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;**** **** **** **** ****;; BLHeli program for controlling brushless motors in helicopters and multirotors;; Copyright 2011, 2012 Steffen Skaug; This program is distributed under the terms of the GNU General Public License;; This file is part of BLHeli.;; BLHeli 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.;; BLHeli 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 BLHeli. If not, see <http://www.gnu.org/licenses/>.
;;**** **** **** **** ****;; Afro 20A hardware definition file;; Notes: ; - Uses ICP1 as input; - High side is slow to go on (10s of us) but fast to go off;;**** **** **** **** ****
;*********************; Device Atmega8A;*********************.INCLUDE "m8Adef.inc"
;**** **** **** **** ****; Fuses must be set to external oscillator = 16Mhz;**** **** **** **** ****
;**** **** **** **** ****; Constant definitions;**** **** **** **** ****.ESEG ; EEprom segment.ORG 0x40Eep_ESC_Layout: .DB "#AFRO_20A# " ; ESC layout tag.ORG 0x50Eep_ESC_MCU: .DB "#BLHELI#Am8A# " ; Project and MCU tag (16 Bytes)
.EQU HIGH_BEC_VOLTAGE = 0 ; Set to 1 or more if high BEC voltage is supported.EQU DAMPED_MODE_ENABLE = 1 ; Set to 1 if fully damped mode is supported.EQU NFETON_DELAY = 7 ; Wait delay from pfets off to nfets on.EQU PFETON_DELAY = 250 ; Wait delay from nfets off to pfets on.EQU ADC_LIMIT_L = 186 ; 3k3/18k divider. Power supply measurement ADC value for which motor power is limited (low byte).EQU ADC_LIMIT_H = 0 ; 3k3/18k divider. Power supply measurement ADC value for which motor power is limited (2 MSBs).EQU TEMP_LIMIT = 185 ; 3k3/10kNTC. Temperature measurement ADC value for which main motor power is limited.EQU TEMP_LIMIT_STEP = 15 ; 3k3/10kNTC. Temperature measurement ADC value increment for which main motor power is further limited
;**** **** **** **** ****; ESC specific defaults;**** **** **** **** ****.EQU DEFAULT_PGM_MAIN_SPOOLUP_TIME = 10 ; Main motor spoolup time.EQU DEFAULT_PGM_MAIN_STARTUP_PWR = 10 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50.EQU DEFAULT_PGM_TAIL_STARTUP_PWR = 10 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50.EQU DEFAULT_PGM_MULTI_STARTUP_PWR = 10 ; 1=0.031 2=0.047 3=0.063 4=0.094 5=0.125 6=0.188 7=0.25 8=0.38 9=0.50 10=0.75 11=1.00 12=1.25 13=1.50
;*********************; PORT D definitions *;********************* ;.EQU = 7 ;i ;.EQU = 6 ;i.EQU CnFET = 5 ;o.EQU BnFET = 4 ;o.EQU AnFET = 3 ;o.EQU ApFET = 2 ;o ;.EQU = 1 ;i;.EQU = 0 ;i
.equ INIT_PD = (1<<ApFET).equ DIR_PD = (1<<AnFET)+(1<<BnFET)+(1<<CnFET)+(1<<ApFET)
.MACRO Get_Rcp_Capture_Values in @0, ICR1L in @1, ICR1H.ENDMACRO.MACRO Read_Rcp_Int in @0, PINB sbrc Flags3, PGM_RCP_PWM_POL ; Is pwm polarity negative? com @0 ; Yes - invert.ENDMACRO.MACRO Get_Rcp_Int_Enable_State in @0, TIMSK ; Get icp1int enable state (giving 0 is off, anything else is on) andi @0, (1<<TICIE1).ENDMACRO.MACRO Rcp_Int_Enable in @0, TIMSK sbr @0, (1<<TICIE1) ; Enable icp1int out TIMSK, @0.ENDMACRO.MACRO Rcp_Int_Disable in @0, TIMSK cbr @0, (1<<TICIE1) ; Disable icp1int out TIMSK, @0.ENDMACRO.MACRO Rcp_Int_First in @0, TCCR1B sbr @0, (1<<ICES1) ; Default - set icp1int to trig on rising edge sbrc Flags3, PGM_RCP_PWM_POL ; Is pwm polarity negative? cbr @0, (1<<ICES1) ; Yes - set icp1int to trig on falling edge out TCCR1B, @0 .ENDMACRO.MACRO Rcp_Int_Second in @0, TCCR1B cbr @0, (1<<ICES1) ; Default - set icp1int to trig on falling edge sbrc Flags3, PGM_RCP_PWM_POL ; Is pwm polarity negative? sbr @0, (1<<ICES1) ; Yes - set icp1int to trig on rising edge out TCCR1B, @0 .ENDMACRO.MACRO Rcp_Clear_Int_Flag clr @0 sbr @0, (1<<ICF1) ; Clear icp1int flag out TIFR, @0 .ENDMACRO
.MACRO T0_Int_Disable in @0, TIMSK ; Disable timer0 interrupts cbr @0, (1<<TOIE0) out TIMSK, @0.ENDMACRO.MACRO T0_Int_Enable in @0, TIMSK ; Enable timer0 interrupts sbr @0, (1<<TOIE0) out TIMSK, @0.ENDMACRO.MACRO T1oca_Clear_Int_Flag ldi @0, (1<<OCF1A) ; Clear oc1a flag out TIFR, @0.ENDMACRO .MACRO T1oca_Int_Disable in @0, TIMSK ; Disable oc1a interrupts cbr @0, (1<<OCIE1A) out TIMSK, @0.ENDMACRO .MACRO T1oca_Int_Enable in @0, TIMSK ; Enable oc1a interrupts sbr @0, (1<<OCIE1A) out TIMSK, @0.ENDMACRO .MACRO T2_Clear_Int_Flag clr @0 sbr @0, (1<<TOV2) ; Clear tov2 flag out TIFR, @0 .ENDMACRO
;*********************; PORT C definitions *;*********************.EQU Volt_Ip = 7 ; i.EQU Temp_Ip = 6 ; i;.EQU = 5 ; i.EQU Rpm_Out_Pin = 4 ; o.EQU Led_Red = 3 ; o.EQU Led_Green = 2 ; o .EQU Mux_B = 1 ; i.EQU Mux_A = 0 ; i
.equ INIT_PC = (1<<Led_Red).equ DIR_PC = (1<<Led_Green)+(1<<Led_Red)+(1<<Rpm_Out_Pin)
.MACRO AnFET_on sbi PORTD, AnFET.ENDMACRO.MACRO AnFET_off cbi PORTD, AnFET.ENDMACRO.MACRO BnFET_on sbi PORTD, BnFET.ENDMACRO.MACRO BnFET_off cbi PORTD, BnFET.ENDMACRO.MACRO CnFET_on sbi PORTD, CnFET.ENDMACRO.MACRO CnFET_off cbi PORTD, CnFET.ENDMACRO.MACRO All_nFETs_Off cbi PORTD, AnFET cbi PORTD, BnFET cbi PORTD, CnFET.ENDMACRO
.MACRO ApFET_on cbi PORTD, ApFET.ENDMACRO.MACRO ApFET_off sbi PORTD, ApFET.ENDMACRO.MACRO BpFET_on cbi PORTB, BpFET.ENDMACRO.MACRO BpFET_off sbi PORTB, BpFET.ENDMACRO.MACRO CpFET_on cbi PORTB, CpFET.ENDMACRO.MACRO CpFET_off sbi PORTB, CpFET.ENDMACRO.MACRO All_pFETs_On cbi PORTD, ApFET cbi PORTB, BpFET cbi PORTB, CpFET.ENDMACRO.MACRO All_pFETs_Off sbi PORTD, ApFET sbi PORTB, BpFET sbi PORTB, CpFET.ENDMACRO.MACRO Damping_FET_On lds @0, DampingFET sbrc @0, 0 cbi PORTD, ApFET sbrc @0, 1 cbi PORTB, BpFET sbrc @0, 2 cbi PORTB, CpFET .ENDM
.MACRO Comp_Init in @0, SFIOR ; Toggling ACME improves comparator performance on many ESCs mov @1, @0 cbr @0, (1<<ACME) out SFIOR, @0 Read_Comp_Out @0 in @0, SFIOR sbrc @1, ACME sbr @0, (1<<ACME) out SFIOR, @0.ENDMACRO.MACRO Set_Comp_Phase_A in @0, SFIOR ; Set Analog Comparator Multiplexer Enable sbr @0, (1<<ACME) out SFIOR, @0 ldi @0, Mux_A ; Set comparator multiplexer to phase A ori @0, (1<<REFS1)+(1<<REFS0) out ADMUX, @0.ENDMACRO.MACRO Set_Comp_Phase_B in @0, SFIOR ; Set Analog Comparator Multiplexer Enable sbr @0, (1<<ACME) out SFIOR, @0 ldi @0, Mux_B ; Set comparator multiplexer to phase B ori @0, (1<<REFS1)+(1<<REFS0) out ADMUX, @0.ENDMACRO.MACRO Set_Comp_Phase_C in @0, SFIOR ; Set Analog Comparator Multiplexer Disable cbr @0, (1<<ACME) out SFIOR, @0.ENDMACRO.MACRO Read_Comp_Out in @0, ACSR ; Read comparator output.ENDMACRO
;*********************; PORT B definitions *;*********************;.EQU = 7 ; i;.EQU = 6 ; i;.EQU = 5 ; i.EQU DebugPin = 4 ; o;.EQU = 3 ; i.EQU BpFET = 2 ; o.EQU CpFET = 1 ; o.EQU Rcp_In = 0 ; i
.EQU INIT_PB = (1<<BpFET)+(1<<CpFET).EQU DIR_PB = (1<<BpFET)+(1<<CpFET)+(1<<DebugPin)
;**********************; MCU specific macros *;**********************.MACRO Interrupt_Table_Definition rjmp reset nop ; ext_int0 nop ; ext_int1 nop ; t2oc_int rjmp t2_int ; t2ovfl_int rjmp rcp_int ; icp1_int rjmp t1oca_int ; t1oca_int nop ; t1ocb_int nop ; t1ovfl_int rjmp t0_int ; t0ovfl_int nop ; spi_int nop ; urxc nop ; udre nop ; utxc; nop ; adc_int; nop ; eep_int; nop ; aci_int; nop ; wire2_int; nop ; spmc_int.ENDMACRO
.MACRO Disable_Watchdog cli ; Disable interrupts wdr ; Reset watchdog timer in @0, WDTCR ; Write logical one to WDCE and WDE ori @0, (1<<WDCE)|(1<<WDE) out WDTCR, @0 ldi @0, (0<<WDE) ; Turn off WDT out WDTCR, @0.ENDMACRO.MACRO Enable_Watchdog ldi @0, (1<<WDE) ; Turn on WDT out WDTCR, @0.ENDMACRO
.MACRO Initialize_MCU.ENDMACRO
.MACRO Initialize_Interrupts ldi @0, (1<<TOIE0)+(1<<OCIE1A)+(1<<TOIE2) out TIFR, @0 ; Clear interrupts out TIMSK, @0 ; Enable interrupts.ENDMACRO
.MACRO Initialize_Adc ldi @0, Volt_Ip ori @0, (1<<REFS1)+(1<<REFS0) out ADMUX, @0 ; Set ADMUX register in @0, ADCSRA ; Set ADCSRA register (1MHz clock) sbr @0, (1<<ADPS2) sbr @0, (1<<ADEN) ; Enable ADC out ADCSRA, @0.ENDMACRO
.MACRO Set_Adc_Ip_Volt cbr Flags1, (1<<ADC_READ_TEMP).ENDMACRO.MACRO Set_Adc_Ip_Temp sbr Flags1, (1<<ADC_READ_TEMP).ENDMACRO.MACRO Start_Adc ldi @0, Volt_Ip sbrc Flags1, ADC_READ_TEMP ldi @0, Temp_Ip ori @0, (1<<REFS1)+(1<<REFS0) out ADMUX, @0 ; Set ADMUX register (2.56V reference, selected input) in @0, ADCSRA sbr @0, (1<<ADEN) ; Enable ADC sbr @0, (1<<ADSC) ; Start ADC conversion out ADCSRA, @0.ENDMACRO.MACRO Get_Adc_Status in @0, ADCSRA .ENDMACRO.MACRO Read_Adc_Result in @0, ADCL in @1, ADCH .ENDMACRO.MACRO Stop_Adc in @0, ADCSRA cbr @0, (1<<ADEN) ; Disable ADC out ADCSRA, @0.ENDMACRO
.MACRO Set_Timer0_CS0 out TCCR0, @0.ENDMACRO.MACRO Set_Timer1_CS1 out TCCR1B, @0.ENDMACRO.MACRO Set_Timer2_CS2 out TCCR2, @0.ENDMACRO
.MACRO Read_TCNT1L in @0, TCNT1L.ENDMACRO.MACRO Read_TCNT1H in @0, TCNT1H.ENDMACRO.MACRO Set_OCR1AL out OCR1AL, @0.ENDMACRO.MACRO Set_OCR1AH out OCR1AH, @0.ENDMACRO
.MACRO Read_TCNT2 in @0, TCNT2.ENDMACRO.MACRO Set_TCNT2 out TCNT2, @0.ENDMACRO
.MACRO Check_Eeprom_Ready sbic EECR, EEWE.ENDMACRO.MACRO Set_Eeprom_Address out EEARL, @0 out EEARH, @1.ENDMACRO.MACRO Start_Eeprom_Write sbi EECR, EEMWE sbi EECR, EEWE.ENDMACRO
.MACRO Prepare_Lock_Or_Fuse_Read ldi @0, ((1<<BLBSET)+(1<<SPMEN)) out SPMCR, @0.ENDMACRO
.MACRO xcall rcall @0.ENDMACRO
.MACRO Set_RPM_Out cbi PORTC, Rpm_Out_Pin.ENDMACRO.MACRO Clear_RPM_Out sbi PORTC, Rpm_Out_Pin.ENDMACRO
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