ทุกข์ร้อยแปด - ชาย เมืองสิงห์ (นิธิทัศน์) (ภาพในสตูดิโอ)#include"avr/io.h" #define cbi(sfr,bit)SFR_BYTE(sfr)&=_BV(bit) #define sbi(sfr,bit)SFR_BYTE(sfr)|=_BV(bit) #define UN (400.0) // motor rated voltage #define FN (50.0) // motor nominal frequency #define P (UN/FN) // associate Determining the ratio of voltage to nominal frequency #define T_PWM (0.000255) // PWM signal period - set by the prescaler in the counters #define T_MAX (4.0) // Specify the maximum output voltage period #define T_MIN (0.02) // minimum output voltage #define K_MAX floor (T_MAX/T_PWM) // number of period values for T_MAX #define K_MIN ceil (T_MIN/T_PWM) // number of period values for T_MIN volatile static unsigned int length_tab_sin; // variable containing the number of values in the full // period of the output voltage static unsigned int i = 0; // auxiliary variable volatile static unsigned int main_counter = 0; // variable in the interrupt // ^ every T_PWM period increasing its value by 1 static unsigned int next_value_sin = 0; // variable which value sin should be calculated static double t_param = 50; // parameter specifying the period of the output voltage static float t = T_PWM; // T_PWM static float omega_t; // pulsation of the output voltage multiplied by T_PWM static float t_out; // output voltage period static float U_o_param; // parameter specifying the size of the output voltage // ^ calculated on the basis of t_out and U_in static unsigned int ocr0a, ocr0b, ocr1a; // auxiliary variables to store obl. fillings static unsigned int ocr1b, ocr2a, ocr2b; // ^ static double sin_in; // variable containing the parameter of the function sin static double error = 1; // variable used to stop generating voltage when overloaded static unsigned int analog = 0; // variable containing the measured value static double U_in = 0; // variable holding the voltage measurement of the intermediate system static double U_rms_max; // maximum currently possible to generate the effective voltage value static bool a = 0; // logical variable for the implementation of two alternating measurements int main() { io_init(); // initiate entry and exit timers_init(); // initialization of PWM meters adc_init(); // initialization of the ADC transducer while (1) // infinite loop with the main program { if (i == 185) // condition specifying the entry to the change function { // parameter of the discharge voltage, calling approx. 100ms chang_para(); // function to change the parameters of the output voltage i = 0; } next_value_sin = main_counter % length_tab_sin; // the next sine value to be calculated sin_in = omega_t*next_value_sin; // calculating the value to registers specifying the completion of the output signal / ocr0a = round(error * (U_o_param * (sin(sin_in) + 1) * 254 / 2) + 1); // pin ocr0b = ocr0a - 1; ocr1a = round (error * (U_o_param * (sin(sin_in - 2.09) + 1) * 254 / 2) + 1); // pin ocr1b = ocr1a - 1; ocr2a = round(error * (U_o_param * (sin(sin_in + 2.09) + 1) * 254 / 2) + 1); // pin ocr2b = ocr2a - 1; // updating values in registers / cli(); // prohibition on obsloge interruptions in case if // an interrupt occurred during the upgrade OCR0A = ocr0a; // pin OCR0B = ocr0b; // pin OCR1AL = ocr1a; // pin OCR1BL = ocr1b; // pin OCR2A = ocr2a; // pin OCR2B = ocr2b; // pin sei(); // allow for interruption obsloge i++; } } void adc_init() { ADCSRA |= _BV(ADEN); // start the transmitter ADCSRA |= _BV(ADPS2); // setting the prescaler ADCSRA |= _BV(ADPS1); // ^ ADCSRA |= _BV(ADPS0); // ^ ADMUX |= _BV(REFS0); // reference voltage set as power supply ADMUX |= ADMUX &= 0b11110000; // choose the ADC0 input for measurement } void timers_init() { cli(); // interrupt handler is forbidden // timer0 init TCCR0A |= _BV(COM0A1) | _BV(COM0B0) | _BV(COM0B1) | _BV(WGM00); TCCR0B |= _BV(CS01); // preskaler 8 | _BV(WGM02) TIMSK0 |= _BV (TOIE0); // flag from value 0 enabled // // timer1 init TCCR1A |= _BV(COM1A1) | _BV(COM1B0) | _BV(COM1B1) | _BV(WGM10); TCCR1B |= _BV (CS11); // preskaler 8 // | _BV(WGM02) // timer2 init TCCR2A |= _BV(COM2A1) | _BV(COM2B0) | _BV(COM2B1) | _BV(WGM20); TCCR2B |= _BV(CS21); // preskaler 8 | _BV(WGM02) // resetting counter values TCNT0 = 0; TCNT1L = 0; TCNT2 = 0; /* the counter counts in g3re to 255, then in d3 ณ: / \ / \ / \ at the value of 255 there is an interruption at which it occurs voltage and current measurements */ sei(); // allow for interruption obsloge } void io_init() { pinMode(13, OUTPUT); // OC0A Arduino Mega2560 pin 13 pinMode(4, OUTPUT); // OC0B Arduino Mega2560 pin 4 pinMode(11, OUTPUT); // OC1A Arduino Mega2560 pin 11 pinMode(12, OUTPUT); // OC1B Arduino Mega2560 pin 12 pinMode(10, OUTPUT); // OC2A Arduino Mega2560 pin 10 pinMode(9, OUTPUT); // OC2B Arduino Mega2560 pin 9 pinMode(14, INPUT_PULLUP); // up Arduino Mega2560 14 pinMode(15, INPUT_PULLUP); // dn Arduino Mega2560 15 pinMode(16, OUTPUT); // Arduino Mega2560 16 } ISR(TIMER0_OVF_vect) // interrupt at 0 counter 0 { analog = ADC; if (a) { U_in = 0.0709 * analog; ADMUX |= _BV(MUX0); // choose the ADC1 input to measure the current } else { ADMUX |= ADMUX &= 0b11110000; // select the ADC0 input to measure the voltage if (analog > 579) { error = 0; // if the overload turn off the voltage generation digitalWrite(16, HIGH); // lighting the diode } } ADCSRA |= _BV(ADSC); // start reading the measurement a = a ^ 1; // the XOR gate negates the logical value a main_counter++; if (main_counter >= length_tab_sin) main_counter = 0; } void chang_para() { t_param = map(analogRead(3), 0, 102, 0, 100); U_rms_max = U_in * 0.62; // value 0.62 experimentally limited bool up; // logical variable, informs you that the button has been pressed to increase the frequency bool down; // logical variable, informs you that the button has been pressed to decrease the frequency up = digitalRead(14); // read: if you press the button, increase the frequency down = digitalRead(15); // read: if you press the button you will decrease the frequency if (!up) t_param--; // if you press the button to increase the frequency then you will decrease the period if (!down) t_param ++; // if the button you press decreases the frequency, it will increase the period if (t_param < 0) t_param = 0; // protection of exceeding the extreme values if (t_param > 100) t_param = 100; // ^ length_tab_sin = ceil((K_MAX - K_MIN) * t_param / 500 + K_MIN); // amount of values filled in one period t_out = T_PWM * length_tab_sin; // calculate the period of the output voltage omega_t = t * 2 * PI / t_out; // calculate the output voltage pulsation U_o_param = (P / t_out) / U_rms_max; // calculate the parameter determining the value of the output voltage if (t_out > 1) U_o_param = 0.5 * (18.5 / U_rms_max); // voltage at the output at low frequencies of 10v if (U_o_param > 1) U_o_param = 1; //protection of exceeding the extreme values error = 1; //if the overload turn off the voltage generation //digitalWrite(13, HIGH); //diode lighting //if the overload turn off the voltage generation digitalWrite(16, LOW); //diode lighting // Serial.println(t_param); }

//#include"avr/io.h"

#define cbi(sfr,bit)SFR_BYTE(sfr)&=_BV(bit)

#define sbi(sfr,bit)SFR_BYTE(sfr)|=_BV(bit)

#define UN (400.0) // motor rated voltage

#define FN (50.0) // motor nominal frequency

#define P (UN/FN) // associate Determining the ratio of voltage to nominal frequency

#define T_PWM (0.000255) // PWM signal period - set by the prescaler in the counters

#define T_MAX (4.0) // Specify the maximum output voltage period

#define T_MIN (0.02) // minimum output voltage

#define K_MAX floor (T_MAX/T_PWM) // number of period values for T_MAX

#define K_MIN ceil (T_MIN/T_PWM) // number of period values for T_MIN

volatile static unsigned int length_tab_sin; // variable containing the number of values in the full // period of the output voltage

static unsigned int i = 0; // auxiliary variable

volatile static unsigned int main_counter = 0; // variable in the interrupt

// ^ every T_PWM period increasing its value by 1

static unsigned int next_value_sin = 0; // variable which value sin should be calculated

static double t_param = 50; // parameter specifying the period of the output voltage

static float t = T_PWM; // T_PWM

static float omega_t; // pulsation of the output voltage multiplied by T_PWM

static float t_out; // output voltage period

static float U_o_param; // parameter specifying the size of the output voltage

// ^ calculated on the basis of t_out and U_in

static unsigned int ocr0a, ocr0b, ocr1a; // auxiliary variables to store obl. fillings

static unsigned int ocr1b, ocr2a, ocr2b; // ^

static double sin_in; // variable containing the parameter of the function sin

static double error = 1; // variable used to stop generating voltage when overloaded

static unsigned int analog = 0; // variable containing the measured value

static double U_in = 0; // variable holding the voltage measurement of the intermediate system

static double U_rms_max; // maximum currently possible to generate the effective voltage value

static bool a = 0; // logical variable for the implementation of two alternating measurements

int main()

{

  io_init(); // initiate entry and exit

  timers_init(); // initialization of PWM meters

  adc_init(); // initialization of the ADC transducer

  while (1) // infinite loop with the main program

  {

    if (i == 185) // condition specifying the entry to the change function

    { // parameter of the discharge voltage, calling approx. 100ms

      chang_para(); // function to change the parameters of the output voltage

      i = 0;

    }

    next_value_sin = main_counter % length_tab_sin; // the next sine value to be calculated

    sin_in = omega_t*next_value_sin;

    // calculating the value to registers specifying the completion of the output signal /

    ocr0a = round(error * (U_o_param * (sin(sin_in) + 1) * 254 / 2) + 1); // pin

    ocr0b = ocr0a - 1;

    ocr1a = round (error * (U_o_param * (sin(sin_in - 2.09) + 1) * 254 / 2) + 1); // pin

    ocr1b = ocr1a - 1;

    ocr2a = round(error * (U_o_param * (sin(sin_in + 2.09) + 1) * 254 / 2) + 1); // pin

    ocr2b = ocr2a - 1;

    // updating values in registers /

    cli(); // prohibition on obsloge interruptions in case if

    // an interrupt occurred during the upgrade

    OCR0A = ocr0a; // pin

    OCR0B = ocr0b; // pin

    OCR1AL = ocr1a; // pin

    OCR1BL = ocr1b; // pin

    OCR2A = ocr2a; // pin

    OCR2B = ocr2b; // pin

    sei(); // allow for interruption obsloge

    i++;

  }

}

void adc_init()

{

  ADCSRA |= _BV(ADEN); // start the transmitter

  ADCSRA |= _BV(ADPS2); // setting the prescaler

  ADCSRA |= _BV(ADPS1); // ^

  ADCSRA |= _BV(ADPS0); // ^

  ADMUX |= _BV(REFS0); // reference voltage set as power supply

  ADMUX |= ADMUX &= 0b11110000; // choose the ADC0 input for measurement

}

void timers_init()

{

  cli(); // interrupt handler is forbidden

  // timer0 init

  TCCR0A |= _BV(COM0A1) | _BV(COM0B0) | _BV(COM0B1) | _BV(WGM00);

  TCCR0B |= _BV(CS01); // preskaler 8  | _BV(WGM02)

  TIMSK0 |= _BV (TOIE0); // flag from value 0 enabled //

  // timer1 init

  TCCR1A |= _BV(COM1A1) | _BV(COM1B0) | _BV(COM1B1) | _BV(WGM10);

  TCCR1B |= _BV (CS11); // preskaler 8 //  | _BV(WGM02)

  // timer2 init

  TCCR2A |= _BV(COM2A1) | _BV(COM2B0) | _BV(COM2B1) | _BV(WGM20);

  TCCR2B |= _BV(CS21); // preskaler 8  | _BV(WGM02)

  // resetting counter values

  TCNT0 = 0;

  TCNT1L = 0;

  TCNT2 = 0; /* the counter counts in g3re to 255, then in d3 ณ: / \ / \ / \

            at the value of 255 there is an interruption at which it occurs

            voltage and current measurements

*/

  sei(); // allow for interruption obsloge

}

void io_init()

{

  pinMode(13, OUTPUT); // OC0A Arduino Mega2560 pin 13

  pinMode(4, OUTPUT); // OC0B Arduino Mega2560 pin 4

  pinMode(11, OUTPUT); // OC1A Arduino Mega2560 pin 11

  pinMode(12, OUTPUT); // OC1B Arduino Mega2560 pin 12

  pinMode(10, OUTPUT); // OC2A Arduino Mega2560 pin 10

  pinMode(9, OUTPUT); // OC2B Arduino Mega2560 pin 9

  pinMode(14, INPUT_PULLUP); // up Arduino Mega2560 14

  pinMode(15, INPUT_PULLUP); // dn Arduino Mega2560 15

  pinMode(16, OUTPUT); // Arduino Mega2560 16

}

ISR(TIMER0_OVF_vect) // interrupt at 0 counter 0

{

  analog = ADC;

  if (a)

  {

    U_in = 0.0709 * analog;

    ADMUX |= _BV(MUX0); // choose the ADC1 input to measure the current

  }

  else

  {

    ADMUX |= ADMUX &= 0b11110000; // select the ADC0 input to measure the voltage

    if (analog > 579)

    {

      error = 0; // if the overload turn off the voltage generation

      digitalWrite(16, HIGH); // lighting the diode

    }

  }

  ADCSRA |= _BV(ADSC); // start reading the measurement

  a = a ^ 1; // the XOR gate negates the logical value a

  main_counter++;

  if (main_counter >= length_tab_sin) main_counter = 0;

}

void chang_para()

{

  t_param = map(analogRead(3), 0, 102, 0, 100);

  U_rms_max = U_in * 0.62; // value 0.62 experimentally limited

  bool up; // logical variable, informs you that the button has been pressed to increase the frequency

  bool down; // logical variable, informs you that the button has been pressed to decrease the frequency

  up = digitalRead(14); // read: if you press the button, increase the frequency

  down = digitalRead(15); // read: if you press the button you will decrease the frequency

  if (!up) t_param--; // if you press the button to increase the frequency then you will decrease the period

  if (!down) t_param ++; // if the button you press decreases the frequency, it will increase the period

  if (t_param < 0) t_param = 0; // protection of exceeding the extreme values

  if (t_param > 100) t_param = 100; // ^

  length_tab_sin = ceil((K_MAX - K_MIN) * t_param / 500 + K_MIN); // amount of values filled in one period

  t_out = T_PWM * length_tab_sin; // calculate the period of the output voltage

  omega_t = t * 2 * PI / t_out; // calculate the output voltage pulsation

  U_o_param = (P / t_out) / U_rms_max; // calculate the parameter determining the value of the output voltage

  if (t_out > 1) U_o_param = 0.5 * (18.5 / U_rms_max); // voltage at the output at low frequencies of 10v

  if (U_o_param > 1) U_o_param = 1; //protection of exceeding the extreme values

  error = 1; //if the overload turn off the voltage generation

  //digitalWrite(13, HIGH); //diode lighting

  //if the overload turn off the voltage generation

  digitalWrite(16, LOW); //diode lighting

  //              Serial.println(t_param);

}Arduino   Atmega 1280    Atmega 2560 3 phase induction motor Variable Speed Controller //Code

// Complier By  Arduino    Version   101    Version   106  Software 

//รุ่นนี้เป็นแบบ AUTO RE RUN โค๊ดนี้ใช้วอลลุ่ม  5KB ตัวเดียวทำหน้าที่ ปิด -ปิด ปรับรอบ  ให้ใช้ R  //4K7  ต่อ ไฟ+5Vdc แล้วต่อเข้า ขาข้างด้าน + MAX    ของ VR  ต่อ R 1K-10 K  ต่อ เข้า A3 ของ //ATmega 168   ATmega 328 P

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

#include "avr/pgmspace.h"

#include "avr/io.h"

#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) 

#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))

#define UN        (400.0)    

#define FN        (50.0)     

#define P         (UN/FN)    

#define T_PWM     (0.000255) 

#define T_MAX     (4.0)     

#define T_MIN     (0.02)     

#define K_MAX     floor(T_MAX/T_PWM)  

#define K_MIN     ceil(T_MIN/T_PWM)   

volatile static unsigned int dlugosc_tab_sin;                                                   //okresie napiecia wyjsciowego

static unsigned int i = 0;                      

volatile static unsigned int licznik_glowny = 0;

                                                

static unsigned int next_value_sin = 0; 

static double t_param=100;              

static float t = T_PWM;                 

static float omega_t;                   

static float t_out;                     

static float U_o_param;                 

                                        

static unsigned int ocr0a, ocr0b, ocr1a;

static unsigned int ocr1b, ocr2a, ocr2b;

static unsigned int ocr3a, ocr3b, ocr3c;

static unsigned int ocr4a, ocr4b, ocr4c;//^

static unsigned int ocr5a, ocr5b, ocr5c;//

static double sin_in;       

static double blad = 1;       

static unsigned int analog=0;

static double U_in = 0;      

static double U_rms_max;     

static bool a=0;              

int main() 

{

  io_init();     

  timers_init(); //inicjalizacja licznikow PWM 

  adc_init();    //inicjalizacja przetwornika ADC

  while(1)                                //nieskonczona petla z programem glownym

  {

    if(i==185)                            //warunek okreslajacy wejscie do funkcji zmiany 

    {                                     //parametrow napiecia wysjciowego, wywolanie co okolo 100ms

      zmien_predkosc();                   //funkcja zmiany parametrow napiecia wyjsciowego

      i=0;

    }

    next_value_sin = licznik_glowny%dlugosc_tab_sin;  //kolejna wartoœๆ sinusa do obliczenia

    sin_in=omega_t*next_value_sin;

//obliczenie wartosci do rejestrow okreslajacych wypelnienie sygnalu wyjscioweg/

    ocr0a = round(blad*(U_o_param*(sin(sin_in)+1)*254/2)+1);//pin D 13

    ocr0b = ocr0a - 1;//pin D 4

    ocr1a = round(blad*(U_o_param*(sin(sin_in-2.09)+1)*254/2)+1);//pin D 11

    ocr1b = ocr1a - 1;//pin D 12

    ocr2a = round(blad*(U_o_param*(sin(sin_in+2.09)+1)*254/2)+1);//pin D 10

    ocr2b = ocr2a - 1;//pin D 9

        

    ocr3a = round(blad*(U_o_param*(sin(sin_in)+1)*254/2)+1);//pin D 5

    ocr3b = ocr0b;//ocr3a - 1;//pin D 2

    ocr3c = round(blad*(U_o_param*(sin(sin_in-2.09)+1)*254/2)+1);//pin D 3

    ocr4a = ocr2b;//ocr3c - 1;//pin D 6

    ocr4b = round(blad*(U_o_param*(sin(sin_in+2.09)+1)*254/2)+1);//pin D 7

    ocr4c = ocr1b ; //pin D 8

    

    ocr5a = ocr0b;//round(blad*(U_o_param*(sin(sin_in)+1)*254/2)+1);//pin D 46

    ocr5b = ocr1b;//round(blad*(U_o_param*(sin(sin_in+2.09)+1)*254/2)+1);//pin D 45

    ocr5c = ocr2b;//round(blad*(U_o_param*(sin(sin_in-2.09)+1)*254/2)+1);//pin D  44

    

//uaktualnienie wartosci w rejestrach/

    cli();                              //zabronienie na obsloge przerwan na wypadek gdyby 

                                        //podczas uaktualniania wystapilo przerwanie

    OCR0A = ocr0a;    //pin 6

    OCR0B = ocr0b;    //pin 5

    OCR1AL = ocr1a;   //pin 9

    OCR1BL = ocr1b;   //pin 10

    OCR2A = ocr2a;    //pin 11

    OCR2B = ocr2b;    //pin 3

    

    OCR3A = ocr3a;    //pin 6

    OCR3B = ocr3b;    //pin 5

    OCR3CL = ocr3c;   //pin 3

    OCR4AL = ocr4a;   //pin 10

    OCR4B = ocr4b;    //pin 11

    OCR4C = ocr4c;   //pin 8

    

    OCR5A = ocr5a;   //pin 10

    OCR5B = ocr5b;    //pin 11

    OCR5C = ocr5c;   //pin 8

    

    sei();                              //zezwolenie na obsloge przerwan

    i++;

    }

}

void adc_init()

{ 

ADCSRA |= _BV(ADEN);//uruchomienie przetwornika

ADCSRA |= _BV(ADPS2);//ustawienie preskalera

ADCSRA |= _BV(ADPS1);//^

ADCSRA |= _BV(ADPS0);//^

ADMUX |= _BV(REFS0);// napiecie odniesienia ustawione jako napiecie zasilania

ADMUX |= ADMUX &= 0b11110000; //wybranie wejscia ADC0 do pomiaru

}

void timers_init()

{

cli();  // obsloga przerwan zabroniona

 TCCR0A |= _BV(COM0A1) | _BV(COM0B0) | _BV(COM0B1) | _BV(WGM00);               

        TCCR0B |= _BV(CS01);              //preskaler 8

        TIMSK0 |= _BV(TOIE0);             //flaga od wartosci 0 wlaczona

//timer1 init

        TCCR1A |= _BV(COM1A1) | _BV(COM1B0) | _BV(COM1B1)  | _BV(WGM10);     

        TCCR1B |= _BV(CS11);              //preskaler 8

//timer2 init

        TCCR2A |= _BV(COM2A1) | _BV(COM2B0) | _BV(COM2B1)  | _BV(WGM20);     

        TCCR2B |= _BV(CS21);              //preskaler 8

//timer3 init

        TCCR3A |= _BV(COM3A1) | _BV(COM3B0) | _BV(COM3B1)  | _BV(WGM30);     

        TCCR3B |= _BV(CS31);

        TCCR3C |= _BV(COM3A1) | _BV(COM3B0) | _BV(COM3B1)  | _BV(WGM33);     

        TCCR3C |= _BV(CS31);//;|(1 << CS00);       //preskaler 8

       

        cbi (TCCR3A, COM3C0);   

        sbi (TCCR3A, COM3C1);   

  

   

 //timer4 init

        TCCR4A |= _BV(COM4A1) | _BV(COM4B0) | _BV(COM4B1) | _BV(WGM40);     

        TCCR4B |= _BV(CS41);

        TCCR4C |= _BV(CS40);        //preskaler 8  

        

        cbi (TCCR4A, COM4C0);   

        sbi (TCCR4A, COM4C1);

        

 //timer5 init

        TCCR5A |= _BV(COM5A1) | _BV(COM5B0) | _BV(COM5B1)  | _BV(WGM50);     

        TCCR5B |= _BV(CS51);              //preskaler 8  

        TCCR5C |= _BV(CS51); 

      

        cbi (TCCR5A, COM5C0);   

        sbi (TCCR5A, COM5C1);  

//zerowanie wartosci licznik๓w

TCNT0 = 0;

TCNT1L = 0;

TCNT2 = 0;

sei();  //zezwolenie na obsloge przerwan

}

void io_init()

{

 pinMode(6, OUTPUT); //OC0A

  pinMode(5, OUTPUT); //OC0B

  pinMode(9, OUTPUT); //OC1A

  pinMode(10, OUTPUT);//OC1B

  pinMode(11, OUTPUT);//OC2A

  pinMode(3, OUTPUT); //OC3C

  pinMode(52, INPUT);

  pinMode(53, INPUT);

  pinMode(50, OUTPUT); 

  

  pinMode(2, OUTPUT); //OC3B

  pinMode(4, OUTPUT); //OC0B

  pinMode(7, OUTPUT); //OC1A

  pinMode(8, OUTPUT);//OC4C

  pinMode(12, OUTPUT);//OC2A

  pinMode(13, OUTPUT); //OC2B

  

  pinMode(44, OUTPUT);//OC4C

  pinMode(45, OUTPUT);//OC2A

  pinMode(46, OUTPUT); //OC2B

   

  pinMode(A3, INPUT); //OC1A

  pinMode(A4, OUTPUT);//OC1B

  pinMode(A5, OUTPUT);//OC2A

  pinMode(A6, OUTPUT); //OC3C

  pinMode(A1, OUTPUT);

  pinMode(A0, OUTPUT);

  pinMode(A9, OUTPUT); 

  

  pinMode(A10, OUTPUT); //OC0A

  pinMode(A11, OUTPUT); //OC0B

  pinMode(A12, OUTPUT); //OC1A

  pinMode(A13, OUTPUT);//OC4C

  pinMode(A14, OUTPUT);//OC2A

  pinMode(A15, OUTPUT); //OC2B

}

ISR(TIMER0_OVF_vect)  //przerwanie przy wartosci 0 licznika0 

{

    analog = ADC;

      if(a) 

      {

        U_in = 0.0709*analog;

        ADMUX |= _BV(MUX0);           //wybranie wejscia ADC1 do pomiaru pradu                                           

      }

      else 

      {

        ADMUX |= ADMUX &= 0b11110000; //wybranie wejscia ADC0 do pomiaru napiecia

        if(analog>579)            

        {

          blad = 0;               //jezeli przeciazenie wylaczenie generacji napiecia

          digitalWrite(50, HIGH); //zapalenie diody 

        }

      }

      ADCSRA |= _BV(ADSC);//start odczytywania pomiaru

      a=a^1;              //bramka XOR neguje wartosc logiczna a               

 licznik_glowny++;

 if(licznik_glowny>=dlugosc_tab_sin) licznik_glowny = 0;

} 

void zmien_predkosc()

{

  

  t_param = map(analogRead(3),0,1023,0,100);

  U_rms_max = U_in*0.62;  

  bool up;          

  bool down;        

  up =  digitalRead(52);     

  down = digitalRead(53);   

  if(up==1) t_param--;      

  if(down==1) t_param++;    

  if(t_param<0) t_param=0;    

  if(t_param>100) t_param=100;//^

  dlugosc_tab_sin = ceil((K_MAX-K_MIN)*t_param/500+K_MIN);//ilosc wartosci wypelnien w jednym okresie

  t_out = T_PWM*dlugosc_tab_sin;                          //obliczenie okresu napiecia wyjsciowego

  omega_t = t*2*PI/t_out;                                 //obliczenie pulsacji napiecia wyjsciowego

  U_o_param = (P/t_out)/U_rms_max;  //obliczenie parametru okreslajacego wielkosc napiecia wyjsciowego

  if(t_out>1) U_o_param = 0.5*(18.5/U_rms_max); //napi๊cie na wyjsciu przy niskiej czestotliwosci 10V

  if(U_o_param>1) U_o_param=1;  

  //zabezpieczenie przekroczenia wartosci skrajnych

    blad = 1;               //jezeli przeciazenie wylaczenie generacji napiecia

          digitalWrite(50, LOW); //zapalenie diody 

}