://www.hakrc.com/) - for providing us with ESCs
 
 ## Contribute
 Any help you can provide is greatly appreciated!

src/BLHeliBootLoad.inc

@@ -59,7 +59,7 @@ init:
     mov  SP, #0c0h                      ; Stack = 64 upper bytes of RAM
     ; Initialize clock
     mov  CLKSEL, #00h                   ; Set clock divider to 1
-IF MCU_TYPE == MCU_BB1 or MCU_TYPE == MCU_BB2
+IF MCU_TYPE == MCU_BB2
     ; Initialize VDD monitor
     orl  VDM0CN, #080h                  ; Enable the VDD monitor
 ENDIF

src/Bluejay.asm

@@ -78,7 +78,7 @@ $include (Modules\Enums.asm)
 ;                                         PORT 0                   |  PORT 1                   |  PWM    COM    PWM    LED
 ;                                         P0 P1 P2 P3 P4 P5 P6 P7  |  P0 P1 P2 P3 P4 P5 P6 P7  |  inv    inv    side    n
 ;                                         -----------------------  |  -----------------------  |  -------------------------
-IF MCU_TYPE == MCU_BB1 or MCU_TYPE == MCU_BB2
+IF MCU_TYPE == MCU_BB2
     A_ EQU 1                            ; Vn Am Bm Cm __ RX __ __  |  Ap Ac Bp Bc Cp Cc __ __  |  no     no     high   _
     B_ EQU 2                            ; Vn Am Bm Cm __ RX __ __  |  Cc Cp Bc Bp Ac Ap __ __  |  no     no     high   _
     C_ EQU 3                            ; RX __ Vn Am Bm Cm Ap Ac  |  Bp Bc Cp Cc __ __ __ __  |  no     no     high   _
@@ -116,6 +116,8 @@ IF MCU_TYPE == MCU_BB51
     A_ EQU 1                            ; __ Bm Cm Am Vn RX __ __  |  Ap Ac Bp Bc Cp Cc __ __  |  no     no     low    _
     B_ EQU 2                            ; __ Bm Cm Am Vn RX __ __  |  Ac Ap Bc Bp Cc Cp __ __  |  no     yes    high   _
     C_ EQU 3                            ; __ Bm Cm Am Vn RX __ __  |  Ac Ap Bc Bp Cc Cp __ __  |  yes    yes    high   _
+    D_ EQU 4                            ; __ Bm Cm Am Vn RX __ __  |  Ap Ac Bp Bc Cp Cc __ __  |  no	 yes 	high   _
+	E_ EQU 5                            ; __ Cm Bm Am Vn RX __ __  |  Cp Bp Ap Cc Bc Ac __ __  |  no	 yes 	high   _
 ENDIF
 
 ; Select the port mapping to use (or unselect all for use with external batch compile file)
@@ -134,46 +136,22 @@ ENDIF
 
 PWM_CENTERED EQU DEADTIME > 0           ; Use center aligned pwm on ESCs with dead time
 
-IF MCU_TYPE == MCU_BB1
-    IS_MCU_48MHZ EQU 0
-ELSE
-    IS_MCU_48MHZ EQU 1
-ENDIF
+IS_MCU_48MHZ EQU 1
 
 IF PWM_FREQ == PWM_24 or PWM_FREQ == PWM_48 or PWM_FREQ == PWM_96
     ; Number of bits in pwm high byte
-    PWM_BITS_H EQU (2 + IS_MCU_48MHZ - PWM_CENTERED - PWM_FREQ)
+    PWM_BITS_H EQU (3 - PWM_CENTERED - PWM_FREQ)
 ENDIF
 
 $include (Modules\McuOffsets.asm)
 $include (Modules\Codespace.asm)
 $include (Modules\Common.asm)
 $include (Modules\Macros.asm)
 
-;**** **** **** **** **** **** **** **** **** **** **** **** ****
-; Programming defaults
-;**** **** **** **** **** **** **** **** **** **** **** **** ****
-DEFAULT_PGM_RPM_POWER_SLOPE EQU 9       ; 0=Off,1..13 (Power limit factor in relation to rpm)
-DEFAULT_PGM_COMM_TIMING EQU 4           ; 1=Low 2=MediumLow 3=Medium 4=MediumHigh 5=High
-DEFAULT_PGM_DEMAG_COMP EQU 2            ; 1=Disabled 2=Low 3=High
-DEFAULT_PGM_DIRECTION EQU 1             ; 1=Normal 2=Reversed 3=Bidir 4=Bidir rev
-DEFAULT_PGM_BEEP_STRENGTH EQU 40        ; 0..255 (BLHeli_S is 1..255)
-DEFAULT_PGM_BEACON_STRENGTH EQU 80      ; 0..255
-DEFAULT_PGM_BEACON_DELAY EQU 4          ; 1=1m 2=2m 3=5m 4=10m 5=Infinite
-DEFAULT_PGM_ENABLE_TEMP_PROT EQU 0      ; 0=Disabled 1=80C 2=90C 3=100C 4=110C 5=120C 6=130C 7=140C
-
-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 21    ; 0..255 => (1000..1125 Throttle): value * (1000 / 2047) + 1000
-DEFAULT_PGM_STARTUP_BEEP EQU 1          ; 0=Short beep,1=Melody
-
-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
+; This file is Searched within the INCDIR set in the Makefile.
+; This allows overwriting the settings by putting a file with the same name in
+; a different directory and setting that in INCDIR.
+$include (BluejaySettings.asm)
 
 ;**** **** **** **** **** **** **** **** **** **** **** **** ****
 ; Temporary register definitions
@@ -401,7 +379,7 @@ 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 (.0)    "         ; Name tag (16 Bytes)
+Eep_Name: DB "Bluejay (.1 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
@@ -432,7 +410,7 @@ pgm_start:
     mov  WDTCN, #0DEh                   ; Disable watchdog (WDT)
     mov  WDTCN, #0ADh
     mov  SP, #Stack                     ; Initialize stack (16 bytes of indirect RAM)
-IF MCU_TYPE == MCU_BB1 or MCU_TYPE == MCU_BB2
+IF MCU_TYPE == MCU_BB2
     orl  VDM0CN, #080h                  ; Enable the VDD monitor
 ENDIF
     mov  RSTSRC, #06h                   ; Set missing clock and VDD monitor as a reset source if not 1S capable
@@ -582,21 +560,6 @@ setup_dshot_clear_flags:
 
     setb IE_EA                          ; Enable all interrupts
 
-; Setup variables for DShot150 (Only on 24MHz because frame length threshold cannot be scaled up)
-IF MCU_TYPE == MCU_BB1
-    mov  DShot_Timer_Preset, #-64       ; Load DShot sync timer preset (for DShot150)
-    mov  DShot_Pwm_Thr, #8              ; Load DShot qualification pwm threshold (for DShot150)
-    mov  DShot_Frame_Length_Thr, #160   ; Load DShot frame length criteria
-
-    Set_DShot_Tlm_Bitrate 187500        ; = 5/4 * 150000
-
-    ; Test whether signal is DShot150
-    mov  Rcp_Outside_Range_Cnt, #10     ; Set out of range counter
-    call wait100ms                      ; Wait for new RC pulse
-    mov  A, Rcp_Outside_Range_Cnt       ; Check if pulses were accepted
-    jz   arming_begin
-ENDIF
-
     mov  CKCON0, #0Ch                   ; Timer0/1 clock is system clock (for DShot300/600)
 
     ; Setup variables for DShot300
@@ -612,8 +575,7 @@ ENDIF
     mov  A, Rcp_Outside_Range_Cnt       ; Check if pulses were accepted
     jz   arming_begin
 
-; Setup variables for DShot600 (Only on 48MHz for performance reasons)
-IF MCU_TYPE == MCU_BB2 or MCU_TYPE == MCU_BB51
+    ; Setup variables for DShot600
     mov  DShot_Timer_Preset, #-64       ; Load DShot sync timer preset (for DShot600)
     mov  DShot_Pwm_Thr, #8              ; Load DShot pwm threshold (for DShot600)
     mov  DShot_Frame_Length_Thr, #40    ; Load DShot frame length criteria
@@ -625,7 +587,6 @@ IF MCU_TYPE == MCU_BB2 or MCU_TYPE == MCU_BB51
     call wait100ms                      ; Wait for new RC pulse
     mov  A, Rcp_Outside_Range_Cnt       ; Check if pulses were accepted
     jz   arming_begin
-ENDIF
 
     ; No valid signal detected, try again
     ljmp init_no_signal

src/Layouts/BB51/D.inc

@@ -0,0 +1,93 @@
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2022-2022 Chris Landa
+; Copyright 2011-2017 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 "D" for BB51.
+;
+; PORT 0                   |  PORT 1                   |  PWM    COM    PWM    LED
+; P0 P1 P2 P3 P4 P5 P6 P7  |  P0 P1 P2 P3 P4 P5 P6 P7  |  inv    inv    side    n
+; -----------------------  |  -----------------------  |  -------------------------
+; __ Bm Cm Am Vn RX __ __  |  Ap Ac Bp Bc Cp Cc __ __  |  no    yes    high   _
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+
+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
+COMPARATOR_INVERT EQU 1                 ; Comparator output inverted
+
+PCA0CPM_POWER EQU PCA0CPM0
+PCA0CPL_POWER EQU PCA0CPL0
+PCA0CPH_POWER EQU PCA0CPH0
+
+PCA0CPM_DAMP EQU PCA0CPM1
+PCA0CPL_DAMP EQU PCA0CPL1
+PCA0CPH_DAMP EQU PCA0CPH1
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+; PORT 0 definitions
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;     EQU 7
+;     EQU 6
+RTX_PIN EQU 5
+V_Mux EQU 4
+A_Mux EQU 3
+C_Mux EQU 2
+B_Mux EQU 1
+;     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 (1 SHL A_Pwm) + (1 SHL B_Pwm) + (1 SHL C_Pwm)
+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)
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+$include (../Base.inc)

src/Layouts/BB51/E.inc

@@ -0,0 +1,94 @@
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;
+; Bluejay digital ESC firmware for controlling brushless motors in multirotors
+;
+; Copyright 2022-2022 Chris Landa
+; Copyright 2011-2017 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 "E" for BB51.
+;
+; PORT 0                   |  PORT 1                   |  PWM    COM    PWM    LED
+; P0 P1 P2 P3 P4 P5 P6 P7  |  P0 P1 P2 P3 P4 P5 P6 P7  |  inv    inv    side    n
+; -----------------------  |  -----------------------  |  -------------------------
+; __ Cm Bm Am Vn RX __ __  |  Cp Bp Ap Cc Bc Ac __ __  |  no    yes    high   _
+;
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+
+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
+COMPARATOR_INVERT EQU 1                 ; Comparator output inverted
+
+PCA0CPM_POWER EQU PCA0CPM0
+PCA0CPL_POWER EQU PCA0CPL0
+PCA0CPH_POWER EQU PCA0CPH0
+
+PCA0CPM_DAMP EQU PCA0CPM1
+PCA0CPL_DAMP EQU PCA0CPL1
+PCA0CPH_DAMP EQU PCA0CPH1
+
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+; PORT 0 definitions
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+;     EQU 7
+;     EQU 6
+RTX_PIN EQU 5
+V_Mux EQU 4
+A_Mux EQU 3
+B_Mux EQU 2
+C_Mux EQU 1
+;     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
+A_Com EQU 5
+B_Com EQU 4
+C_Com EQU 3
+A_Pwm EQU 2
+B_Pwm EQU 1
+C_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 (1 SHL A_Pwm) + (1 SHL B_Pwm) + (1 SHL C_Pwm)
+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)
+
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+; Inherit base layout
+;**** **** **** **** **** **** **** **** **** **** **** **** ****
+$include (../Base.inc)