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BLHeli.asm
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BLHeli.asm
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$NOMOD51
;**** **** **** **** ****
;
; 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/>.
;
;**** **** **** **** ****
;
; The software was initially designed for use with Eflite mCP X, but is now adapted to copters/planes in general
;
; The software was inspired by and started from from Bernard Konze's BLMC: http://home.versanet.de/~bkonze/blc_6a/blc_6a.htm
; And also Simon Kirby's TGY: https://github.com/sim-/tgy
;
; This file is best viewed with tab width set to 5
;
; The input signal can be positive 1kHz, 2kHz, 4kHz, 8kHz or 12kHz PWM (e.g. taken from the "resistor tap" on mCPx)
; And the input signal can be PPM (1-2ms) or OneShot125 (125-250us) at rates up to several hundred Hz.
; The code autodetects the various input modes/frequencies
; The code can also be programmed to accept inverted input signal.
;
; The first lines of the software must be modified according to the chosen environment:
; Uncomment the selected ESC and main/tail/multi mode
; BESCNO EQU "ESC"_"mode"
;
;**** **** **** **** ****
; Revision history:
; - Rev1.0: Initial revision based upon BLHeli for AVR controllers
; - Rev2.0: Changed "Eeprom" initialization, layout and defaults
; Various changes and improvements to comparator reading. Now using timer1 for time from pwm on/off
; Beeps are made louder
; Added programmable low voltage limit
; Added programmable damped tail mode (only for 1S ESCs)
; Added programmable motor rotation direction
; - Rev2.1: (minor changes by 4712)
; Added Disable TX Programming by PC Setup Application
; therfore changed EEPROM_LAYOUT_REVISION = 8
; Added Vdd Monitor as reset source when writing to "EEProm"
; Changed for use of batch file to assemble, link and make hex files
; - Rev2.2: (minor changes by 4712)
; Added Disable Throttle Re-Arming every motor start by PC Setup Application
; - Rev2.3: (minor changes by 4712)
; Added bugfixed (2x CLR C before j(n)c operations)thx Steffen!
; - Rev2.4: Revisions 2.1 to 2.3 integrated
; - Rev3.0: Added PPM (1050us-1866us) as accepted input signal
; Added startup rpm as a programming parameter
; Added startup acceleration as a programming parameter
; Added option for using voltage measurements to compensate motor power
; Added governor target by setup as a governor mode option
; Governor is kept active regardless of rpm
; Smooth governor spoolup/down in arm and setup modes
; Increased governor P and I gain programming ranges
; Increased and changed low voltage limit programming range
; Disabled tx programming entry for all but the first arming sequence after power on
; Made it possible to skip parameters in tx programming by setting throttle midstick
; Made it default not to rearm for every restart
; - Rev3.1: Fixed bug that prevented chosen parameter to be set in tx programming
; - Rev3.2: ...also updated the EEPROM revision parameter
; - Rev3.3: Fixed negative number bug in voltage compensation
; Fixed bug in startup power calculation for non-default power
; Prevented possibility for voltage compensation fighting low voltage limiting
; Applied overall spoolup control to ensure soft spoolup in any mode
; Added a delay of 3 seconds from initiation of main motor stop until new startup is allowed
; Reduced beep power to reduce power consumption for very strong motors/ESCs
; - Rev3.4: Fixed bug that prevented full power in governor arm and setup modes
; Increased NFETON_DELAY for XP_7A and XP_12A to allow for more powerful fets
; Increased initial spoolup power, and linked to startup power
; - Rev4.0: Fixed bug that made tail tx program beeps very weak
; Added thermal protection feature
; Governor P and I gain ranges are extended up to 8.0x gain
; Startup sequence is aborted upon zero throttle
; Avoided voltage compensation function induced latency for tail when voltage compensation is not enabled
; Improved input signal frequency detection robustness
; - Rev4.1: Increased thermal protection temperature limits
; - Rev5.0: Added multi(copter) operating mode. TAIL define changed to MODE with three modes: MAIN, TAIL and MULTI
; Added programmable commutation timing
; Added a damped light mode that has less damping, but that can be used with all escs
; Added programmable damping force
; Added thermal protection for startup too
; Added wait beeps when waiting more than 30 sec for throttle above zero (after having been armed)
; Modified tail idling to provide option for very low speeds
; Changed PPM range to 1150-1830us
; Arming sequence is dropped for PPM input, unless it is governor arm mode
; Loss of input signal will immediately stop the motor for PPM input
; Bug corrected in Turnigy Plush 6A voltage measurement setup
; FET switching delays are set for original fets. Stronger/doubled/tripled etc fets may require faster pfet off switching
; Miscellaneous other changes
; - Rev6.0: Reverted comparator reading routine to rev5.0 equivalent, in order to avoid tail motor stops
; Added governor range programmability
; Implemented startup retry sequence with varying startup power for multi mode
; In damped light mode, damping is now applied to the active nfet phase for fully damped capable ESCs
; - Rev6.1: Added input signal qualification criteria for PPM, to avoid triggering on noise spikes (fix for plush hardware)
; Changed main and multi mode stop criteria. Will now be in run mode, even if RC pulse input is zero
; Fixed bug in commutation that caused rough running in damped light mode
; Miscellaneous other changes
; - Rev7.0 Added direct startup mode programmability
; Added throttle calibration. Min>=1000us and Max<=2000us. Difference must be >520us, otherwise max is shifted so that difference=520us
; Added programmable throttle change rate
; Added programmable beep strength, beacon strength and beacon delay
; Reduced power step to full power significantly
; Miscellaneous other changes
; - Rev8.0 Added a 2 second delay after power up, to wait for receiver initialization
; Added a programming option for disabling low voltage limit, and made it default for MULTI
; Added programable demag compensation, using the concept of SimonK
; Improved robustness against noisy input signal
; Refined direct startup
; Removed voltage compensation
; Miscellaneous other changes
; - Rev9.0 Increased programming range for startup power, and made its default ESC dependent
; Made default startup method ESC dependent
; Even more smooth and gentle spoolup for MAIN, to suit larger helis
; Improved transition from stepped startup to run
; Refined direct startup
; - Rev9.1 Fixed bug that changed FW revision after throttle calibration or TX programming
; - Rev9.2 Altered timing of throttle calibration in order to work with MultiWii calibration firmware
; Reduced main spoolup time to around 5 seconds
; Changed default beacon delay to 3 minutes
; - Rev9.3 Fixed bug in Plush 60/80A temperature reading, that caused failure in operation above 4S
; Corrected temperature limit for HiModel cool 22/33/41A, RCTimer 6A, Skywalker 20/40A, Turnigy AE45A, Plush 40/60/80A. Limit was previously set too high
; - Rev9.4 Improved timing for increased maximum rpm limit
; - Rev10.0 Added closed loop mode for multi
; Added high/low BEC voltage option (for the ESCs where HW supports it)
; Added method of resetting all programmed parameter values to defaults by TX programming
; Added Turnigy K-force 40A and Turnigy K-force 120A HV ESCs
; Enabled fully damped mode for several ESCs
; Extended startup power range downwards to enable very smooth start for large heli main motors
; Extended damping force with a highest setting
; Corrected temperature limits for F310 chips (Plush 40A and AE 45A)
; Implemented temperature reading average in order to avoid problems with ADC noise on Skywalkers
; Increased switching delays for XP 7A fast, in order to avoid cross conduction of N and P fets
; Miscellaneous other changes
; - Rev10.1 Relaxed RC signal jitter requirement during frequency measurement
; Corrected bug that prevented using governor low
; Enabled vdd monitor always, in order to reduce likelihood of accidental overwriting of adjustments
; Fixed bug that caused stop for PPM input above 2048us, and moved upper accepted limit to 2160us
; - Rev10.2 Corrected temperature limit for AE20-30/XP7-25, where limit was too high
; Corrected temperature limit for 120HV, where limit was too low
; Fixed bug that caused AE20/25/30A not to run in reverse
; - Rev10.3 Removed vdd monitor for 1S capable ESCs, in order to avoid brownouts/resets
; Made auto bailout spoolup for main more smooth
; - Rev10.4 Ensured that main spoolup and governor activation will always be smooth, regardless of throttle input
; Added capability to operate on 12kHz input signal too
; - Rev11.0 Fixed bug of programming default values for governor in MULTI mode
; Disabled interrupts explicitly some places, to avoid possibilities for unintentional fet switching
; Changed interrupt disable strategy, to always allow pwm interrupts, to avoid noise when running at low rpms
; Added governor middle range for MAIN mode
; Added bidirectional mode for TAIL and MULTI mode with PPM input
; Changed and improved demag compensation
; Miscellaneous other changes
; - Rev11.1 Fixed bug of slow acceleration response for MAIN mode running without governor
; Fixed bug with PWM input, where throttle remains high even when zeroing throttle (seen on V922 tail)
; Fixed bug in bidirectional operation, where direction change could cause reset
; Improved autorotation bailout for MAIN
; Reduced min speed back to 1220 erpm
; Misc code cleanups
; - Rev11.2 Fixed throttle calibration bug
; Added high side driver precharge for all-nfet ESCs
; Optimized timing in general and for demag compensation in particular
; Auto bailout functionality modified
; Governor is deactivated for throttle inputs below 10%
; Increased beacon delay times
; - Rev12.0 Added programmable main spoolup time
; Added programmable temperature protection enable
; Bidirectional mode stop/start improved. Motor is now stopped before starting
; Power is limited for very low rpms (when BEMF is low), in order to avoid sync loss
; Damped light mode is made more smooth and quiet, particularly at low and high rpms
; Comparator signal qualification scheme is changed
; Demag compensation scheme is significantly changed
; Increased jitter tolerance for PPM frequency measurement
; Fully damped mode removed, and damped light only supported on damped capable ESCs
; Default tail mode changed to damped light
; Miscellaneous other changes
; - Rev12.1 Fixed bug in tail code
; Improved startup for Atmel
; Added support for multiple high BEC voltages
; Added support for RPM output
; - Rev12.2 Improved running smoothness, particularly for damped light
; Avoiding lockup at full throttle when input signal is noisy
; Avoiding detection of 1-wire programming signal as valid throttle signal
; - Rev13.0 Removed stepped start
; Removed throttle change rate and damping force parameters
; Added support for OneShot125
; Improved commutation timing accuracy
; - Rev13.1 Removed startup ramp for MULTI
; Improved startup for some odd ESCs
; - Rev13.2 Still tweaking startup to make it more reliable and faster for all ESC/motor combos
; Increased deadband for bidirectional operation
; Relaxed signal detection criteria
; Added support for running 48MHz capable SiLabs MCUs at 48MHz
; Added bootlader to SiLabs code
; Miscellaneous other changes
; - Rev14.0 Improved running at high timing
; Improved running at high RPMs and increased max RPM limit
; Avoid being locked in bootloader (implemented in Suite 13202)
; Improved reliability of 3D (bidirectional) mode and startup
; Smoother running and greatly reduced step to full power in damped light mode
; Removed low voltage limiting for MULTI
; Added pwm dither parameter
; Added setting for enable/disable of low RPM power protection
; Added setting for enable/disable of PWM input
; Better AFW and damping for some ESCs (that have a slow high side driver)
; Miscellaneous other changes
; - Rev14.1 Fixed max throttle calibration bug (for non-oneshot)
; Fixed some closed loop mode bugs
; Relaxed signal jitter requirement for looptimes below 1000
; Added skipping of damping fet switching near max power, for improved high end throttle linearity, using the concept of SimonK
; Improved sync hold at high rpms
; - Rev14.2 Added stalled motor shutoff after about 10 seconds (for tail and multi code with PPM input)
; Greatly increased maximum rpm limit, and added rpm limiting at 250k erpm (48MHz MCUs at 400k erpm)
; Improved bidirectional operation
; - Rev14.3 Moved reset vector to be just before the settings segment, in order to better recover from partially failed flashing operation
; Added 100ms intialization delay for the Graupner Ultra 20A ESC
; Shortened stall detect time to about 5sec, and prevented going into tx programming after a stall
; Optimizations of software timing and running reliability
; - Rev14.4 Improved startup, particularly for larger motors
; Improved running at very high rpms
; Made damped light default for MULTI on ESCs that support it
; Miscellaneous other changes
; - Rev14.5 Longer between beacon beeps (to reduce motor heating), and now again beeping on two motor phases
; Implemented programmable brake on zero throttle
; Implemented hardware reload of commutation timers, to reduce sensitivity to interrupt activity on high rpms
; Implemented support for EN/PWM style fet drivers
; Slightly modified throttle calibration
; Improved startup, particularly for small motors
; Improved smoothness
; - Rev14.6 Fixed bug that caused tail motor not to stop
; Fixed bug that caused brake not to work for low side pwm ESCs
; Fixed bug where noisy input signal could cause loss of sync
; Increased fet deadtime a bit for the LB20A and the LB20A pro
; Made low rpm power limiting programmable through the startup power parameter
; - Rev14.7 Beeps can be turned off by programming beep strength to 1
; Throttle cal difference is checked to be above required minimum before storing. Throttle cal max is not stored until successful min throttle cal
; In order to have a good code for fixed wing planes, that has low voltage limiting, a main code spoolup time setting of 0 is made fast
; Improved protection of bootloader and generally reduced risk of flash corruption
; Some small changes for improved sync hold
; - Rev14.8 Fixed bug where bootloader operation could be blocked by a defective "eeprom" signature
; - Rev14.9 Improved bidirectional mode for high input signal rates
;
;
;**** **** **** **** ****
; Up to 8K Bytes of In-System Self-Programmable Flash
; Up to 768 Bytes Internal SRAM
;
;**** **** **** **** ****
; Master clock is internal 24MHz oscillator (or 48MHz, for which the times below are halved)
; Timer 0 (167/500ns counts) always counts up and is used for
; - PWM generation
; Timer 2 (500ns counts) always counts up and is used for
; - RC pulse timeout/skip counts and commutation times
; Timer 3 (500ns counts) always counts up and is used for
; - Commutation timeouts
; PCA0 (500ns counts) always counts up and is used for
; - RC pulse measurement
;
;**** **** **** **** ****
; Interrupt handling
; The C8051 does not disable interrupts when entering an interrupt routine.
; Also some interrupt flags need to be cleared by software
; The code disables interrupts in interrupt routines, in order to avoid too nested interrupts
; - Interrupts are disabled during beeps, to avoid audible interference from interrupts
; - RC pulse interrupts are periodically disabled in order to reduce interference with pwm interrupts.
;
;**** **** **** **** ****
; Motor control:
; - Brushless motor control with 6 states for each electrical 360 degrees
; - An advance timing of 0deg has zero cross 30deg after one commutation and 30deg before the next
; - Timing advance in this implementation is set to 15deg nominally
; - "Damped" commutation schemes are available, where more than one pfet is on when pwm is off. This will absorb energy from bemf and make step settling more damped.
; Motor sequence starting from zero crossing:
; - Timer wait: Wt_Comm 15deg ; Time to wait from zero cross to actual commutation
; - Timer wait: Wt_Advance 15deg ; Time to wait for timing advance. Nominal commutation point is after this
; - Timer wait: Wt_Zc_Scan 7.5deg ; Time to wait before looking for zero cross
; - Scan for zero cross 22.5deg , Nominal, with some motor variations
;
; Motor startup:
; There is a startup phase and an initial run phase, before normal bemf commutation run begins.
;
;**** **** **** **** ****
; List of enumerated supported ESCs and modes (main, tail or multi)
XP_3A_Main EQU 1
XP_3A_Tail EQU 2
XP_3A_Multi EQU 3
XP_7A_Main EQU 4
XP_7A_Tail EQU 5
XP_7A_Multi EQU 6
XP_7A_Fast_Main EQU 7
XP_7A_Fast_Tail EQU 8
XP_7A_Fast_Multi EQU 9
XP_12A_Main EQU 10
XP_12A_Tail EQU 11
XP_12A_Multi EQU 12
XP_18A_Main EQU 13
XP_18A_Tail EQU 14
XP_18A_Multi EQU 15
XP_25A_Main EQU 16
XP_25A_Tail EQU 17
XP_25A_Multi EQU 18
XP_35A_SW_Main EQU 19
XP_35A_SW_Tail EQU 20
XP_35A_SW_Multi EQU 21
DP_3A_Main EQU 22
DP_3A_Tail EQU 23
DP_3A_Multi EQU 24
Supermicro_3p5A_Main EQU 25
Supermicro_3p5A_Tail EQU 26
Supermicro_3p5A_Multi EQU 27
Turnigy_Plush_6A_Main EQU 28
Turnigy_Plush_6A_Tail EQU 29
Turnigy_Plush_6A_Multi EQU 30
Turnigy_Plush_10A_Main EQU 31
Turnigy_Plush_10A_Tail EQU 32
Turnigy_Plush_10A_Multi EQU 33
Turnigy_Plush_12A_Main EQU 34
Turnigy_Plush_12A_Tail EQU 35
Turnigy_Plush_12A_Multi EQU 36
Turnigy_Plush_18A_Main EQU 37
Turnigy_Plush_18A_Tail EQU 38
Turnigy_Plush_18A_Multi EQU 39
Turnigy_Plush_25A_Main EQU 40
Turnigy_Plush_25A_Tail EQU 41
Turnigy_Plush_25A_Multi EQU 42
Turnigy_Plush_30A_Main EQU 43
Turnigy_Plush_30A_Tail EQU 44
Turnigy_Plush_30A_Multi EQU 45
Turnigy_Plush_40A_Main EQU 46
Turnigy_Plush_40A_Tail EQU 47
Turnigy_Plush_40A_Multi EQU 48
Turnigy_Plush_60A_Main EQU 49
Turnigy_Plush_60A_Tail EQU 50
Turnigy_Plush_60A_Multi EQU 51
Turnigy_Plush_80A_Main EQU 52
Turnigy_Plush_80A_Tail EQU 53
Turnigy_Plush_80A_Multi EQU 54
Turnigy_Plush_Nfet_18A_Main EQU 55
Turnigy_Plush_Nfet_18A_Tail EQU 56
Turnigy_Plush_Nfet_18A_Multi EQU 57
Turnigy_Plush_Nfet_25A_Main EQU 58
Turnigy_Plush_Nfet_25A_Tail EQU 59
Turnigy_Plush_Nfet_25A_Multi EQU 60
Turnigy_Plush_Nfet_30A_Main EQU 61
Turnigy_Plush_Nfet_30A_Tail EQU 62
Turnigy_Plush_Nfet_30A_Multi EQU 63
Turnigy_AE_20A_Main EQU 64
Turnigy_AE_20A_Tail EQU 65
Turnigy_AE_20A_Multi EQU 66
Turnigy_AE_25A_Main EQU 67
Turnigy_AE_25A_Tail EQU 68
Turnigy_AE_25A_Multi EQU 69
Turnigy_AE_30A_Main EQU 70
Turnigy_AE_30A_Tail EQU 71
Turnigy_AE_30A_Multi EQU 72
Turnigy_AE_45A_Main EQU 73
Turnigy_AE_45A_Tail EQU 74
Turnigy_AE_45A_Multi EQU 75
Turnigy_KForce_40A_Main EQU 76
Turnigy_KForce_40A_Tail EQU 77
Turnigy_KForce_40A_Multi EQU 78
Turnigy_KForce_70A_HV_Main EQU 79
Turnigy_KForce_70A_HV_Tail EQU 80
Turnigy_KForce_70A_HV_Multi EQU 81
Turnigy_KForce_120A_HV_Main EQU 82
Turnigy_KForce_120A_HV_Tail EQU 83
Turnigy_KForce_120A_HV_Multi EQU 84
Turnigy_KForce_120A_HV_v2_Main EQU 85
Turnigy_KForce_120A_HV_v2_Tail EQU 86
Turnigy_KForce_120A_HV_v2_Multi EQU 87
Skywalker_20A_Main EQU 88
Skywalker_20A_Tail EQU 89
Skywalker_20A_Multi EQU 90
Skywalker_40A_Main EQU 91
Skywalker_40A_Tail EQU 92
Skywalker_40A_Multi EQU 93
HiModel_Cool_22A_Main EQU 94
HiModel_Cool_22A_Tail EQU 95
HiModel_Cool_22A_Multi EQU 96
HiModel_Cool_33A_Main EQU 97
HiModel_Cool_33A_Tail EQU 98
HiModel_Cool_33A_Multi EQU 99
HiModel_Cool_41A_Main EQU 100
HiModel_Cool_41A_Tail EQU 101
HiModel_Cool_41A_Multi EQU 102
RCTimer_6A_Main EQU 103
RCTimer_6A_Tail EQU 104
RCTimer_6A_Multi EQU 105
Align_RCE_BL15X_Main EQU 106
Align_RCE_BL15X_Tail EQU 107
Align_RCE_BL15X_Multi EQU 108
Align_RCE_BL15P_Main EQU 109
Align_RCE_BL15P_Tail EQU 110
Align_RCE_BL15P_Multi EQU 111
Align_RCE_BL35X_Main EQU 112
Align_RCE_BL35X_Tail EQU 113
Align_RCE_BL35X_Multi EQU 114
Align_RCE_BL35P_Main EQU 115
Align_RCE_BL35P_Tail EQU 116
Align_RCE_BL35P_Multi EQU 117
Gaui_GE_183_18A_Main EQU 118
Gaui_GE_183_18A_Tail EQU 119
Gaui_GE_183_18A_Multi EQU 120
H_King_10A_Main EQU 121
H_King_10A_Tail EQU 122
H_King_10A_Multi EQU 123
H_King_20A_Main EQU 124
H_King_20A_Tail EQU 125
H_King_20A_Multi EQU 126
H_King_35A_Main EQU 127
H_King_35A_Tail EQU 128
H_King_35A_Multi EQU 129
H_King_50A_Main EQU 130
H_King_50A_Tail EQU 131
H_King_50A_Multi EQU 132
Polaris_Thunder_12A_Main EQU 133
Polaris_Thunder_12A_Tail EQU 134
Polaris_Thunder_12A_Multi EQU 135
Polaris_Thunder_20A_Main EQU 136
Polaris_Thunder_20A_Tail EQU 137
Polaris_Thunder_20A_Multi EQU 138
Polaris_Thunder_30A_Main EQU 139
Polaris_Thunder_30A_Tail EQU 140
Polaris_Thunder_30A_Multi EQU 141
Polaris_Thunder_40A_Main EQU 142
Polaris_Thunder_40A_Tail EQU 143
Polaris_Thunder_40A_Multi EQU 144
Polaris_Thunder_60A_Main EQU 145
Polaris_Thunder_60A_Tail EQU 146
Polaris_Thunder_60A_Multi EQU 147
Polaris_Thunder_80A_Main EQU 148
Polaris_Thunder_80A_Tail EQU 149
Polaris_Thunder_80A_Multi EQU 150
Polaris_Thunder_100A_Main EQU 151
Polaris_Thunder_100A_Tail EQU 152
Polaris_Thunder_100A_Multi EQU 153
Platinum_Pro_30A_Main EQU 154
Platinum_Pro_30A_Tail EQU 155
Platinum_Pro_30A_Multi EQU 156
Platinum_Pro_150A_Main EQU 157
Platinum_Pro_150A_Tail EQU 158
Platinum_Pro_150A_Multi EQU 159
Platinum_50Av3_Main EQU 160
Platinum_50Av3_Tail EQU 161
Platinum_50Av3_Multi EQU 162
EAZY_3Av2_Main EQU 163
EAZY_3Av2_Tail EQU 164
EAZY_3Av2_Multi EQU 165
Tarot_30A_Main EQU 166
Tarot_30A_Tail EQU 167
Tarot_30A_Multi EQU 168
SkyIII_30A_Main EQU 169
SkyIII_30A_Tail EQU 170
SkyIII_30A_Multi EQU 171
EMAX_20A_Main EQU 172
EMAX_20A_Tail EQU 173
EMAX_20A_Multi EQU 174
EMAX_40A_Main EQU 175
EMAX_40A_Tail EQU 176
EMAX_40A_Multi EQU 177
EMAX_Nano_20A_Main EQU 178
EMAX_Nano_20A_Tail EQU 179
EMAX_Nano_20A_Multi EQU 180
EMAX_Lightning_20A_Main EQU 181
EMAX_Lightning_20A_Tail EQU 182
EMAX_Lightning_20A_Multi EQU 183
XRotor_10A_Main EQU 184
XRotor_10A_Tail EQU 185
XRotor_10A_Multi EQU 186
XRotor_20A_Main EQU 187
XRotor_20A_Tail EQU 188
XRotor_20A_Multi EQU 189
XRotor_40A_Main EQU 190
XRotor_40A_Tail EQU 191
XRotor_40A_Multi EQU 192
MDRX62H_Main EQU 193
MDRX62H_Tail EQU 194
MDRX62H_Multi EQU 195
RotorGeeks_20A_Main EQU 196
RotorGeeks_20A_Tail EQU 197
RotorGeeks_20A_Multi EQU 198
RotorGeeks_20A_Plus_Main EQU 199
RotorGeeks_20A_Plus_Tail EQU 200
RotorGeeks_20A_Plus_Multi EQU 201
Flycolor_Fairy_6A_Main EQU 202
Flycolor_Fairy_6A_Tail EQU 203
Flycolor_Fairy_6A_Multi EQU 204
Flycolor_Fairy_30A_Main EQU 205
Flycolor_Fairy_30A_Tail EQU 206
Flycolor_Fairy_30A_Multi EQU 207
Flycolor_Fairy_V2_30A_Main EQU 208
Flycolor_Fairy_V2_30A_Tail EQU 209
Flycolor_Fairy_V2_30A_Multi EQU 210
Flycolor_Raptor_20A_Main EQU 211
Flycolor_Raptor_20A_Tail EQU 212
Flycolor_Raptor_20A_Multi EQU 213
Flycolor_Raptor_390_20A_Main EQU 214
Flycolor_Raptor_390_20A_Tail EQU 215
Flycolor_Raptor_390_20A_Multi EQU 216
FVT_Littlebee_12A_Main EQU 217
FVT_Littlebee_12A_Tail EQU 218
FVT_Littlebee_12A_Multi EQU 219
FVT_Littlebee_20A_Main EQU 220
FVT_Littlebee_20A_Tail EQU 221
FVT_Littlebee_20A_Multi EQU 222
FVT_Littlebee_20A_Pro_Main EQU 223
FVT_Littlebee_20A_Pro_Tail EQU 224
FVT_Littlebee_20A_Pro_Multi EQU 225
FVT_Littlebee_30A_Main EQU 226
FVT_Littlebee_30A_Tail EQU 227
FVT_Littlebee_30A_Multi EQU 228
Graupner_Ultra_20A_Main EQU 229
Graupner_Ultra_20A_Tail EQU 230
Graupner_Ultra_20A_Multi EQU 231
F85_3A_Main EQU 232
F85_3A_Tail EQU 233
F85_3A_Multi EQU 234
ZTW_Spider_Pro_20A_Main EQU 235
ZTW_Spider_Pro_20A_Tail EQU 236
ZTW_Spider_Pro_20A_Multi EQU 237
ZTW_Spider_Pro_20A_Premium_Main EQU 238
ZTW_Spider_Pro_20A_Premium_Tail EQU 239
ZTW_Spider_Pro_20A_Premium_Multi EQU 240
ZTW_Spider_Pro_20A_HV_Main EQU 241
ZTW_Spider_Pro_20A_HV_Tail EQU 242
ZTW_Spider_Pro_20A_HV_Multi EQU 243
ZTW_Spider_Pro_30A_HV_Main EQU 244
ZTW_Spider_Pro_30A_HV_Tail EQU 245
ZTW_Spider_Pro_30A_HV_Multi EQU 246
DYS_XM20A_Main EQU 247
DYS_XM20A_Tail EQU 248
DYS_XM20A_Multi EQU 249
Oversky_MR_20A_Main EQU 250
Oversky_MR_20A_Tail EQU 251
Oversky_MR_20A_Multi EQU 252
Oversky_MR_20A_Pro_Main EQU 253
Oversky_MR_20A_Pro_Tail EQU 254
Oversky_MR_20A_Pro_Multi EQU 255
TBS_Cube_12A_Main EQU 256
TBS_Cube_12A_Tail EQU 257
TBS_Cube_12A_Multi EQU 258
DALRC_XR20A_Main EQU 259
DALRC_XR20A_Tail EQU 260
DALRC_XR20A_Multi EQU 261
AIKON_Boltlite_30A_Main EQU 262
AIKON_Boltlite_30A_Tail EQU 263
AIKON_Boltlite_30A_Multi EQU 264
Align_MR25_15A_Main EQU 265
Align_MR25_15A_Tail EQU 266
Align_MR25_15A_Multi EQU 267
Servoking_Monster_30A_Main EQU 268
Servoking_Monster_30A_Tail EQU 269
Servoking_Monster_30A_Multi EQU 270
Servoking_Monster_30A_Pro_Main EQU 271
Servoking_Monster_30A_Pro_Tail EQU 272
Servoking_Monster_30A_Pro_Multi EQU 273
Servoking_Monster_70A_Pro_Main EQU 274
Servoking_Monster_70A_Pro_Tail EQU 275
Servoking_Monster_70A_Pro_Multi EQU 276
Servoking_Monster_80A_Main EQU 277
Servoking_Monster_80A_Tail EQU 278
Servoking_Monster_80A_Multi EQU 279
HTIRC_Hummingbird_12A_Main EQU 280
HTIRC_Hummingbird_12A_Tail EQU 281
HTIRC_Hummingbird_12A_Multi EQU 282
HTIRC_Hummingbird_20A_Main EQU 283
HTIRC_Hummingbird_20A_Tail EQU 284
HTIRC_Hummingbird_20A_Multi EQU 285
HTIRC_Hummingbird_30A_Pro_Main EQU 286
HTIRC_Hummingbird_30A_Pro_Tail EQU 287
HTIRC_Hummingbird_30A_Pro_Multi EQU 288
;**** **** **** **** ****
; Select the ESC and mode to use (or unselect all for use with external batch compile file)
;BESCNO EQU XP_3A_Main
;BESCNO EQU XP_3A_Tail
;BESCNO EQU XP_3A_Multi
;BESCNO EQU XP_7A_Main
;BESCNO EQU XP_7A_Tail
;BESCNO EQU XP_7A_Multi
;BESCNO EQU XP_7A_Fast_Main
;BESCNO EQU XP_7A_Fast_Tail
;BESCNO EQU XP_7A_Fast_Multi
;BESCNO EQU XP_12A_Main
;BESCNO EQU XP_12A_Tail
;BESCNO EQU XP_12A_Multi
;BESCNO EQU XP_18A_Main
;BESCNO EQU XP_18A_Tail
;BESCNO EQU XP_18A_Multi
;BESCNO EQU XP_25A_Main
;BESCNO EQU XP_25A_Tail
;BESCNO EQU XP_25A_Multi
;BESCNO EQU XP_35A_SW_Main
;BESCNO EQU XP_35A_SW_Tail
;BESCNO EQU XP_35A_SW_Multi
;BESCNO EQU DP_3A_Main
;BESCNO EQU DP_3A_Tail
;BESCNO EQU DP_3A_Multi
;BESCNO EQU Supermicro_3p5A_Main
;BESCNO EQU Supermicro_3p5A_Tail
;BESCNO EQU Supermicro_3p5A_Multi
;BESCNO EQU Turnigy_Plush_6A_Main
;BESCNO EQU Turnigy_Plush_6A_Tail
;BESCNO EQU Turnigy_Plush_6A_Multi
;BESCNO EQU Turnigy_Plush_10A_Main
;BESCNO EQU Turnigy_Plush_10A_Tail
;BESCNO EQU Turnigy_Plush_10A_Multi
;BESCNO EQU Turnigy_Plush_12A_Main
;BESCNO EQU Turnigy_Plush_12A_Tail
;BESCNO EQU Turnigy_Plush_12A_Multi
;BESCNO EQU Turnigy_Plush_18A_Main
;BESCNO EQU Turnigy_Plush_18A_Tail
;BESCNO EQU Turnigy_Plush_18A_Multi
;BESCNO EQU Turnigy_Plush_25A_Main
;BESCNO EQU Turnigy_Plush_25A_Tail
;BESCNO EQU Turnigy_Plush_25A_Multi
;BESCNO EQU Turnigy_Plush_30A_Main
;BESCNO EQU Turnigy_Plush_30A_Tail
;BESCNO EQU Turnigy_Plush_30A_Multi
;BESCNO EQU Turnigy_Plush_40A_Main
;BESCNO EQU Turnigy_Plush_40A_Tail
;BESCNO EQU Turnigy_Plush_40A_Multi
;BESCNO EQU Turnigy_Plush_60A_Main
;BESCNO EQU Turnigy_Plush_60A_Tail
;BESCNO EQU Turnigy_Plush_60A_Multi
;BESCNO EQU Turnigy_Plush_80A_Main
;BESCNO EQU Turnigy_Plush_80A_Tail
;BESCNO EQU Turnigy_Plush_80A_Multi
;BESCNO EQU Turnigy_Plush_Nfet_18A_Main
;BESCNO EQU Turnigy_Plush_Nfet_18A_Tail
;BESCNO EQU Turnigy_Plush_Nfet_18A_Multi
;BESCNO EQU Turnigy_Plush_Nfet_25A_Main
;BESCNO EQU Turnigy_Plush_Nfet_25A_Tail
;BESCNO EQU Turnigy_Plush_Nfet_25A_Multi
;BESCNO EQU Turnigy_Plush_Nfet_30A_Main
;BESCNO EQU Turnigy_Plush_Nfet_30A_Tail
;BESCNO EQU Turnigy_Plush_Nfet_30A_Multi
;BESCNO EQU Turnigy_AE_20A_Main
;BESCNO EQU Turnigy_AE_20A_Tail
;BESCNO EQU Turnigy_AE_20A_Multi
;BESCNO EQU Turnigy_AE_25A_Main
;BESCNO EQU Turnigy_AE_25A_Tail
;BESCNO EQU Turnigy_AE_25A_Multi
;BESCNO EQU Turnigy_AE_30A_Main
;BESCNO EQU Turnigy_AE_30A_Tail
;BESCNO EQU Turnigy_AE_30A_Multi
;BESCNO EQU Turnigy_AE_45A_Main
;BESCNO EQU Turnigy_AE_45A_Tail
;BESCNO EQU Turnigy_AE_45A_Multi
;BESCNO EQU Turnigy_KForce_40A_Main
;BESCNO EQU Turnigy_KForce_40A_Tail
;BESCNO EQU Turnigy_KForce_40A_Multi
;BESCNO EQU Turnigy_KForce_70A_HV_Main
;BESCNO EQU Turnigy_KForce_70A_HV_Tail
;BESCNO EQU Turnigy_KForce_70A_HV_Multi
;BESCNO EQU Turnigy_KForce_120A_HV_Main
;BESCNO EQU Turnigy_KForce_120A_HV_Tail
;BESCNO EQU Turnigy_KForce_120A_HV_Multi
;BESCNO EQU Turnigy_KForce_120A_HV_v2_Main
;BESCNO EQU Turnigy_KForce_120A_HV_v2_Tail
;BESCNO EQU Turnigy_KForce_120A_HV_v2_Multi
;BESCNO EQU Skywalker_20A_Main
;BESCNO EQU Skywalker_20A_Tail
;BESCNO EQU Skywalker_20A_Multi
;BESCNO EQU Skywalker_40A_Main
;BESCNO EQU Skywalker_40A_Tail
;BESCNO EQU Skywalker_40A_Multi
;BESCNO EQU HiModel_Cool_22A_Main
;BESCNO EQU HiModel_Cool_22A_Tail
;BESCNO EQU HiModel_Cool_22A_Multi
;BESCNO EQU HiModel_Cool_33A_Main
;BESCNO EQU HiModel_Cool_33A_Tail
;BESCNO EQU HiModel_Cool_33A_Multi
;BESCNO EQU HiModel_Cool_41A_Main
;BESCNO EQU HiModel_Cool_41A_Tail
;BESCNO EQU HiModel_Cool_41A_Multi
;BESCNO EQU RCTimer_6A_Main
;BESCNO EQU RCTimer_6A_Tail
;BESCNO EQU RCTimer_6A_Multi
;BESCNO EQU Align_RCE_BL15X_Main
;BESCNO EQU Align_RCE_BL15X_Tail
;BESCNO EQU Align_RCE_BL15X_Multi
;BESCNO EQU Align_RCE_BL15P_Main
;BESCNO EQU Align_RCE_BL15P_Tail
;BESCNO EQU Align_RCE_BL15P_Multi
;BESCNO EQU Align_RCE_BL35X_Main
;BESCNO EQU Align_RCE_BL35X_Tail
;BESCNO EQU Align_RCE_BL35X_Multi
;BESCNO EQU Align_RCE_BL35P_Main
;BESCNO EQU Align_RCE_BL35P_Tail
;BESCNO EQU Align_RCE_BL35P_Multi
;BESCNO EQU Gaui_GE_183_18A_Main
;BESCNO EQU Gaui_GE_183_18A_Tail
;BESCNO EQU Gaui_GE_183_18A_Multi
;BESCNO EQU H_King_10A_Main
;BESCNO EQU H_King_10A_Tail
;BESCNO EQU H_King_10A_Multi
;BESCNO EQU H_King_20A_Main
;BESCNO EQU H_King_20A_Tail
;BESCNO EQU H_King_20A_Multi
;BESCNO EQU H_King_35A_Main
;BESCNO EQU H_King_35A_Tail
;BESCNO EQU H_King_35A_Multi
;BESCNO EQU H_King_50A_Main
;BESCNO EQU H_King_50A_Tail
;BESCNO EQU H_King_50A_Multi
;BESCNO EQU Polaris_Thunder_12A_Main
;BESCNO EQU Polaris_Thunder_12A_Tail
;BESCNO EQU Polaris_Thunder_12A_Multi
;BESCNO EQU Polaris_Thunder_20A_Main
;BESCNO EQU Polaris_Thunder_20A_Tail
;BESCNO EQU Polaris_Thunder_20A_Multi
;BESCNO EQU Polaris_Thunder_30A_Main
;BESCNO EQU Polaris_Thunder_30A_Tail
;BESCNO EQU Polaris_Thunder_30A_Multi
;BESCNO EQU Polaris_Thunder_40A_Main
;BESCNO EQU Polaris_Thunder_40A_Tail
;BESCNO EQU Polaris_Thunder_40A_Multi
;BESCNO EQU Polaris_Thunder_60A_Main
;BESCNO EQU Polaris_Thunder_60A_Tail
;BESCNO EQU Polaris_Thunder_60A_Multi
;BESCNO EQU Polaris_Thunder_80A_Main
;BESCNO EQU Polaris_Thunder_80A_Tail
;BESCNO EQU Polaris_Thunder_80A_Multi
;BESCNO EQU Polaris_Thunder_100A_Main
;BESCNO EQU Polaris_Thunder_100A_Tail
;BESCNO EQU Polaris_Thunder_100A_Multi
;BESCNO EQU Platinum_Pro_30A_Main
;BESCNO EQU Platinum_Pro_30A_Tail
;BESCNO EQU Platinum_Pro_30A_Multi
;BESCNO EQU Platinum_Pro_150A_Main
;BESCNO EQU Platinum_Pro_150A_Tail
;BESCNO EQU Platinum_Pro_150A_Multi
;BESCNO EQU Platinum_50Av3_Main
;BESCNO EQU Platinum_50Av3_Tail
;BESCNO EQU Platinum_50Av3_Multi
;BESCNO EQU EAZY_3Av2_Main
;BESCNO EQU EAZY_3Av2_Tail
;BESCNO EQU EAZY_3Av2_Multi
;BESCNO EQU Tarot_30A_Main
;BESCNO EQU Tarot_30A_Tail
;BESCNO EQU Tarot_30A_Multi
;BESCNO EQU SkyIII_30A_Main
;BESCNO EQU SkyIII_30A_Tail
;BESCNO EQU SkyIII_30A_Multi
;BESCNO EQU EMAX_20A_Main
;BESCNO EQU EMAX_20A_Tail
;BESCNO EQU EMAX_20A_Multi
;BESCNO EQU EMAX_40A_Main
;BESCNO EQU EMAX_40A_Tail
;BESCNO EQU EMAX_40A_Multi
;BESCNO EQU EMAX_Nano_20A_Main
;BESCNO EQU EMAX_Nano_20A_Tail
;BESCNO EQU EMAX_Nano_20A_Multi
;BESCNO EQU EMAX_Lightning_20A_Main
;BESCNO EQU EMAX_Lightning_20A_Tail
;BESCNO EQU EMAX_Lightning_20A_Multi
;BESCNO EQU XRotor_10A_Main
;BESCNO EQU XRotor_10A_Tail
;BESCNO EQU XRotor_10A_Multi
;BESCNO EQU XRotor_20A_Main
;BESCNO EQU XRotor_20A_Tail
;BESCNO EQU XRotor_20A_Multi
;BESCNO EQU XRotor_40A_Main
;BESCNO EQU XRotor_40A_Tail
;BESCNO EQU XRotor_40A_Multi
;BESCNO EQU MDRX62H_Main
;BESCNO EQU MDRX62H_Tail
;BESCNO EQU MDRX62H_Multi
;BESCNO EQU RotorGeeks_20A_Main
;BESCNO EQU RotorGeeks_20A_Tail
;BESCNO EQU RotorGeeks_20A_Multi
;BESCNO EQU RotorGeeks_20A_Plus_Main
;BESCNO EQU RotorGeeks_20A_Plus_Tail
;BESCNO EQU RotorGeeks_20A_Plus_Multi
;BESCNO EQU Flycolor_Fairy_6A_Main
;BESCNO EQU Flycolor_Fairy_6A_Tail
;BESCNO EQU Flycolor_Fairy_6A_Multi
;BESCNO EQU Flycolor_Fairy_30A_Main
;BESCNO EQU Flycolor_Fairy_30A_Tail
;BESCNO EQU Flycolor_Fairy_30A_Multi
;BESCNO EQU Flycolor_Fairy_V2_30A_Main
;BESCNO EQU Flycolor_Fairy_V2_30A_Tail
;BESCNO EQU Flycolor_Fairy_V2_30A_Multi
;BESCNO EQU Flycolor_Raptor_20A_Main
;BESCNO EQU Flycolor_Raptor_20A_Tail
;BESCNO EQU Flycolor_Raptor_20A_Multi
;BESCNO EQU Flycolor_Raptor_390_20A_Main
;BESCNO EQU Flycolor_Raptor_390_20A_Tail
;BESCNO EQU Flycolor_Raptor_390_20A_Multi
;BESCNO EQU FVT_Littlebee_12A_Main
;BESCNO EQU FVT_Littlebee_12A_Tail
;BESCNO EQU FVT_Littlebee_12A_Multi
;BESCNO EQU FVT_Littlebee_20A_Main
;BESCNO EQU FVT_Littlebee_20A_Tail
;BESCNO EQU FVT_Littlebee_20A_Multi
;BESCNO EQU FVT_Littlebee_20A_Pro_Main
;BESCNO EQU FVT_Littlebee_20A_Pro_Tail
;BESCNO EQU FVT_Littlebee_20A_Pro_Multi
;BESCNO EQU FVT_Littlebee_30A_Main
;BESCNO EQU FVT_Littlebee_30A_Tail
;BESCNO EQU FVT_Littlebee_30A_Multi
;BESCNO EQU Graupner_Ultra_20A_Main
;BESCNO EQU Graupner_Ultra_20A_Tail
;BESCNO EQU Graupner_Ultra_20A_Multi
;BESCNO EQU F85_3A_Main
;BESCNO EQU F85_3A_Tail
;BESCNO EQU F85_3A_Multi
;BESCNO EQU ZTW_Spider_Pro_20A_Main
;BESCNO EQU ZTW_Spider_Pro_20A_Tail
;BESCNO EQU ZTW_Spider_Pro_20A_Multi
;BESCNO EQU ZTW_Spider_Pro_20A_Premium_Main
;BESCNO EQU ZTW_Spider_Pro_20A_Premium_Tail
;BESCNO EQU ZTW_Spider_Pro_20A_Premium_Multi
;BESCNO EQU ZTW_Spider_Pro_20A_HV_Main
;BESCNO EQU ZTW_Spider_Pro_20A_HV_Tail
;BESCNO EQU ZTW_Spider_Pro_20A_HV_Multi
;BESCNO EQU ZTW_Spider_Pro_30A_HV_Main
;BESCNO EQU ZTW_Spider_Pro_30A_HV_Tail
;BESCNO EQU ZTW_Spider_Pro_30A_HV_Multi
;BESCNO EQU DYS_XM20A_Main
;BESCNO EQU DYS_XM20A_Tail
;BESCNO EQU DYS_XM20A_Multi
;BESCNO EQU Oversky_MR_20A_Main
;BESCNO EQU Oversky_MR_20A_Tail
;BESCNO EQU Oversky_MR_20A_Multi
;BESCNO EQU Oversky_MR_20A_Pro_Main
;BESCNO EQU Oversky_MR_20A_Pro_Tail
;BESCNO EQU Oversky_MR_20A_Pro_Multi
;BESCNO EQU TBS_Cube_12A_Main
;BESCNO EQU TBS_Cube_12A_Tail
;BESCNO EQU TBS_Cube_12A_Multi
;BESCNO EQU DALRC_XR20A_Main
;BESCNO EQU DALRC_XR20A_Tail
;BESCNO EQU DALRC_XR20A_Multi
;BESCNO EQU AIKON_Boltlite_30A_Main
;BESCNO EQU AIKON_Boltlite_30A_Tail
;BESCNO EQU AIKON_Boltlite_30A_Multi
;BESCNO EQU Align_MR25_15A_Main
;BESCNO EQU Align_MR25_15A_Tail
;BESCNO EQU Align_MR25_15A_Multi
;BESCNO EQU Servoking_Monster_30A_Main
;BESCNO EQU Servoking_Monster_30A_Tail
;BESCNO EQU Servoking_Monster_30A_Multi
;BESCNO EQU Servoking_Monster_30A_Pro_Main
;BESCNO EQU Servoking_Monster_30A_Pro_Tail
;BESCNO EQU Servoking_Monster_30A_Pro_Multi
;BESCNO EQU Servoking_Monster_70A_Pro_Main
;BESCNO EQU Servoking_Monster_70A_Pro_Tail
;BESCNO EQU Servoking_Monster_70A_Pro_Multi
;BESCNO EQU Servoking_Monster_80A_Main
;BESCNO EQU Servoking_Monster_80A_Tail
;BESCNO EQU Servoking_Monster_80A_Multi
;BESCNO EQU HTIRC_Hummingbird_12A_Main
;BESCNO EQU HTIRC_Hummingbird_12A_Tail
;BESCNO EQU HTIRC_Hummingbird_12A_Multi
;BESCNO EQU HTIRC_Hummingbird_20A_Main
;BESCNO EQU HTIRC_Hummingbird_20A_Tail
;BESCNO EQU HTIRC_Hummingbird_20A_Multi
;BESCNO EQU HTIRC_Hummingbird_30A_Pro_Main
;BESCNO EQU HTIRC_Hummingbird_30A_Pro_Tail
;BESCNO EQU HTIRC_Hummingbird_30A_Pro_Multi
;**** **** **** **** ****
; ESC selection statements
IF BESCNO == XP_3A_Main
MODE EQU 0 ; Choose mode. Set to 0 for main motor
$include (XP_3A.inc) ; Select XP 3A pinout
ENDIF
IF BESCNO == XP_3A_Tail
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
$include (XP_3A.inc) ; Select XP 3A pinout
ENDIF
IF BESCNO == XP_3A_Multi
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
$include (XP_3A.inc) ; Select XP 3A pinout
ENDIF
IF BESCNO == XP_7A_Main
MODE EQU 0 ; Choose mode. Set to 0 for main motor
$include (XP_7A.inc) ; Select XP 7A pinout
ENDIF
IF BESCNO == XP_7A_Tail
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
$include (XP_7A.inc) ; Select XP 7A pinout
ENDIF
IF BESCNO == XP_7A_Multi
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
$include (XP_7A.inc) ; Select XP 7A pinout
ENDIF
IF BESCNO == XP_7A_Fast_Main
MODE EQU 0 ; Choose mode. Set to 0 for main motor
$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout
ENDIF
IF BESCNO == XP_7A_Fast_Tail
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout
ENDIF
IF BESCNO == XP_7A_Fast_Multi
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
$include (XP_7A_Fast.inc) ; Select XP 7A Fast pinout
ENDIF
IF BESCNO == XP_12A_Main
MODE EQU 0 ; Choose mode. Set to 0 for main motor
$include (XP_12A.inc) ; Select XP 12A pinout
ENDIF
IF BESCNO == XP_12A_Tail
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
$include (XP_12A.inc) ; Select XP 12A pinout
ENDIF
IF BESCNO == XP_12A_Multi
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
$include (XP_12A.inc) ; Select XP 12A pinout
ENDIF
IF BESCNO == XP_18A_Main
MODE EQU 0 ; Choose mode. Set to 0 for main motor
$include (XP_18A.inc) ; Select XP 18A pinout
ENDIF
IF BESCNO == XP_18A_Tail
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
$include (XP_18A.inc) ; Select XP 18A pinout
ENDIF
IF BESCNO == XP_18A_Multi
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
$include (XP_18A.inc) ; Select XP 18A pinout
ENDIF
IF BESCNO == XP_25A_Main
MODE EQU 0 ; Choose mode. Set to 0 for main motor
$include (XP_25A.inc) ; Select XP 25A pinout
ENDIF
IF BESCNO == XP_25A_Tail
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
$include (XP_25A.inc) ; Select XP 25A pinout
ENDIF
IF BESCNO == XP_25A_Multi
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
$include (XP_25A.inc) ; Select XP 25A pinout
ENDIF
IF BESCNO == XP_35A_SW_Main
MODE EQU 0 ; Choose mode. Set to 0 for main motor
$include (XP_35A_SW.inc) ; Select XP 35A SW pinout
ENDIF
IF BESCNO == XP_35A_SW_Tail
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
$include (XP_35A_SW.inc) ; Select XP 35A SW pinout
ENDIF
IF BESCNO == XP_35A_SW_Multi
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
$include (XP_35A_SW.inc) ; Select XP 35A SW pinout
ENDIF
IF BESCNO == DP_3A_Main
MODE EQU 0 ; Choose mode. Set to 0 for main motor
$include (DP_3A.inc) ; Select DP 3A pinout
ENDIF
IF BESCNO == DP_3A_Tail
MODE EQU 1 ; Choose mode. Set to 1 for tail motor
$include (DP_3A.inc) ; Select DP 3A pinout
ENDIF
IF BESCNO == DP_3A_Multi
MODE EQU 2 ; Choose mode. Set to 2 for multirotor
$include (DP_3A.inc) ; Select DP 3A pinout
ENDIF