/* Sensorless brushless DC (BLDC) motor control with Arduino UNO (Arduino DIY ESC).
   This is a free software with NO WARRANTY.
   https://simple-circuit.com/
*/
#include <Arduino.h>

#include "utils.h"

#define PWM_3_W 34
#define PWM_2_V 35
#define PWM_1_U 32

#define EN_3_W 33
#define EN_2_V 25
#define EN_1_U 26

#define COMP_1_W 14
#define COMP_2_V 12
#define COMP_3_U 13

#define CH_PWM 0
#define FREQ_PWM 7900

void IRAM_ATTR isr_comp_w();
void IRAM_ATTR isr_comp_v();
void IRAM_ATTR isr_comp_u();

void setup()
{
  Serial.begin(9600);

  // PWM pins
  pinMode(PWM_3_W, OUTPUT);
  pinMode(PWM_2_V, OUTPUT);
  pinMode(PWM_1_U, OUTPUT);
  Serial.println("PWM pins ... done");

  // transistonrs enable pins
  pinMode(EN_3_W, OUTPUT);
  pinMode(EN_2_V, OUTPUT);
  pinMode(EN_1_U, OUTPUT);
  Serial.println("EN pins ... done");

  // comparator pins (sensorless rotation detection)
  pinMode(COMP_1_W, INPUT);
  pinMode(COMP_2_V, INPUT);
  pinMode(COMP_3_U, INPUT);
  Serial.println("Comparators pins ... done");

  // interupts for external comparator outpus
  attachInterrupt(COMP_1_W, isr_comp_w, RISING);
  attachInterrupt(COMP_2_V, isr_comp_v, RISING);
  attachInterrupt(COMP_3_U, isr_comp_u, RISING);
  Serial.println("Interrupts ... done");

  // PWM chanel
  ledcSetup(CH_PWM, FREQ_PWM, 10);
  ledcAttachPin(PWM_3_W, CH_PWM);
  Serial.println("PWM channel ... done");
}

void loop()
{
  static long i = 0;
  if (i < 1024) {
    ++i;
  } else {
    i = 0;
  }
  ledcWrite(CH_PWM, i);
  delay(2);
}

void IRAM_ATTR isr_comp_w()
{
  Serial.println("Interrupt W");
  ledcAttachPin(PWM_3_W, CH_PWM);
  digitalWrite(EN_3_W, HIGH);
  digitalWrite(EN_2_V, LOW);
  digitalWrite(EN_1_U, LOW);
}

void IRAM_ATTR isr_comp_v()
{
  Serial.println("Interrupt V");
  ledcAttachPin(PWM_2_V, CH_PWM);
  digitalWrite(EN_2_V, HIGH);
  digitalWrite(EN_1_U, LOW);
  digitalWrite(EN_3_W, LOW);
}

void IRAM_ATTR isr_comp_u()
{
  Serial.println("Interrupt U");
  ledcAttachPin(PWM_1_U, CH_PWM);
  digitalWrite(EN_1_U, HIGH);
  digitalWrite(EN_2_V, LOW);
  digitalWrite(EN_3_W, LOW);
}