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112 views89 pagesPDF Motion Control With Variable Velocity Using PWM PDF
The document discusses pulse width modulation (PWM) and its use in controlling motors. PWM involves generating pulses of varying widths to encode information. The duty cycle is defined as the ratio of pulse width to period and determines the amount of power delivered to a load like a motor. Timers in AVR microcontrollers like the ATmega2560 can be used to generate PWM signals to control the speed of motors connected to the Firebird robotics platform.
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Sridhar JayaramanCopyright
© © All Rights Reserved
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Available Formats
Download as PDF, TXT or read online on Scribd
0 ratings0% found this document useful (0 votes)
112 views89 pagesPDF Motion Control With Variable Velocity Using PWM PDF
The document discusses pulse width modulation (PWM) and its use in controlling motors. PWM involves generating pulses of varying widths to encode information. The duty cycle is defined as the ratio of pulse width to period and determines the amount of power delivered to a load like a motor. Timers in AVR microcontrollers like the ATmega2560 can be used to generate PWM signals to control the speed of motors connected to the Firebird robotics platform.
Uploaded by
Sridhar JayaramanCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 89
outline
Introduction
PWM Generation in AVR
PWM Generation in Firebird V
DC Motor Velocity Control
Using Pulse Width Modulation (PWM)
E-Yantra Team
Embedded Real-Time Systems Lab
Indian Institute of Technology-Bombay
IIT Bombay
October 20, 2012
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 1/22
outline
Introduction
PWM Generation in AVR
PWM Generation in Firebird V
Agenda for Discussion
1 Introduction
Pulse Width Modulation
Duty Cycle
2 PWM Generation in AVR
Timer in AVR
Timer for PWM generation in Firebird
3 PWM Generation in Firebird V
Registers
TCCR5A
TCCR5B
TCNT5
OCR5
Block Diagram
Program
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 2/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Pulse Width Modulation
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Pulse Width Modulation
1 Pulse Width Modulation (PWM), is a method of transmitting
information on a series of pulses
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Pulse Width Modulation
1 Pulse Width Modulation (PWM), is a method of transmitting
information on a series of pulses
2 The data that is being transmitted is encoded on the width of these
pulses to control the amount of power being sent to a load
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Pulse Width Modulation
1 Pulse Width Modulation (PWM), is a method of transmitting
information on a series of pulses
2 The data that is being transmitted is encoded on the width of these
pulses to control the amount of power being sent to a load
3 Examples: Electric stoves, Lamp dimmers, and Robotic Servos
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Pulse Width Modulation
1 Pulse Width Modulation (PWM), is a method of transmitting
information on a series of pulses
2 The data that is being transmitted is encoded on the width of these
pulses to control the amount of power being sent to a load
3 Examples: Electric stoves, Lamp dimmers, and Robotic Servos
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Pulse Width Modulation
1 Pulse Width Modulation (PWM), is a method of transmitting
information on a series of pulses
2 The data that is being transmitted is encoded on the width of these
pulses to control the amount of power being sent to a load
3 Examples: Electric stoves, Lamp dimmers, and Robotic Servos
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle
X The signal remains ”ON” for some time and ”OFF” for some time.
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle
X The signal remains ”ON” for some time and ”OFF” for some time.
X Ton = Time the output remains high.
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle
X The signal remains ”ON” for some time and ”OFF” for some time.
X Ton = Time the output remains high.
X Toff = Time the output remains Low.
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle
X The signal remains ”ON” for some time and ”OFF” for some time.
X Ton = Time the output remains high.
X Toff = Time the output remains Low.
X When output is high the voltage is 5v
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle
X The signal remains ”ON” for some time and ”OFF” for some time.
X Ton = Time the output remains high.
X Toff = Time the output remains Low.
X When output is high the voltage is 5v
X When output is low the voltage is 0v
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle
X The signal remains ”ON” for some time and ”OFF” for some time.
X Ton = Time the output remains high.
X Toff = Time the output remains Low.
X When output is high the voltage is 5v
X When output is low the voltage is 0v
X Time Period(T) = Ton + Toff
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle
X The signal remains ”ON” for some time and ”OFF” for some time.
X Ton = Time the output remains high.
X Toff = Time the output remains Low.
X When output is high the voltage is 5v
X When output is low the voltage is 0v
X Time Period(T) = Ton + Toff
X Duty Cycle = Ton/(Ton + Toff)
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle
X The signal remains ”ON” for some time and ”OFF” for some time.
X Ton = Time the output remains high.
X Toff = Time the output remains Low.
X When output is high the voltage is 5v
X When output is low the voltage is 0v
X Time Period(T) = Ton + Toff
X Duty Cycle = Ton/(Ton + Toff)
X Duty Cycle = 50%
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle (Contd..)
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle (Contd..)
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle (Contd..)
X Ton = Time the output remains high = 1
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle (Contd..)
X Ton = Time the output remains high = 1
X Toff = Time the output remains Low = 7
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle (Contd..)
X Ton = Time the output remains high = 1
X Toff = Time the output remains Low = 7
X Duty Cycle = 12.5%
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle (Contd..)
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle (Contd..)
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle (Contd..)
X Ton = Time the output remains high = 6
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle (Contd..)
X Ton = Time the output remains high = 6
X Toff = Time the output remains Low = 2
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/22
outline
Introduction Pulse Width Modulation
PWM Generation in AVR Duty Cycle
PWM Generation in Firebird V
Duty Cycle (Contd..)
X Ton = Time the output remains high = 6
X Toff = Time the output remains Low = 2
X Duty Cycle = 75%
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/22
outline
Introduction Timer in AVR
PWM Generation in AVR Timer for PWM generation in Firebird
PWM Generation in Firebird V
Timer in AVR
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/22
outline
Introduction Timer in AVR
PWM Generation in AVR Timer for PWM generation in Firebird
PWM Generation in Firebird V
Timer in AVR
1 The AVR microcontroller ATmega2560 has
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/22
outline
Introduction Timer in AVR
PWM Generation in AVR Timer for PWM generation in Firebird
PWM Generation in Firebird V
Timer in AVR
1 The AVR microcontroller ATmega2560 has
two 8-bit timers (Timer0 and Timer2) and
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/22
outline
Introduction Timer in AVR
PWM Generation in AVR Timer for PWM generation in Firebird
PWM Generation in Firebird V
Timer in AVR
1 The AVR microcontroller ATmega2560 has
two 8-bit timers (Timer0 and Timer2) and
four 16-bit timers (Timer 1, 3, 4 and 5)
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/22
outline
Introduction Timer in AVR
PWM Generation in AVR Timer for PWM generation in Firebird
PWM Generation in Firebird V
Timer in AVR
1 The AVR microcontroller ATmega2560 has
two 8-bit timers (Timer0 and Timer2) and
four 16-bit timers (Timer 1, 3, 4 and 5)
2 When the counter reaches its maximum count, it rolls over and
executes from the start
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/22
outline
Introduction Timer in AVR
PWM Generation in AVR Timer for PWM generation in Firebird
PWM Generation in Firebird V
Timer in AVR
1 The AVR microcontroller ATmega2560 has
two 8-bit timers (Timer0 and Timer2) and
four 16-bit timers (Timer 1, 3, 4 and 5)
2 When the counter reaches its maximum count, it rolls over and
executes from the start
For 8-bit counter, roll over occurs at 255 count and
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/22
outline
Introduction Timer in AVR
PWM Generation in AVR Timer for PWM generation in Firebird
PWM Generation in Firebird V
Timer in AVR
1 The AVR microcontroller ATmega2560 has
two 8-bit timers (Timer0 and Timer2) and
four 16-bit timers (Timer 1, 3, 4 and 5)
2 When the counter reaches its maximum count, it rolls over and
executes from the start
For 8-bit counter, roll over occurs at 255 count and
For 16-bit counter it occurs at 65535 count
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/22
outline
Introduction Timer in AVR
PWM Generation in AVR Timer for PWM generation in Firebird
PWM Generation in Firebird V
Timer for PWM generation in Firebird
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/22
outline
Introduction Timer in AVR
PWM Generation in AVR Timer for PWM generation in Firebird
PWM Generation in Firebird V
Timer for PWM generation in Firebird
1 Timer 5 can be used for PWM generation for controlling speed of
motors
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/22
outline
Introduction Timer in AVR
PWM Generation in AVR Timer for PWM generation in Firebird
PWM Generation in Firebird V
Timer for PWM generation in Firebird
1 Timer 5 can be used for PWM generation for controlling speed of
motors
2 The duty cycle of square wave generated by the Timer5 can be
varied to produce different average DC values for motors
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/22
outline
Introduction Timer in AVR
PWM Generation in AVR Timer for PWM generation in Firebird
PWM Generation in Firebird V
Timer for PWM generation in Firebird
1 Timer 5 can be used for PWM generation for controlling speed of
motors
2 The duty cycle of square wave generated by the Timer5 can be
varied to produce different average DC values for motors
3 Using FAST PWM mode to vary speed of motors
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Timer for PWM generation in Firebird
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Timer for PWM generation in Firebird
1 To Program PWM, we have to initialize some register before use it
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Timer for PWM generation in Firebird
1 To Program PWM, we have to initialize some register before use it
2 Four registers are:
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Timer for PWM generation in Firebird
1 To Program PWM, we have to initialize some register before use it
2 Four registers are:
TCCR5A
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Timer for PWM generation in Firebird
1 To Program PWM, we have to initialize some register before use it
2 Four registers are:
TCCR5A
TCCR5B
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Timer for PWM generation in Firebird
1 To Program PWM, we have to initialize some register before use it
2 Four registers are:
TCCR5A
TCCR5B
TCNT5
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Timer for PWM generation in Firebird
1 To Program PWM, we have to initialize some register before use it
2 Four registers are:
TCCR5A
TCCR5B
TCNT5
OCR5n
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
TCCR5A- Timer Counter Control Register A
This register is Used to Configure Timer for PWM generation
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
TCCR5A- Timer Counter Control Register A
This register is Used to Configure Timer for PWM generation
Bit Symbol Description Bit Value
7 COM5A1 Compare Output Mode for Channel A bit 1 1
6 COM5A0 Compare Output Mode for Channel A bit 0 0
5 COM5B1 Compare Output Mode for Channel B bit 1 1
4 COM5B0 Compare Output Mode for Channel B bit 0 0
3 COM5C1 Compare Output Mode for Channel C bit 1 1
2 COM5C0 Compare Output Mode for Channel C bit 0 0
1 WGM11 Waveform Generation Mode bit 1 0
0 WGM10 Waveform Generation Mode bit 0 1
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
TCCR5A- Timer Counter Control Register A
This register is Used to Configure Timer for PWM generation
Bit Symbol Description Bit Value
7 COM5A1 Compare Output Mode for Channel A bit 1 1
6 COM5A0 Compare Output Mode for Channel A bit 0 0
5 COM5B1 Compare Output Mode for Channel B bit 1 1
4 COM5B0 Compare Output Mode for Channel B bit 0 0
3 COM5C1 Compare Output Mode for Channel C bit 1 1
2 COM5C0 Compare Output Mode for Channel C bit 0 0
1 WGM11 Waveform Generation Mode bit 1 0
0 WGM10 Waveform Generation Mode bit 0 1
TCCR5A = 0xA9
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Compare Output Mode Fast PWM
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Compare Output Mode Fast PWM
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Waveform Generation Bit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 12/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Waveform Generation Bit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 12/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
TCCR5B- Timer Counter Control Register B
This register is Used to Configure Timer for PWM generation
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 13/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
TCCR5B- Timer Counter Control Register B
This register is Used to Configure Timer for PWM generation
Bit Symbol Description Bit Value
7 ICNC5 Input Capture Noise Canceller 0
6 ICES5 Input Capture Edge Select 0
5 – Reserved Bit 0
4 WGM53 Waveform Generation Mode bit 3 0
3 WGM52 Waveform Generation Mode bit 2 1
2 CS52 Clock Select 0
1 CS51 Clock Select 1
0 CS50 Clock Select 1
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 13/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
TCCR5B- Timer Counter Control Register B
This register is Used to Configure Timer for PWM generation
Bit Symbol Description Bit Value
7 ICNC5 Input Capture Noise Canceller 0
6 ICES5 Input Capture Edge Select 0
5 – Reserved Bit 0
4 WGM53 Waveform Generation Mode bit 3 0
3 WGM52 Waveform Generation Mode bit 2 1
2 CS52 Clock Select 0
1 CS51 Clock Select 1
0 CS50 Clock Select 1
TCCR5B = 0x0B
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 13/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Clock Select Bit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 14/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Clock Select Bit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 14/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
TCNT5 : Timer/Counter5
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
TCNT5 : Timer/Counter5
Purpose: Counts Up/down according to clock frequency
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
TCNT5 : Timer/Counter5
Purpose: Counts Up/down according to clock frequency
TCNT5 is a 16-bit Register
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
TCNT5 : Timer/Counter5
Purpose: Counts Up/down according to clock frequency
TCNT5 is a 16-bit Register
Counts from 0 to 255 if used in 8-Bit Mode
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
TCNT5 : Timer/Counter5
Purpose: Counts Up/down according to clock frequency
TCNT5 is a 16-bit Register
Counts from 0 to 255 if used in 8-Bit Mode
Counts from 0 to 65535 if used in 16-Bit Mode
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Output Compare Register 5
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Output Compare Register 5
Purpose: Compares itself from TCNT counter and set flags when
match occurs
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Output Compare Register 5
Purpose: Compares itself from TCNT counter and set flags when
match occurs
OCR5n: where n=A/B/C are three different 16-bit Register
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Output Compare Register 5
Purpose: Compares itself from TCNT counter and set flags when
match occurs
OCR5n: where n=A/B/C are three different 16-bit Register
Each can be used individually as separate PWM channel
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Output Compare Register 5
Purpose: Compares itself from TCNT counter and set flags when
match occurs
OCR5n: where n=A/B/C are three different 16-bit Register
Each can be used individually as separate PWM channel
OCR5n is represented as two 8-bit register as OCR5nL and OCR5nH
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Output Compare Register 5
Purpose: Compares itself from TCNT counter and set flags when
match occurs
OCR5n: where n=A/B/C are three different 16-bit Register
Each can be used individually as separate PWM channel
OCR5n is represented as two 8-bit register as OCR5nL and OCR5nH
PWM generated is 8-bit, so only lower register is used
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Output Compare Register 5
Purpose: Compares itself from TCNT counter and set flags when
match occurs
OCR5n: where n=A/B/C are three different 16-bit Register
Each can be used individually as separate PWM channel
OCR5n is represented as two 8-bit register as OCR5nL and OCR5nH
PWM generated is 8-bit, so only lower register is used
OCR5AL (PortL3) is connected to Left Motor
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Output Compare Register 5
Purpose: Compares itself from TCNT counter and set flags when
match occurs
OCR5n: where n=A/B/C are three different 16-bit Register
Each can be used individually as separate PWM channel
OCR5n is represented as two 8-bit register as OCR5nL and OCR5nH
PWM generated is 8-bit, so only lower register is used
OCR5AL (PortL3) is connected to Left Motor
OCR5BL (PortL4) is connected to Right Motor
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Output Compare Register 5 (Contd..)
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 17/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Output Compare Register 5 (Contd..)
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 17/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Output Compare Register 5 (Contd..)
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 17/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Block Diagram - Output Compare Unit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 18/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Block Diagram - Output Compare Unit
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 18/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Timing Diagram Fast PWM
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 19/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Timing Diagram Fast PWM
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 19/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Syntax for C-Program
PWM Initialization
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 20/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Syntax for C-Program
PWM Initialization
Port Pin Config
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 20/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Syntax for C-Program
PWM Initialization
Port Pin Config
void motion_pin_config (void) //Configure Pins as Output
{
Port A for motion control and Port L for Velocity Control must be defined Output
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 20/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Syntax for C-Program
PWM Initialization
Port Pin Config
void motion_pin_config (void) //Configure Pins as Output
{
Port A for motion control and Port L for Velocity Control must be defined Output
PWM Initialization
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 20/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Syntax for C-Program
PWM Initialization
Port Pin Config
void motion_pin_config (void) //Configure Pins as Output
{
Port A for motion control and Port L for Velocity Control must be defined Output
PWM Initialization
void timer5_init() //Set Register Values for starting Fast 8-bit PWM
{
TCCR5A =
TCCR5B =
TCNT5H = 0xFF;
TCNT5L = 0x00;
OCR5AH = 0x00;
OCR5AL = 0xFF;
OCR5BH = 0x00;
OCR5BL = 0xFF;
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 20/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Syntax for C-Program
Program
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 21/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Syntax for C-Program
Program
Main Program
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 21/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Syntax for C-Program
Program
Main Program
int main(void)
{
init_devices();
forward();
while(1)
{
velocity(100,100);
_delay_ms(500);
velocity(0,255);
_delay_ms(500);
}
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 21/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Syntax for C-Program
Program
Main Program
int main(void)
{
init_devices();
forward();
while(1)
{
velocity(100,100);
_delay_ms(500);
velocity(0,255);
_delay_ms(500);
}
}
Velocity Function
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 21/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Syntax for C-Program
Program
Main Program
int main(void)
{
init_devices();
forward();
while(1)
{
velocity(100,100);
_delay_ms(500);
velocity(0,255);
_delay_ms(500);
}
}
Velocity Function
void velocity (unsigned char left_motor, unsigned char right_motor)
{
OCR5AL = (unsigned char)left_motor;
OCR5BL = (unsigned char)right_motor;
}
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 21/22
Registers
TCCR5A
outline
TCCR5B
Introduction
TCNT5
PWM Generation in AVR
OCR5
PWM Generation in Firebird V
Block Diagram
Program
Thank You!
Post your queries on: http://qa.e-yantra.org/
www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 22/22
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