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//enter your control equation in herevoid control(void) {//you may use 8,9, or 10 bit PWM/timer resolution//use 8 only for 8 bit timers, etc.//timer0 and timer2 are 8 bit, others are 16rprintf("Initializing timer2 for PWM\r\n");PWM_Init_timer2_H6(10);PWM_Init_timer4_H3(10);rprintf("Turning on both PWM channels\r\n");PWM_timer2_On_H6();PWM_timer4_On_H3();delay_ms(1000); rprintf("Setting PWM to 50%% duty cycle\r\n");PWM_timer2_Set_H6(127);PWM_timer4_Set_H3(127);delay_ms(1000); rprintf("Turning off PWM\r\n");PWM_timer2_Off_H6();PWM_timer4_Off_H3();delay_ms(1000);}
void control(void) {//initialize PWM and timer resolution//PWM_Init_timer1_LED(8);PWM_Init_timer2_H6(8);//PWM_Init_timer3_E3(8);//PWM_Init_timer3_E4(8);//PWM_Init_timer3_E5(8);PWM_Init_timer4_H3(10);PWM_Init_timer4_H4(10);PWM_Init_timer4_H5(10);//turn on PWM//PWM_timer1_On_LED();PWM_timer2_On_H6();//PWM_timer3_On_E3();//PWM_timer3_On_E4();//PWM_timer3_On_E5();PWM_timer4_On_H3();PWM_timer4_On_H4();PWM_timer4_On_H5();delay_ms(1000); //set PWM duty cycle %//0-255 for 8bit PWM//0-511 for 9bit PWM//0-1023 for 10bit PWM//PWM_timer1_Set_LED(1);PWM_timer2_Set_H6(127);//PWM_timer3_Set_E3(127);//PWM_timer3_Set_E4(127);//PWM_timer3_Set_E5(127);PWM_timer4_Set_H3(300);PWM_timer4_Set_H4(10);PWM_timer4_Set_H5(10);while(1);
My h3 does nothing and my H6 just holds where it is at?
still working on it. Try v1.02, some but not all the PWM pins work on that.
Quotestill working on it. Try v1.02, some but not all the PWM pins work on that.Are you having issues with certain pins not working with PWM?I just tried mine, E3-E5 & H3-H5, PWM and they all work as expected.
/****************************************************************************** Copyright (c) 2008 www.societyofrobots.com* (please link back if you use this code!)** This program is free software; you can redistribute it and/or modify* it under the terms of the GNU General Public License version 2 as* published by the Free Software Foundation.** Alternatively, this software may be distributed under the terms of BSD* license.*****************************************************************************///AVR includes#include <avr/io.h> // include I/O definitions (port names, pin names, etc)#include <avr/interrupt.h> // include interrupt support#include <stdio.h> // stuff#include <stdlib.h> // stuff#include <math.h> // stuff//#include "libm.a" // required with math.h#include <string.h> // allow strings to be used//AVRlib includes#include "pwm.h"#include "global.h" // include global settings#include "uart4.h" // include uart function library, includes buffer.h#include "rprintf.h" // include printf function library#include "timerx8.h" // include timer function library (timing, PWM, etc)#include "timer640.h"#include "a2d.h" // include A/D converter function library#include "servo.h"//define port functions; example: PORT_ON( PORTD, 6);#define PORT_ON( port_letter, number ) port_letter |= (1<<number)#define PORT_OFF( port_letter, number ) port_letter &= ~(1<<number)//#define PORT_ALL_ON( port_letter, number ) port_letter |= (number)//#define PORT_ALL_OFF( port_letter, number ) port_letter &= ~(number)#define FLIP_PORT( port_letter, number ) port_letter ^= (1<<number)#define PORT_IS_ON( port_letter, number ) ( port_letter & (1<<number) )#define PORT_IS_OFF( port_letter, number ) !( port_letter & (1<<number) )//define the servo function macro#define servo(port,number,position) (PORT_ON(port,number), delay_cycles(position), PORT_OFF(port,number))//************CONFIGURE PORTS************//configure ports for input or output - specific to ATmega2560void configure_ports(void) { //examples: configure ports for input or output //DDRH = 0X7F; //DDRB = 0x7F; //configure B ports 0->4 for output (google search '0b00011111 to hex') //DDRC = 0x7F; //configure all C ports for output, except 7 (0b01111111 to hex) //DDRD = 0xFE; //configure all D ports for output, except 0 and 1 (RX/TX) FC //DDRC = _BV (PC0); //PC0 is digital output //0b76543210 <- port # order, 1 for output, 0 for input //to convert from binary to hex, google search '0b00011111 to hex' //DDRG &= ~_BV(PG5); //make port G5 an input pin //cbi(DDRG, PG5); //set G5 as input pin //ANALOG PORTS //useful for sensors, SharpIR, photoresistors, etc. //analog ports can be configured as digital ports if desired DDRF = 0b00000000; //configure all F ports for input 0x00 PORTF = 0b00000000; //make sure pull-up resistors are turned off 0x00 DDRK = 0b00000000; //configure all F ports for input 0x00 PORTK = 0b00000000; //make sure pull-up resistors are turned off 0x00 //DIGITAL PORTS //useful for servos, PWM, LED's, UART, interrupts, timers DDRA = 0b11111111; //configure ports for output // |||||||| // |||||||\___0: // ||||||\____1: // |||||\_____2: // ||||\______3: // |||\_______4: // ||\________5: // |\_________6: // \__________7: //PORTB reserved for programmer (use programmer pins if you know what you are doing) DDRB = _BV (PB6); //PB6 is LED, hold low to turn it on DDRC = 0b11111111; //configure ports for output // |||||||| // |||||||\___0: Bulk Right // ||||||\____1: Rib5 Right // |||||\_____2: Rib4 Right // ||||\______3: Rib2 Right // |||\_______4: Rib1 Right // ||\________5: // |\_________6: // \__________7: DDRD = 0b11111011; //configure ports for output // |||||||| // |||||||\___0: // ||||||\____1: // |||||\_____2: serial RXD1, input -> 0 // ||||\______3: serial TXD1, output -> 1 // |||\_______4: // ||\________5: // |\_________6: // \__________7: timer0 DDRE = 0b11111110; //configure ports for output // |||||||| // |||||||\___0: serial RXD0, input -> 0 // ||||||\____1: serial TXD0, output -> 1 // |||||\_____2: // ||||\______3: // |||\_______4: // ||\________5: // |\_________6: // \__________7: //cbi(PORTG, PG5); // disable pull-up resistor for v1e and earlier sbi(PORTG, PG5); // enable pull-up resistor for v1f and later cbi(DDRG, PG5); //PG5 is for the button, make a digital input //note that button actions are inverted between both versions!!! DDRH = 0b11111110; //configure ports for output // |||||||| // |||||||\___0: serial RXD2, input -> 0 // ||||||\____1: serial TXD2, output -> 1 // |||||\_____2: Rib1 Left // ||||\______3: Rib2 Left // |||\_______4: Rib4 Left // ||\________5: Rib5 Left // |\_________6: Bulk Left // \__________7: DDRJ = 0b11111110; //configure ports for output // |||||||| // |||||||\___0: serial RXD3, input -> 0 // ||||||\____1: serial TXD3, output -> 1 // |||||\_____2: // ||||\______3: // |||\_______4: // ||\________5: // |\_________6: // \__________7: //PORTL has no headers };//***************************************//************DELAY FUNCTIONS************//wait for X amount of cycles (234 cycles is about 1.003 milliseconds)//incorrect//to calculate: 234/1.003*(time in milliseconds) = number of cyclesvoid delay_cycles(unsigned long int cycles) { cycles=cycles;//doubled frequency but too lazy to change times while(cycles > 0) cycles--; }//***************************************//***************STATUS LED**************//tank testvoid LED_off(void) {PORT_ON(PORTB,6);}void LED_on(void) {PORT_OFF(PORTB,6);}//***************************************//**************RESET TIMER**************void reset_timer(void) { //restart timer count TCNT0=0x00;//clear timer timer0ClearOverflowCount();//clear timer0's overflow counter. }//***************************************//*****************BUTTON****************int button_pressed(void) { return (bit_is_clear(PING, 5)); //return ((PING) & (1<<PG5));//old version, went high when button pushed }//***************************************//trig tables not yet tested . . .//***********TRIG LOOKUP TABLES**********//returns a trig sin or cos calculation value multiplied by 100 (to avoid floating point math)//returns a trig tan calculation value multiplied by 10 (to avoid floating point math)//only allows for angles between 0 and 360 degrees//multiplied by 100 so no floating point mathsigned int angtable[73]={100,100,98,97,94,91,87,82,77,71,64,57,50,42,34,26,17,9,0,-9,-17,-26,-34,-42,-50,-57,-64,-71,-77,-82,-87,-91,-94,-97,-98,-100, -100,-100,-98,-97,-94,-91,-87,-82,-77,-71,-64,-57,-50,-42,-34,-26,-17,-9,0,9,17,26,34,42,50,57,64,71,77,82,87,91,94,97,98,100,100};signed int cos_SoR(long signed int degrees)//returns cos*100 { if (degrees >= 0)//positive angles return angtable[degrees/5]; else return -angtable[72-(-degrees)/5]; }signed int sin_SoR(long signed int degrees)//returns sin*100 { degrees=degrees - 90;//phase shift 90 degrees if (degrees >= 0)//positive angles return angtable[degrees/5]; else return -angtable[72-(-degrees)/5]; }signed int tan_SoR(long signed int degrees)//returns tan * 10 { //tan(x) = sin(x)/cos(x) if (degrees == 90 || degrees == -90 || degrees == 270 || degrees == -270)//blows up return 0;//what else should I return?!?!? return sin_SoR(degrees)/cos_SoR(degrees)*10; }//***************************************/*notes to self:int *p_variable;//initiate pointerp_variable = &variable;//store address of variable in p_variableprintf("variable address = %d, variable = %d", p_variable, *p_variable);----char *p_variable stores variable of char type, int *p_variable stores variable of int type*/
