SAMD_PWM Library

Why do we need this SAMD_PWM library
Changelog
Prerequisites
Installation
Packages' Patches
Usage
Examples
- 1. PWM_Basic
- 2. PWM_DynamicDutyCycle
- 3. PWM_DynamicDutyCycle_Int
- 4. PWM_DynamicFreq
- 5. PWM_Multi
- 6. PWM_MultiChannel
- 7. PWM_Waveform
- 8. PWM_StepperControl New
- 9. PWM_manual New
- 10. PWM_SpeedTest New
Example PWM_Multi
Debug Terminal Output Samples
Debug
Troubleshooting
Issues
TO DO
DONE
Contributions and Thanks
Contributing
License
Copyright

Why do we need this SAMD_PWM library

Features

This hardware-based PWM library enables you to use Hardware-PWM on SAMD21/SAMD51 boards such as NANO_33_IOT, ITSYBITSY_M4, SEEED_XIAO_M0, SparkFun SAMD51_Thing_Plus, etc., to create and output PWM. These purely hardware-based PWM channels can generate very high PWM frequencies, depending on CPU clock and acceptable accuracy. The maximum resolution can be 16-bit for better accuracy when using Timer TCCx. With Timer TCx, only 8-bit resolution is supported with lower accuracy.

This library is using the same or similar functions as other FastPWM sibling libraries, as follows, to enable you to port your PWM code easily between platforms

The most important feature is they're purely hardware-based PWM channels. Therefore, their operations are not blocked by bad-behaving software functions / tasks.

This important feature is absolutely necessary for mission-critical tasks. These hardware PWM-channels, still work even if other software functions are blocking. Moreover, they are much more precise (certainly depending on clock frequency accuracy) than other software timers using millis() or micros(). That's necessary if you need to control external systems (Servo, etc.) requiring better accuracy.

New efficient setPWM_manual() function enables waveform creation using PWM.

The PWM_Multi example will demonstrate the usage of multichannel PWM using multiple Hardware-PWM blocks (Timer & Channel). The 4 independent Hardware-PWM channels are used to control 4 different PWM outputs, with totally independent frequencies and dutycycles on SAMD21/SAMD51.

Being hardware-based PWM, their executions are not blocked by bad-behaving functions / tasks, such as connecting to WiFi, Internet or Blynk services.

This non-being-blocked important feature is absolutely necessary for mission-critical tasks.

Why using hardware-based PWM is better

Imagine you have a system with a mission-critical function, controlling a robot or doing something much more important. You normally use a software timer to poll, or even place the function in loop(). But what if another function is blocking the loop() or setup().

So your function might not be executed, and the result would be disastrous.

You'd prefer to have your function called, no matter what happening with other functions (busy loop, bug, etc.).

The correct choice is to use hardware-based PWM.

These hardware-based PWM channels still work even if other software functions are blocking. Moreover, they are much more precise (certainly depending on clock frequency accuracy) than other software-based PWMs, using millis() or micros().

Functions using normal software-based PWMs, relying on loop() and calling millis(), won't work if the loop() or setup() is blocked by certain operation. For example, certain function is blocking while it's connecting to WiFi or some services.

Currently supported Boards

Arduino SAMD21 (ZERO, MKR, NANO_33_IOT, etc.).
Adafruit SAM21 (Itsy-Bitsy M0, Metro M0, Feather M0, Gemma M0, etc.).
Adafruit SAM51 (Itsy-Bitsy M4, Metro M4, Grand Central M4, Feather M4 Express, etc.).
Seeeduino SAMD21/SAMD51 boards (SEEED_WIO_TERMINAL, SEEED_FEMTO_M0, SEEED_XIAO_M0, Wio_Lite_MG126, WIO_GPS_BOARD, SEEEDUINO_ZERO, SEEEDUINO_LORAWAN, SEEED_GROVE_UI_WIRELESS, etc.)
Sparkfun SAMD21 boards such as SparkFun_RedBoard_Turbo, SparkFun_Qwiic_Micro, etc.
Sparkfun SAMD51 boards such as SparkFun_SAMD51_Thing_Plus, SparkFun_SAMD51_MicroMod, etc.

Prerequisites

Arduino IDE 1.8.19+ for Arduino.
Arduino SAMD core 1.8.13+ for SAMD ARM Cortex-M0+ boards.
Adafruit SAMD core 1.7.11+ for SAMD ARM Cortex-M0+ and M4 boards (Nano 33 IoT, etc.).
Seeeduino SAMD core 1.8.3+ for SAMD21/SAMD51 boards (XIAO M0, Wio Terminal, etc.).
Sparkfun SAMD core 1.8.3+ for SAMD21/SAMD51 boards (SparkFun_RedBoard_Turbo, SparkFun_SAMD51_Thing_Plus, etc.)
Industruino SAMD core for SAMD21/SAMD51 boards

Installation

Use Arduino Library Manager

The best and easiest way is to use Arduino Library Manager. Search for SAMD_PWM, then select / install the latest version. You can also use this link for more detailed instructions.

Manual Install

Another way to install is to:

Navigate to SAMD_PWM page.
Download the latest release SAMD_PWM-main.zip.
Extract the zip file to SAMD_PWM-main directory
Copy whole SAMD_PWM-main folder to Arduino libraries' directory such as ~/Arduino/libraries/.

VS Code & PlatformIO

Install VS Code
Install PlatformIO
Install SAMD_PWM library by using Library Manager. Search for SAMD_PWM in Platform.io Author's Libraries
Use included platformio.ini file from examples to ensure that all dependent libraries will installed automatically. Please visit documentation for the other options and examples at Project Configuration File

Packages' Patches

1. For Arduino SAMD boards

To be able to compile without error and automatically detect and display BOARD_NAME on Arduino SAMD (Nano-33-IoT, etc) boards, you have to copy the whole Arduino SAMD Packages_Patches directory into Arduino SAMD directory (~/.arduino15/packages/arduino/hardware/samd/1.8.13).

For core version v1.8.10+

Supposing the Arduino SAMD version is 1.8.13. Now only one file must be copied into the directory:

~/.arduino15/packages/arduino/hardware/samd/1.8.13/platform.txt

Whenever a new version is installed, remember to copy this files into the new version directory. For example, new version is x.yy.zz

This file must be copied into the directory:

~/.arduino15/packages/arduino/hardware/samd/x.yy.zz/platform.txt

For core version v1.8.9-

Supposing the Arduino SAMD version is 1.8.9. These files must be copied into the directory:

~/.arduino15/packages/arduino/hardware/samd/1.8.9/platform.txt
~/.arduino15/packages/arduino/hardware/samd/1.8.9/cores/arduino/Arduino.h

Whenever a new version is installed, remember to copy these files into the new version directory. For example, new version is x.yy.z

These files must be copied into the directory:

~/.arduino15/packages/arduino/hardware/samd/x.yy.z/platform.txt
~/.arduino15/packages/arduino/hardware/samd/x.yy.z/cores/arduino/Arduino.h

This is mandatory to fix the notorious Arduino SAMD compiler error. See Improve Arduino compatibility with the STL (min and max macro)

 ...\arm-none-eabi\include\c++\7.2.1\bits\stl_algobase.h:243:56: error: macro "min" passed 3 arguments, but takes just 2
     min(const _Tp& __a, const _Tp& __b, _Compare __comp)

Whenever the above-mentioned compiler error issue is fixed with the new Arduino SAMD release, you don't need to copy the Arduino.h file anymore.

2. For Adafruit SAMD boards

To be able to compile without error and automatically detect and display BOARD_NAME on Adafruit SAMD (Itsy-Bitsy M4, etc) boards, you have to copy the files in Adafruit SAMD Packages_Patches into Adafruit samd directory (~/.arduino15/packages/adafruit/hardware/samd/1.7.11).

Supposing the Adafruit SAMD core version is 1.7.11. This file must be copied into the directory:

~/.arduino15/packages/adafruit/hardware/samd/1.7.11/platform.txt
~/.arduino15/packages/adafruit/hardware/samd/1.7.11/cores/arduino/Print.h
~/.arduino15/packages/adafruit/hardware/samd/1.7.11/cores/arduino/Print.cpp

Whenever a new version is installed, remember to copy this file into the new version directory. For example, new version is x.yy.zz This file must be copied into the directory:

~/.arduino15/packages/adafruit/hardware/samd/x.yy.zz/platform.txt
~/.arduino15/packages/adafruit/hardware/samd/x.yy.zz/cores/arduino/Print.h
~/.arduino15/packages/adafruit/hardware/samd/x.yy.zz/cores/arduino/Print.cpp

3. For Seeeduino SAMD boards

To be able to compile without error and automatically detect and display BOARD_NAME on Seeeduino SAMD (XIAO M0, Wio Terminal, etc) boards, you have to copy the files in Seeeduino SAMD Packages_Patches into Seeeduino samd directory (~/.arduino15/packages/Seeeduino/hardware/samd/1.8.3).

Supposing the Seeeduino SAMD core version is 1.8.3. This file must be copied into the directory:

~/.arduino15/packages/Seeeduino/hardware/samd/1.8.3/platform.txt
~/.arduino15/packages/Seeeduino/hardware/samd/1.8.3/cores/arduino/Arduino.h
~/.arduino15/packages/Seeeduino/hardware/samd/1.8.3/cores/arduino/Print.h
~/.arduino15/packages/Seeeduino/hardware/samd/1.8.3/cores/arduino/Print.cpp

Whenever a new version is installed, remember to copy this file into the new version directory. For example, new version is x.yy.zz This file must be copied into the directory:

~/.arduino15/packages/Seeeduino/hardware/samd/x.yy.zz/platform.txt
~/.arduino15/packages/Seeeduino/hardware/samd/x.yy.zz/cores/arduino/Arduino.h
~/.arduino15/packages/Seeeduino/hardware/samd/x.yy.zz/cores/arduino/Print.h
~/.arduino15/packages/Seeeduino/hardware/samd/x.yy.zz/cores/arduino/Print.cpp

4. For SparkFun SAMD boards

To be able to compile without error and automatically detect and display BOARD_NAME on SparkFun SAMD (XIAO SparkFun_RedBoard_Turbo, SparkFun_SAMD51_Thing_Plus, etc) boards, you have to copy the file SparkFun SAMD Packages_Patches into SparkFun samd directory (~/.arduino15/packages/SparkFun/hardware/samd/1.8.3).

Supposing the SparkFun SAMD core version is 1.8.3. This file must be copied into the directory:

~/.arduino15/packages/SparkFun/hardware/samd/1.8.3/cores/arduino/Print.h
~/.arduino15/packages/SparkFun/hardware/samd/1.8.3/cores/arduino/Print.cpp
~/.arduino15/packages/SparkFun/hardware/samd/1.8.3/cores/arduino51/Print.h
~/.arduino15/packages/SparkFun/hardware/samd/1.8.3/cores/arduino51/Print.cpp

Whenever a new version is installed, remember to copy this file into the new version directory. For example, new version is x.yy.zz This file must be copied into the directory:

~/.arduino15/packages/SparkFun/hardware/samd/x.yy.zz/cores/arduino/Print.h
~/.arduino15/packages/SparkFun/hardware/samd/x.yy.zz/cores/arduino/Print.cpp
~/.arduino15/packages/SparkFun/hardware/samd/x.yy.zz/cores/arduino51/Print.h
~/.arduino15/packages/SparkFun/hardware/samd/x.yy.zz/cores/arduino51/Print.cpp

Usage

Before using any PWM Timer and channel, you have to make sure the Timer and channel has not been used by any other purpose.

// Not OK for Nano_33_IoT (0, 1, 7, 8, 13, 14, 15 )
// OK for Nano_33_IoT (2, 3, 4, 5, 6, 9, 10, 11, 12, 16, 17)
// TCC OK => pin 4, 5, 6, 8, 9, 10, 11, 16/A2, 17/A3
// TC OK  => pin 12
// For ITSYBITSY_M4 
// 16-bit Higher accuracy, Lower Frequency, PWM Pin OK: TCCx: 0-2, 4, 5, 7, 9-13
//  8-bit Lower  accuracy, Hi Frequency,    PWM Pin OK: TCx: 18-20, 24-25

1. Create PWM Instance with Pin, Frequency, dutycycle, channel (default = 0) and PWM_resolution (default = 16)

SAMD_PWM* PWM_Instance;

PWM_Instance = new SAMD_PWM(pinToUse, frequency, dutyCycle, channel, PWM_resolution);

2. Initialize PWM Instance

if (PWM_Instance)
{
  PWM_Instance->setPWM();
}

3. Set or change PWM frequency or dutyCycle

To use float new_dutyCycle

PWM_Instance->setPWM(PWM_Pins, new_frequency, new_dutyCycle);

such as

dutyCycle = 10.0f;
  
Serial.print(F("Change PWM DutyCycle to ")); Serial.println(dutyCycle);
PWM_Instance->setPWM(pinToUse, frequency, dutyCycle);

To use uint32_t new_dutyCycle = (real_dutyCycle * 65536) / 100

PWM_Instance->setPWM_Int(PWM_Pins, new_frequency, new_dutyCycle);

such as for real_dutyCycle = 50%

// 50% dutyCycle = (real_dutyCycle * 65536) / 100
dutyCycle = 32768;

Serial.print(F("Change PWM DutyCycle to (%) "));
Serial.println((float) dutyCycle * 100 / 65536);
PWM_Instance->setPWM_Int(pinToUse, frequency, dutyCycle);

for real_dutyCycle = 50%

// 20% dutyCycle = (real_dutyCycle * 65536) / 100
dutyCycle = 13107;

Serial.print(F("Change PWM DutyCycle to (%) "));
Serial.println((float) dutyCycle * 100 / 65536);
PWM_Instance->setPWM_Int(pinToUse, frequency, dutyCycle);

4. Set or change PWM frequency and dutyCycle manually and efficiently in waveform creation

Function prototype

// Must have same frequency
// From v1.0.1-, DCValue = 0-100
// From v1.2.0+, DCValue = 0-65535
bool setPWM_manual(const uint8_t& pin, const uint16_t& dutyCycle);

// DCPercentage from 0.0f - 100.0f
bool setPWM_DCPercentage_manual(const uint8_t& pin, const float& DCPercentage);

// DCPercentage from 0-65535 for 0.0f - 100.0f
bool setPWM_DCPercentageInt_manual(const uint8_t& pin, const uint16_t& DCPercentage);

Need to call only once for each pin

PWM_Instance->setPWM(PWM_Pins, frequency, dutyCycle);

after that, if just changing dutyCycle / level, use the faster

// dutycycle = 0-65535 for 0-100%
// 1084 ns
PWM_Instance->setPWM_manual(pinToUse, dutycycle);

or better and much easier to use, but slowest

// 1259 ns
new_DCPercentage = 50.0f;
PWM_Instance->setPWM_DCPercentage_manual(pinToUse, new_DCPercentage);

or the fastest

// dutycyclePercent = 0-65535 == 0-100%
// 1067 ns
dutycyclePercentInt = 1 << 15;   // 50%
PWM_Instance->setPWM_DCPercentageInt_manual(pinToUse, dutycyclePercentInt);

Don't use the extremely inefficient setPWM() for this purpose

// Very inefficient, don't use => 499251 ns, 500-time slower
//PWM_Instance->setPWM(pinToUse, frequency, dutycyclePercent);

Examples:

Example PWM_Multi

SAMD_PWM/examples/PWM_Multi/PWM_Multi.ino

Lines 11 to 112 in aec5386

    
           #define _PWM_LOGLEVEL_       4 
        
           #include "SAMD_PWM.h" 
        
           // Not OK for Nano_33_IoT (0, 1, 7, 8, 13, 14, 15 ) 
        
           // OK for Nano_33_IoT (2, 3, 4, 5, 6, 9, 10, 11, 12, 16, 17) 
        
           // TCC OK => pin 4, 5, 6, 8, 9, 10, 11, 16/A2, 17/A3 
        
           // TC OK  => pin 12 
        
           // For ITSYBITSY_M4 
        
           // 16-bit Higher accuracy, Lower Frequency, PWM Pin OK: TCCx: 0-2, 4, 5, 7, 9-13 
        
           //  8-bit Lower  accuracy, Hi Frequency,    PWM Pin OK: TCx: 18-20, 24-25 
        
           // Change to use the correct PWM pins from different TCx or TCCx, according to your boards 
        
           #if defined(__SAMD51__) 
        
           // Pin 5:TCC2_CH1, pin 7: TCC1_CH2, pin 11: TCC0_CH1, pin 25/MOSI: TC2_CH0 
        
           uint32_t PWM_Pins[]   = { 5, 7, 11, 25 }; 
        
           #else 
        
           // pin 4: TCC1_CH1, Pin 5:TCC0_CH1, pin 11: TCC2_CH0, pin 12: TC3_CH1 
        
           uint32_t PWM_Pins[]   = { 4, 5, 11, 12 }; 
        
           #endif 
        
           #define NUM_OF_PINS   ( sizeof(PWM_Pins) / sizeof(uint32_t) ) 
        
           float dutyCycle[] = { 10.0f, 30.0f, 50.0f, 90.0f }; 
        
           float frequency[] = { 2000.0f, 3000.0f, 4000.0f, 8000.0f }; 
        
           SAMD_PWM* PWM_Instance[NUM_OF_PINS]; 
        
           char dashLine[] = "====================================================================================="; 
        
           void printPWMInfo(SAMD_PWM* PWM_Instance) 
        
           { 
        
             Serial.println(dashLine); 
        
             Serial.print("Actual data: pin = "); 
        
             Serial.print(PWM_Instance->getPin()); 
        
             Serial.print(", PWM DC = "); 
        
             Serial.print(PWM_Instance->getActualDutyCycle()); 
        
             Serial.print(", PWMPeriod = "); 
        
             Serial.print(PWM_Instance->getPWMPeriod()); 
        
             Serial.print(", PWM Freq (Hz) = "); 
        
             Serial.println(PWM_Instance->getActualFreq(), 4); 
        
             Serial.println(dashLine); 
        
           } 
        
           void setup() 
        
           { 
        
             Serial.begin(115200); 
        
             while (!Serial && millis() < 5000); 
        
             delay(500); 
        
             Serial.print(F("\nStarting PWM_Multi on ")); 
        
             Serial.println(BOARD_NAME); 
        
             Serial.println(SAMD_PWM_VERSION); 
        
             for (uint8_t index = 0; index < NUM_OF_PINS; index++) 
        
             { 
        
               PWM_Instance[index] = new SAMD_PWM(PWM_Pins[index], frequency[index], dutyCycle[index]); 
        
               if (PWM_Instance[index]) 
        
               { 
        
                 PWM_Instance[index]->setPWM(); 
        
               } 
        
             } 
        
             Serial.println(dashLine); 
        
             Serial.println("Index\tPin\tPWM_freq\tDutyCycle\tActual Freq"); 
        
             Serial.println(dashLine); 
        
             for (uint8_t index = 0; index < NUM_OF_PINS; index++) 
        
             { 
        
               if (PWM_Instance[index]) 
        
               { 
        
                 Serial.print(index); 
        
                 Serial.print("\t"); 
        
                 Serial.print(PWM_Pins[index]); 
        
                 Serial.print("\t"); 
        
                 Serial.print(frequency[index]); 
        
                 Serial.print("\t\t"); 
        
                 Serial.print(dutyCycle[index]); 
        
                 Serial.print("\t\t"); 
        
                 Serial.println(PWM_Instance[index]->getActualFreq(), 4); 
        
               } 
        
               else 
        
               { 
        
                 Serial.println(); 
        
               } 
        
             } 
        
             for (uint8_t index = 0; index < NUM_OF_PINS; index++) 
        
             { 
        
               printPWMInfo(PWM_Instance[index]); 
        
             } 
        
           } 
        
           void loop() 
        
           { 
        
             //Long delay has no effect on the operation of hardware-based PWM channels 
        
             delay(1000000); 
        
           }

Debug Terminal Output Samples

1. PWM_DynamicDutyCycle on SAMD_NANO_33_IOT

The following is the sample terminal output when running example PWM_DynamicDutyCycle on SAMD21 SAMD_NANO_33_IOT, to demonstrate the ability to provide high PWM frequencies and ability to change DutyCycle on-the-fly using TCC timer for 16-bit PWM

Starting PWM_DynamicDutyCycle on SAMD_NANO_33_IOT
SAMD_PWM v1.0.1
[PWM] calcTCCPrescaler: OK pin = 11 , period = 200 , _prescaler = 1 , F_CPU = 48000000
[PWM] calcTCCPrescaler: _dutycycle = 32768 , frequency = 5000.00 , _prescalerConfigBits = 0 , _compareValue = 9599
[PWM] SAMD21 setPWM_Int: _tcNum = 2 , _tcChannel = 0 , _pinAttr = 28
[PWM] SAMD21 setPWM_Int: newDC = 4799 , input dutycycle = 32768 , _compareValue = 9599 , frequency = 5000.00
[PWM] SAMD21 setPWM_Int: New TCC => newDC = 4799 , input dutycycle = 32768 , frequency = 5000.00
=====================================================================================
Change PWM DutyCycle to 90.00
[PWM] setPWM: _dutycycle = 58982 , frequency = 5000.00
[PWM] SAMD21 setPWM_Int: _tcNum = 2 , _tcChannel = 0 , _pinAttr = 28
[PWM] SAMD21 setPWM_Int: newDC = 8639 , input dutycycle = 58982 , _compareValue = 9599 , frequency = 5000.00
[PWM] SAMD21 setPWM_Int: Old TCC => newDC = 8639 , input dutycycle = 58982 , frequency = 5000.00
=====================================================================================
Actual data: pin = 11, PWM DC = 90.00, PWMPeriod = 200.00, PWM Freq (Hz) = 5000.0000
=====================================================================================
Change PWM DutyCycle to 20.00
[PWM] setPWM: _dutycycle = 13107 , frequency = 5000.00
[PWM] SAMD21 setPWM_Int: _tcNum = 2 , _tcChannel = 0 , _pinAttr = 28
[PWM] SAMD21 setPWM_Int: newDC = 1919 , input dutycycle = 13107 , _compareValue = 9599 , frequency = 5000.00
[PWM] SAMD21 setPWM_Int: Old TCC => newDC = 1919 , input dutycycle = 13107 , frequency = 5000.00
=====================================================================================
Actual data: pin = 11, PWM DC = 20.00, PWMPeriod = 200.00, PWM Freq (Hz) = 5000.0000
=====================================================================================
Change PWM DutyCycle to 90.00
[PWM] setPWM: _dutycycle = 58982 , frequency = 5000.00
[PWM] SAMD21 setPWM_Int: _tcNum = 2 , _tcChannel = 0 , _pinAttr = 28
[PWM] SAMD21 setPWM_Int: newDC = 8639 , input dutycycle = 58982 , _compareValue = 9599 , frequency = 5000.00
[PWM] SAMD21 setPWM_Int: Old TCC => newDC = 8639 , input dutycycle = 58982 , frequency = 5000.00
=====================================================================================
Actual data: pin = 11, PWM DC = 90.00, PWMPeriod = 200.00, PWM Freq (Hz) = 5000.0000
=====================================================================================

2. PWM_Multi on SAMD_NANO_33_IOT

The following is the sample terminal output when running example PWM_Multi on SAMD21 SAMD_NANO_33_IOT, to demonstrate the ability to provide high PWM frequencies on multiple PWM-capable pins using TCC timer for 16-bit PWM

Starting PWM_Multi on SAMD_NANO_33_IOT
SAMD_PWM v1.0.1
[PWM] calcTCCPrescaler: OK pin = 4 , period = 500 , _prescaler = 1 , F_CPU = 48000000
[PWM] calcTCCPrescaler: _dutycycle = 6553 , frequency = 2000.00 , _prescalerConfigBits = 0 , _compareValue = 23999
[PWM] SAMD21 setPWM_Int: _tcNum = 1 , _tcChannel = 1 , _pinAttr = 28
[PWM] SAMD21 setPWM_Int: newDC = 2399 , input dutycycle = 6553 , _compareValue = 23999 , frequency = 2000.00
[PWM] SAMD21 setPWM_Int: New TCC => newDC= 2399 , input dutycycle = 6553 , frequency = 2000.00
[PWM] calcTCCPrescaler: OK pin = 5 , period = 333 , _prescaler = 1 , F_CPU = 48000000
[PWM] calcTCCPrescaler: _dutycycle = 19660 , frequency = 3000.00 , _prescalerConfigBits = 0 , _compareValue = 15983
[PWM] SAMD21 setPWM_Int: _tcNum = 0 , _tcChannel = 1 , _pinAttr = 28
[PWM] SAMD21 setPWM_Int: newDC = 4794 , input dutycycle = 19660 , _compareValue = 15983 , frequency = 3000.00
[PWM] SAMD21 setPWM_Int: New TCC => newDC= 4794 , input dutycycle = 19660 , frequency = 3000.00
[PWM] calcTCCPrescaler: OK pin = 11 , period = 250 , _prescaler = 1 , F_CPU = 48000000
[PWM] calcTCCPrescaler: _dutycycle = 32768 , frequency = 4000.00 , _prescalerConfigBits = 0 , _compareValue = 11999
[PWM] SAMD21 setPWM_Int: _tcNum = 2 , _tcChannel = 0 , _pinAttr = 28
[PWM] SAMD21 setPWM_Int: newDC = 5999 , input dutycycle = 32768 , _compareValue = 11999 , frequency = 4000.00
[PWM] SAMD21 setPWM_Int: New TCC => newDC= 5999 , input dutycycle = 32768 , frequency = 4000.00
[PWM] calcTCPrescaler: OK pin = 12 , period = 125 , _prescaler = 1 , F_CPU = 48000000
[PWM] calcTCPrescaler: _dutycycle = 58982 , frequency = 8000.00 , _prescalerConfigBits = 0 , _compareValue = 5999
[PWM] SAMD21 setPWM_Int: _tcNum = 3 , _tcChannel = 1 , _pinAttr = 28
[PWM] SAMD21 setPWM_Int: newDC = 5399 , input dutycycle = 58982 , _compareValue = 5999 , frequency = 8000.00
[PWM] SAMD21 setPWM_Int: New TC => newDC = 21 , input dutycycle = 58982 , _compareValue = 23 , frequency = 8000.00
=====================================================================================
Index	Pin	PWM_freq	DutyCycle	Actual Freq
=====================================================================================
0	4	2000.00		10.00		2000.0000
1	5	3000.00		30.00		3000.0000
2	11	4000.00		50.00		4000.0000
3	12	8000.00		90.00		8000.0000
=====================================================================================
Actual data: pin = 4, PWM DC = 10.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=====================================================================================
=====================================================================================
Actual data: pin = 5, PWM DC = 30.00, PWMPeriod = 333.33, PWM Freq (Hz) = 3000.0000
=====================================================================================
=====================================================================================
Actual data: pin = 11, PWM DC = 50.00, PWMPeriod = 250.00, PWM Freq (Hz) = 4000.0000
=====================================================================================
=====================================================================================
Actual data: pin = 12, PWM DC = 90.00, PWMPeriod = 125.00, PWM Freq (Hz) = 8000.0000
=====================================================================================

3. PWM_DynamicFreq on ITSYBITSY_M4

The following is the sample terminal output when running example PWM_DynamicFreq on SAMD51 ITSYBITSY_M4, to demonstrate the ability to change dynamically PWM frequencies on SAMD51 using TCC timer for 16-bit PWM

Starting PWM_DynamicFreq on ITSYBITSY_M4
SAMD_PWM v1.0.1
[PWM] calcTCCPrescaler: OK pin = 11 , period = 100 , _prescaler = 1 , F_CPU = 120000000
[PWM] calcTCCPrescaler: _dutycycle = 32768 , frequency = 10000.00 , _prescalerConfigBits = 0 , _compareValue = 11999
[PWM] SAMD51 setPWM_Int: _tcNum = 0 , _tcChannel = 1 , _pinAttr = 512
[PWM] SAMD51 setPWM_Int: newDC = 5999 , input dutycycle = 32768 , _compareValue = 11999 , frequency = 10000.00
[PWM] SAMD51 setPWM_Int: New TCC => newDC = 5999 , input dutycycle = 32768 , _compareValue = 11999 , frequency = 10000.00
=====================================================================================
Change PWM Freq to 20000.00
[PWM] setPWM: _dutycycle = 32768 , frequency = 20000.00
[PWM] setPWM_Int: change frequency to 20000.00 from 10000.00
[PWM] calcTCCPrescaler: OK pin = 11 , period = 50 , _prescaler = 1 , F_CPU = 120000000
[PWM] calcTCCPrescaler: _dutycycle = 32768 , frequency = 20000.00 , _prescalerConfigBits = 0 , _compareValue = 5999
[PWM] SAMD51 setPWM_Int: _tcNum = 0 , _tcChannel = 1 , _pinAttr = 512
[PWM] SAMD51 setPWM_Int: newDC = 2999 , input dutycycle = 32768 , _compareValue = 5999 , frequency = 20000.00
[PWM] SAMD51 setPWM_Int: New TCC => newDC = 2999 , input dutycycle = 32768 , _compareValue = 5999 , frequency = 20000.00
=====================================================================================
Actual data: pin = 11, PWM DC = 50.00, PWMPeriod = 50.00, PWM Freq (Hz) = 20000.0000
=====================================================================================
Change PWM Freq to 10000.00
[PWM] setPWM: _dutycycle = 32768 , frequency = 10000.00
[PWM] setPWM_Int: change frequency to 10000.00 from 20000.00
[PWM] calcTCCPrescaler: OK pin = 11 , period = 100 , _prescaler = 1 , F_CPU = 120000000
[PWM] calcTCCPrescaler: _dutycycle = 32768 , frequency = 10000.00 , _prescalerConfigBits = 0 , _compareValue = 11999
[PWM] SAMD51 setPWM_Int: _tcNum = 0 , _tcChannel = 1 , _pinAttr = 512
[PWM] SAMD51 setPWM_Int: newDC = 5999 , input dutycycle = 32768 , _compareValue = 11999 , frequency = 10000.00
[PWM] SAMD51 setPWM_Int: New TCC => newDC = 5999 , input dutycycle = 32768 , _compareValue = 11999 , frequency = 10000.00
=====================================================================================
Actual data: pin = 11, PWM DC = 50.00, PWMPeriod = 100.00, PWM Freq (Hz) = 10000.0000
=====================================================================================

4. PWM_Waveform on ITSYBITSY_M4

The following is the sample terminal output when running example PWM_Waveform on SAMD51 ITSYBITSY_M4, to demonstrate how to use the setPWM_manual() function in wafeform creation using TCC timer for 16-bit PWM

Starting PWM_Waveform on ITSYBITSY_M4
SAMD_PWM v1.0.1
[PWM] calcTCCPrescaler: OK pin = 11 , period = 1000 , _prescaler = 1 , F_CPU = 120000000
[PWM] calcTCCPrescaler: _dutycycle = 0 , frequency = 1000.00 , _prescalerConfigBits = 0 , _compareValue = 119999
[PWM] setPWM: _dutycycle = 655 , frequency = 1000.00
[PWM] SAMD51 setPWM_Int: _tcNum = 0 , _tcChannel = 1 , _pinAttr = 512
[PWM] SAMD51 setPWM_Int: newDC = 1199 , input dutycycle = 655 , _compareValue = 119999 , frequency = 1000.00
[PWM] SAMD51 setPWM_Int: New TCC => newDC = 1199 , input dutycycle = 655 , _compareValue = 119999 , frequency = 1000.00
============================================================================================
Actual data: pin = 11, PWM DutyCycle = 0.00, PWMPeriod = 1000.00, PWM Freq (Hz) = 1000.0000
============================================================================================
[PWM] setPWM_manual: DCValue = 0 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 0 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 5 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 5999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 10 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 11999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 15 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 17999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 20 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 23999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 25 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 29999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 30 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 35999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 35 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 41999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 40 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 47999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 45 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 53999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 50 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 59999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 55 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 65999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 60 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 71999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 65 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 77999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 70 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 83999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 75 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 89999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 80 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 95999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 85 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 101999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 90 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 107999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 95 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 113999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 100 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 119999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 95 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 113999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 90 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 107999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 85 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 101999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 80 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 95999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 75 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 89999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 70 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 83999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 65 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 77999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 60 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 71999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 55 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 65999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 50 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 59999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 45 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 53999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 40 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 47999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 35 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 41999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 30 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 35999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 25 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 29999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 20 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 23999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 15 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 17999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 10 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 11999 , _compareValue = 119999
[PWM] setPWM_manual: DCValue = 5 , _frequency = 1000.00
[PWM] setPWM_manual: New DCValue = 5999 , _compareValue = 119999

5. PWM_Basic on ITSYBITSY_M4

The following is the sample terminal output when running example PWM_Basic on SAMD51 ITSYBITSY_M4, to demonstrate how to use the basic function, using TC timer for 8-bit PWM

Starting PWM_Basic on ITSYBITSY_M4
SAMD_PWM v1.0.1
[PWM] calcTCPrescaler: OK pin = 24 , period = 1000 , _prescaler = 1 , F_CPU = 120000000
[PWM] calcTCPrescaler: _dutycycle = 0 , frequency = 1000.00 , _prescalerConfigBits = 0 , _compareValue = 119999
[PWM] setPWM: _dutycycle = 13107 , frequency = 2000.00
[PWM] setPWM_Int: change frequency to 2000.00 from 1000.00
[PWM] calcTCPrescaler: OK pin = 24 , period = 500 , _prescaler = 1 , F_CPU = 120000000
[PWM] calcTCPrescaler: _dutycycle = 13107 , frequency = 2000.00 , _prescalerConfigBits = 0 , _compareValue = 59999
[PWM] SAMD51 setPWM_Int: _tcNum = 5 , _tcChannel = 1 , _pinAttr = 8
[PWM] SAMD51 setPWM_Int: newDC = 11999 , input dutycycle = 13107 , _compareValue = 59999 , frequency = 2000.00
[PWM] SAMD51 setPWM_Int: New TC => newDC = 46 , input dutycycle = 13107 , _compareValue = 234 , frequency = 2000.00
[PWM] setPWM: _dutycycle = 58982 , frequency = 5000.00
[PWM] setPWM_Int: change frequency to 5000.00 from 2000.00
[PWM] calcTCPrescaler: OK pin = 24 , period = 200 , _prescaler = 1 , F_CPU = 120000000
[PWM] calcTCPrescaler: _dutycycle = 58982 , frequency = 5000.00 , _prescalerConfigBits = 0 , _compareValue = 23999
[PWM] SAMD51 setPWM_Int: _tcNum = 5 , _tcChannel = 1 , _pinAttr = 8
[PWM] SAMD51 setPWM_Int: newDC = 21598 , input dutycycle = 58982 , _compareValue = 23999 , frequency = 5000.00
[PWM] SAMD51 setPWM_Int: New TC => newDC = 84 , input dutycycle = 58982 , _compareValue = 93 , frequency = 5000.00
[PWM] setPWM: _dutycycle = 13107 , frequency = 2000.00
[PWM] setPWM_Int: change frequency to 2000.00 from 5000.00
[PWM] calcTCPrescaler: OK pin = 24 , period = 500 , _prescaler = 1 , F_CPU = 120000000
[PWM] calcTCPrescaler: _dutycycle = 13107 , frequency = 2000.00 , _prescalerConfigBits = 0 , _compareValue = 59999
[PWM] SAMD51 setPWM_Int: _tcNum = 5 , _tcChannel = 1 , _pinAttr = 8
[PWM] SAMD51 setPWM_Int: newDC = 11999 , input dutycycle = 13107 , _compareValue = 59999 , frequency = 2000.00
[PWM] SAMD51 setPWM_Int: New TC => newDC = 46 , input dutycycle = 13107 , _compareValue = 234 , frequency = 2000.00
[PWM] setPWM: _dutycycle = 58982 , frequency = 5000.00
[PWM] setPWM_Int: change frequency to 5000.00 from 2000.00
[PWM] calcTCPrescaler: OK pin = 24 , period = 200 , _prescaler = 1 , F_CPU = 120000000
[PWM] calcTCPrescaler: _dutycycle = 58982 , frequency = 5000.00 , _prescalerConfigBits = 0 , _compareValue = 23999
[PWM] SAMD51 setPWM_Int: _tcNum = 5 , _tcChannel = 1 , _pinAttr = 8
[PWM] SAMD51 setPWM_Int: newDC = 21598 , input dutycycle = 58982 , _compareValue = 23999 , frequency = 5000.00
[PWM] SAMD51 setPWM_Int: New TC => newDC = 84 , input dutycycle = 58982 , _compareValue = 93 , frequency = 5000.00

6. PWM_Basic on SAMD_NANO_33_IOT

The following is the sample terminal output when running example PWM_Basic on SAMD21 SAMD_NANO_33_IOT, to demonstrate how to use the basic function, using TC timer for 8-bit PWM

Starting PWM_Basic on SAMD_NANO_33_IOT
SAMD_PWM v1.0.1
[PWM] calcTCPrescaler: OK pin = 12 , period = 1000 , _prescaler = 1 , F_CPU = 48000000
[PWM] calcTCPrescaler: _dutycycle = 0 , frequency = 1000.00 , _prescalerConfigBits = 0 , _compareValue = 47999
[PWM] setPWM: _dutycycle = 13107 , frequency = 2000.00
[PWM] setPWM_Int: change frequency to 2000.00 from 1000.00
[PWM] calcTCPrescaler: OK pin = 12 , period = 500 , _prescaler = 1 , F_CPU = 48000000
[PWM] calcTCPrescaler: _dutycycle = 13107 , frequency = 2000.00 , _prescalerConfigBits = 0 , _compareValue = 23999
[PWM] SAMD21 setPWM_Int: _tcNum = 3 , _tcChannel = 1 , _pinAttr = 28
[PWM] SAMD21 setPWM_Int: newDC = 4799 , input dutycycle = 13107 , _compareValue = 23999 , frequency = 2000.00
[PWM] SAMD21 setPWM_Int: New TC => newDC = 18 , input dutycycle = 13107 , _compareValue = 93 , frequency = 2000.00
[PWM] setPWM: _dutycycle = 58982 , frequency = 5000.00
[PWM] setPWM_Int: change frequency to 5000.00 from 2000.00
[PWM] calcTCPrescaler: OK pin = 12 , period = 200 , _prescaler = 1 , F_CPU = 48000000
[PWM] calcTCPrescaler: _dutycycle = 58982 , frequency = 5000.00 , _prescalerConfigBits = 0 , _compareValue = 9599
[PWM] SAMD21 setPWM_Int: _tcNum = 3 , _tcChannel = 1 , _pinAttr = 28
[PWM] SAMD21 setPWM_Int: newDC = 8639 , input dutycycle = 58982 , _compareValue = 9599 , frequency = 5000.00
[PWM] SAMD21 setPWM_Int: New TC => newDC = 33 , input dutycycle = 58982 , _compareValue = 37 , frequency = 5000.00
[PWM] setPWM: _dutycycle = 13107 , frequency = 2000.00
[PWM] setPWM_Int: change frequency to 2000.00 from 5000.00
[PWM] calcTCPrescaler: OK pin = 12 , period = 500 , _prescaler = 1 , F_CPU = 48000000
[PWM] calcTCPrescaler: _dutycycle = 13107 , frequency = 2000.00 , _prescalerConfigBits = 0 , _compareValue = 23999
[PWM] SAMD21 setPWM_Int: _tcNum = 3 , _tcChannel = 1 , _pinAttr = 28
[PWM] SAMD21 setPWM_Int: newDC = 4799 , input dutycycle = 13107 , _compareValue = 23999 , frequency = 2000.00
[PWM] SAMD21 setPWM_Int: New TC => newDC = 18 , input dutycycle = 13107 , _compareValue = 93 , frequency = 2000.00

7. PWM_manual on ITSYBITSY_M4

The following is the sample terminal output when running example PWM_manual on SAMD51 ITSYBITSY_M4, to demonstrate how to use the setPWM_manual() and setPWM_DCPercentage_manual() functions in wafeform creation

Starting PWM_manual on ITSYBITSY_M4
SAMD_PWM v1.2.0
Not USING_DC_PERCENT
=================================================================================================
Actual data: pin = 11, PWM DC = 0.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 5.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 10.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 15.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 20.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 25.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 30.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 35.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 40.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 45.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 50.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 55.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 60.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 65.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 70.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 75.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 80.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 85.01, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 90.01, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 95.01, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 100.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
=================================================================================================
Actual data: pin = 11, PWM DC = 0.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
...

8. PWM_SpeedTest on ITSYBITSY_M4

The following is the sample terminal output when running example PWM_SpeedTest on ITSYBITSY_M4, to demonstrate how to use new faster setPWM_manual() function in wafeform creation, The time is 1084 ns compared to 499,500 ns when using setPWM() function. The fastest is setPWM_DCPercentageInt_manual with 1067 ns, which is better to be used with pre-calculated values in array

USING_DC_PERCENT

Starting PWM_SpeedTest on ITSYBITSY_M4
SAMD_PWM v1.2.0
Average time of setPWM function USING_DC_PERCENT
=================================================================================================
Actual data: pin = 11, PWM DC = 44.86, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
count=937083, ns=1067
=================================================================================================
Actual data: pin = 11, PWM DC = 44.86, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
count=936335, ns=1067
=================================================================================================
Actual data: pin = 11, PWM DC = 44.86, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
count=936358, ns=1067
=================================================================================================
Actual data: pin = 11, PWM DC = 44.86, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
count=936334, ns=1067
...

USING_DC_PERCENT with extremely slow setPWM()

Starting PWM_SpeedTest on ITSYBITSY_M4
SAMD_PWM v1.2.0
Average time of setPWM function USING_DC_PERCENT
=================================================================================================
Actual data: pin = 11, PWM DC = 50.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
count=2002, ns=499500
=================================================================================================
Actual data: pin = 11, PWM DC = 50.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
count=2003, ns=499251
=================================================================================================
Actual data: pin = 11, PWM DC = 50.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
count=2003, ns=499251
=================================================================================================
Actual data: pin = 11, PWM DC = 50.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
count=2003, ns=499251
=================================================================================================
Actual data: pin = 11, PWM DC = 50.00, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=======================================================

not USING_DC_PERCENT

Starting PWM_SpeedTest on ITSYBITSY_M4
SAMD_PWM v1.2.0
Average time of setPWM function not USING_DC_PERCENT
=================================================================================================
Actual data: pin = 11, PWM DC = 44.86, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
count=922600, ns=1083
=================================================================================================
Actual data: pin = 11, PWM DC = 44.86, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
count=921932, ns=1084
=================================================================================================
Actual data: pin = 11, PWM DC = 44.86, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
count=921965, ns=1084
=================================================================================================
Actual data: pin = 11, PWM DC = 44.86, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
count=921951, ns=1084
=================================================================================================
Actual data: pin = 11, PWM DC = 44.86, PWMPeriod = 500.00, PWM Freq (Hz) = 2000.0000
=================================================================================================
count=921942, ns=1084

Debug

Debug is enabled by default on Serial.

You can also change the debugging level _PWM_LOGLEVEL_ from 0 to 4

// Don't define _PWM_LOGLEVEL_ > 0. Only for special ISR debugging only. Can hang the system.
#define _PWM_LOGLEVEL_     0

Troubleshooting

If you get compilation errors, more often than not, you may need to install a newer version of the core for Arduino boards.

Sometimes, the library will only work if you update the board core to the latest version because I am using newly added functions.

Issues

Submit issues to: SAMD_PWM issues

TO DO

Search for bug and improvement.
Similar features for remaining Arduino boards

DONE

Basic hardware PWM-channels for SAMD21/SAMD51 boards such as NANO_33_IOT, ITSYBITSY_M4, SEEED_XIAO_M0, SparkFun SAMD51_Thing_Plus, etc. using

Add example PWM_StepperControl to demo how to control Stepper Motor using PWM
Add example PWM_manual to demo how to correctly use PWM to generate waveform
Add function setPWM_DCPercentage_manual() to facilitate the setting PWM DC manually by using DCPercentage, instead of absolute DCValue depending on varying PWMPeriod
Optimize speed with new setPWM_DCPercentageInt_manual function to improve speed almost 500 times compared to setPWM
Add example PWM_SpeedTest to demo the better speed of new setPWM_DCPercentageInt_manual function
Breaking change: Modify setPWM_manual function to take 16-bit dutycycle instead from merely 0-100 for better accuracy
Modify example PWM_Waveform to adapt to breaking change of setPWM_manual function
Improve README.md so that links can be used in other sites, such as PIO

Contributions and Thanks

Many thanks for everyone for bug reporting, new feature suggesting, testing and contributing to the development of this library.

Thanks to Paul van Dinther for proposing new way to use PWM to drive Stepper-Motor in Using PWM to step a stepper driver #16, leading to v2.0.3

_{Paul van Dinther}

Contributing

If you want to contribute to this project:

Report bugs and errors
Ask for enhancements
Create issues and pull requests
Tell other people about this library

License

The library is licensed under MIT

Name		Name	Last commit message	Last commit date
Latest commit History 25 Commits
.github		.github
Packages_Patches		Packages_Patches
examples		examples
platformio		platformio
src		src
utils		utils
.codespellrc		.codespellrc
.gitignore		.gitignore
CONTRIBUTING.md		CONTRIBUTING.md
LICENSE		LICENSE
README.md		README.md
changelog.md		changelog.md
keywords.txt		keywords.txt
library.json		library.json
library.properties		library.properties

	#define _PWM_LOGLEVEL_ 4

	#include "SAMD_PWM.h"

	// Not OK for Nano_33_IoT (0, 1, 7, 8, 13, 14, 15 )
	// OK for Nano_33_IoT (2, 3, 4, 5, 6, 9, 10, 11, 12, 16, 17)
	// TCC OK => pin 4, 5, 6, 8, 9, 10, 11, 16/A2, 17/A3
	// TC OK => pin 12
	// For ITSYBITSY_M4
	// 16-bit Higher accuracy, Lower Frequency, PWM Pin OK: TCCx: 0-2, 4, 5, 7, 9-13
	// 8-bit Lower accuracy, Hi Frequency, PWM Pin OK: TCx: 18-20, 24-25

	// Change to use the correct PWM pins from different TCx or TCCx, according to your boards
	#if defined(__SAMD51__)
	// Pin 5:TCC2_CH1, pin 7: TCC1_CH2, pin 11: TCC0_CH1, pin 25/MOSI: TC2_CH0
	uint32_t PWM_Pins[] = { 5, 7, 11, 25 };
	#else
	// pin 4: TCC1_CH1, Pin 5:TCC0_CH1, pin 11: TCC2_CH0, pin 12: TC3_CH1
	uint32_t PWM_Pins[] = { 4, 5, 11, 12 };
	#endif

	#define NUM_OF_PINS ( sizeof(PWM_Pins) / sizeof(uint32_t) )

	float dutyCycle[] = { 10.0f, 30.0f, 50.0f, 90.0f };

	float frequency[] = { 2000.0f, 3000.0f, 4000.0f, 8000.0f };

	SAMD_PWM* PWM_Instance[NUM_OF_PINS];

	char dashLine[] = "=====================================================================================";

	void printPWMInfo(SAMD_PWM* PWM_Instance)
	{
	Serial.println(dashLine);
	Serial.print("Actual data: pin = ");
	Serial.print(PWM_Instance->getPin());
	Serial.print(", PWM DC = ");
	Serial.print(PWM_Instance->getActualDutyCycle());
	Serial.print(", PWMPeriod = ");
	Serial.print(PWM_Instance->getPWMPeriod());
	Serial.print(", PWM Freq (Hz) = ");
	Serial.println(PWM_Instance->getActualFreq(), 4);
	Serial.println(dashLine);
	}

	void setup()
	{
	Serial.begin(115200);

	while (!Serial && millis() < 5000);

	delay(500);

	Serial.print(F("\nStarting PWM_Multi on "));
	Serial.println(BOARD_NAME);
	Serial.println(SAMD_PWM_VERSION);

	for (uint8_t index = 0; index < NUM_OF_PINS; index++)
	{
	PWM_Instance[index] = new SAMD_PWM(PWM_Pins[index], frequency[index], dutyCycle[index]);

	if (PWM_Instance[index])
	{
	PWM_Instance[index]->setPWM();
	}
	}

	Serial.println(dashLine);
	Serial.println("Index\tPin\tPWM_freq\tDutyCycle\tActual Freq");
	Serial.println(dashLine);

	for (uint8_t index = 0; index < NUM_OF_PINS; index++)
	{
	if (PWM_Instance[index])
	{
	Serial.print(index);
	Serial.print("\t");
	Serial.print(PWM_Pins[index]);
	Serial.print("\t");
	Serial.print(frequency[index]);
	Serial.print("\t\t");
	Serial.print(dutyCycle[index]);
	Serial.print("\t\t");
	Serial.println(PWM_Instance[index]->getActualFreq(), 4);
	}
	else
	{
	Serial.println();
	}
	}

	for (uint8_t index = 0; index < NUM_OF_PINS; index++)
	{
	printPWMInfo(PWM_Instance[index]);
	}
	}

	void loop()
	{
	//Long delay has no effect on the operation of hardware-based PWM channels
	delay(1000000);
	}

License

khoih-prog/SAMD_PWM

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SAMD_PWM Library

Table of Contents

Why do we need this SAMD_PWM library

Features

Why using hardware-based PWM is better

Currently supported Boards

Prerequisites

Installation

Use Arduino Library Manager

Manual Install

VS Code & PlatformIO

Packages' Patches

1. For Arduino SAMD boards

For core version v1.8.10+

For core version v1.8.9-

2. For Adafruit SAMD boards

3. For Seeeduino SAMD boards

4. For SparkFun SAMD boards

Usage

1. Create PWM Instance with Pin, Frequency, dutycycle, channel (default = 0) and PWM_resolution (default = 16)

2. Initialize PWM Instance

3. Set or change PWM frequency or dutyCycle

4. Set or change PWM frequency and dutyCycle manually and efficiently in waveform creation

Examples:

Example PWM_Multi

Debug Terminal Output Samples

1. PWM_DynamicDutyCycle on SAMD_NANO_33_IOT

2. PWM_Multi on SAMD_NANO_33_IOT

3. PWM_DynamicFreq on ITSYBITSY_M4

4. PWM_Waveform on ITSYBITSY_M4

5. PWM_Basic on ITSYBITSY_M4

6. PWM_Basic on SAMD_NANO_33_IOT

7. PWM_manual on ITSYBITSY_M4

8. PWM_SpeedTest on ITSYBITSY_M4

USING_DC_PERCENT

USING_DC_PERCENT with extremely slow setPWM()

not USING_DC_PERCENT

Debug

Troubleshooting

Issues

TO DO

DONE

Contributions and Thanks

Contributing

License

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