;**** **** **** **** ****
;
; Bluejay digital ESC firmware for controlling brushless motors in multirotors
;
; Copyright 2020, 2021 Mathias Rasmussen
; Copyright 2011, 2012 Steffen Skaug
;
; This file is part of Bluejay.
;
; Bluejay 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.
;
; Bluejay 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 Bluejay.  If not, see <http://www.gnu.org/licenses/>.
;
;**** **** **** **** ****
;
; Hardware definition file "Q"
; Cp Bp Ap L1 L0 X  RC X     X  MA MB MC CC Cc Bc Ac
;
;**** **** **** **** ****

PWM_ACTIVE_HIGH	EQU	1		; Pwm non-inverted
COM_ACTIVE_HIGH	EQU	1		; Damping inverted

COMPARATOR_PORT	EQU	1		; All comparator (mux) pins must be on the same port

IF DEADTIME == 0
	PCA0CPM_POWER	EQU	PCA0CPM0
	PCA0CPL_POWER	EQU	PCA0CPL0
	PCA0CPH_POWER	EQU	PCA0CPH0

	PCA0CPM_DAMP	EQU	PCA0CPM1
	PCA0CPL_DAMP	EQU	PCA0CPL1
	PCA0CPH_DAMP	EQU	PCA0CPH1
ELSE
	PCA0CPM_POWER	EQU	PCA0CPM0
	PCA0CPL_POWER	EQU	PCA0CPL0
	PCA0CPH_POWER	EQU	PCA0CPH0

	PCA0CPM_DAMP	EQU	PCA0CPM1
	PCA0CPL_DAMP	EQU	PCA0CPL1
	PCA0CPH_DAMP	EQU	PCA0CPH1
ENDIF

;*********************
; PORT 0 definitions *
;*********************
C_Pwm		EQU	7
B_Pwm		EQU	6
A_Pwm		EQU	5
LED_1		EQU	4
LED_0		EQU	3
;			EQU	2
RTX_PIN		EQU	1
;			EQU	0


P0_DIGITAL	EQU	0FFh
P0_INIT		EQU	(1 SHL RTX_PIN)
P0_PUSHPULL	EQU	(1 SHL LED_0) + (1 SHL LED_1) + (1 SHL A_Pwm) + (1 SHL B_Pwm) + (1 SHL C_Pwm)
P0_SKIP		EQU	0FFh


;*********************
; PORT 1 definitions *
;*********************
;			EQU	7
A_Mux		EQU	6
B_Mux		EQU	5
C_Mux		EQU	4
V_Mux		EQU	3
C_Com		EQU	2
B_Com		EQU	1
A_Com		EQU	0


P1_DIGITAL	EQU	(1 SHL A_Com) + (1 SHL B_Com) + (1 SHL C_Com)
P1_INIT		EQU	00h
P1_PUSHPULL	EQU	(1 SHL A_Com) + (1 SHL B_Com) + (1 SHL C_Com)
P1_SKIP		EQU	0FFh


;*********************
; PORT 2 definitions *
;*********************
DebugPin		EQU	0

P2_DIGITAL	EQU	(1 SHL DebugPin)
P2_PUSHPULL	EQU	(1 SHL DebugPin)
P2_SKIP		EQU	(1 SHL DebugPin)


;**** **** **** **** ****
; PWM Phase
;**** **** **** **** ****
P_A_Pwm		EQU	P0.A_Pwm
P_A_Com		EQU	P1.A_Com
P_B_Pwm		EQU	P0.B_Pwm
P_B_Com		EQU	P1.B_Com
P_C_Pwm		EQU	P0.C_Pwm
P_C_Com		EQU	P1.C_Com

Set_Pwm_Phase_A MACRO
IF DEADTIME == 0
	cON	P_A_Com
	mov	P0SKIP, #(NOT (1 SHL A_Pwm))
	mov	P1SKIP, #0FFh
ELSE
	mov	P0SKIP, #(NOT (1 SHL A_Pwm))
	mov	P1SKIP, #(NOT (1 SHL A_Com))
ENDIF
ENDM

Set_Pwm_Phase_B MACRO
IF DEADTIME == 0
	cON	P_B_Com
	mov	P0SKIP, #(NOT (1 SHL B_Pwm))
	mov	P1SKIP, #0FFh
ELSE
	mov	P0SKIP, #(NOT (1 SHL B_Pwm))
	mov	P1SKIP, #(NOT (1 SHL B_Com))
ENDIF
ENDM

Set_Pwm_Phase_C MACRO
IF DEADTIME == 0
	cON	P_C_Com
	mov	P0SKIP, #(NOT (1 SHL C_Pwm))
	mov	P1SKIP, #0FFh
ELSE
	mov	P0SKIP, #(NOT (1 SHL C_Pwm))
	mov	P1SKIP, #(NOT (1 SHL C_Com))
ENDIF
ENDM

Set_All_Pwm_Phases_Off MACRO
	mov	P0SKIP, #0FFh
	mov	P1SKIP, #0FFh
ENDM


;**** **** **** **** ****
; LED configuration
;**** **** **** **** ****
Set_LED_0 MACRO
	setb	P0.LED_0
ENDM

Clear_LED_0 MACRO
	clr	P0.LED_0
ENDM

Set_LED_1 MACRO
	setb	P0.LED_1
ENDM

Clear_LED_1 MACRO
	clr	P0.LED_1
ENDM

Set_LED_2 MACRO
ENDM

Clear_LED_2 MACRO
ENDM

Set_LED_3 MACRO
ENDM

Clear_LED_3 MACRO
ENDM


;**** **** **** **** ****
; Inherit base layout
;**** **** **** **** ****
$set(CUSTOM_PWM_PHASE, CUSTOM_LED)
$include (Base.inc)