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;**** **** **** **** ****;; BLHeli program for controlling brushless motors in helicopters;; 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/>.
;;**** **** **** **** ****
;*********************; Device Atmega88P(A);*********************.include "m88Pdef.inc"
.equ ICP = 1 ; Choose input pin. Set to 0 for INT0 (pin32) and 1 for ICP1 (pin12)
;**** **** **** **** ****; Fuses must be set to external oscillator 8.0- MHz;**** **** **** **** ****
;**** **** **** **** ****; Constant definitions;**** **** **** **** ****.equ ADC_LIMIT_L = 180 ; Power supply measurement ADC value for which main motor power is limited (low byte).equ ADC_LIMIT_H = 1 ; Power supply measurement ADC value for which main motor power is limited (2 MSBs)
;*********************; PORT D definitions *;********************* .equ Mux_B = 7 ;i Phase B input.equ Comp_Com = 6 ;i Comparator common input (AIN0).equ BnFET = 5 ;o.equ BpFET = 4 ;o.equ CpFET = 3 ;o.equ Rcp_In = 2 ;i RC pulse input.equ ApFET = 1 ;o;.equ = 0 ;i
.equ INIT_PD = 0.equ DIR_PD = (1<<ApFET)+(1<<BpFET)+(1<<CpFET)+(1<<BnFET)
.MACRO Read_Rcp_Int in @0, PIND sbrc Flags2, PGM_RCP_PWM_POL ; Is pwm polarity negative? com @0 ; Yes - invert.ENDMACRO.MACRO Read_Rcp_Icp_Int in @0, PINB sbrc Flags2, PGM_RCP_PWM_POL ; Is pwm polarity negative? com @0 ; Yes - invert.ENDMACRO
.MACRO Rcp_Int_Enable ldi @0, (1<<INT0) ; Enable ext0int out EIMSK, @0.ENDMACRO.MACRO Rcp_Int_Disable ldi @0, 0 ; Disable ext0int out EIMSK, @0.ENDMACRO.MACRO Rcp_Int_First sbrs Flags2, PGM_RCP_PWM_POL ; Is pwm polarity positive? ldi @0, (1<<ISC01)+(1<<ISC00) ; Yes - set next int0 to rising sbrc Flags2, PGM_RCP_PWM_POL ; Is pwm polarity negative? ldi @0, (1<<ISC01) ; Yes - set next int0 to falling sts EICRA, @0 .ENDMACRO.MACRO Rcp_Int_Second sbrs Flags2, PGM_RCP_PWM_POL ; Is pwm polarity positive? ldi @0, (1<<ISC01) ; Yes - set next int0 to falling sbrc Flags2, PGM_RCP_PWM_POL ; Is pwm polarity negative? ldi @0, (1<<ISC01)+(1<<ISC00) ; Yes - set next int0 to rising sts EICRA, @0 .ENDMACRO.MACRO Clear_Int_Flag clr @0 sbr @0, (1<<INTF0) ; Clear ext0int flag out EIFR, @0 .ENDMACRO
.MACRO Rcp_Icp_Int_Enable lds @0, TIMSK1 sbr @0, (1<<ICIE1) ; Enable icp1int sts TIMSK1, @0 .ENDMACRO.MACRO Rcp_Icp_Int_Disable lds @0, TIMSK1 cbr @0, (1<<ICIE1) ; Disable icp1int sts TIMSK1, @0 .ENDMACRO
.MACRO Rcp_Icp_Int_First lds @0, TCCR1B sbrs Flags2, PGM_RCP_PWM_POL ; Is pwm polarity positive sbr @0, (1<<ICES1) ; Yes - set icp1int to trig on rising edge sbrc Flags2, PGM_RCP_PWM_POL ; Is pwm polarity negative cbr @0, (1<<ICES1) ; Yes - set icp1int to trig on falling edge sts TCCR1B, @0 .ENDMACRO.MACRO Rcp_Icp_Int_Second lds @0, TCCR1B sbrs Flags2, PGM_RCP_PWM_POL ; Is pwm polarity positive cbr @0, (1<<ICES1) ; Yes - set icp1int to trig on falling edge sbrc Flags2, PGM_RCP_PWM_POL ; Is pwm polarity negative sbr @0, (1<<ICES1) ; Yes - set icp1int to trig on rising edge sts TCCR1B, @0 .ENDMACRO.MACRO Clear_Icp_Int_Flag clr @0 sbr @0, (1<<ICF1) ; Clear icp1int flag out TIFR1, @0 .ENDMACRO
.MACRO ApFET_on sbi PORTD,1.ENDMACRO.MACRO ApFET_off cbi PORTD,1.ENDMACRO.MACRO CpFET_on sbi PORTD,3.ENDMACRO.MACRO CpFET_off cbi PORTD,3.ENDMACRO.MACRO BpFET_on sbi PORTD,4.ENDMACRO.MACRO BpFET_off cbi PORTD,4.ENDMACRO.MACRO All_pFETs_Off in @0, PORTD cbr @0, (1<<ApFET)+(1<<BpFET)+(1<<CpFET) out PORTD, @0.ENDMACRO.MACRO All_pFETs_On in @0, PORTD sbr @0, (1<<ApFET)+(1<<BpFET)+(1<<CpFET) out PORTD, @0.ENDMACRO
;*********************; PORT C definitions *;*********************;.equ = 7 ; ADC7;.equ = 6 ; ADC6;.equ = 5 ; ADC5;.equ = 4 ; ADC4.equ Mux_C = 3 ; Phase C input.equ Mux_A = 2 ; Phase A input;.equ = 1 ; ADC1;.equ = 0 ; ADC0
.equ INIT_PC = 0.equ DIR_PC = 0
.MACRO Comp_Init lds @0, ADCSRA ; Disable ADC cbr @0, (1<<ADEN) sts ADCSRA, @0 lds @0, ADCSRB ; Set Analog Comparator Multiplexer Enable sbr @0, (1<<ACME) sts ADCSRB, @0.ENDMACRO.MACRO Set_Comp_Phase_A lds @0, ADCSRB ; Set Analog Comparator Multiplexer Enable sbr @0, (1<<ACME) sts ADCSRB, @0 ldi @0, Mux_A ; Set comparator multiplexer to phase A sts ADMUX, @0.ENDMACRO.MACRO Set_Comp_Phase_C lds @0, ADCSRB ; Set Analog Comparator Multiplexer Enable sbr @0, (1<<ACME) sts ADCSRB, @0 ldi @0, Mux_C ; Set comparator multiplexer to phase C sts ADMUX, @0.ENDMACRO.MACRO Set_Comp_Phase_B lds @0, ADCSRB ; Set Analog Comparator Multiplexer Disable cbr @0, (1<<ACME) sts ADCSRB, @0.ENDMACRO.MACRO Read_Comp_Out in @0, ACSR ; Read comparator output.ENDMACRO
;*********************; PORT B definitions *;*********************;.equ = 7;.equ = 6;.equ = 5 (sck stk200 interface) .equ DebugPin = 4 ;(miso stk200 interface);.equ = 3 (mosi stk200 interface) .equ AnFET = 2.equ CnFET = 1.equ Rcp_Icp_In = 0
.equ INIT_PB = 0.equ DIR_PB = (1<<DebugPin)+(1<<AnFET)+(1<<CnFET)
.MACRO AnFET_on sbi PORTB,2.ENDMACRO.MACRO AnFET_off cbi PORTB,2.ENDMACRO.MACRO CnFET_on sbi PORTB,1.ENDMACRO.MACRO CnFET_off cbi PORTB,1.ENDMACRO.MACRO BnFET_on sbi PORTD,5.ENDMACRO.MACRO BnFET_off cbi PORTD,5.ENDMACRO.MACRO All_nFETs_Off in @0, PORTB cbr @0, (1<<AnFET)+(1<<CnFET) out PORTB, @0 in @0, PORTD cbr @0, (1<<BnFET) out PORTD, @0.ENDMACRO
;**********************; MCU specific macros *;**********************.MACRO Disable_Watchdog cli ; Disable interrupts wdr ; Reset watchdog timer in @0, MCUSR ; Clear WDRF in MCUSR andi @0, (0xff & (0<<WDRF)) out MCUSR, @0 lds @0, WDTCSR ; Write logical one to WDCE and WDE ori @0, (1<<WDCE) | (1<<WDE) sts WDTCSR, @0 ldi @0, (0<<WDE) ; Turn off WDT sts WDTCSR, @0.ENDMACRO.MACRO Enable_Watchdog ldi @0, (1<<WDE) ; Turn on WDT sts WDTCSR, @0.ENDMACRO
.MACRO Initialize_MCU ldi @0, (1<<CLKPCE) ; Set clock prescaler change enable sts CLKPR, @0 ldi @0, (1<<CLKPS0) ; Change clock prescaler (to divide by 2) sts CLKPR, @0.ENDMACRO
.MACRO Interrupt_Table_Definition rjmp reset rjmp ext_int0 ; ext_int0 nop ; ext_int1 nop ; pci0_int nop ; pci1_int nop ; pci2_int nop ; wdt_int nop ; t2oca_int nop ; t2ocb_int rjmp t2ovfl_int; t2ovfl_int rjmp icp1_int ; icp1_int rjmp t1oca_int ; t1oca_int nop ; t1ocb_int rjmp t1ovfl_int; t1ovfl_int nop ; t0oca_int nop ; t0ocb_int rjmp t0ovfl_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 Initialize_Interrupts ldi Temp1, (1<<TOIE0) out TIFR0, Temp1 ; Clear interrupts sts TIMSK0, Temp1 ; Enable interrupts ldi Temp1, (1<<TOIE1)+(1<<OCIE1A) out TIFR1, Temp1 ; Clear interrupts sts TIMSK1, Temp1 ; Enable interrupts ldi Temp1, (1<<TOIE2) out TIFR2, Temp1 ; Clear interrupts sts TIMSK2, Temp1 ; Enable interrupts.ENDMACRO
.MACRO Initialize_Adc lds Temp1, ADCSRA ; Set ADCSRA register (1MHz clock) sbr Temp1, (1<<ADPS1) sbr Temp1, (1<<ADPS0) sts ADCSRA, Temp1.ENDMACRO.MACRO Start_Adc ldi Temp1, (1<<REFS1)+(1<<REFS0)+(1<<MUX2)+(1<<MUX1)+(1<<MUX0) sts ADMUX, Temp1 ; Set ADMUX register (1.1V reference, left adj result, input 7) lds @0, ADCSRA sbr @0, (1<<ADEN) ; Enable ADC sbr @0, (1<<ADSC) ; Start ADC conversion sts ADCSRA, @0.ENDMACRO.MACRO Get_Adc_Status lds @0, ADCSRA .ENDMACRO.MACRO Read_Adc_Result lds @0, ADCL lds @1, ADCH .ENDMACRO.MACRO Stop_Adc lds @0, ADCSRA cbr @0, (1<<ADEN) ; Disable ADC sts ADCSRA, @0.ENDMACRO
.MACRO Set_Timer0_CS0 out TCCR0B, @0.ENDMACRO.MACRO Set_Timer1_CS1 sts TCCR1B, @0.ENDMACRO.MACRO Set_Timer2_CS2 sts TCCR2B, @0.ENDMACRO
.MACRO Read_TCNT1L lds @0, TCNT1L.ENDMACRO.MACRO Read_TCNT1H lds @0, TCNT1H.ENDMACRO.MACRO Read_ICR1L lds @0, ICR1L.ENDMACRO.MACRO Read_ICR1H lds @0, ICR1H.ENDMACRO.MACRO Set_OCR1AL sts OCR1AL, @0.ENDMACRO.MACRO Set_OCR1AH sts OCR1AH, @0.ENDMACRO
.MACRO Set_TCNT2 sts TCNT2, @0.ENDMACRO
.MACRO Check_Eeprom_Ready sbic EECR, EEPE.ENDMACRO.MACRO Set_Eeprom_Address out EEARL, @0 out EEARH, @1.ENDMACRO.MACRO Start_Eeprom_Write sbi EECR, EEMPE sbi EECR, EEPE.ENDMACRO
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