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added phase off in 6pwm mode + atmega328 alignment of timers #71 + va…
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…raible frequency either 4kHz or 32kHz #97 328/2560
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@askuric
askuric committed Dec 22, 2022
1 parent 5ac6a7d commit 7710b6d
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182 changes: 124 additions & 58 deletions src/drivers/hardware_specific/atmega/atmega2560_mcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,50 +4,65 @@

// set pwm frequency to 32KHz
void _pinHighFrequency(const int pin){
bool high_fq = false;
// set 32kHz frequency if requested freq is higher than the middle of the range (14kHz)
// else set the 4kHz
if(frequency >= 0.5*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN)) high_fq=true;
// High PWM frequency
// https://sites.google.com/site/qeewiki/books/avr-guide/timers-on-the-atmega328
// https://sites.google.com/site/qeewiki/books/avr-guide/timers-on-the-ATmega2560
// https://forum.arduino.cc/index.php?topic=72092.0
if (pin == 13 || pin == 4 ) {
TCCR0A = ((TCCR0A & 0b11111100) | 0x01); // configure the pwm phase-corrected mode
TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1
if(high_fq) TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR0B = ((TCCR0B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
}
else if (pin == 12 || pin == 11 )
TCCR1B = ((TCCR1B & 0b11111000) | 0x01); // set prescaler to 1
if(high_fq) TCCR1B = ((TCCR1B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR1B = ((TCCR1B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
else if (pin == 10 || pin == 9 )
TCCR2B = ((TCCR2B & 0b11111000) | 0x01); // set prescaler to 1
if(high_fq) TCCR2B = ((TCCR2B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR2B = ((TCCR2B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
else if (pin == 5 || pin == 3 || pin == 2)
TCCR3B = ((TCCR2B & 0b11111000) | 0x01); // set prescaler to 1
if(high_fq) TCCR3B = ((TCCR3B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR3B = ((TCCR3B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
else if (pin == 8 || pin == 7 || pin == 6)
TCCR4B = ((TCCR4B & 0b11111000) | 0x01); // set prescaler to 1
if(high_fq) TCCR4B = ((TCCR4B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR4B = ((TCCR4B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
else if (pin == 44 || pin == 45 || pin == 46)
TCCR5B = ((TCCR5B & 0b11111000) | 0x01); // set prescaler to 1
if(high_fq) TCCR5B = ((TCCR5B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR5B = ((TCCR5B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz

}


// function setting the high pwm frequency to the supplied pins
// - Stepper motor - 2PWM setting
// - hardware speciffic
// - hardware specific
// supports Arduino/ATmega2560
void* _configure1PWM(long pwm_frequency,const int pinA) {
if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 32kHz
else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); // constrain to 4-32kHz max
// High PWM frequency
// - always max 32kHz
_pinHighFrequency(pinA);
_pinHighFrequency(pinA, pwm_frequency);
GenericDriverParams* params = new GenericDriverParams {
.pins = { pinA },
.pwm_frequency = pwm_frequency
};
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) {
// - hardware specific
// supports Arduino/ATmega2560
void* _configure2PWM(long pwm_frequency,const int pinA, const int pinB) {
if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 32kHz
else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); // constrain to 4-32kHz max
// High PWM frequency
// - always max 32kHz
_pinHighFrequency(pinA);
_pinHighFrequency(pinB);
_pinHighFrequency(pinA, pwm_frequency);
_pinHighFrequency(pinB, pwm_frequency);
GenericDriverParams* params = new GenericDriverParams {
.pins = { pinA, pinB },
.pwm_frequency = pwm_frequency
Expand All @@ -57,31 +72,35 @@ void* _configure2PWM(long pwm_frequency,const int pinA, const int pinB) {

// function setting the high pwm frequency to the supplied pins
// - BLDC motor - 3PWM setting
// - hardware speciffic
// - hardware specific
// supports Arduino/ATmega2560
void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) {
if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 32kHz
else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); // constrain to 4-32kHz max
// High PWM frequency
// - always max 32kHz
_pinHighFrequency(pinA);
_pinHighFrequency(pinB);
_pinHighFrequency(pinC);
_pinHighFrequency(pinA, pwm_frequency);
_pinHighFrequency(pinB, pwm_frequency);
_pinHighFrequency(pinC, pwm_frequency);
GenericDriverParams* params = new GenericDriverParams {
.pins = { pinA, pinB, pinC },
.pwm_frequency = pwm_frequency
};
// _syncAllTimers();
return params;
}

// function setting the pwm duty cycle to the hardware
// - Stepper motor - 2PWM setting
// - hardware speciffic
// - hardware specific
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
// - hardware specific
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);
Expand All @@ -90,7 +109,7 @@ void _writeDutyCycle2PWM(float dc_a, float dc_b, void* params){

// function setting the pwm duty cycle to the hardware
// - BLDC motor - 3PWM setting
// - hardware speciffic
// - hardware specific
void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params){
// transform duty cycle from [0,1] to [0,255]
analogWrite(((GenericDriverParams*)params)->pins[0], 255.0f*dc_a);
Expand All @@ -100,14 +119,16 @@ void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, void* params){

// function setting the high pwm frequency to the supplied pins
// - Stepper motor - 4PWM setting
// - hardware speciffic
// - hardware specific
void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const int pin2A, const int pin2B) {
if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 32kHz
else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); // constrain to 4-32kHz max
// High PWM frequency
// - always max 32kHz
_pinHighFrequency(pin1A);
_pinHighFrequency(pin1B);
_pinHighFrequency(pin2A);
_pinHighFrequency(pin2B);
_pinHighFrequency(pin1A,pwm_frequency);
_pinHighFrequency(pin1B,pwm_frequency);
_pinHighFrequency(pin2A,pwm_frequency);
_pinHighFrequency(pin2B,pwm_frequency);
GenericDriverParams* params = new GenericDriverParams {
.pins = { pin1A, pin1B, pin2A, pin2B },
.pwm_frequency = pwm_frequency
Expand All @@ -117,7 +138,7 @@ void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const

// function setting the pwm duty cycle to the hardware
// - Stepper motor - 4PWM setting
// - hardware speciffic
// - hardware specific
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);
Expand All @@ -128,45 +149,79 @@ void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, vo


// function configuring pair of high-low side pwm channels, 32khz frequency and center aligned pwm
// supports Arudino/ATmega2560
// supports Arduino/ATmega2560
// https://ww1.microchip.com/downloads/en/devicedoc/atmel-2549-8-bit-avr-microcontroller-atmega640-1280-1281-2560-2561_datasheet.pdf
// https://docs.arduino.cc/hacking/hardware/PinMapping2560
int _configureComplementaryPair(int pinH, int pinL) {
int _configureComplementaryPair(const int pinH,const int pinL, long frequency) {
bool high_fq = false;
// set 32kHz frequency if requested freq is higher than the middle of the range (14kHz)
// else set the 4kHz
if(frequency >= 0.5*(_PWM_FREQUENCY_MAX-_PWM_FREQUENCY_MIN)) high_fq=true;
// High PWM frequency
// https://sites.google.com/site/qeewiki/books/avr-guide/timers-on-the-ATmega2560
// https://forum.arduino.cc/index.php?topic=72092.0
if (pin == 13 || pin == 4 ) {
TCCR0A = ((TCCR0A & 0b11111100) | 0x01); // configure the pwm phase-corrected mode
if(high_fq) TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR0B = ((TCCR0B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
}
else if (pin == 12 || pin == 11 )
if(high_fq) TCCR1B = ((TCCR1B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR1B = ((TCCR1B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
else if (pin == 10 || pin == 9 )
if(high_fq) TCCR2B = ((TCCR2B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR2B = ((TCCR2B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
else if (pin == 5 || pin == 3 || pin == 2)
if(high_fq) TCCR3B = ((TCCR3B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR3B = ((TCCR3B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
else if (pin == 8 || pin == 7 || pin == 6)
if(high_fq) TCCR4B = ((TCCR4B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR4B = ((TCCR4B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
else if (pin == 44 || pin == 45 || pin == 46)
if(high_fq) TCCR5B = ((TCCR5B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR5B = ((TCCR5B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz

if( (pinH == 4 && pinL == 13 ) || (pinH == 13 && pinL == 4 ) ){
// configure the pwm phase-corrected mode
TCCR0A = ((TCCR0A & 0b11111100) | 0x01);
// configure complementary pwm on low side
if(pinH == 13 ) TCCR0A = 0b10110000 | (TCCR0A & 0b00001111) ;
else TCCR0A = 0b11100000 | (TCCR0A & 0b00001111) ;
// set prescaler to 1 - 32kHz freq
TCCR0B = ((TCCR0B & 0b11110000) | 0x01);
// set frequency
if(high_fq) TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR0B = ((TCCR0B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
}else if( (pinH == 11 && pinL == 12 ) || (pinH == 12 && pinL == 11 ) ){
// set prescaler to 1 - 32kHz freq
TCCR1B = ((TCCR1B & 0b11111000) | 0x01);
// set frequency
if(high_fq) TCCR1B = ((TCCR1B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR1B = ((TCCR1B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
// configure complementary pwm on low side
if(pinH == 11 ) TCCR1A = 0b10110000 | (TCCR1A & 0b00001111) ;
else TCCR1A = 0b11100000 | (TCCR1A & 0b00001111) ;
}else if((pinH == 10 && pinL == 9 ) || (pinH == 9 && pinL == 10 ) ){
// set prescaler to 1 - 32kHz freq
TCCR2B = ((TCCR2B & 0b11111000) | 0x01);
// set frequency
if(high_fq) TCCR2B = ((TCCR2B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR2B = ((TCCR2B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
// configure complementary pwm on low side
if(pinH == 10 ) TCCR2A = 0b10110000 | (TCCR2A & 0b00001111) ;
else TCCR2A = 0b11100000 | (TCCR2A & 0b00001111) ;
}else if((pinH == 5 && pinL == 2 ) || (pinH == 2 && pinL == 5 ) ){
// set prescaler to 1 - 32kHz freq
TCCR3B = ((TCCR3B & 0b11111000) | 0x01);
// set frequency
if(high_fq) TCCR3B = ((TCCR3B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR3B = ((TCCR3B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
// configure complementary pwm on low side
if(pinH == 5 ) TCCR3A = 0b10110000 | (TCCR3A & 0b00001111) ;
else TCCR3A = 0b11100000 | (TCCR3A & 0b00001111) ;
}else if((pinH == 6 && pinL == 7 ) || (pinH == 7 && pinL == 6 ) ){
// set prescaler to 1 - 32kHz freq
TCCR4B = ((TCCR4B & 0b11111000) | 0x01);
// set frequency
if(high_fq) TCCR4B = ((TCCR4B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR4B = ((TCCR4B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
// configure complementary pwm on low side
if(pinH == 6 ) TCCR4A = 0b10110000 | (TCCR4A & 0b00001111) ;
else TCCR4A = 0b11100000 | (TCCR4A & 0b00001111) ;
}else if((pinH == 46 && pinL == 45 ) || (pinH == 45 && pinL == 46 ) ){
// set prescaler to 1 - 32kHz freq
TCCR5B = ((TCCR5B & 0b11111000) | 0x01);
// set frequency
if(high_fq) TCCR5B = ((TCCR5B & 0b11110000) | 0x01); // set prescaler to 1 - 32kHz
else TCCR5B = ((TCCR5B & 0b11110000) | 0x02); // set prescaler to 2 - 4kHz
// configure complementary pwm on low side
if(pinH == 46 ) TCCR5A = 0b10110000 | (TCCR5A & 0b00001111) ;
else TCCR5A = 0b11100000 | (TCCR5A & 0b00001111) ;
Expand All @@ -177,48 +232,59 @@ int _configureComplementaryPair(int pinH, int pinL) {
}

// Configuring PWM frequency, resolution and alignment
// - BLDC driver - 6PWM setting
// - BLDC driver - setting
// - hardware specific
// supports Arudino/ATmega328
// supports Arduino/ATmega2560
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) {
if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 32kHz
else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX); // constrain to 4-32kHz max
// 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);
ret_flag += _configureComplementaryPair(pinA_h, pinA_l, pwm_frequency);
ret_flag += _configureComplementaryPair(pinB_h, pinB_l, pwm_frequency);
ret_flag += _configureComplementaryPair(pinC_h, pinC_l, pwm_frequency);
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
};
// _syncAllTimers();
return params;
}

// function setting the
void _setPwmPair(int pinH, int pinL, float val, int dead_time)
void _setPwmPair(int pinH, int pinL, float val, int dead_time, PhaseState ps)
{
int pwm_h = _constrain(val-dead_time/2,0,255);
int pwm_l = _constrain(val+dead_time/2,0,255);
// determine the phase state and set the pwm accordingly
// deactivate phases if needed
if((ps == PhaseState::PHASE_OFF) || (ps == PhaseState::PHASE_LO)){
digitalWrite(pinH, LOW);
}else{
analogWrite(pinH, pwm_h);
}
if((ps == PhaseState::PHASE_OFF) || (ps == PhaseState::PHASE_HI)){
digitalWrite(pinL, LOW);
}else{
if(pwm_l == 255 || pwm_l == 0)
digitalWrite(pinL, pwm_l ? LOW : HIGH);
else
analogWrite(pinL, pwm_l);
}

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
// supports Arduino/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);
_setPwmPair(((GenericDriverParams*)params)->pins[0], ((GenericDriverParams*)params)->pins[1], dc_a*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[0]);
_setPwmPair(((GenericDriverParams*)params)->pins[2], ((GenericDriverParams*)params)->pins[3], dc_b*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[1]);
_setPwmPair(((GenericDriverParams*)params)->pins[4], ((GenericDriverParams*)params)->pins[5], dc_c*255.0, ((GenericDriverParams*)params)->dead_zone*255.0, phase_state[2]);
}

#endif
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