Added TBS Bulletproof ESCs

Atmel/BLHeli.asm

@@ -317,6 +317,12 @@
 ;#define HTIRC_DRAGONFLY_40A_MAIN
 ;#define HTIRC_DRAGONFLY_40A_TAIL
 ;#define HTIRC_DRAGONFLY_40A_MULTI 
+;#define TBS_BULLETPROOF_4A_MAIN			; ICP1 as input		
+;#define TBS_BULLETPROOF_4A_TAIL
+;#define TBS_BULLETPROOF_4A_MULTI
+;#define TBS_BULLETPROOF_30A_MAIN			; ICP1 as input		
+;#define TBS_BULLETPROOF_30A_TAIL
+;#define TBS_BULLETPROOF_30A_MULTI
 
 
 
@@ -1012,6 +1018,38 @@
 .INCLUDE "Htirc_Dragonfly_40A.inc"		; Select HTIRC Dragonfly 40A pinout
 #endif
 
+#if defined(TBS_BULLETPROOF_4A_MAIN)
+.EQU	MODE 	= 	0			; Choose mode. Set to 0 for main motor
+.INCLUDE "TBS_BULLETPROOF_4A.inc"	; Select TBS BULLETPROOF 4A pinout
+#endif
+
+#if defined(TBS_BULLETPROOF_4A_TAIL)
+.EQU	MODE 	= 	1			; Choose mode. Set to 1 for tail motor
+.INCLUDE "TBS_BULLETPROOF_4A.inc"	; Select TBS BULLETPROOF 4A pinout
+#endif
+
+#if defined(TBS_BULLETPROOF_4A_MULTI)
+.EQU	MODE 	= 	2			; Choose mode. Set to 2 for multirotor
+.INCLUDE "TBS_BULLETPROOF_4A.inc"	; Select TBS BULLETPROOF 4A pinout
+#endif
+
+#if defined(TBS_BULLETPROOF_30A_MAIN)
+.EQU	MODE 	= 	0			; Choose mode. Set to 0 for main motor
+.INCLUDE "TBS_BULLETPROOF_30A.inc"	; Select TBS BULLETPROOF 30A pinout
+#endif
+
+#if defined(TBS_BULLETPROOF_30A_TAIL)
+.EQU	MODE 	= 	1			; Choose mode. Set to 1 for tail motor
+.INCLUDE "TBS_BULLETPROOF_30A.inc"	; Select TBS BULLETPROOF 30A pinout
+#endif
+
+#if defined(TBS_BULLETPROOF_30A_MULTI)
+.EQU	MODE 	= 	2			; Choose mode. Set to 2 for multirotor
+.INCLUDE "TBS_BULLETPROOF_30A.inc"	; Select TBS BULLETPROOF 30A pinout
+#endif
+
+
+
 
 
 ;**** **** **** **** ****

Atmel/Eeprom files/TBS_BULLETPROOF_30A_MAIN_REV14_7.EEP

@@ -0,0 +1,7 @@
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+:0900200000FF0A000100FF00FFCF
+:100060002020202020202020202020202020202090
+:00000001FF

Atmel/Eeprom files/TBS_BULLETPROOF_30A_MULTI_REV14_7.EEP

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+:100060002020202020202020202020202020202090
+:00000001FF

Atmel/Eeprom files/TBS_BULLETPROOF_30A_TAIL_REV14_7.EEP

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Atmel/Eeprom files/TBS_BULLETPROOF_4A_MAIN_REV14_7.EEP

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+:100060002020202020202020202020202020202090
+:00000001FF

Atmel/Eeprom files/TBS_BULLETPROOF_4A_MULTI_REV14_7.EEP

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+:09002000007AFF0001000300FF5B
+:100060002020202020202020202020202020202090
+:00000001FF

Atmel/Eeprom files/TBS_BULLETPROOF_4A_TAIL_REV14_7.EEP

@@ -0,0 +1,7 @@
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+:100060002020202020202020202020202020202090
+:00000001FF

Atmel/Hex files/TBS_BULLETPROOF_30A_MAIN_REV14_7.HEX

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+:1019900011F40093D500373011F40093CE003830A5
+:1019A00011F40093BA00393011F40093BB0008958C
+:1019B00025E048D62A95E9F708954FD651D653D653
+:1019C00055D63AD64AD64CD64ED650D635D645D62A
+:1019D00047D649D64BD6089549D645D641D63DD6A9
+:1019E0002BD644D640D63CD638D626D63FD63BD684
+:1019F00037D633D608958090AE009090AF002DD6A4
+:101A00002CD62BD619D68A94D1F730D615D69A94DF
+:101A1000E1F70895F894D1DF7894CADFC9DFB1E027
+:101A2000B093AE00B1E0B093AF002092B000F89454
+:101A3000E2DF7894B5E06B2E7090960003D6B091FB
+:101A400096007B16C9F7B13018F0BF3F40F107C0D0
+:101A500086DFF89453DFB1DFB8E0B1BDA9DF6A9447
+:101A600059F7B091B000B395B093B000B33008F41B
+:101A7000DECF9EDFB091AF00B395B093AF00F89486
+:101A8000B091AE00BA95EEE3F0E0EB0FF21D0491D9
+:101A900078940395B091AF00B01708F4C6CF88DFF3
+:101AA00087DFB091AE00B395B093AE00B091AE00B9
+:101AB000BA3008F4B7CF07DBF89420DFB8E0B1BD47
+:041AC00077DFC6CB3B
+:00000001FF

Atmel/MakeHexfiles.bat

@@ -116,6 +116,10 @@ SET NAME=HTIRC_DRAGONFLY_30A
 call :compile
 SET NAME=HTIRC_DRAGONFLY_40A
 call :compile
+SET NAME=TBS_BULLETPROOF_4A
+call :compile
+SET NAME=TBS_BULLETPROOF_30A
+call :compile
 
 goto :end
 
@@ -142,4 +146,4 @@ goto :eof
 :end
 
 @pause
-exit
+exit

Atmel/TBS_Bulletproof_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/>.
+;
+;**** **** **** **** ****
+;
+; TBS Bulletproof 30A hardware definition file
+;
+; Notes: 
+; - Uses ICP1 as input
+; - 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	"#TBS_BPROOF_30A#"	; ESC layout tag
+.ORG 0x50
+Eep_ESC_MCU:			.DB	"#BLHELI#Am8A#   "	; Project and MCU tag (16 Bytes)
+
+.EQU	HIGH_BEC_VOLTAGE		=	0	; Set to 1 or more if high BEC voltage is supported
+.EQU	DAMPED_MODE_ENABLE		=	1	; Set to 1 if fully damped mode is supported
+.EQU	NFETON_DELAY			=	7	; Wait delay from pfets off to nfets on
+.EQU	PFETON_DELAY			=	250	; Wait delay from nfets off to pfets on
+.EQU	ADC_LIMIT_L			= 	0	; No divider. Power supply measurement ADC value for which motor power is limited (low byte)
+.EQU	ADC_LIMIT_H			=	0	; No divider. Power supply measurement ADC value for which motor power is limited (2 MSBs)
+.EQU	TEMP_LIMIT			= 	0	; No sensor. Temperature measurement ADC value for which main motor power is limited
+.EQU	TEMP_LIMIT_STEP		=	0	; No sensor. 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	ApFET		= 5	;o
+.EQU	CnFET		= 4	;o
+.EQU CpFET		= 3	;o
+.EQU BnFET		= 2	;o 
+;.EQU			= 1	;i
+;.EQU			= 0	;i
+
+.equ	INIT_PD		= (1<<ApFET)+(1<<CpFET)
+.equ	DIR_PD		= (1<<BnFET)+(1<<CnFET)+(1<<ApFET)+(1<<CpFET)
+
+
+.MACRO Get_Rcp_Capture_Values
+	in	@0, ICR1L
+	in	@1, ICR1H
+.ENDMACRO
+.MACRO Read_Rcp_Int
+	in	@0, PINB
+	sbrc Flags3, PGM_RCP_PWM_POL	; Is pwm polarity negative?
+	com	@0					; Yes - invert
+.ENDMACRO
+.MACRO Get_Rcp_Int_Enable_State
+	in 	@0, TIMSK				; Get icp1int enable state (giving 0 is off, anything else is on)
+	andi	@0, (1<<TICIE1)
+.ENDMACRO
+.MACRO Rcp_Int_Enable
+	in	@0, TIMSK
+	sbr @0, (1<<TICIE1)			; Enable icp1int
+	out	TIMSK, @0
+.ENDMACRO
+.MACRO Rcp_Int_Disable
+	in	@0, TIMSK
+	cbr @0, (1<<TICIE1)			; Disable icp1int
+	out	TIMSK, @0
+.ENDMACRO
+.MACRO Rcp_Int_First
+	in	@0, TCCR1B
+	sbr @0, (1<<ICES1)			; Default - set icp1int to trig on rising edge
+	sbrc Flags3, PGM_RCP_PWM_POL	; Is pwm polarity negative?
+	cbr @0, (1<<ICES1)			; Yes - set icp1int to trig on falling edge
+	out	TCCR1B, @0		
+.ENDMACRO
+.MACRO Rcp_Int_Second
+	in	@0, TCCR1B
+	cbr @0, (1<<ICES1)			; Default - set icp1int to trig on falling edge
+	sbrc Flags3, PGM_RCP_PWM_POL	; Is pwm polarity negative?
+	sbr @0, (1<<ICES1)			; Yes - set icp1int to trig on rising edge
+	out	TCCR1B, @0		
+.ENDMACRO
+.MACRO Rcp_Clear_Int_Flag
+	clr 	@0
+	sbr @0, (1<<ICF1)			; Clear icp1int flag
+	out	TIFR, @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		
+.MACRO T1oca_Int_Disable
+	in	@0, TIMSK				; Disable oc1a interrupts
+	cbr	@0, (1<<OCIE1A)	
+	out	TIMSK, @0
+.ENDMACRO		
+.MACRO T1oca_Int_Enable
+	in	@0, TIMSK				; Enable oc1a interrupts
+	sbr	@0, (1<<OCIE1A)	
+	out	TIMSK, @0
+.ENDMACRO		
+.MACRO T2_Clear_Int_Flag
+	clr 	@0
+	sbr	@0, (1<<TOV2)				; Clear tov2 flag
+	out	TIFR, @0		
+.ENDMACRO		
+
+
+;*********************
+; PORT C definitions *
+;*********************
+.EQU	Mux_B		= 7	; i
+.EQU	Mux_A		= 6	; i
+.EQU	BpFET		= 5	;o
+.EQU	AnFET		= 4	;o
+;.EQU			= 3	; i
+;.EQU			= 2	; i
+;.EQU			= 1	; i
+.EQU	Mux_C		= 0	; i 
+
+.equ	INIT_PC		= (1<<BpFET)
+.equ	DIR_PC		= (1<<AnFET)+(1<<BpFET)
+
+
+
+.MACRO AnFET_on
+	sbi	PORTC, AnFET
+.ENDMACRO
+.MACRO AnFET_off
+	cbi	PORTC, AnFET
+.ENDMACRO
+.MACRO BnFET_on
+	sbi	PORTD, BnFET
+.ENDMACRO
+.MACRO BnFET_off
+	cbi	PORTD, BnFET
+.ENDMACRO
+.MACRO CnFET_on
+	sbi	PORTD, CnFET
+.ENDMACRO
+.MACRO CnFET_off
+	cbi	PORTD, CnFET
+.ENDMACRO
+.MACRO All_nFETs_Off
+	cbi	PORTC, AnFET
+	cbi	PORTD, BnFET
+	cbi	PORTD, CnFET
+.ENDMACRO
+
+.MACRO ApFET_on
+	cbi	PORTD, ApFET
+.ENDMACRO
+.MACRO ApFET_off
+	sbi	PORTD, ApFET
+.ENDMACRO
+.MACRO BpFET_on
+	cbi	PORTC, BpFET
+.ENDMACRO
+.MACRO BpFET_off
+	sbi	PORTC, BpFET
+.ENDMACRO
+.MACRO CpFET_on
+	cbi	PORTD, CpFET
+.ENDMACRO
+.MACRO CpFET_off
+	sbi	PORTD, CpFET
+.ENDMACRO
+.MACRO All_pFETs_Off
+	sbi	PORTD, ApFET
+	sbi	PORTC, BpFET
+	sbi	PORTD, CpFET
+.ENDMACRO
+
+.MACRO Brake_FETs_On	
+	AnFET_on
+	BnFET_on
+	CnFET_on
+.ENDMACRO
+.MACRO Damping_FET_On	
+	lds	@0, DampingFET	
+	sbrc	@0, 0
+	cbi	PORTD, ApFET		
+	sbrc	@0, 1
+	cbi	PORTC, BpFET		
+	sbrc	@0, 2
+	cbi	PORTD, CpFET		
+.ENDMACRO
+
+
+.MACRO Comp_Init
+	in	@0, SFIOR			; Toggle Analog Comparator Multiplexer Enable			
+	cbr  @0, (1<<ACME) 	
+	out  SFIOR, @0
+	Read_Comp_Out @0						
+	in	@0, SFIOR			
+	sbr  @0, (1<<ACME) 	
+	out  SFIOR, @0
+.ENDMACRO
+.MACRO Set_Comp_Phase_A
+   	ldi  @0, Mux_A 		; Set comparator multiplexer to phase A
+  	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
+   	ldi  @0, Mux_C  		; Set comparator multiplexer to phase C
+  	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	Rcp_In		= 0	; i
+
+.EQU	INIT_PB		= 0
+.EQU	DIR_PB		= (1<<DebugPin)
+
+
+
+;**********************
+; MCU specific macros *
+;**********************
+.MACRO Interrupt_Table_Definition
+	rjmp reset
+	nop 			; ext_int0 
+	nop			; ext_int1
+	nop 			; t2oc_int
+	rjmp t2_int	; t2ovfl_int
+	rjmp	rcp_int	; 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
+	ldi	@0, 2	; Dummy pin
+	sbrc	Flags1, ADC_READ_TEMP
+	ldi	@0, 2	; Dummy pin
+	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

Atmel/TBS_Bulletproof_4A.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/>.
+;
+;**** **** **** **** ****
+;
+; TBS Bulletproof 4A hardware definition file
+;
+; Notes: 
+; - Uses ICP1 as input
+; - 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	"#TBS_BPROOF_4A# "	; ESC layout tag
+.ORG 0x50
+Eep_ESC_MCU:			.DB	"#BLHELI#Am8A#   "	; Project and MCU tag (16 Bytes)
+
+.EQU	HIGH_BEC_VOLTAGE		=	0	; Set to 1 or more if high BEC voltage is supported
+.EQU	DAMPED_MODE_ENABLE		=	1	; Set to 1 if fully damped mode is supported
+.EQU	NFETON_DELAY			=	7	; Wait delay from pfets off to nfets on
+.EQU	PFETON_DELAY			=	250	; Wait delay from nfets off to pfets on
+.EQU	ADC_LIMIT_L			= 	0	; No divider. Power supply measurement ADC value for which motor power is limited (low byte)
+.EQU	ADC_LIMIT_H			=	0	; No divider. Power supply measurement ADC value for which motor power is limited (2 MSBs)
+.EQU	TEMP_LIMIT			= 	0	; No sensor. Temperature measurement ADC value for which main motor power is limited
+.EQU	TEMP_LIMIT_STEP		=	0	; No 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
+
+
+;*********************
+; PORT D definitions *
+;*********************  
+;.EQU 			= 7	;i 
+;.EQU			= 6	;i
+.EQU	ApFET		= 5	;o
+.EQU	CnFET		= 4	;o
+.EQU CpFET		= 3	;o
+.EQU BnFET		= 2	;o 
+;.EQU			= 1	;i
+;.EQU			= 0	;i
+
+.equ	INIT_PD		= (1<<ApFET)+(1<<CpFET)
+.equ	DIR_PD		= (1<<BnFET)+(1<<CnFET)+(1<<ApFET)+(1<<CpFET)
+
+
+.MACRO Get_Rcp_Capture_Values
+	in	@0, ICR1L
+	in	@1, ICR1H
+.ENDMACRO
+.MACRO Read_Rcp_Int
+	in	@0, PINB
+	sbrc Flags3, PGM_RCP_PWM_POL	; Is pwm polarity negative?
+	com	@0					; Yes - invert
+.ENDMACRO
+.MACRO Get_Rcp_Int_Enable_State
+	in 	@0, TIMSK				; Get icp1int enable state (giving 0 is off, anything else is on)
+	andi	@0, (1<<TICIE1)
+.ENDMACRO
+.MACRO Rcp_Int_Enable
+	in	@0, TIMSK
+	sbr @0, (1<<TICIE1)			; Enable icp1int
+	out	TIMSK, @0
+.ENDMACRO
+.MACRO Rcp_Int_Disable
+	in	@0, TIMSK
+	cbr @0, (1<<TICIE1)			; Disable icp1int
+	out	TIMSK, @0
+.ENDMACRO
+.MACRO Rcp_Int_First
+	in	@0, TCCR1B
+	sbr @0, (1<<ICES1)			; Default - set icp1int to trig on rising edge
+	sbrc Flags3, PGM_RCP_PWM_POL	; Is pwm polarity negative?
+	cbr @0, (1<<ICES1)			; Yes - set icp1int to trig on falling edge
+	out	TCCR1B, @0		
+.ENDMACRO
+.MACRO Rcp_Int_Second
+	in	@0, TCCR1B
+	cbr @0, (1<<ICES1)			; Default - set icp1int to trig on falling edge
+	sbrc Flags3, PGM_RCP_PWM_POL	; Is pwm polarity negative?
+	sbr @0, (1<<ICES1)			; Yes - set icp1int to trig on rising edge
+	out	TCCR1B, @0		
+.ENDMACRO
+.MACRO Rcp_Clear_Int_Flag
+	clr 	@0
+	sbr @0, (1<<ICF1)			; Clear icp1int flag
+	out	TIFR, @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		
+.MACRO T1oca_Int_Disable
+	in	@0, TIMSK				; Disable oc1a interrupts
+	cbr	@0, (1<<OCIE1A)	
+	out	TIMSK, @0
+.ENDMACRO		
+.MACRO T1oca_Int_Enable
+	in	@0, TIMSK				; Enable oc1a interrupts
+	sbr	@0, (1<<OCIE1A)	
+	out	TIMSK, @0
+.ENDMACRO		
+.MACRO T2_Clear_Int_Flag
+	clr 	@0
+	sbr	@0, (1<<TOV2)				; Clear tov2 flag
+	out	TIFR, @0		
+.ENDMACRO		
+
+
+;*********************
+; PORT C definitions *
+;*********************
+.EQU	Mux_B		= 7	; i
+.EQU	Mux_A		= 6	; i
+.EQU	BpFET		= 5	;o
+.EQU	AnFET		= 4	;o
+;.EQU			= 3	; i
+;.EQU			= 2	; i
+;.EQU			= 1	; i
+.EQU	Mux_C		= 0	; i 
+
+.equ	INIT_PC		= (1<<BpFET)
+.equ	DIR_PC		= (1<<AnFET)+(1<<BpFET)
+
+
+
+.MACRO AnFET_on
+	sbi	PORTC, AnFET
+.ENDMACRO
+.MACRO AnFET_off
+	cbi	PORTC, AnFET
+.ENDMACRO
+.MACRO BnFET_on
+	sbi	PORTD, BnFET
+.ENDMACRO
+.MACRO BnFET_off
+	cbi	PORTD, BnFET
+.ENDMACRO
+.MACRO CnFET_on
+	sbi	PORTD, CnFET
+.ENDMACRO
+.MACRO CnFET_off
+	cbi	PORTD, CnFET
+.ENDMACRO
+.MACRO All_nFETs_Off
+	cbi	PORTC, AnFET
+	cbi	PORTD, BnFET
+	cbi	PORTD, CnFET
+.ENDMACRO
+
+.MACRO ApFET_on
+	cbi	PORTD, ApFET
+.ENDMACRO
+.MACRO ApFET_off
+	sbi	PORTD, ApFET
+.ENDMACRO
+.MACRO BpFET_on
+	cbi	PORTC, BpFET
+.ENDMACRO
+.MACRO BpFET_off
+	sbi	PORTC, BpFET
+.ENDMACRO
+.MACRO CpFET_on
+	cbi	PORTD, CpFET
+.ENDMACRO
+.MACRO CpFET_off
+	sbi	PORTD, CpFET
+.ENDMACRO
+.MACRO All_pFETs_Off
+	sbi	PORTD, ApFET
+	sbi	PORTC, BpFET
+	sbi	PORTD, CpFET
+.ENDMACRO
+
+.MACRO Brake_FETs_On	
+	AnFET_on
+	BnFET_on
+	CnFET_on
+.ENDMACRO
+.MACRO Damping_FET_On	
+	lds	@0, DampingFET	
+	sbrc	@0, 0
+	cbi	PORTD, ApFET		
+	sbrc	@0, 1
+	cbi	PORTC, BpFET		
+	sbrc	@0, 2
+	cbi	PORTD, CpFET		
+.ENDMACRO
+
+
+.MACRO Comp_Init
+	in	@0, SFIOR			; Toggle Analog Comparator Multiplexer Enable			
+	cbr  @0, (1<<ACME) 	
+	out  SFIOR, @0
+	Read_Comp_Out @0						
+	in	@0, SFIOR			
+	sbr  @0, (1<<ACME) 	
+	out  SFIOR, @0
+.ENDMACRO
+.MACRO Set_Comp_Phase_A
+   	ldi  @0, Mux_A 		; Set comparator multiplexer to phase A
+  	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
+   	ldi  @0, Mux_C  		; Set comparator multiplexer to phase C
+  	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	Rcp_In		= 0	; i
+
+.EQU	INIT_PB		= 0
+.EQU	DIR_PB		= (1<<DebugPin)
+
+
+
+;**********************
+; MCU specific macros *
+;**********************
+.MACRO Interrupt_Table_Definition
+	rjmp reset
+	nop 			; ext_int0 
+	nop			; ext_int1
+	nop 			; t2oc_int
+	rjmp t2_int	; t2ovfl_int
+	rjmp	rcp_int	; 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
+	ldi	@0, 2	; Dummy pin
+	sbrc	Flags1, ADC_READ_TEMP
+	ldi	@0, 2	; Dummy pin
+	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