;**** **** **** **** ****
;
; Bluejay digital ESC firmware for controlling brushless motors in multirotors
;
; Copyright 2020 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 "W". This is for tristate input style FET driver chips
; RC MC MB X CC MA X X     X  Ap Bp Cp X X X X
;
;**** **** **** **** ****

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

; Note: currently all comparator pins (Comp_ and Mux_) must be on the same port
COMP_PORT		EQU	0


;*********************
; PORT 0 definitions *
;*********************
Rcp_In		EQU	7	;i
C_Mux		EQU	6	;i
B_Mux		EQU	5	;i
;		EQU	4	;i
Comp_Com	EQU	3	;i
A_Mux		EQU	2	;i
;		EQU	1	;i
;		EQU	0	;i

P0_DIGITAL	EQU	NOT((1 SHL A_Mux) + (1 SHL B_Mux) + (1 SHL C_Mux) + (1 SHL Comp_Com))
P0_INIT		EQU	0FFh
P0_PUSHPULL	EQU	0
P0_SKIP		EQU	0FFh


IF FETON_DELAY == 0
	PCA0_POWER_MODULE	EQU	PCA0CPM0
	PCA0_POWER_L		EQU	PCA0CPL0
	PCA0_POWER_H		EQU	PCA0CPH0

	PCA0_DAMP_MODULE	EQU	PCA0CPM1
	PCA0_DAMP_L		EQU	PCA0CPL1
	PCA0_DAMP_H		EQU	PCA0CPH1
ELSE
	PCA0_POWER_MODULE	EQU	PCA0CPM1
	PCA0_POWER_L		EQU	PCA0CPL1
	PCA0_POWER_H		EQU	PCA0CPH1

	PCA0_DAMP_MODULE	EQU	PCA0CPM0
	PCA0_DAMP_L		EQU	PCA0CPL0
	PCA0_DAMP_H		EQU	PCA0CPH0
ENDIF


;*********************
; PORT 1 definitions *
;*********************
;		EQU	7	;i
A_pwm		EQU	6	;o
B_pwm		EQU	5	;o
C_pwm		EQU	4	;o
;		EQU	3	;i
;		EQU	2	;i
;		EQU	1	;i
;		EQU	0	;i


; pwm outputs start as analog in -> floating
; this ensures all mosfet drivers start with floating outputs
P1_DIGITAL	EQU	NOT((1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm))
P1_INIT		EQU	00h
P1_PUSHPULL	EQU	((1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm))
;
P1_SKIP		EQU	0FFh


ApwmFET_on MACRO
	setb	P1.A_pwm		; set pin to high
	orl	P1MDIN, #(1 SHL A_pwm)	; enable pin driver
ENDM

ApwmFET_off MACRO
	anl	P1MDIN, #(NOT(1 SHL A_pwm))	; analog in -> pullup, driver and digital in is disable = floating
ENDM

BpwmFET_on MACRO
	setb	P1.B_pwm		; set pin to high
	orl	P1MDIN, #(1 SHL B_pwm)	; enable pin driver
ENDM

BpwmFET_off MACRO
	anl	P1MDIN, #(NOT(1 SHL B_pwm))	; analog in -> pullup, driver and digital in is disable = floating
ENDM

CpwmFET_on MACRO
	setb	P1.C_pwm		; set pin to high
	orl	P1MDIN, #(1 SHL C_pwm)	; enable pin driver
ENDM

CpwmFET_off MACRO
	anl	P1MDIN, #(NOT(1 SHL C_pwm))	; analog in -> pullup, driver and digital in is disable = floating
ENDM

All_pwmFETs_Off MACRO
	anl	P1MDIN, #(NOT((1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm)))	; analog in -> pullup, driver and digital in is disable = floating
ENDM

AcomFET_on MACRO
	clr	P1.A_pwm			; set pin to low
	orl	P1MDIN, #(1 SHL A_pwm)	; enable pin driver
ENDM

AcomFET_off MACRO
	anl	P1MDIN, #(NOT(1 SHL A_pwm))	; analog in -> pullup, driver and digital in is disable = floating
ENDM

BcomFET_on MACRO
	clr	P1.B_pwm			; set pin to low
	orl	P1MDIN, #(1 SHL B_pwm)	; enable pin driver
ENDM

BcomFET_off MACRO
	anl	P1MDIN, #(NOT(1 SHL B_pwm))	; analog in -> pullup, driver and digital in is disable = floating
ENDM

CcomFET_on MACRO
	clr	P1.C_pwm			; set pin to low
	orl	P1MDIN, #(1 SHL C_pwm)	; enable pin driver
ENDM

CcomFET_off MACRO
	anl	P1MDIN, #(NOT(1 SHL C_pwm))	; analog in -> pullup, driver and digital in is disable = floating
ENDM

All_comFETs_Off MACRO
	anl	P1MDIN, #(NOT((1 SHL A_pwm) + (1 SHL B_pwm) + (1 SHL C_pwm)))	; analog in -> pullup, driver and digital in is disable = floating
ENDM

Set_Pwm_A MACRO
	mov	P1SKIP, #(NOT(1 SHL A_pwm));
	orl	P1MDIN, #(1 SHL A_pwm)	; enable pin driver
ENDM

Set_Pwm_B MACRO
	mov	P1SKIP, #(NOT(1 SHL B_pwm));
	orl	P1MDIN, #(1 SHL B_pwm)	; enable pin driver
ENDM

Set_Pwm_C MACRO
	mov	P1SKIP, #(NOT(1 SHL C_pwm));
	orl	P1MDIN, #(1 SHL C_pwm)	; enable pin driver
ENDM

Set_Pwms_Off MACRO
	mov	P1SKIP, #P1_SKIP;
ENDM


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

P2_DIGITAL	EQU	(1 SHL DebugPin)
P2_PUSHPULL	EQU	(1 SHL DebugPin)
P2_SKIP		EQU	0FFh


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