//==============================================================================
// DUAL-PORT RAM MAPPING
//==============================================================================
// This memory is an interface to the master MCU. Here is brief memory map


// b'0000xxxx' - general registers of 1 axis
// b'0001ppxx' - registers of all phases (pp - phase number)

// address line width for 1 axis is 5 bits

0x00 : MCC enable flags
0x01 : IRC
0x02 : IRC base
0x03 : IRC max
0x04 : Angle
0x05 : Action
0x06 : Min PWM
0x07 : reserved (Angle scale)
0x08 : reserved (Scaled Angle)
0x09 : reserved (Table base)
0x0A : reserved (P2 offset)
0x0B : reserved (P3 offset)
0x0C : reserved (Table index mask)
0x0D : reserved (PWM PID - P)
0x0E : reserved (PWM PID - I)
0x0F : reserved (PWM PID - D)

// Phase 1
0x10 : Phase1
0x11 : PWM1   // PWMx = Phasex * Action

// Phase 2
0x14 : Phase2
0x15 : PWM2

// Phase 3
0x18 : Phase3
0x19 : PWM3


//==============================================================================
// MOTION-CONTROL-CHAIN COMPONENTS
//==============================================================================
// Positions of all units in MCC. Each unit handle specific task. They can be
// enable/disabled by 0x00 register (MCC enable flags) - bits correspond to
// indexes in this table.

 0 : IRC dump
 1 : ICR angle decoder
 2 : Vector generator
 3 : Reference value generator (PWM value)
 4 : reserved (PID controller)
 5 : PWM dump