Transcript L19 PWM - 로봇SW교육원

UNIT
19 PWM
로봇 SW 교육원
조용수
학습 목표
• PWM
• PWM Register
2
PWM
3
• Pulse Width Modulation
• 진폭이 일정한 상태에서 펄스 폭을 증/감 하여 신호
를 변화시키는 방법
• 디지털 출력으로 아날로그 회로를 제어할 수 있음.
• Duty Cycle : High Level 과 Low Level 간의 비율
N051 PWM
• Four PWM Generators, each generator supports
• One 8-bit prescaler
• One clock divider ( 1, ½, ¼, 1/8, 1/16)
• 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.
Support edge and center aligned modes
Single-shot or Continuous mode PWM.
4
PWM/Capture Clock Source
5
PWM Edge Align Mode
• Duty ratio = (CMR+1) / (CNR+1)
• Duty
= (CMR+1) x (clock period)
• Period
= (CNR+1) x (clock period)
Start
Initialize
PWM
CMRn+1
+
CNRn
-
PWM-Timer
Comparator
Output
Update
new CMRn
CMRn
CNRn
PWM
Ouput
CNRn+1
6
CMRn+1
PWM Double Buffering Illustration
S/W write new period (CNR)
And new duty (CMR)
CNR=150
CMR=50
CNR=199
CMR=49
CNR=99
CMR=0
CNR=0
CMR=XX
Start
Stop
PWM
Waveform
51
write a nonzero number to
prescaler & setup clock
dividor
50
151
200
First cycle
Second cycle
7
1
100
New period (CNR)
New duty (CMR)
Operation of Dead Zone Generator
•
•
•
Why need the dead zone control?
– To avoid a paired-PWM outputs overlapping on duty-on dur
ation.
– For example, in Motor Driver application, it needs to avoid t
he upper and lower power switch turn on simultaneously.
Insert a delay time (dead zone) before duty on at each channel
of paired-PWM.
8-bit dead-zone timer from PWM clock.
PG0 without
dead-zone
PG1 without
dead-zone
PWM0 with
dead-zone
PWM1 with
dead-zone
Dead-zone Interval
Effect of dead-zone for complementary pairs
8
PWM Register
9
PWM Register
10
PWM Register
11
PWM Register
12
PWM Register
13
PWM Register
14
PWM Register
15
PWM Register
16
PWM Register
17
PWM Register
18
PWM Register
19
PWM Register
20
PWM Register
21
PWM Register
22
PWM Register
23
PWM Register
24
PWM Register
25
PWM Register
26
PWM Register
27