Change the PWM frequnez (~31300HZ) // Arduino Nano 33 BLE

Projects Programming
1

Hello, everyone. I want to drive an electric scooter and before that I used an Arduino Uno. Now an Arduino Nano 33 BLE is to be used. The problem with the whole thing is that I am showing an error when compiling de code on the Arduino Nano 33 BLE. The following is displayed: 'TCCR2B' was not declared in this scope

This is the Code:

// Pinbelegung, Nutzung der define Direktive 
#define routPin A0
#define yAccPin A1
#define xAccPin A2
#define PotentioPin A5
#define drehrichtungMotorLinks 6
#define drehrichtungMotorRechts 7
#define drehgeschwindigkeitMotorLinks 9
#define drehgeschwindigkeitMotorRechts 10


// Berechnungsvariablen für die Neigungswinkel (Zur Speicherung von Zwischenwerten und Endergebnissen)
double gyroMesswert;
double gyroNeigungswinkelNeu;
double gefilterterNeigungswinkel = 0;
double beschlNeigungswinkel;
double beschlMesswertX;
double beschlMesswertY;
double radZuGradmass;
double beschlUmrechnung;
double gyroUmrechnung;
int    potentio;

// Konstanten
const double pi = 3.14159;                   // Kreiszahl Pi
const double k = 0.95;                       // Filterkonstante
const double deltaT = 0.011;                 // Wird für alle Zeitdifferenzen eingesetzt. Abhängig vom eingestellten delay, ca 1ms für Programmausführung

// Sensorboardvariablen
double beschlSpannung = 5.0; 
double gyroSpannung = 5.0;
double gyroSpannungBeiRuhelage = 2.47800;
double beschlSpannungBeiRuheLageX = 2.421875;
double beschlSpannungBeiRuheLageY = 2.463340;
double beschlSensitivitaet = 0.312;
double gyroSensitivitaet = 0.015;
double t1,t2,td;

// Berechnungsvariablen für die Regelung
double pWert;
double dWert;
double iWert= 0;
double e = 0;
double esum;
double ealt;
double delta;
double digitaleStellgroesse = 0;
double pid;

// Regelparameter 
double kp = 9.0;
double ki = 1.0;
double kd = 1.0;

//**********************************************************************************************************************

void setup(){
  
  Serial.begin(9600); 
  TCCR2B = TCCR2B & 0b11111000 | 0x01;         // Timer 2 zu 31300HZ. Timer 2 kontrolliert  die Pins 9 und 10
  pinMode(drehrichtungMotorLinks, OUTPUT);     // Drehrichtung des linken Motors vorgegeben
  pinMode(drehrichtungMotorRechts, OUTPUT);    // Drehrichtung des rechten Motors vorgegeben
  
  radZuGradmass = 180.0/pi;  
  beschlUmrechnung = beschlSpannung/1023;  
  gyroUmrechnung = gyroSpannung/1023;
}

The rest of the part consists only of angle calculations.

I just want to set a timer to increase the frequency. Since I ve noticed that it is not possible with the Arduino Nano 33 BLE , I build your help. Rewrite the part for the Arduino nano 33 ble. Only one timer is needed.

TCCR2B = TCCR2B & 0b11111000 | 0x01;

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I'm not familiar with the Nano BLE. But I suspect that the register names of the AVR processors don't apply to the processor on the Nano BLE.

3

I found the following:

Note: Arduino Nano 33 BLE uses mbedOS, it is not similar to Arduino Uno.

but can't do anything with it. Hope someone can help me there.

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