Merge pull request #218 from runger1101001/dev

1-PWM support for some MCUs and SAMD21 bug fix for ItsyBitsy M4

Author: runger1101001

src/drivers/hardware_specific/atmega2560_mcu.cpp

@@ -25,6 +25,21 @@ void _pinHighFrequency(const int pin){
 }
 
 
+// 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
+  };
+  return params;
+}
+
+
 // function setting the high pwm frequency to the supplied pins
 // - Stepper motor - 2PWM setting
 // - hardware speciffic
@@ -56,6 +71,14 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
   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

src/drivers/hardware_specific/atmega328_mcu.cpp

@@ -17,6 +17,20 @@ void _pinHighFrequency(const int pin){
 
 }
 
+// function setting the high pwm frequency to the supplied pins
+// - Stepper motor - 2PWM setting
+// - hardware speciffic
+// supports Arudino/ATmega328
+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
+  };
+  return params;
+}
 // function setting the high pwm frequency to the supplied pins
 // - Stepper motor - 2PWM setting
 // - hardware speciffic
@@ -50,6 +64,18 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
   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

src/drivers/hardware_specific/atmega32u4_mcu.cpp

@@ -28,6 +28,20 @@ void _pinHighFrequency(const int pin){
 }
 
 
+// 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
+  };
+  return params;
+}
+
 // function setting the high pwm frequency to the supplied pins
 // - Stepper motor - 2PWM setting
 // - hardware speciffic
@@ -59,6 +73,17 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
   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

src/drivers/hardware_specific/esp32_ledc_mcu.cpp

@@ -53,6 +53,33 @@ void _setHighFrequency(const long freq, const int pin, const int channel){
 
 
 
+
+
+
+void* _configure1PWM(long pwm_frequency, const int pinA) {
+  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
+
+  // check if enough channels available
+  if ( channel_index + 1 >= LEDC_CHANNELS ) return SIMPLEFOC_DRIVER_INIT_FAILED;
+
+  int ch1 = channel_index++;
+  _setHighFrequency(pwm_frequency, pinA, ch1);
+
+  ESP32LEDCDriverParams* params = new ESP32LEDCDriverParams {
+    .channels = { ch1 },
+    .pwm_frequency = pwm_frequency
+  };
+  return params;
+}
+
+
+
+
+
+
+
+
 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
@@ -123,6 +150,12 @@ void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const in
 
 
 
+void _writeDutyCycle1PWM(float dc_a, void* params){
+  ledcWrite(((ESP32LEDCDriverParams*)params)->channels[0], _constrain(_PWM_RES*dc_a, 0, _PWM_RES));
+}
+
+
+
 void _writeDutyCycle2PWM(float dc_a,  float dc_b, void* params){
   ledcWrite(((ESP32LEDCDriverParams*)params)->channels[0], _constrain(_PWM_RES*dc_a, 0, _PWM_RES));
   ledcWrite(((ESP32LEDCDriverParams*)params)->channels[1], _constrain(_PWM_RES*dc_b, 0, _PWM_RES));

src/drivers/hardware_specific/esp8266_mcu.cpp

@@ -12,6 +12,22 @@ void _setHighFrequency(const long freq, const int pin){
 }
 
 
+// function setting the high pwm frequency to the supplied pins
+// - Stepper motor - 2PWM setting
+// - hardware speciffic
+void* _configure1PWM(long pwm_frequency, const int pinA) {
+  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);
+  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
@@ -60,6 +76,13 @@ void* _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const in
   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

src/drivers/hardware_specific/rp2040_mcu.cpp

@@ -95,6 +95,19 @@ void syncSlices() {
 }
 
 
+
+void* _configure1PWM(long pwm_frequency, const int pinA) {
+	RP2040DriverParams* params = new RP2040DriverParams();
+	if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY;
+	else pwm_frequency = _constrain(pwm_frequency, _PWM_FREQUENCY_MIN, _PWM_FREQUENCY_MAX);
+	params->pwm_frequency = pwm_frequency;
+	setupPWM(pinA, pwm_frequency, !SIMPLEFOC_PWM_ACTIVE_HIGH, params, 0);
+	syncSlices();
+	return params;
+}
+
+
+
 void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB) {
 	RP2040DriverParams* params = new RP2040DriverParams();
 	if( !pwm_frequency || !_isset(pwm_frequency) ) pwm_frequency = _PWM_FREQUENCY;
@@ -165,6 +178,12 @@ void writeDutyCycle(float val, uint slice, uint chan) {
 
 
 
+void _writeDutyCycle1PWM(float dc_a, void* params) {
+	writeDutyCycle(dc_a, ((RP2040DriverParams*)params)->slice[0], ((RP2040DriverParams*)params)->chan[0]);
+}
+
+
+
 
 void _writeDutyCycle2PWM(float dc_a,  float dc_b, void* params) {
 	writeDutyCycle(dc_a, ((RP2040DriverParams*)params)->slice[0], ((RP2040DriverParams*)params)->chan[0]);

src/drivers/hardware_specific/samd51_mcu.cpp

@@ -14,6 +14,36 @@
 #endif
 
 
+#ifndef TCC3_CH0
+#define TCC3_CH0 NOT_ON_TIMER
+#define TCC3_CH1 NOT_ON_TIMER
+#endif
+
+#ifndef TCC4_CH0
+#define TCC4_CH0 NOT_ON_TIMER
+#define TCC4_CH1 NOT_ON_TIMER
+#endif
+
+
+#ifndef TC4_CH0
+#define TC4_CH0 NOT_ON_TIMER
+#define TC4_CH1 NOT_ON_TIMER
+#endif
+
+#ifndef TC5_CH0
+#define TC5_CH0 NOT_ON_TIMER
+#define TC5_CH1 NOT_ON_TIMER
+#endif
+
+#ifndef TC6_CH0
+#define TC6_CH0 NOT_ON_TIMER
+#define TC6_CH1 NOT_ON_TIMER
+#endif
+
+#ifndef TC7_CH0
+#define TC7_CH0 NOT_ON_TIMER
+#define TC7_CH1 NOT_ON_TIMER
+#endif
 
 
 
@@ -109,7 +139,12 @@ struct wo_association WO_associations[] = {
 
 wo_association ASSOCIATION_NOT_FOUND = { NOT_A_PORT, 0, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0, NOT_ON_TIMER, 0};
 
+#ifndef TCC3_CC_NUM
+uint8_t TCC_CHANNEL_COUNT[] = { TCC0_CC_NUM, TCC1_CC_NUM, TCC2_CC_NUM };
+#else
 uint8_t TCC_CHANNEL_COUNT[] = { TCC0_CC_NUM, TCC1_CC_NUM, TCC2_CC_NUM, TCC3_CC_NUM, TCC4_CC_NUM };
+#endif
+
 
 struct wo_association& getWOAssociation(EPortType port, uint32_t pin) {
 	for (int i=0;i<NUM_WO_ASSOCIATIONS;i++) {

src/drivers/hardware_specific/teensy_mcu.cpp

@@ -12,6 +12,21 @@ void _setHighFrequency(const long freq, const int pin){
 }
 
 
+// function setting the high pwm frequency to the supplied pins
+// - Stepper motor - 2PWM setting
+// - hardware speciffic
+void* _configure1PWM(long pwm_frequency, const int pinA) {
+  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);
+  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
@@ -60,6 +75,17 @@ void* _configure4PWM(long pwm_frequency, const int pinA, const int pinB, const i
   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
@@ -68,6 +94,8 @@ void _writeDutyCycle2PWM(float dc_a,  float dc_b, void* params) {
   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