Create atmega32u4_mcu.cpp

src/drivers/hardware_specific/atmega32u4_mcu.cpp

@@ -0,0 +1,130 @@
+
+#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 == 6 || pin == 13 ) {
+        TCCR4A=0x82;
+        TCCR4B=2;   // TCCR4B=2  32khz; TCCR4B=1  64khz;  TTCR4B=3 16khz
+        TCCR4C|=0x09;  
+        TCCR4D=0;
+  }
+    if ( pin == 5 ){
+        TCCR3B=1;
+    }
+
+    if (pin == 9 || pin == 10 ){
+        TCCR1B = ((TCCR1B & 0b11111000) | 0x01);     // set prescaler to 1
+    }
+
+    if (pin == 3 || pin == 11 ) {
+        TCCR0B = ((TCCR0B & 0b11111000) | 0x01);  // 62kHZ
+      //TCCR0B = ((TCCR0B & 0b11111000) | 0x02);  // 7.8 khz
+    }
+}
+
+
+// function setting the high pwm frequency to the supplied pins
+// - Stepper motor - 2PWM setting
+// - hardware speciffic
+// supports Arudino/ATmega328
+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
+// supports Arudino/ATmega328
+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
+// supports Arudino/ATmega328 
+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
+// supports Arudino/ATmega328 
+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) {
+    return -1;
+}
+
+// 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