<root>
<document scada='0' projtype='1' schema='103' license='1,65920724,5Q78FW' title='Developer Project' description='' fcversion='720896' target='ARD.ATMEGA.Arduino Uno R3 PDIP' >
	<config data='' clkspd='16000000' simspd='2' usewdt='0' constif='0' commport='3' Use3V3='0' />
	<plugins >
		<dll_models enabled='1' />
	</plugins>
	<supplement use='1' head='/* Device detection - using compiler defines */
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega168__)
    #define FC_PWM_DEVICE_HAS_TIMER0
    #define FC_PWM_DEVICE_HAS_TIMER1
    #define FC_PWM_DEVICE_HAS_TIMER2
#elif defined(__AVR_ATmega2560__) || defined(__AVR_ATmega1280__)
    #define FC_PWM_DEVICE_HAS_TIMER0
    #define FC_PWM_DEVICE_HAS_TIMER1
    #define FC_PWM_DEVICE_HAS_TIMER2
    #define FC_PWM_DEVICE_HAS_TIMER3
    #define FC_PWM_DEVICE_HAS_TIMER4
    #define FC_PWM_DEVICE_HAS_TIMER5
#elif defined(__AVR_ATmega32U4__)
    #define FC_PWM_DEVICE_HAS_TIMER0
    #define FC_PWM_DEVICE_HAS_TIMER1
    #define FC_PWM_DEVICE_HAS_TIMER3
    #define FC_PWM_DEVICE_HAS_TIMER4
#elif defined(__AVR_ATtiny85__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny25__)
    #define FC_PWM_DEVICE_HAS_TIMER0
    #define FC_PWM_DEVICE_HAS_TIMER1
    #define FC_PWM_ATTINY_TIMERS
#endif

/* Global variable for OCR value */
static uint16_t fc_pwm_current_ocr_value;

/* Function declaration */
void setupPWM(uint32_t Frequency, uint32_t Duty, uint8_t Pin);' body='void setupPWM(uint32_t Frequency, uint32_t Duty, uint8_t Pin)
{
    /* PWM is available on 4 pins with accurate frequency control:
     * - Pin 3 (Timer 2): 8-bit (0-100 percentage) - ACCURATE with variable TOP
     * - Pin 5 (Timer 0): 8-bit (0-100 percentage) - ACCURATE with variable TOP
     * - Pin 9 (Timer 1): 8-bit (0-100 percentage) - ACCURATE
     * - Pin 10 (Timer 1): 16-bit (0-65535) - ACCURATE
     * 
     * NOTE: Pins 6 and 11 are NOT available for PWM output.
     *       They are used internally for TOP values (OCR0A and OCR2A).
     */
    
    switch(Pin) {
#ifdef FC_PWM_DEVICE_HAS_TIMER0
        // Timer0 pins
        // NOTE: Pin 6 (OC0A) is NOT available - OCR0A is used as TOP for accurate frequency
        
        case 5: {  // OC0B on PD5 - 8-bit with variable TOP (0-100) - ACCURATE
            uint8_t fc_prescaler;
            uint8_t fc_prescalerBits;
            uint8_t fc_topValue;

            if (Duty &gt; 100) Duty = 100;  // Normalized to 0-100 range

            // Calculate prescaler and TOP for accurate frequency
            // Using Fast PWM mode with OCR0A as TOP
            if (Frequency &gt; 62500) {        // Use prescaler 1
                fc_prescaler = 1;
                fc_prescalerBits = (1 &lt;&lt; CS00);
            } else if (Frequency &gt; 7812) {  // Use prescaler 8
                fc_prescaler = 8;
                fc_prescalerBits = (1 &lt;&lt; CS01);
            } else if (Frequency &gt; 976) {   // Use prescaler 64
                fc_prescaler = 64;
                fc_prescalerBits = (1 &lt;&lt; CS01) | (1 &lt;&lt; CS00);
            } else if (Frequency &gt; 244) {   // Use prescaler 256
                fc_prescaler = 256;
                fc_prescalerBits = (1 &lt;&lt; CS02);
            } else {                         // Use prescaler 1024
                fc_prescaler = 1024;
                fc_prescalerBits = (1 &lt;&lt; CS02) | (1 &lt;&lt; CS00);
            }

            // Calculate TOP value for desired frequency
            fc_topValue = (F_CPU / (fc_prescaler * Frequency)) - 1;
            if (fc_topValue &lt; 2) fc_topValue = 2;  // Minimum TOP value

            // Clear Timer0 settings
            TCCR0A = 0;
            TCCR0B = 0;

            // Set Timer0 in Fast PWM mode with OCR0A as TOP
            // WGM02:WGM01:WGM00 = 111 (Fast PWM, TOP = OCR0A)
            TCCR0A = (1 &lt;&lt; WGM01) | (1 &lt;&lt; WGM00);
            if (Duty &gt; 0) {
                TCCR0A |= (1 &lt;&lt; COM0B1);  // Clear OC0B on Compare Match
            }
            TCCR0B = (1 &lt;&lt; WGM02);  // Set WGM02 for mode 7
            
            // Set PD5 (OC0B) as output
            DDRD |= (1 &lt;&lt; PD5);

            // Set TOP value
            OCR0A = fc_topValue;

            if (Duty == 0) {
                // For 0% duty cycle, force output low
                PORTD &amp;= ~(1 &lt;&lt; PD5);
                OCR0B = 0;
            } else {
                // Scale from 0-100 to 0-TOP
                OCR0B = ((uint16_t)Duty * fc_topValue) / 100;
            }
            
            // Set prescaler and start timer
            TCCR0B |= fc_prescalerBits;
            break;
        }
#endif

#ifdef FC_PWM_DEVICE_HAS_TIMER2
        // Timer2 pins
        // NOTE: Pin 11 (OC2A) is NOT available - OCR2A is used as TOP for accurate frequency
            
        case 3: {  // OC2B on PD3 - 8-bit with variable TOP (0-100) - ACCURATE
            uint8_t fc_prescaler;
            uint8_t fc_prescalerBits;
            uint8_t fc_topValue;

            if (Duty &gt; 100) Duty = 100;  // Normalized to 0-100 range

            // Calculate prescaler and TOP for accurate frequency
            // Using Fast PWM mode with OCR2A as TOP
            if (Frequency &gt; 62500) {        // Use prescaler 1
                fc_prescaler = 1;
                fc_prescalerBits = (1 &lt;&lt; CS20);
            } else if (Frequency &gt; 7812) {  // Use prescaler 8
                fc_prescaler = 8;
                fc_prescalerBits = (1 &lt;&lt; CS21);
            } else if (Frequency &gt; 976) {   // Use prescaler 32
                fc_prescaler = 32;
                fc_prescalerBits = (1 &lt;&lt; CS21) | (1 &lt;&lt; CS20);
            } else if (Frequency &gt; 488) {   // Use prescaler 64
                fc_prescaler = 64;
                fc_prescalerBits = (1 &lt;&lt; CS22);
            } else if (Frequency &gt; 244) {   // Use prescaler 128
                fc_prescaler = 128;
                fc_prescalerBits = (1 &lt;&lt; CS22) | (1 &lt;&lt; CS20);
            } else if (Frequency &gt; 122) {   // Use prescaler 256
                fc_prescaler = 256;
                fc_prescalerBits = (1 &lt;&lt; CS22) | (1 &lt;&lt; CS21);
            } else {                         // Use prescaler 1024
                fc_prescaler = 1024;
                fc_prescalerBits = (1 &lt;&lt; CS22) | (1 &lt;&lt; CS21) | (1 &lt;&lt; CS20);
            }

            // Calculate TOP value for desired frequency
            fc_topValue = (F_CPU / (fc_prescaler * Frequency)) - 1;
            if (fc_topValue &lt; 2) fc_topValue = 2;  // Minimum TOP value

            // Clear Timer2 settings
            TCCR2A = 0;
            TCCR2B = 0;

            // Set Timer2 in Fast PWM mode with OCR2A as TOP
            // WGM22:WGM21:WGM20 = 111 (Fast PWM, TOP = OCR2A)
            TCCR2A = (1 &lt;&lt; WGM21) | (1 &lt;&lt; WGM20);
            if (Duty &gt; 0) {
                TCCR2A |= (1 &lt;&lt; COM2B1);  // Clear OC2B on Compare Match
            }
            TCCR2B = (1 &lt;&lt; WGM22);  // Set WGM22 for mode 7
            
            // Set PD3 (OC2B) as output
            DDRD |= (1 &lt;&lt; PD3);

            // Set TOP value
            OCR2A = fc_topValue;

            if (Duty == 0) {
                // For 0% duty cycle, force output low
                PORTD &amp;= ~(1 &lt;&lt; PD3);
                OCR2B = 0;
            } else {
                // Scale from 0-100 to 0-TOP
                OCR2B = ((uint16_t)Duty * fc_topValue) / 100;
            }
            
            // Set prescaler and start timer
            TCCR2B |= fc_prescalerBits;
            break;
        }
#endif

        // Timer1 pins - allows for higher precision PWM
        case 9: {  // OC1A on PB1 - 8-bit (0-100) - Very Accurate
            uint16_t fc_prescaler;
            uint8_t fc_prescalerBits;
            uint16_t fc_ocrValue;

            if (Duty &gt; 100) Duty = 100;  // Cap at 100

            // ----- Fast PWM Mode (0-100) -----
            if (Frequency &gt; 19800) {         // Use prescaler 1
                fc_prescaler = 1;
                fc_prescalerBits = (1 &lt;&lt; CS10);
            } else if (Frequency &gt; 2470) {   // Use prescaler 8
                fc_prescaler = 8;
                fc_prescalerBits = (1 &lt;&lt; CS11);
            } else if (Frequency &gt; 618) {    // Use prescaler 64
                fc_prescaler = 64;
                fc_prescalerBits = (1 &lt;&lt; CS11) | (1 &lt;&lt; CS10);
            } else if (Frequency &gt; 154) {    // Use prescaler 256
                fc_prescaler = 256;
                fc_prescalerBits = (1 &lt;&lt; CS12);
            } else {                         // Use prescaler 1024
                fc_prescaler = 1024;
                fc_prescalerBits = (1 &lt;&lt; CS12) | (1 &lt;&lt; CS10);
            }

            fc_ocrValue = (F_CPU / (fc_prescaler * Frequency)) - 1;
            fc_pwm_current_ocr_value = fc_ocrValue;

            // Clear Timer1 settings
            TCCR1A = 0;
            TCCR1B = 0;

            // Set Timer1 in Fast PWM mode with TOP = ICR1
            TCCR1A = (1 &lt;&lt; WGM11);     // Fast PWM mode with ICR1 as TOP
            if (Duty &gt; 0) {
                TCCR1A |= (1 &lt;&lt; COM1A1);  // Clear OC1A on Compare Match, set at BOTTOM
            }
            TCCR1B = (1 &lt;&lt; WGM13) | (1 &lt;&lt; WGM12);  // Fast PWM mode with ICR1 as TOP
            
            // Set PB1 (OC1A) as output
            DDRB |= (1 &lt;&lt; PB1);

            // Set TOP value
            ICR1 = fc_ocrValue;

            if (Duty == 0) {
                // For 0% duty cycle, leave PWM disconnected and force output low
                PORTB &amp;= ~(1 &lt;&lt; PB1);  // Force output low
                OCR1A = 0;
            } else {
                // Normal PWM operation (0-100)
                OCR1A = ((uint32_t)Duty * fc_ocrValue) / 100;
            }
            
            // Set prescaler and start timer
            TCCR1B |= fc_prescalerBits;
            break;
        }
            
         case 10: {  // OC1B on PB2 - 16-bit (0-65535) - Very Accurate
            uint16_t fc_prescaler;
            uint8_t fc_prescalerBits;
            uint16_t fc_ocrValue;

            // Cap at maximum 16-bit value
            if (Duty &gt; 65535) Duty = 65535;

            // ----- 16-bit Phase Correct PWM Mode -----
            // For 16-bit precision (0-65535)
            
            // Optimal prescaler selection for best resolution
            if (Frequency &lt;= 100) {
                fc_prescaler = 64;
                fc_prescalerBits = (1 &lt;&lt; CS11) | (1 &lt;&lt; CS10);
            } else if (Frequency &lt;= 1000) {
                fc_prescaler = 8;
                fc_prescalerBits = (1 &lt;&lt; CS11);
            } else {
                fc_prescaler = 1;
                fc_prescalerBits = (1 &lt;&lt; CS10);
            }
            
            // Calculate TOP value for Phase &amp; Frequency Correct PWM 
            fc_ocrValue = F_CPU / (2 * fc_prescaler * Frequency);
            
            // Ensure TOP is within allowed range
            if (fc_ocrValue &lt; 100) fc_ocrValue = 100;
            if (fc_ocrValue &gt; 65535) fc_ocrValue = 65535;
            
            fc_pwm_current_ocr_value = fc_ocrValue;
            
            // Clear Timer1 settings
            TCCR1A = 0;
            TCCR1B = 0;
            
            // Set Phase and Frequency Correct PWM mode with TOP = ICR1
            TCCR1A = (1 &lt;&lt; COM1B1);  // Clear OC1B on Compare Match when up-counting
            TCCR1B = (1 &lt;&lt; WGM13);   // Phase &amp; Frequency Correct PWM with TOP = ICR1
            
            // Set PB2 (OC1B) as output
            DDRB |= (1 &lt;&lt; PB2);
            
            // Set TOP value
            ICR1 = fc_ocrValue;
            
            if (Duty == 0) {
                // For 0% duty cycle, force output low
                PORTB &amp;= ~(1 &lt;&lt; PB2);
                OCR1B = 0;
            } else {
                // Use full 16-bit resolution (0-65535)
                OCR1B = ((uint32_t)Duty * fc_ocrValue) / 65535;
            }
            
            // Set prescaler and start timer
            TCCR1B |= fc_prescalerBits;
            break;
        }

        default:
            // Invalid pin for PWM
            break;
    }
}
' />
	<debug >
		<watch expr='Speed_Control' />
		<watch expr='Motor_Output' />
	</debug>
	<traces />
	<ghost >
		<FK2 >
			<data name='FK2D0' port='4294967295' pin='4294967295' />
			<data name='FK2D1' port='4294967295' pin='4294967295' />
			<data name='FK2D2' port='4294967295' pin='4294967295' />
			<data name='FK2D3' port='4294967295' pin='4294967295' />
			<data name='FK2D4' port='4294967295' pin='4294967295' />
			<data name='FK2D5' port='4294967295' pin='4294967295' />
			<data name='FK2D6' port='4294967295' pin='4294967295' />
			<data name='FK2D7' port='4294967295' pin='4294967295' />
			<data name='FK2D8' port='4294967295' pin='4294967295' />
			<data name='FK2D9' port='4294967295' pin='4294967295' />
			<data name='FK2D10' port='4294967295' pin='4294967295' />
			<data name='FK2D11' port='4294967295' pin='4294967295' />
			<data name='FK2D12' port='4294967295' pin='4294967295' />
			<data name='FK2D13' port='4294967295' pin='4294967295' />
			<data name='FK2D14' port='4294967295' pin='4294967295' />
			<data name='FK2D15' port='4294967295' pin='4294967295' />
			<data name='FK2A0' port='4294967295' pin='4294967295' />
			<data name='FK2A1' port='4294967295' pin='4294967295' />
			<data name='FK2A2' port='4294967295' pin='4294967295' />
			<data name='FK2A3' port='4294967295' pin='4294967295' />
			<data name='FK2A4' port='4294967295' pin='4294967295' />
			<data name='FK2A5' port='4294967295' pin='4294967295' />
		</FK2>
		<ICD >
			<data name='AnalogPrescaleValue' value='19' />
			<data name='DigitalSampleRate' value='100000' />
			<data name='BreakpointCount' value='8' />
			<data name='CallStackDepthCount' value='8' />
			<data name='ClockPort' value='3' />
			<data name='ClockPin' value='1' />
			<data name='DataPort' value='3' />
			<data name='DataPin' value='0' />
			<data name='UseDefaultPins' value='1' />
			<data name='WrapEnabled' value='1' />
			<data name='CommsDelayOverridden' value='0' />
			<data name='CommsDelay' value='11' />
			<data name='CalculatedCommsDelay' value='11' />
			<data name='AnalogEB2PrescaleValue' value='2' />
			<data name='DigitalEB2SampleRate' value='100000' />
		</ICD>
		<pins >
			<digital A='0' B='0' C='0' D='0' E='0' F='0' G='0' H='0' I='0' J='0' K='0' L='0' M='0' N='0' O='0' P='0' Q='0' R='0' S='0' T='0' U='0' V='0' W='0' X='0' Y='0' Z='0' />
			<analog A='0' B='0' C='0' D='0' E='0' F='0' G='0' H='0' I='0' J='0' K='0' L='0' M='0' N='0' O='0' P='0' Q='0' R='0' S='0' T='0' U='0' V='0' W='0' X='0' Y='0' Z='0' />
		</pins>
	</ghost>
	<components >
		<settings autoimg='0' center='1' unitscale='0' fixedscale='0' fixedx='25' fixedy='25' fixedz='25' headcode='0' />
		<definition guid='ece223e6-72d5-41bd-96bc-205b45c48b41' vstate='40' vmin='0' vmaj='1' srcleaf='' visiblename='' description='' category='' category2='' category3='' bIs2dOnly='0' bIs3dOnly='0' bIsWysiwyg='0' catenable='1' author='' manuname='' manucode='' sysinfo='0' keywords='' dynamic='1' scadaCompatible='0' embeddedCompatible='1' showmacros='1' iconpath='' />
		<component class_type='root' codename='ComponentRoot' panelId='-1' x='0' y='0' z='0' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' ancTop='0' ancBottom='0' ancLeft='0' ancRight='0' ancMinX='0' ancMinY='0' comp2dType='0' >
			<resources />
			<properties />
			<values />
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='Duty' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='false' type='b1' description='' isconst='1' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Frequency_PWM' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='PinNumber' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='TimerUsed' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='RegisterValue' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='PreviouseDuty' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='true' type='b1' description='' isconst='1' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
			</variables>
			<macros >
				<macro >
					<flowline name='PWM' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<param name='Pin' type='u8' description='Pin of Arduino e.g. 9 = B1 etc' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<param name='Frequency' type='u16' description='Frequency in Hz.(0 to 300000Hz If timer 1 is used).' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<param name='Duty' type='u16' description='Duty  depends on resolution  0 = (0 to 255), 1 = ( 0 to 65535)' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<command class_type='native' title='Works withthe above c code' ccode='setupPWM(FCL_FREQUENCY, FCL_DUTY, FCL_PIN);
' language='C' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='comment' title='' comment='You can only use one  timer at a time.
E.g. You can&apos;t use pin 9 and 10 at the same time' textarea='12,0,12,0' />
						<command class_type='comment' title='' comment='Pin  Port/Pin   Timer    Duty      Lowest freq   Highest freq       Notes
3      D3             2       0-100%         61Hz           62KHz          Accurate 
5      D5             0       0-100%         61Hz           62KHz          Accurate
9      B1             1       0-100%         1Hz             300KHz        Accurate
10    B2             1       0-65535        1Hz             300KHz        Accurate, 0 to 65536 for higher resolution' textarea='12,0,12,0' />
						<command class_type='call' title='Pin 9 (B1), Freq 123Hz, Duty 80%' comment='Pin 9, 1200Hz, 50% ' disable='1' macro='PWM' >
							<argument exp='9' />
							<argument exp='123' />
							<argument exp='80' />
						</command>
						<command class_type='call' title='Pin10 (B2), Freq 2000Hz, Duty 50%' comment='Pin 9, 1200Hz, 50% ' disable='1' macro='PWM' >
							<argument exp='10' />
							<argument exp='2000' />
							<argument exp='65535/2' />
						</command>
						<command class_type='call' title='Pin3 (D3), Freq 3000Hz, Duty 50%' comment='Pin 9, 1200Hz, 50% ' disable='1' macro='PWM' >
							<argument exp='3' />
							<argument exp='3000' />
							<argument exp='50' />
						</command>
						<command class_type='call' title='Pin 9 (B1), Freq 1200Hz, Duty 50%' comment='Pin 9, 1200Hz, 50% ' macro='PWM' >
							<argument exp='9' />
							<argument exp='1200' />
							<argument exp='50' />
						</command>
						<command class_type='loop' title='Loop' type='3' exp='1' >
							<flowline >
								<command class_type='delay' title='Delay' exp='100' type='1' />
							</flowline>
						</command>
					</flowline>
				</macro>
			</macros>
		</component>
	</components>
	<scadaresourcelookup />
	<keymap />
	<panel2d shadows='1' lighting='2' brightness='0' >
		<background rgb='7292207' img='' style='0' />
		<camera xe='0' ye='0' ze='1316.45' xt='0' yt='0' zt='0' xquat='0' yquat='0' zquat='0' wquat='1' />
		<viewport dx='290' dy='810' zoom='26.655' fix_topleft='0' />
		<page x='1000' y='1000' show='0' rgb='7360576' />
		<winpos ID='7005' RectRecentFloat='1994,99,2884,892' RectRecentDocked='0,0,290,833' RecentFrameAlignment='16384' RecentRowIndex='0' IsFloating='0' MRUWidth='32767' PinState='0' IsMaximized='0' IsVisible='0' />
	</panel2d>
	<panel3d shadows='0' lighting='2' brightness='0' perspective='1' >
		<background rgb='8409120' img='' style='0' />
		<table rgb='7360576' img='' style='0' size='0' />
		<camera xe='0' ye='0' ze='781.66' xt='0' yt='0' zt='0' xquat='0' yquat='0' zquat='0' wquat='1' />
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