teensy_mcu.cpp

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#include "../hardware_api.h" 
 
#if defined(__arm__) && defined(CORE_TEENSY)
 
//  configure High PWM frequency
void _setHighFrequency(const long freq, const int pin){
  analogWrite(pin, 0);
  analogWriteFrequency(pin, 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 = 50000; // default frequency 50khz
  else pwm_frequency = _constrain(pwm_frequency, 0, 50000); // 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 = 50000; // default frequency 50khz
  else pwm_frequency = _constrain(pwm_frequency, 0, 50000); // 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 = 50000; // default frequency 50khz
  else pwm_frequency = _constrain(pwm_frequency, 0, 50000); // 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, 255.0*dc_a);
  analogWrite(pinB, 255.0*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, 255.0*dc_a);
  analogWrite(pinB, 255.0*dc_b);
  analogWrite(pinC, 255.0*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, 255.0*dc_1a);
  analogWrite(pin1B, 255.0*dc_1b);
  analogWrite(pin2A, 255.0*dc_2a);
  analogWrite(pin2B, 255.0*dc_2b);
}
 
 
// 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){
  return -1;
}
 
// Function setting the duty cycle to the pwm pin (ex. analogWrite())
// - BLDC driver - 6PWM setting
// - hardware specific
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){
  return;
}
#endif