|
@@ -28,29 +28,19 @@
|
|
|
#include "sram.h"
|
|
|
|
|
|
|
|
|
-#define PWM_SINE_MAX 255
|
|
|
+#define PWM_SINE_MAX 64
|
|
|
+#define PWM_OVERFLOW_MAX 1024
|
|
|
uint8_t pwm_sine_table[] = {
|
|
|
-0x7f,0x82,0x85,0x88,0x8b,0x8e,0x91,0x94,0x97,0x9b,0x9e,0xa1,0xa4,0xa7,0xaa,0xad,
|
|
|
-0xaf,0xb2,0xb5,0xb8,0xbb,0xbe,0xc0,0xc3,0xc6,0xc8,0xcb,0xcd,0xd0,0xd2,0xd4,0xd7,
|
|
|
-0xd9,0xdb,0xdd,0xdf,0xe1,0xe3,0xe5,0xe7,0xe9,0xea,0xec,0xee,0xef,0xf0,0xf2,0xf3,
|
|
|
-0xf4,0xf5,0xf6,0xf7,0xf8,0xf9,0xfa,0xfb,0xfb,0xfc,0xfc,0xfd,0xfd,0xfd,0xfd,0xfd,
|
|
|
-0xfd,0xfd,0xfd,0xfd,0xfd,0xfc,0xfc,0xfb,0xfb,0xfa,0xf9,0xf8,0xf7,0xf6,0xf5,0xf4,
|
|
|
-0xf3,0xf2,0xf0,0xef,0xee,0xec,0xea,0xe9,0xe7,0xe5,0xe3,0xe1,0xdf,0xdd,0xdb,0xd9,
|
|
|
-0xd7,0xd4,0xd2,0xd0,0xcd,0xcb,0xc8,0xc6,0xc3,0xc0,0xbe,0xbb,0xb8,0xb5,0xb2,0xaf,
|
|
|
-0xad,0xaa,0xa7,0xa4,0xa1,0x9e,0x9b,0x97,0x94,0x91,0x8e,0x8b,0x88,0x85,0x82,0x7f,
|
|
|
-0x7c,0x79,0x76,0x73,0x70,0x6d,0x6a,0x67,0x63,0x60,0x5d,0x5a,0x57,0x54,0x51,0x4f,
|
|
|
-0x4c,0x49,0x46,0x43,0x40,0x3e,0x3b,0x38,0x36,0x33,0x31,0x2e,0x2c,0x2a,0x27,0x25,
|
|
|
-0x23,0x21,0x1f,0x1d,0x1b,0x19,0x17,0x15,0x14,0x12,0x10,0x0f,0x0e,0x0c,0x0b,0x0a,
|
|
|
-0x09,0x08,0x07,0x06,0x05,0x04,0x03,0x03,0x02,0x02,0x01,0x01,0x01,0x01,0x01,0x01,
|
|
|
-0x01,0x01,0x01,0x01,0x02,0x02,0x03,0x03,0x04,0x05,0x06,0x07,0x08,0x09,0x0a,0x0b,
|
|
|
-0x0c,0x0e,0x0f,0x10,0x12,0x14,0x15,0x17,0x19,0x1b,0x1d,0x1f,0x21,0x23,0x25,0x27,
|
|
|
-0x2a,0x2c,0x2e,0x31,0x33,0x36,0x38,0x3b,0x3e,0x40,0x43,0x46,0x49,0x4c,0x4f,0x51,
|
|
|
-0x54,0x57,0x5a,0x5d,0x60,0x63,0x67,0x6a,0x6d,0x70,0x73,0x76,0x79,0x7c,0x7f
|
|
|
+0x7f,0x8b,0x97,0xa4,0xaf,0xbb,0xc5,0xcf,0xd9,0xe1,0xe8,0xef,0xf4,0xf8,0xfb,0xfd,
|
|
|
+0xfd,0xfd,0xfb,0xf8,0xf3,0xee,0xe7,0xe0,0xd7,0xce,0xc4,0xb9,0xae,0xa2,0x96,0x89,
|
|
|
+0x7e,0x71,0x65,0x59,0x4d,0x42,0x37,0x2d,0x24,0x1c,0x15,0x0f,0x09,0x05,0x03,0x01,
|
|
|
+0x01,0x01,0x03,0x07,0x0b,0x11,0x17,0x1f,0x28,0x31,0x3b,0x46,0x52,0x5e,0x6a,0x76
|
|
|
};
|
|
|
|
|
|
volatile uint8_t pwm_setting; // Einstellungen für die einzelnen PWM-Kanäle
|
|
|
- volatile uint8_t pwm_overflow; // Einstellungen für die einzelnen PWM-Kanäle
|
|
|
+ volatile uint16_t pwm_overflow; // Einstellungen für die einzelnen PWM-Kanäle
|
|
|
volatile uint8_t pwm_idx; // Einstellungen für die einzelnen PWM-Kanäle
|
|
|
+ volatile uint16_t pwm_overflow_max; // Einstellungen für die einzelnen PWM-Kanäle
|
|
|
|
|
|
ISR(TIMER2_COMPA_vect) {
|
|
|
static uint8_t pwm_cnt=0;
|
|
@@ -65,29 +55,33 @@ uint8_t pwm_sine_table[] = {
|
|
|
pwm_cnt=0;
|
|
|
else
|
|
|
pwm_cnt++;
|
|
|
- if (!pwm_overflow++){
|
|
|
+ if (pwm_overflow_max == pwm_overflow++ ){
|
|
|
pwm_setting = pwm_sine_table[pwm_idx++];
|
|
|
+ pwm_overflow = 0;
|
|
|
if (PWM_SINE_MAX == pwm_idx)
|
|
|
pwm_idx = 0;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
+void pwm_speed(uint16_t val) {
|
|
|
+ pwm_overflow_max = val;
|
|
|
+}
|
|
|
+
|
|
|
void pwm_set(uint8_t val) {
|
|
|
pwm_setting = val;
|
|
|
}
|
|
|
|
|
|
void pwm_stop(void) {
|
|
|
while(pwm_setting!=0xfd);
|
|
|
- //cli();
|
|
|
TIMSK2 = 0;
|
|
|
- //sei();
|
|
|
}
|
|
|
|
|
|
void pwm_init(void) {
|
|
|
+ pwm_overflow_max = PWM_OVERFLOW_MAX;
|
|
|
pwm_setting = 0x7f;
|
|
|
pwm_overflow = 0;
|
|
|
//cli();
|
|
|
TCCR2B = 1;
|
|
|
TIMSK2 |= (1<<OCIE2A);
|
|
|
- //sei();
|
|
|
+ sei();
|
|
|
}
|