MEGA128CAN Datasheet, PDF (125/413 Pages) ATMEL Corporation – Microcontroller WITH 128K BYTES OF ISP FLASH AND CAN CONTROLLER

4250E–CAN–12/04
AT90CAN128
OCRnA set to 0x0003), and the maximum resolution is 16-bit (ICRn or OCRnA set to
MAX). The PWM resolution in bits can be calculated by using the following equation:
R_PCPWM = -^l-^o---^g----⁽-_l-_o-^T--_g-^O---₍--^P-₂---₎-+-----¹----⁾
In phase correct PWM mode the counter is incremented until the counter value matches
either one of the fixed values 0x00FF, 0x01FF, or 0x03FF (WGMn3:0 = 1, 2, or 3), the
value in ICRn (WGMn3:0 = 10), or the value in OCRnA (WGMn3:0 = 11). The counter
has then reached the TOP and changes the count direction. The TCNTn value will be
equal to TOP for one timer clock cycle. The timing diagram for the phase correct PWM
mode is shown on Figure 55. The figure shows phase correct PWM mode when OCRnA
or ICRn is used to define TOP. The TCNTn value is in the timing diagram shown as a
histogram for illustrating the dual-slope operation. The diagram includes non-inverted
and inverted PWM outputs. The small horizontal line marks on the TCNTn slopes repre-
sent compare matches between OCRnx and TCNTn. The OCnx interrupt flag will be set
when a compare match occurs.
Figure 55. Phase Correct PWM Mode, Timing Diagram
OCRnx/TOP Update and
OCnA Interrupt Flag Set
or ICFn Interrupt Flag Set
(Interrupt on TOP)
TOVn Interrupt Flag Set
(Interrupt on Bottom)
TCNTn
OCnx
OCnx
(COMnx1:0 = 2)
(COMnx1:0 = 3)
Period
1
2
3
4
The Timer/Counter Overflow Flag (TOVn) is set each time the counter reaches BOT-
TOM. When either OCRnA or ICRn is used for defining the TOP value, the OCnA or
ICFn flag is set accordingly at the same timer clock cycle as the OCRnx Registers are
updated with the double buffer value (at TOP). The interrupt flags can be used to gener-
ate an interrupt each time the counter reaches the TOP or BOTTOM value.
When changing the TOP value the program must ensure that the new TOP value is
higher or equal to the value of all of the Compare Registers. If the TOP value is lower
than any of the Compare Registers, a compare match will never occur between the
TCNTn and the OCRnx. Note that when using fixed TOP values, the unused bits are
masked to zero when any of the OCRnx Registers are written. As the third period shown
in Figure 55 illustrates, changing the TOP actively while the Timer/Counter is running in
the phase correct mode can result in an unsymmetrical output. The reason for this can
be found in the time of update of the OCRnx Register. Since the OCRnx update occurs
at TOP, the PWM period starts and ends at TOP. This implies that the length of the fall-
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