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Operation manual for BLHeli_32

10 May, 2017

• BLHeli32.com

• May 10, 2017

• BLHeli_32 Knowledge

• blheli_32, blheli32, code, firmware, github, motor timing, programming, PWM, rampup, rampup

power

* Before Reading: This is the operation manual for BLHeli_32 ARM Rev32.x that

published at Github by team BLheli. It is also can be downloaded here.

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.

Programming parameters:

Rampup Power:

Summary of content (10 pages)

PAGE 1
Operation manual for BLHeli_32 10 May, 2017 • • • • BLHeli32.com May 10, 2017 BLHeli_32 Knowledge blheli_32, blheli32, code, firmware, github, motor timing, programming, PWM, rampup, rampup power * Before Reading: This is the operation manual for BLHeli_32 ARM Rev32.x that published at Github by team BLheli. It is also can be downloaded here. BLHeli_32 firmware is the third generation BLHeli, following base BLHeli and BLHeli_S.
PAGE 2
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
– 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. When setting it to low or high, power is cut. For a high setting, power is cut more aggressively.
PAGE 4
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. The programmable threshold is primarily meant as a support for hardware manufacturers to use, as different hardwares can have different tolerances on the max temperatures of the various components used. Low RPM Power Protect: Power limiting for low RPMs can be enabled or disabled.
PAGE 5
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. Also, if more than 50% throttle is detected at arm start, the ESC starts throttle calibration.
PAGE 6
The ESC measures temperature within the MCU and limits motor power if the temperature is too high. Motor power is limited over a range: – If the temperature is above the threshold, motor power begins to be limited. – If the temperature is above the threshold plus approximately 150C, motor power is limited to 25%. Motor power is not limited below 25%.
PAGE 7
After this, the motor will run.
PAGE 8
PAGE 9
At this point throttle calibration values are stored. You may remove power from the ESC, or just continue running your ESC. Beeps – Not activated ESC: All ESCs shall be activated during manufacturing.
PAGE 10
Beeps – Activation failed ESC: All ESCs shall be activated during manufacturing. If for some reason activation has failed and the ESC is not regarded as a valid BLHeli_32 unit, the ESC will beep like this upon powerup, before the normal operation beep sequence starts: In this case the ESC will only accept 1-2ms pwm input signal. Download the USER MANUAL OF BLHELI_32.