PWM IN AVR

Developed by: Krishna Nand Gupta Prashant Agrawal Mayur Agarwal

PWM (pulse width Modulation)

What is PWM?

Frequency = (1/T) Duty Cycle = (Thigh/T) What is need of PWM?

What do you exactly need? A constant time period square wave whose duty cycle we can controlincode,right? Clockperiodofamicrocontrolleris:

How PWM is implemented in AVR?

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I answer this in respect to our ROBOT here you are having 300RPM motor and voltage rating is 12 Volt so if you want to run motor to 150RPM then what will you do?? Reduce voltage to 6 voltbutthatsnotgoodideaRPMisnotlinearfunctionofvoltageandasvoltagedecreasefrom specifiedratingTorquewillalsogetreduce.SoherecomePWMconceptwhatyoucandoisyou canswitchonandswitchoffthemotorrepetitivelysuchthateffectivelyyouget50%ONtimeif youdoitreasonablyfastthenmotorseemsrunningcontinuous.

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Tclk =1/(clock frequency)

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E.g.InATmega8defaultclockfrequencyisnearabout1MegaHz.

Tsystem-clk=1/(1M Hz)=1 s
Togetdesirefrequencyyouneedtochangeclockingoftimerthatisdonebyprescalerso

** TocontrolDCmotorneeddualslopephasecorrectPWMthiscomplicatedterm
onlymeanthatcounterwillcountfromTOPtozeroandZerotoTOPintimeperiod.So timeperiodof

Time period of the square wave is decided by 2 variables Tclk TOP T= Tclk*TOP or T= Tclk*TOP *2

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We adjust both variables to get desired time period by changing some control bits in control registers. HereinthistutorialwewillsetTOP=255 DutycycleisdecidedbyonlyonevariableOCR Dutycycle=(OCR/TOP)

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ToimplementPWMthesevariablesarerequired: TOP=NumberofclockcyclesforonetimeperiodofPWM Nt=T/Tclk OCR=NumberofclockcyclesforOnTimeofPWM OCR(outputcompareregister) OCR=Ton/Tclk Timer_value=Itisvalueoftimer,thatcountsfromTOPtozeroandZerotoTOPineach cycle.

(dual slope phase correct PWM)

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Tclk = prescaler * Tsystem-clk

Duty cycle = (OCR/TOP)

And

if

then

TOP

Timer value

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When if

Timer_value OCR Timer_value < OCR

then

PWM Output=Low PWM Output=High

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Intmain() { Step1SetPB1(OC1A)asoutputpin;

While(1) {

} Return0;

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Step2EnablePWM; Step3SelectPhasecorrectPWMmodeandTOPvalue; Step4SetOCRvalueTOP/2; Step5Setprescalervalueandclocksource; Step6StartPWM;

//doanyjobhere

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Now suppose you want to generate a square wave that has 50%dutycycleatpin15(OC1A)Thenhowyourcodewilllooklike

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You must be wondering where where will this squre wave will appear.InavrmicrocontrollerthereiscertainPWMpinswhere thesewavewillapear.LikeinATmega8PIN15,16and17.Ifyou want to control only 2 DC motor then 15 and 16 pins are sufficient.

NowifyouconnectOscilloscopeatpin15youcanseeasquarewavewith50%dutycycle

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YouhavelearntPWMjustcrazysyntaxpartofAVRPWMsettingisleft. NOTE:forthesakeofsimplicityofthistutorialhereIwillconsideronlyphasecorrectPWMtolearnmore aboutTimerandPWMgothroughdatasheetofATmega8

16-bit Timer/Counter Register Description

Timer/Counter 1 Control Register A TCCR1A

Bit 7:6 COM1A1:0: Compare Output Mode for channel A Bit 5:4 COM1B1:0: Compare Output Mode for channel B

Compare Output Mode, Phase Correct and Phase and Frequency Correct PWM

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TheCOM1A1:0andCOM1B1:0controltheOutputComparePins(OC1AandOC1B(respectively) behavior. If one or both of the COM1A1:0 bits are written to one, the OC1A output overrides the normal port functionality of the I/O pin it is connected. Similarly for COM1B1:0. However, notethattheDataDirectionRegister(DDR)bitcorrespondingtotheOC1AorOC1Bpinmustbe written1inordertoenabletheoutputdriver.

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Bit 3 FOC1A: Force Output Compare for channel A Bit 2 FOC1B: Force Output Compare for channel B

These bits are not used in phase correct PWM set write there bit 0;
Functionality of WGM11 and WGM10 will be given later

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Timer/Counter 1 Control Register B TCCR1B

Bit 7, BIT 6, BIT5

ThesebitsisnotusedinPWMsimplywritethesebit0;

Bit 2:0 CS12:0: Clock Select

The three clock select bits select the clock source to be used by the Timer/Counter, Clock Select Bit Description

Default No clock source is selected. as you select clock PWM will start

WGM

WGM13 0

stand for Wave generation mode. There are several PWM and time mode here we want to do setting for phase correct PWM for TOP=255 and for that you need to write
WGM12 0 WGM11 0 WGM10 1

*****For rest of the mode check ATmega8 data sheet

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Bit WGM13, WGM12 in TCCR1B and WGM11, WGM10 in TCCR1A

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Timer/Counter 1 TCNT1H and TCNT1L

Output Compare Register 1 A OCR1AH and OCR1AL

Output Compare Register 1 B OCR1BH and OCR1BL

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Now we return to our code

DDRB|=(1<<PORTB1); Step2EnablePWM;

For this you need to write COM1A10=0

Step3SelectPhasecorrectPWMmodeandTOPvalue;
Here we will go for TOP=255 WGM13 0 WGM12 0 WGM11 0 WGM10 1

Step4SetOCRvalueTOP/2;
Code:

Step5Setprescalervalueandclocksource; Herewewillsetprescaler1024forthatweneedtowriteCS12=1,CS11=0,CS10=1 ****FordetailseeClockSelectBit

OCR1A=128;

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Code: TCCR1A=0xA1;

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Step1SetPB1(OC1A)asoutputpin; Fordetailchecki/otutorial Code:

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and COM1A11=1

#include<avr/io.h> Intmain() { Step1SetPB1(OC1A)asoutputpin; Step2EnablePWM; Step3SelectPhasecorrectPWMmodeandTOPvalue; Step4SetOCRvalueTOP/2; Step5Setprescalervalueandclocksource; Step6 StartPWM; While(1) { //doanyjobhere } Return0; }

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Code:

TCCR1B=0x05;
Step6StartsPWM;
Step5willdothisjob

#include<avr/io.h> intmain()
{

YoucanalsocheckPWMwithmultimeterhereyouwillsevoltagechanginginmultimeterbutif setsquarewavetimeperiodsufficientlow.youwillseeaveragevalueinmultimeter

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HAPPYPWMCODING
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DDRB|=(1<<PORTB1); TCCR1A=0xA1; OCR1A=128; TCCR1B=0x05; While(1) { //anyjob } Return0;

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