Library for MX1508 Dual H-Bridge by Cheng Saetern will not compile

[tspringer]

I am trying to employ an MX1508 dual H-bridge motor controller in a project that I am working on. I have no problem getting my Teensy 4.1 to actuate a motor attached to the H-bridge, but the only library that I can find that is set up to work with PWM speed control with the MX1508 (https://github.com/Saeterncj/MX1508) fails to compile.

My hope is that someone on the forum will be able to confirm that the library will (or will not) compile on their computer. I have never had problems with compiling libraries until recently, but over the last few days, I had problems compiling several, so either I am experiencing a run of bad luck, or there is something partially awry with the compiler (or the user).

To keep things simple I attempted to compile the following minimal code:

-------------------------

#include <MX1508.h>

#define PINA 36
#define PINB 37
#define NUMPWM 2
#define PWM 100

MX1508 motorA(PINA,PINB, FAST_DECAY, NUMPWM);

void setup() {}

void loop() {
motorA.motorGo(PWM);
}

-------------------------

And here are the voluminous error messages generated by the compiler:

-------------------------

C:\Users\Michael\AppData\Local\Temp\.arduinoIDE-unsaved2023327-548-19k8st8.wur5\sketch_apr27a\sketch_apr27a.ino:5:16: warning: invalid conversion from 'int' to 'NumOfPwmPins' [-fpermissive]
5 | #define NUMPWM 2
| ^
| |
| int
C:\Users\Michael\AppData\Local\Temp\.arduinoIDE-unsaved2023327-548-19k8st8.wur5\sketch_apr27a\sketch_apr27a.ino:8:38: note: in expansion of macro 'NUMPWM'
8 | MX1508 motorA(PINA,PINB, FAST_DECAY, NUMPWM);
| ^~~~~~
In file included from C:\Users\Michael\AppData\Local\Temp\.arduinoIDE-unsaved2023327-548-19k8st8.wur5\sketch_apr27a\sketch_apr27a.ino:1:
c:\Users\Michael\Documents\Arduino\libraries\MX1508/MX1508.h:21:78: note: initializing argument 4 of 'MX1508::MX1508(uint8_t, uint8_t, DecayMode, NumOfPwmPins)'
21 | MX1508(uint8_t pinIN1, uint8_t pinIN2, DecayMode decayMode, NumOfPwmPins numPWM);
| ~~~~~~~~~~~~~^~~~~~
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp: In member function 'void MX1508::setResolution(unsigned int)':
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:32:25: error: 'ICR1' was not declared in this scope
32 | if(_useAnalogWrite16) ICR1 = pwmResolution;
| ^~~~
In file included from C:\Users\Michael\AppData\Local\Arduino15\packages\teensy\hardware\avr\1.58.1\cores\teensy4/wiring.h:39,
from C:\Users\Michael\AppData\Local\Arduino15\packages\teensy\hardware\avr\1.58.1\cores\teensy4/WProgram.h:46,
from C:\Users\Michael\AppData\Local\Temp\arduino\sketches\6D542608C537E51812A9D89560841D14/pch/Arduino.h:6,
from c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.h:4,
from c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:1:
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp: In member function 'void MX1508::setPWM16(uint8_t, unsigned int)':
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:37:22: error: 'PB1' was not declared in this scope; did you mean 'B1'?
37 | DDRB |= _BV(PB1) | _BV(PB2); /* set pin 9and 10 as outputs */
| ^~~
C:\Users\Michael\AppData\Local\Arduino15\packages\teensy\hardware\avr\1.58.1\cores\teensy4/core_pins.h:45:38: note: in definition of macro '_BV'
45 | #define _BV (1<<)
| ^
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:37:33: error: 'PB2' was not declared in this scope
37 | DDRB |= _BV(PB1) | _BV(PB2); /* set pin 9and 10 as outputs */
| ^~~
C:\Users\Michael\AppData\Local\Arduino15\packages\teensy\hardware\avr\1.58.1\cores\teensy4/core_pins.h:45:38: note: in definition of macro '_BV'
45 | #define _BV (1<<)
| ^
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:38:5: error: 'TCCR1A' was not declared in this scope
38 | TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM11); // non-inverting PWM, mode 14 fastPWM, TOP =ICR1
| ^~~~~~
In file included from C:\Users\Michael\AppData\Local\Arduino15\packages\teensy\hardware\avr\1.58.1\cores\teensy4/wiring.h:39,
from C:\Users\Michael\AppData\Local\Arduino15\packages\teensy\hardware\avr\1.58.1\cores\teensy4/WProgram.h:46,
from C:\Users\Michael\AppData\Local\Temp\arduino\sketches\6D542608C537E51812A9D89560841D14/pch/Arduino.h:6,
from c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.h:4,
from c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:1:
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:38:18: error: 'COM1A1' was not declared in this scope
38 | TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM11); // non-inverting PWM, mode 14 fastPWM, TOP =ICR1
| ^~~~~~
C:\Users\Michael\AppData\Local\Arduino15\packages\teensy\hardware\avr\1.58.1\cores\teensy4/core_pins.h:45:38: note: in definition of macro '_BV'
45 | #define _BV (1<<)
| ^
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:38:32: error: 'COM1B1' was not declared in this scope
38 | TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM11); // non-inverting PWM, mode 14 fastPWM, TOP =ICR1
| ^~~~~~
C:\Users\Michael\AppData\Local\Arduino15\packages\teensy\hardware\avr\1.58.1\cores\teensy4/core_pins.h:45:38: note: in definition of macro '_BV'
45 | #define _BV (1<<)
| ^
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:38:46: error: 'WGM11' was not declared in this scope
38 | TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM11); // non-inverting PWM, mode 14 fastPWM, TOP =ICR1
| ^~~~~
C:\Users\Michael\AppData\Local\Arduino15\packages\teensy\hardware\avr\1.58.1\cores\teensy4/core_pins.h:45:38: note: in definition of macro '_BV'
45 | #define _BV (1<<)
| ^
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:39:9: error: 'TCCR1B' was not declared in this scope
39 | TCCR1B = _BV(WGM13) | _BV(WGM12) | prescaler ; // rescaler must be 1->5, 1,8,64,256,1028 respectively
| ^~~~~~
In file included from C:\Users\Michael\AppData\Local\Arduino15\packages\teensy\hardware\avr\1.58.1\cores\teensy4/wiring.h:39,
from C:\Users\Michael\AppData\Local\Arduino15\packages\teensy\hardware\avr\1.58.1\cores\teensy4/WProgram.h:46,
from C:\Users\Michael\AppData\Local\Temp\arduino\sketches\6D542608C537E51812A9D89560841D14/pch/Arduino.h:6,
from c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.h:4,
from c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:1:
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:39:22: error: 'WGM13' was not declared in this scope
39 | TCCR1B = _BV(WGM13) | _BV(WGM12) | prescaler ; // rescaler must be 1->5, 1,8,64,256,1028 respectively
| ^~~~~
C:\Users\Michael\AppData\Local\Arduino15\packages\teensy\hardware\avr\1.58.1\cores\teensy4/core_pins.h:45:38: note: in definition of macro '_BV'
45 | #define _BV (1<<)
| ^
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:39:35: error: 'WGM12' was not declared in this scope
39 | TCCR1B = _BV(WGM13) | _BV(WGM12) | prescaler ; // rescaler must be 1->5, 1,8,64,256,1028 respectively
| ^~~~~
C:\Users\Michael\AppData\Local\Arduino15\packages\teensy\hardware\avr\1.58.1\cores\teensy4/core_pins.h:45:38: note: in definition of macro '_BV'
45 | #define _BV (1<<)
| ^
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:40:9: error: 'ICR1' was not declared in this scope
40 | ICR1 = resolution;
| ^~~~
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp: In member function 'void MX1508::analogWrite16(uint8_t, uint16_t)':
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:50:26: error: 'OCR1A' was not declared in this scope
50 | case 9: OCR1A = val; break;
| ^~~~~
c:\Users\Michael\Documents\Arduino\libraries\MX1508\MX1508.cpp:51:26: error: 'OCR1B' was not declared in this scope
51 | case 10: OCR1B = val; break;
| ^~~~~

exit status 1

Compilation error: exit status 1

-------------------------


I have reinstalled the Arduino 2.1.0 IDE without effect, but perhaps reinstalling the IDE does not touch the compiler if is found to already exist.

Thanks for your help.

Tim

 

[joepasquariello]

The library you chose is written for AVR, so it needs to be modified for use with Teensy. If you use the 3 functions below to replace the originals in MX1508.cpp, I think it will work. One more thing I saw that caused an error in exampleMX1508 was the use of macro NUMPWM is incompatible with the constructor and must be changed to this

MX1508 motorA(PINA,PINB, FAST_DECAY, PWM_2PIN);

void MX1508::setResolution(unsigned int pwmResolution) {
    _pwmResolution = pwmResolution;
#if defined (TEENSYDUINO)
    analogWriteResolution( pwmResolution );
#else
    if(_useAnalogWrite16) ICR1 = pwmResolution; 
#endif
}

void MX1508::setPWM16(uint8_t prescaler, unsigned int resolution) {
#if defined (TEENSYDUINO)
    analogWriteResolution( resolution );
#else
    if(prescaler > 5 || prescaler == 0) prescaler = 3;   // default to 64 if not in range.
    DDRB  |= _BV(PB1) | _BV(PB2);                       // set pin 9and 10 as outputs
    TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM11);    // non-inverting PWM, mode 14 fastPWM, TOP =ICR1
    TCCR1B = _BV(WGM13) | _BV(WGM12) | prescaler ;	// rescaler must be 1->5, 1,8,64,256,1028 respectively
    ICR1 = resolution;
#endif

    _pwmResolution = resolution;
    _useAnalogWrite16 = true; 
}

void MX1508::analogWrite16(uint8_t pin, uint16_t val)
{
#if defined(TEENSYDUINO)
  analogWrite( pin, val );
#else
  if(_useAnalogWrite16){
    if(val < 5) val =5;
    switch (pin) {
	case  9: OCR1A = val; break;
	case 10: OCR1B = val; break;
	default: analogWrite(pin,val);
    } 
  } else {
    analogWrite(pin, val);
  }
#endif
}

 

[tspringer]

Awesome! Thanks joepasquariello. I am away from my workbench at the moment. I will give your code a try tonight. Thanks for the explanation too.

Is there a quick way to differentiate a library that is compiled for AVR from one that will work with the Cortex M7 of the Teensy 4.1?

Also, at some point in time I am likely to need PID control of the motor in my project. Are you aware of a library that might support PID control using the MX1508?

Thanks again,

Tim

 

[joepasquariello]

Is there a quick way to differentiate a library that is compiled for AVR from one that will work with the Cortex M7 of the Teensy 4.1?

Each Arduino library has a library.properties file with a field labeled "architectures". It's good to look through available libraries and see which ones seem to be actively updated/supported.

Are you aware of a library that might support PID control using the MX1508?

This is a general-purpose PID library with an impressive set of blog posts describing its development.

https://github.com/br3ttb/Arduino-PID-Library

 

[tspringer]

joepasquariello, the MX1508 library did indeed compile after I replaced the three functions in the original MX1508.cpp file with your code. Also, after doing an initial examination of the PID motor control library that you recommended, I can see that it should be possible to use the output from it to feed input into the MX1508 driver with minimal fuss. I am playing around with motorized faders, and it is already abundantly clear that getting anything like reasonable control over them is going to take a lot of trial and error. Still, you have given me the tools to do it, and your help is very much appreciated.

Tim