HPWM and 16F628A

[Bruce]

This is in the PBP manual, but, the highest frequency at any osc speed is 32767Hz.

If you need to use the hardware PWM module, then you'll have to set it up manually.

With a 4MHz osc;

   TRISB.3 = 0            ' RB.3=PWM output
   PR2       = 25         ' Set PWM for approximately 38KHz
   CCPR1L    = 13         ' Set PWM Duty-Cycle to 50%
   CCP1CON   = %00001100  ' Mode select = PWM
   T2CON     = %00000100  ' Timer2 ON + 1:1 prescale

Or you could use any available I/O-pin with something like this;

    DEFINE OSC 4
    
    ' setup the port pin to use
    @ #define IRTX PORTB ; Define port to use for IR out
    @ #define PIN 0      ; Define port pin to use for IR out
    
    ' Define IR signal bit timing (if needed)
    Zero CON 40       ' 40 x 25uS = 1mS
    One  CON 80       ' 80 x 25uS = 2mS
    
    ' declare variables
    Cycles  VAR BYTE ' number of Cycles to generate

    ' setup port
    PORTB.0 = 0      ' power-up with the LED off
    TRISB.0 = 0      ' make the pin an output here
    GOTO Main        ' jump over IR routine to Main
    
Pulse:               ; Generate "Cycles" number of 40kHz pulses
ASM                  ;                        430     LED
    bsf IRTX,PIN     ; 1uS, LED=on ; pin ----/\/\/\---|>|---- gnd
    goto $+1         ; + 2uS = 3uS
    goto $+1         ; + 2uS = 5uS
    goto $+1         ; + 2uS = 7uS
    goto $+1         ; + 2uS = 9uS
    goto $+1         ; + 2uS = 11uS
    goto $+1         ; + 2uS = 13uS   
    bcf IRTX,PIN     ; 1uS, LED=off
    goto $+1         ; + 2uS = 3uS
    goto $+1         ; + 2uS = 5uS
    goto $+1         ; + 2uS = 7uS
    ;nop              ; +1uS <-- un-comment for 38kHz
    goto $+1         ; + 2uS = 9uS
    decfsz _Cycles,f ; + 1uS = 10S    
    goto _Pulse      ; + 2uS = 12uS  (13uS + 12uS = 40kHz)
    return           ; Add 2uS for return to caller    
ENDASM

Main: ' Load Cycles & call Pulse. Pause whatever time you need in between
    
    Cycles = Zero
    CALL Pulse
    PAUSE 1
    Cycles = One
    CALL Pulse
    PAUSE 1
    ' Etc, etc,,
    GOTO Main

    END

We have several IR projects all done with the 16F628 in our Micro-Bot projects section here
http://www.rentron.com/Micro-Bot/index.htm you might also find useful.

Here's one example of how to use the 2nd routine. I was goofing with one of those Robo Sapien
robots the other day, and decided to make a simple 8-pin PIC IR transmitter that could attach
to my PC serial port to control the robot. Here's the code.

' Connections for a 12F683
' Pin #8 = gnd
' Pin #1 = Vcc
' GPIO.0 serial input from other controller or PC
' GPIO.1 IR LED drive ----/\/\/\---|>|----gnd  (note: use a 940nm IRLED)
'                                  430    IR LED
' Need more range use a simple NPN or mosfet driver.
' Rest of I/O-pins available for whatever.

   @ DEVICE PIC12F683, MCLR_OFF, INTRC_OSC_NOCLKOUT, WDT_OFF, BOD_ON, PWRT_ON
   DEFINE OSC 4
   DEFINE DEBUG_BAUD 2400 
   DEFINE DEBUGIN_REG GPIO 
   DEFINE DEBUGIN_BIT 0  
   DEFINE DEBUGIN_MODE 0   ' 0 = true mode

   @ #DEFINE IRTX GPIO  ; Define port to use for IR LED drive
   @ #DEFINE PIN 1      ; Define port pin to use for IR LED    

   BotHdr   CON 255     ' Carrier on for 255 + 25 cycles = 280
   BotHdr2  CON 25      ' 280 x 25uS = 7mS carrier ON for synch pulse
   Bot1     CON 3400    ' 3.4mS carrier off = 1 bit
   Bot0     CON 800     ' 800uS carrier off = 0 bit
   BotInter CON 38      ' 38 x 25uS = 955uS carrier ON for inter-bit period
   Bot      CON "B"     ' Selects RoboSapien (used for synch byte) not necessary
   X        VAR BYTE    ' Bit index pointer
   Cycles   var BYTE    ' Holds number of 40KHz carrier cycles
   Device   VAR BYTE    ' Holds device select byte
   KeyNum   VAR BYTE    ' Key pressed

   OSCCON  = %01100000     ' Internal 4MHz osc
   ADCON0 = 0              ' A/D off
   CMCON0 = 7              ' Comparators off
   ANSEL = 0	            ' Set all digital
   WPU = 0                 ' Internal pull-ups = off
   OPTION_REG = %10000000  ' Pull-ups = off, GPIO.2 = I/O, prescaler to Timer1
   GPIO = %00000000        ' All outputs = 0 on boot
   TRISIO = %00111101      ' GPIO,0=data in, GPIO,1=IRLED out, GPIO,2,3,4,5 unused

Main:
   DEBUGIN [Device,KeyNum] ' With MSC+ serial terminal program, sending B#135
   IF Device = Bot THEN    ' will move bot backwards. Full list of commands
      GOTO SendCmd         ' can be found in lower section.
   ENDIF
   GOTO Main
    
SendCmd:
   Cycles = BotHdr  ' 1st part of synch pulse
   CALL Pulse
   Cycles = BotHdr2 ' 2nd part of 7mS synch pulse
   CALL Pulse
   
   FOR X = 7 to 0 STEP - 1 ' 8-bits per button command
       IF KeyNum.0[X] = 1 THEN
          PAUSEUS Bot1     ' high for logic 1 bit period
       ELSE
          PAUSEUS Bot0     ' or low for logic 0 bit period
       ENDIF
       Cycles = BotInter   ' Inter-bit period between data bits
       Call Pulse          ' During these periods the carier is on
   NEXT X
   GOTO Main
    
Pulse:              ' Generate "Cycles" number of 40kHz pulses
ASM
   bsf IRTX,PIN     ; 1uS, LED=on
   goto $+1         ; + 2uS = 3uS
   goto $+1         ; + 2uS = 5uS
   goto $+1         ; + 2uS = 7uS
   goto $+1         ; + 2uS = 9uS
   goto $+1         ; + 2uS = 11uS
   goto $+1         ; + 2uS = 13uS   
   bcf IRTX,PIN     ; 1uS, LED=off
   goto $+1         ; + 2uS = 3uS
   goto $+1         ; + 2uS = 5uS
   goto $+1         ; + 2uS = 7uS
   goto $+1         ; + 2uS = 9uS
   decfsz _Cycles,f ; + 1uS = 10S    
   goto _Pulse      ; + 2uS = 12uS
   return           ; Add 2uS for return to caller    
ENDASM
 
   END

' Send ASCII character B followed by key commands below to
' control your RoboSapien from a PC or another PIC.

' A simple VB example to move RoboSapien forward would be;
' Private Sub Cmd_Forward_Click()
' MSComm1.Output = "B" & Chr$(134)
' End Sub

' Upper red commands
' Right arm up      = 129
' Right arm down    = 132
' Right arm in      = 133
' Right arm out     = 130
' Left arm up       = 137
' Left arm down     = 140
' Left arm in       = 141
' Left arm out      = 138
' Tilt body right   = 131
' Tilt body left    = 139

' Red commands - middle & lower controller
' Walk forward      = 134 
' Walk backward     = 135
' Turn left         = 136
' Turn right        = 128
' Stop              = 142
' Rht sensor pgm    = 146
' Master command program = 144
' Program / play    = 145
' Left sensor program = 147
' Sonic sens pgm    = 148

' Green commands - upper controller
' Right hand thump  = 161
' Right hand pickup = 164
' Lean backward     = 165
' Rht hand throw    = 162
' Sleep             = 163
' Listen            = 171
' Left hand throw   = 170
' Lean forward      = 173
' Left hand pickup  = 172

' Green commands - middle & lower controller
' Right turn step   = 160
' Backward step     = 167
' Forward step      = 166
' Reset             = 174
' Left turn step    = 178
' Right sensor program execute = 178
' Master command program execute = 176
' Wake up           = 177
' Sonic sensor program execute = 180
' Left sensor program execute  = 179

' Orange commands - upper controller
' Right hand sweep  = 193
' High 5            = 196
' Right hand strike = 197
' Burp              = 194
' Right hand strike 2 = 195
' Left hand strike 2  = 203
' Whistle           = 202
' Left hand strike  = 205
' Talk back         = 204
' Left hand sweep   = 201

' Orange commands - middle & lower controller
' Right hand strike 3 = 192
' Oops              = 199
' Left hand strike 3 = 200
' Roar              = 206
' Demo 1            = 210
' All demo          = 208
' Power off         = 209
' Dance demo        = 212
' Demo 2            = 211

Have fun...;o}