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#include <Arduino.h>
#define LED_PIN 4
#define POT_PIN 2
#define POT_JITTER_THRESHOLD 10
int potValue = 0;
void SetupTimer()
{
GCLK->GENDIV.reg = GCLK_GENDIV_DIV(1) | // Divide the 48MHz clock source by divisor 1: 48MHz/1=48MHz
GCLK_GENDIV_ID(4); // Select Generic Clock (GCLK) 4
while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization
GCLK->GENCTRL.reg = GCLK_GENCTRL_IDC | // Set the duty cycle to 50/50 HIGH/LOW
GCLK_GENCTRL_GENEN | // Enable GCLK4
GCLK_GENCTRL_SRC_DFLL48M | // Set the 48MHz clock source
GCLK_GENCTRL_ID(4); // Select GCLK4
while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization
// Enable the port multiplexer for port D5
PORT->Group[g_APinDescription[5].ulPort].PINCFG[g_APinDescription[5].ulPin].bit.PMUXEN = 1;
// Connect the TCC timers to the port outputs - port pins are paired odd PMUO and even PMUXE
// F & E specify the timers: TCC0, TCC1 and TCC2
PORT->Group[g_APinDescription[5].ulPort].PMUX[g_APinDescription[5].ulPin >> 1].reg = PORT_PMUX_PMUXO_F;
// Feed GCLK4 to TCC0 and TCC1
GCLK->CLKCTRL.reg = GCLK_CLKCTRL_CLKEN | // Enable GCLK4 to TCC0 and TCC1
GCLK_CLKCTRL_GEN_GCLK4 | // Select GCLK4
GCLK_CLKCTRL_ID_TCC0_TCC1; // Feed GCLK4 to TCC0 and TCC1
while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization
TCC0->WAVE.reg = TCC_WAVE_WAVEGEN_NPWM; // Single slope PWM operation
while (TCC0->SYNCBUSY.bit.WAVE); // Wait for synchronization
TCC0->PER.reg = 4799; // Set the frequency of the PWM on TCC0 to 10kHz
while (TCC0->SYNCBUSY.bit.PER); // Wait for synchronization
TCC0->CC[2].reg = 2399; // TCC0 CC2 - 50% duty-cycle on D10
while (TCC0->SYNCBUSY.bit.CC2); // Wait for synchronization
TCC0->CC[3].reg = 2399; // TCC0 CC3 - 50% duty-cycle on D12
while (TCC0->SYNCBUSY.bit.CC3); // Wait for synchronization
// Divide the 48MHz signal by 1 giving 48MHz (20.83ns) TCC0 timer tick and enable the timer
TCC0->CTRLA.reg |= TCC_CTRLA_PRESCALER_DIV1 | // Divide GCLK4 by 1
TCC_CTRLA_ENABLE; // Enable the TCC0 output
while (TCC0->SYNCBUSY.bit.ENABLE); // Wait for synchronization
//Stop TCC0 counter on MCU initialization (stepper initially stopped)
//TCC0->CTRLBSET.reg = TCC_CTRLBSET_CMD_STOP; // Force the TCC0 timer to STOP
//while (TCC0->SYNCBUSY.bit.CTRLB); // Wait for synchronization
}
void StopTimer()
{
//Stop TCC0 counter on MCU initialization (stepper initially stopped)
TCC0->CTRLBSET.reg = TCC_CTRLBSET_CMD_STOP; // Force the TCC0 timer to STOP
while (TCC0->SYNCBUSY.bit.CTRLB); // Wait for synchronization
}
void RestartTimer()
{
// put your main code here, to run repeatedly:
TCC0->CTRLBSET.reg = TCC_CTRLBSET_CMD_RETRIGGER; // Force the TCC0 timer to START
while (TCC0->SYNCBUSY.bit.CTRLB); // Wait for synchronization
}
uint32_t stepperFrequencyDivisor = 4799; //Sets the starting frequency equal to 1hz
void SetFrequencyOutput(uint16_t frequency)
{
stepperFrequencyDivisor = round(48000000 / frequency);
TCC0->PERB.reg = stepperFrequencyDivisor - 1; // Set the starting frequency of the PWM on TCC0 to 1Hz
while (TCC0->SYNCBUSY.bit.PERB); // Wait for synchronization
TCC0->CCB[1].reg = (stepperFrequencyDivisor / 2) - 1; // TCC0 CC2 - 50% duty-cycle
while (TCC0->SYNCBUSY.bit.CCB2); // Wait for synchronization
}
void SetMotorOutput(uint16_t rpm)
{
const float stepperHzToRPM = 1; //6.67hz runs the stepper at 1 RPM
SetFrequencyOutput(rpm * stepperHzToRPM);
}
void setup()
{
SetupTimer();
}
void loop()
{
/*int newPotValue = analogRead(POT_PIN);
if (abs(newPotValue - potValue) > POT_JITTER_THRESHOLD)
{
potValue = newPotValue;
SetFrequencyOutput(map(potValue, 0, 1023, 0, 20000));
}*/
for(uint8_t i = 0; i <= 20; i++)
{
SetFrequencyOutput(i * 1000);
delay(10000);
}
for(uint8_t i = 20; i >= 0; i--)
{
SetFrequencyOutput(i * 1000);
delay(10000);
}
}
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