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<pre>

//  motor x5 mit ATMEGA 2560 PWM 4KHZ

#include "arduino.h" //Store data in flash (program) memory instead of SRAM

#include "avr/pgmspace.h"

#include "avr/io.h"

const byte sine256[] PROGMEM = {

  127,130,133,136,139,143,146,149,152,155,158,161,164,167,170,173,176,178,181,184,187,190,192,195,198,200,203,205,208,210,212,215,217,219,221,223,225,227,229,231,233,234,236,238,239,240,

  242,243,244,245,247,248,249,249,250,251,252,252,253,253,253,254,254,254,254,254,254,254,253,253,253,252,252,251,250,249,249,248,247,245,244,243,242,240,239,238,236,234,233,231,229,227,225,223,

  221,219,217,215,212,210,208,205,203,200,198,195,192,190,187,184,181,178,176,173,170,167,164,161,158,155,152,149,146,143,139,136,133,130,127,124,121,118,115,111,108,105,102,99,96,93,90,87,84,81,78,

  76,73,70,67,64,62,59,56,54,51,49,46,44,42,39,37,35,33,31,29,27,25,23,21,20,18,16,15,14,12,11,10,9,7,6,5,5,4,3,2,2,1,1,1,0,0,0,0,0,0,0,1,1,1,2,2,3,4,5,5,6,7,9,10,11,12,14,15,16,18,20,21,23,25,27,29,31,

  33,35,37,39,42,44,46,49,51,54,56,59,62,64,67,70,73,76,78,81,84,87,90,93,96,99,102,105,108,111,115,118,121,124

};

#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) //define a bit to have the properties of a clear bit operator

#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))//define a bit to have the properties of a set bit operator

int PWM1= 2;// PWM1 output, phase 1

int PWM2 = 3; //[WM2 ouput, phase 2

int PWM3 = 4; //PWM3 output, phase 3

int PWM4= 5;// PWM1 output, phase 1

int PWM5 = 6; //[WM2 ouput, phase 2

int PWM6 = 7; //PWM3 output, phase 3

int PWM7 = 8;// PWM1 output, phase 1

int PWM8 = 9; //[WM2 ouput, phase 2

int PWM9 = 10; //PWM3 output, phase 3

int PWM10 = 11;// PWM1 output, phase 1

int PWM11 = 12; //[WM2 ouput, phase 2

int PWM12 = 13; //PWM3 output, phase 3

int PWM13 = 44;// PWM1 output, phase 1

int PWM14 = 45; //[WM2 ouput, phase 2

int PWM15 = 46; //PWM3 output, phase 3

int offset_1 = 85; //offset 1 is 120 degrees out of phase with previous phase, Refer to PWM to sine.xls

int offset_2 = 170; //offset 2 is 120 degrees out of phase with offset 1. Refer to PWM to sine.xls

int program_exec_time = 52; //monitor how quickly the interrupt trigger

int ISR_exec_time = 53; //monitor how long the interrupt takes

double dfreq;

const double refclk=31376.6; // measured output frequency

// variables used inside interrupt service declared as voilatile

volatile byte current_count; // Keep track of where the current count is in sine 256 array

volatile byte ms4_delay; //variable used to generate a 4ms delay

volatile byte c4ms; // after every 4ms this variable is incremented, its used to create a delay of 1 second

volatile unsigned long phase_accumulator; // pahse accumulator

volatile unsigned long tword_m; // dds tuning word m, refer to DDS_calculator (from Martin Nawrath) for explination.

void setup()

{

pinMode(PWM1, OUTPUT); //sets the digital pin as output

pinMode(PWM2, OUTPUT); //sets the digital pin as output

pinMode(PWM3, OUTPUT);

pinMode(PWM4, OUTPUT); //sets the digital pin as output

pinMode(PWM5, OUTPUT); //sets the digital pin as output

pinMode(PWM6, OUTPUT); //sets the digital pin as output

pinMode(PWM7, OUTPUT); //sets the digital pin as output

pinMode(PWM8, OUTPUT); //sets the digital pin as output

pinMode(PWM9, OUTPUT);

pinMode(PWM10, OUTPUT); //sets the digital pin as output

pinMode(PWM11, OUTPUT); //sets the digital pin as output

pinMode(PWM12, OUTPUT);

pinMode(PWM13, OUTPUT); //sets the digital pin as output

pinMode(PWM14, OUTPUT); //sets the digital pin as output

pinMode(PWM15, OUTPUT);

pinMode(50, OUTPUT); //sets the digital pin as output

pinMode(52, OUTPUT); //sets the digital pin as output

pinMode(53, OUTPUT);

sbi(PORTB,program_exec_time); //Sets the pin

  Setup_timer0();

  Setup_timer1();

  Setup_timer2();

  Setup_timer3();

  Setup_timer4();

  Setup_timer5();

//Disable Timer 1 interrupt to avoid any timing delays

cbi (TIMSK0,TOIE0);              //disable Timer0 !!! delay() is now not available

sbi (TIMSK2,TOIE2);              //enable Timer2 Interrupt

tword_m=pow(2,32)*dfreq/refclk;  //calulate DDS new tuning word

}

void loop()

{

while(1)

  {

sbi(PORTB,program_exec_time); //Sets the pin

if (c4ms > 0) // c4ms = 4ms, thus 4ms *250 = 1 second delay

       {                 

c4ms=0;                          //Reset c4ms

//dfreq=map(analogRead(0),0,1230,0,1000);

dfreq=map(analogRead(0),0,1023,0,1000); //Read voltage on analog 1 to see desired output frequency, 0V = 0Hz, 5V = 1.023kHz

cbi (TIMSK2,TOIE2);              //Disable Timer2 Interrupt

tword_m=pow(2,32)*dfreq/refclk;  //Calulate DDS new tuning word

sbi (TIMSK2,TOIE2);              //Enable Timer2 Interrupt

      }

void Setup_timer0(void)

{

  TCCR0B = (TCCR0B & 0b11111000) | 0x02;

// Timer1 PWM Mode set to Phase Correct PWM

  cbi (TCCR0A, COM0A0);

  sbi (TCCR0A, COM0A1);

  cbi (TCCR0A, COM0B0); 

  sbi (TCCR0A, COM0B1);

// Mode 1 / Phase Correct PWM

  sbi (TCCR0A, WGM00); 

  cbi (TCCR0A, WGM01);

}

void Setup_timer1(void)

{

 TCCR1B = (TCCR1B & 0b11111000) |0x02;

// Timer1 Clock Prescaler to : 8

  cbi (TCCR1A, COM1A0);

  sbi (TCCR1A, COM1A1);

  cbi (TCCR1A, COM1B0); 

  sbi (TCCR1A, COM1B1);

  sbi (TCCR1A, WGM10); 

  cbi (TCCR1A, WGM11);

  cbi (TCCR1B, WGM12);

  cbi (TCCR1B, WGM13);

}

void Setup_timer2()

{

TCCR2B = (TCCR2B & 0b11111000) | 0x02;// Timer2 Clock Prescaler to : 8

cbi (TCCR2A, COM2A0);  // clear Compare Match

  sbi (TCCR2A, COM2A1);

  cbi (TCCR2A, COM2B0); 

  sbi (TCCR2A, COM2B1);

// Mode 1 / Phase Correct PWM

  sbi (TCCR2A, WGM20);  

  cbi (TCCR2A, WGM21);

  cbi (TCCR2B, WGM22);

}

void Setup_timer3(void)

{

TCCR3B = (TCCR3B & 0b11111000) |0x02;// Timer1 Clock Prescaler to : 8

  cbi (TCCR3A, COM3A0);

  sbi (TCCR3A, COM3A1);

  cbi (TCCR3A, COM3B0); 

  sbi (TCCR3A, COM3B1);

  cbi (TCCR3A, COM3C0); 

  sbi (TCCR3A, COM3C1);

// Mode 1 / Phase Correct PWM

  sbi (TCCR3A, WGM30); 

  cbi (TCCR3A, WGM31);

  cbi (TCCR3B, WGM32);

  cbi (TCCR3B, WGM33);

  cbi (TCCR3C, WGM33);

}

void Setup_timer4()

{

TCCR4B = (TCCR4B & 0b11111000) | 0x02;// Timer2 Clock Prescaler to : 8

cbi (TCCR4A, COM4A0);  // clear Compare Match

  sbi (TCCR4A, COM4A1);

  cbi (TCCR4A, COM4B0); 

  sbi (TCCR4A, COM4B1);

  cbi (TCCR4A, COM4C0); 

  sbi (TCCR4A, COM4C1);

  sbi (TCCR4A, WGM40);  

  cbi (TCCR4A, WGM41);

  cbi (TCCR4B, WGM42);

  cbi (TCCR4C, WGM43);

}

void Setup_timer5(void)

{

TCCR5B = (TCCR5B & 0b11111000) |0x02;// Timer1 Clock Prescaler to : 8

  cbi (TCCR5A, COM5A0);

  sbi (TCCR5A, COM5A1);

  cbi (TCCR5A, COM5B0); 

  sbi (TCCR5A, COM5B1);

  cbi (TCCR5A, COM5C0); 

  sbi (TCCR5A, COM5C1);

  sbi (TCCR5A, WGM50); 

  cbi (TCCR5A, WGM51);

  cbi (TCCR5B, WGM52);

  cbi (TCCR5B, WGM53);

  cbi (TCCR5C, WGM50);

}

ISR(TIMER2_OVF_vect)

{

cbi(PORTD,program_exec_time); //Clear the pin

sbi(PORTD,ISR_exec_time);          // Sets the pin

phase_accumulator=phase_accumulator+tword_m; //Adds tuning M word to previoud phase accumulator. refer to DDS_calculator (from Martin Nawrath) for explination.

current_count=phase_accumulator >> 24;     // use upper 8 bits of phase_accumulator as frequency information

//motor 1

OCR3B = pgm_read_byte_near(sine256 + current_count); // read value fron ROM sine table and send to PWM

OCR3C = pgm_read_byte_near(sine256 + (uint8_t)(current_count + offset_1)); // read value fron ROM sine table and send to PWM, 120 Degree out of phase of PWM1

OCR0B = pgm_read_byte_near(sine256 + (uint8_t)(current_count + offset_2));// read value fron ROM sine table and send to PWM, 120 Degree out of phase of PWM2

//motor 2

  OCR3A = OCR3B;

  OCR4A = OCR3C;

  OCR4B = OCR0B;

//motor 3

  OCR4C = OCR3B; 

  OCR2B = OCR3C;

  OCR2A = OCR0B;

//motor 4

  OCR1A = OCR3B; 

  OCR1B = OCR3C;

  OCR0A = OCR0B;

//motor 5

  OCR5A = OCR3B; 

  OCR5B = OCR3C;

  OCR5C = OCR0B;

//increment variable ms4_delay every 4mS/125 = milliseconds 32uS

if(ms4_delay++ == 125)

  {  

    c4ms++;

ms4_delay=0; //reset count

   }   

cbi(PORTD,ISR_exec_time);            //Clear the pin

}

</pre>

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