Arduino Timer Interrupts

Arduino interrupts
Version
12/11-2015
Her er en forklaring til timer-interrupt, + en masse eksempler:
Arduino Timer Interrupts.

Hvordan fr man Arduino til fx at udfre et interrupt og kre en programstump fx njagtig 100
gange i sekundet.
Det program, der normalt krer p en controller, er normalt en rkke af sekventielle instruktioner
udfrt efter hinanden i et loop. Den tid, et loop tager, er derfor afhngig af hvor stort programmet
er.
Derfor er man ndt til at anvende Interrupts, hvis man skal vre sikker p timingen.
Et interrupt er en event eller hndelse, udlst enten internt fra en tller / counter, - eller eksternt
fra en pin, der ndrer status.
Et Interrupt er en programstump, der udlses af en hndelse og krer asynkront, ikke i et loop.
Interruptet udlses fx af et key-tryk, - eller af en tid get, - timer-overflow, osv.
Interrupts udlses og udfres et vilkrligt sted i et krende program og uafhngig heraf.
Fx kan et program kre og samtidig kan der af en timer udlses et interrupt, der blinker en LED.
Det program, der kres nr eventen opstr, kaldes en interrupt service routine (ISR).
Nr et Interrupt opstr, afbrydes det krende program jeblikkeligt, og interrupt service rutinen,
dvs. en subrutine, kaldes.
Nr en ISR er frdig, vil det krende program fortstte hvorfra det blev afbrudt.
Typisk er der gjort brug af interrupts allerede i de tidligere opgaver, der er lavet.
Det er fordi, Arduinos underlggende compiler automatisk indbygger mulighed for at bruge
funktioner som, millis() , micros() og delayMicroseconds(). Disse funktioner gr brug af interrupts
ved brug af timere.
PWM-funktionen analogWrite() bruger timere, ligesom tone(), noTone() og Servo library gr.
/ Valle Thor
Side 1 af 50
Arduino interrupts
Version
12/11-2015
Hvad er et interrupt?
Det program, der krer p en controller, er normalt en rkke af sekventielle udfrte instruktioner
efter hinanden.
Et interrupt er en event, udlst enten internt fra en timer / counter, - eller eksternt fra en pin.
Det program, der kres ved eventen, kaldes en interrupt service routine (ISR).
Nr en ISR er frdig, vil det krende program fortstte hvorfra det blev afbrudt.
Fr man kan benytte interrupts, skal der noget opstning til. Ved at stte forskellige bits i
forskellige special function registre kan man opstte processoren til at interrupte p forskellige
events.
Interrupts skal alts enables og den tilhrende interrupt maske skal enables, ligesom det skal
bestemmes, hvad processoren skal udfre, nr den interruptes.
Nr der udlses et interrupt, afbryder det igangvrende program jeblikkeligt hvad det er i gang
med, og hopper til en separat programstump kaldet en ISR.
Interrupt Service Routine (ISR)
Interrupts can generally enabled / disabled with the function interrupts() / noInterrupts(). By default
in the Arduino firmware interrupts are enabled. Interrupt masks are enabled / disabled by setting /
clearing bits in the Interrupt mask register (TIMSKx).
When an interrupt occurs, a flag in the interrupt flag register (TIFRx) is been set. This interrupt will
be automatically cleared when entering the ISR or by manually clearing the bit in the interrupt flag
register.
Der findes to generelt forskellige interrupts: Pinudlste, - og timer/counter udlste interrupts.

Fordelen ved brug af interrupts er, at man kan have et Loop-program til fx at update et 7-segment
display, - og s kan interrupts fx udlst hver 100-del sekund opdatere variable, indeholdende 100del sekunder, sekunder, minutter osv.
Pin-udlste interrupts.
Kilder til afsnittet:
Se: http://www.engblaze.com/we-interrupt-this-program-to-bring-you-a-tutorial-on-arduino-interrupts/
/ Valle Thor
Side 2 af 50
Arduino interrupts
Version
12/11-2015
Pinudlste interrupts kan sttes op til at ske ved en ndring p Arduino-pin 2 eller 3, henholdsvis
INT0 & INT1.
Der kan vlges rising, falling edge, eller pinchange.
Eksterne interrupts kan sttes op the arduino way eller man kan pille bit selv !!
Et eksempel, the Arduino Way:
void setup()
{
pinMode(13, OUTPUT);
// Pin 13 is output to which an LED is connected
digitalWrite(13, LOW);
// Make pin 13 low, switch LED off
pinMode(2, INPUT);
// Pin 2 is input to which a switch is connected = INT0
pinMode(3, INPUT);
// Pin 3 is input to which a switch is connected = INT1
attachInterrupt(0, blink1, RISING);
attachInterrupt(1, blink2, RISING);
// attachInterrupt(0, INT0_handler, CHANGE); //
}
void loop() {
/* Nothing to do: the program jumps automatically to Interrupt Service Routine
"blink" in case of a hardware interrupt on Ardiono pin 2 = INT0 */
}
void blink1(){
// Interrupt service routine
digitalWrite(13, HIGH);
}
void blink2(){
digitalWrite(13, LOW);
}
// Interrupt service routine
http://www.geertlangereis.nl/Electronics/Pin_Change_Interrupts/PinChange_en.html
detachInterrupt(0); // stopper interrupt !

detachInterrupt(1);
Arduino-funktionerne attachInterrupt() og detachInterrupt() bruges kun til pin-udlste interrupts.
Opstningen af eksterne interrupts kan ogs styres ved at stte bits i SFR-registre.
De SFRs der bruges hertil er:
/ Valle Thor
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Arduino interrupts
Version
12/11-2015
I External Interrupt Control Register

A indstilles mden, man nsker et
interrupt udlst.
Eks: EICRA = 0b00000011 ;
I External Interrupt Mask Register

enables interruptet
Og nr et INTF flag bliver hj,
udlses et interrupt.
Flaget resettes automatisk nr
Interrupt Service Rutinen udfres.
Kilde: https://sites.google.com/site/qeewiki/books/avr-guide/external-interrupts-on-the-atmega328
Her forsgt vist grafisk og med eksempler p at stte bit:
Extern Interrupt setup
00
Ext Int 0
IC Pin 4
Mux
sei();
01
// Enable Global Interrupt
1
3
2
Arduino
Pin 2
10
Extern Interrupt
Flag Register
EIFR
1
11
EIMSK
Extern Sense
Control Register
B1
B0
Bit1
ISC11 ISC10 ISC01 ISC00
Int1
Bit3 B2
setBit(EICRA,0);
setBit(EICRA,ISC00);
EICRA
EICRA = B00001010;
B0
Bit1
Int0
Int1
setBit(EIMSK,0);
Ext Int 1
IC Pin 5
01
Mux
setBit(EIMSK,INT0);
INT1_VECT()
3
2
SetBit(EIFR,0); // Clr Flag

SetBit(EIFR,1);
EIMSK = B00000011;
ISR(EXT_INT0_vect)
{
}
Sei();
asm("Sei");
Cli();
02
1
3
2
Arduino
Pin 3
B0
Int0
Flag cleares automatisk

ved Interruptkald
setBit(EIMSK,1);
1
INT0_VECT()
Extern Interrupt
Mask Register
11
Global Interrupt
Enable Bit
SREG
Bit 7
Status Register
12
Variable, der bruges i og

udenfor en interruptrutine
skal defineres Globale,
"Volatile"
/ Valle Thor, Juni 2014
/ Valle Thor
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Arduino interrupts
Version
12/11-2015
Kodeeksempler:
void setup(void)
{
pinMode(2, INPUT);
digitalWrite(2, HIGH);
sei();
EIMSK |= 0b00000001;
EICRA |= 0b00000010;
}
//
//
//
//
Enable pullup resistor

Enable global interrupts
Enable external interrupt INT0
Trigger INT0 on falling edge
void loop(void)
{
Do something
}
ISR(EXT_INT0_vect)
//
// Interrupt Service Routine attached to INT0 vector
{
digitalWrite(13, !digitalRead(13));
// Toggle LED on pin 13
Men det er muligt, at f flere pins til at udfre interrupts. Se

http://www.geertlangereis.nl/Electronics/Pin_Change_Interrupts/PinChange_en.html
Arduino Interrupts
int pbIn = 0;
int ledOut = 4;
volatile int state = LOW;
// Interrupt 0 is on DIGITAL PIN 2!

// The output LED pin
// The input state toggle
void setup()
{
// Set up the digital pin 2 to an Interrupt and Pin 4 to an Output
pinMode(ledOut, OUTPUT);
//Attach the interrupt to the input pin and monitor for ANY Change
attachInterrupt(pbIn, stateChange, CHANGE);
}
void loop()
{
/ Valle Thor
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Arduino interrupts
Version
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//Simulate a long running process or complex task

for (int i = 0; i < 100; i++)
{
// do nothing but waste some time
delay(10);
}
}
void stateChange()
{
state = !state;
digitalWrite(ledOut, state);
}
http://www.dave-auld.net/index.php?option=com_content&view=article&id=107:arduino-interrupts&catid=53:arduino-input-outputbasics&Itemid=107
/ Valle Thor
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Arduino interrupts
Version
12/11-2015
Timerudlste interrupts
Ved hjlp af Countere kan man opn, at man kan f et interrupt til at ske med jvne mellemrum.
Fx hvis man nsker at f opdateret et stopur hver 100-del af et sekund, eller man nsker at anvende
en uC som frekvensgenerator. Eller fx som cykelcomputer, hvor der skal tlles pulser i en bestemt
tid.
Sm perioder kan direkte udlses direkte ved hjlp af en timer. Men p grund af den ret hje
oscillatorfrekvens, kan lngere varigheder mellem interrupts opns ved fx at tlle antal interrupts i
en variabel, og s kun kre det rigtige interrupt-program hver 100. gang. Programmet kunne her fx
aflse en sensor !!
En Timer/Counter kan arbejde p to forskellige mder, nr en tid skal udmles.

Man kan indstille en startvrdi for Counteren, og s f et interrupt ved overflow, eller man kan
tlle fra 0, og s f et interrupt, nr tlleren nr en bestemt vrdi, indstillet i et register, et
Compare-register.
Counter Overflow
Counter Compare Match
Timerens startvrdi indstilles, og nr timeren

giver overflow, kan der udlses et interrupt.
Counteren starter p 00 00h

Der indsttes en vrdi i et Compare-register.
Timerens vrdi sammenlignes med Compareregisteret, og ved match resettes timeren, og der
kan udlses et interrupt.
Indbyggede timere
Arduino Uno har 3 timere indbygget, timer0, timer1 og timer2.

Timer 0: 8 bit
Timer 1: 16 bit.
Timer 2: 8 bit
AT Mega 2560 har yderligere timer 3, 4 og 5, som er 16 bit
Timerne kan indstilles til at tlle eksterne pulser, eller der kan tlles p krystallets frekvens.
Prescaler. / Frekvensdeler.
P Arduinoen sidder der et 16 MHz krystal. Derfor vil timeren / Counteren kre ret hurtigt, og give
fx overflow for en 16 bit register i lbet af ca. 4 mS.
/ Valle Thor
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Arduino interrupts
Version
12/11-2015
Men heldigvis er der indbygget mulighed for at vlge at neddele clockfrekvensen gennem en
frekvensdeler, eller som det kaldes en prescaler.
Hver counter har sin egen prescaler .
Prescaleren styres af nogle

bit i to SFR-registre,
TimerCounterControlRegister, TCCRnA eller B
Bittene hedder:
CSn0, CSn1 og CSn2, hvor
tallet n er timerens nummer.
CS str for Clock Select bit.
http://courses.cs.washington.edu/courses/csep567/10wi/lectures/Lecture7.pdf
Se fx http://forum.arduino.cc/index.php/topic,27390.0.html
http://www.engblaze.com/microcontroller-tutorial-avr-and-arduino-timer-interrupts/
Udregning af Prescaler-vrdi:
For at f affyret et interrupt med en korrekt frekvens, skal man udregne hvor meget man skal dele
krystallets frekvens ned, s timeren ikke nr at give overflow. Herefter kan en timers startvrdi
udregnes, eller en Compare-Match-vrdi.
Der kan findes hjlp p en rkke hjemmesider til at vlge den rette Prescaler til et bestemt forml.
Se fx:
/ Valle Thor
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Arduino interrupts
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http://www.et06.dk/atmega_timers/
Forklaring af formlen Skal forbedres!

Udregningen sker som flg:
(timer speed (Hz)) = (Arduino clock speed (16MHz)) / prescaler
16
((. ) + 1)
( + 1 fordi det tager 1 clock cycle at resette.

Ligningen lst for Compare match register, CMR:
16.000.000
= (
)1
.
Vrdien skal vre mindre end 256 hvis timer 0 eller 2 bruges, og mindre end 65.536 for Timer 1
for at det kan lade sig gre:
Eksempel:
Interrupt vlges i dette eksempel til 10 gange pr. sekund, dvs. hver 1/10
sekund, eller til 10 Hz.
Timer 1 giver overflow ved FFFFh + 1 = 65536d.
Frekvensen p krystallet er 16 MHz. Dvs. p 0,1 sek. kommer 1.600.000 pulser.
Det er ndvendig med en frekvensdeler, en prescaler, fordi der kommer for mange
pulser p 0,1 sekund.
Der skal mindst deles med
( 1.600.000 / 65.536 ) =
ca. 24,8
Prescaleren kan indstilles til 1, 8, 64, 256, 1024.

fx vlges 64
derfor kommer p 1/10 sekund 1.600.000/64 = 25.000 pulser.
Vlges overflow mode, m tllerens startvrdi indstilles til:
( FFFF + 1 ) 25.000 = 40.536
Vlges Output Compare, tlles fra 0000h og til 25.000. Compare registeret skal
derfor indstilles til 25.000.
/ Valle Thor
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Arduino interrupts
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12/11-2015
Clock select and timer frequency

Different clock sources can be selected for each timer independently. To calculate the timer frequency (for
example 2Hz using timer1) you will need:
1.
2.
3.
4.
5.
CPU frequency 16Mhz for Arduino

maximum timer counter value (256 for 8bit, 65536 for 16bit timer)
Divide CPU frequency through the choosen prescaler (16000000 / 256 = 62500)
Divide result through the desired frequency (62500 / 2Hz = 31250)
Verify the result against the maximum timer counter value (31250 < 65536 success) if fail, choose
bigger prescaler.
Eksempel p opstning til 1 HZ interrupt:
Interrupt every second (frequency of 1Hz):

compare match register = [16,000,000 / (prescaler * 1) ] -1
with a prescaler of 1024 you get:
compare match register = [16,000,000 / (1024 * 1) ] -1 = 15,624
since 256 < 15,624 < 65,536, you must use timer1 for this interrupt.
Timer setup code is done inside the setup(){} function in an Arduino sketch.
Control registrere til counterne mm.

For at man kan styre timerne er der en del kontrol-registre, hvis bit eller indhold skal bestemmes.
Hver timer har et antal registre tilknyttet.
TCCR1A og TCCR1B
Timer/Counter Control Register.
Pre-scaleren konfigureres her.
Bestr af 2 x 8 bit registre !!
Hjlp til valg af prescaler til
forskellige interruptfrekvenser,
se fx calculator p: ???
Prescaler kan vlges til 1, 8,
64, 256, 1024. ( 1024 kan
ikke laves p timer 2 )
Og Bit WGM12 og WGM13
bestemmer mode.
Vi vlger CTC-mode ( timer )
/ Valle Thor
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Arduino interrupts
Version
12/11-2015
ved at stte bit WGM12.
TCNTx
Timer/Counter Register.
Indeholder den aktuelle timer
vrdi, 16 bit.
TCNT1H og TCNT1L
OCRxx - Output Compare
Register
16 bit register
OCR1AH og OCR1AL
TIMSKx
Timer/Counter Interrupt Mask
Register. To enable/disable
timer interrupts.
Timer_Overflow_
TIFRx - Timer/Counter
Interrupt Flag Register.
Indicates a pending timer
interrupt.
http://www.avrbeginners.net/architecture/timers/timers.html
https://arduino-info.wikispaces.com/Timers-Arduino
http://www.mikrocontroller.net/articles/AVR-GCC-Tutorial/Die_Timer_und_Z%C3%A4hler_des_AVR
http://www.eng.utah.edu/~cs5789/2010/slides/Interruptsx2.pdf
Med flgende diagram har jeg forsgt at lave et samlet diagram over en timer og interruptstrukturen:
/ Valle Thor
Side 11 af 50
Arduino interrupts
Arduino Timer1 Interrupt-Opstning

CTC Mode Interrupt
Enable Interrupt i TIMSK-reg:
( Clear Timer on
Timer Interrupt Mask register
TIMSK1-Bit: [xxxx x, OCIE1B, OCIE1A, TOIE1]
Compare Match )
Compare match:
TIMSK1 |= ( 1 << OCIE1A );

bitSet(TIMSK1, OCIE1A);
TIMSK1 |= B00000010;
2
3
16 Bit
16 Bit
Compare
Timer Overflow Bit Flag

TCNT1H
TCNT1L
Oscillator
16 MHz
St OCF1A
1 bit
St TOV1 Bit
Timer/Counter 1L
TCNT1 = 0;
Preload:TCNT1 = 25324;
Ov erf low Vector
ISR(TIMER1_OVF_vect)
{ TCNT1 = 25324;
}
1
Compare
Bit 1
Reset Counter
Output Compare Vector

ISR(Timer1_COMPA_Vect)
{
}
TIFR1
16 Bit
Timer/Counter 1H
1
Overflow
Bit 0
2
3
OCR1A
Disable Cli();
noInterrupts ();
( Der er ogs en kanal B & C )

( Kun Kanal A Clearer timeren )
OCRnC
Output Compare Register
OCRnB
OCR1B
ATMEGA328
Enable Global Sei();

Interrupt interrupts ();
TIMSK1
Overflow: bitSet(TIMSK1, TOIE1);

TIMSK1 |= B00000001;
Timer Compare Value

Eks: OCR1A = 15624;
ATMEL AVR
Version
12/11-2015
Timer/Counter Interrupt
Flag Register
Output Compare Interrupt
Flag OCF1A og Overflov
flag TOV1 cleares af
hardware ved interrupt kald
Clock-pulser,
f = ( osc / prescale )
Timer0 bruges til delay(); millis(); & micros();

Timer1 til servo();
Timer2 til tone();
Timer 0 & 2
er kun 8 bit
Frekvensdeler
= Prescaler
Fra Pins
TCCR1A
TCCR1B
Timer/Counter Control Register A/B

Mode select registre
[ CSxx = Clock Select bit ]
[ WGMxx = Wave Generation Mode ]
TCCR1B-Bit[xxxx WGM12, CS12, CS11, CS10 ]

TCCR1B |= ( 1 << WGM12 ); Turn on Compare ( CTC ) Mode
TCCR1B |= B00001000;
( Wave Generation Mode )
bitSet(TCCR1B, WGM12);
bitSet(TCCR1B, CS10);
// Vlg Prescaler
bitSet(TCCR1B, CS12);
TCCR1B |= ( 1 << CS12 ) | ( 1 << CS10 );// = 1024
TCCR1B |= 0x05;
// = 1024
[CS12, CS11, CS10]

000
001
010
011
100
101
11*
Stop Timer
Divide by 1
8
64
256
1024
Ekstern clock p T1
Definerede
konstanter:
CS10 = 0
CS11 = 1
CS12 = 2
WGM12 = 3
Rev: 14/11-2014
/ Valle
Tegningen viser de forskellige registre involveret i opstningen, og der er givet forskellige

eksempler p hvordan man kan manipulere med bittene i registrene:
Her er en kort oversigt over, hvad der skal opsttes:
Hvad skal gres? Kode-eksempel
Disable global interrupt
Nulstil tller
Compare vrdien skal indstilles
Vlg CTC Mode
Prescaler-vrdien skal indstilles
Timer interrupt skal enables
Enabel Global Timer interrupt
cli();
TCNT1 = 0; // Virker p 16 bit.
OCR1A = 15624;
bitSet(TCCR1B,
bitSet(TCCR1B,
bitSet(TCCR1B,
bitSet(TIMSK1,
sei();
// OCR1A = 0x3D08; p hex form;

WGM12); // WGM12 = 3
CS10); // = 00000001
CS12); //TCCR1B er nu 00000101
OCIE1A);
// CS12=2, CS11=0, CS10=1
Alle registre og register-bit har navne som compileren kender, og den kender deres vrdier. Derfor
kan man fx skrive bitSet(TCCR1B, CS12); For definerede vrdier: se
setBit(TCCR1B, WGM12); stter et bit der vlger Timer Compare mode. Sttes denne ikke, er
der default valgt overflow mode.
WGM str for Waveform Generation Bit Mode ?
/ Valle Thor
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God dok: http://www.eng.utah.edu/~cs5789/2010/slides/Interruptsx2.pdf

*1 Se datablad: http://www.atmel.com/Images/doc8161.pdf
Timerne kan arbejde i et strre antal modes, derfor skal man vlge: CTC Mode ( Counter-TimerCompare ?? )
Notice how the setups between the three timers differ slightly in the line which turns on CTC mode:
setBit(TCCR0A, WGM01);
setBit(TCCR1B, WGM12);
//for timer0
//for timer1
//for timer2
This follows directly from the datasheet of the ATMEL 328/168 Kilde # .1
Bitmanipulation sker med disse instruktioner:

Fra side om C-bitmanipulation. Se :
http://tom-itx.dyndns.org:81/~webpage/avr/c_bits/bits_index.php
| bitwise OR
& bitwise AND
~ bitwise NOT
^ bitwise EXLUSIVE OR (XOR)
<< bit LEFT SHIFT
>> bit RIGHT SHIFT
Ved man hvilke bit der skal sttes i et register, kan man gre det med en af
flgende muligheder:
TCCR1A
TCCR1A
TCCR1B
TCCR1B
TCCR2A
TCCR2B
TCCR2B
= 0b10101010;
= 0;
= 0;
= 0x03;
= B01000011;
= B00001001;
|= 7;
// st hele TCCR1A register til 0

// her kendes hvilke bits, der skal sttes.
//Clock select. Internal, prescale 1024~64us
bitSet(TCCR1A, WGM01);
TCCR0A = _BV(WGM01);
TCCR0B = _BV(CS02) | _BV(CS00);
// Mode = CTC
// _BV er en function, der ???
Timer Mode select:

1
Fra: (http://www.instructables.com/id/Arduino-Timer-Interrupts/step2/Structuring-Timer-Interrupts/ )
Datablad:
/ Valle Thor
http://www.atmel.com/Images/doc8161.pdf
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Waveform Generation Mode Bit setup:

Timerne kan tillige indstilles til at hav af
forskellige funktioner. Det styres af
Waveform generation bits ogs i reg.
TCCR1A og TCCR1B.
Det eneste bit der har interesse her er
WGM12, som vlger CTC mode.
http://www.atmel.com/images/atmel-8271-8-bit-avr-microcontroller-atmega48a-48pa-88a-88pa-168a-168pa-328-328p_datasheet_complete.pdf
Interrupt subrutiner
Her er vist, hvordan man skriver en interrupt-subrutine, en Interrupt Service Rutine.
Eks:
ISR(TIMER1_COMPA_vect)
{
seconds++;
if (seconds == 10)
{
seconds = 0;
readMySensor();
}
}
{
/ Valle Thor
// Compare match
// Overflow interrupt service routine
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Arduino interrupts
TCNT1 = timer1_counter;
Version
12/11-2015
// preload timer med vrdi, fx med 23445
digitalWrite(ledPin, digitalRead(ledPin) ^ 1);

}
void loop()
{
// your program here...
}
Timer Overflow eksempler:

Timer overflow means the timer has reached is limit value. When a timer overflow interrupt occurs,
the timer overflow bit TOVx will be set in the interrupt flag register TIFRx. When the timer
overflow interrupt enable bit TOIEx in the interrupt mask register TIMSKx is set, the timer
overflow interrupt service routine ISR(TIMERx_OVF_vect) will be called.
I denne mode presettes timerne til en startvrdi, - og overflow udlser s et interrupt.
Der kan ogs tilsluttes en ekstern klock-frekvens. Dvs. man kan tlle eksterne pulser.
Men de fleste gange bliver den interne oscillator-frekvens brugt.
/*
* Arduino 101: timer and interrupts
* Timer1 overflow interrupt example
* more infos: http://www.letmakerobots.com/node/28278
* created by RobotFreak
*/
#define ledPin 13
void setup()
{
pinMode(ledPin, OUTPUT);
// initialize timer1
noInterrupts();
TCCR1A = 0;
TCCR1B = 0;
TCNT1 = 34286;
setBit(TCCR1B, CS12);
setBit(TIMSK1, TOIE1);
/ Valle Thor
// disable all interrupts
// preload timer 65536-16MHz/256/2Hz

// 256 prescaler
// enable timer overflow interrupt
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Arduino interrupts
interrupts();
Version
12/11-2015
// enable all interrupts
}
// interrupt service routine that wraps a user defined
function supplied by attachInterrupt
{
TCNT1 = 34286;
// preload timer
}
void loop()
{
}
// Se: http://www.hobbytronics.co.uk/arduino-timer-interrupts
#define ledPin 13
int timer1_counter;
void setup()
{
noInterrupts();
TCCR1A = 0;
TCCR1B = 0;
// Set timer1_counter to the correct value for our interrupt interval

//timer1_counter = 64886;
//timer1_counter = 64286;
timer1_counter = 34286;
interrupts();
// preload timer
// 256 prescaler
}
// interrupt service routine
{
// preload timer
}
void loop()
{
/ Valle Thor
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}
/*
Eksempel p Interrupt ved timer overflow.
Testet!!
Valle / 8/11-2013
*/
#define ledPin 13
int timer1_startvalue;
int sekund = 0;
int minut = 0;
volatile boolean flag = 0;
//boolean flag = 0;
void setup()
{
Serial.begin(9600);
while (!Serial) {
; // wait for serial port to connect. Needed for Leonardo only
}
noInterrupts();
TCCR1A = 0;
TCCR1B = 0;
// Set timer1_startvalue to the correct value for our interrupt interval

//timer1_startvalue = 64886;
timer1_startvalue = 3036;
TCNT1 = timer1_startvalue;
interrupts();
//
//
//
//
preload timer
256 prescaler
enable timer1 overflow interrupt
enable all interrupts
}
// interrupt service routine
{
TCNT1 = timer1_startvalue;
// gen-load timer1
sekund++;
flag = HIGH;
if (sekund > 59) {
sekund = 0;
minut++;
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}
}
void loop()
{
while(flag==LOW) { // Wait til change !!
}
Serial.print(minut);
Serial.print(':');
if(sekund<10) Serial.print('0');
Serial.println(sekund);
flag=0;
// delay(1000);
}
// Se:
http://www.hobbytronics.co.uk/arduino-timer-interrupts
Output Compare Match eksempler:

When a output compare match interrupt occurs, the OCFxy flag will be set in the interrupt flag
register TIFRx . When the output compare interrupt enable bit OCIExy in the interrupt mask
register TIMSKx is set, the output compare match interrupt service ISR(TIMERx_COMPy_vect)
routine will be called.
Timerne kan udlse et interrupt hver gang, en timer nr op til samme vrdi, som er gemt i et timermatch register, - eller hvis de nr deres max count-vrdi, og giver overflow.
Nr en timer nr et match,- bliver det resat p det nste klockpuls og fortstter s opad igen fra 0
til nste match.
Ved at vlge Compare match vrdien, - og vlge klock-frekvensen ( 16 MHz ) sammen med en
frekvensdeler, en prescaler, kan man kontrollere interruptfrekvensen.
Timeren stter ved overflow en overflow bit som evt. kan tjekkes manuelt af programmet.
ISR-en ( Interrupt Service Routine resetter overflowbit.
/* Arduino 101: timer and interrupts

Timer1 compare match interrupt example
more infos: http://www.letmakerobots.com/node/28278
created by RobotFreak
*/
#define ledPin 13
void setup()
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{
noInterrupts();
TCCR1A = 0;
TCCR1B = 0;
TCNT1 = 0;
OCR1A = 31250;
setBit(TIMSK1, OCIE1A);
interrupts();
// compare match register 16MHz/256/2Hz

// CTC mode
// 256 prescaler
// enable timer compare interrupt
}
// timer compare interrupt service routine
{
// toggle LED pin
}
void loop()
{
}
// Arduino timer CTC interrupt example

#define LEDPIN 2
void setup()
{
pinMode(LEDPIN, OUTPUT);
// initialize Timer1
cli();
// disable global interrupts
TCCR1A = 0;
// set entire TCCR1A register to 0
TCCR1B = 0;
// same for TCCR1B
OCR1A = 15624;
// set compare match register to desired timer count:
// turn on CTC mode:
// Set CS10 and CS12 bits for 1024 prescaler:
// enable timer compare interrupt:
sei();
// enable global interrupts:
}
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void loop()
{
// do some crazy stuff while my LED keeps blinking
}
{
digitalWrite(LEDPIN, !digitalRead(LEDPIN));
}
Eksempel p, at tlle antal interrupts, for at f noget til at foreg langsommere!

{
seconds++;
if (seconds == 10)
{
seconds = 0;
readMySensor();
}
}
void setup()
{
//Use timer 5, output A
noInterrupts();
TCCR5A = 0;
TCCR5B = 0;
TCNT5 = 0;
(pin 44) ( Ikke for Uno )

OCR5A = 833;
// compare match register 16MHz/256/75Hz ~75.03Hz
// CTC mode
// 256 prescaler
setBit(TIMSK5, OCIE5A); // enable timer compare interrupt mask
interrupts();
}
void loop()
{
}
{
/ Valle Thor
// timer compare ISR
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Serial.print(" et eller andet");
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//print RTI fire time
//
//
Denne interrupt kaldes ved 1kHz

http://petemills.blogspot.dk/2011/05/real-time-clock-part-1.html
{
static uint16_t milliseconds = 0; // mS value for timekeeping 1000mS/1S
static uint16_t clock_cal_counter = 0; // counting up the milliseconds to MS_ADJ
const uint16_t MS_ADJ = 35088;
// F_CPU / (F_CPU * PPM_ERROR)
const uint16_t MS_IN_SEC = 1000; // 1000mS/1S
milliseconds++;
clock_cal_counter++;
if( milliseconds >= MS_IN_SEC )

{
milliseconds = 0;
ss++;
// increment seconds
toggle_led();
// toggle led
if( ss > 59 )
{
mm++;
// increment minutes
ss = 0;
// reset seconds
}
if( mm > 59 )
{
hh++;
// increment hours
mm = 0;
// reset minutes
}
if( hh > 23 )
{
// increment day
hh = 0;
// reset hours
}
}
//
//
//
//
milliseconds must be less than 999 to avoid missing an adjustment.

eg if milliseconds were to be 999 and we increment it here to 1000
the next ISR call will make it 1001 and reset to zero just as if it
would for 1000 and the adjustment would be effectively canceled out.
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if( ( clock_cal_counter >= MS_ADJ ) && ( milliseconds < MS_IN_SEC - 1 ) )

{
milliseconds++;
// it may be that clock_cal_counter is > than MS_ADJ in which case
// I want to count the tick towards the next adjustment
// should always be 1 or 0
clock_cal_counter = clock_cal_counter - MS_ADJ;
}
}
What are "volatile" variables?
Variables shared between ISR functions and normal functions should be declared "volatile". This
tells the compiler that such variables might change at any time, and thus the compiler must reload
the variable whenever you reference it, rather than relying upon a copy it might have in a processor
register.
For example:
volatile boolean flag;
// Interrupt Service Routine (ISR)
void isr ()
{
flag = true;
} // end of isr
void setup ()
{
attachInterrupt (0, isr, CHANGE);
} // end of setup
// attach interrupt handler
void loop ()
{
if (flag)
{
// interrupt has occurred
}
} // end of loop
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Flere noter:
(Note that there are two other OCR (OCR1B and OCR1C not used in this example. However they
may be used independent of OCR1A to generate another frequency or other Timer Counter
Functions.
When that value is reached the output toggles provided that the corresponding output pin is set to
output mode. )
Der er flere mder, hvorp man kan f udlst et interrupt p tid:
Kode til at stte vrdier i kontrolregistre:

I flere Kode-eksempler er der vist en metode til at indstille registre-bits til interrupt-styring ved at
skifte en kode til venstre.
Fx:
TCCR1B |= (1 << CS12);
// 256 prescaler , skift et 1-tal s mange pladser til
venstre, som vrdien af CS12.
|= betyder Bitwise or.)
Det kan fx bruges, hvis man ikke kender placeringen af bittene i timer kontrol-registrene. Men det
krver til gengld, at man ved, at bit CSn2 skal sttes.
I eksemplet skiftes et 1-tal til venstre et antal gange, angivet af vrdien af CS12. Compileren
kender denne vrdi!
Prdefinerede vrdier, som compileren kender:
De er defineret i en include-fil:
#define CS00 0
#define CS01 1
#define CS02 2
#define TOIE1 0
Se: http://courses.cs.washington.edu/courses/csep567/10wi/lectures/Lecture7.pdf
Ved man hvilke bit der skal sttes i et register, kan man gre det med en af flgende muligheder:
TCCR1A = 0b10101010;
TCCR1A = 0;
/ Valle Thor
// st hele TCCR1A register til 0
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TCCR1B
TCCR1B
TCCR2A
TCCR2B
TCCR2B
= 0;
= 0x03;
= B01000011;
= B00001001;
|= 7;
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// her kendes hvilke bits, der skal sttes.

//Clock select. Internal, prescale 1024~64us
TCCR0A = _BV(WGM01);
TCCR0B = _BV(CS02) | _BV(CS00);
// Mode = CTC
// _BV er en function, der ???
/* _BV(x) er en funktion, der skifter et 1-tal x pladser til venstre.

Det betyder, at fx _BV(6) returnerer 0b01000000
*/
Bitmanipulation sker med disse instruktioner:
Fra side om C-bitmanipulation:
| bit OR
& bit AND
~ bit NOT
^ bit EXLUSIVE OR (XOR)
<< bit LEFT SHIFT
>> bit RIGHT SHIFT
http://tom-itx.dyndns.org:81/~webpage/avr/c_bits/bits_index.php
Interrupt subrutine:
En interrupt service rutine definers som flgende:
ISR(Timerx_ COMPA_VECT) {
Do something
}
Eksempel:
Arduino timer compare match interrupts:
Eksempler p opstning af Prescaler:

void setup(){
cli();
//stop interrupts
//set timer0 interrupt at 2kHz

TCCR0A = 0;
TCCR0B = 0;
// same for TCCR0B
TCNT0 = 0;
//initialize counter value to 0
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OCR0A = 124;
setBit(TCCR0A,
setBit(TCCR0B,
setBit(TCCR0B,
setBit(TIMSK0,
Arduino interrupts
//
//
//
WGM01);
CS01);
CS00); //
OCIE0A);
set compare match register for 2khz

increments
= (16*10^6) / (2000*64) - 1 (must be <256)
// turn on CTC mode
Set CS01 and CS00 bits for 64 presc.
//set timer1 interrupt at 1Hz

TCCR1A = 0;
TCCR1B = 0;
TCNT1 = 0;
OCR1A = 15624;
setBit(TCCR1B,
setBit(TCCR1B,
setBit(TCCR1B,
setBit(TIMSK1,
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// set entire TCCR1A register

// same for TCCR1B
//initialize counter value to
// set compare match register
// increments
// = (16*10^6) / (1*1024) - 1
to 0
0
for 1hz
(must be <65536)
WGM12);
// turn on CTC mode
CS12);
CS10); // Set CS10 og CS12 bits for 1024 presc.
OCIE1A);
//set timer2 interrupt

TCCR2A = 0;
TCCR2B = 0;
TCNT2 = 0;
OCR2A = 249;
at 8kHz
// set entire TCCR2A register
// same for TCCR2B
//initialize counter value to
// set compare match register
// increments
// = (16*10^6) / (8000*8) - 1
0
for 8khz
(must be <256)
// turn on CTC mode

// Set CS21 bit for 8 prescaler
sei();
//allow interrupts
//end setup
ISR(TIMER0_COMPA_vect){
to 0
//change the 0 to 1 for timer1 and 2 for timer2
//interrupt commands here

}
http://www.instructables.com/id/Arduino-Timer-Interrupts/
Interrupts(); noInterrupts();
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Eksempel p beskyttelse af tidskritisk kode

volatile unsigned int count;
/* Det er altid tilrdeligt, at erklre variable, der optrder bde i en ISR
og i et loop for globale ( Volatile )
Det fr compileren til altid at placere variablene i RAM
*/
ISR (TIMER1_OVF_vect)
{
TCNT1 = 34286;
count++;
} // end of TIMER1_OVF_vect
// preload timer
void setup ()
{
pinMode (13, OUTPUT);
noInterrupts();
TCCR1A = 0;
TCCR1B = 0;
TCNT1 = 34286;
interrupts();
}

// 256 prescaler
// end of setup
void loop ()
{
noInterrupts ();
// ; Beskyt loop-koden: = cli();
if (count > 4){
digitalWrite(13, digitalRead(13) ^ 1);
// Flip pin
count = 0;
}
interrupts ();
// Enable interrupt igen = sei();
// end of loop
}
Oversigtstegninger og animationer over timer-opbygning i ATMEGA processoren.
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Der findes ogs andre

skitser over hvordan
interrupt-strukturen sttes
op.
Bemrk, at PWM1x vist
nu hedder WGM1x
http://www.kner.at/home/40.avr/_architektur/ztcpwm.html
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Her er animeret en compare

match.
http://www.kner.at/home/40.avr/_architektur/ztcbint.html
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Og en overflow match.
http://www.kner.at/home/40.avr/_architektur/ztcbint.html
Resten er endnu ikke helt gennemarbejdet, kan betragtes som Bonus Info
TIMSK1. This is the Timer/Counter1 Interrupt Mask Register. Setting the TOIE1 bit tells the timer to
trigger an interrupt when the timer overflows.

TIMSK and TIFR
The Timer Interrupt Mask Register (TIMSK) and Timer Interrupt Flag (TIFR) Register are used to control which interrupts
are "valid" by setting their bits in TIMSK and to determine which interrupts are currently pending (TIFR).
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Bit 7
TOIE1 OCIE1A
---
---
TICIE1
---
TOIE0
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Bit 0
---
TOIE1: Timer Overflow Interrupt Enable (Timer 1); If this bit is set and if global interrupts are enabled, the micro will jump
to the Timer Overflow 1 interrupt vector upon Timer 1 Overflow.
OCIE1A: Output Compare Interrupt Enable 1 A; If set and if global Interrupts are enabled, the micro will jump to the
Output Compare A Interrupt vetor upon compare match.
TICIE1: Timer 1 Input Capture Interrupt Enable; If set and if global Interrupts are enabled, the micro will jump to the Input
Capture Interrupt vector upon an Input Capture event.
TOIE0: Timer Overflow Interrupt Enable (Timer 0); Same as TOIE1, but for the 8-bit Timer 0.
TCCR1A = 0x00;
// COM1A1=0, COM1A0=0 => Disconnect Pin OC1 from Timer/Counter 1 -PWM11=0,PWM10=0 => PWM Operation disabled, ICNC1=0 => Capture Noise Canceler
disabled -- ICES1=0 => Input Capture Edge Select (not used) -- CTC1=0 => Clear
Timer/Counter 1 on Compare/Match, CS12=0 CS11=1 CS10=1 => Set prescaler to
clock/64
TCCR1B = 0x03;
// 16MHz clock with prescaler means TCNT1 increments every 4uS,
ICIE1=0 => Timer/Counter 1, Input Capture Interrupt Enable -- OCIE1A=0 => Output
Compare A Match Interrupt Enable -- OCIE1B=0 => Output Compare B Match Interrupt
Enable
TOIE1=0 => Timer 1 Overflow Interrupt Enable
TCCR3A register
COM3A1
COM3A0
TCCR3B register
ICNC3
ICES3
COM3B1
COM3B0
COM3C1
COM3C0
WGM11
WGM10
WGM13
WGM12
CS12
CS11
CS10
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based on the AT90S2313.
16 bit timere er
lidt mere
complex.
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Timer overflow og interrupt udlses :
Output Compare Mode

The Output Compare mode is used to
perform repeated timing. The value in
TCNT1 (which is counting up if not
stopped by the prescaler select bits) is
permanently compared to the value in
OCR1A. When these values are equal to
each other, the Output Compare Interrupt
Flag (OCF in TIFR) is set and an ISR can
be called. By setting the CTC1 bit in
TCCR1B, the timer can be automatically
cleared upon compare match.
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http://www.nunoalves.com/classes/spring_2012_cpe355/cpe355-02-b.pdf
http://www.gammon.com.au/forum/?id=11488
http://www.protostack.com/blog/2010/09/timer-interrupts-on-an-atmega168/
Gode oversigter over register!
Example- the following sketch sets up and executes 3 timer interrupts:

//timer interrupts
//by Amanda Ghassaei
//June 2012
//http://www.instructables.com/id/Arduino-Timer-Interrupts/
/*
*
*
*
*
*
*/
This program is free software; you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
//timer setup for timer0, timer1, and timer2.

//For arduino uno or any board with ATMEL 328/168.. diecimila, duemilanove,
lilypad, nano, mini...
//this code will enable
//timer0 will interrupt
all three arduino timer interrupts.

at 2kHz
at 1Hz
at 8kHz
//storage variables
boolean toggle0 = 0;
void setup(){
pinMode(8, OUTPUT);
pinMode(9, OUTPUT);
cli();
/ Valle Thor
//set pins as outputs
//stop interrupts
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TCCR0A = 0;
TCCR0B = 0;
TCNT0 = 0;
OCR0A = 124;

// same for TCCR2B
// set compare match register for 2khz
// increments
// = (16*10^6) / (2000*64) - 1 (must be <256)
TCCR0A |= (1 << WGM01);
// turn on CTC mode
TCCR0B |= (1 << CS01) | (1 << CS00);

TIMSK0 |= (1 << OCIE0A);
// Set CS01 and CS00 bits for 64

// prescaler
//set timer1 interrupt at 1Hz

TCCR1A = 0;
TCCR1B = 0;
TCNT1 = 0;

// same for TCCR1B
// set compare match register for 1hz
// increments
OCR1A = 15624;
// = (16*10^6) / (1*1024) - 1 (must be <65536)
TCCR1B |= (1 << WGM12);
// turn on CTC mode
TCCR1B |= (1 << CS12) | (1 << CS10);
// Set CS12 and CS10 bits for 1024
//prescaler

TCCR2A = 0;
TCCR2B = 0;
TCNT2 = 0;
OCR2A = 249;
TCCR2A |= (1 << WGM21);
TCCR2B |= (1 << CS21);

// same for TCCR2B
// set compare match register for 8khz
// increments
// = (16*10^6) / (8000*8) - 1 (must be <256)
// turn on CTC mode
sei();//allow interrupts
}//end setup
//timer0 interrupt 2kHz toggles pin 8

//generates pulse wave of frequency 2kHz/2 =
//1kHz (takes two cycles for full wave- toggle
// high then toggle low)
if (toggle0){
digitalWrite(8,HIGH);
toggle0 = 0;
}
else{
digitalWrite(8,LOW);
toggle0 = 1;
}
}
/ Valle Thor
//timer1 interrupt 1Hz toggles pin 13 (LED)
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//generates pulse wave of frequency 1Hz/2 =

//0.5kHz (takes two cycles for full wave//toggle high then toggle low)
if (toggle1){
toggle1 = 0;
}
else{
toggle1 = 1;
}
}
//timer1 interrupt 8kHz toggles pin 9

//generates pulse wave of frequency 8kHz/2 =
//4kHz (takes two cycles for full wave- toggle
// high then toggle low)
if (toggle2){
toggle2 = 0;
}
else{
toggle2 = 1;
}
}
void loop(){
//do other things here
}
The images above show the outputs from these timer interrupts. Fig 1 shows a square wave oscillating
between 0 and 5V at 1kHz (timer0 interrupt), fig 2 shows the LED attached to pin 13 turning on for one
second then turning off for one second (timer1 interrupt), fig 3 shows a pulse wave oscillating between
0 and 5V at a frequency of 4khz (timer2 interrupt).
Bike Speedometer
In this example I made an arduino bike speedometer. It works by attaching a magnet to the wheel and
measuring the amount of time it takes to pass by a magnetic switch mounted on the frame- the time for
one complete rotation of the wheel.
I set timer 1 to interrupt every ms (frequency of 1kHz) to measure the magnetic switch. If the magnet is
passing by the switch, the signal from the switch is high and the variable "time" gets set to zero. If the
magnet is not near the switch "time" gets incremented by 1. This way "time" is actually just a
measurement of the amount of time in milliseconds that has passed since the magnet last passed by
the magnetic switch. This info is used later in the code to calculate rpm and mph of the bike.
Here's the bit of code that sets up timer1 for 1kHz interrupts
Here's the complete code if you want to take a look:
//bike speedometer
//by Amanda Ghassaei 2012
/ Valle Thor
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/*
*
*
*
*
*
*/

//sample calculations
//tire radius ~ 13.5 inches
//circumference = pi*2*r =~85 inches
//max speed of 35mph =~ 616inches/second
//max rps =~7.25
#define reed A0//pin connected to read switch
//storage variables
float radius = 13.5;// tire radius (in inches)- CHANGE THIS FOR YOUR OWN BIKE
int reedVal;
long time = 0;// time between one full rotation (in ms)
float mph = 0.00;
float circumference;
boolean backlight;
int maxReedCounter = 100;//min time (in ms) of one rotation (for debouncing)
int reedCounter;
void setup(){
reedCounter = maxReedCounter;
circumference = 2*3.14*radius;
pinMode(1,OUTPUT);//tx
pinMode(2,OUTPUT);//backlight switch
pinMode(reed,INPUT);//redd switch
checkBacklight();
Serial.write(12);//clear
// TIMER SETUP- the timer interrupt allows preceise timed measurements of the reed
switch
//for mor info about configuration of arduino timers see
http://arduino.cc/playground/Code/Timer1
cli();//stop interrupts
TCCR1A = 0;// set entire TCCR1A register to 0
TCCR1B = 0;// same for TCCR1B
TCNT1 = 0;//initialize counter value to 0;
// set timer count for 1khz increments
OCR1A = 1999;// = (16*10^6) / (1000*8) - 1
// turn on CTC mode
TCCR1B |= (1 << WGM12);
TCCR1B |= (1 << CS11);
//END TIMER SETUP
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Serial.begin(9600);
}
void checkBacklight(){
backlight = digitalRead(2);
if (backlight){
Serial.write(17);//turn backlight on
}
else{
Serial.write(18);//turn backlight off
}
}
ISR(TIMER1_COMPA_vect) {//Interrupt at freq of 1kHz to measure reed switch
reedVal = digitalRead(reed);//get val of A0
if (reedVal){//if reed switch is closed
if (reedCounter == 0){//min time between pulses has passed
mph = (56.8*float(circumference))/float(time);//calculate miles per hour
time = 0;//reset timer
reedCounter = maxReedCounter;//reset reedCounter
}
else{
if (reedCounter > 0){//don't let reedCounter go negative
reedCounter -= 1;//decrement reedCounter
}
}
}
else{//if reed switch is open
if (reedCounter > 0){//don't let reedCounter go negative
reedCounter -= 1;//decrement reedCounter
}
}
if (time > 2000){
mph = 0;//if no new pulses from reed switch- tire is still, set mph to 0
}
else{
time += 1;//increment timer
}
}
void displayMPH(){
Serial.write(12);//clear
Serial.write("Speed =");
Serial.write(13);//start a new line
Serial.print(mph);
Serial.write(" MPH ");
//Serial.write("0.00 MPH ");
}
void loop(){
//print mph once a second
displayMPH();
delay(1000);
checkBacklight();
}
For this project, I used timer2 interrupts to periodically check if there was any incoming serial data, read
it, and store it in the matrix "ledData[]". If you take a look at the code you will see that the main loop of
/ Valle Thor
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the sketch is what is actually responsible for using the info in ledData to light up the correct LEDs and
checking on the status of the buttons (a function called "shift()"). The interrupt routine is as short as
possible- just checking for incoming bytes and storing them appropriately.
Here is the setup for timer2:
//set timer2 interrupt every 128us
TCNT2 = 0;//initialize counter value to 0
// set compare match register for 7.8khz increments
OCR2A = 255;// = (16*10^6) / (7812.5*8) - 1 (must be <256)
// turn on CTC mode
TCCR2A |= (1 << WGM21);
TCCR2B |= (1 << CS21);
Here's the complete Arduino sketch:

//BUTTON TEST w/ 74HC595 and 74HC165 and serial communication
//by Amanda Ghassaei
//June 2012
/*
*
*
*
*
*
*/

//this firmware will send data back and forth with the maxmsp patch "beat slicer"
//pin connections
#define ledLatchPin A1
#define ledClockPin A0
#define ledDataPin A2
#define buttonLatchPin 9
#define buttonClockPin 10
#define buttonDataPin A3
//looping variables
byte i;
byte j;
byte k;
byte ledByte;
//storage for led states, 4 bytes
byte ledData[] = {0, 0, 0, 0};
//storage for buttons, 4 bytes
byte buttonCurrent[] = {0,0,0,0};
byte buttonLast[] = {0,0,0,0};
byte buttonEvent[] = {0,0,0,0};
byte buttonState[] = {0,0,0,0};
//button debounce counter- 16 bytes
byte buttonDebounceCounter[4][4];
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void setup() {
DDRC = 0xF7;//set A0-2 and A4-5 output, A3 input
DDRB = 0xFF;//digital pins 8-13 output
Serial.begin(57600);
//set timer2 interrupt every 128us
TCNT2 = 0;//initialize counter value to 0
// set compare match register for 7.8khz increments
OCR2A = 255;// = (16*10^6) / (7812.5*8) - 1 (must be <256)
// turn on CTC mode
TCCR2A |= (1 << WGM21);
TCCR2B |= (1 << CS21);
}
// buttonCheck - checks the state of a given button.
//this buttoncheck function is largely copied from the monome 40h firmware by brian
crabtree and joe lake
void buttonCheck(byte row, byte index)
{
if (((buttonCurrent[row] ^ buttonLast[row]) & (1 << index)) &&
// if the current
physical button state is different from the
((buttonCurrent[row] ^ buttonState[row]) & (1 << index))) { // last physical button
state AND the current debounced state
if (buttonCurrent[row] & (1 << index)) {
// if the current
physical button state is depressed
buttonEvent[row] = 1 << index;
// queue up a new button event
immediately
buttonState[row] |= (1 << index);
// and set the debounced
state to down.
}
else{
buttonDebounceCounter[row][index] = 12;
} // otherwise the button was previously depressed and now
// has been released so we set our debounce counter.
}
else if (((buttonCurrent[row] ^ buttonLast[row]) & (1 << index)) == 0 && // if the
current physical button state is the same as
(buttonCurrent[row] ^ buttonState[row]) & (1 << index)) {
// the last physical
button state but the current physical
// button state is different from the current debounce
// state...
if (buttonDebounceCounter[row][index] > 0 && --buttonDebounceCounter[row][index] ==
0) { // if the the debounce counter has
// been decremented to 0 (meaning the
// the button has been up for
// kButtonUpDefaultDebounceCount
// iterations///
buttonEvent[row] = 1 << index;
// queue up a button state change event
if (buttonCurrent[row] & (1 << index)){
/ Valle Thor
// and toggle the buttons
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debounce state.
buttonState[row] |= (1 << index);
}
else{
buttonState[row] &= ~(1 << index);
}
}
}
}
void shift(){
for (i=0;i<4;i++){
buttonLast[i] = buttonCurrent[i];
byte dataToSend = (1 << (i+4)) | (15 & ~ledData[i]);
// set latch pin low so the LEDs don't change while sending in bits
digitalWrite(ledLatchPin, LOW);
// shift out the bits of dataToSend
shiftOut(ledDataPin, ledClockPin, LSBFIRST, dataToSend);
//set latch pin high so the LEDs will receive new data
digitalWrite(ledLatchPin, HIGH);
//once one row has been set high, receive data from buttons
//set latch pin high
digitalWrite(buttonLatchPin, HIGH);
//shift in data
buttonCurrent[i] = shiftIn(buttonDataPin, buttonClockPin, LSBFIRST) >> 3;
//latchpin low
digitalWrite(buttonLatchPin, LOW);
for (k=0;k<4;k++){
buttonCheck(i,k);
if (buttonEvent[i]<<k){
if (buttonState[i]&1<<k){
Serial.write(((3-k)<<3)+(i<<1)+1);
}
else{
Serial.write(((3-k)<<3)+(i<<1)+0);
}
buttonEvent[i] &= ~(1<<k);
}
}
}
}
ISR(TIMER2_COMPA_vect) {
do{
if (Serial.available()){
ledByte = Serial.read();//000xxyys
boolean ledstate = ledByte & 1;
byte ledy = (ledByte >> 1) & 3;
byte ledx = (ledByte >> 3) & 3;
if (ledstate){
ledData[ledy] |= 8 >> ledx;
}
else{
ledData[ledy] &= ~ (8 >> ledx);
}
}//end if serial available
}//end do
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while (Serial.available() > 8);

}
void loop() {
shift();//updates leds and receives data from buttons
}
One last thing to note- certain timer setups will actually disable some of the Arduino library
functions. Timer0 is used by the functions millis() and delay(), if you manually set up timer0, these
functions will not work correctly.
Additionally, all three timers underwrite the function analogWrite(). Manually setting up a timer will stop
analogWrite() from working.
If there is some portion of your code that you don't want interrupted, considering using cli() and sei() to
globally disable and enable interrupts.
You can read more about this on the Arduino website.
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Stopwatch http://playground.arduino.cc/Code/Stopwatch
A sketch that demonstrates how to do two (or more) things at once by using millis().
/* StopWatch
* Paul Badger 2008
* Demonstrates using millis(), pullup resistors,
* making two things happen at once, printing fractions
*
* Physical setup: momentary switch connected to pin 4, other side
connected to ground
* LED with series resistor between pin 13 and ground
*/
#define ledPin 13
#define buttonPin 4
// LED connected to digital pin 13

// button on pin 4
int value = LOW;

int buttonState;
int lastButtonState;
state
int blinking;
timing
long interval = 100;
long previousMillis = 0;
was updated
long startTime ;
long elapsedTime ;
int fractional;
part of time
// previous value of the LED

// variable to store button state
// variable to store last button
// condition for blinking - timer is
// blink interval - change to suit
// variable to store last time LED
// start time for stop watch
// elapsed time for stop watch
// variable used to store fractional
void setup()
{
Serial.begin(9600);
// sets the digital pin as output
pinMode(buttonPin, INPUT);
// not really necessary, pins default
to INPUT anyway
digitalWrite(buttonPin, HIGH);
// turn on pullup resistors. Wire
button so that press shorts pin to ground.
}
void loop()
{
// check for button press
buttonState = digitalRead(buttonPin);
button state and store
/ Valle Thor
// read the
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if (buttonState == LOW && lastButtonState == HIGH && blinking== fals

// check for a high to low transition
// if true then found a new button press while clock is not running
- start the clock
e){
startTime = millis();
the start time
blinking = true;
blinking while timing
delay(5);
delay to debounce switch
lastButtonState = buttonState;
buttonState in lastButtonState, to compare next time
// store
// turn on
// short
// store
}
else if (buttonState == LOW && lastButtonState == HIGH &&blinking == t
rue){
// check for a high to low transition
// if true then found a new button press while clock is running stop the clock and report
elapsedTime =
millis() - startTime;
elapsed time
blinking = false;
blinking, all done timing
// store
// turn off
// store
// routine to report elapsed time

Serial.print( (int)(elapsedTime / 1000L));
1000 to convert to seconds - then cast to an int to print
Serial.print(".");
// divide by
// print decimal
point
// use modulo operator to get fractional part of time
fractional = (int)(elapsedTime % 1000L);
// pad in leading zeros - wouldn't it be nice if
// Arduino language had a flag for this? :)
if (fractional == 0)
Serial.print("000");
// add three zero's
else if (fractional < 10)
// if fractional < 10 the 0 is
ignored giving a wrong time, so add the zeros
Serial.print("00");
// add two zeros
else if (fractional < 100)
Serial.print("0");
// add one zero
Serial.println(fractional);
// print fractional part of time
}
else{
/ Valle Thor
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}
//
//
//
than
//
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// store
blink routine - blink the LED while timing

check to see if it's time to blink the LED; that is, the difference
between the current time and last time we blinked the LED is larger
the interval at which we want to blink the LED.
if ( (millis() - previousMillis > interval) ) {

if (blinking == true){
previousMillis = millis();
the last time we blinked the LED
// remember
// if the LED is off turn it on and vice-versa.

if (value == LOW)
value = HIGH;
else
value = LOW;
digitalWrite(ledPin, value);
}
else{
digitalWrite(ledPin, LOW);
LED when not blinking
}
}
// turn off
Brug af milis: cykelcomputer: Interrupt Triggers hver puls fra fler:

To calculate the circumference use the formula:
circumference = 2r
where r is the radius of the circle. Now that you have the wheel circumference, this value can be considered as our
fixed distance, and therefore the speed can be calculated by measuring the elapsed time between of a full
rotation.
Your sensor once fitted should act in the same method as a normally-open button that is pushed every
rotation. Our sketch will measure the time elapsed between every pulse from the sensor. To do this, our example
will have the sensor output connected to digital pin 2 as it will trigger an interrupt to calculate the speed.
(Interrupts? See chapter three). The sketch will otherwise be displaying the speed on a normal I2C-interface
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LCD module. The I2C interface is suggested as this requires only 4 wires from the Arduino board to the LCD
the less wires the better.
Example 37.3
/*
Example 37.3 Basic speedometer using millis();
http://tronixstuff.wordpress.com/tutorials > chapter 37
John Boxall | CC by-sa-nc
*/
#include "Wire.h" // for I2C bus LCD
#include "LiquidCrystal_I2C.h" // for I2C bus LCD module - http://bit.ly/m7K5wt
LiquidCrystal_I2C lcd(0x27,16,2); // set the LCD address to 0x27 for a 16
chars and 2 line display
float start, finished;
float elapsed, time;
float circMetric=1.2; // wheel circumference relative to sensor position (in
meters)
float circImperial; // using 1 kilometer = 0.621371192 miles
float speedk, speedm;
// holds calculated speed vales in metric and imperial
void setup()
{
attachInterrupt(0, speedCalc, RISING); // interrupt called when sensors sends
digital 2 high (every wheel rotation)
start=millis();
// setup LCD
lcd.init();
// initialize the lcd
lcd.backlight(); // turn on LCD backlight
lcd.clear();
lcd.println(" Wear a helmet! ");
delay(3000);
lcd.clear();
Serial.begin(115200);
circImperial=circMetric*.62137; // convert metric to imperial for MPH
calculations
}
void speedCalc()
{
elapsed=millis()-start;
start=millis();
speedk=(3600*circMetric)/elapsed; // km/h
speedm=(3600*circImperial)/elapsed; // Miles per hour
}
void loop()
{
lcd.setCursor(0,0);
lcd.print(int(speedk));
lcd.print(" km/h ");
lcd.print(int(speedm));
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lcd.print(" MPH
");
lcd.setCursor(0,1);
lcd.print(int(elapsed));
lcd.print(" ms/rev
");
delay(1000); // adjust for personal preference to minimise flicker
}
There isnt that much going on every time the wheel completes one revolution the signal from the sensor will go
from low to high triggering an interrupt which calls the function speedCalc(). This takes a reading of millis() and
then calculates the difference between the current reading and the previous reading this value becomes the time
to cover the distance (which is the circumference of the wheel relative to the sensor stored in
float circMetric=1.2;
and is measured in metres). It finally calculates the speed in km/h and MPH. Between interrupts the sketch
displays the updated speed data on the LCD as well as the raw time value for each revolution for curiositys sake.
In real life I dont think anyone would mount an LCD on a bicycle, perhaps an LED display would be more relevant.
In the meanwhile, you can see how this example works in the following short video clip. Instead of a bike wheel
and reed switch/magnet combination, I have connected the square-wave output from a function generator to the
interrupt pin to simulate the pulses from the sensor, so you can get an idea of how it works:
http://letsmakerobots.com/node/28278
1 Reset
2 External Interrupt Request 0
3 External Interrupt Request 1
4 Pin Change Interrupt Request
7 Watchdog Time-out Interrupt
8 Timer/Counter2 Compare Match
10 Timer/Counter2 Overflow
11 Timer/Counter1 Capture Event
18 SPI Serial Transfer Complete
19 USART Rx Complete
20 USART, Data Register Empty
21 USART, Tx Complete
/ Valle Thor
(pin D2)
(pin D3)
0 (pins D8 to D13)
1 (pins A0 to A5)
2 (pins D0 to D7)
A
B
A
B
A
B
(INT0_vect)
(INT1_vect)
(PCINT0_vect)
(PCINT1_vect)
(PCINT2_vect)
(WDT_vect)
(TIMER2_COMPA_vect)
(TIMER2_COMPB_vect)
(TIMER2_OVF_vect)
(TIMER1_CAPT_vect)
(TIMER1_COMPA_vect)
(TIMER1_COMPB_vect)
(TIMER1_OVF_vect)
(TIMER0_COMPA_vect)
(TIMER0_COMPB_vect)
(TIMER0_OVF_vect)
(SPI_STC_vect)
(USART_RX_vect)
(USART_UDRE_vect)
(USART_TX_vect)
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22
23
24
25
26
ADC Conversion Complete

EEPROM Ready
Analog Comparator
2-wire Serial Interface (I2C)
Store Program Memory Ready
Version
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(ADC_vect)
(EE_READY_vect)
(ANALOG_COMP_vect)
(TWI_vect)
(SPM_READY_vect)
Fra: http://www.gammon.com.au/forum/?id=11488
God og stor samling Tutorials: http://tronixstuff.com/tutorials/

#include <avr/io.h>
#include <avr/interrupt.h>
int ledPin = 8;
volatile int compAval = 10;
void setup() {
Serial.begin(9600);
sei();
TCCR2A |= 3;
TCCR2A |= (3 << 6);
TCNT2 = 0;
OCR2A = compAval;
TIMSK2 |= (1 << 1);
TIMSK2 |= 1;
TCCR2B |= 7;
}
//Enable interrupts
//Fast PWM mode 3.
//fire INT on Compare match
//initialize Timer2 to 0
//Set compare A value
//Enable CompA interrupt
//Enable OVF interrupt
//Clock select. Internal, prescale
1024~64us
{
digitalWrite(ledPin, HIGH);
}
{
compAval = compAval + 4;
if(compAval > 254)
compAval = 10;
OCR2A = compAval;
}
void loop()
{
//Serial.println(TCNT2, DEC);
}
/ Valle Thor
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TCCR1B:
Bit 7
ICNC1
/ Valle Thor
ICES1
---
---
CTC1
CS12
CS11
Bit 0
CS10
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ICNC1: Input Capture Noise Canceler; If set, the Noise Canceler on the ICP pin is activated. It will trigger the input
capture after 4 equal samples. The edge to be triggered on is selected by the ICES1 bit.
ICES1: Input Capture Edge Select;
When cleared, the contents of TCNT1 are transferred to ICR (Input Capture Register) on the falling edge of the ICP pin.
If set, the contents of TCNT1 are transferred on the rising edge of the ICP pin.
CTC1: Clear Timer/Counter 1 on Compare Match; If set, the TCNT1 register is cleared on compare match. Use this bit
to create repeated Interrupts after a certain time, e.g. to handle button debouncing or other frequently occuring events.
Timer 1 is also used in normal mode, remember to clear this bit when leaving compare match mode if it was set.
Otherwise the timer will never overflow and the timing is corrupted.
http://www.let-elektronik.dk/tutorials
en samling links til Jeremy Bloms videos:

Se: http://harperjiangnew.blogspot.dk/2013/05/arduino-using-atmegas-internal.html
http://tom-itx.dyndns.org:81/~webpage/abcminiuser/articles/avr_timers_index.php
CTC mode: http://maxembedded.com/2011/06/28/avr-timers-timer1/

http://www.youtube.com/watch?v=CRJUdf5TTQQ
http://www.uchobby.com/index.php/2007/11/24/arduino-interrupts/
http://www.protostack.com/blog/2010/09/timer-interrupts-on-an-atmega168/
http://www.instructables.com/id/Arduino-Timer-Interrupts/step2/Structuring-Timer-Interrupts/
http://arduino-info.wikispaces.com/Timers-Arduino
Links:
God side om timere:
https://sites.google.com/site/qeewiki/books/avr-guide/timer-on-the-atmega8
Se eksempel p Cykel-computer:
http://www.instructables.com/id/Arduino-Bike-Speedometer/?ALLSTEPS
http://letsmakerobots.com/node/28278
/ Valle Thor
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God og stor samling Tutorials:

http://tronixstuff.com/tutorials/
http://www.let-elektronik.dk/tutorials
en samling links til Jeremy Bloms videos:

http://harperjiangnew.blogspot.dk/2013/05/arduino-using-atmegas-internal.html
http://tom-itx.dyndns.org:81/~webpage/abcminiuser/articles/avr_timers_index.php
CTC mode: http://maxembedded.com/2011/06/28/avr-timers-timer1/

http://www.youtube.com/watch?v=CRJUdf5TTQQ
Link til datablad:
/ Valle Thor
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Arduino Timer Interrupts

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Arduino interrupts

Her er en forklaring til timer-interrupt, + en masse eksempler:

Arduino Timer Interrupts.

Der findes to generelt forskellige interrupts: Pinudlste, - og timer/counter udlste interrupts.

// Interrupt service routine

detachInterrupt(0); // stopper interrupt !

Arduino-funktionerne attachInterrupt() og detachInterrupt() bruges kun til pin-udlste interrupts.

I External Interrupt Control Register

I External Interrupt Mask Register

// Enable Global Interrupt

ISC11 ISC10 ISC01 ISC00

SetBit(EIFR,0); // Clr Flag

Flag cleares automatisk

Variable, der bruges i og

/ Valle Thor, Juni 2014

Enable pullup resistor

// Toggle LED on pin 13

Men det er muligt, at f flere pins til at udfre interrupts. Se

// Interrupt 0 is on DIGITAL PIN 2!

//Simulate a long running process or complex task

En Timer/Counter kan arbejde p to forskellige mder, nr en tid skal udmles.

Counter Compare Match

Timerens startvrdi indstilles, og nr timeren

Counteren starter p 00 00h

Arduino Uno har 3 timere indbygget, timer0, timer1 og timer2.

Prescaleren styres af nogle

Forklaring af formlen Skal forbedres!

( + 1 fordi det tager 1 clock cycle at resette.

Prescaleren kan indstilles til 1, 8, 64, 256, 1024.

Clock select and timer frequency

CPU frequency 16Mhz for Arduino

Eksempel p opstning til 1 HZ interrupt:

Interrupt every second (frequency of 1Hz):

Control registrere til counterne mm.

ved at stte bit WGM12.

Arduino Timer1 Interrupt-Opstning

TIMSK1 |= ( 1 << OCIE1A );

Timer Overflow Bit Flag

Ov erf low Vector

Output Compare Vector

( Der er ogs en kanal B & C )

Enable Global Sei();

Overflow: bitSet(TIMSK1, TOIE1);

Timer Compare Value

Timer0 bruges til delay(); millis(); & micros();

Timer/Counter Control Register A/B

TCCR1B-Bit[xxxx WGM12, CS12, CS11, CS10 ]

[CS12, CS11, CS10]

Tegningen viser de forskellige registre involveret i opstningen, og der er givet forskellige

// OCR1A = 0x3D08; p hex form;

God dok: http://www.eng.utah.edu/~cs5789/2010/slides/Interruptsx2.pdf

Bitmanipulation sker med disse instruktioner:

// st hele TCCR1A register til 0

Timer Mode select:

Waveform Generation Mode Bit setup:

// Overflow interrupt service routine

// preload timer med vrdi, fx med 23445

digitalWrite(ledPin, digitalRead(ledPin) ^ 1);

Timer Overflow eksempler: