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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/>.
;;**** **** **** **** ****;; BlueSeries 40A hardware definition file;; Notes: ; - Low side is slow to go on (~10us) in damped mode but fast to go off. Damped mode is safe but works poorly;;**** **** **** **** ****
;*********************; Device Atmega8A;*********************.INCLUDE "m8Adef.inc"
;**** **** **** **** ****; Fuses must be set to external oscillator = 16Mhz;**** **** **** **** ****
;**** **** **** **** ****; Constant definitions;**** **** **** **** ****.ESEG ; EEprom segment.ORG 0x40Eep_ESC_Layout: .DB "#BlueSer_40A# " ; ESC layout tag.ORG 0x50Eep_ESC_MCU: .DB "#BLHELI#Am8A# " ; Project and MCU tag (16 Bytes)
.EQU CLK_8M = 0 ; Set to 0 for 16MHz clock, and 1 if 8MHz clock.EQU HIGH_BEC_VOLTAGE = 0 ; Set to 1 or more if high BEC voltage is supported.EQU DAMPED_MODE_ENABLE = 0 ; Set to 1 if fully damped mode is supported.EQU NFETON_DELAY = 5 ; Wait delay from pfets off to nfets on.EQU PFETON_DELAY = 5 ; Wait delay from nfets off to pfets on.EQU COMP_PWM_HIGH_ON_DELAY = 10 ; Wait delay from pwm on until comparator can be read (for high pwm frequency).EQU COMP_PWM_HIGH_OFF_DELAY = 20 ; Wait delay from pwm off until comparator can be read (for high pwm frequency).EQU COMP_PWM_LOW_ON_DELAY = 10 ; Wait delay from pwm on until comparator can be read (for low pwm frequency).EQU COMP_PWM_LOW_OFF_DELAY = 20 ; Wait delay from pwm off until comparator can be read (for low pwm frequency).EQU HIGH_DRIVER_PRECHG_TIME = 0 ; Time between commutations use to precharge the high side driver (for all nfet ESCs).EQU ADC_LIMIT_L = 116 ; 51k/220k divider. Power supply measurement ADC value for which motor power is limited (low byte).EQU ADC_LIMIT_H = 0 ; 51k/220k divider. Power supply measurement ADC value for which motor power is limited (2 MSBs).EQU TEMP_LIMIT = 161 ; 1k8/10kNTC. Temperature measurement ADC value for which main motor power is limited.EQU TEMP_LIMIT_STEP = 13 ; 1k8/10kNTC. 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 = 9 ; 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 = 9 ; 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 = 9 ; 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 AnFET = 5 ;o.EQU CpFET = 4 ;o;.EQU = 3 ;i.EQU Rcp_In = 2 ;i ;.EQU = 1 ;i;.EQU = 0 ;i
.equ INIT_PD = 0x00.equ DIR_PD = (1<<AnFET)+(1<<CpFET)
.MACRO Get_Rcp_Capture_Values in @0, TCNT1L in @1, TCNT1H.ENDMACRO.MACRO Read_Rcp_Int in @0, PIND sbrc Flags3, PGM_RCP_PWM_POL ; Is pwm polarity negative? com @0 ; Yes - invert.ENDMACRO.MACRO Get_Rcp_Int_Enable_State in @0, GICR ; Get int0 enable state (giving 0 is off, anything else is on) andi @0, (1<<INT0).ENDMACRO.MACRO Rcp_Int_Enable ldi @0, (1<<INT0) ; Enable int0 out GICR, @0.ENDMACRO.MACRO Rcp_Int_Disable ldi @0, 0 ; Disable int0 out GICR, @0.ENDMACRO.MACRO Rcp_Int_First sbrs Flags3, PGM_RCP_PWM_POL ; Is pwm polarity positive? ldi @0, (1<<ISC01)+(1<<ISC00); Yes - set next int0 to rising sbrc Flags3, PGM_RCP_PWM_POL ; Is pwm polarity negative? ldi @0, (1<<ISC01) ; Yes - set next int0 to falling out MCUCR, @0 .ENDMACRO.MACRO Rcp_Int_Second sbrs Flags3, PGM_RCP_PWM_POL ; Is pwm polarity positive? ldi @0, (1<<ISC01) ; Yes - set next int0 to falling sbrc Flags3, PGM_RCP_PWM_POL ; Is pwm polarity negative? ldi @0, (1<<ISC01)+(1<<ISC00); Yes - set next int0 to rising out MCUCR, @0 .ENDMACRO.MACRO Rcp_Clear_Int_Flag clr @0 sbr @0, (1<<INTF0) ; Clear ext0int flag out GIFR, @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
;*********************; PORT C definitions *;*********************.EQU Mux_B = 7 ; i.EQU Mux_C = 6 ; i.EQU BpFET = 5 ; i.EQU BnFET = 4 ; i.EQU ApFET = 3 ; i.EQU Volt_Ip = 2 ; i .EQU Temp_Ip = 1 ; i.EQU Mux_A = 0 ; i
.equ INIT_PC = 0x00.equ DIR_PC = (1<<BnFET)+(1<<BpFET)+(1<<ApFET)
.MACRO AnFET_on tst Current_Pwm_Limited breq PC+5 sbrs Flags3, PGM_DIR_REV sbi PORTD, AnFET sbrc Flags3, PGM_DIR_REV sbi PORTB, CnFET.ENDMACRO.MACRO AnFET_off sbrs Flags3, PGM_DIR_REV cbi PORTD, AnFET sbrc Flags3, PGM_DIR_REV cbi PORTB, CnFET.ENDMACRO.MACRO BnFET_on tst Current_Pwm_Limited breq PC+2 sbi PORTC, BnFET.ENDMACRO.MACRO BnFET_off cbi PORTC, BnFET.ENDMACRO.MACRO CnFET_on tst Current_Pwm_Limited breq PC+5 sbrs Flags3, PGM_DIR_REV sbi PORTB, CnFET sbrc Flags3, PGM_DIR_REV sbi PORTD, AnFET.ENDMACRO.MACRO CnFET_off sbrs Flags3, PGM_DIR_REV cbi PORTB, CnFET sbrc Flags3, PGM_DIR_REV cbi PORTD, AnFET.ENDMACRO.MACRO All_nFETs_Off cbi PORTD, AnFET cbi PORTC, BnFET cbi PORTB, CnFET.ENDMACRO
.MACRO ApFET_on sbrs Flags3, PGM_DIR_REV sbi PORTC, ApFET sbrc Flags3, PGM_DIR_REV sbi PORTD, CpFET.ENDMACRO.MACRO ApFET_off sbrs Flags3, PGM_DIR_REV cbi PORTC, ApFET sbrc Flags3, PGM_DIR_REV cbi PORTD, CpFET.ENDMACRO.MACRO BpFET_on sbi PORTC, BpFET.ENDMACRO.MACRO BpFET_off cbi PORTC, BpFET.ENDMACRO.MACRO CpFET_on sbrs Flags3, PGM_DIR_REV sbi PORTD, CpFET sbrc Flags3, PGM_DIR_REV sbi PORTC, ApFET.ENDMACRO.MACRO CpFET_off sbrs Flags3, PGM_DIR_REV cbi PORTD, CpFET sbrc Flags3, PGM_DIR_REV cbi PORTC, ApFET.ENDMACRO.MACRO All_pFETs_On sbi PORTC, ApFET sbi PORTC, BpFET sbi PORTD, CpFET.ENDMACRO.MACRO All_pFETs_Off cbi PORTC, ApFET cbi PORTC, BpFET cbi PORTD, CpFET.ENDMACRO
.MACRO Comp_Init in @0, SFIOR ; Set Analog Comparator Multiplexer Enable sbr @0, (1<<ACME) out SFIOR, @0.ENDMACRO.MACRO Set_Comp_Phase_A sbrs Flags3, PGM_DIR_REV ldi @0, Mux_A ; Set comparator multiplexer to phase A sbrc Flags3, PGM_DIR_REV ldi @0, Mux_C out ADMUX, @0.ENDMACRO.MACRO Set_Comp_Phase_B ldi @0, Mux_B ; Set comparator multiplexer to phase B out ADMUX, @0.ENDMACRO.MACRO Set_Comp_Phase_C sbrs Flags3, PGM_DIR_REV ldi @0, Mux_C ; Set comparator multiplexer to phase C sbrc Flags3, PGM_DIR_REV ldi @0, Mux_A out ADMUX, @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 = 2 ; i;.EQU = 1 ; i.EQU CnFET = 0 ; o
.EQU INIT_PB = 0x00.EQU DIR_PB = (1<<CnFET)+(1<<DebugPin)
;**********************; MCU specific macros *;**********************.MACRO Interrupt_Table_Definition rjmp reset rjmp rcp_int ; ext_int0 nop ; ext_int1 nop ; t2oc_int rjmp t2_int ; t2ovfl_int nop ; 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 in @0, ADCSRA ; Set ADCSRA register (1MHz clock) sbr @0, (1<<ADPS2) 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 sbrs Flags1, ADC_READ_TEMP ldi @0, Volt_Ip sbrc Flags1, ADC_READ_TEMP ldi @0, Temp_Ip out ADMUX, @0 ; Set ADMUX register (5V 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.ENDMACRO.MACRO Clear_RPM_Out.ENDMACRO
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