PIC 18F45K20 c code for using PWM at a H bridge.

#include "p18F45K20"

//Condiguration BITS declared "#pragma config"

// Using Internal Clock of 8 MHz
#define FOSC 8000000L

// Delay Function
#define	_delay_us(x) { unsigned char us; 
		       us = (x)/(12000000/FOSC)|1; 
		       while(--us != 0) continue; }

void _delay_ms(unsigned int ms)
{
  unsigned char i;

  if (ms == 0) return;
  do {
    i = 4;
    do {
      _delay_us(164);
    } while(--i);
  } while(--ms);
}

void main(void)
{
  unsigned int ipwm;
  unsigned char direction;

  OSCCON=0x70;         // Select 8 Mhz internal clock

  TRISC = 0x00;        // Set All on PORTC as Output
  TRISA = 0x03;        // Input for RA0 and RA1
  ANSEL = 0x01;        // Set PORT AN0 to analog input AN1 to AN7 digital I/O
  ANSELH = 0x00;       // Set PORT AN8 to AN11 as Digital I/O
  PORTC = 0x00;        // Turn Off all PORTC

  /* Init PWM for Full Bridge Output */
  CCP1CON=0b01001100;  // Full Bridge Forward; P1A, P1C active-high; P1B, P1D active-high
  CCPR1L=0;            // Start with zero Duty Cycle

  T2CON=0b00000101;    // Postscale: 1:1, Timer2=On, Prescale = 1:4
  PR2=0x65;            // Frequency: 4.90 KHz
  TMR2=0;              // Start with zero Counter

  /* Init ADC */
  ADCON0=0b00000000;   // Select Left justify result. ADC port channel 0
  ADCON1=0b00110000;   // Select the FRC for 8 MHz
  ADON=1;	        // turn on the ADC conversion module

  direction=0;         // Start with Forward Direction
  ipwm=0;

  for(;;) {
    if (RA1 == 0) {           // Change the Motor Direction when pressed
     _delay_ms(1);
     if (RA1 == 0) {          // Read again for simple debounce
       if (direction == 0) {
         direction=1;         // Reverse direction
         P1M1=1;
         P1M0=1;
       } else {
         direction=0;         // Forward direction
         P1M1=0;
         P1M0=1;
       }
     }
    }

    ADCbits.GO_DONE=1;	              // initiate conversion on the channel 0
    while(ADCbits.GO_DONE) continue;  // Wait conversion done

    ipwm = ADRESH;           // Get the highest 8 bit MSB result, ignore the 2 bit LSB
    CCPR1L=ipwm;             // Set the Duty Cycle base on the ADC result

    /* Blink the LED attached on RC0 */
    RC0=1;                   // Turn On
    _delay_ms(ipwm);
    RC0=0;                   // Turn Off
    _delay_ms(ipwm);
  }
}
/

#include "p18f45k20.h"
#pragma config WDTEN=OFF #pragma config CPD=OFF #pragma config BOREN=OFF #pragma config IESO=OFF #pragma config CP2=OFF #pragma config FCMEN=OFF #pragma config PWRT=ON #pragma config MCLRE=OFF
#define FOSC 8000000L // Using Internal Clock of 8 MHz
// Delay Function
void	_delay_us( unsigned int x) {unsigned char us; 
		       us = (x)/(12000000/FOSC)|1; 
		       while(--us != 0) continue; }
void _delay_ms(unsigned int ms){
  unsigned char i;
  if (ms == 0) return;
  do {
    i = 4;
    do {
      _delay_us(164);
    } while(--i);
  } while(--ms);
}
void main(void){
  unsigned int ipwm;
  unsigned char direction;
  OSCCON=0x70;         // Select 8 Mhz internal clock
  TRISC = 0x00;        // Set All on PORTC as Output
  TRISA = 0b00000000;        // Input for RA0 and RA1
  ANSEL = 0x01;        // Set PORT AN0 to analog input AN1 to AN7 digital I/O
  ANSELH = 0x00;       // Set PORT AN8 to AN11 as Digital I/O
  PORTC = 0x00;        // Turn Off all PORTC
 
  /* Init PWM for Full Bridge Output */
  CCP1CON=0b01001100;  // Full Bridge Forward; P1A, P1C active-high; P1B, P1D active-high
  CCPR1L=0;            // Start with zero Duty Cycle
  	
  T2CON=0b00000101;    // Postscale: 1:1, Timer2=On, Prescale = 1:4
  PR2=0x65;            // Frequency: 4.90 KHz
  TMR2=0;              // Start with zero Counter

  /* Init ADC */
ADCON0=0b00000000;
  ADCON1=0b00000000;   // Select Left justify result. ADC port channel 0
   // Select the FRC for 8 MHz
  ADCON2 =0b0101011;
  ADCON0bits.ADON=1;
  direction=0;         // Start with Forward Direction
  ipwm=0;
  for(;;) {
    if ( PORTAbits.RA1==1) {           // Change the Motor Direction when pressed
     _delay_ms(1);
     if ( PORTAbits.RA1==1) {          // Read again for simple debounce
       if (direction == 0) {
         direction=1;         // Reverse direction
         CCP1CONbits.P1M1=1;
		CCP1CONbits.P1M0=1;
       } else {
         direction=0;         // Forward direction
         CCP1CONbits.P1M1=1;
CCP1CONbits.P1M0=0;
}}}
    ADCON0bits.GO_DONE=1;	              // initiate conversion on the channel 0
    while(ADCON0bits.GO_DONE) continue;  // Wait conversion done
    ipwm = ADRESH;           // Get the highest 8 bit MSB result, ignore the 2 bit LSB
    CCPR1L=ipwm;             // Set the Duty Cycle base on the ADC result
}}