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askuricaskuric
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atmega2560 intitial support
1 parent ae69618 commit db61f17

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3 files changed

+163
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‎src/common/time_utils.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33
// function buffering delay()
44
// arduino uno function doesn't work well with interrupts
55
void _delay(unsigned long ms){
6-
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__)
6+
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega2560__)
77
// if arduino uno and other atmega328p chips
88
// use while instad of delay,
99
// due to wrong measurement based on changed timer0
@@ -19,7 +19,7 @@ void _delay(unsigned long ms){
1919
// function buffering _micros()
2020
// arduino function doesn't work well with interrupts
2121
unsigned long _micros(){
22-
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__)
22+
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega2560__)
2323
// if arduino uno and other atmega328p chips
2424
//return the value based on the prescaler
2525
if((TCCR0B & 0b00000111) == 0x01) return (micros()/32);

‎src/drivers/hardware_specific/atmega2560_mcu.cpp‎

Lines changed: 158 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,158 @@
1+
#include "../hardware_api.h"
2+
3+
#if defined(__AVR_ATmega2560__)
4+
5+
// set pwm frequency to 32KHz
6+
void _pinHighFrequency(const int pin){
7+
// High PWM frequency
8+
// https://sites.google.com/site/qeewiki/books/avr-guide/timers-on-the-atmega328
9+
// https://forum.arduino.cc/index.php?topic=72092.0
10+
if (pin == 13 || pin == 4 ) {
11+
TCCR0A = ((TCCR0A & 0b11111100) | 0x01); // configure the pwm phase-corrected mode
12+
TCCR0B = ((TCCR0B & 0b11110000) | 0x01); // set prescaler to 1
13+
}
14+
else if (pin == 12 || pin == 11 )
15+
TCCR1B = ((TCCR1B & 0b11111000) | 0x01); // set prescaler to 1
16+
else if (pin == 10 || pin == 9 )
17+
TCCR2B = ((TCCR2B & 0b11111000) | 0x01); // set prescaler to 1
18+
else if (pin == 5 || pin == 3 || pin == 2)
19+
TCCR3B = ((TCCR2B & 0b11111000) | 0x01); // set prescaler to 1
20+
else if (pin == 8 || pin == 7 || pin == 6)
21+
TCCR4B = ((TCCR4B & 0b11111000) | 0x01); // set prescaler to 1
22+
else if (pin == 44 || pin == 45 || pin == 46)
23+
TCCR5B = ((TCCR5B & 0b11111000) | 0x01); // set prescaler to 1
24+
25+
}
26+
27+
28+
// function setting the high pwm frequency to the supplied pins
29+
// - Stepper motor - 2PWM setting
30+
// - hardware speciffic
31+
void _configure2PWM(long pwm_frequency,const int pinA, const int pinB) {
32+
// High PWM frequency
33+
// - always max 32kHz
34+
_pinHighFrequency(pinA);
35+
_pinHighFrequency(pinB);
36+
}
37+
38+
// function setting the high pwm frequency to the supplied pins
39+
// - BLDC motor - 3PWM setting
40+
// - hardware speciffic
41+
void _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) {
42+
// High PWM frequency
43+
// - always max 32kHz
44+
_pinHighFrequency(pinA);
45+
_pinHighFrequency(pinB);
46+
_pinHighFrequency(pinC);
47+
}
48+
49+
// function setting the pwm duty cycle to the hardware
50+
// - Stepper motor - 2PWM setting
51+
// - hardware speciffic
52+
void _writeDutyCycle2PWM(float dc_a, float dc_b, int pinA, int pinB){
53+
// transform duty cycle from [0,1] to [0,255]
54+
analogWrite(pinA, 255.0*dc_a);
55+
analogWrite(pinB, 255.0*dc_b);
56+
}
57+
58+
// function setting the pwm duty cycle to the hardware
59+
// - BLDC motor - 3PWM setting
60+
// - hardware speciffic
61+
void _writeDutyCycle3PWM(float dc_a, float dc_b, float dc_c, int pinA, int pinB, int pinC){
62+
// transform duty cycle from [0,1] to [0,255]
63+
analogWrite(pinA, 255.0*dc_a);
64+
analogWrite(pinB, 255.0*dc_b);
65+
analogWrite(pinC, 255.0*dc_c);
66+
}
67+
68+
// function setting the high pwm frequency to the supplied pins
69+
// - Stepper motor - 4PWM setting
70+
// - hardware speciffic
71+
void _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const int pin2A, const int pin2B) {
72+
// High PWM frequency
73+
// - always max 32kHz
74+
_pinHighFrequency(pin1A);
75+
_pinHighFrequency(pin1B);
76+
_pinHighFrequency(pin2A);
77+
_pinHighFrequency(pin2B);
78+
}
79+
80+
// function setting the pwm duty cycle to the hardware
81+
// - Stepper motor - 4PWM setting
82+
// - hardware speciffic
83+
void _writeDutyCycle4PWM(float dc_1a, float dc_1b, float dc_2a, float dc_2b, int pin1A, int pin1B, int pin2A, int pin2B){
84+
// transform duty cycle from [0,1] to [0,255]
85+
analogWrite(pin1A, 255.0*dc_1a);
86+
analogWrite(pin1B, 255.0*dc_1b);
87+
analogWrite(pin2A, 255.0*dc_2a);
88+
analogWrite(pin2B, 255.0*dc_2b);
89+
}
90+
91+
92+
// function configuring pair of high-low side pwm channels, 32khz frequency and center aligned pwm
93+
// supports Arudino/ATmega2560
94+
int _configureComplementaryPair(int pinH, int pinL) {
95+
if( (pinH == 4 && pinL == 13 ) || (pinH == 13 && pinL == 4 ) ){
96+
// configure the pwm phase-corrected mode
97+
TCCR0A = ((TCCR0A & 0b11111100) | 0x01);
98+
// configure complementary pwm on low side
99+
if(pinH == 13 ) TCCR0A = 0b10110000 | (TCCR0A & 0b00001111) ;
100+
else TCCR0A = 0b11100000 | (TCCR0A & 0b00001111) ;
101+
// set prescaler to 1 - 32kHz freq
102+
TCCR0B = ((TCCR0B & 0b11110000) | 0x01);
103+
}else if( (pinH == 11 && pinL == 12 ) || (pinH == 12 && pinL == 11 ) ){
104+
// set prescaler to 1 - 32kHz freq
105+
TCCR1B = ((TCCR1B & 0b11111000) | 0x01);
106+
// configure complementary pwm on low side
107+
if(pinH == 11 ) TCCR1A = 0b10110000 | (TCCR1A & 0b00001111) ;
108+
else TCCR1A = 0b11100000 | (TCCR1A & 0b00001111) ;
109+
}else if((pinH == 10 && pinL == 9 ) || (pinH == 9 && pinL == 10 ) ){
110+
// set prescaler to 1 - 32kHz freq
111+
TCCR2B = ((TCCR2B & 0b11111000) | 0x01);
112+
// configure complementary pwm on low side
113+
if(pinH == 10 ) TCCR2A = 0b10110000 | (TCCR2A & 0b00001111) ;
114+
else TCCR2A = 0b11100000 | (TCCR2A & 0b00001111) ;
115+
}else{
116+
return -1;
117+
}
118+
return 0;
119+
}
120+
121+
// Configuring PWM frequency, resolution and alignment
122+
// - BLDC driver - 6PWM setting
123+
// - hardware specific
124+
// supports Arudino/ATmega328
125+
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) {
126+
// High PWM frequency
127+
// - always max 32kHz
128+
int ret_flag = 0;
129+
ret_flag += _configureComplementaryPair(pinA_h, pinA_l);
130+
ret_flag += _configureComplementaryPair(pinB_h, pinB_l);
131+
ret_flag += _configureComplementaryPair(pinC_h, pinC_l);
132+
return ret_flag; // returns -1 if not well configured
133+
}
134+
135+
// function setting the
136+
void _setPwmPair(int pinH, int pinL, float val, int dead_time)
137+
{
138+
int pwm_h = _constrain(val-dead_time/2,0,255);
139+
int pwm_l = _constrain(val+dead_time/2,0,255);
140+
141+
analogWrite(pinH, pwm_h);
142+
if(pwm_l == 255 || pwm_l == 0)
143+
digitalWrite(pinL, pwm_l ? LOW : HIGH);
144+
else
145+
analogWrite(pinL, pwm_l);
146+
}
147+
148+
// Function setting the duty cycle to the pwm pin (ex. analogWrite())
149+
// - BLDC driver - 6PWM setting
150+
// - hardware specific
151+
// supports Arudino/ATmega328
152+
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){
153+
_setPwmPair(pinA_h, pinA_l, dc_a*255.0, dead_zone*255.0);
154+
_setPwmPair(pinB_h, pinB_l, dc_b*255.0, dead_zone*255.0);
155+
_setPwmPair(pinC_h, pinC_l, dc_c*255.0, dead_zone*255.0);
156+
}
157+
158+
#endif

‎src/drivers/hardware_specific/generic_mcu.cpp‎

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,9 @@
22

33
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) // if mcu is not atmega328
44

5+
6+
#if defined(__AVR_ATmega2560__) // if mcu is not atmega2560
7+
58
#elif defined(__arm__) && defined(CORE_TEENSY) // or teensy
69

710
#elif defined(ESP_H) // or esp32

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