├── LICENSE.txt ├── README.md ├── examples ├── blink │ └── blink.ino ├── flame │ └── flame.ino ├── servo │ └── servo.ino ├── test │ └── test.ino └── timer0test │ └── timer0test.ino ├── extras ├── freqtable_single_slope_turbo.csv ├── freqtable_single_slope_turbo.xls └── pintables.txt ├── keywords.txt ├── library.properties └── src ├── SAMD21turboPWM.cpp └── SAMD21turboPWM.h /LICENSE.txt: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read: 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | *Note: Tested on the Arduino Nano 33 IoT, Adafruit Itsy Bitsy M0, and the Adafruit Trinket M0; untested on the Arduino Zero, the Arduino MKR series, and the Adafruit Feather M0, but should work. Let me know about problems.* 2 | 3 | ## A fast PWM library for SAMD21G-based Arduinos 4 | 5 | Uses the SAMD21's timers TCC0, TCC1, and TCC2 to generate PWM signals on eight pins (four on the Adafruit Trinket M0): 6 | * Nano 33 IoT: 4, 5, 6, 7, 8, 11, 12, and 13; 7 | * Arduino Zero (untested), Adafruit Feather M0 (untested), Adafruit Itsy Bitsy M0: 3, 4, 8, 9, 10, 11, 12, and 13; 8 | * MKR series (untested): 2, 3, 4, 5, 6, 7, 8, and 9; 9 | * Adafruit Trinket M0: 0, 2, 3 and 4. 10 | 11 | ### Thanks go to ... 12 | 13 | ... Martin L. and Shawn Hymel for important parts of the code, and for explaining esoteric and dark stuff. 14 | 15 | ### Usage: 16 | 17 | *Allowed values in square brackets.* 18 | 19 | **Include the library:** 20 | 21 | ```#include ``` 22 | 23 | **Create a TurboPWM object (called pwm here, but name as you wish):** 24 | 25 | ```TurboPWM pwm;``` 26 | 27 | Set input clock divider and Turbo Mode (which uses a 96MHz instead of a 48Mhz input clock): 28 | 29 | ```pwm.setClockDivider([1-255], [true, false]);``` 30 | 31 | **Initialise timer x, with prescaler, with steps (resolution), with fast aka single-slope PWM (or not -> double-slope PWM):** 32 | 33 | ```pwm.timer([0, 1, 2], [1, 2, 4, 8, 16, 64, 256, 1024], [2-MaxSteps], [true, false]);``` 34 | 35 | * For the Arduino Nano 33 IoT, you need to initialise timer 1 for pins 4 and 7, timer 0 for pins 5, 6, 8, and 12, and timer 2 for pins 11 and 13; 36 | * For the Arduino Zero (untested), Adafruit Feather M0 (untested), and Adafruit Itsy Bitsy M0 you need to initialise timer 0 for pins 3, 4, 10 and 12, timer 1 for pins 8 and 9, and timer 2 for pins 11 and 13; 37 | * For the Arduino MKR series (untested), you need to initialise timer 1 for pins 2 and 3, timer 0 for pins 4, 5, 6 and 7, and timer 2 for pins 8 and 9; 38 | * For the Adafruit Trinket M0, you need to initialise timer 0 for pins 0 and 2, and timer 1 for pins 3 and 4. 39 | 40 | MaxSteps is 0xFFFFFF for (24-bits) timers 0 and 1, and 0xFFFF for (16 bits) timer 2. 41 | 42 | **Start PWM on a pin with a duty cycle:** 43 | 44 | ```pwm.analogWrite([pin number], [0-1000]);``` 45 | 46 | **Enable/disable a timer:** 47 | 48 | ```pwm.enable([0, 1, 2], [true, false]);``` 49 | 50 | **Get a timer's current PWM frequency:** 51 | 52 | ```pwm.frequency([0, 1, 2]);``` 53 | 54 | Also see the header file and the examples. 55 | 56 | If you feel like donating for this library, you can do so here: http://ocrdu.nl/donations . 57 | -------------------------------------------------------------------------------- /examples/blink/blink.ino: -------------------------------------------------------------------------------- 1 | // Note: Uses pin 13 as the LED pin; may need changing for other boards 2 | 3 | #include 4 | 5 | TurboPWM pwm; 6 | 7 | void setup() { 8 | pwm.setClockDivider(200, false); // Main clock divided by 200 => 240KHz 9 | pwm.timer(2, 4, 60000, false); // Use timer 2 for pin 13, divide clock by 4, resolution 60000, dual-slope PWM 10 | pwm.analogWrite(13, 500); // PWM frequency is now 0.5Hz, dutycycle is 500 / 1000 * 100% = 50% 11 | } 12 | 13 | void loop() {} -------------------------------------------------------------------------------- /examples/flame/flame.ino: -------------------------------------------------------------------------------- 1 | // Uses two orange LEDS plus resistors on pins 4 and 7 (on the Nano 33 IoT; change for other boards). 2 | // Don't pull more than 7mA from any pin. 3 | 4 | #include 5 | 6 | TurboPWM pwm; 7 | 8 | void setup() { 9 | pwm.setClockDivider(1, false); 10 | pwm.timer(1, 1, 1000, true); 11 | } 12 | 13 | void loop() { 14 | pwm.analogWrite(4, random(500, 1000)); 15 | delay(25); 16 | pwm.analogWrite(7, random(300, 1000)); 17 | delay(25); 18 | } 19 | -------------------------------------------------------------------------------- /examples/servo/servo.ino: -------------------------------------------------------------------------------- 1 | // Tested with an Arduino Nano 33 IoT with PWM signal on pin 7 and a Hitec HS-311 servo 2 | 3 | // Program will start when Serial Monitor is opened. 4 | 5 | #include 6 | 7 | TurboPWM servo; 8 | const int servoPin = 7; 9 | const int servoMinTime = 600; // Microseconds 10 | const int servoMaxTime = 2400; // Microseconds 11 | 12 | void setServo(const int pin, int microSeconds) { 13 | if (microSeconds < servoMinTime) { 14 | microSeconds = servoMinTime; 15 | } 16 | if (microSeconds > servoMaxTime) { 17 | microSeconds = servoMaxTime; 18 | } 19 | servo.analogWrite(pin, microSeconds / 20); 20 | } 21 | 22 | void setup() { 23 | //Set timer 1 to 50Hz single-slope PWM with a resolution of 960000 24 | servo.setClockDivider(1, false); // Input clock is divided by 1 and 48MHz is sent to Generic Clock, Turbo is off 25 | servo.timer(1, 1, 960000, true); // Timer 1 is set to Generic Clock divided by 1, resolution is 960000, left-aligned aka single-slope PWM 26 | 27 | Serial.begin(115200); 28 | while(!Serial); 29 | 30 | Serial.print("Timer 1 frequency is "); Serial.print(servo.frequency(1)); Serial.println("Hz\n"); 31 | Serial.print("Driving servo on pin "); Serial.print(servoPin); Serial.println(" ..."); 32 | } 33 | 34 | void loop() { 35 | setServo(servoPin, 600); 36 | delay(1000); 37 | setServo(servoPin, 2400); 38 | delay(1000); 39 | setServo(servoPin, 1500); 40 | delay(2000); 41 | } 42 | -------------------------------------------------------------------------------- /examples/test/test.ino: -------------------------------------------------------------------------------- 1 | // Uses a status LED on pin 13 and an extra LED on pin 7; may need changing for other boards. 2 | // Make sure you don't pull more than 7mA from any pin. 3 | 4 | // Program will start when Serial Monitor is opened. 5 | 6 | #include 7 | 8 | TurboPWM pwm; 9 | const int statusLED = 13; // Note: These pin definitions are for the Arduino Nano 33 IoT; 10 | const int otherLED = 7; // change them for other boards 11 | 12 | void setup() { 13 | pwm.setClockDivider(1, true); // Input clock is divided by 1 and sent to Generic Clock, Turbo is On 14 | pwm.timer(2, 256, 40000, false); // Timer 2 is set to Generic Clock divided by 256, resolution is 40000, phase-correct aka dual-slope PWM 15 | pwm.timer(1, 1, 250, true); // Timer 1 is set to Generic Clock divided by 1, resolution is 250, normal aka fast aka single-slope PWM 16 | 17 | Serial.begin(115200); 18 | while(!Serial); 19 | 20 | pwm.analogWrite(statusLED, 500); 21 | 22 | pwm.analogWrite(otherLED, 100); 23 | Serial.print("PWM frequency: "); Serial.print(pwm.frequency(1)); Serial.println("Hz"); 24 | Serial.println("Duty cycle: 100/1000\n"); 25 | delay(2000); 26 | 27 | pwm.analogWrite(otherLED, 200); 28 | Serial.print("PWM frequency: "); Serial.print(pwm.frequency(1)); Serial.println("Hz"); 29 | Serial.println("Duty cycle: 200/1000\n"); 30 | delay(2000); 31 | 32 | pwm.enable(1, false); 33 | delay(2000); 34 | 35 | pwm.timer(1, 1, 96, true); 36 | pwm.analogWrite(otherLED, 600); 37 | Serial.print("PWM frequency: "); Serial.print(pwm.frequency(1)); Serial.println("Hz"); 38 | Serial.println("Duty cycle: 600/1000\n"); 39 | 40 | pwm.enable(1, true); 41 | delay(2000); 42 | 43 | pwm.analogWrite(otherLED, 1000); 44 | Serial.print("PWM frequency: "); Serial.print(pwm.frequency(1)); Serial.println("Hz"); 45 | Serial.println("Duty cycle: 1000/1000\n"); 46 | delay(2000); 47 | 48 | pwm.analogWrite(otherLED, 500); 49 | Serial.print("PWM frequency: "); Serial.print(pwm.frequency(1)); Serial.println("Hz"); 50 | Serial.println("Duty cycle: 500/1000\n"); 51 | delay(2000); 52 | 53 | pwm.analogWrite(otherLED, 50); 54 | Serial.print("PWM frequency: "); Serial.print(pwm.frequency(1)); Serial.println("Hz"); 55 | Serial.println("Duty cycle: 50/1000\n"); 56 | delay(2000); 57 | 58 | Serial.println("Pulsing in the loop ..."); 59 | } 60 | 61 | void loop() { 62 | pwm.analogWrite(statusLED, 500); 63 | for (int i = 50; i < 980; i++) { 64 | pwm.analogWrite(otherLED, i); 65 | delay(2); 66 | } 67 | pwm.analogWrite(statusLED, 0); 68 | for (int i = 980; i > 50; i--) { 69 | pwm.analogWrite(otherLED, i); 70 | delay(1); 71 | } 72 | } -------------------------------------------------------------------------------- /examples/timer0test/timer0test.ino: -------------------------------------------------------------------------------- 1 | // Sends a PWM signal to timer 0 pins 5, 6, 8, and 12 (for the Arduino Nano 33 IoT) 2 | 3 | // Program will start when Serial Monitor is opened. 4 | 5 | #include 6 | 7 | TurboPWM pwm; 8 | 9 | void setup() { 10 | pwm.setClockDivider(1, false); // Input clock is divided by 1 and sent to Generic Clock, Turbo is Off 11 | pwm.timer(0, 1, 600, false); // Timer 2 is set to Generic Clock divided by 1, resolution is 600, phase-correct aka dual-slope PWM 12 | 13 | Serial.begin(115200); 14 | while(!Serial); 15 | 16 | pwm.analogWrite(5, 200); 17 | pwm.analogWrite(6, 400); 18 | pwm.analogWrite(8, 600); 19 | pwm.analogWrite(12, 800); 20 | 21 | Serial.print("PWM frequency: "); Serial.print(pwm.frequency(0), 0); Serial.println("Hz"); 22 | 23 | } 24 | 25 | void loop() {} -------------------------------------------------------------------------------- /extras/freqtable_single_slope_turbo.xls: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ocrdu/Arduino_SAMD21_turbo_PWM/ff06a4171ba2d047ab6525f0722bbc13f16bf4f9/extras/freqtable_single_slope_turbo.xls -------------------------------------------------------------------------------- /extras/pintables.txt: -------------------------------------------------------------------------------- 1 | SAMD21G18 timer/channel: 2 | 3 | TCC0/WO[0]: PA04, PA08 TCC0/WO[4]: PA14, PA22, PB10 4 | TCC0/WO[1]: PA05, PA09 TCC0/WO[5]: PA15, PA23, PB11 5 | TCC0/WO[2]: PA10, PA18 TCC0/WO[6]: PA12, PA16, PA20 6 | TCC0/WO[3]: PA11, PA19 TCC0/WO[7]: PA13, PA17, PA21 7 | 8 | TCC1/WO[0]: PA06, PA10, PA30 TCC1/WO[2]: PA08, PA24 9 | TCC1/WO[1]: PA07, PA11, PA31 TCC1/WO[3]: PA09, PA25 10 | 11 | TCC2/WO[0]: PA00, PA12, PA16 12 | TCC2/WO[1]: PA01, PA13, PA17 13 | 14 | ------------------------------------------------------------------------------------------------------ 15 | 16 | Arduino Nano 33 IoT: 17 | 18 | Pin Translation Table: 19 | TCC0 pins: TCC1 pins: TCC2 pins: 20 | PA04: D6 PA06: D7 PA00: NC 21 | PA05: D5 PA07: D4 PA01: NC 22 | PA08: RSTN_NINA (to NINA) PA08: RSTN_NINA (to NINA) PA12: PA12_S2_TX/MOSI (to NINA) 23 | PA09: A6 PA09: A6 PA13: PA13_S2_RX/MISO (to NINA) 24 | PA10: A3 PA10: A3 PA16: D11/MOSI 25 | PA11: A2 PA11: A2 PA17: D13/SCK (LED) 26 | PA12: PA12_S2_TX/MOSI (to NINA) PA24: DM (USB) 27 | PA13: PA13_S2_RX/MISO (to NINA) PA25: DP (USB) 28 | PA14: PA14_S2_RTS/CS (to NINA) PA30: SWCLK 29 | PA15: PA15_S2_CTS/SCK (to NINA) PA31: SWDIO 30 | PA16: D11/MOSI 31 | PA17: D13/SCK (LED) 32 | PA18: D8 33 | PA19: D12/MISO 34 | PA20: D9 35 | PA21: D10 36 | PA22: TX_NINA_PROG (to NINA) 37 | PA23: RX_NINA_PROG (to NINA) 38 | PB10: D2 39 | PB11: D3 40 | 41 | Useable pins for TCC0 on Arduino Nano 33 IoT: D2, D3, D5, D6, D8, D9, D10, D11, D12, D13, A2, A3, A6 42 | Useable pins for TCC1 on Arduino Nano 33 IoT: D4, D7, A2, A3, A6 43 | Useable pins for TCC2 on Arduino Nano 33 IoT: D11, D13 44 | 45 | (Arduino Pin:SAMD21 Pin:TCCx/output channel:PMUXoddeven_x) 46 | Picked pins for TCC0: D5:PA05:TCC0/WO1:E, D6:PA04:TCC0/WO0:E, D8:PA18:TCC0/WO2:F, D12:PA19:TCC0/WO3:F 47 | Picked pins for TCC1: D4:PA07:TCC1/WO1:E, D7:PA06:TCC1/WO0:E 48 | Picked pins for TCC2: D11:PA16:TCC2/WO0:E, D13:PA17:TCC2/WO1:E 49 | 50 | ------------------------------------------------------------------------------------------------------ 51 | 52 | Arduino MKR WiFi 1010: 53 | 54 | Pin Translation Table: 55 | TCC0 pins: TCC1 pins: TCC2 pins: 56 | PA04: A3 PA06: A5 PA00: XIN32 57 | PA05: A4 PA07: A6 PA01: XOUT32 58 | PA08: D11/I2C SDA PA08: D11/I2C_SDA PA12: PA12_S2_TX/MOSI (to NINA) 59 | PA09: D12/I2C SCL PA09: D12/I2C_SCL PA13: PA13_S2_RX/MISO (to NINA) 60 | PA10: D2 PA10: D2 PA16: D8/MOSI 61 | PA11: D3 PA11: D3 PA17: D9/SCK 62 | PA12: PA12_S2_TX/MOSI (to NINA) PA24: DM (USB) 63 | PA13: PA13_S2_RX/MISO (to NINA) PA25: DP (USB) 64 | PA14: PA14_S2_RTS/CS (to NINA) PA30: SWCLK 65 | PA15: PA15_S2_CTS/SCK (to NINA) PA31: SWDIO 66 | PA16: D8/MOSI 67 | PA17: D9/SCK 68 | PA18: OTG (to USB) 69 | PA19: D10/MISO 70 | PA20: D6 (LED) 71 | PA21: D7 72 | PA22: D0 73 | PA23: D1 74 | PB10: D4 75 | PB11: D5 76 | 77 | Useable pins for TCC0 on Arduino MKR 1010: D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, A3, A4 78 | Useable pins for TCC1 on Arduino MKR 1010: D2, D3, A5, A6 79 | Useable pins for TCC2 on Arduino MKR 1010: D8, D9 80 | 81 | (Arduino Pin:SAMD21 Pin:TCCx/output channel:PMUXoddeven_x) 82 | Picked pins for TCC0: D4:PB10:TCC0/WO4:F, D5:PB11:TCC0/WO5:F, D6:PA20:TCC0/WO6:F, D7:PA21:TCC0/WO7:F 83 | Picked pins for TCC1: D2:PA10:TCC1/WO0:E, D3:PA11:TCC1/WO1:E 84 | Picked pins for TCC2: D8:PA16:TCC2/WO0:E, D9:PA17:TCC2/WO1:E 85 | 86 | ------------------------------------------------------------------------------------------------------ 87 | 88 | Arduino Zero (same mapping as Adafruit Feather M0?): 89 | 90 | Pin Translation Table: 91 | TCC0 pins: TCC1 pins: TCC2 pins: 92 | PA04: A3 PA06: D8/EDBG_GPIO2 PA00: XIN32 93 | PA05: A4 PA07: D9/EDBG_GPIO3 PA01: XOUT32 94 | PA08: D4 PA08: D4 PA12: SPI1/MISO 95 | PA09: D3 PA09: D3 PA13: EDBG_GPIO0 96 | PA10: D1/TX PA10: D1/TX PA16: D11 97 | PA11: D0/RX PA11: D0/RX PA17: D13 (LED) 98 | PA12: SPI1/MISO PA24: USB_NEGATIVE 99 | PA13: EDBG_GPIO0 PA25: USB_POSITIVE 100 | PA14: D2 PA30: SWCLK 101 | PA15: D5 PA31: SWDIO 102 | PA16: D11 103 | PA17: D13 (LED) 104 | PA18: D10/EDBG_SS 105 | PA19: D12/EDBG_MISO 106 | PA20: D6 107 | PA21: D7 108 | PA22: SDA 109 | PA23: SCL 110 | PB10: SPI4/MOSI 111 | PB11: SPI3/SCK 112 | 113 | Useable pins for TCC0 on Arduino Zero: D0, D1, D2, D3, D4, D5, D6, D7, D10, D11, D12, D13, A3, A4 114 | Useable pins for TCC1 on Arduino Zero: D0, D1, D3, D4, D8, D9 115 | Useable pins for TCC2 on Arduino Zero: D11, D13 116 | 117 | (Arduino Pin:SAMD21 Pin:TCCx/output channel:PMUXoddeven_x) 118 | Picked pins for TCC0: D3:PA09:TCC0/WO1:E D4:PA08:TCC0/WO0:E, D10:PA18:TCC0/WO2:F, D12:PA19:TCC0/WO3:F 119 | Picked pins for TCC1: D8:PA06:TCC1/WO0:E, D9:PA07:TCC1/WO1:E 120 | Picked pins for TCC2: D11:PA16:TCC2/WO0:E, D13:PA17:TCC2/WO1:E 121 | 122 | ------------------------------------------------------------------------------------------------------ -------------------------------------------------------------------------------- /keywords.txt: -------------------------------------------------------------------------------- 1 | ####################################### 2 | # Syntax Coloring Map for Arduino_SAMD21_turbo_PWM 3 | ####################################### 4 | # Class 5 | ####################################### 6 | 7 | SAMD21turboPWM KEYWORD1 8 | TurboPWM KEYWORD1 9 | 10 | ####################################### 11 | # Methods and Functions 12 | ####################################### 13 | 14 | setClockDivider KEYWORD2 15 | timer KEYWORD2 16 | analogWrite KEYWORD2 17 | enable KEYWORD2 18 | frequency KEYWORD2 19 | 20 | ####################################### 21 | # Constants 22 | ####################################### -------------------------------------------------------------------------------- /library.properties: -------------------------------------------------------------------------------- 1 | name=SAMD21 turbo PWM 2 | version=0.8.5 3 | author=Oscar den Uijl aka ocrdu 4 | maintainer=ocrdu 5 | sentence=Fast-PWM library for SAMD21G-based Arduinos 6 | paragraph= 7 | category=Signal Input/Output 8 | url=https://github.com/ocrdu/Arduino_SAMD21_turbo_PWM 9 | architectures=samd 10 | includes=SAMD21turboPWM.h 11 | -------------------------------------------------------------------------------- /src/SAMD21turboPWM.cpp: -------------------------------------------------------------------------------- 1 | #include "SAMD21turboPWM.h" 2 | 3 | void TurboPWM::setClockDivider(unsigned int GCLKDiv, bool turbo) { 4 | // Configure input clock 5 | if (turbo) { 6 | // Configure GCLK5 to use DFLL48M 7 | GCLK->GENCTRL.reg = GCLK_GENCTRL_IDC | GCLK_GENCTRL_GENEN | GCLK_GENCTRL_SRC_DFLL48M | GCLK_GENCTRL_ID(5); 8 | while (GCLK->STATUS.bit.SYNCBUSY); 9 | 10 | // Set GCLK5's prescaler to 48 for 1 MHz 11 | GCLK->GENDIV.reg = GCLK_GENDIV_DIV(48) | GCLK_GENDIV_ID(5); 12 | while (GCLK->STATUS.bit.SYNCBUSY); 13 | 14 | // Enable GCLK5 and connect it to GCLK_DPLL 15 | GCLK->CLKCTRL.reg = GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK5 | GCLK_CLKCTRL_ID(1); 16 | while (GCLK->STATUS.bit.SYNCBUSY); 17 | 18 | // Set DPLL ratio to 1 MHz * (95 + 1) = 96 MHz 19 | SYSCTRL->DPLLRATIO.reg = SYSCTRL_DPLLRATIO_LDRFRAC(0) | SYSCTRL_DPLLRATIO_LDR(95); 20 | 21 | // Configure DPLL to disregard phase lock and select GCLK as source 22 | SYSCTRL->DPLLCTRLB.reg = SYSCTRL_DPLLCTRLB_LBYPASS | SYSCTRL_DPLLCTRLB_WUF | SYSCTRL_DPLLCTRLB_REFCLK(SYSCTRL_DPLLCTRLB_REFCLK_GCLK_Val); 23 | 24 | // Enable DPLL 25 | SYSCTRL->DPLLCTRLA.reg |= SYSCTRL_DPLLCTRLA_ENABLE; 26 | 27 | // Configure GCLK4 to use DPLL96M 28 | GCLK->GENCTRL.reg = GCLK_GENCTRL_IDC | GCLK_GENCTRL_GENEN | GCLK_GENCTRL_SRC_DPLL96M | GCLK_GENCTRL_ID(4); 29 | while (GCLK->STATUS.bit.SYNCBUSY); 30 | 31 | _turbo = true; 32 | 33 | } else { 34 | // Configure GCLK4 to use DFLL48M 35 | REG_GCLK_GENCTRL = GCLK_GENCTRL_IDC | GCLK_GENCTRL_GENEN | GCLK_GENCTRL_SRC_DFLL48M | GCLK_GENCTRL_ID(4); 36 | while (GCLK->STATUS.bit.SYNCBUSY); 37 | 38 | _turbo = false; 39 | } 40 | 41 | // Clamp GCLKDiv to 1 - 255 42 | if (GCLKDiv < 1) { 43 | GCLKDiv = 1; 44 | } 45 | if (GCLKDiv > 255) { 46 | GCLKDiv = 255; 47 | } 48 | _GCLKDiv = GCLKDiv; 49 | 50 | // Set GCLK4's prescaler 51 | REG_GCLK_GENDIV = GCLK_GENDIV_DIV(_GCLKDiv) | GCLK_GENDIV_ID(4); 52 | while (GCLK->STATUS.bit.SYNCBUSY); 53 | 54 | // Connect GCLK4 to TCC0, TCC1, TCC2, and TC3 55 | REG_GCLK_CLKCTRL = GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK4 | GCLK_CLKCTRL_ID_TCC0_TCC1; 56 | while (GCLK->STATUS.bit.SYNCBUSY); 57 | REG_GCLK_CLKCTRL = GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK4 | GCLK_CLKCTRL_ID_TCC2_TC3; 58 | while (GCLK->STATUS.bit.SYNCBUSY); 59 | } 60 | 61 | int TurboPWM::timer(unsigned int timerNumber, unsigned int TCCDiv, unsigned long long int steps, bool fastPWM) { 62 | // Check timer number 63 | if (timerNumber >= timerTableSize) { 64 | return 0; 65 | } 66 | 67 | // Derive TCC prescaler from parameter TCCDiv; default to 1 if a wrong number was entered 68 | unsigned int my_TCC_CTRLA_PRESCALER_DIV; 69 | if (TCCDiv == 1) { 70 | my_TCC_CTRLA_PRESCALER_DIV = TCC_CTRLA_PRESCALER_DIV1; 71 | } else if (TCCDiv == 2) { 72 | my_TCC_CTRLA_PRESCALER_DIV = TCC_CTRLA_PRESCALER_DIV2; 73 | } else if (TCCDiv == 4) { 74 | my_TCC_CTRLA_PRESCALER_DIV = TCC_CTRLA_PRESCALER_DIV4; 75 | } else if (TCCDiv == 8) { 76 | my_TCC_CTRLA_PRESCALER_DIV = TCC_CTRLA_PRESCALER_DIV8; 77 | } else if (TCCDiv == 16) { 78 | my_TCC_CTRLA_PRESCALER_DIV = TCC_CTRLA_PRESCALER_DIV16; 79 | } else if (TCCDiv == 64) { 80 | my_TCC_CTRLA_PRESCALER_DIV = TCC_CTRLA_PRESCALER_DIV64; 81 | } else if (TCCDiv == 256) { 82 | my_TCC_CTRLA_PRESCALER_DIV = TCC_CTRLA_PRESCALER_DIV256; 83 | } else if (TCCDiv == 1024) { 84 | my_TCC_CTRLA_PRESCALER_DIV = TCC_CTRLA_PRESCALER_DIV1024; 85 | } else { 86 | my_TCC_CTRLA_PRESCALER_DIV = TCC_CTRLA_PRESCALER_DIV1; 87 | TCCDiv = 1; 88 | } 89 | 90 | // Set prescaler TCCDiv for TCCx 91 | timerTable[timerNumber].TCCDiv = TCCDiv; 92 | *(RwReg*)timerTable[timerNumber].REG_TCCx_CTRLA |= my_TCC_CTRLA_PRESCALER_DIV; 93 | 94 | // Select single- or dual-slope PWM and invert output for dual-slope PWM 95 | timerTable[timerNumber].fastPWM = fastPWM; 96 | if (timerTable[timerNumber].fastPWM) { 97 | *(RwReg*)timerTable[timerNumber].REG_TCCx_WAVE |= TCC_WAVE_WAVEGEN_NPWM; 98 | } else { 99 | *(RwReg*)timerTable[timerNumber].REG_TCCx_WAVE |= TCC_WAVE_POL(0xF) | TCC_WAVE_WAVEGEN_DSBOTTOM; 100 | } 101 | while (timerTable[timerNumber].TCCx->SYNCBUSY.bit.WAVE); 102 | 103 | // Clamp resolution to TCCx's counter size 104 | if (steps < 2) { 105 | steps = 2; 106 | } 107 | if (steps > timerTable[timerNumber].counterSize) { 108 | steps = timerTable[timerNumber].counterSize; 109 | } 110 | 111 | // Set the resolution 112 | timerTable[timerNumber].steps = steps; 113 | *(RwReg*)timerTable[timerNumber].REG_TCCx_PERB = timerTable[timerNumber].steps; 114 | while (timerTable[timerNumber].TCCx->SYNCBUSY.bit.PERB); 115 | 116 | // Enable timer 117 | enable(timerNumber, timerTable[timerNumber].enabled); 118 | 119 | return 1; 120 | } 121 | 122 | int TurboPWM::analogWrite(int pin, unsigned int dutyCycle) { 123 | // Check if an acceptable pin is used 124 | unsigned int i; 125 | for (i = 0; i < pinTableSize; i++) { 126 | if (pinTable[i].arduinoPin == pin) { 127 | break; 128 | } 129 | } 130 | if (i >= pinTableSize || pin < 0) { 131 | return 0; 132 | } 133 | 134 | // Enable a SAMD21 pin as multiplexed and connect it to a pin using the port multiplexer 135 | PORT->Group[pinTable[pin].port].PINCFG[pinTable[pin].samd21Pin].bit.PMUXEN = 1; 136 | PORT->Group[pinTable[pin].port].PMUX[pinTable[pin].samd21Pin >> 1].reg |= pinTable[pin].pMux; 137 | 138 | // Clamp dutycycle to the maximum duty cycle set in the header file; duty cycle will be (dutyCycle / _maxDutyCycle) * 100% 139 | if (dutyCycle > _maxDutyCycle) { 140 | dutyCycle = _maxDutyCycle; 141 | } 142 | 143 | // Set duty cycle 144 | *(RwReg*)pinTable[pin].REG_TCCx_CCBy = (timerTable[pinTable[pin].timer].steps * dutyCycle) / _maxDutyCycle; 145 | while (timerTable[pinTable[pin].timer].TCCx->SYNCBUSY.vec.CCB); 146 | 147 | return 1; 148 | } 149 | 150 | int TurboPWM::enable(unsigned int timerNumber, bool enabled) { 151 | // Check timer number 152 | if (timerNumber >= timerTableSize) { 153 | return 0; 154 | } 155 | 156 | timerTable[timerNumber].enabled = enabled; 157 | if (timerTable[timerNumber].enabled) { 158 | *(RwReg*)timerTable[timerNumber].REG_TCCx_CTRLA |= TCC_CTRLA_ENABLE; 159 | } else { 160 | *(RwReg*)timerTable[timerNumber].REG_TCCx_CTRLA &= ~(TCC_CTRLA_ENABLE); 161 | } 162 | while (timerTable[timerNumber].TCCx->SYNCBUSY.bit.ENABLE); 163 | 164 | return 1; 165 | } 166 | 167 | float TurboPWM::frequency(unsigned int timerNumber) { 168 | // Check timer number 169 | if (timerNumber >= timerTableSize) { 170 | return 0; 171 | } 172 | 173 | unsigned int fastDivider; 174 | unsigned int PLL96M; 175 | if (_turbo) { 176 | PLL96M = 2; 177 | } else { 178 | PLL96M = 1; 179 | } 180 | if (timerTable[timerNumber].fastPWM) { 181 | fastDivider = 1; 182 | } else { 183 | fastDivider = 2; 184 | } 185 | return (static_cast(VARIANT_MCK) * PLL96M) / (fastDivider * _GCLKDiv * timerTable[timerNumber].TCCDiv * timerTable[timerNumber].steps); 186 | } 187 | -------------------------------------------------------------------------------- /src/SAMD21turboPWM.h: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #define GCLK_GENCTRL_SRC_DPLL96M_Val 0x8ul 4 | #define GCLK_GENCTRL_SRC_DPLL96M (GCLK_GENCTRL_SRC_DPLL96M_Val << GCLK_GENCTRL_SRC_Pos) 5 | 6 | class TurboPWM { 7 | public: 8 | void setClockDivider(unsigned int GCLKDiv, bool turbo); 9 | int timer(unsigned int timernumber, unsigned int TCCDiv, unsigned long long int steps, bool fastPWM); 10 | int analogWrite(int pin, unsigned int dutyCycle); 11 | int enable(unsigned int timerNumber, bool enabled); 12 | float frequency(unsigned int timerNumber); 13 | private: 14 | unsigned int _GCLKDiv = 1; // Main clock divider: 1 to 255 for both TCC0 and TCC1 15 | bool _turbo = false; // False for 48MHz clock, true for 96MHz clock 16 | const unsigned int _maxDutyCycle = 1000; // The maximum duty cycle number; duty cycle will be (dutyCycle / _maxDutyCycle) * 100% 17 | }; 18 | 19 | //Table for looking up and storing values for TCCx 20 | typedef struct { 21 | const Tcc* TCCx; // Pointer to timer 22 | const RwReg* REG_TCCx_CTRLA; // Pointer to timer's CTRLA register 23 | const RwReg* REG_TCCx_WAVE; // Pointer to timer's WAVE register 24 | const RwReg* REG_TCCx_PERB; // Pointer to timer's PERB register 25 | const unsigned long int counterSize; // Timer's counter size: 24 bits for TCC0 and TCC1, 16 bits for TCC2 26 | unsigned int TCCDiv; // Timer's clock divider: 1, 2, 4, 8, 16, 64, 256, or 1024 27 | unsigned long long int steps; // Timer's PWM steps (resolution): 2 to counterSize 28 | bool fastPWM; // False for phase-correct aka dual-slope PWM, true for fast aka normal aka single-slope PWM 29 | bool enabled; // Shows if TCCx should be enabled 30 | } TimerLookup; 31 | 32 | static TimerLookup timerTable[] = { 33 | {TCC0, ®_TCC0_CTRLA, ®_TCC0_WAVE, ®_TCC0_PERB, 0xFFFFFF, 1, 500000, false, true}, 34 | {TCC1, ®_TCC1_CTRLA, ®_TCC1_WAVE, ®_TCC1_PERB, 0xFFFFFF, 1, 500000, false, true}, 35 | {TCC2, ®_TCC2_CTRLA, ®_TCC2_WAVE, ®_TCC2_PERB, 0xFFFF, 1, 50000, false, true} 36 | }; 37 | static const unsigned int timerTableSize = sizeof(timerTable) / sizeof(timerTable[0]); 38 | 39 | // Tables for looking up pin mappings etc. for different boards 40 | typedef struct { 41 | const int arduinoPin; // Arduino pin number 42 | const unsigned int port; // Port of the SAMD21 pin 43 | const unsigned int samd21Pin; // SAMD21 pin 44 | const unsigned int timer; // Timer used for this pin 45 | const RwReg* REG_TCCx_CCBy; // Pointer to count register used for this pin 46 | const unsigned long int pMux; // Pin multiplexer for this pin 47 | } PinLookup; 48 | 49 | static const PinLookup pinTable[] = { 50 | #if defined (ARDUINO_SAMD_NANO_33_IOT) 51 | //Table begin 52 | {-1, 0, 0, 0, 0, 0}, 53 | {-1, 0, 0, 0, 0, 0}, 54 | {-1, 0, 0, 0, 0, 0}, 55 | {-1, 0, 0, 0, 0, 0}, 56 | { 4, PORTA, 7, 1, ®_TCC1_CCB1, PORT_PMUX_PMUXO_E}, 57 | { 5, PORTA, 5, 0, ®_TCC0_CCB1, PORT_PMUX_PMUXO_E}, 58 | { 6, PORTA, 4, 0, ®_TCC0_CCB0, PORT_PMUX_PMUXE_E}, 59 | { 7, PORTA, 6, 1, ®_TCC1_CCB0, PORT_PMUX_PMUXE_E}, 60 | { 8, PORTA, 18, 0, ®_TCC0_CCB2, PORT_PMUX_PMUXE_F}, 61 | {-1, 0, 0, 0, 0, 0}, 62 | {-1, 0, 0, 0, 0, 0}, 63 | {11, PORTA, 16, 2, ®_TCC2_CCB0, PORT_PMUX_PMUXE_E}, 64 | {12, PORTA, 19, 0, ®_TCC0_CCB3, PORT_PMUX_PMUXO_F}, 65 | {13, PORTA, 17, 2, ®_TCC2_CCB1, PORT_PMUX_PMUXO_E} 66 | //Table end 67 | 68 | #elif defined (ARDUINO_SAMD_ZERO) || \ 69 | defined (ADAFRUIT_ITSYBITSY_M0) || \ 70 | defined (ARDUINO_SAMD_FEATHER_M0) 71 | //Table begin 72 | {-1, 0, 0, 0, 0, 0}, 73 | {-1, 0, 0, 0, 0, 0}, 74 | {-1, 0, 0, 0, 0, 0}, 75 | { 3, PORTA, 9, 0, ®_TCC0_CCB1, PORT_PMUX_PMUXO_E}, 76 | { 4, PORTA, 8, 0, ®_TCC0_CCB0, PORT_PMUX_PMUXE_E}, 77 | {-1, 0, 0, 0, 0, 0}, 78 | {-1, 0, 0, 0, 0, 0}, 79 | {-1, 0, 0, 0, 0, 0}, 80 | { 8, PORTA, 6, 1, ®_TCC1_CCB0, PORT_PMUX_PMUXE_E}, 81 | { 9, PORTA, 7, 1, ®_TCC1_CCB1, PORT_PMUX_PMUXO_E}, 82 | {10, PORTA, 18, 0, ®_TCC0_CCB2, PORT_PMUX_PMUXE_F}, 83 | {11, PORTA, 16, 2, ®_TCC2_CCB0, PORT_PMUX_PMUXE_E}, 84 | {12, PORTA, 19, 0, ®_TCC0_CCB3, PORT_PMUX_PMUXO_F}, 85 | {13, PORTA, 17, 2, ®_TCC2_CCB1, PORT_PMUX_PMUXO_E} 86 | //Table end 87 | 88 | #elif defined (ARDUINO_SAMD_MKRZERO) || \ 89 | defined (ARDUINO_SAMD_MKR1000) || \ 90 | defined (ARDUINO_SAMD_MKRWIFI1010) || \ 91 | defined (ARDUINO_SAMD_MKRFox1200) || \ 92 | defined (ARDUINO_SAMD_MKRWAN1300) || \ 93 | defined (ARDUINO_SAMD_MKRWAN1310) || \ 94 | defined (ARDUINO_SAMD_MKRGSM1400) || \ 95 | defined (ARDUINO_SAMD_MKRNB1500) || \ 96 | defined (ARDUINO_SAMD_MKRVIDOR4000) 97 | //Table begin 98 | {-1, 0, 0, 0, 0, 0}, 99 | {-1, 0, 0, 0, 0, 0}, 100 | { 2, PORTA, 10, 1, ®_TCC1_CCB0, PORT_PMUX_PMUXE_E}, 101 | { 3, PORTA, 11, 1, ®_TCC1_CCB1, PORT_PMUX_PMUXO_E}, 102 | { 4, PORTB, 10, 0, ®_TCC0_CCB0, PORT_PMUX_PMUXE_F}, 103 | { 5, PORTB, 11, 0, ®_TCC0_CCB1, PORT_PMUX_PMUXO_F}, 104 | { 6, PORTA, 20, 0, ®_TCC0_CCB2, PORT_PMUX_PMUXE_F}, 105 | { 7, PORTA, 21, 0, ®_TCC0_CCB3, PORT_PMUX_PMUXO_F}, 106 | { 8, PORTA, 16, 2, ®_TCC2_CCB0, PORT_PMUX_PMUXE_E}, 107 | { 9, PORTA, 17, 2, ®_TCC2_CCB1, PORT_PMUX_PMUXO_E} 108 | //Table end 109 | 110 | #elif defined (ADAFRUIT_TRINKET_M0) 111 | //Table begin 112 | { 0, PORTA, 8, 0, ®_TCC0_CCB0, PORT_PMUX_PMUXE_E}, 113 | {-1, 0, 0, 0, 0, 0}, //DAC 114 | { 2, PORTA, 9, 0, ®_TCC0_CCB1, PORT_PMUX_PMUXO_E}, 115 | { 3, PORTA, 7, 1, ®_TCC1_CCB1, PORT_PMUX_PMUXO_E}, 116 | { 4, PORTA, 6, 1, ®_TCC1_CCB0, PORT_PMUX_PMUXE_E} 117 | //Table end 118 | 119 | #else 120 | #error Board not supported by Turbo PWM Library 121 | #endif 122 | }; 123 | static const unsigned int pinTableSize = sizeof(pinTable) / sizeof(pinTable[0]); 124 | --------------------------------------------------------------------------------