Cleanup/relative jumps

src/Bluejay.asm

@@ -539,9 +539,10 @@ setup_dshot:
 
     ; Route RCP according to detected DShot signal (normal or inverted)
     mov  IT01CF, #(80h + (RTX_PIN SHL 4) + RTX_PIN) ; Route RCP input to Int0/1,with Int1 inverted
-    jnb  Flag_Rcp_DShot_Inverted, ($+6)
+    jnb  Flag_Rcp_DShot_Inverted, setup_dshot_clear_flags
     mov  IT01CF, #(08h + (RTX_PIN SHL 4) + RTX_PIN) ; Route RCP input to Int0/1,with Int0 inverted
 
+setup_dshot_clear_flags:
     clr  Flag_Demag_Notify              ; Clear motor events
     clr  Flag_Desync_Notify
     clr  Flag_Stall_Notify
@@ -1043,9 +1044,10 @@ exit_run_mode_stall_done:
     ; Extended telemetry flag is important because it is involved in
     ; EDT safety feature. We don't want to disable EDT arming during
     ; turtle mode.
-    jb Flag_User_Reverse_Requested, ($+5)
+    jb Flag_User_Reverse_Requested, exit_run_mode_stall_done_beep
     clr Flag_Ext_Tele
 
+exit_run_mode_stall_done_beep:
     ; Stalled too many times
     clr  IE_EA
     call beep_motor_stalled
@@ -1060,9 +1062,10 @@ exit_run_mode_no_stall:
     ; Extended telemetry flag is important because it is involved in
     ; EDT safety feature. We don't want to disable EDT arming during
     ; turtle mode.
-    jb Flag_User_Reverse_Requested, ($+5)
+    jb Flag_User_Reverse_Requested, exit_run_mode_no_stall_beep
     clr Flag_Ext_Tele
 
+exit_run_mode_no_stall_beep:
     ; Clear stall counter
     mov  Startup_Stall_Cnt, #0
 

src/Modules/DShot.asm

@@ -39,10 +39,14 @@ detect_rcp_level:
     mov  C, RTX_BIT
 
 detect_rcp_level_read:
-    jc   ($+5)
+    jc   detect_rcp_level_read_check_high_to_low
     jb   RTX_BIT, detect_rcp_level      ; Level changed from low to high - start over
-    jnc  ($+5)
+
+detect_rcp_level_read_check_high_to_low:
+    jnc  detect_rcp_level_check_loop
     jnb  RTX_BIT, detect_rcp_level      ; Level changed from high to low - start over
+
+detect_rcp_level_check_loop:
     djnz ACC, detect_rcp_level_read
 
     mov  Flag_Rcp_DShot_Inverted, C

src/Modules/Eeprom.asm

@@ -169,10 +169,10 @@ write_eeprom_byte_from_acc:
     clr  C
     mov  A, DPH                         ; Check that address is not in bootloader area
     subb A, #BOOTLOADER_OFFSET
-    jc   ($+3)
-
+    jc   write_eeprom_byte_write
     ret
 
+write_eeprom_byte_write:
     mov  A, Temp8
     mov  FLKEY, Flash_Key_1             ; First key code
     mov  FLKEY, Flash_Key_2             ; Second key code

src/Modules/Isrs.asm

@@ -150,9 +150,10 @@ t1_int_decode_lsb:
 t1_int_outside_range:
     inc  Rcp_Outside_Range_Cnt
     mov  A, Rcp_Outside_Range_Cnt
-    jnz  ($+4)
+    jnz  t1_int_outside_range_check_limit
     dec  Rcp_Outside_Range_Cnt
 
+t1_int_outside_range_check_limit:
     clr  C
     mov  A, Rcp_Outside_Range_Cnt
     subb A, #50                         ; Allow a given number of outside pulses
@@ -180,8 +181,10 @@ t1_int_decode_checksum:
     xrl  A, Temp4
     xrl  A, Temp5
     xrl  A, Temp3
-    jnb  Flag_Rcp_DShot_Inverted, ($+4)
+    jnb  Flag_Rcp_DShot_Inverted, t1_int_decode_checksum_xor_check
     cpl  A                              ; Invert checksum if using inverted DShot
+
+t1_int_decode_checksum_xor_check:
     anl  A, #0Fh
     jnz  t1_int_outside_range           ; XOR check
 
@@ -236,8 +239,10 @@ t1_int_normal_range:
     mov  Temp5, A
 
 t1_int_bidir_set:
-    jnb  Flag_Pgm_Dir_Rev, ($+4)        ; Check programmed direction
+    jnb  Flag_Pgm_Dir_Rev, t1_int_bidir_set_dir ; Check programmed direction
     cpl  C                              ; Reverse direction
+
+t1_int_bidir_set_dir:
     mov  Flag_Rcp_Dir_Rev, C            ; Set rcp direction
 
     clr  C                              ; Multiply throttle value by 2
@@ -255,7 +260,7 @@ t1_int_not_bidir:
     mov  Temp3, A
 
     ; Align to 11 bits
-    ;clr    C                       ; Note: Cleared by div
+    ;clr    C                           ; Note: Cleared by div
     rrca Temp5
     mov  A, Temp4
     rrc  A
@@ -267,10 +272,11 @@ t1_int_not_bidir:
     mov  A, Temp5
     addc A, #0
     mov  Temp5, A
-    jnb  ACC.3, ($+7)                   ; Limit to 11-bit maximum
+    jnb  ACC.3, t1_int_not_bidir_do_not_boost ; Limit to 11-bit maximum
     mov  Temp4, #0FFh
     mov  Temp5, #07h
 
+t1_int_not_bidir_do_not_boost:
     ; Do not boost when changing direction in bidirectional mode
     jb   Flag_Motor_Started, t1_int_startup_boosted
 
@@ -300,7 +306,7 @@ t1_int_stall_boost:
     mov  A, Temp5
     addc A, #0
     mov  Temp5, A
-    jnb  ACC.3, ($+7)                   ; Limit to 11-bit maximum
+    jnb  ACC.3, t1_int_startup_boosted  ; Limit to 11-bit maximum
     mov  Temp4, #0FFh
     mov  Temp5, #07h
 
@@ -328,17 +334,19 @@ t1_int_rcp_not_zero:
 t1_int_zero_rcp_checked:
     ; Decrement outside range counter
     mov  A, Rcp_Outside_Range_Cnt
-    jz   ($+4)
+    jz   t1_int_zero_rcp_checked_set_limit
     dec  Rcp_Outside_Range_Cnt
 
+t1_int_zero_rcp_checked_set_limit:
     ; Set pwm limit
     clr  C
     mov  A, Pwm_Limit                   ; Limit to the smallest
     mov  Temp6, A                       ; Store limit in Temp6
     subb A, Pwm_Limit_By_Rpm
-    jc   ($+4)
+    jc   t1_int_zero_rcp_checked_check_limit
     mov  Temp6, Pwm_Limit_By_Rpm
 
+t1_int_zero_rcp_checked_check_limit:
     ; Check against limit
     clr  C
     mov  A, Temp6
@@ -552,7 +560,7 @@ t2_int_flag_rcp_stop_check:
     ; Increment Rcp_Stop_Cnt clipping it to 255
     mov  A, Rcp_Stop_Cnt
     inc  A
-    jz   ($+4)
+    jz   t2_int_exit
     inc  Rcp_Stop_Cnt
 
 ;**** **** **** **** **** **** **** **** **** **** **** **** ****

src/Modules/Macros.asm

@@ -57,10 +57,12 @@ ENDM
 
 ; DShot GCR encoding, adjust time by adding to previous item
 GCR_Add_Time MACRO reg
+    LOCAL gcr_add_time_set
     mov  B, @reg
     mov  A, DShot_GCR_Pulse_Time_2
-    cjne A, B, ($+5)
+    cjne A, B, gcr_add_time_set
     mov  A, DShot_GCR_Pulse_Time_3
+gcr_add_time_set:
     mov  @reg, A
 ENDM
 

src/Modules/Power.asm

@@ -62,18 +62,21 @@ set_pwm_limit:
     jz   set_pwm_limit_low_rpm_exit     ; Avoid divide by zero
 
     mov  A, #255                        ; Divide 255 by Comm_Period4x_H
-    jnb  Flag_Initial_Run_Phase, ($+5)  ; More protection for initial run phase
+    jnb  Flag_Initial_Run_Phase, set_pwm_limit_calculate ; More protection for initial run phase
     mov  A, #127
+
+set_pwm_limit_calculate:
     mov  B, Comm_Period4x_H
     div  AB
     mov  B, Low_Rpm_Pwr_Slope           ; Multiply by slope
     mul  AB
     mov  Temp1, A                       ; Set new limit
     xch  A, B
-    jz   ($+4)                          ; Limit to max
+    jz   set_pwm_limit_check_limit_to_min ; Limit to max
 
     mov  Temp1, #0FFh
 
+set_pwm_limit_check_limit_to_min:
     clr  C
     mov  A, Temp1                       ; Limit to min
     subb A, Pwm_Limit_Beg
@@ -113,7 +116,8 @@ set_pwm_limit_high_rpm_inc_limit:
     inc  A
 
 set_pwm_limit_high_rpm_store:
-    jz   ($+4)
+    jz   set_pwm_limit_high_rpm_end
     mov  Pwm_Limit_By_Rpm, A
 
+set_pwm_limit_high_rpm_end:
     ret

src/Modules/Settings.asm

@@ -101,16 +101,18 @@ decode_settings:
     mov  Temp1, #Pgm_Startup_Power_Max
     mov  A, #80                         ; Limit to at most 80
     subb A, @Temp1
-    jnc  ($+4)
+    jnc  decode_settings_check_low_rpm
     mov  @Temp1, #80
 
+decode_settings_check_low_rpm:
     ; Check low rpm power slope
     mov  Temp1, #Pgm_Rpm_Power_Slope
     mov  A, #13                         ; Limit to at most 13
     subb A, @Temp1
-    jnc  ($+4)
+    jnc  decode_settings_set_low_rpm
     mov  @Temp1, #13
 
+decode_settings_set_low_rpm:
     mov  Low_Rpm_Pwr_Slope, @Temp1
 
     ; Decode demag compensation

src/Modules/Timing.asm

@@ -57,8 +57,10 @@ calc_next_comm_period:
     mov  Temp1, TMR2L                   ; Load Timer2 value
     mov  Temp2, TMR2H
     mov  Temp3, Timer2_X
-    jnb  TMR2CN0_TF2H, ($+4)            ; Check if interrupt is pending
+    jnb  TMR2CN0_TF2H,calc_next_comm_period_enable_timer2 ; Check if interrupt is pending
     inc  Temp3                          ; If it is pending,then timer has already wrapped
+
+calc_next_comm_period_enable_timer2:
     setb TMR2CN0_TR2                    ; Timer2 enabled
     setb IE_EA
 
@@ -220,7 +222,7 @@ calc_next_comm_done:
     clr  C
     mov  A, Comm_Period4x_H
     subb A, #2                          ; Is Comm_Period4x_H below 2? (above ~160k erpm)
-    jnc  ($+4)
+    jnc  calc_next_comm_15deg
     setb Flag_High_Rpm                  ; Yes - Set high rpm flag
 
 calc_next_comm_15deg:
@@ -290,9 +292,10 @@ calc_next_comm_period_fast:
 
     clr  C
     subb A, #2                          ; Is Comm_Period4x_H 2 or more? (below ~160k erpm)
-    jc   ($+4)
+    jc   calc_next_comm_period_fast_div_comm_perio4x_by_16
     clr  Flag_High_Rpm                  ; Yes - Clear high rpm bit
 
+calc_next_comm_period_fast_div_comm_perio4x_by_16:
     mov  A, Temp4                       ; Divide Comm_Period4x by 16 and store in Temp4/3
     swap A
     mov  Temp7, A
@@ -373,14 +376,15 @@ adjust_comm_timing:
     inc  Temp8                          ; Increase timing (if metric 130 or above)
 
     subb A, #30
-    jc   ($+3)
+    jc   adjust_comm_timing_limit_to_max
 
     inc  Temp8                          ; Increase timing again (if metric 160 or above)
 
+adjust_comm_timing_limit_to_max:
     clr  C
     mov  A, Temp8                       ; Limit timing to max
     subb A, #6
-    jc   ($+4)
+    jc   load_comm_timing_done
 
     mov  Temp8, #5                      ; Set timing to max (if timing 6 or above)
 
@@ -603,9 +607,10 @@ comp_start:
     mov  Temp4, #(1 SHL IS_MCU_48MHZ)   ; Max number of readings required
     jb   Flag_High_Rpm, comp_check_timeout ; Branch if high rpm
 
-    jnb  Flag_Initial_Run_Phase, ($+5)
+    jnb  Flag_Initial_Run_Phase, comp_start_check_startup_phase
     clr  Flag_Demag_Detected            ; Clear demag detected flag if start phases
 
+comp_start_check_startup_phase:
     jnb  Flag_Startup_Phase, comp_not_startup
     mov  Temp3, #(27 SHL IS_MCU_48MHZ)  ; Set many samples during startup,approximately one pwm period
     mov  Temp4, #(27 SHL IS_MCU_48MHZ)
@@ -620,12 +625,14 @@ IF MCU_TYPE == MCU_BB1
     clr  C
     rrc  A
 ENDIF
-    jnz  ($+3)
+    jnz  comp_not_startup_check_ok_readings
     inc  A                              ; Minimum 1
+
+comp_not_startup_check_ok_readings:
     mov  Temp3, A
     clr  C
     subb A, #(20 SHL IS_MCU_48MHZ)
-    jc   ($+4)
+    jc   comp_check_timeout
     mov  Temp3, #(20 SHL IS_MCU_48MHZ)  ; Maximum 20
 
 comp_check_timeout:
@@ -679,9 +686,10 @@ comp_read_wrong_startup:
     clr  C
     mov  A, Temp3
     subb A, Temp4                       ; If above initial requirement - do not increment further
-    jc   ($+3)
+    jc   comp_read_wrong_startup_jump   ; TODO: Skip this jump to optimize
     dec  Temp3
 
+comp_read_wrong_startup_jump:
     sjmp comp_check_timeout             ; Continue to look for good ones
 
 comp_read_wrong_extend_timeout:
@@ -809,9 +817,10 @@ wait_for_comm_demag_event_added:
     mov  Demag_Detected_Metric, A
     clr  C
     subb A, #120                        ; Limit to minimum 120
-    jnc  ($+5)
+    jnc  wait_for_comm_update_demag_metric_max
     mov  Demag_Detected_Metric, #120
 
+wait_for_comm_update_demag_metric_max:
     ; Update demag metric max
     clr  C
     mov  A, Demag_Detected_Metric