This guide describes principles of PWM for Atmel AVR micro controllers. It is not complete documentation for PWM nor AVR timers but tries to lighten some practical aspects of PWM. Some of the PWM aspects are simplified, some are not mentioned at all. Usability was the main factor when writing this text. Full PWM description can be found in Atmel AVR documentation.
Although the article was written based on ATmega16 and ATmega32 documentation, information is useful for any chip from AVR family.