Pulse Width Modulation 3/19/2015 Richard Kuo Assistant Professor

Lesson 8. Pulse Width Modulation 8.NuMicro_PWM.ppt Exercise : PWM frequency output Lab. Keypad to select tone to speaker (smpl_PWM_Tone_Keypad) Lab. using PWM to generate music (smpl_PWM_Music) Exercise : PWM control DC Servo Motor Lab. PWM control angular DC servo (smpl_PWM_SG5010) Lab. PWM control rotatory DC servo (smpl_PWM_DS04) Exercise : PWM DeadZone Lab. PWM control DeadZone of output waveform Homework : Electrotherapy Device Homework : Ultrasonic Directive Speaker

PWM pins Based on NUC140 LQFP 100pin PWM0 / GPA12 : pin 65 PWM4 / GPB11 : pin 48 PWM5 / GPE5 : pin 47 PWM6 / GPE0 : pin 55 PWM7 / GPE1 : pin 54 Based on Nano102 LQFP 64pin PWM0_CH0 / PC0 / PD12 PWM0_CH1 / PC1 / PD11 PWM0_CH2 / PC2 / PD10 PWM0_CH3 / PC3 / PD9

Pulse Width Modulation http://commons.wikimedia.org/wiki/File:Pwm.png

PWM Generator Four PWM Generators, each generator supports One 8-bit prescaler One clock divider Two PWM-timers for two outputs, each timer includes A 16-bit PWM down-counter A 16-bit PWM reload value register (CNR) A 16-bit PWM compare register (CMR) One dead-zone generator Two PWM outputs 8 PWM channels or 4 PWM paired channels 16 bits resolution PWM Interrupt synchronized with PWM period Single-shot or Continuous mode PWM

NUC140 PWM clock source selection HIRC HCLK LXT HXT

Nano102 PWM clock source selection

PWM Block Diagram

PWM Frequency & Duty Cycle CMRx+1 >= CNR: PWM output high. CMRx+1 < CNR: PWM output low PWM Frequency = PWMxy_CLK/(prescale+1)*(clock divider)/(CNR+1); where xy = 01, 23, 45 or 67, the selected PWM channel. Duty ratio = (CMR+1)/(CNR+1)

PWM.c (Driver function calls) frequency PWM_ConfigOutputChannel(PWM0, 0, 125000, 50); PWM_EnableOutput(PWM0, 0x3); PWM_Start(PWM0, 0x3); duty cycle PWM group channel no. PWM channel output enable enable PWM

PWM initialization void SYS_Init(void) { SYS_UnlockReg(); // Unlock protected registers CLK_EnableXtalRC(CLK_PWRCTL_HXT_EN_Msk); // Enable HXT external 12MHz crystal CLK_SetCoreClock(32000000); // set HCLK clock to 32MHz // Select IP clock source CLK_SetModuleClock(PWM0_CH01_MODULE, CLK_CLKSEL1_PWM0_CH01_S_HCLK, 0); // Enable IP clock CLK_EnableModuleClock(PWM0_CH01_MODULE); // Init I/O Multi-function // Set PC multi-function pins for PWM SYS->PC_L_MFP = SYS->PC_L_MFP & ~(SYS_PC_L_MFP_PC0_MFP_Msk) | SYS_PC_L_MFP_PC0_MFP_PWM0_CH0; SYS->PC_L_MFP = SYS->PC_L_MFP & ~(SYS_PC_L_MFP_PC1_MFP_Msk) | SYS_PC_L_MFP_PC1_MFP_PWM0_CH1; SYS_LockReg(); // Lock protected registers }

smpl_PWM int32_t main (void) { SYS_Init(); // PWM0 frequency is 125KHz, duty 50%, PWM_ConfigOutputChannel(PWM0, 0, 125000, 50); // Enable output of all PWM channels PWM_EnableOutput(PWM0, 0x3); // Start PWM_Start(PWM0, 0x3); while(1); }

PWM double buffering scheme S/W write new period (CNR) And new duty (CMR) First cycle Second cycle

Driving an external Speaker C to +5V B to PWM0 E to GND +5V 2N2222 Vceo = 40V collector current = 600mA Total dissipation = 625mW PWM0 (GPA12) PWM1 (GPA13) Loud Speaker 8 ohm Gnd collector current = (5 - 0.2) / (100+8) = 44.4mA

smpl_PWM_Music

Note_Freq.h //note_freq.h #define NULL 0 // null = 0Hz #define C0 16 // C0 = 16.35Hz #define C0u 17 // C0#/D0b = 17.32Hz #define D0b 17 #define D0 18 // D0 = 18.35Hz #define D0u 19 // D0#/E0b = 19.45Hz #define E0b 19 #define E0 21 // E0 = 20.60Hz #define F0 22 // F0 = 21.83Hz #define F0u 23 // F0#/G0b = 23.12Hz #define G0b 23 #define G0 24 // G0 = 24.50Hz #define G0u 26 // G0#/A0b = 25.96Hz #define A0b 26 #define A0 27 // A0 = 27.50Hz #define A0u 29 // A0#/B0b = 29.14Hz #define B0b 29 #define B0 31 // B0 = 30.87Hz #define C1 33 // C1 = 32.70Hz #define C1u 35 // C1#/D1b = 34.65Hz #define D1b 35 #define D1 37 // D1 = 36.71Hz #define D1u 39 // D1#/E1b = 38.89Hz

main.c // // smpl_PWM : PWM0 Channel0 output to speaker // PC0 /PWM0_CH0 (Nano102SC2AN LQFP-64 pin7) #include <stdio.h> #include "Nano1X2Series.h" #include "Note_Freq.h" #define P125ms 125000 #define P250ms 250000 #define P500ms 500000 #define P1S 1000000

SYS_Init void SYS_Init(void) { SYS_UnlockReg(); // Unlock protected registers CLK_EnableXtalRC(CLK_PWRCTL_HXT_EN_Msk); // Enable HXT external 12MHz crystal CLK_SetCoreClock(32000000); // set HCLK clock to 32MHz // Select IP clock source CLK_SetModuleClock(PWM0_CH01_MODULE, CLK_CLKSEL1_PWM0_CH01_S_HXT, 0); // Enable IP clock CLK_EnableModuleClock(PWM0_CH01_MODULE); // Init I/O Multi-function // Set PC multi-function pins for PWM SYS->PC_L_MFP = SYS->PC_L_MFP & ~(SYS_PC_L_MFP_PC0_MFP_Msk) | SYS_PC_L_MFP_PC0_MFP_PWM0_CH0; SYS_LockReg(); // Lock protected registers }

main.c Tone array Pitch array int32_t main (void) { uint8_t i; uint16_t music[72] = { E6 ,D6u,E6 ,D6u,E6 ,B5 ,D6 ,C6 ,A5 ,A5 , 0 , 0 , C5 ,E5 ,A5 ,B5 ,B5 , 0 ,C5 ,A5 ,B5 ,C6 ,C6 , 0 , C5 ,E5 ,A5 ,B5 ,B5 , 0 ,E5 ,C6 ,B5 ,A5 ,A5 , 0 , B5 ,C6 ,D6 ,E6 ,E6 , 0 ,G5 ,F6 ,E6 ,D6 ,D6 , 0 , F5 ,E6 ,D6 ,C6 ,C6 , 0 ,E5 ,D6 ,C6 ,B5 ,B5 , 0 }; uint32_t pitch[72] = { P250ms, P250ms, P250ms, P250ms, P250ms, P250ms, P250ms, P250ms, P250ms, P250ms, P250ms, P250ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms, P500ms }; Tone array Pitch array

main.c SYS_Init(); PWM_EnableOutput(PWM0, 0x1); PWM_Start(PWM0, 0x1); for (i=0; i<72; i++) { PWM_ConfigOutputChannel(PWM0, 0, music[i], 50); CLK_SysTickDelay(pitch[i]); }

SG5010

DC Servo Motor Driving Method DC Servo (SG-5010): remote controlled airplane/car/robot Interface: pin1 = PWM, pin2 = Vcc, pin3 = Gnd Driving Method PWM pulse duration is 20ms High width = 0.5 ~ 2.5ms to control motor rotation Exercise: Smpl_PWM_SG5010 PWM controller generate 20ms pulse ADC read from VR to control PWM high pulse width ADC input variable resistance to control gripper open/close

smpl_PWM_SG5010 SG5010 with a gripper PWM clock at 10us & generate 50Hz(20ms) pulse output to DC Servo signal pin high-time between 0.5 and 2.5ms

smpl_PWM_SG5010 // // Smpl_PWM_DCservo_SG5010 // using PWM to generate 50Hz (20ms) pulse to DC Servo signal pin // 0.5 ~ 2.5ms high time (PWM clock at 10us per count) // SG5010 DC servo // pin1 : signal to PWM0/GPA12 (NUC140VE3CN LQFP100 pin65) // pin2 : Vcc // pin3 : Gnd #include <stdio.h> #include "NUC100Series.h" #define SERVO_CYCTIME 2000 // 20ms = 50Hz #define SERVO_HITIME_MIN 50 // minimum Hi width = 0.5ms #define SERVO_HITIME_MAX 250 // maximum Hi width = 2.5ms #define SERVO_STEPTIME 10 // incremental time = 1.0ms

SYS_Init (NUC140) void SYS_Init(void) { SYS_UnlockReg(); // Unlock protected registers CLK_EnableXtalRC(CLK_PWRCTL_HXT_EN_Msk); // Enable HXT external 12MHz crystal CLK_SetCoreClock(50000000); // set HCLK clock to 50MHz // Select IP clock source CLK_SetModuleClock(PWM01_MODULE, CLK_CLKSEL1_PWM01_S_HCLK, 0); // Enable IP clock CLK_EnableModuleClock(PWM01_MODULE); SYS_ResetModule(PWM03_RST); //--------------------------------------------------------------------------------------------------------- // Init I/O Multi-function // Set PA multi-function pins for PWM SYS->GPA_MFP = SYS->GPA_MFP & ~(SYS_PA_H_MFP_PA12_MFP_Msk) | SYS_PA_H_MFP_PA12_MFP_PWM_CH0; SYS_LockReg(); }

smpl_PWM_SG5010 int32_t main(void) { uint16_t i; SYS_Init(); PWM_EnableOutput(PWMA, 0x1); PWM_Start(PWMA, 0x1); while(1) { for (i=SERVO_HITIME_MIN; i<SERVO_HITIME_MAX; i+=SERVO_STEPTIME) PWM_ConfigOutputChannel(PWMA, 0, 50, i*100/SERVO_CYCTIME); CLK_SysTickDelay(500000); }

smpl_ADC_PWM LCD Panel ADC7 Flash Cortex-M0 SPI ADC Value: 277 PWM0 LED NUC140V3AN Function: adjusting VR1 to change PWM frequency and control LED flashing

smpl_ADC_PWM use ADC value to control duty cycle // // smpl_ADC_PWM : read VR1 (ADC7) and set PWM0 to dim blue-LED (GPA12) #include <stdio.h> #include "NUC100Series.h" void ADC_IRQHandler(void) { uint32_t u32Flag; uint32_t u32ADCvalue; // Get ADC conversion finish interrupt flag u32Flag = ADC_GET_INT_FLAG(ADC, ADC_ADF_INT); if(u32Flag & ADC_ADF_INT) { u32ADCvalue = ADC_GET_CONVERSION_DATA(ADC, 7); PWM_ConfigOutputChannel(PWMA, PWM_CH0, 100, u32ADCvalue*100/4096); } ADC_CLR_INT_FLAG(ADC, u32Flag); use ADC value to control duty cycle

SYS_Init (set ADC7 & PWM0) void SYS_Init(void) { SYS_UnlockReg(); // Unlock protected registers CLK_EnableXtalRC(CLK_PWRCTL_HXT_EN_Msk); // Enable HXT external 12MHz crystal CLK_SetCoreClock(50000000); // Set HCLK clock to 32MHz // Select IP clock source CLK_SetModuleClock(ADC_MODULE,CLK_CLKSEL1_ADC_S_HXT,CLK_ADC_CLK_DIVIDER(1)); CLK_SetModuleClock(PWM01_MODULE, CLK_CLKSEL1_PWM01_S_HXT, 0); // Enable IP clock CLK_EnableModuleClock(ADC_MODULE); CLK_EnableModuleClock(PWM01_MODULE); // Init I/O Multi-function SYS->GPA_MFP &= ~SYS_PA_L_MFP_PA7_MFP_Msk ; // Set PA multi-function pins for ADC SYS->GPA_MFP |= SYS_PA_L_MFP_PA7_MFP_ADC_CH7; // Set PA7 to ADC7 // Disable digital input path //PA->OFFD = PA->OFFD | (ADC_CH_7_MASK<< 16); GPIO_DISABLE_DIGITAL_PATH(PA, ADC_CH_7_MASK); // Configure the PA12 as PWM0 output pin SYS->GPA_MFP &= ~SYS_PA_H_MFP_PA12_MFP_Msk; SYS->GPA_MFP |= SYS_PA_H_MFP_PA12_MFP_PWM_CH0; SYS_LockReg(); // Lock protected registers }

Init_ADC, Init_PWM, main() void Init_ADC(void) { ADC_Open(ADC, ADC_INPUT_MODE_SINGLE_END, ADC_OPERATION_MODE_CONTINUOUS, ADC_CH_7_MASK); ADC_POWER_ON(ADC); ADC_EnableInt(ADC, ADC_ADF_INT); NVIC_EnableIRQ(ADC_IRQn); ADC_START_CONV(ADC); } void Init_PWM(void) PWM_ConfigOutputChannel(PWMA, PWM_CH0, 100, 50); PWM_EnableOutput(PWMA, 0x1); PWM_Start(PWMA, 0x1); int32_t main (void) SYS_Init(); Init_ADC(); Init_PWM(); while(1);

Dead Zone Generator PWM controller is implemented with Dead Zone generator. They are built for power device protection. This function generates a programmable time gap to delay PWM rising output. User can program PPRx.DZI to determine the Dead Zone interval. It provides 8-bit dead-zone timer by PWM clock

smpl_PWM_DeadZone

smpl_PWM_DeadZone int main(void) { SYS_Init(); // PWM0 frequency is 100Hz, duty 30%, PWM_ConfigOutputChannel(PWMA, PWM_CH0, 100, 30); PWM_EnableDeadZone(PWMA, PWM_CH0, 400); // PWM2 frequency is 300Hz, duty 50% PWM_ConfigOutputChannel(PWMA, PWM_CH2, 300, 50); PWM_EnableDeadZone(PWMA, PWM_CH2, 200); // Enable output of all PWMA channels PWM_EnableOutput(PWMA, 0xF); // Enable PWMA channel 0 period interrupt, use channel 0 to measure time. PWM_EnablePeriodInt(PWMA, PWM_CH0, 0); NVIC_EnableIRQ(PWMA_IRQn); // Start PWM_Start(PWMA, 0xF); while(1); }

PWM Capture timing diagram

smpl_Capture LCD Panel Capture demo High:683usec SPI Low: 683usec Flash Capture0 Cortex-M0 PWM1 PWM2 NUC140V3AN Function : PWM pins perform to capture input

Home Projects 伺服機控制 https://youtu.be/qJVVuDI2_ng 自製水族自動餵食器 https://youtu.be/MUo_31xR45E 寵物飼料自動餵食器 https://youtu.be/sHUtfkwyOi4 兩足機器人 https://youtu.be/O3vZtCXRAKE 六足機器人 https://youtu.be/GDaBIaSpDl0 低週波電療機電路原理http://www.shs.edu.tw/works/essay/2010/11/2010111215341386.pdf 超音波指向性喇叭 Ultrasonic Directive Speaker

Ultrasonic Directive Speaker

Ultrasonic Directive Speaker

Ultrasonic Directive Speaker

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