October 5th 2015

PWM Tutorial :

In the last tutorial we saw SPI in ATmega2560. In this tutorial we will see PWM in ATmega2560 using interrupt. We will use 16-bit timer 1 for PWM tutorial. There are three modes of PWM

Fast PWM Mode
Phase Correct PWM Mode
Phase and Frequency Correct Mode

Out of these 3 modes in this tutorial we will see Fast Pwm mode. The resolution for PWM can be 8-bit, 9-bit, 10-bit or defined by ICRn or OCRnA. The minimum resolution allowed is 2-bit and maximum resolution allowed is 16-bit. Here we will use Fast PWM with 8-bit resolution. In PWM duty cycle of generated square wave can be varied. Duty cycle is nothing but timer period for which signal remains high i.e. if period of square wave is 500 ms and duty cycle of square wave is 80% then square wave will be high for 400 ms and low for 100 ms. PWM is used in various applications like controlling of servo motors, voltage regulation, audio effects and amplifications. In this tutorial we are going to use PWM for audio generation.

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Important Note : For better audio quality we need higher PWM frequency, hence here also I will unprogram CKDIV8 fuse. Therefore system clock will be 8 MHz.

Fast PWM :

Fast Pwm Mode differs in operation from other two modes mentioned above as other two modes operate in dual slope operation. It is single slope operation. In Fast Pwm Mode OCRnA register defines TOP value. In this mode timer starts counting from bottom to top value and then restarts counting from bottom.

PWM Initialization :

PWM initialization is very similar to timer initialization in timer tutorial. Only we need to configure timer in PWM mode here.

TCCR1A :

TCCR1A register contains Compare Output Mode bits for channel A, B, C and Waveform Generation Mode bits. As we are using Fast PWM, we will set Compare Output Mode bits such that OC1A (we are going to use OC1A) will set on compare match and clear at bottom. And Waveform Generation Bits are elected as per datasheet for Fast PWM with 8-bit resolution.

TCCR1A|=(1<<COM1A1)|(1<<COM1A0)|(1<<WGM10);

TCCR1B :

TCCR1B register contains prescaler selection bits and waveform generation bits. We will select prescaler as 1 and waveform generation bits according to datasheet.

TCCR1B|=(1<<WGM12)|(1<<CS10);

TCCR1C :

For Fast PWM we don’t need TCCR1C register, hence we can ignore it or can write 0 to it.

TCCR1C=0x00;

TCNT1 :

We will write this register as 0.

TCNT1=0x00;

OCR1A :

This is register to which we will actually write values of samples from sound file. Initially we will write it as 0xff. Once interrupt occurs we will put sample values one by one.

OCR1A=0xff;

TIMSK1 :

We will use timer overflow interrupt for this tutorial.

TIMSK1|=(1<<TOIE1);

Also

SREG|=0x80;      //set global interrupt enable bit

TIFR1 :

In this register each flag is set on occurrence of corresponding event. It is good practice to clear all interrupt flags initially. Hence

TIFR1|=(1<<ICF1)|(1<<OCF1C)|(1<<OCF1B)|(1<<OCF1A)|(1<<TOV1);

This finishes our PWM initialization.

In order to get good sound quality we need to select proper PWM frequency. The system clock for ATmega2560 is 8 MHz and prescaler in timer is selected as 1. The formula for PWM frequency as per datasheet is,

fOCnxPWM = fclk_I/O / (N * (1+TOP));

Where fclk_I/O is system clock which is 8 MHz

N is prescaler divider which is 1

TOP depends on the PWM resolution, as it is 8-bit TOP = 2^8 – 1 = 255

Therefore

fOCnxPWM = 8 * 10^6 / (1 * (1 + 255)) = 31250 Hz

In order to play sound file with the help of PWM we need to convert that sound file into suitable format first. We will use Wav File format for sound generation. We will use unsigned 8-bit Mono PCM WAV file. In case of 8-bit Mono PCM WAV file sound has midpoint of 0x80 i.e. 0x80 to 0xFF is the positive part of sound and 0x7F to 0x00 is the negative part of sound.

For conversion of sound file into unsigned 8-bit Mono PCM WAV we need audio editing software like Audacity, Coolwave or Goldwave. I have used Goldwave. Once conversion completed we need to resample WAV file such that sampling frequency of WAV file will be half of PWM frequency i.e. WAV file used for this tutorial is sampled at 15625 Hz.

Once sound file is converted into WAV file with proper sampling rate, next part is to remove header from WAV file and extract RAW data which is required for actual playback. This can be done by using utility which is available here. Though link says this utility can be used with for Win32 and Linux/X86, it works for Windows 7 too. Once you strip header from WAV file, open stripped file with Hex Editor and those are actual values which we will use for audio playback on our ATmega2560. As said earlier OCR1A register will have initial value 0xff, once interrupt starts firing value of sample will be loaded into OCR1A and after finishing of playback reload OCR1A with 0xff for low output i.e. no sound.

Connections : I have used speakers with built in amplifier circuit that work on USB power supply as shown in the image below. Hence I have connected them directly between PWM output pin and ground. If you have such speakers then only connect them directly between PWM output pin and ground. Otherwise you need to use external amplifier circuit and filtering circuit (if necessary).

Important Note : The WAV file when sampled at lower frequencies like 4 KHz, 8 KHz it produces noise which sounds like whistle and I have already said I haven’t used any filtering circuit. But when this WAV file is sampled at higher frequencies (in our case 15625 Hz) the noise disappears.

The complete code for PWM using interrupt is as shown below.

#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>


const unsigned char bell[23674] 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