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