BLHELI_32ARM_MANUAL

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Document rev 32.x

Operation manual for BLHeli_32 ARM Rev32.x

BLHeli_32 firmware is the third generation BLHeli, following base

BLHeli and BLHeli_S.

BLHeli_32 is designed for superior functionality and performance,

primarily in multirotors and runs on ARM 32bit MCUs.

All codes use damped light mode.

Damped light does regenerative braking, causing very fast motor

retardation, and inherently also does active freewheeling.

The code supports features to prevent sync loss. There are tuneable

parameters that can make the code run well even in the most

demanding situations, although default settings will work excellently

in normal operating environments.

The code supports regular 1-2ms pulse width input, as well as

Oneshot125 (125-250us), Oneshot42 (41.7-83.3us) and Multshot (5-

25us). Dshot signalling is supported at any rate up to at least

Dshot1200. The input signal is automatically detected by the ESC

upon power up.

The code also supports a beacon functionality, where the ESC will

start beeping after a given time of zero throttle. This can be very

useful for finding lost crafts.

Summary of content (10 pages)

PAGE 1
Operation manual for BLHeli_32 ARM Rev32.x BLHeli_32 firmware is the third generation BLHeli, following base BLHeli and BLHeli_S. BLHeli_32 is designed for superior functionality and performance, primarily in multirotors and runs on ARM 32bit MCUs. All codes use damped light mode. Damped light does regenerative braking, causing very fast motor retardation, and inherently also does active freewheeling. The code supports features to prevent sync loss.
PAGE 2
Programming parameters: Rampup Power: Rampup power can be set to relative values from 3% to 150%. This is the maximum power that is allowed when ramping up at low rpms and during startup. For low rpms, the maximum power to the motor is limited, in order to facilitate detection of low BEMF voltages. Rampup power also affects bidirectional operation, as the parameter is used to limit the power applied during direction reversal.
PAGE 3
Demag compensation is an alternative way of combating the issue. First of all, it detects when a demag situation occurs. - In this situation, there is no info on motor timing, and commutation proceeds blindly with a predicted timing. - In addition to this, motor power is cut off some time before the next commutation. A metric is calculated that indicates how severe the demag situation is. The more severe the situation, the more power is cut off. When demag compensation is set to off, power is never cut.
PAGE 4
Minimum throttle, maximum throttle and center throttle: These settings set the throttle range of the ESC. Center throttle is only used for bidirectional operation. The values given for these settings are for a normal 1000us to 2000us input signal, and for the other input signals, the values must be scaled. For Dshot input signal, these settings have no effect. Temperature Protection: Temperature protection can be enabled or disabled. And the temperature threshold can be programmed.
PAGE 5
Arming sequence: The figure below shows an example of throttle value versus time. 100% Power on 3 beeps Arm end 1 high beep Arm start 1 low beep 0% Run Time At power on, an activated ESC beeps 3 beeps. When throttle signal is detected, it beeps one low tone beep. This signals that input signal is detected. Then, when or if throttle is zero, it beeps one high tone beep. This signals the end of the arming sequence, and the ESC is ready to run.
PAGE 6
Stall protection: If the motor has attempted to start but not succeeded for a few seconds, it will stop attempting and wait for throttle to be zeroed before attempting again. Regenerative braking / active freewheeling: Damped light mode is implemented by doing regenerative braking, and inherently active freewheeling is also implemented. Then losses due to braking are counteracted by the reduced losses of active freewheeling. Motor PWM: The motor PWM frequency can be programmed between 16kHz and 48kHz.
PAGE 7
Beeps - Normal operation: Power up: Once Throttle signal detected (arming sequence start): Once Zero throttle detected (arming sequence end): Once After this, the motor will run. Document rev 32.
PAGE 8
Beeps - Throttle calibration: Power up: Once Throttle signal detected (arming sequence start): Once When throttle is above midstick (measuring max throttle): While measuring If throttle is above midstick for 3 seconds: Once This beep sequence indicates that max throttle has been stored When throttle is below midstick (measuring min throttle): While measuring If throttle is below midstick for 3 seconds: Once This beep sequence indicates that min throttle has been stored At this point throttle calibrati
PAGE 9
Beeps - Not activated ESC: All ESCs shall be activated during manufacturing. If for some reason this is not done, the ESC will beep like this upon powerup, before the normal operation beep sequence starts: Beeps - Activation failed ESC: All ESCs shall be activated during manufacturing.
PAGE 10
Revision history: - Rev32.0 Started Document rev 32.