PDM library (Pulse Density Modulation)

Dependents:   mbed-shiny

Software PDM

Software PDM (Pulse Density Modulation) is a viable alternative to software PWM where mcu resources are limited because we only need one timer to control the output (whereas PWM requires two timers).

The code presented here is based on an article and source code released by Ken Wada from Aurium Technologies.
Additional info on Pulse Density Modulation is available here.

Keep in mind that the dynamic range is limited when we bit-bang PDM as following limitations apply:

  • A very low pulse width value will inevitably break (and even stop) other code. This value depends on the complexity of the additional user code. A decent start value for a single instance PDM is 100us or more. Multiple PDM instances will require a higher value.
  • Keep the maximum level (DMAX) within reasonable limits. To get a higher precision, we would be tempted to set this as high as possible. As a result, to realize the highest and lowest states (near zero, and near maximum), we need to wait at least for the DAC's maxlevel number of updates in order for those states to manifest properly into the output.

Both the pulse width and DMAX values determine the highest frequency we can reproduce :

                         1
max. frequency = -----------------
                 PulseWidth x DMAX

Example
-------
pulse width = 10us
DMAX        = 256 counts

                       1
max. frequency = ------------- = 390.625Hz
                 0.00001 x 256

Applications

  • Low frequency analog output for mcu's without DA converters.
  • LED brightness control.
  • ...

Examples

Basic use

// mbed-shiny
#include "mbed.h"
#include "SoftPdmOut.h"

SoftPdmOut pdm(LED1);

int main()
{
    float pdmSet = 0.0f;
    float pdmAdd = 0.01f;

    // Continuously cycle the output
    while(1)
    {
        pdm = pdmSet;
        wait_ms(10);
        if(pdmSet >= 1.0f)
            pdmAdd = -0.01f;
        if(pdmSet <= 0.0f)
            pdmAdd = 0.01f;
        pdmSet += pdmAdd;
    }
}



Demonstrate library functions

#include "mbed.h"
#include "SoftPdmOut.h"

Serial pc(USBTX, USBRX);

// optional parameters, when omitted, their default library value will be used.
#define PULSEWIDTH 100
#define DMAX       64
#define STARTLEVEL 0.5f

// PinName and optional pulse width, dmax, start level
// When  SoftPdmOut pdm(LED1);  is used, all optional parameters revert to their default values (defined in the library).
SoftPdmOut pdm(LED1, PULSEWIDTH, DMAX, STARTLEVEL);

int main()
{
    pc.baud (38400);
    
    float pdmVal;
    
    printf("PDM test\r\n");
    pdmVal = 0.1f;

    // Stop the PDM with pin idle value = 0
    printf("Stop the PDM with pin idle value = 0\r\n");
    pdm.stop(0);
    wait(1);
    pdm.start();

    // Stop the PDM with pin idle value = 1
    printf("Stop the PDM with pin idle value = 1\r\n");
    pdm.stop(1);
    wait(1);
    pdm.start();

    // Set PDM level, read it back and print it, can be done in two ways :
    // using pdm.write(nn) and pdm.read(nn)  OR  pdm = nn and <variable> = pdm.
    printf("Set the current PDM level to %f\r\n", pdmVal);
    // Write the current PDM level using pdm.write()
    pdm.write(pdmVal);
    // Write the current PDM level using the shorthand notation instead of pdm.write()
    pdm = pdmVal;
    printf("Get the current PDM level : %f\r\n", pdm.read());
    // Read the current PDM level using the shorthand notation instead of pdm.read()
    float dummy = pdm;
    printf("Get the current PDM level : %f\r\n", dummy);
    wait(1);
    // Change the pulse width and DMAX values.
    pdm.PulseWidth(100);
    pdm.Dmax(128);

    float pdmSet = 0.0f;
    float pdmAdd = 0.01f;

    // Cycle the output
    while(1)
    {
        pdm = pdmSet;
        wait_ms(10);
        if(pdmSet >= 1.0f)
            pdmAdd = -0.01f;
        if(pdmSet <= 0.0f)
            pdmAdd = 0.01f;
        pdmSet += pdmAdd;
    }
}
Committer:
frankvnk
Date:
Sat Dec 27 09:16:52 2014 +0000
Revision:
2:7ead6071d6d6
Parent:
1:a0c0b1b9e965
Child:
4:b9e61a9022da
fixed PulseWidth and Dmax

Who changed what in which revision?

UserRevisionLine numberNew contents of line
frankvnk 0:ca2bbe1d3321 1 /******************************************************************************************************/
frankvnk 0:ca2bbe1d3321 2 /* Pulse Density Modulation driver. */
frankvnk 0:ca2bbe1d3321 3 /* FILE: PDM.cpp */
frankvnk 0:ca2bbe1d3321 4 /* */
frankvnk 0:ca2bbe1d3321 5 /* Code based on an article and source code released by Ken Wada from Aurium Technologies Inc. */
frankvnk 0:ca2bbe1d3321 6 /* http://www.embedded.com/electronics-blogs/embedded-round-table/4414405/Pulse-density-modulation */
frankvnk 0:ca2bbe1d3321 7 /* */
frankvnk 0:ca2bbe1d3321 8 /******************************************************************************************************/
frankvnk 0:ca2bbe1d3321 9
frankvnk 0:ca2bbe1d3321 10 #include "SoftPdmOut.h"
frankvnk 0:ca2bbe1d3321 11
frankvnk 0:ca2bbe1d3321 12 SoftPdmOut::SoftPdmOut(PinName pdm, uint32_t PulseWidth, uint32_t Dmax, float StartLevel) : _pdm(pdm), _PulseWidth(PulseWidth), _Dmax(Dmax)
frankvnk 0:ca2bbe1d3321 13 {
frankvnk 0:ca2bbe1d3321 14 _pdm = 0;
frankvnk 0:ca2bbe1d3321 15 _running = 0;
frankvnk 0:ca2bbe1d3321 16 if(StartLevel >= 0.0f && StartLevel <= 1.0f) _Level = (uint32_t)(StartLevel * (float)_Dmax);
frankvnk 0:ca2bbe1d3321 17 else _Level = 0;
frankvnk 0:ca2bbe1d3321 18 start();
frankvnk 0:ca2bbe1d3321 19 }
frankvnk 0:ca2bbe1d3321 20
frankvnk 0:ca2bbe1d3321 21 void SoftPdmOut::start(void)
frankvnk 0:ca2bbe1d3321 22 {
frankvnk 0:ca2bbe1d3321 23 if (!_running) {
frankvnk 0:ca2bbe1d3321 24 // enable ONLY if state has changed
frankvnk 0:ca2bbe1d3321 25 _accumulator = 0; // zero out the error accumulator
frankvnk 0:ca2bbe1d3321 26 _running = 1; // NOW ... enable the controller
frankvnk 0:ca2bbe1d3321 27 _pdmTicker.attach_us(this,&SoftPdmOut::pdmTick,_PulseWidth); // Start the PDM.
frankvnk 0:ca2bbe1d3321 28 }
frankvnk 0:ca2bbe1d3321 29 }
frankvnk 0:ca2bbe1d3321 30
frankvnk 0:ca2bbe1d3321 31 void SoftPdmOut::stop(bool idleState)
frankvnk 0:ca2bbe1d3321 32 {
frankvnk 0:ca2bbe1d3321 33 if (_running) {
frankvnk 0:ca2bbe1d3321 34 // disable ONLY if state has changed
frankvnk 0:ca2bbe1d3321 35 _running = 0; // disable the controller
frankvnk 0:ca2bbe1d3321 36 _pdmTicker.detach(); // Stop the PDM.
frankvnk 0:ca2bbe1d3321 37 if(idleState != NULL)
frankvnk 0:ca2bbe1d3321 38 _pdm = idleState; // Override the user-defined idle state
frankvnk 0:ca2bbe1d3321 39 else
frankvnk 0:ca2bbe1d3321 40 _pdm = 0; // Set the output pin to 0 when idle.
frankvnk 0:ca2bbe1d3321 41 }
frankvnk 0:ca2bbe1d3321 42 }
frankvnk 0:ca2bbe1d3321 43
frankvnk 1:a0c0b1b9e965 44 uint32_t SoftPdmOut::PulseWidth(uint32_t level)
frankvnk 0:ca2bbe1d3321 45 {
frankvnk 2:7ead6071d6d6 46 if(level != NULL)
frankvnk 2:7ead6071d6d6 47 {
frankvnk 2:7ead6071d6d6 48 stop();
frankvnk 2:7ead6071d6d6 49 _PulseWidth = level;
frankvnk 2:7ead6071d6d6 50 start();
frankvnk 2:7ead6071d6d6 51 }
frankvnk 2:7ead6071d6d6 52 return _PulseWidth;
frankvnk 0:ca2bbe1d3321 53 }
frankvnk 0:ca2bbe1d3321 54
frankvnk 1:a0c0b1b9e965 55 uint32_t SoftPdmOut::Dmax(uint32_t level)
frankvnk 0:ca2bbe1d3321 56 {
frankvnk 2:7ead6071d6d6 57 if(level == NULL)
frankvnk 2:7ead6071d6d6 58 {
frankvnk 2:7ead6071d6d6 59 stop();
frankvnk 2:7ead6071d6d6 60 _Dmax = level;
frankvnk 2:7ead6071d6d6 61 start();
frankvnk 2:7ead6071d6d6 62 }
frankvnk 2:7ead6071d6d6 63 return _Dmax;
frankvnk 0:ca2bbe1d3321 64 }
frankvnk 0:ca2bbe1d3321 65
frankvnk 0:ca2bbe1d3321 66 void SoftPdmOut::write(float level)
frankvnk 0:ca2bbe1d3321 67 {
frankvnk 0:ca2bbe1d3321 68 // Only change the level when the desired level is within range
frankvnk 0:ca2bbe1d3321 69 if(level <= 0.0f) _Level = 0;
frankvnk 0:ca2bbe1d3321 70 else if(level >= 1.0f) _Level = _Dmax;
frankvnk 0:ca2bbe1d3321 71 else if (level > 0.0f && level < 1.0f) _Level = (uint32_t)(level * (float)_Dmax);
frankvnk 0:ca2bbe1d3321 72 }
frankvnk 0:ca2bbe1d3321 73
frankvnk 0:ca2bbe1d3321 74 float SoftPdmOut::read(void)
frankvnk 0:ca2bbe1d3321 75 {
frankvnk 0:ca2bbe1d3321 76 return ((float)_Level / (float)_Dmax);
frankvnk 0:ca2bbe1d3321 77 }
frankvnk 0:ca2bbe1d3321 78
frankvnk 0:ca2bbe1d3321 79 SoftPdmOut::operator float()
frankvnk 0:ca2bbe1d3321 80 {
frankvnk 0:ca2bbe1d3321 81 return read();
frankvnk 0:ca2bbe1d3321 82 }
frankvnk 0:ca2bbe1d3321 83
frankvnk 0:ca2bbe1d3321 84 SoftPdmOut & SoftPdmOut::operator= (float value)
frankvnk 0:ca2bbe1d3321 85 {
frankvnk 0:ca2bbe1d3321 86 write(value);
frankvnk 0:ca2bbe1d3321 87 return(*this);
frankvnk 0:ca2bbe1d3321 88 }
frankvnk 0:ca2bbe1d3321 89
frankvnk 0:ca2bbe1d3321 90 void SoftPdmOut::pdmTick(void)
frankvnk 0:ca2bbe1d3321 91 {
frankvnk 0:ca2bbe1d3321 92 if(_Level == 0) {
frankvnk 0:ca2bbe1d3321 93 _pdm = 0;
frankvnk 0:ca2bbe1d3321 94 return;
frankvnk 0:ca2bbe1d3321 95 }
frankvnk 0:ca2bbe1d3321 96 if(_Level == _Dmax) {
frankvnk 0:ca2bbe1d3321 97 _pdm = 1;
frankvnk 0:ca2bbe1d3321 98 return;
frankvnk 0:ca2bbe1d3321 99 }
frankvnk 0:ca2bbe1d3321 100 _accumulator += _Level; // accumulate error integral
frankvnk 0:ca2bbe1d3321 101 if (_accumulator > _Dmax) {
frankvnk 0:ca2bbe1d3321 102 _accumulator -= _Dmax;
frankvnk 0:ca2bbe1d3321 103 _pdm = 1;
frankvnk 0:ca2bbe1d3321 104 } else
frankvnk 0:ca2bbe1d3321 105 _pdm = 0;
frankvnk 0:ca2bbe1d3321 106 }