If you want to control the brightness of a LED, the speed of a DC motor or the direction of a servo, you will need PWM.

The video shows PWM being used to control the brightness of some LEDs.

Pulse-width modulation (PWM) is used to control the amount of power supplied to electrical devices, especially to DC motors, servos and LEDs.

PWM is able to achieve this by quickly turning off and on the power to the device. The measurement for this is duty cycle.

Duty cycles describes the proportion of 'on'; a low duty cycle corresponds to low power, because the power is off for most of the time.  A high duty cycle corresponds to high power, because the power is on most of the time.

Duty cycle is expressed in percent, 50% is when the power is on half the time and 100% being fully on.

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PWM can be performed in a number of ways on the Raspberry Pi.

Inbuilt hardware;
The Pi can perform PWM in hardware, but this can only be done on one pin (GPIO18) and when enabled it interferes with the audio jack. It is also hard to get working. Last time I looked, you had to recompile the kernel.

Software;
PWM can be performed in software. This is a very easy option.  It isn’t as precise  as hardware PWM however in most instances software PWM will do.

External hardware;
There are external components that can be used to perform PWM.  Eg  Adafruit 16-Channel 12-bit PWM/Servo Driver - I2C interface - PCA96855

Software PWM with pi-blaster

In this post I will demonstrate how to use  a modified version of Pi-Blaster, a software based PWM to control the brightness of some LEDs. I modified it to allow the pins for PWM to be specified at startup.

1. Download and compile pi-blaster.

2. Start Pi-Blaster.

We are going to use pi-blaster in the user space. Once started, it runs as a background process.
If you start pi-blaster without any parameters, it will enable PWM on the default pins.

The default pins are;

Channel number    GPIO number   Pin in P1 header
      0               4             P1-7
      1              17             P1-11
      2              18             P1-12
      3              21             P1-13
      4              22             P1-15
      5              23             P1-16
      6              24             P1-18
      7              25             P1-22

You can also specify the pins at start that you only want to use for PWM. To enable PWM only on pins 22, 24, 17 and 16;

3. Configure PWM on a pin.

Pi-blaster creates a special file (FIFO) in /dev/pi-blaster. Any application on your Raspberry Pi can write to it (this means that only pi-blaster needs to be root, your application can run as a normal user).

• To set pin1 to a PWM of 20%
  echo "1=0.2" > /dev/pi-blaster
• To completely turn off pin0:
  echo "0=0" > /dev/pi-blaster
• To completely turn on pin1:
  echo "1=1" > /dev/pi-blaster

4. Stop pi-blaster

Use killall to kill the pi-blaster process

5. Sample program used in the above video

You can write your own programs to control PWM just by writing to /dev/pi-blaster.
The code below was used to control the LEDs in the above video. And which is also shown to the right

Copy the code below into a file. E.g. pwd-led.c. And then compile;

#include <signal.h>
#include <stdio.h>
#include <stdlib.h>

#define DELAY 70000
#define LEVELS 7
#define INCREMENT  0.15
	FILE *fp;
void  INThandler(int sig)
{
	int pin;
        signal(sig, SIG_IGN);
	//turn all pins off
        for (pin = 0; pin < 8; pin++){
		fprintf(fp, "%i=%f\n", pin,0.0);
		fflush(fp);
	}
	fclose(fp);
        exit(0);
}
int main(void)
{
	signal(SIGINT, INThandler);
	// arrays used to control brightness of a row of LEDs. left then right animation.
	float left[] = {0,0,0,0,0,0,0,0,1,0.75,0.375,0.18,0.09,0.04,0.005,0,0,0,0,0,0,0,0};
	float right[] = {0,0,0,0,0,0,0,0,0.005,0.04,0.09,0.18,0.375,0.75,1,0,0,0,0,0,0,0,0};
	int pin = 0;
	float pwm = 0.0;
	// open the pi-blaster device file. If it fails, confirm that pi-blaster has been started
	fp = fopen("/dev/pi-blaster", "w");
	if (fp == NULL) {
		printf("Error opening file\n");
		exit(0);
	 }
	// create the PWM values which are used for the animation going in one direction
	float pwdPower[LEVELS*4];
	float i;
	int j;
	int count = 7;
	for (j = 0; j < LEVELS ;  j++){
		pwdPower[j] = 0.0;
	}
	for (i = 0.0; i < 1 ; i +=INCREMENT){ 		if (i>1.0)i=1.0;
		pwdPower[count] = i;
	        count++;
	}
	for (i = 1; i >0.00001 ; i -=INCREMENT){
		if (i<0.0)i=0.0;
		pwdPower[count] = i;
        	count++;
	}
        for (j = 0; j < (LEVELS) ;  j++){
                pwdPower[count] = 0.0;
		count++;
        }
///////////////////////////////////////////////////////////////////
	//This section illustrates different brightness levels
	// using PWM with a 2 second puase between levels.
	// Enable all pins using the value 0.002 for PWM
	for (pin = 0; pin < 8; pin++){
               	fprintf(fp, "%i=%f\n", pin,0.002);
                       fflush(fp);
	}
	sleep(2);
	// Enable all pins using the value 0.03 for PWM
	for (pin = 0; pin < 8; pin++){
                	fprintf(fp, "%i=%f\n", pin,0.03);
                        fflush(fp);
	}
	sleep(2);
	// Enable all pins using the value 0.05 for PWM
	for (pin = 0; pin < 8; pin++){
                	fprintf(fp, "%i=%f\n", pin,0.5);
                        fflush(fp);
	}
	sleep(2);
///////////////////////////////////////////////////////////////////
	// This section will cycle through the power levels 5 times.
	for (j = 0; j < 5 ; j++){
		for (i = 0.0; i < 1 ; i +=INCREMENT){
			for (pin = 0; pin < 8; pin++){                 		fprintf(fp, "%i=%f\n", pin,i ); 	                        fflush(fp); 			} 		usleep(DELAY); 		}        		for (i = 1; i >0.00001 ; i -=INCREMENT){
			for (pin = 0; pin < 8; pin++){
                		fprintf(fp, "%i=%f\n", pin,i );
                        	fflush(fp);
			}
		usleep(DELAY);
		}
	}
///////////////////////////////////////////////////////////////////
	// The below section performs the animations
	int c = 0;
	int g;
	for(g = 0; g < 2; g++){ 		for(c = 16; c>= 0; c--){
			for (pin = 0; pin < 8  ; pin++){
                	       	fprintf(fp, "%i=%f\n", pin, right[pin+c]);
                        	fflush(fp);
			}
		usleep(DELAY);
		}
		for(c = 0; c < 16; c++){
			for (pin = 0; pin < 8; pin++){
                		fprintf(fp, "%i=%f\n", pin, left[pin+c]);
                        	fflush(fp);
			}
		usleep(DELAY);
		}
	}
	for(g = 0; g < 4; g++){
		for(c = 0; c < (LEVELS*3); c++){
			for (pin = 0; pin < 8; pin++){
                	        fprintf(fp, "%i=%f\n", pin, pwdPower[pin+c]);
	                	fflush(fp);
			}
			usleep(DELAY);
		}
	}
	//turn all pins off
        for (pin = 0; pin < 8; pin++){
		fprintf(fp, "%i=%f\n", pin,0.0);
		fflush(fp);
	}
	fclose(fp);
	return 0;
}

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