#include "../../hardware_api.h" #if defined(__AVR_ATmega32U4__) #pragma message("") #pragma message("SimpleFOC: compiling for Arduino/ATmega32U4") #pragma message("") // set pwm frequency to 32KHz void _pinHighFrequency(const int pin){ // High PWM frequency // referenceļ¼š 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* _configure1PWM(long pwm_frequency,const int pinA) { // High PWM frequency // - always max 32kHz _pinHighFrequency(pinA); GenericDriverParams* params = new GenericDriverParams { .pins = { pinA }, .pwm_frequency = pwm_frequency, .dead_zone = 0.0f }; return params; } // 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); GenericDriverParams* params = new GenericDriverParams { .pins = { pinA, pinB }, .pwm_frequency = pwm_frequency, .dead_zone = 0.0f }; return params; } // 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); GenericDriverParams* params = new GenericDriverParams { .pins = { pinA, pinB, pinC }, .pwm_frequency = pwm_frequency, .dead_zone = 0.0f }; return params; } // function setting the pwm duty cycle to the hardware // - Stepper motor - 2PWM setting // - hardware speciffic void _writeDutyCycle1PWM(float dc_a, void* params){ // transform duty cycle from [0,1] to [0,255] analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); } // function setting the pwm duty cycle to the hardware // - Stepper motor - 2PWM setting // - hardware speciffic void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params){ // transform duty cycle from [0,1] to [0,255] analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*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, void* params){ // transform duty cycle from [0,1] to [0,255] analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a); analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_b); analogWrite(((GenericDriverParams*)params)->pins[2], 255.0f*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); GenericDriverParams* params = new GenericDriverParams { .pins = { pin1A, pin1B, pin2A, pin2B }, .pwm_frequency = pwm_frequency, .dead_zone = 0.0f }; return params; } // 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, void* params){ // transform duty cycle from [0,1] to [0,255] analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_1a); analogWrite(((GenericDriverParams*)params)->pins[1], 255.0f*dc_1b); analogWrite(((GenericDriverParams*)params)->pins[2], 255.0f*dc_2a); analogWrite(((GenericDriverParams*)params)->pins[3], 255.0f*dc_2b); } // function configuring pair of high-low side pwm channels, 32khz frequency and center aligned pwm int _configureComplementaryPair(int pinH, int pinL) { 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; } // Configuring PWM frequency, resolution and alignment // - BLDC driver - 6PWM setting // - hardware specific void* _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) { // High PWM frequency // - always max 32kHz int ret_flag = 0; ret_flag += _configureComplementaryPair(pinA_h, pinA_l); ret_flag += _configureComplementaryPair(pinB_h, pinB_l); ret_flag += _configureComplementaryPair(pinC_h, pinC_l); if (ret_flag!=0) return SIMPLEFOC_DRIVER_INIT_FAILED; GenericDriverParams* params = new GenericDriverParams { .pins = { pinA_h, pinA_l, pinB_h, pinB_l, pinC_h, pinC_l }, .pwm_frequency = pwm_frequency, .dead_zone = dead_zone }; return params; } // 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, PhaseState *phase_state, void* params){ _setPwmPair(((GenericDriverParams*)params)->pins[0], ((GenericDriverParams*)params)->pins[1], dc_a*255.0, ((GenericDriverParams*)params)->dead_zone*255.0); _setPwmPair(((GenericDriverParams*)params)->pins[2], ((GenericDriverParams*)params)->pins[3], dc_b*255.0, ((GenericDriverParams*)params)->dead_zone*255.0); _setPwmPair(((GenericDriverParams*)params)->pins[4], ((GenericDriverParams*)params)->pins[5], dc_c*255.0, ((GenericDriverParams*)params)->dead_zone*255.0); _UNUSED(phase_state); } #endif