48 lines
1.4 KiB
Plaintext
48 lines
1.4 KiB
Plaintext
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/*
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*/
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extern "C" {
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#include <hw_timer.h>
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/* This needs to be the timer that can generate PWM */
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#define TIMER 3
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#define PIN_PWM_A 2 // D2 in Arduino notation, corresponds to HWT_CHANNEL_A
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#define PIN_PWM_B 3 // D3 in Arduino notation, corresponds to HWT_CHANNEL_B
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#define PIN_PWM_C 4 // D4 in Arduino notation, corresponds to HWT_CHANNEL_C
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/* 2.5ms may be too much for your servo, this should be set from the
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* datasheet of the servo if available. If the servo hums when fully
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* engaged, this is almost certainly set too high.
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* The value below is in microseconds.
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*/
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#define SERVO_MAX_US 2500
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static uint16_t pwm_max = 0;
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static uint16_t pwm_max_servo = 0;
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static uint16_t pwm = 1;
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}
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void setup (void)
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{
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// 10.000 µS = 10ms
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hwtimer_pwm_ini (TIMER, 10000, HWT_PWM_FAST, 0);
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hwtimer_pwm_enable (TIMER, HWT_CHANNEL_A);
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hwtimer_set_pwm (TIMER, HWT_CHANNEL_A, pwm);
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pinMode (PIN_PWM_A, OUTPUT);
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pwm_max = hwtimer_pwm_max_ticks (TIMER) - 1;
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pwm_max_servo = (uint16_t)((uint32_t)pwm_max * SERVO_MAX_US / 10000);
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printf ("pwm_max: %u, pwm_max_servo: %u\n", pwm_max, pwm_max_servo);
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//rest_init_engine ();
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//rest_activate_resource (&res_led_pwm, (char *)"led/pwm");
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}
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void loop (void)
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{
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printf ("pwm: %d\n", pwm);
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hwtimer_set_pwm (TIMER, HWT_CHANNEL_A, pwm);
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pwm += pwm_max_servo / 9;
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if (pwm > pwm_max_servo) {
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pwm = 1;
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}
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}
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