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BlueSeries_12A.inc
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;**** **** **** **** ****
;
; BLHeli program for controlling brushless motors in helicopters and multirotors
;
; Copyright 2011, 2012 Steffen Skaug
; This program is distributed under the terms of the GNU General Public License
;
; This file is part of BLHeli.
;
; BLHeli is free software: you can redistribute it and/or modify
; it under the terms of the GNU General Public License as published by
; the Free Software Foundation, either version 3 of the License, or
; (at your option) any later version.
;
; BLHeli is distributed in the hope that it will be useful,
; but WITHOUT ANY WARRANTY; without even the implied warranty of
; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
; GNU General Public License for more details.
;
; You should have received a copy of the GNU General Public License
; along with BLHeli. If not, see <http://www.gnu.org/licenses/>.
;
;**** **** **** **** ****
;
; BlueSeries 12A 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_12A# " ; 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 = 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
;**** **** **** **** ****
; 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 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
.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 ; 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
sbi PORTD, AnFET
.ENDMACRO
.MACRO AnFET_off
cbi PORTD, AnFET
.ENDMACRO
.MACRO BnFET_on
sbi PORTC, BnFET
.ENDMACRO
.MACRO BnFET_off
cbi PORTC, BnFET
.ENDMACRO
.MACRO CnFET_on
sbi PORTB, CnFET
.ENDMACRO
.MACRO CnFET_off
cbi PORTB, CnFET
.ENDMACRO
.MACRO All_nFETs_Off
cbi PORTD, AnFET
cbi PORTC, BnFET
cbi PORTB, 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 PORTC, CpFET
.ENDMACRO
.MACRO CpFET_off
sbi PORTC, CpFET
.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 Damping_FET_On
lds @0, DampingFET
sbrc @0, 0
cbi PORTD, ApFET
sbrc @0, 1
cbi PORTC, BpFET
sbrc @0, 2
cbi PORTC, CpFET
.ENDM
.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 CnFET = 0 ; o
.EQU INIT_PB = 0x00
.EQU DIR_PB = (1<<CnFET)+(1<<DebugPin)
;**********************
; MCU specific macros *
;**********************
.MACRO Interrupt_Table_Definition
rjmp reset
rjmp rcp_int ; ext_int0
nop ; ext_int1
nop ; t2oc_int
rjmp t2_int ; t2ovfl_int
nop ; icp1_int
rjmp t1oca_int ; t1oca_int
nop ; t1ocb_int
nop ; t1ovfl_int
rjmp t0_int ; t0ovfl_int
nop ; spi_int
nop ; urxc
nop ; udre
nop ; utxc
; nop ; adc_int
; nop ; eep_int
; nop ; aci_int
; nop ; wire2_int
; nop ; spmc_int
.ENDMACRO
.MACRO Disable_Watchdog
cli ; Disable interrupts
wdr ; Reset watchdog timer
in @0, WDTCR ; Write logical one to WDCE and WDE
ori @0, (1<<WDCE)|(1<<WDE)
out WDTCR, @0
ldi @0, (0<<WDE) ; Turn off WDT
out WDTCR, @0
.ENDMACRO
.MACRO Enable_Watchdog
ldi @0, (1<<WDE) ; Turn on WDT
out WDTCR, @0
.ENDMACRO
.MACRO Initialize_MCU
.ENDMACRO
.MACRO Initialize_Interrupts
ldi @0, (1<<TOIE0)+(1<<OCIE1A)+(1<<TOIE2)
out TIFR, @0 ; Clear interrupts
out TIMSK, @0 ; Enable interrupts
.ENDMACRO
.MACRO Initialize_Adc
in @0, ADCSRA ; Set ADCSRA register (1MHz clock)
sbr @0, (1<<ADPS2)
out ADCSRA, @0
.ENDMACRO
.MACRO Set_Adc_Ip_Volt
cbr Flags1, (1<<ADC_READ_TEMP)
.ENDMACRO
.MACRO Set_Adc_Ip_Temp
sbr Flags1, (1<<ADC_READ_TEMP)
.ENDMACRO
.MACRO Start_Adc
sbrs Flags1, ADC_READ_TEMP
ldi @0, Volt_Ip
sbrc Flags1, ADC_READ_TEMP
ldi @0, Temp_Ip
out ADMUX, @0 ; Set ADMUX register (5V reference, selected input)
in @0, ADCSRA
sbr @0, (1<<ADEN) ; Enable ADC
sbr @0, (1<<ADSC) ; Start ADC conversion
out ADCSRA, @0
.ENDMACRO
.MACRO Get_Adc_Status
in @0, ADCSRA
.ENDMACRO
.MACRO Read_Adc_Result
in @0, ADCL
in @1, ADCH
.ENDMACRO
.MACRO Stop_Adc
in @0, ADCSRA
cbr @0, (1<<ADEN) ; Disable ADC
out ADCSRA, @0
.ENDMACRO
.MACRO Set_Timer0_CS0
out TCCR0, @0
.ENDMACRO
.MACRO Set_Timer1_CS1
out TCCR1B, @0
.ENDMACRO
.MACRO Set_Timer2_CS2
out TCCR2, @0
.ENDMACRO
.MACRO Read_TCNT1L
in @0, TCNT1L
.ENDMACRO
.MACRO Read_TCNT1H
in @0, TCNT1H
.ENDMACRO
.MACRO Set_OCR1AL
out OCR1AL, @0
.ENDMACRO
.MACRO Set_OCR1AH
out OCR1AH, @0
.ENDMACRO
.MACRO Read_TCNT2
in @0, TCNT2
.ENDMACRO
.MACRO Set_TCNT2
out TCNT2, @0
.ENDMACRO
.MACRO Check_Eeprom_Ready
sbic EECR, EEWE
.ENDMACRO
.MACRO Set_Eeprom_Address
out EEARL, @0
out EEARH, @1
.ENDMACRO
.MACRO Start_Eeprom_Write
sbi EECR, EEMWE
sbi EECR, EEWE
.ENDMACRO
.MACRO Prepare_Lock_Or_Fuse_Read
ldi @0, ((1<<BLBSET)+(1<<SPMEN))
out SPMCR, @0
.ENDMACRO
.MACRO xcall
rcall @0
.ENDMACRO
.MACRO Set_RPM_Out
.ENDMACRO
.MACRO Clear_RPM_Out
.ENDMACRO