tacit/pic16f676_ServoTester
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fix change diapason from 500 to 2400 us

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This commit is contained in:
sfokin 2025-04-13 00:28:38 +03:00
parent b78d822ae3
commit 28bafd1b25
1 changed files with 17 additions and 20 deletions
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37
main.c
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@ -3,7 +3,7 @@
#include <pic16f676.h> #include <pic16f676.h>
// CONFIGURATION // CONFIGURATION
#pragma config FOSC = INTRCIO // Internal oscillator #pragma config FOSC = INTRCCLK // Internal oscillator
#pragma config WDTE = OFF // Watchdog timer off #pragma config WDTE = OFF // Watchdog timer off
#pragma config PWRTE = ON // Power-up timer enabled #pragma config PWRTE = ON // Power-up timer enabled
#pragma config MCLRE = OFF #pragma config MCLRE = OFF
@ -20,23 +20,20 @@ void __interrupt() ISR(void) {
if (PIR1bits.TMR1IF) { if (PIR1bits.TMR1IF) {
PIR1bits.TMR1IF = 0; // Clear interrupt flag PIR1bits.TMR1IF = 0; // Clear interrupt flag
T1CONbits.TMR1ON = 0; T1CONbits.TMR1ON = 0;
static uint16_t off_ticks; // Retains value between interrupts // Calculate pulse parameters
static uint16_t timer; // 3000 ticks = 20ms
uint8_t postoms= (uint16_t)(servo_pos*126) / 255;
uint16_t on_ticks = 16 + postoms * 2;
uint16_t off_ticks = 3000 - on_ticks;
if (pulse_state == 0) { if (pulse_state == 0) {
// Calculate pulse parameters RC5 = 1; // Start pulse
uint16_t on_ticks = 125 + ((uint16_t)servo_pos * 125) / 255; // Map to 0.5ms-2.5ms TMR1L = (0xFFFF - on_ticks)& 0xFF;//on_ticks;
off_ticks = 2500 - on_ticks; // 2500 ticks = 20ms TMR1H = (0xFFFF - on_ticks) >> 8;
timer = 65535 - on_ticks;
TMR1L = (unsigned char)(timer & 0xFF);
TMR1H = (unsigned char)(timer >> 8);
RC5 = 1; // Start pulse
pulse_state = 1; pulse_state = 1;
} else { } else {
timer = 65535 - off_ticks; RC5 = 0; // End pulse
TMR1L = (unsigned char)(timer & 0xFF); TMR1L = (0xFFFF - off_ticks) & 0xFF;
TMR1H = (unsigned char)(timer >> 8); TMR1H = (0xFFFF - off_ticks) >> 8;
RC5 = 0; // End pulse
pulse_state = 0; pulse_state = 0;
} }
T1CONbits.TMR1ON = 1; T1CONbits.TMR1ON = 1;
@ -56,8 +53,8 @@ void setup() {
// Configure Timer1 // Configure Timer1
T1CON = 0b00110000; // Timer1: prescaler 1:8, internal clock, OFF T1CON = 0b00110000; // Timer1: prescaler 1:8, internal clock, OFF
TMR1H = (65536 - 188) >> 8; // Initial 1.5ms pulse (high byte) TMR1H = (65535 - 188) >> 8; // Initial 1.5ms pulse (high byte)
TMR1L = (65536 - 188) & 0xFF; // Initial 1.5ms pulse (low byte) TMR1L = (65535 - 188) & 0xFF; // Initial 1.5ms pulse (low byte)
PIR1bits.TMR1IF = 0; // Clear interrupt flag PIR1bits.TMR1IF = 0; // Clear interrupt flag
PIE1bits.TMR1IE = 1; // Enable Timer1 interrupt PIE1bits.TMR1IE = 1; // Enable Timer1 interrupt
INTCONbits.PEIE = 1; // Enable peripheral interrupts INTCONbits.PEIE = 1; // Enable peripheral interrupts
@ -119,18 +116,18 @@ void main() {
__delay_us(100); __delay_us(100);
break; break;
case 1: case 1:
smooth_servo(128); smooth_servo(94);
__delay_us(100); __delay_us(100);
break; break;
case 2: case 2:
if(isincreasing) { if(isincreasing) {
smooth_servo(servo_pos + 1); smooth_servo(servo_pos + 1);
__delay_ms(10); __delay_ms(5);
if(servo_pos + 1 >= 254) isincreasing = 0; if(servo_pos + 1 >= 254) isincreasing = 0;
} else } else
{ {
smooth_servo(servo_pos - 1); smooth_servo(servo_pos - 1);
__delay_ms(10); __delay_ms(5);
if(servo_pos - 1 <= 0) isincreasing = 1; if(servo_pos - 1 <= 0) isincreasing = 1;
} }
break; break;