├── 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. By contrast,
15 | the GNU General Public License is intended to guarantee your freedom to
16 | share and change all versions of a program--to make sure it remains free
17 | software for all its users. We, the Free Software Foundation, use the
18 | GNU General Public License for most of our software; it applies also to
19 | any other work released this way by its authors. You can apply it to
20 | your programs, too.
21 |
22 | When we speak of free software, we are referring to freedom, not
23 | price. Our General Public Licenses are designed to make sure that you
24 | have the freedom to distribute copies of free software (and charge for
25 | them if you wish), that you receive source code or can get it if you
26 | want it, that you can change the software or use pieces of it in new
27 | free programs, and that you know you can do these things.
28 |
29 | To protect your rights, we need to prevent others from denying you
30 | these rights or asking you to surrender the rights. Therefore, you have
31 | certain responsibilities if you distribute copies of the software, or if
32 | you modify it: responsibilities to respect the freedom of others.
33 |
34 | For example, if you distribute copies of such a program, whether
35 | gratis or for a fee, you must pass on to the recipients the same
36 | freedoms that you received. You must make sure that they, too, receive
37 | or can get the source code. And you must show them these terms so they
38 | know their rights.
39 |
40 | Developers that use the GNU GPL protect your rights with two steps:
41 | (1) assert copyright on the software, and (2) offer you this License
42 | giving you legal permission to copy, distribute and/or modify it.
43 |
44 | For the developers' and authors' protection, the GPL clearly explains
45 | that there is no warranty for this free software. For both users' and
46 | authors' sake, the GPL requires that modified versions be marked as
47 | changed, so that their problems will not be attributed erroneously to
48 | authors of previous versions.
49 |
50 | Some devices are designed to deny users access to install or run
51 | modified versions of the software inside them, although the manufacturer
52 | can do so. This is fundamentally incompatible with the aim of
53 | protecting users' freedom to change the software. The systematic
54 | pattern of such abuse occurs in the area of products for individuals to
55 | use, which is precisely where it is most unacceptable. Therefore, we
56 | have designed this version of the GPL to prohibit the practice for those
57 | products. If such problems arise substantially in other domains, we
58 | stand ready to extend this provision to those domains in future versions
59 | of the GPL, as needed to protect the freedom of users.
60 |
61 | Finally, every program is threatened constantly by software patents.
62 | States should not allow patents to restrict development and use of
63 | software on general-purpose computers, but in those that do, we wish to
64 | avoid the special danger that patents applied to a free program could
65 | make it effectively proprietary. To prevent this, the GPL assures that
66 | patents cannot be used to render the program non-free.
67 |
68 | The precise terms and conditions for copying, distribution and
69 | modification follow.
70 |
71 | TERMS AND CONDITIONS
72 |
73 | 0. Definitions.
74 |
75 | "This License" refers to version 3 of the GNU General Public License.
76 |
77 | "Copyright" also means copyright-like laws that apply to other kinds of
78 | works, such as semiconductor masks.
79 |
80 | "The Program" refers to any copyrightable work licensed under this
81 | License. Each licensee is addressed as "you". "Licensees" and
82 | "recipients" may be individuals or organizations.
83 |
84 | To "modify" a work means to copy from or adapt all or part of the work
85 | in a fashion requiring copyright permission, other than the making of an
86 | exact copy. The resulting work is called a "modified version" of the
87 | earlier work or a work "based on" the earlier work.
88 |
89 | A "covered work" means either the unmodified Program or a work based
90 | on the Program.
91 |
92 | To "propagate" a work means to do anything with it that, without
93 | permission, would make you directly or secondarily liable for
94 | infringement under applicable copyright law, except executing it on a
95 | computer or modifying a private copy. Propagation includes copying,
96 | distribution (with or without modification), making available to the
97 | public, and in some countries other activities as well.
98 |
99 | To "convey" a work means any kind of propagation that enables other
100 | parties to make or receive copies. Mere interaction with a user through
101 | a computer network, with no transfer of a copy, is not conveying.
102 |
103 | An interactive user interface displays "Appropriate Legal Notices"
104 | to the extent that it includes a convenient and prominently visible
105 | feature that (1) displays an appropriate copyright notice, and (2)
106 | tells the user that there is no warranty for the work (except to the
107 | extent that warranties are provided), that licensees may convey the
108 | work under this License, and how to view a copy of this License. If
109 | the interface presents a list of user commands or options, such as a
110 | menu, a prominent item in the list meets this criterion.
111 |
112 | 1. Source Code.
113 |
114 | The "source code" for a work means the preferred form of the work
115 | for making modifications to it. "Object code" means any non-source
116 | form of a work.
117 |
118 | A "Standard Interface" means an interface that either is an official
119 | standard defined by a recognized standards body, or, in the case of
120 | interfaces specified for a particular programming language, one that
121 | is widely used among developers working in that language.
122 |
123 | The "System Libraries" of an executable work include anything, other
124 | than the work as a whole, that (a) is included in the normal form of
125 | packaging a Major Component, but which is not part of that Major
126 | Component, and (b) serves only to enable use of the work with that
127 | Major Component, or to implement a Standard Interface for which an
128 | implementation is available to the public in source code form. A
129 | "Major Component", in this context, means a major essential component
130 | (kernel, window system, and so on) of the specific operating system
131 | (if any) on which the executable work runs, or a compiler used to
132 | produce the work, or an object code interpreter used to run it.
133 |
134 | The "Corresponding Source" for a work in object code form means all
135 | the source code needed to generate, install, and (for an executable
136 | work) run the object code and to modify the work, including scripts to
137 | control those activities. However, it does not include the work's
138 | System Libraries, or general-purpose tools or generally available free
139 | programs which are used unmodified in performing those activities but
140 | which are not part of the work. For example, Corresponding Source
141 | includes interface definition files associated with source files for
142 | the work, and the source code for shared libraries and dynamically
143 | linked subprograms that the work is specifically designed to require,
144 | such as by intimate data communication or control flow between those
145 | subprograms and other parts of the work.
146 |
147 | The Corresponding Source need not include anything that users
148 | can regenerate automatically from other parts of the Corresponding
149 | Source.
150 |
151 | The Corresponding Source for a work in source code form is that
152 | same work.
153 |
154 | 2. Basic Permissions.
155 |
156 | All rights granted under this License are granted for the term of
157 | copyright on the Program, and are irrevocable provided the stated
158 | conditions are met. This License explicitly affirms your unlimited
159 | permission to run the unmodified Program. The output from running a
160 | covered work is covered by this License only if the output, given its
161 | content, constitutes a covered work. This License acknowledges your
162 | rights of fair use or other equivalent, as provided by copyright law.
163 |
164 | You may make, run and propagate covered works that you do not
165 | convey, without conditions so long as your license otherwise remains
166 | in force. You may convey covered works to others for the sole purpose
167 | of having them make modifications exclusively for you, or provide you
168 | with facilities for running those works, provided that you comply with
169 | the terms of this License in conveying all material for which you do
170 | not control copyright. Those thus making or running the covered works
171 | for you must do so exclusively on your behalf, under your direction
172 | and control, on terms that prohibit them from making any copies of
173 | your copyrighted material outside their relationship with you.
174 |
175 | Conveying under any other circumstances is permitted solely under
176 | the conditions stated below. Sublicensing is not allowed; section 10
177 | makes it unnecessary.
178 |
179 | 3. Protecting Users' Legal Rights From Anti-Circumvention Law.
180 |
181 | No covered work shall be deemed part of an effective technological
182 | measure under any applicable law fulfilling obligations under article
183 | 11 of the WIPO copyright treaty adopted on 20 December 1996, or
184 | similar laws prohibiting or restricting circumvention of such
185 | measures.
186 |
187 | When you convey a covered work, you waive any legal power to forbid
188 | circumvention of technological measures to the extent such circumvention
189 | is effected by exercising rights under this License with respect to
190 | the covered work, and you disclaim any intention to limit operation or
191 | modification of the work as a means of enforcing, against the work's
192 | users, your or third parties' legal rights to forbid circumvention of
193 | technological measures.
194 |
195 | 4. Conveying Verbatim Copies.
196 |
197 | You may convey verbatim copies of the Program's source code as you
198 | receive it, in any medium, provided that you conspicuously and
199 | appropriately publish on each copy an appropriate copyright notice;
200 | keep intact all notices stating that this License and any
201 | non-permissive terms added in accord with section 7 apply to the code;
202 | keep intact all notices of the absence of any warranty; and give all
203 | recipients a copy of this License along with the Program.
204 |
205 | You may charge any price or no price for each copy that you convey,
206 | and you may offer support or warranty protection for a fee.
207 |
208 | 5. Conveying Modified Source Versions.
209 |
210 | You may convey a work based on the Program, or the modifications to
211 | produce it from the Program, in the form of source code under the
212 | terms of section 4, provided that you also meet all of these conditions:
213 |
214 | a) The work must carry prominent notices stating that you modified
215 | it, and giving a relevant date.
216 |
217 | b) The work must carry prominent notices stating that it is
218 | released under this License and any conditions added under section
219 | 7. This requirement modifies the requirement in section 4 to
220 | "keep intact all notices".
221 |
222 | c) You must license the entire work, as a whole, under this
223 | License to anyone who comes into possession of a copy. This
224 | License will therefore apply, along with any applicable section 7
225 | additional terms, to the whole of the work, and all its parts,
226 | regardless of how they are packaged. This License gives no
227 | permission to license the work in any other way, but it does not
228 | invalidate such permission if you have separately received it.
229 |
230 | d) If the work has interactive user interfaces, each must display
231 | Appropriate Legal Notices; however, if the Program has interactive
232 | interfaces that do not display Appropriate Legal Notices, your
233 | work need not make them do so.
234 |
235 | A compilation of a covered work with other separate and independent
236 | works, which are not by their nature extensions of the covered work,
237 | and which are not combined with it such as to form a larger program,
238 | in or on a volume of a storage or distribution medium, is called an
239 | "aggregate" if the compilation and its resulting copyright are not
240 | used to limit the access or legal rights of the compilation's users
241 | beyond what the individual works permit. Inclusion of a covered work
242 | in an aggregate does not cause this License to apply to the other
243 | parts of the aggregate.
244 |
245 | 6. Conveying Non-Source Forms.
246 |
247 | You may convey a covered work in object code form under the terms
248 | of sections 4 and 5, provided that you also convey the
249 | machine-readable Corresponding Source under the terms of this License,
250 | in one of these ways:
251 |
252 | a) Convey the object code in, or embodied in, a physical product
253 | (including a physical distribution medium), accompanied by the
254 | Corresponding Source fixed on a durable physical medium
255 | customarily used for software interchange.
256 |
257 | b) Convey the object code in, or embodied in, a physical product
258 | (including a physical distribution medium), accompanied by a
259 | written offer, valid for at least three years and valid for as
260 | long as you offer spare parts or customer support for that product
261 | model, to give anyone who possesses the object code either (1) a
262 | copy of the Corresponding Source for all the software in the
263 | product that is covered by this License, on a durable physical
264 | medium customarily used for software interchange, for a price no
265 | more than your reasonable cost of physically performing this
266 | conveying of source, or (2) access to copy the
267 | Corresponding Source from a network server at no charge.
268 |
269 | c) Convey individual copies of the object code with a copy of the
270 | written offer to provide the Corresponding Source. This
271 | alternative is allowed only occasionally and noncommercially, and
272 | only if you received the object code with such an offer, in accord
273 | with subsection 6b.
274 |
275 | d) Convey the object code by offering access from a designated
276 | place (gratis or for a charge), and offer equivalent access to the
277 | Corresponding Source in the same way through the same place at no
278 | further charge. You need not require recipients to copy the
279 | Corresponding Source along with the object code. If the place to
280 | copy the object code is a network server, the Corresponding Source
281 | may be on a different server (operated by you or a third party)
282 | that supports equivalent copying facilities, provided you maintain
283 | clear directions next to the object code saying where to find the
284 | Corresponding Source. Regardless of what server hosts the
285 | Corresponding Source, you remain obligated to ensure that it is
286 | available for as long as needed to satisfy these requirements.
287 |
288 | e) Convey the object code using peer-to-peer transmission, provided
289 | you inform other peers where the object code and Corresponding
290 | Source of the work are being offered to the general public at no
291 | charge under subsection 6d.
292 |
293 | A separable portion of the object code, whose source code is excluded
294 | from the Corresponding Source as a System Library, need not be
295 | included in conveying the object code work.
296 |
297 | A "User Product" is either (1) a "consumer product", which means any
298 | tangible personal property which is normally used for personal, family,
299 | or household purposes, or (2) anything designed or sold for incorporation
300 | into a dwelling. In determining whether a product is a consumer product,
301 | doubtful cases shall be resolved in favor of coverage. For a particular
302 | product received by a particular user, "normally used" refers to a
303 | typical or common use of that class of product, regardless of the status
304 | of the particular user or of the way in which the particular user
305 | actually uses, or expects or is expected to use, the product. A product
306 | is a consumer product regardless of whether the product has substantial
307 | commercial, industrial or non-consumer uses, unless such uses represent
308 | the only significant mode of use of the product.
309 |
310 | "Installation Information" for a User Product means any methods,
311 | procedures, authorization keys, or other information required to install
312 | and execute modified versions of a covered work in that User Product from
313 | a modified version of its Corresponding Source. The information must
314 | suffice to ensure that the continued functioning of the modified object
315 | code is in no case prevented or interfered with solely because
316 | modification has been made.
317 |
318 | If you convey an object code work under this section in, or with, or
319 | specifically for use in, a User Product, and the conveying occurs as
320 | part of a transaction in which the right of possession and use of the
321 | User Product is transferred to the recipient in perpetuity or for a
322 | fixed term (regardless of how the transaction is characterized), the
323 | Corresponding Source conveyed under this section must be accompanied
324 | by the Installation Information. But this requirement does not apply
325 | if neither you nor any third party retains the ability to install
326 | modified object code on the User Product (for example, the work has
327 | been installed in ROM).
328 |
329 | The requirement to provide Installation Information does not include a
330 | requirement to continue to provide support service, warranty, or updates
331 | for a work that has been modified or installed by the recipient, or for
332 | the User Product in which it has been modified or installed. Access to a
333 | network may be denied when the modification itself materially and
334 | adversely affects the operation of the network or violates the rules and
335 | protocols for communication across the network.
336 |
337 | Corresponding Source conveyed, and Installation Information provided,
338 | in accord with this section must be in a format that is publicly
339 | documented (and with an implementation available to the public in
340 | source code form), and must require no special password or key for
341 | unpacking, reading or copying.
342 |
343 | 7. Additional Terms.
344 |
345 | "Additional permissions" are terms that supplement the terms of this
346 | License by making exceptions from one or more of its conditions.
347 | Additional permissions that are applicable to the entire Program shall
348 | be treated as though they were included in this License, to the extent
349 | that they are valid under applicable law. If additional permissions
350 | apply only to part of the Program, that part may be used separately
351 | under those permissions, but the entire Program remains governed by
352 | this License without regard to the additional permissions.
353 |
354 | When you convey a copy of a covered work, you may at your option
355 | remove any additional permissions from that copy, or from any part of
356 | it. (Additional permissions may be written to require their own
357 | removal in certain cases when you modify the work.) You may place
358 | additional permissions on material, added by you to a covered work,
359 | for which you have or can give appropriate copyright permission.
360 |
361 | Notwithstanding any other provision of this License, for material you
362 | add to a covered work, you may (if authorized by the copyright holders of
363 | that material) supplement the terms of this License with terms:
364 |
365 | a) Disclaiming warranty or limiting liability differently from the
366 | terms of sections 15 and 16 of this License; or
367 |
368 | b) Requiring preservation of specified reasonable legal notices or
369 | author attributions in that material or in the Appropriate Legal
370 | Notices displayed by works containing it; or
371 |
372 | c) Prohibiting misrepresentation of the origin of that material, or
373 | requiring that modified versions of such material be marked in
374 | reasonable ways as different from the original version; or
375 |
376 | d) Limiting the use for publicity purposes of names of licensors or
377 | authors of the material; or
378 |
379 | e) Declining to grant rights under trademark law for use of some
380 | trade names, trademarks, or service marks; or
381 |
382 | f) Requiring indemnification of licensors and authors of that
383 | material by anyone who conveys the material (or modified versions of
384 | it) with contractual assumptions of liability to the recipient, for
385 | any liability that these contractual assumptions directly impose on
386 | those licensors and authors.
387 |
388 | All other non-permissive additional terms are considered "further
389 | restrictions" within the meaning of section 10. If the Program as you
390 | received it, or any part of it, contains a notice stating that it is
391 | governed by this License along with a term that is a further
392 | restriction, you may remove that term. If a license document contains
393 | a further restriction but permits relicensing or conveying under this
394 | License, you may add to a covered work material governed by the terms
395 | of that license document, provided that the further restriction does
396 | not survive such relicensing or conveying.
397 |
398 | If you add terms to a covered work in accord with this section, you
399 | must place, in the relevant source files, a statement of the
400 | additional terms that apply to those files, or a notice indicating
401 | where to find the applicable terms.
402 |
403 | Additional terms, permissive or non-permissive, may be stated in the
404 | form of a separately written license, or stated as exceptions;
405 | the above requirements apply either way.
406 |
407 | 8. Termination.
408 |
409 | You may not propagate or modify a covered work except as expressly
410 | provided under this License. Any attempt otherwise to propagate or
411 | modify it is void, and will automatically terminate your rights under
412 | this License (including any patent licenses granted under the third
413 | paragraph of section 11).
414 |
415 | However, if you cease all violation of this License, then your
416 | license from a particular copyright holder is reinstated (a)
417 | provisionally, unless and until the copyright holder explicitly and
418 | finally terminates your license, and (b) permanently, if the copyright
419 | holder fails to notify you of the violation by some reasonable means
420 | prior to 60 days after the cessation.
421 |
422 | Moreover, your license from a particular copyright holder is
423 | reinstated permanently if the copyright holder notifies you of the
424 | violation by some reasonable means, this is the first time you have
425 | received notice of violation of this License (for any work) from that
426 | copyright holder, and you cure the violation prior to 30 days after
427 | your receipt of the notice.
428 |
429 | Termination of your rights under this section does not terminate the
430 | licenses of parties who have received copies or rights from you under
431 | this License. If your rights have been terminated and not permanently
432 | reinstated, you do not qualify to receive new licenses for the same
433 | material under section 10.
434 |
435 | 9. Acceptance Not Required for Having Copies.
436 |
437 | You are not required to accept this License in order to receive or
438 | run a copy of the Program. Ancillary propagation of a covered work
439 | occurring solely as a consequence of using peer-to-peer transmission
440 | to receive a copy likewise does not require acceptance. However,
441 | nothing other than this License grants you permission to propagate or
442 | modify any covered work. These actions infringe copyright if you do
443 | not accept this License. Therefore, by modifying or propagating a
444 | covered work, you indicate your acceptance of this License to do so.
445 |
446 | 10. Automatic Licensing of Downstream Recipients.
447 |
448 | Each time you convey a covered work, the recipient automatically
449 | receives a license from the original licensors, to run, modify and
450 | propagate that work, subject to this License. You are not responsible
451 | for enforcing compliance by third parties with this License.
452 |
453 | An "entity transaction" is a transaction transferring control of an
454 | organization, or substantially all assets of one, or subdividing an
455 | organization, or merging organizations. If propagation of a covered
456 | work results from an entity transaction, each party to that
457 | transaction who receives a copy of the work also receives whatever
458 | licenses to the work the party's predecessor in interest had or could
459 | give under the previous paragraph, plus a right to possession of the
460 | Corresponding Source of the work from the predecessor in interest, if
461 | the predecessor has it or can get it with reasonable efforts.
462 |
463 | You may not impose any further restrictions on the exercise of the
464 | rights granted or affirmed under this License. For example, you may
465 | not impose a license fee, royalty, or other charge for exercise of
466 | rights granted under this License, and you may not initiate litigation
467 | (including a cross-claim or counterclaim in a lawsuit) alleging that
468 | any patent claim is infringed by making, using, selling, offering for
469 | sale, or importing the Program or any portion of it.
470 |
471 | 11. Patents.
472 |
473 | A "contributor" is a copyright holder who authorizes use under this
474 | License of the Program or a work on which the Program is based. The
475 | work thus licensed is called the contributor's "contributor version".
476 |
477 | A contributor's "essential patent claims" are all patent claims
478 | owned or controlled by the contributor, whether already acquired or
479 | hereafter acquired, that would be infringed by some manner, permitted
480 | by this License, of making, using, or selling its contributor version,
481 | but do not include claims that would be infringed only as a
482 | consequence of further modification of the contributor version. For
483 | purposes of this definition, "control" includes the right to grant
484 | patent sublicenses in a manner consistent with the requirements of
485 | this License.
486 |
487 | Each contributor grants you a non-exclusive, worldwide, royalty-free
488 | patent license under the contributor's essential patent claims, to
489 | make, use, sell, offer for sale, import and otherwise run, modify and
490 | propagate the contents of its contributor version.
491 |
492 | In the following three paragraphs, a "patent license" is any express
493 | agreement or commitment, however denominated, not to enforce a patent
494 | (such as an express permission to practice a patent or covenant not to
495 | sue for patent infringement). To "grant" such a patent license to a
496 | party means to make such an agreement or commitment not to enforce a
497 | patent against the party.
498 |
499 | If you convey a covered work, knowingly relying on a patent license,
500 | and the Corresponding Source of the work is not available for anyone
501 | to copy, free of charge and under the terms of this License, through a
502 | publicly available network server or other readily accessible means,
503 | then you must either (1) cause the Corresponding Source to be so
504 | available, or (2) arrange to deprive yourself of the benefit of the
505 | patent license for this particular work, or (3) arrange, in a manner
506 | consistent with the requirements of this License, to extend the patent
507 | license to downstream recipients. "Knowingly relying" means you have
508 | actual knowledge that, but for the patent license, your conveying the
509 | covered work in a country, or your recipient's use of the covered work
510 | in a country, would infringe one or more identifiable patents in that
511 | country that you have reason to believe are valid.
512 |
513 | If, pursuant to or in connection with a single transaction or
514 | arrangement, you convey, or propagate by procuring conveyance of, a
515 | covered work, and grant a patent license to some of the parties
516 | receiving the covered work authorizing them to use, propagate, modify
517 | or convey a specific copy of the covered work, then the patent license
518 | you grant is automatically extended to all recipients of the covered
519 | work and works based on it.
520 |
521 | A patent license is "discriminatory" if it does not include within
522 | the scope of its coverage, prohibits the exercise of, or is
523 | conditioned on the non-exercise of one or more of the rights that are
524 | specifically granted under this License. You may not convey a covered
525 | work if you are a party to an arrangement with a third party that is
526 | in the business of distributing software, under which you make payment
527 | to the third party based on the extent of your activity of conveying
528 | the work, and under which the third party grants, to any of the
529 | parties who would receive the covered work from you, a discriminatory
530 | patent license (a) in connection with copies of the covered work
531 | conveyed by you (or copies made from those copies), or (b) primarily
532 | for and in connection with specific products or compilations that
533 | contain the covered work, unless you entered into that arrangement,
534 | or that patent license was granted, prior to 28 March 2007.
535 |
536 | Nothing in this License shall be construed as excluding or limiting
537 | any implied license or other defenses to infringement that may
538 | otherwise be available to you under applicable patent law.
539 |
540 | 12. No Surrender of Others' Freedom.
541 |
542 | If conditions are imposed on you (whether by court order, agreement or
543 | otherwise) that contradict the conditions of this License, they do not
544 | excuse you from the conditions of this License. If you cannot convey a
545 | covered work so as to satisfy simultaneously your obligations under this
546 | License and any other pertinent obligations, then as a consequence you may
547 | not convey it at all. For example, if you agree to terms that obligate you
548 | to collect a royalty for further conveying from those to whom you convey
549 | the Program, the only way you could satisfy both those terms and this
550 | License would be to refrain entirely from conveying the Program.
551 |
552 | 13. Use with the GNU Affero General Public License.
553 |
554 | Notwithstanding any other provision of this License, you have
555 | permission to link or combine any covered work with a work licensed
556 | under version 3 of the GNU Affero General Public License into a single
557 | combined work, and to convey the resulting work. The terms of this
558 | License will continue to apply to the part which is the covered work,
559 | but the special requirements of the GNU Affero General Public License,
560 | section 13, concerning interaction through a network will apply to the
561 | combination as such.
562 |
563 | 14. Revised Versions of this License.
564 |
565 | The Free Software Foundation may publish revised and/or new versions of
566 | the GNU General Public License from time to time. Such new versions will
567 | be similar in spirit to the present version, but may differ in detail to
568 | address new problems or concerns.
569 |
570 | Each version is given a distinguishing version number. If the
571 | Program specifies that a certain numbered version of the GNU General
572 | Public License "or any later version" applies to it, you have the
573 | option of following the terms and conditions either of that numbered
574 | version or of any later version published by the Free Software
575 | Foundation. If the Program does not specify a version number of the
576 | GNU General Public License, you may choose any version ever published
577 | by the Free Software Foundation.
578 |
579 | If the Program specifies that a proxy can decide which future
580 | versions of the GNU General Public License can be used, that proxy's
581 | public statement of acceptance of a version permanently authorizes you
582 | to choose that version for the Program.
583 |
584 | Later license versions may give you additional or different
585 | permissions. However, no additional obligations are imposed on any
586 | author or copyright holder as a result of your choosing to follow a
587 | later version.
588 |
589 | 15. Disclaimer of Warranty.
590 |
591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
599 |
600 | 16. Limitation of Liability.
601 |
602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
610 | SUCH DAMAGES.
611 |
612 | 17. 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 |
--------------------------------------------------------------------------------