added support for leonardo #108 and some cases for stm32l0x achitecture

Author: askuric

src/common/time_utils.cpp

@@ -3,7 +3,7 @@
 // function buffering delay() 
 // arduino uno function doesn't work well with interrupts
 void _delay(unsigned long ms){
-#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__)  || defined(__AVR_ATmega2560__)
+#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__)  || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega32U4__)
   // if arduino uno and other atmega328p chips
   // use while instad of delay, 
   // due to wrong measurement based on changed timer0
@@ -19,7 +19,7 @@ void _delay(unsigned long ms){
 // function buffering _micros() 
 // arduino function doesn't work well with interrupts
 unsigned long _micros(){
-#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__)  || defined(__AVR_ATmega2560__)
+#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__)  || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega32U4__)
 // if arduino uno and other atmega328p chips
     //return the value based on the prescaler
     if((TCCR0B & 0b00000111) == 0x01) return (micros()/32);

src/drivers/hardware_specific/atmega2560_mcu.cpp

@@ -7,7 +7,7 @@ void _pinHighFrequency(const int pin){
   //  High PWM frequency
   //  https://sites.google.com/site/qeewiki/books/avr-guide/timers-on-the-atmega328
   //  https://forum.arduino.cc/index.php?topic=72092.0
-   if (pin == 13 || pin == 4  ) {
+  if (pin == 13 || pin == 4  ) {
       TCCR0A = ((TCCR0A & 0b11111100) | 0x01); // configure the pwm phase-corrected mode
       TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1
   }

src/drivers/hardware_specific/atmega32u4_mcu.cpp

@@ -0,0 +1,158 @@
+
+#include "../hardware_api.h"
+
+#if defined(__AVR_ATmega32U4__)
+
+// set pwm frequency to 32KHz
+void _pinHighFrequency(const int pin){
+  //  High PWM frequency
+  // reference： http://r6500.blogspot.com/2014/12/fast-pwm-on-arduino-leonardo.html
+  if (pin == 3 || pin == 11 ) {
+    TCCR0A = ((TCCR0A & 0b11111100) | 0x01); // configure the pwm phase-corrected mode
+    TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1
+  }
+  else if (pin == 9 || pin == 10 )
+    TCCR1B = ((TCCR1B & 0b11111000) | 0x01);     // set prescaler to 1
+  else if (pin == 5 )
+    TCCR3B = ((TCCR3B & 0b11111000) | 0x01);     // set prescaler to 1
+  else if ( pin == 6 || pin == 13 ) {  // a bit more complicated 10 bit timer
+    // PLL Configuration
+    PLLFRQ= ((PLLFRQ & 0b11001111) | 0x20) // Use 96MHz / 1.5 = 64MHz
+    TCCR4B = ((TCCR4B & 0b11110000) | 0xB); // configure prescaler to get 64M/2/1024 = 31.25 kHz
+    TCCR4D = ((TCCR4D & 0b11111100) | 0x01); // configure the pwm phase-corrected mode
+    
+    if (pin == 6) TCCR4A = 0x82; // activate channel A - pin 13
+    else if (pin == 13) TCCR4C |= 0x09;  // Activate channel D - pin 6
+  }  
+
+}
+
+
+// function setting the high pwm frequency to the supplied pins
+// - Stepper motor - 2PWM setting
+// - hardware speciffic
+void _configure2PWM(long pwm_frequency,const int pinA, const int pinB) {
+   //  High PWM frequency
+   // - always max 32kHz
+  _pinHighFrequency(pinA);
+  _pinHighFrequency(pinB);
+}
+
+// function setting the high pwm frequency to the supplied pins
+// - BLDC motor - 3PWM setting
+// - hardware speciffic
+void _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) {
+   //  High PWM frequency
+   // - always max 32kHz
+  _pinHighFrequency(pinA);
+  _pinHighFrequency(pinB);
+  _pinHighFrequency(pinC);
+}
+
+// function setting the pwm duty cycle to the hardware 
+// - Stepper motor - 2PWM setting
+// - hardware speciffic
+void _writeDutyCycle2PWM(float dc_a,  float dc_b, int pinA, int pinB){
+  // transform duty cycle from [0,1] to [0,255]
+  analogWrite(pinA, 255.0*dc_a);
+  analogWrite(pinB, 255.0*dc_b);
+}
+
+// function setting the pwm duty cycle to the hardware 
+// - BLDC motor - 3PWM setting
+// - hardware speciffic
+void _writeDutyCycle3PWM(float dc_a,  float dc_b, float dc_c, int pinA, int pinB, int pinC){
+  // transform duty cycle from [0,1] to [0,255]
+  analogWrite(pinA, 255.0*dc_a);
+  analogWrite(pinB, 255.0*dc_b);
+  analogWrite(pinC, 255.0*dc_c);
+}
+
+// function setting the high pwm frequency to the supplied pins
+// - Stepper motor - 4PWM setting
+// - hardware speciffic
+void _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const int pin2A, const int pin2B) {
+   //  High PWM frequency
+   // - always max 32kHz
+  _pinHighFrequency(pin1A);
+  _pinHighFrequency(pin1B);
+  _pinHighFrequency(pin2A);
+  _pinHighFrequency(pin2B); 
+}
+
+// function setting the pwm duty cycle to the hardware  
+// - Stepper motor - 4PWM setting
+// - hardware speciffic
+void _writeDutyCycle4PWM(float dc_1a,  float dc_1b, float dc_2a, float dc_2b, int pin1A, int pin1B, int pin2A, int pin2B){
+  // transform duty cycle from [0,1] to [0,255]
+  analogWrite(pin1A, 255.0*dc_1a);
+  analogWrite(pin1B, 255.0*dc_1b);
+  analogWrite(pin2A, 255.0*dc_2a);
+  analogWrite(pin2B, 255.0*dc_2b);
+}
+
+
+
+// Configuring PWM frequency, resolution and alignment
+// - BLDC driver - 6PWM setting
+// - hardware specific
+int _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l,  const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l) {
+  
+  if( (pinH == 3 && pinL == 11 ) || (pinH == 11 && pinL == 3 ) ){
+    // configure the pwm phase-corrected mode
+    TCCR0A = ((TCCR0A & 0b11111100) | 0x01);
+    // configure complementary pwm on low side
+    if(pinH == 11 ) TCCR0A = 0b10110000 | (TCCR0A & 0b00001111) ;
+    else TCCR0A = 0b11100000 | (TCCR0A & 0b00001111) ;
+    // set prescaler to 1 - 32kHz freq
+    TCCR0B = ((TCCR0B & 0b11110000) | 0x01);
+  }else if( (pinH == 9 && pinL == 10 ) || (pinH == 10 && pinL == 9 ) ){
+    // set prescaler to 1 - 32kHz freq
+    TCCR1B = ((TCCR1B & 0b11111000) | 0x01);
+    // configure complementary pwm on low side
+    if(pinH == 9 ) TCCR1A = 0b10110000 | (TCCR1A & 0b00001111) ;
+    else TCCR1A = 0b11100000 | (TCCR1A & 0b00001111) ;
+  }else if((pinH == 6 && pinL == 13 ) || (pinH == 13 && pinL == 6 ) ){
+    // PLL Configuration
+    PLLFRQ= ((PLLFRQ & 0b11001111) | 0x20) // Use 96MHz / 1.5 = 64MHz
+    TCCR4B = ((TCCR4B & 0b11110000) | 0xB); // configure prescaler to get 64M/2/1024 = 31.25 kHz
+    TCCR4D = ((TCCR4D & 0b11111100) | 0x01); // configure the pwm phase-corrected mode
+
+    // configure complementary pwm on low side
+    if(pinH == 13 ){
+      TCCR4A = 0x82; // activate channel A - pin 13
+      TCCR4C |= 0x0d;  // Activate complementary channel D - pin 6
+    }else {
+      TCCR4C |= 0x09;  // Activate channel D - pin 6
+      TCCR4A = 0xc2; // activate complementary channel A - pin 13
+    }
+  }else{
+    return -1;
+  }
+  return 0;
+}
+
+// function setting the 
+void _setPwmPair(int pinH, int pinL, float val, int dead_time)
+{
+  int pwm_h = _constrain(val-dead_time/2,0,255);
+  int pwm_l = _constrain(val+dead_time/2,0,255);
+  
+  analogWrite(pinH, pwm_h);
+  if(pwm_l == 255 || pwm_l == 0)
+    digitalWrite(pinL, pwm_l ? LOW : HIGH);
+  else
+    analogWrite(pinL, pwm_l);
+}
+
+// Function setting the duty cycle to the pwm pin (ex. analogWrite())
+//  - BLDC driver - 6PWM setting
+//  - hardware specific
+// supports Arudino/ATmega328 
+void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, float dead_zone, int pinA_h, int pinA_l, int pinB_h, int pinB_l, int pinC_h, int pinC_l){
+  _setPwmPair(pinA_h, pinA_l, dc_a*255.0, dead_zone*255.0);
+  _setPwmPair(pinB_h, pinB_l, dc_b*255.0, dead_zone*255.0);
+  _setPwmPair(pinC_h, pinC_l, dc_c*255.0, dead_zone*255.0);
+}
+
+#endif

src/drivers/hardware_specific/stm32_mcu.cpp

@@ -4,7 +4,7 @@
 #if defined(_STM32_DEF_)
 // default pwm parameters
 #define _PWM_RESOLUTION 12 // 12bit
-#define _PWM_RANGE 4095.0// 2^12 -1 = 4095
+#define _PWM_RANGE 4095.0 // 2^12 -1 = 4095
 #define _PWM_FREQUENCY 25000 // 25khz
 #define _PWM_FREQUENCY_MAX 50000 // 50khz
 
@@ -70,10 +70,14 @@ HardwareTimer* _initPinPWMLow(uint32_t PWM_freq, int ulPin)
     sConfigOC.OCMode = TIM_OCMODE_PWM2;
     sConfigOC.Pulse = 100;
     sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
-    sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
     sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-    sConfigOC.OCIdleState = TIM_OCIDLESTATE_SET;
-    sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+#if defined(TIM_OCIDLESTATE_SET)
+    sConfig.OCIdleState  = TIM_OCIDLESTATE_SET;
+#endif
+#if defined(TIM_OCNIDLESTATE_RESET)
+    sConfig.OCNPolarity  = TIM_OCNPOLARITY_HIGH;
+    sConfig.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+#endif
     uint32_t channel = STM_PIN_CHANNEL(pinmap_function(pin, PinMap_PWM));
     HAL_TIM_PWM_ConfigChannel(&(HardwareTimer_Handle[index]->handle), &sConfigOC, channel);
   }
@@ -121,6 +125,8 @@ void _alignPWMTimers(HardwareTimer *HT1,HardwareTimer *HT2,HardwareTimer *HT3,Ha
 // configure hardware 6pwm interface only one timer with inverted channels
 HardwareTimer* _initHardware6PWMInterface(uint32_t PWM_freq, float dead_zone, int pinA_h, int pinA_l, int pinB_h, int pinB_l, int pinC_h, int pinC_l)
 {
+  
+#if !defined(STM32L0xx) // L0 boards dont have hardware 6pwm interface 
   PinName uhPinName = digitalPinToPinName(pinA_h);
   PinName ulPinName = digitalPinToPinName(pinA_l);
   PinName vhPinName = digitalPinToPinName(pinB_h);
@@ -157,6 +163,9 @@ HardwareTimer* _initHardware6PWMInterface(uint32_t PWM_freq, float dead_zone, in
   HT->refresh();
   HT->resume();
   return HT;
+#else 
+  return nullptr; // return nothing
+#endif
 }
 
 
@@ -176,12 +185,22 @@ int _interfaceType(const int pinA_h, const int pinA_l,  const int pinB_h, const
   int tim4 = get_timer_index((TIM_TypeDef *)pinmap_peripheral(nameBL, PinMap_PWM));
   int tim5 = get_timer_index((TIM_TypeDef *)pinmap_peripheral(nameCH, PinMap_PWM));
   int tim6 = get_timer_index((TIM_TypeDef *)pinmap_peripheral(nameCL, PinMap_PWM));
+
+#if defined(STM32L0xx) // L0 boards dont have hardware 6pwm interface 
+
+  if(tim1 == tim2 && tim3==tim4  && tim5==tim6)
+    return _SOFTWARE_6PWM; // software 6pwm interface - each pair of high-low side same timer
+  else
+    return _ERROR_6PWM; // might be error avoid configuration
+#else // the rest of stm32 boards
+
   if(tim1 == tim2 && tim2==tim3 && tim3==tim4  && tim4==tim5 && tim5==tim6)
     return _HARDWARE_6PWM; // hardware 6pwm interface - only on timer
   else if(tim1 == tim2 && tim3==tim4  && tim5==tim6)
     return _SOFTWARE_6PWM; // software 6pwm interface - each pair of high-low side same timer
   else
     return _ERROR_6PWM; // might be error avoid configuration
+#endif
 }