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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/>.
;;**** **** **** **** ****;; YEP 7A hardware definition file;;**** **** **** **** ****
;*********************; Device Atmega168PA;*********************.INCLUDE "m168PAdef.inc"
;**** **** **** **** ****; Fuses must be set to external oscillator = 16Mhz;**** **** **** **** ****
;**** **** **** **** ****; Constant definitions;**** **** **** **** ****.ESEG ; EEprom segment.ORG 0x40Eep_ESC_Layout: .DB "#YEP_7A# " ; ESC layout tag.ORG 0x50Eep_ESC_MCU: .DB "#BLHELI#Am168PA#" ; 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 = 65 ; Wait delay from pfets off to nfets on.EQU PFETON_DELAY = 1 ; 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 = 231 ; 2k/22k divider. Power supply measurement ADC value for which motor power is limited (low byte).EQU ADC_LIMIT_H = 0 ; 2k/22k divider. Power supply measurement ADC value for which motor power is limited (2 MSBs).EQU TEMP_LIMIT = 0 ; No temp sensor. Temperature measurement ADC value for which main motor power is limited.EQU TEMP_LIMIT_STEP = 0 ; No temp sensor. Temperature measurement ADC value increment for which main motor power is further limited
;**** **** **** **** ****; ESC specific defaults;**** **** **** **** ****.EQU DEFAULT_PGM_MAIN_SPOOLUP_TIME = 7 ; Main motor spoolup time.EQU DEFAULT_PGM_MAIN_STARTUP_PWR = 11 ; 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 = 11 ; 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 = 11 ; 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_MAIN_STARTUP_METHOD = 2 ; 1=Stepped 2=Direct.EQU DEFAULT_PGM_TAIL_STARTUP_METHOD = 2 ; 1=Stepped 2=Direct.EQU DEFAULT_PGM_MULTI_STARTUP_METHOD = 2 ; 1=Stepped 2=Direct
;*********************; PORT D definitions *;********************* ;.EQU = 7 ;i ;.EQU = 6 ;i;.EQU = 5 ;i;.EQU = 4 ;i;.EQU = 3 ;i.EQU Rcp_In = 2 ;i ;.EQU = 1 ;i;.EQU = 0 ;i
.equ INIT_PD = 0x00.equ DIR_PD = 0x00
.MACRO Get_Rcp_Capture_Values lds @0, TCNT1L lds @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, EIMSK ; 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 EIMSK, @0.ENDMACRO.MACRO Rcp_Int_Disable ldi @0, 0 ; Disable int0 out EIMSK, @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 sts EICRA, @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 sts EICRA, @0 .ENDMACRO.MACRO Rcp_Clear_Int_Flag clr @0 sbr @0, (1<<INTF0) ; Clear ext0int flag out EIFR, @0 .ENDMACRO
.MACRO T0_Int_Disable lds @0, TIMSK0 ; Disable timer0 interrupts cbr @0, (1<<TOIE0) sts TIMSK0, @0.ENDMACRO.MACRO T0_Int_Enable lds @0, TIMSK0 ; Enable timer0 interrupts sbr @0, (1<<TOIE0) sts TIMSK0, @0.ENDMACRO.MACRO T1oca_Clear_Int_Flag ldi @0, (1<<OCF1A) ; Clear oc1a flag out TIFR1, @0.ENDMACRO
;*********************; PORT C definitions *;*********************;.EQU = 7 ; i;.EQU = 6 ; i.EQU Mux_A = 5 ; i.EQU Mux_B = 4 ; i.EQU Mux_C = 3 ; i;.EQU = 2 ; i ;.EQU = 1 ; i.EQU Volt_Ip = 0 ; i
.equ INIT_PC = 0x00.equ DIR_PC = 0x00
.MACRO AnFET_on tst Current_Pwm_Limited breq PC+5 sbrs Flags3, PGM_DIR_REV sbi PORTB, AnFET sbrc Flags3, PGM_DIR_REV sbi PORTB, CnFET.ENDMACRO.MACRO AnFET_off sbrs Flags3, PGM_DIR_REV cbi PORTB, AnFET sbrc Flags3, PGM_DIR_REV cbi PORTB, CnFET.ENDMACRO.MACRO BnFET_on tst Current_Pwm_Limited breq PC+2 sbi PORTB, BnFET.ENDMACRO.MACRO BnFET_off cbi PORTB, 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 PORTB, AnFET.ENDMACRO.MACRO CnFET_off sbrs Flags3, PGM_DIR_REV cbi PORTB, CnFET sbrc Flags3, PGM_DIR_REV cbi PORTB, AnFET.ENDMACRO.MACRO All_nFETs_Off cbi PORTB, AnFET cbi PORTB, BnFET cbi PORTB, CnFET.ENDMACRO
.MACRO ApFET_on sbrs Flags3, PGM_DIR_REV sbi PORTB, ApFET sbrc Flags3, PGM_DIR_REV sbi PORTB, CpFET.ENDMACRO.MACRO ApFET_off sbrs Flags3, PGM_DIR_REV cbi PORTB, ApFET sbrc Flags3, PGM_DIR_REV cbi PORTB, CpFET.ENDMACRO.MACRO BpFET_on sbi PORTB, BpFET.ENDMACRO.MACRO BpFET_off cbi PORTB, BpFET.ENDMACRO.MACRO CpFET_on sbrs Flags3, PGM_DIR_REV sbi PORTB, CpFET sbrc Flags3, PGM_DIR_REV sbi PORTB, ApFET.ENDMACRO.MACRO CpFET_off sbrs Flags3, PGM_DIR_REV cbi PORTB, CpFET sbrc Flags3, PGM_DIR_REV cbi PORTB, ApFET.ENDMACRO.MACRO All_pFETs_On sbi PORTB, ApFET sbi PORTB, BpFET sbi PORTB, CpFET.ENDMACRO.MACRO All_pFETs_Off cbi PORTB, ApFET cbi PORTB, BpFET cbi PORTB, CpFET.ENDMACRO
.MACRO Comp_Init lds @0, ADCSRB ; Set Analog Comparator Multiplexer Enable sbr @0, (1<<ACME) sts ADCSRB, @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 ori @0, (1<<REFS1)+(1<<REFS0) sts ADMUX, @0.ENDMACRO.MACRO Set_Comp_Phase_B ldi @0, Mux_B ; Set comparator multiplexer to phase B ori @0, (1<<REFS1)+(1<<REFS0) sts 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 ori @0, (1<<REFS1)+(1<<REFS0) sts ADMUX, @0.ENDMACRO.MACRO Read_Comp_Out in @0, ACSR ; Read comparator output.ENDMACRO
;*********************; PORT B definitions *;*********************;.EQU = 7 ; i;.EQU = 6 ; i.EQU CnFET = 5 ; o.EQU BnFET = 4 ; o.EQU AnFET = 3 ; o.EQU ApFET = 2 ; o.EQU CpFET = 1 ; o.EQU BpFET = 0 ; o
.EQU INIT_PB = 0.EQU DIR_PB = (1<<AnFET)+(1<<BnFET)+(1<<CnFET)+(1<<ApFET)+(1<<BpFET)+(1<<CpFET)
;**********************; MCU specific macros *;**********************.MACRO Interrupt_Table_Definition jmp reset rjmp rcp_int ; ext_int0 nop nop ; ext_int1 nop nop ; pci0_int nop nop ; pci1_int nop nop ; pci2_int nop nop ; wdt_int nop nop ; t2oca_int nop nop ; t2ocb_int nop rjmp t2_int ; t2ovfl_int nop nop ; icp1_int nop rjmp t1oca_int ; t1oca_int nop nop ; t1ocb_int nop nop ; t1ovfl_int nop nop ; t0oca_int nop nop ; t0ocb_int nop rjmp t0_int ; t0ovfl_int nop nop ; spi_int nop nop ; urxc nop nop ; udre nop nop ; utxc nop; 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, 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.ENDMACRO
.MACRO Initialize_Interrupts ldi @0, (1<<TOIE0) out TIFR0, @0 ; Clear interrupts sts TIMSK0, @0 ; Enable interrupts ldi @0, (1<<OCIE1A) out TIFR1, @0 ; Clear interrupts sts TIMSK1, @0 ; Enable interrupts ldi @0, (1<<TOIE2) out TIFR2, @0 ; Clear interrupts sts TIMSK2, @0 ; Enable interrupts.ENDMACRO
.MACRO Initialize_Adc lds @0, ADCSRA ; Set ADCSRA register (1MHz clock) sbr @0, (1<<ADPS2) sts 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, Volt_Ip ori @0, (1<<REFS1)+(1<<REFS0) sts ADMUX, @0 ; Set ADMUX register (1.1V reference, selected input) 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 Set_OCR1AL sts OCR1AL, @0.ENDMACRO.MACRO Set_OCR1AH sts OCR1AH, @0.ENDMACRO
.MACRO Read_TCNT2 lds @0, TCNT2.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
.MACRO Prepare_Lock_Or_Fuse_Read ldi @0, ((1<<BLBSET)+(1<<SELFPRGEN)) out SPMCSR, @0.ENDMACRO
.MACRO xcall call @0.ENDMACRO
.MACRO Set_RPM_Out.ENDMACRO.MACRO Clear_RPM_Out.ENDMACRO
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