Updated to Rev11.2

Atmel/BlueSeries_20A.inc

@@ -0,0 +1,422 @@
+;**** **** **** **** ****
+;
+; 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 20A hardware definition file
+;
+; Notes: 
+; - On 2S low voltage limiting does not work fully according to spec, as ADC reference drops with sensed voltage
+; - 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 0x40
+Eep_ESC_Layout:		.DB	"#BlueSer_20A#   "	; ESC layout tag
+.ORG 0x50
+Eep_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	DUAL_BEC_VOLTAGE		=	0	; Set to 1 if dual BEC voltage is supported
+.EQU	DAMPED_MODE_ENABLE		=	1	; 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	=	6	; 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			= 	136	; 2k2/10kNTC. Temperature measurement ADC value for which main motor power is limited
+.EQU	TEMP_LIMIT_STEP		=	11	; 2k2/10kNTC. Temperature measurement ADC value increment for which main motor power is further limited
+.EQU	MAIN_SPOOLUP_TIME		=	10	; Main motor spoolup time
+
+;**** **** **** **** ****
+; ESC specific defaults
+;**** **** **** **** ****
+.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	AnFET		= 5	;o
+.EQU	ApFET		= 4	;o
+;.EQU			= 3	;i
+.EQU	Rcp_In		= 2	;i 
+;.EQU			= 1	;i
+;.EQU			= 0	;i
+
+.equ	INIT_PD		= (1<<ApFET)
+.equ	DIR_PD		= (1<<AnFET)+(1<<ApFET)
+
+
+.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_A		= 6	; i
+.EQU	BpFET		= 5	; i
+.EQU	BnFET		= 4	; i
+.EQU	CpFET		= 3	; i
+.EQU	Volt_Ip		= 2	; i 
+.EQU	Temp_Ip		= 1	; i
+.EQU	Mux_C		= 0	; i 
+
+.equ	INIT_PC		= (1<<BpFET)+(1<<CpFET)
+.equ	DIR_PC		= (1<<BnFET)+(1<<BpFET)+(1<<CpFET)
+
+
+.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
+	cbi	PORTD, ApFET
+	sbrc	Flags3, PGM_DIR_REV
+	cbi	PORTC, CpFET
+.ENDMACRO
+.MACRO ApFET_off
+	sbrs	Flags3, PGM_DIR_REV
+	sbi	PORTD, ApFET
+	sbrc	Flags3, PGM_DIR_REV
+	sbi	PORTC, CpFET
+.ENDMACRO
+.MACRO BpFET_on
+	cbi	PORTC, BpFET
+.ENDMACRO
+.MACRO BpFET_off
+	sbi	PORTC, BpFET
+.ENDMACRO
+.MACRO CpFET_on
+	sbrs	Flags3, PGM_DIR_REV
+	cbi	PORTC, CpFET
+	sbrc	Flags3, PGM_DIR_REV
+	cbi	PORTD, ApFET
+.ENDMACRO
+.MACRO CpFET_off
+	sbrs	Flags3, PGM_DIR_REV
+	sbi	PORTC, CpFET
+	sbrc	Flags3, PGM_DIR_REV
+	sbi	PORTD, ApFET
+.ENDMACRO
+.MACRO All_pFETs_On
+	cbi	PORTD, ApFET
+	cbi	PORTC, BpFET
+	cbi	PORTC, CpFET
+.ENDMACRO
+.MACRO All_pFETs_Off
+	sbi	PORTD, ApFET
+	sbi	PORTC, BpFET
+	sbi	PORTC, 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

Atmel/BlueSeries_30A.inc

@@ -0,0 +1,422 @@
+;**** **** **** **** ****
+;
+; 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 30A hardware definition file
+;
+; Notes: 
+; - On 2S low voltage limiting does not work fully according to spec, as ADC reference drops with sensed voltage
+; - 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 0x40
+Eep_ESC_Layout:		.DB	"#BlueSer_30A#   "	; ESC layout tag
+.ORG 0x50
+Eep_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	DUAL_BEC_VOLTAGE		=	0	; Set to 1 if dual BEC voltage is supported
+.EQU	DAMPED_MODE_ENABLE		=	1	; 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	=	6	; 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			= 	188	; 1k5/10kNTC. Temperature measurement ADC value for which main motor power is limited
+.EQU	TEMP_LIMIT_STEP		=	14	; 1k5/10kNTC. Temperature measurement ADC value increment for which main motor power is further limited
+.EQU	MAIN_SPOOLUP_TIME		=	10	; Main motor spoolup time
+
+;**** **** **** **** ****
+; ESC specific defaults
+;**** **** **** **** ****
+.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	ApFET		= 4	;o
+;.EQU			= 3	;i
+.EQU	Rcp_In		= 2	;i 
+;.EQU			= 1	;i
+;.EQU			= 0	;i
+
+.equ	INIT_PD		= (1<<ApFET)
+.equ	DIR_PD		= (1<<AnFET)+(1<<ApFET)
+
+
+.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_A		= 6	; i
+.EQU	BpFET		= 5	; i
+.EQU	BnFET		= 4	; i
+.EQU	CpFET		= 3	; i
+.EQU	Volt_Ip		= 2	; i 
+.EQU	Temp_Ip		= 1	; i
+.EQU	Mux_C		= 0	; i 
+
+.equ	INIT_PC		= (1<<BpFET)+(1<<CpFET)
+.equ	DIR_PC		= (1<<BnFET)+(1<<BpFET)+(1<<CpFET)
+
+
+.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
+	cbi	PORTD, ApFET
+	sbrc	Flags3, PGM_DIR_REV
+	cbi	PORTC, CpFET
+.ENDMACRO
+.MACRO ApFET_off
+	sbrs	Flags3, PGM_DIR_REV
+	sbi	PORTD, ApFET
+	sbrc	Flags3, PGM_DIR_REV
+	sbi	PORTC, CpFET
+.ENDMACRO
+.MACRO BpFET_on
+	cbi	PORTC, BpFET
+.ENDMACRO
+.MACRO BpFET_off
+	sbi	PORTC, BpFET
+.ENDMACRO
+.MACRO CpFET_on
+	sbrs	Flags3, PGM_DIR_REV
+	cbi	PORTC, CpFET
+	sbrc	Flags3, PGM_DIR_REV
+	cbi	PORTD, ApFET
+.ENDMACRO
+.MACRO CpFET_off
+	sbrs	Flags3, PGM_DIR_REV
+	sbi	PORTC, CpFET
+	sbrc	Flags3, PGM_DIR_REV
+	sbi	PORTD, ApFET
+.ENDMACRO
+.MACRO All_pFETs_On
+	cbi	PORTD, ApFET
+	cbi	PORTC, BpFET
+	cbi	PORTC, CpFET
+.ENDMACRO
+.MACRO All_pFETs_Off
+	sbi	PORTD, ApFET
+	sbi	PORTC, BpFET
+	sbi	PORTC, 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

Atmel/BlueSeries_40A.inc

@@ -0,0 +1,421 @@
+;**** **** **** **** ****
+;
+; 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 0x40
+Eep_ESC_Layout:		.DB	"#BlueSer_40A#   "	; ESC layout tag
+.ORG 0x50
+Eep_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	DUAL_BEC_VOLTAGE		=	0	; Set to 1 if dual 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
+.EQU	MAIN_SPOOLUP_TIME		=	10	; Main motor spoolup time
+
+;**** **** **** **** ****
+; ESC specific defaults
+;**** **** **** **** ****
+.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

Atmel/Eeprom files/BLUESERIES_20A_MAIN_REV11_2.EEP

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Atmel/Eeprom files/BLUESERIES_30A_MAIN_REV11_2.EEP

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Atmel/Eeprom files/BLUESERIES_40A_MAIN_REV11_2.EEP

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Atmel/Eeprom files/SUPERSIMPLE_20A_MULTI_REV11_2.EEP

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Atmel/Eeprom files/SUPERSIMPLE_20A_TAIL_REV11_2.EEP

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Atmel/Eeprom files/SUPERSIMPLE_30A_MAIN_REV11_2.EEP

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Atmel/Eeprom files/SUPERSIMPLE_30A_MULTI_REV11_2.EEP

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Atmel/Eeprom files/SUPERSIMPLE_30A_TAIL_REV11_2.EEP

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Atmel/Eeprom files/SUPERSIMPLE_40A_MAIN_REV11_2.EEP

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Atmel/Eeprom files/SUPERSIMPLE_40A_MULTI_REV11_2.EEP

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Atmel/Eeprom files/SUPERSIMPLE_40A_TAIL_REV11_2.EEP

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Atmel/HK_UBEC_20A.inc

@@ -0,0 +1,422 @@
+;**** **** **** **** ****
+;
+; 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/>.
+;
+;**** **** **** **** ****
+;
+; Hobbyking UBEC 20A hardware definition file
+;
+; Notes: 
+; - On 2S low voltage limiting does not work fully according to spec, as ADC reference drops with sensed voltage
+; - 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 0x40
+Eep_ESC_Layout:		.DB	"#HK_UBEC_20A#   "	; ESC layout tag
+.ORG 0x50
+Eep_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	DUAL_BEC_VOLTAGE		=	0	; Set to 1 if dual BEC voltage is supported
+.EQU	DAMPED_MODE_ENABLE		=	1	; 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	=	6	; 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			= 	122	; 820/3k3NTC. Temperature measurement ADC value for which main motor power is limited
+.EQU	TEMP_LIMIT_STEP		=	11	; 820/3k3NTC. Temperature measurement ADC value increment for which main motor power is further limited
+.EQU	MAIN_SPOOLUP_TIME		=	10	; Main motor spoolup time
+
+;**** **** **** **** ****
+; ESC specific defaults
+;**** **** **** **** ****
+.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	AnFET		= 5	;o
+.EQU	ApFET		= 4	;o
+;.EQU			= 3	;i
+.EQU	Rcp_In		= 2	;i 
+;.EQU			= 1	;i
+;.EQU			= 0	;i
+
+.equ	INIT_PD		= (1<<ApFET)
+.equ	DIR_PD		= (1<<AnFET)+(1<<ApFET)
+
+
+.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_A		= 6	; i
+.EQU	BpFET		= 5	; i
+.EQU	BnFET		= 4	; i
+.EQU	CpFET		= 3	; i
+.EQU	Volt_Ip		= 2	; i 
+.EQU	Temp_Ip		= 1	; i
+.EQU	Mux_C		= 0	; i 
+
+.equ	INIT_PC		= (1<<BpFET)+(1<<CpFET)
+.equ	DIR_PC		= (1<<BnFET)+(1<<BpFET)+(1<<CpFET)
+
+
+.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
+	cbi	PORTD, ApFET
+	sbrc	Flags3, PGM_DIR_REV
+	cbi	PORTC, CpFET
+.ENDMACRO
+.MACRO ApFET_off
+	sbrs	Flags3, PGM_DIR_REV
+	sbi	PORTD, ApFET
+	sbrc	Flags3, PGM_DIR_REV
+	sbi	PORTC, CpFET
+.ENDMACRO
+.MACRO BpFET_on
+	cbi	PORTC, BpFET
+.ENDMACRO
+.MACRO BpFET_off
+	sbi	PORTC, BpFET
+.ENDMACRO
+.MACRO CpFET_on
+	sbrs	Flags3, PGM_DIR_REV
+	cbi	PORTC, CpFET
+	sbrc	Flags3, PGM_DIR_REV
+	cbi	PORTD, ApFET
+.ENDMACRO
+.MACRO CpFET_off
+	sbrs	Flags3, PGM_DIR_REV
+	sbi	PORTC, CpFET
+	sbrc	Flags3, PGM_DIR_REV
+	sbi	PORTD, ApFET
+.ENDMACRO
+.MACRO All_pFETs_On
+	cbi	PORTD, ApFET
+	cbi	PORTC, BpFET
+	cbi	PORTC, CpFET
+.ENDMACRO
+.MACRO All_pFETs_Off
+	sbi	PORTD, ApFET
+	sbi	PORTC, BpFET
+	sbi	PORTC, 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

Atmel/HK_UBEC_30A.inc

@@ -0,0 +1,422 @@
+;**** **** **** **** ****
+;
+; 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/>.
+;
+;**** **** **** **** ****
+;
+; Hobbyking UBEC 30A hardware definition file
+;
+; Notes: 
+; - On 2S low voltage limiting does not work fully according to spec, as ADC reference drops with sensed voltage
+; - 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 0x40
+Eep_ESC_Layout:		.DB	"#HK_UBEC_30A#   "	; ESC layout tag
+.ORG 0x50
+Eep_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	DUAL_BEC_VOLTAGE		=	0	; Set to 1 if dual BEC voltage is supported
+.EQU	DAMPED_MODE_ENABLE		=	1	; 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	=	6	; 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			= 	122	; 820/3k3NTC. Temperature measurement ADC value for which main motor power is limited
+.EQU	TEMP_LIMIT_STEP		=	11	; 820/3k3NTC. Temperature measurement ADC value increment for which main motor power is further limited
+.EQU	MAIN_SPOOLUP_TIME		=	10	; Main motor spoolup time
+
+;**** **** **** **** ****
+; ESC specific defaults
+;**** **** **** **** ****
+.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	ApFET		= 4	;o
+;.EQU			= 3	;i
+.EQU	Rcp_In		= 2	;i 
+;.EQU			= 1	;i
+;.EQU			= 0	;i
+
+.equ	INIT_PD		= (1<<ApFET)
+.equ	DIR_PD		= (1<<AnFET)+(1<<ApFET)
+
+
+.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_A		= 6	; i
+.EQU	BpFET		= 5	; i
+.EQU	BnFET		= 4	; i
+.EQU	CpFET		= 3	; i
+.EQU	Volt_Ip		= 2	; i 
+.EQU	Temp_Ip		= 1	; i
+.EQU	Mux_C		= 0	; i 
+
+.equ	INIT_PC		= (1<<BpFET)+(1<<CpFET)
+.equ	DIR_PC		= (1<<BnFET)+(1<<BpFET)+(1<<CpFET)
+
+
+.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
+	cbi	PORTD, ApFET
+	sbrc	Flags3, PGM_DIR_REV
+	cbi	PORTC, CpFET
+.ENDMACRO
+.MACRO ApFET_off
+	sbrs	Flags3, PGM_DIR_REV
+	sbi	PORTD, ApFET
+	sbrc	Flags3, PGM_DIR_REV
+	sbi	PORTC, CpFET
+.ENDMACRO
+.MACRO BpFET_on
+	cbi	PORTC, BpFET
+.ENDMACRO
+.MACRO BpFET_off
+	sbi	PORTC, BpFET
+.ENDMACRO
+.MACRO CpFET_on
+	sbrs	Flags3, PGM_DIR_REV
+	cbi	PORTC, CpFET
+	sbrc	Flags3, PGM_DIR_REV
+	cbi	PORTD, ApFET
+.ENDMACRO
+.MACRO CpFET_off
+	sbrs	Flags3, PGM_DIR_REV
+	sbi	PORTC, CpFET
+	sbrc	Flags3, PGM_DIR_REV
+	sbi	PORTD, ApFET
+.ENDMACRO
+.MACRO All_pFETs_On
+	cbi	PORTD, ApFET
+	cbi	PORTC, BpFET
+	cbi	PORTC, CpFET
+.ENDMACRO
+.MACRO All_pFETs_Off
+	sbi	PORTD, ApFET
+	sbi	PORTC, BpFET
+	sbi	PORTC, 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

Atmel/HK_UBEC_40A.inc

@@ -0,0 +1,421 @@
+;**** **** **** **** ****
+;
+; 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/>.
+;
+;**** **** **** **** ****
+;
+; Hobbyking UBEC 40A hardware definition file
+;
+; Notes: 
+; - On 2S low voltage limiting does not work fully according to spec, as ADC reference drops with sensed voltage
+;
+;**** **** **** **** ****
+
+
+;*********************
+; Device Atmega8A
+;*********************
+.INCLUDE "m8Adef.inc"
+
+;**** **** **** **** ****
+; Fuses must be set to external oscillator = 16Mhz
+;**** **** **** **** ****
+
+;**** **** **** **** ****
+; Constant definitions
+;**** **** **** **** ****
+.ESEG				; EEprom segment
+.ORG 0x40
+Eep_ESC_Layout:		.DB	"#HK_UBEC_40A#   "	; ESC layout tag
+.ORG 0x50
+Eep_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	DUAL_BEC_VOLTAGE		=	0	; Set to 1 if dual BEC voltage is supported
+.EQU	DAMPED_MODE_ENABLE		=	1	; 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			= 	188	; 1k5/10kNTC. Temperature measurement ADC value for which main motor power is limited
+.EQU	TEMP_LIMIT_STEP		=	14	; 1k5/10kNTC. Temperature measurement ADC value increment for which main motor power is further limited
+.EQU	MAIN_SPOOLUP_TIME		=	10	; Main motor spoolup time
+
+;**** **** **** **** ****
+; ESC specific defaults
+;**** **** **** **** ****
+.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	ApFET		= 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<<ApFET)
+
+
+.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_A		= 6	; i
+.EQU	BpFET		= 5	; i
+.EQU	BnFET		= 4	; i
+.EQU	CpFET		= 3	; i
+.EQU	Volt_Ip		= 2	; i 
+.EQU	Temp_Ip		= 1	; i
+.EQU	Mux_C		= 0	; i 
+
+.equ	INIT_PC		= 0x00
+.equ	DIR_PC		= (1<<BnFET)+(1<<BpFET)+(1<<CpFET)
+
+
+.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	PORTD, ApFET
+	sbrc	Flags3, PGM_DIR_REV
+	sbi	PORTC, CpFET
+.ENDMACRO
+.MACRO ApFET_off
+	sbrs	Flags3, PGM_DIR_REV
+	cbi	PORTD, ApFET
+	sbrc	Flags3, PGM_DIR_REV
+	cbi	PORTC, 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	PORTC, CpFET
+	sbrc	Flags3, PGM_DIR_REV
+	sbi	PORTD, ApFET
+.ENDMACRO
+.MACRO CpFET_off
+	sbrs	Flags3, PGM_DIR_REV
+	cbi	PORTC, CpFET
+	sbrc	Flags3, PGM_DIR_REV
+	cbi	PORTD, ApFET
+.ENDMACRO
+.MACRO All_pFETs_On
+	sbi	PORTD, ApFET
+	sbi	PORTC, BpFET
+	sbi	PORTC, CpFET
+.ENDMACRO
+.MACRO All_pFETs_Off
+	cbi	PORTD, ApFET
+	cbi	PORTC, BpFET
+	cbi	PORTC, 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

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Atmel/Hex files/HK_UBEC_20A_MAIN_REV11_2.HEX

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Atmel/Hex files/MULTISTAR_30A_MAIN_REV11_2.HEX

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