PWM IN AVR

Developed by:
Krishna Nand Gupta
Prashant Agrawal
Mayur Agarwal
 PWM (pulse width Modulation)
What is PWM?

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Frequency = (1/T)
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Duty Cycle = (Thigh/T)
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What is need of PWM?
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IanswerthisinrespecttoourROBOThereyouarehaving300RPMmotorandvoltageratingis
12Voltsoifyouwanttorunmotorto150RPMthenwhatwillyoudo??Reducevoltageto6
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voltbutthatsnotgoodideaRPMisnotlinearfunctionofvoltageandasvoltagedecreasefrom
specifiedratingTorquewillalsogetreduce.SoherecomePWMconceptwhatyoucandoisyou
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canswitchonandswitchoffthemotorrepetitivelysuchthateffectivelyyouget50%ONtimeif
youdoitreasonablyfastthenmotorseemsrunningcontinuous.

How PWM is implemented in AVR?

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

Clockperiodofamicrocontrolleris:

Tclk =1/(clock frequency)

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E.g.InATmega8defaultclockfrequencyisnearabout1MegaHz.

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

Tclk = prescaler * Tsystem-clk

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ToimplementPWMthesevariablesarerequired:

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TOP=NumberofclockcyclesforonetimeperiodofPWM
Nt=T/Tclk
OCR=NumberofclockcyclesforOnTimeofPWM

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OCR(outputcompareregister)
OCR=Ton/Tclk
Timer_value=Itisvalueoftimer,thatcountsfromTOPtozeroandZerotoTOPineach

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cycle.

** TocontrolDCmotorneeddualslopephasecorrectPWMthiscomplicatedterm
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onlymeanthatcounterwillcountfromTOPtozeroandZerotoTOPintimeperiod.So
timeperiodof
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Time period of the square wave is decided by 2 variables
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Tclk
TOP
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T= Tclk*TOP
or
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T= Tclk*TOP *2 (dual slope phase correct PWM)

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

When if Timer_value OCR then PWM Output=Low

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And if Timer_value < OCR then PWM Output=High

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TOP

Timer
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value
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Youmustbewonderingwherewherewillthissqurewavewill

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appear.InavrmicrocontrollerthereiscertainPWMpinswhere
thesewavewillapear.LikeinATmega8PIN15,16and17.Ifyou
want to control only 2 DC motor then 15 and 16 pins are
sufficient.
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Now suppose you want to generate a square wave that has
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50%dutycycleatpin15(OC1A)Thenhowyourcodewilllooklike
Intmain()
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{
Step1SetPB1(OC1A)asoutputpin;
Step2EnablePWM;
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Step3SelectPhasecorrectPWMmodeandTOPvalue;
Step4SetOCRvalueTOP/2;
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Step5Setprescalervalueandclocksource;
Step6StartPWM;
While(1)
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{
//doanyjobhere
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}
Return0;
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NowifyouconnectOscilloscopeatpin15youcanseeasquarewavewith50%dutycycle

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YouhavelearntPWMjustcrazysyntaxpartofAVRPWMsettingisleft.

NOTE:forthesakeofsimplicityofthistutorialhereIwillconsideronlyphasecorrectPWMtolearnmore
aboutTimerandPWMgothroughdatasheetofATmega8

16-bit Timer/Counter Register Description

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Timer/Counter 1 Control Register A TCCR1A

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

TheCOM1A1:0andCOM1B1:0controltheOutputComparePins(OC1AandOC1B(respectively)
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behavior.IfoneorbothoftheCOM1A1:0bitsarewrittentoone,theOC1Aoutputoverrides
thenormalportfunctionalityoftheI/Opinitisconnected.SimilarlyforCOM1B1:0.However,
notethattheDataDirectionRegister(DDR)bitcorrespondingtotheOC1AorOC1Bpinmustbe
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written1inordertoenabletheoutputdriver.

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

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Bit 7, BIT 6, BIT5
ThesebitsisnotusedinPWMsimplywritethesebit0;

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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

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

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

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WGM 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
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WGM13 WGM12 WGM11 WGM10

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0 0 0 1
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*****For rest of the mode check ATmega8 data sheet

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Timer/Counter 1 TCNT1H and TCNT1L

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Output Compare Register 1 A OCR1AH and OCR1AL

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Output Compare Register 1 B OCR1BH and OCR1BL
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Now we return to our code

#include<avr/io.h>
Intmain()
{
Step1SetPB1(OC1A)asoutputpin;
Step2EnablePWM;

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Step3SelectPhasecorrectPWMmodeandTOPvalue;
Step4SetOCRvalueTOP/2;

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Step5Setprescalervalueandclocksource;
Step6 StartPWM;

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While(1)
{
//doanyjobhere

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}
Return0;
}
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Step1SetPB1(OC1A)asoutputpin;
Fordetailchecki/otutorial
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Code:
DDRB|=(1<<PORTB1);
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Step2EnablePWM;
For this you need to write COM1A10=0 and COM1A11=1
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Code:
TCCR1A=0xA1;
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Step3SelectPhasecorrectPWMmodeandTOPvalue;
Here we will go for TOP=255

WGM13 WGM12 WGM11 WGM10

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0 0 0 1
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Step4SetOCRvalueTOP/2;
Code:
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OCR1A=128;
Step5Setprescalervalueandclocksource;
Herewewillsetprescaler1024forthatweneedtowriteCS12=1,CS11=0,CS10=1
****FordetailseeClockSelectBit
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 Code:
TCCR1B=0x05;
Step6StartsPWM;
Step5willdothisjob

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

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{
DDRB|=(1<<PORTB1);
TCCR1A=0xA1;
OCR1A=128;

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TCCR1B=0x05;

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While(1)
{
//anyjob
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}
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Return0;
}
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YoucanalsocheckPWMwithmultimeterhereyouwillsevoltagechanginginmultimeterbutif
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setsquarewavetimeperiodsufficientlow.youwillseeaveragevalueinmultimeter

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HAPPYPWMCODING
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