{"id":2746,"date":"2021-03-24T14:07:55","date_gmt":"2021-03-24T13:07:55","guid":{"rendered":"https:\/\/www.pschatzmann.ch\/home\/?p=2746"},"modified":"2021-03-29T12:13:58","modified_gmt":"2021-03-29T10:13:58","slug":"pwm-support-for-my-raspberry-pico-arduino-framework","status":"publish","type":"post","link":"https:\/\/www.pschatzmann.ch\/home\/2021\/03\/24\/pwm-support-for-my-raspberry-pico-arduino-framework\/","title":{"rendered":"PWM Support for my Raspberry Pico Arduino Framework"},"content":{"rendered":"<p>I am quite enthusiastic about the <a href=\"https:\/\/www.raspberrypi.org\/documentation\/pico\/getting-started\/\">new Raspberry Pico<\/a>. However I find the C SDK not very friendly and I prefer to have something as simple as the Arduino API. I did not want to wait for the official Arduino support &#8211; so I started <a href=\"https:\/\/github.com\/pschatzmann\/pico-arduino\">my own project<\/a>.<\/p>\n<h2>PWM in the Pico<\/h2>\n<p>I was struggling quite a bit to have <a href=\"https:\/\/en.wikipedia.org\/wiki\/Pulse-width_modulation\">PWM<\/a> working properly and the <a href=\"https:\/\/raspberrypi.github.io\/pico-sdk-doxygen\/group__hardware__pwm.html\">Pico PWM API<\/a> is pretty nasty because you have to deal with<\/p>\n<ul>\n<li>clock frequencies and frequency dividers<\/li>\n<li>counters and wraps<\/li>\n<li>interrupts<\/li>\n<li>channels and slices<\/li>\n<\/ul>\n<p>Finally I think I have got it now. I decided to provide a <a href=\"https:\/\/pschatzmann.github.io\/pico-arduino\/doc\/html\/class_pico_p_w_m.html\">nice high level API<\/a> for PWM which can support any type of application because you can define the frequency yourself.<\/p>\n<h2>Pico PWM reading logic<\/h2>\n<p>It took me quite a while to grok the reading logic. I have implemented it in the following way:<\/p>\n<ul>\n<li>The API provides the <code>pwm_get_counter()<\/code> method which can count the number of high cycles. The counting high logic can be defined by calling the <code>pwm_config_set_clkdiv_mode(&amp;config, PWM_DIV_B_HIGH)<\/code> method.<\/li>\n<li>With the help of the interrupt we can determine the counter overflow <\/li>\n<li>With the above we can measure the total high cycles during a predefined measuring time period<\/li>\n<li>I am repeating the measurement n times in order to calculate the average<\/li>\n<li>With the help of the <code>clock_get_hz(clk_sys)<\/code> method we can calculate the total cycles during the measuring time period. I am not using any clock divider, so the system is counting at the highest resolution.<\/li>\n<li>Finally we can just <strong>calculate the duty cycle (rate)<\/strong> by dividing: <strong>counted high cycles \/ total cycles<\/strong>!<\/li>\n<\/ul>\n<p>If you want to study my source code: this functionality is provided by the <a href=\"https:\/\/pschatzmann.github.io\/pico-arduino\/doc\/html\/class_pico_p_w_m_reader.html\">PicoPWMReader<\/a> class.<\/p>\n<h2>PWM in the Arduino<\/h2>\n<p>My simple API is then just used to provide the implementation for the standard Arduino, so that you can just call<\/p>\n<ul>\n<li><a href=\"https:\/\/www.arduino.cc\/reference\/en\/language\/functions\/analog-io\/analogwrite\/\">analogWrite<\/a><\/li>\n<li><a href=\"https:\/\/www.arduino.cc\/reference\/en\/language\/functions\/analog-io\/analogread\/\">analogRead<\/a><\/li>\n<\/ul>\n<p>The Arduino PWM frequency is usually around 490 Hz. This is good enough to drive some LED but not suited for Servos or Motors.<\/p>\n<p>On top I also provide a Pico compatible <a href=\"https:\/\/pschatzmann.github.io\/pico-arduino\/doc\/html\/class_servo.html\">Servo class<\/a> which can be used to drive Servos.<\/p>\n<h2>Examples<\/h2>\n<p>Here are the links to the examples:<\/p>\n<ul>\n<li><a href=\"https:\/\/github.com\/pschatzmann\/pico-arduino\/tree\/main\/examples\/pwm_arduino\">pwm_arduino<\/a><\/li>\n<li><a href=\"https:\/\/github.com\/pschatzmann\/pico-arduino\/tree\/main\/examples\/pwm_arduino_read\">pwm_arduino_read<\/a><\/li>\n<li><a href=\"https:\/\/github.com\/pschatzmann\/pico-arduino\/tree\/main\/examples\/pwm_pico\">pwm_pico<\/a><\/li>\n<li><a href=\"https:\/\/github.com\/pschatzmann\/pico-arduino\/tree\/main\/examples\/pwm_pico_read\">pwm_pico_read<\/a><\/li>\n<li><a href=\"https:\/\/github.com\/pschatzmann\/pico-arduino\/tree\/main\/examples\/pwm_servo\">pwm_servo<\/a><\/li>\n<\/ul>\n<p><strong>As a conclusion<\/strong>: I have pretty much <strong>the full Arduino functionality working<\/strong> now. The only outstanding topic is <a href=\"https:\/\/en.wikipedia.org\/wiki\/I%C2%B2S\">I2S<\/a> and taking into consideration the lacking maturity of the standard Pico Framework support for I2S &#8211; I am not sure if I want to pick this up myself&#8230;.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>I am quite enthusiastic about the new Raspberry Pico. However I find the C SDK not very friendly and I prefer to have something as simple as the Arduino API. I did not want to wait for the official Arduino support &#8211; so I started my own project. PWM in [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":2744,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_crdt_document":"","_import_markdown_pro_load_document_selector":0,"_import_markdown_pro_submit_text_textarea":"","_exactmetrics_skip_tracking":false,"_exactmetrics_sitenote_active":false,"_exactmetrics_sitenote_note":"","_exactmetrics_sitenote_category":0,"footnotes":""},"categories":[20,24],"tags":[],"class_list":["post-2746","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-arduino","category-pico"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.4 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>PWM Support for my Raspberry Pico Arduino Framework - Phil Schatzmann<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.pschatzmann.ch\/home\/2021\/03\/24\/pwm-support-for-my-raspberry-pico-arduino-framework\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"PWM Support for my Raspberry Pico Arduino Framework - Phil Schatzmann\" \/>\n<meta property=\"og:description\" content=\"I am quite enthusiastic about the new Raspberry Pico. 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