Pin Mapping for Arduino Timer-Dependent Blocks

Simulink^® Support Package for Arduino^® Hardware supports these blocks whose operation is dependent on the timer of the Arduino hardware board.

• PWM

• Standard Servo Read

• Standard Servo Write

• Continuous Servo Write

• Input Capture

To view the pin mapping for these blocks, click View pin map in the Block Parameters dialog box. This opens the pin mapping table for Arduino boards and Arduino compatible ESP32 boards. For example, to find which pins you can use in the Standard Servo Write block for the Uno board, look for the Standard Servo Write entry under the Blocks column vertically down and Uno board horizontally across. Pins 0-13 can be used for the Uno board.

For ESP32-WROOM and ESP32-WROVER Arduino compatible boards, use the following pin mapping table to enter the pin numbers for the timer dependent blocks in the Simulink model.

For Teensy 4.0 and 4.1 Arduino compatible boards, use the following pin mapping table to enter the pin numbers for the timer dependent blocks in the Simulink model.

For Raspberry Pi^® Pico and Pico W Arduino compatible boards, use the following pin mapping table to enter the pin numbers for the timer dependent blocks in the Simulink model.

Conflicting Pin Configurations on Arduino Timer

Use one Arduino timer for only one block functionality at a time. For example, if your model uses the PWM block, you cannot connect the Input Capture and Servo blocks to the same timer. Similarly, if your model uses the Input Capture block, you cannot connect the PWM and Servo blocks to the same timer. And, if your model uses the Servo blocks, you cannot connect the PWM and Input Capture blocks to the same timer.

If your Simulink model utilizes multiple timer-dependent blocks, you can use the following table to avoid timer conflicts.

Arduino Board	Arduino Timer	Arduino Pin Connections for Input Capture Block	Arduino Pin Connections for PWM Block	Servo Block Usage Conflict
Uno, Nano 3.0	Timer 1	8	9, 10	Set 1
Mega 2560/ADK	Timer 5	48	44, 45, 46	Set 1
	Timer 1	NA	11, 12	Set 2
	Timer 3	NA	2, 3, 5	Set 3
	Timer 4	49	6, 7, 8	Set 4
Leonardo, Robot Control Board, Robot Motor Board, Micro	Timer 1	4	9, 10	Set 1
	Timer 4	13	6, 13	NA
MKR 1000, MKR Wifi 1010, MKR Zero	Timer TCC0	10	6, 7, 11, 18 (A3), 19 (A4)	NA
	Timer TCC1	6	2, 3	NA
	Timer TCC2	19 (A4)	8	NA
	Timer TC3	20	0, 1	Set 1
	Timer TC4		10	NA
Nano 33 IoT	Timer TCC0	10	5, 6, 9, 10, 16, 17	NA
	Timer TCC1	6	4	NA
	Timer TCC2	19	11	NA
	Timer TC3	20	12	NA
	Timer TC4		19	Set 1
Due	Timer TC0_CH0	2	2, 13	NA
	Timer TC2_CH2	11	NA	Set 4

Consider these example combinations for different Arduino boards:

• For the Arduino Leonardo board, if your Simulink model uses the Input Capture block that is connected to pin number 4, then you cannot connect the PWM block to pin number 9 and 10, and you cannot use Servo blocks in the model.

• For the Arduino Nano 33 IoT board, if your Simulink model uses the Input Capture block that is connected to pin number 10, then you cannot connect the PWM block to pin numbers 5, 6, 9, 10, 16, and 17.

Supported Default PWM Frequencies and Pins on Arduino Compatible Teensy Boards

Use this table to configure the PWM block in your Simulink model and map the default PWM frequencies with the hardware pins on your Arduino compatible Teensy boards.

Arduino Compatible Board	Timer	PWM Pins	PWM Default Frequencies	Input Capture Pins
Teensy 4.1	FlexPWM1.0	1, 44, 45	4.482 kHz	NA
	FlexPWM1.1	0, 42, 43
	FlexPWM1.2	24, 46, 47
	FlexPWM1.3	7, 8, 25
	FlexPWM2.0	4, 33
	FlexPWM2.1	5
	FlexPWM2.2	6, 9
	FlexPWM2.3	36, 37
	FlexPWM3.0	54
	FlexPWM3.1	28, 29
	FlexPWM3.3	51
	FlexPWM4.0	22
	FlexPWM4.1	23
	FlexPWM4.2	2, 3
	QuadTimer1.0	10	3.611 kHz	10
	QuadTimer1.1	12		12
	QuadTimer1.2	11		11
	QuadTimer2.0	13		NA
	QuadTimer3.0	19		NA
	QuadTimer3.1	18		18
	QuadTimer3.2	14		NA
	QuadTimer3.3	15		NA
	QuadTimer4.1	NA		6
	QuadTimer4.2	NA		9
Teensy 4.0	FlexPWM1.0	1, 36, 37	4.482 kHz	NA
	FlexPWM1.1	0, 34, 35
	FlexPWM1.2	24, 38, 39
	FlexPWM1.3	7, 8, 25
	FlexPWM2.0	4, 33
	FlexPWM2.1	5
	FlexPWM2.2	6, 9
	FlexPWM3.1	28, 29
	FlexPWM4.0	22
	FlexPWM4.1	23
	FlexPWM4.2	2, 3
	QuadTimer1.0	10	3.611 kHz	10
	QuadTimer1.1	12		12
	QuadTimer1.2	11		11
	QuadTimer2.0	13		NA
	QuadTimer3.0	19		NA
	QuadTimer3.1	18		18
	QuadTimer3.2	14		NA
	QuadTimer3.3	15		NA
	QuadTimer4.1	NA		6
	QuadTimer4.2	NA		9

The following table provides the maximum frequency that the PWM block generates in your Simulink model for an 8-bit resolution input data.

Arduino Compatible Board	Input Data Resolution	PWM Value	Generated PWM Output Frequency (Hz) for CPU Speeds: 600 MHz, 450 MHz	Generated PWM Output Frequency (Hz) for CPU Speeds: 528 MHz, 396 MHz	Generated PWM Output Frequency (Hz) for CPU Speeds: 24 MHz
Teensy 4.0 and 4.1	8	0–255	585937.5	515625	93750