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Updated to Rev14.1

master
Steffen Skaug 9 years ago
parent
commit
2e08b9913b
  1. BIN
      Atmel/BLHeli manual Atmel Rev14.x.pdf
  2. BIN
      Atmel/BLHeli supported Atmel ESCs.pdf
  3. 129
      Atmel/BLHeli.asm
  4. 2
      Atmel/DYS_SN20A.inc
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BIN
Atmel/BLHeli manual Atmel Rev14.x.pdf

BIN
Atmel/BLHeli supported Atmel ESCs.pdf

129
Atmel/BLHeli.asm

@ -107,6 +107,11 @@
; Added setting for enable/disable of PWM input
; Better AFW and damping for some ESCs (that have a slow high side driver)
; Miscellaneous other changes
; - Rev14.1 Fixed max throttle calibration bug (for non-oneshot)
; Fixed some closed loop mode bugs
; Relaxed signal jitter requirement for looptimes below 1000
; Added skipping of damping fet switching near max power, for improved high end throttle linearity, using the concept of SimonK
; Improved sync hold at high rpms
;
;
;
@ -212,6 +217,9 @@
;#define MULTISTAR_30A_MAIN ; Inverted input
;#define MULTISTAR_30A_TAIL
;#define MULTISTAR_30A_MULTI
;#define MULTISTAR_40Av2_MAIN
;#define MULTISTAR_40Av2_TAIL
;#define MULTISTAR_40Av2_MULTI
;#define MULTISTAR_45A_MAIN ; Inverted input
;#define MULTISTAR_45A_TAIL
;#define MULTISTAR_45A_MULTI
@ -583,6 +591,21 @@
.INCLUDE "Multistar_30A.inc" ; Select Multistar 30A pinout
#endif
#if defined(MULTISTAR_40Av2_MAIN)
.EQU MODE = 0 ; Choose mode. Set to 0 for main motor
.INCLUDE "Multistar_40Av2.inc" ; Select Multistar 40A v2 pinout
#endif
#if defined(MULTISTAR_40Av2_TAIL)
.EQU MODE = 1 ; Choose mode. Set to 1 for tail motor
.INCLUDE "Multistar_40Av2.inc" ; Select Multistar 40A v2 pinout
#endif
#if defined(MULTISTAR_40Av2_MULTI)
.EQU MODE = 2 ; Choose mode. Set to 2 for multirotor
.INCLUDE "Multistar_40Av2.inc" ; Select Multistar 40A v2 pinout
#endif
#if defined(MULTISTAR_45A_MAIN)
.EQU MODE = 0 ; Choose mode. Set to 0 for main motor
.INCLUDE "Multistar_45A.inc" ; Select Multistar 45A pinout
@ -882,7 +905,7 @@
.EQU DEFAULT_PGM_TAIL_BEEP_STRENGTH = 250; Beep strength
.EQU DEFAULT_PGM_TAIL_BEACON_STRENGTH = 250; Beacon strength
.EQU DEFAULT_PGM_TAIL_BEACON_DELAY = 4 ; 1=1m 2=2m 3=5m 4=10m 5=Infinite
.EQU DEFAULT_PGM_TAIL_PWM_DITHER = 3 ; 1=1 2=3 3=7 4=15 5=31
.EQU DEFAULT_PGM_TAIL_PWM_DITHER = 3 ; 1=Off 2=7 3=15 4=31 5=63
; Multi
.EQU DEFAULT_PGM_MULTI_P_GAIN = 9 ; 1=0.13 2=0.17 3=0.25 4=0.38 5=0.50 6=0.75 7=1.00 8=1.5 9=2.0 10=3.0 11=4.0 12=6.0 13=8.0
@ -901,7 +924,7 @@
.EQU DEFAULT_PGM_MULTI_BEEP_STRENGTH = 40 ; Beep strength
.EQU DEFAULT_PGM_MULTI_BEACON_STRENGTH = 80 ; Beacon strength
.EQU DEFAULT_PGM_MULTI_BEACON_DELAY = 4 ; 1=1m 2=2m 3=5m 4=10m 5=Infinite
.EQU DEFAULT_PGM_MULTI_PWM_DITHER = 3 ; 1=1 2=3 3=7 4=15 5=31
.EQU DEFAULT_PGM_MULTI_PWM_DITHER = 3 ; 1=Off 2=7 3=15 4=31 5=63
; Common
.EQU DEFAULT_PGM_ENABLE_TX_PROGRAM = 1 ; 1=Enabled 0=Disabled
@ -926,7 +949,7 @@
.EQU RCP_MAX = 255 ; This is maximum RC pulse length
.EQU RCP_VALIDATE = 2 ; Require minimum this pulse length to validate RC pulse
.EQU RCP_STOP = 1 ; Stop motor at or below this pulse length
.EQU RCP_STOP_LIMIT = 5 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
.EQU RCP_STOP_LIMIT = 250 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
.EQU PWM_START = 50 ; PWM used as max power during start
@ -969,7 +992,7 @@
.EQU RCP_MAX = 255 ; This is maximum RC pulse length
.EQU RCP_VALIDATE = 2 ; Require minimum this pulse length to validate RC pulse
.EQU RCP_STOP = 1 ; Stop motor at or below this pulse length
.EQU RCP_STOP_LIMIT = 5 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
.EQU RCP_STOP_LIMIT = 250 ; Stop motor if this many timer2H overflows (~32ms) are below stop limit
.EQU PWM_START = 50 ; PWM used as max power during start
@ -1024,8 +1047,8 @@
.EQU INITIAL_RUN_PHASE = 2 ; Set when in initial run phase, before synchronized run is achieved
.EQU ADC_READ_TEMP = 3 ; Set when ADC input shall be set to read temperature
.EQU COMP_TIMED_OUT = 4 ; Set when comparator reading timed out
;.EQU = 5
;.EQU = 6
.EQU SKIP_DAMP_ON = 5 ; Set when turning damping fet on is skipped
.EQU SKIP_DAMP_OFF = 6 ; Set when turning damping fet off is skipped
;.EQU = 7
@ -1214,7 +1237,7 @@ Pgm_Startup_Pwr_Decoded: .BYTE 1 ; Programmed startup power decoded
.ORG 0
.EQU EEPROM_FW_MAIN_REVISION = 14 ; Main revision of the firmware
.EQU EEPROM_FW_SUB_REVISION = 0 ; Sub revision of the firmware
.EQU EEPROM_FW_SUB_REVISION = 1 ; Sub revision of the firmware
.EQU EEPROM_LAYOUT_REVISION = 20 ; Revision of the EEPROM layout
Eep_FW_Main_Revision: .DB EEPROM_FW_MAIN_REVISION ; EEPROM firmware main revision number
@ -1455,19 +1478,25 @@ t2_int_pwm_off_exit_nfets_off:
t2_int_pwm_off_damped:
.IF PFETON_DELAY < 128
All_nFETs_Off ; Switch off all nfets
sbrc Flags1, SKIP_DAMP_ON
rjmp t2_int_pwm_off_damp_done
.IF PFETON_DELAY != 0
ldi YL, PFETON_DELAY
dec YL
brne PC-1
.ENDIF
Damping_FET_on YL ; Damping fet on
t2_int_pwm_off_damp_done:
.ENDIF
.IF PFETON_DELAY >= 128 ; "Negative", 1's complement
sbrc Flags1, SKIP_DAMP_ON
rjmp t2_int_pwm_off_damp_done
Damping_FET_on YL ; Damping fet on
ldi YL, PFETON_DELAY
com YL
dec YL
brne PC-1
t2_int_pwm_off_damp_done:
All_nFETs_Off ; Switch off all nfets
.ENDIF
t2_int_pwm_off_fullpower_exit:
@ -1509,11 +1538,14 @@ pwm_afet_damped:
rjmp t2_int_pwm_on_exit
sbrc Flags0, DEMAG_CUT_POWER
rjmp t2_int_pwm_on_exit
sbrc Flags1, SKIP_DAMP_OFF
rjmp pwm_afet_damped_done
.IF NFETON_DELAY != 0
ldi YL, NFETON_DELAY ; Set delay
dec YL
brne PC-1
.ENDIF
pwm_afet_damped_done:
AnFET_on ; Switch nFET
rjmp t2_int_pwm_on_exit
@ -1523,11 +1555,14 @@ pwm_bfet_damped:
rjmp t2_int_pwm_on_exit
sbrc Flags0, DEMAG_CUT_POWER
rjmp t2_int_pwm_on_exit
sbrc Flags1, SKIP_DAMP_OFF
rjmp pwm_bfet_damped_done
.IF NFETON_DELAY != 0
ldi YL, NFETON_DELAY ; Set delay
dec YL
brne PC-1
.ENDIF
pwm_bfet_damped_done:
BnFET_on ; Switch nFET
rjmp t2_int_pwm_on_exit
@ -1537,11 +1572,14 @@ pwm_cfet_damped:
rjmp t2_int_pwm_on_exit
sbrc Flags0, DEMAG_CUT_POWER
rjmp t2_int_pwm_on_exit
sbrc Flags1, SKIP_DAMP_OFF
rjmp pwm_cfet_damped_done
.IF NFETON_DELAY != 0
ldi YL, NFETON_DELAY ; Set delay
dec YL
brne PC-1
.ENDIF
pwm_cfet_damped_done:
CnFET_on ; Switch nFET
rjmp t2_int_pwm_on_exit
@ -1658,7 +1696,7 @@ t0_int_skip_end:
t0_int_rcp_update_start:
; Process updated RC pulse
sbrs Flags2, RCP_UPDATED ; Is there an updated RC pulse available?
rjmp t0_int_current_pwm_done ; No - exit
rjmp t0_int_current_pwm_update ; No - update pwm limits and exit
lds XL, New_Rcp ; Load new pulse value
mov I_Temp1, XL
@ -1746,17 +1784,18 @@ t0_int_pwm_update:
ldi XL, 0xFF
sts Requested_Pwm, XL
t0_int_current_pwm_update:
.ENDIF
t0_int_current_pwm_update:
.IF MODE == 0 || MODE == 2 ; Main or multi
lds I_Temp1, Pgm_Gov_Mode ; Governor mode?
cpi I_Temp1, 4
brne t0_int_pwm_exit ; Yes - branch
breq PC+2
rjmp t0_int_pwm_exit ; Yes - branch
.ENDIF
lds XL, Requested_Pwm ; Set equal as default
sts Current_Pwm, XL
t0_int_current_pwm_done:
.IF MODE >= 1 ; Tail or multi
; Set current_pwm_limited
lds I_Temp1, Current_Pwm ; Default not limited
@ -1823,6 +1862,17 @@ t0_int_current_pwm_dither_max_power:
t0_int_current_pwm_no_dither:
sts Current_Pwm_Lim_Dith, I_Temp1
.IF DAMPED_MODE_ENABLE == 1
; Skip damping fet switching for high throttle
cbr Flags1, (1<<SKIP_DAMP_ON)
cbr Flags1, (1<<SKIP_DAMP_OFF)
subi I_Temp1, 245
brcs t0_int_pwm_exit
sbr Flags1, (1<<SKIP_DAMP_ON)
subi I_Temp1, 5
brcs t0_int_pwm_exit
sbr Flags1, (1<<SKIP_DAMP_OFF)
.ENDIF
.ENDIF
t0_int_pwm_exit:
; Set demag enabled if pwm is above limit
@ -2127,6 +2177,10 @@ rcp_int_second_meas_pwm_freq:
rjmp rcp_int_store_data
rcp_int_check_12kHz:
lds XL, Pgm_Enable_PWM_Input ; Check if PWM input is enabled
tst XL
breq rcp_int_restore_edge ; If it is not - branch
; Check if pwm frequency is 12kHz
cpi I_Temp1, low(200) ; If below 100us, 12kHz pwm is assumed
cpc I_Temp2, Zero
@ -2317,12 +2371,12 @@ rcp_int_ppm_check_full_range:
; Calculate "1000us" plus throttle minimum
ldi XL, 0 ; Set 1000us as default minimum
mov I_Temp7, XL
lds I_Temp2, Pgm_Direction ; Check if bidirectional operation (store in I_Temp2)
sbrc Flags3, FULL_THROTTLE_RANGE ; Check if full range is chosen
rjmp rcp_int_ppm_calculate ; Yes - branch
lds I_Temp7, Pgm_Ppm_Min_Throttle ; Min throttle value is in 4us units
.IF MODE >= 1 ; Tail or multi
lds I_Temp2, Pgm_Direction ; Check if bidirectional operation (store in I_Temp2)
cpi I_Temp2, 3
brne PC+3 ; No - branch
@ -2946,7 +3000,7 @@ governor_activate:
ldi Temp2, 0xC7
lds Temp3, Comm_Period4x_L ; Load comm period
lds Temp4, Comm_Period4x_H
; Set speed range. Bare Comm_Period4x corresponds to 400k rpm, because it is 500n units
; Set speed range
lsr Temp4
ror Temp3 ; 200k eRPM range here
; Check range
@ -3075,8 +3129,8 @@ governor_check_pwm:
cp Temp4, XH
brcc governor_int_max_pwm ; Yes - branch
tst Temp4 ; Is current pwm at zero?
breq governor_int_min_pwm ; Yes - branch
cpi Temp4, 2 ; Is current pwm at minimum?
brcs governor_int_min_pwm ; Yes - branch
rjmp governor_store_int_error ; No - store integral error
@ -3227,7 +3281,7 @@ governor_apply_int_corr:
rjmp governor_store_int_corr ; No - store correction
governor_corr_int_min_pwm:
ldi Temp1, 0 ; Load minimum pwm
ldi Temp1, 1 ; Load minimum pwm
rjmp governor_store_int_corr
governor_corr_neg_int:
@ -3596,11 +3650,7 @@ check_voltage_exit:
check_voltage_lim:
.ENDIF
.IF MODE == 2 ; Multi
; Set current pwm limited if closed loop mode
lds XH, Pgm_Gov_Mode ; Governor mode?
cpi XH, 4
brne check_voltage_set_pwm_gov ; Yes - branch
; Increase pwm limit
lds Temp2, Pwm_Limit
ldi XH, 16
add Temp2, XH
@ -3609,9 +3659,19 @@ check_voltage_lim:
ldi Temp2, 255
sts Pwm_Limit, Temp2 ; Increment limit
rjmp check_voltage_pwm_done
; Set current pwm limited if closed loop mode
lds XH, Pgm_Gov_Mode ; Governor mode?
cpi XH, 4
breq check_voltage_pwm_done ; No - branch
lds Temp1, Pwm_Limit ; Set limit
lds XH, Current_Pwm
sub XH, Temp1
brcc check_voltage_low_rpm ; If current pwm above limit - branch and limit
lds Temp1, Current_Pwm ; Set current pwm (no limiting)
check_voltage_set_pwm_gov:
check_voltage_low_rpm:
; Limit pwm for low rpms
lds XH, Pwm_Limit_Low_Rpm ; Check against limit
cp Temp1, XH
@ -3824,12 +3884,6 @@ calc_new_wait_per_demag_done:
brcc calc_new_wait_per_low
inc Temp7 ; Increase
inc Temp7
sbrs Flags2, PGM_PWMOFF_DAMPED; More reduction for damped
rjmp calc_new_wait_per_low
inc Temp7 ; Increase more
calc_new_wait_per_low:
cpi XH, 2 ; 156k eRPM
@ -3838,11 +3892,6 @@ calc_new_wait_per_low:
inc Temp7 ; Increase more
inc Temp7
sbrs Flags2, PGM_PWMOFF_DAMPED; More reduction for damped
rjmp calc_new_wait_per_high
inc Temp7 ; Increase more
calc_new_wait_per_high:
; Load current commutation timing
lds Temp2, Comm_Period4x_H ; Load Comm_Period4x
@ -4130,10 +4179,9 @@ comp_wait_on_comp_able_not_timed_out:
inc XH
sts Comparator_Read_Cnt, XH
Read_Comp_Out XH ; Read comparator output
ldi XH, 1
sbrc Flags1, STARTUP_PHASE
rjmp comp_read_done
ldi XH, 4 ; 1 is stutter, 2 is quite fine, 3 is fine, 10 is fine on DYS SN20A
ldi XH, 2 ; More delay between readings for startup
dec XH
brne PC-1
Read_Comp_Out XH ; Another reading reduces comparator noise on some ESCs (for some reason...)
@ -5195,7 +5243,7 @@ test_throttle_gain:
inc Temp1
mul Temp5, Temp1 ; Temp5 has difference, Temp1 has gain
mov XH, Mul_Res_H
subi XH, 128
subi XH, 125
brcs test_throttle_gain
sts Ppm_Throttle_Gain, Temp1 ; Store gain
ret
@ -6092,7 +6140,10 @@ run6_check_rcp_stop_count:
.ENDIF
; Exit run loop after a given time
lds XH, Rcp_Stop_Cnt ; Load stop RC pulse counter value
cpi XH, RCP_STOP_LIMIT ; Is number of stop RC pulses above limit?
ldi Temp1, RCP_STOP_LIMIT
sbrc Flags0, DIR_CHANGE_BRAKE ; Is it a direction change?
ldi Temp1, 5 ; Yes - set a short timeout
cp XH, Temp1 ; Is number of stop RC pulses above limit?
brcc run_to_wait_for_power_on ; Yes, go back to wait for poweron
run6_check_rcp_timeout:

2
Atmel/DYS_SN20A.inc

@ -56,7 +56,7 @@ Eep_ESC_MCU: .DB "#BLHELI#Am8A# " ; Project and MCU tag (16 Bytes)
.EQU PFETON_DELAY = 250 ; Wait delay from nfets off to pfets on
.EQU ADC_LIMIT_L = 108 ; 47k/220k divider. Power supply measurement ADC value for which motor power is limited (low byte)
.EQU ADC_LIMIT_H = 0 ; 47k/220k divider. Power supply measurement ADC value for which motor power is limited (2 MSBs)
.EQU TEMP_LIMIT = 250 ; 1k2/56kNTC. Temperature measurement ADC value for which main motor power is limited
.EQU TEMP_LIMIT = 250 ; 1k2/56kNTC (Ideal limit should have been 626). Temperature measurement ADC value for which main motor power is limited
.EQU TEMP_LIMIT_STEP = 1 ; 1k2/56kNTC. Temperature measurement ADC value increment for which main motor power is further limited
;**** **** **** **** ****

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