Embedded Systems Design Course
Applying the mbed microcontroller
Pulse width modulation
These course notes are written by R.Toulson (Anglia Ruskin University) and T.Wilmshurst
(University of Derby). (c) ARM 2012
These course notes accompany the textbook Fast and effective embedded system design :
Applying the ARM mbed
1
Pulse width modulation
The concept of pulse width modulation (PWM)
Applications using pulse width modulation
Evaluating pulse width modulation on the mbed
Controlling LED brightness with PWM
Controlling servo position with PWM
Outputting to a piezo buzzer
2
Introducing pulse width modulation
(PWM)
What is Pulse Width Modulation?
Pulse width modulation (PWM) is a simple method
of using a rectangular digital waveform to control an
analog variable
PWM control is used in a variety of applications,
ranging from communications to automatic control
3
Introducing pulse width modulation
(PWM)
The period is normally kept constant, and the pulse width, or on
time is varied
The duty cycle is the proportion of time that the pulse is on or
high, and is expressed as a percentage:
duty cycle = 100% * (pulse on time) / (pulse period)
on time, ton
Average
value
Period, T
4
Introducing pulse width modulation
(PWM)
Whatever duty cycle a PWM stream has, there is an average
value, as indicated by the dotted line
If the on time is small, the average value is low; if the on time
is large, the average value is high
By controlling the duty cycle, we control this average value
on time, ton
Average
value
Period, T
5
Introducing pulse width modulation
(PWM)
The average value can be extracted from the PWM stream
with a low-pass filter
In this case, and as long as PWM frequency and values of R
and C are appropriately chosen, Vout becomes an analog
output
In practice, this sort of filtering is
Vin R Vout
not always required; many
physical systems have response
C
characteristics which, in reality,
act like low pass filters
6
Applications using pulse width
modulation
Devices used in robotics
DC motors
Servos
Solenoids
Closed loop control systems
Communications and pulse code modulation
Benefits include
Microprocessor control
Efficient use of power
Tolerance to analog noise
Not susceptible to component drift
7
Pulse width modulation on the mbed
The PwmOut interface is used
to control the frequency and
mark-space ratio of a digital
pulse train
The mbed has up to six PWM
outputs, on pins 21 to 26,
although these PwmOuts all
share the same period timer
8
Pulse width modulation on the mbed
The library functions are shown in the table below
PwmOut A pulse-width modulation digital output
Functions Usage
PwmOut Create a PwmOut connected to the specified pin
write Set the output duty-cycle, specified as a normalised float (0.0 1.0)
Return the current output duty-cycle setting, measured as a
read
normalised float (0.0 1.0)
period
Set the PWM period, specified in seconds (float), milli-seconds (int)
period_ms
or micro-seconds (int), keeping the duty cycle the same.
period_us
pulsewidth
Set the PWM pulsewidth, specified in seconds (float), milli-seconds
pulsewidth_ms
(int) or micro-seconds (int), keeping the period the same.
pulsewidth_us
operator= A operator shorthand for write()
operator float() An operator shorthand for read()
9
Evaluating pulse width modulation on
the mbed
Exercise 1: Create a PWM signal which we can see on an
oscilloscope. The following code will generate a 100 Hz
pulse with 50% duty cycle
#include "mbed.h"
PwmOut PWM1(p21);
int main() {
PWM1.period(0.010); // set PWM period to 10 ms
PWM1=0.5; // set duty cycle to 50%
}
10
Evaluating pulse width modulation on
the mbed
Exercise 2: Change the duty cycle to some different
values, say 0.2 (20%) and 0.8 (80%) and check the correct
display is seen on the scope, as shown below
11
Controlling LED brightness with PWM
Exercise 3: This example // host terminal LED dimmer control
code uses a pulse width
#include "mbed.h"
modulation signal to Serial pc(USBTX, USBRX); // tx, rx
PwmOut led(LED1);
increase and decrease float brightness=0.0;
the brightness of the int main() {
pc.printf(Control of LED dimmer by host terminal\n\r");
onboard LED pc.printf("Press 'u = brighter, 'd = dimmer\n\r");
while(1) {
char c = pc.getc();
wait(0.001);
The program requires the if((c == 'u') && (brightness < 0.1)) {
brightness += 0.001;
use of a host terminal led = brightness;
}
application to if((c == 'd') && (brightness > 0.0)) {
communicate the brightness -= 0.001;
led = brightness;
brightness value to the }
pc.printf("%c %1.3f \n \r",c,brightness);
mbed, in this example by }
}
using the u and d keys
12
Controlling servo motor position with
PWM
A servo is a small rotary position control device, used for
example in radio-controlled cars and aeroplanes to position
controllers such as steering, elevators and rudders
The servo shaft can be positioned to specific angular positions
by sending the servo a PWM signal
As long as the modulated signal exists on the input line, the
servo will maintain the angular position of the shaft
As the modulated signal changes, the angular position of the
shaft changes
13
Controlling servo position with PWM
This diagram shows the PWM timing requirements to control the servo
between 0 and 180 degrees
14
Controlling servo position with PWM
The servo requires a higher current than the USB standard can
provide, and so it is essential that you power the servo using an
external power supply
A 4xAA (6V) battery
pack meets the supply
requirement of the servo
15
Controlling servo position with PWM
Exercise 4: Connect the
servo to the mbed as
indicated. Set the PWM
period to 20 ms
Try a number of
different duty periods
and observe the servos
motion
16
Open loop control of a servo motor
Exercise 5: Controlling servo position with the potentiometer
Connect a servo to the mbed with a
potentiometer connected to pin 20
Write a program which allows the
potentiometer to control servo
position
Scale input values so that the full
range of potentiometer adjustment
leads to the full range of servo
position change
17
Outputting to a piezo buzzer
We can connect the PWM output to a piezo buzzer to make
sound
If the duty cycle is set to 50% the PWM frequency will define
the pitch of the sound heard
Exercise 6: Connect a piezo buzzer one of the PWM outputs.
Set duty cycle to 50% and frequency to 500 Hz. Ensure that
you can create sound with the PWM. Change the frequency of
the PWM output and notice the difference in sound with
changes in frequency.
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Outputting to a piezo buzzer
Exercise 7: We are going to use the PWM to play the start of an
old English folk tune Oranges and Lemons. If youre a reader of
music you will recognise this in the Figure below
You just need to know that any note which is a minim lasts twice
as long as a crotchet, which in turn lasts twice as long as a quaver
crotchet quaver minim
19
Outputting to a piezo buzzer
The following table converts the musical piece into frequencies
and beat lengths
20
Outputting to a piezo buzzer
The following program implements the Oranges and Lemons musical
output
// Oranges and Lemons program
#include "mbed.h"
PwmOut buzzer(p21);
float frequency[]={659,554,659,554,550,494,554,587,494,659,554,440};
//frequency array
float beat[]={1,1,1,1,1,0.5,0.5,1,1,1,1,2};
//beat array
int main() {
while (1) {
for (int i=0; i<=11; i++) {
buzzer.period(1/(frequency[i])); // set PWM period
buzzer=0.5; // set duty cycle
wait(0.5*beat[i]); // hold for beat period
}
}
}
Experiment with adding multipliers to the frequency and beat values
to change the speed and pitch of the piece.
21
Summary
The concept of pulse width modulation (PWM)
Applications using pulse width modulation
Evaluating pulse width modulation on the mbed
Controlling LED brightness with PWM
Controlling servo position with PWM
Outputting to a piezo buzzer
22
