added initial support for portenta, intial support for esp8266 + leonardo + esp32 separation from esp8266

Author: askuric

src/current_sense/hardware_specific/esp32_adc_driver.cpp

@@ -1,6 +1,6 @@
 #include "esp32_adc_driver.h"
 
-#ifdef ESP_H
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32)
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"

src/current_sense/hardware_specific/esp32_adc_driver.h

@@ -5,7 +5,7 @@
 
 #include "Arduino.h"
 
-#ifdef ESP_H
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32)
 /*
  * Get ADC value for pin
  * */

src/current_sense/hardware_specific/esp32_mcu.cpp

@@ -1,7 +1,7 @@
 #include "../hardware_api.h"
 #include "../../drivers/hardware_api.h"
 
-#ifdef ESP_H
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32)
 
 #include "driver/mcpwm.h"
 #include "soc/mcpwm_reg.h"

src/drivers/hardware_specific/atmega32u4_mcu.cpp

@@ -17,7 +17,7 @@ void _pinHighFrequency(const int pin){
     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
+    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
 
@@ -93,11 +93,8 @@ void _writeDutyCycle4PWM(float dc_1a,  float dc_1b, float dc_2a, float dc_2b, in
 
 
 
-// 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) {
-  
+// 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);
@@ -114,7 +111,7 @@ int _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const
     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
+    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
 
@@ -132,6 +129,22 @@ int _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const
   return 0;
 }
 
+
+// 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) {
+  _UNUSED(pwm_frequency);
+  _UNUSED(dead_zone);
+  //  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);
+  return ret_flag; // returns -1 if not well configured
+}
+
 // function setting the 
 void _setPwmPair(int pinH, int pinL, float val, int dead_time)
 {

src/drivers/hardware_specific/esp32_mcu.cpp

@@ -1,6 +1,6 @@
 #include "../hardware_api.h"
 
-#if defined(ESP_H)
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32)
 
 #include "driver/mcpwm.h"
 #include "soc/mcpwm_reg.h"

src/drivers/hardware_specific/esp8266_mcu.cpp

@@ -0,0 +1,77 @@
+#include "../hardware_api.h"
+
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP8266)
+
+#define _PWM_FREQUENCY 25000 // 25khz
+#define _PWM_FREQUENCY_MAX 50000 // 50khz
+
+//  configure High PWM frequency
+void _setHighFrequency(const long freq, const int pin){
+  analogWrite(pin, 0);
+  analogWriteFreq(freq);
+}
+
+
+// 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) {
+  if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz
+  else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max
+  _setHighFrequency(pwm_frequency, pinA);
+  _setHighFrequency(pwm_frequency, 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) {
+  if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz
+  else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max
+  _setHighFrequency(pwm_frequency, pinA);
+  _setHighFrequency(pwm_frequency, pinB);
+  _setHighFrequency(pwm_frequency, pinC);
+}
+
+// function setting the high pwm frequency to the supplied pins
+// - Stepper motor - 4PWM setting
+// - hardware speciffic
+void _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC, const int pinD) {
+  if(!pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY; // default frequency 25khz
+  else pwm_frequency = _constrain(pwm_frequency, 0, _PWM_FREQUENCY_MAX); // constrain to 50kHz max
+  _setHighFrequency(pwm_frequency, pinA);
+  _setHighFrequency(pwm_frequency, pinB);
+  _setHighFrequency(pwm_frequency, pinC);
+  _setHighFrequency(pwm_frequency, pinD);
+}
+
+// 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, 255.0f*dc_a);
+  analogWrite(pinB, 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, int pinB, int pinC){
+  // transform duty cycle from [0,1] to [0,255]
+  analogWrite(pinA, 255.0f*dc_a);
+  analogWrite(pinB, 255.0f*dc_b);
+  analogWrite(pinC, 255.0f*dc_c);
+}
+
+// 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, 255.0f*dc_1a);
+  analogWrite(pin1B, 255.0f*dc_1b);
+  analogWrite(pin2A, 255.0f*dc_2a);
+  analogWrite(pin2B, 255.0f*dc_2b);
+}
+
+#endif

src/drivers/hardware_specific/generic_mcu.cpp

@@ -1,7 +1,7 @@
 #include "../hardware_api.h"
 
 // if the mcu doen't have defiend analogWrite
-#if defined(ESP_H)
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32)
   __attribute__((weak)) void analogWrite(uint8_t pin, int value){ };
 #endif