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diff --git a/docs/source/pwm.rst b/docs/source/pwm.rst new file mode 100644 index 0000000..1a8f4df --- /dev/null +++ b/docs/source/pwm.rst @@ -0,0 +1,118 @@ +.. _pwm: + +PWM +=== + +Pulse Width Modulation (PWM) is a basic technique to create repeated square +waves (digital high/low voltage transitions) of user defined length +and duty cycle. It can be used as a way to encode an "analog" signal +on a single digital (high/low) line using the time between transitions +("pulse width") as the variable; this technique is commonly used to +send servo position and motor speed commands. Another use is to use to +the ratio of "high" and "low" time to approximate a voltage output; +this technique can be used to dim an LED or even (with careful +filtering) generate audio waveforms. + +.. contents:: Contents + :local: + +Overview +-------- + +The Maple has a large number of 16-bit PWM outputs, each connected to +one of 4 timers. Some configuration, such as the clock rate or +prescaling, must be common to the entire timer; see the :ref:`timer +documentation <timers>` for more information. + +Note that unlike the Arduino, the Maple does not have PWM +functionality on pin D10; all other pins are :ref:`compatible +<compatibility>`. + +The following table shows which timer can generate which PWM +outputs. See the :ref:`pin mapping table <pin-mapping-mega-table>` to +track down exactly which timer *channel* corresponds to each pin. + +.. _pwm-timer-table: + +.. csv-table:: + :header: Timer, PWM Headers + :delim: | + + Timer1 | D6,D7,D8 + Timer2 | D0,D1,D2,D3 + Timer3 | D11,D12,D27,D28 + Timer4 | D5,D9,D14,D24 + +Background +---------- + +In its simplest form, the device is a single counter with two +variables. The counter starts at zero, and the output starts at +"high". The counter increments every clock cycle until it reaches the +first variable number, at which point the output goes "low". The +counter continues incrementing until it reaches the second variable at +which point the output goes "high" again and the counter resets to +zero. The time spent with output high is called the **pulse duration** +or **duty**; the total time before repeat is the **period**. + +This simple functionality could be approximated in software by setting +a GPIO high or low, but the beauty of PWM is that user code simply has +to configure the device and set the two variables and the device will +function on its own; no further microprocessor cycles will be +consumed, and a repeated high/low waveform will spew out. + +The Maple has 16-bit PWM resolution, which means that the counter and +variables can be as large as 65535, as opposed to 255 with 8-bit +resolution. With a 72MHz clock rate, a PWM output could have maximum +period of about one millisecond; using a :ref:`prescaler +<lang-hardwaretimer-setprescalefactor>` (clock divider) in front of +the counter can increase this maximum period. Setting the +:ref:`period <lang-hardwaretimer-setperiod>` to something other than +the maximum value gives further control over the total length of the +waveform. However, this effectively limits the resolution with which +the duty can be modified: the duty must be less than or equal to the +period. + +Here are some commonly used PWM configurations (note that servos are +notoriously variable, especially the lower cost models): + ++-------------+----------+-----------+---------+---------------+------+ +|**Purpose** |**Period**|**Duty** |Prescaler|Period |Duty | +| |(ms) |(ms) | | | | ++=============+==========+===========+=========+===============+======+ +|LED throb |0.020 |0--0.020 |1 (none) |65535 (default)|0--767| +| | | | | | | ++-------------+----------+-----------+---------+---------------+------+ +|Servo control|20 |1.25 (0°) |21 |65535 (default)|4096 | +| | | | | | | +| | |1.50 (90°) |21 |65535 (default)|4915 | +| | | | | | | +| | |1.75 (180°)|21 |65535 (default)|5734 | +| | | | | | | ++-------------+----------+-----------+---------+---------------+------+ + +Function Reference +------------------ + +- :ref:`lang-pinmode` +- :ref:`lang-pwmwrite` +- :ref:`Timer API<lang-hardwaretimer>` (especially :ref:`setOverflow() + <lang-hardwaretimer-setoverflow>`, :ref:`setPrescaleFactor() + <lang-hardwaretimer-setprescalefactor>`, and :ref:`setPeriod() + <lang-hardwaretimer-setperiod>`). +- :ref:`Timers reference <timers>`. + +Recommended Reading +------------------- + +* `Wikipedia Article on Pulse-width modulation + <http://en.wikipedia.org/wiki/Pulse-width_modulation>`_ +* `Arduino tutorial on PWM <http://www.arduino.cc/en/Tutorial/PWM>`_ +* `Secrets of Arduino PWM + <http://www.arcfn.com/2009/07/secrets-of-arduino-pwm.html>`_ by Ken + Shirriff +* `So You Want To Use PWM, Eh? <http://www.arcfn.com/2009/07/secrets-of-arduino-pwm.html>`_ at Non-Lexical Vocables +* STMicro documentation for STM32F103RB microcontroller: + + * `Datasheet <http://www.st.com/stonline/products/literature/ds/13587.pdf>`_ (pdf) + * `Reference Manual <http://www.st.com/stonline/products/literature/rm/13902.pdf>`_ (pdf) |