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ISR_8_PWMs_Array_Complex.ino
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ISR_8_PWMs_Array_Complex.ino
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/****************************************************************************************************************************
ISR_8_PWMs_Array_Complex.ino
For AVR-based boards (UNO, Nano, Mega, 32U4, 16U4, etc. )
Written by Khoi Hoang
Built by Khoi Hoang https://github.com/khoih-prog/AVR_Slow_PWM
Licensed under MIT license
TCNTx - Timer/Counter Register. The actual timer value is stored here.
OCRx - Output Compare Register
ICRx - Input Capture Register (only for 16bit timer)
TIMSKx - Timer/Counter Interrupt Mask Register. To enable/disable timer interrupts.
TIFRx - Timer/Counter Interrupt Flag Register. Indicates a pending timer interrupt.
Now even you use all these new 16 ISR-based timers,with their maximum interval practically unlimited (limited only by
unsigned long miliseconds), you just consume only one RP2040-based timer and avoid conflicting with other cores' tasks.
The accuracy is nearly perfect compared to software timers. The most important feature is they're ISR-based timers
Therefore, their executions are not blocked by bad-behaving functions / tasks.
This important feature is absolutely necessary for mission-critical tasks.
*****************************************************************************************************************************/
#if ( defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || \
defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_NANO) || defined(ARDUINO_AVR_MINI) || defined(ARDUINO_AVR_ETHERNET) || \
defined(ARDUINO_AVR_FIO) || defined(ARDUINO_AVR_BT) || defined(ARDUINO_AVR_LILYPAD) || defined(ARDUINO_AVR_PRO) || \
defined(ARDUINO_AVR_NG) || defined(ARDUINO_AVR_UNO_WIFI_DEV_ED) || defined(ARDUINO_AVR_DUEMILANOVE) || defined(ARDUINO_AVR_FEATHER328P) || \
defined(ARDUINO_AVR_METRO) || defined(ARDUINO_AVR_PROTRINKET5) || defined(ARDUINO_AVR_PROTRINKET3) || defined(ARDUINO_AVR_PROTRINKET5FTDI) || \
defined(ARDUINO_AVR_PROTRINKET3FTDI) )
#define USE_TIMER_1 true
#else
#define USE_TIMER_3 true
#endif
// These define's must be placed at the beginning before #include "AVR_Slow_PWM.h"
// _PWM_LOGLEVEL_ from 0 to 4
// Don't define _PWM_LOGLEVEL_ > 0. Only for special ISR debugging only. Can hang the system.
#define _PWM_LOGLEVEL_ 3
#if (_PWM_LOGLEVEL_ > 3)
#if USE_TIMER_1
#warning Using Timer1
#elif USE_TIMER_1
#warning Using Timer3
#endif
#endif
#define USING_MICROS_RESOLUTION true //false
// Default is true, uncomment to false
//#define CHANGING_PWM_END_OF_CYCLE false
// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
#include "AVR_Slow_PWM.h"
#include <SimpleTimer.h> // https://github.com/jfturcot/SimpleTimer
#define LED_OFF HIGH
#define LED_ON LOW
#ifndef LED_BUILTIN
#define LED_BUILTIN 13
#endif
#ifndef LED_BLUE
#define LED_BLUE 10
#endif
#ifndef LED_RED
#define LED_RED 11
#endif
#define USING_HW_TIMER_INTERVAL_MS false //true
// Don't change these numbers to make higher Timer freq. System can hang
#define HW_TIMER_INTERVAL_MS 0.1f
#define HW_TIMER_INTERVAL_FREQ 10000L
volatile uint32_t startMicros = 0;
// Init AVR_Slow_PWM, each can service 16 different ISR-based PWM channels
AVR_Slow_PWM ISR_PWM;
//////////////////////////////////////////////////////
void TimerHandler()
{
ISR_PWM.run();
}
/////////////////////////////////////////////////
#define PIN_D0 0
#define PIN_D1 1
#define PIN_D2 2
#define PIN_D3 3
#define PIN_D4 4
#define PIN_D5 5
#define PIN_D6 6
// You can assign pins here. Be careful to select good pin to use or crash, e.g pin 6-11
uint32_t PWM_Pin[] =
{
LED_BUILTIN, PIN_D0, PIN_D1, PIN_D2, PIN_D3, PIN_D4, PIN_D5, PIN_D6
};
#define NUMBER_ISR_PWMS ( sizeof(PWM_Pin) / sizeof(uint32_t) )
typedef void (*irqCallback) ();
//////////////////////////////////////////////////////
#define USE_COMPLEX_STRUCT true
//////////////////////////////////////////////////////
#if USE_COMPLEX_STRUCT
typedef struct
{
uint32_t PWM_Pin;
irqCallback irqCallbackStartFunc;
irqCallback irqCallbackStopFunc;
float PWM_Freq;
float PWM_DutyCycle;
uint32_t deltaMicrosStart;
uint32_t previousMicrosStart;
uint32_t deltaMicrosStop;
uint32_t previousMicrosStop;
} ISR_PWM_Data;
// In nRF52, avoid doing something fancy in ISR, for example Serial.print()
// The pure simple Serial.prints here are just for demonstration and testing. Must be eliminate in working environment
// Or you can get this run-time error / crash
void doingSomethingStart(int index);
void doingSomethingStop(int index);
#else // #if USE_COMPLEX_STRUCT
volatile unsigned long deltaMicrosStart [] = { 0, 0, 0, 0, 0, 0, 0, 0 };
volatile unsigned long previousMicrosStart [] = { 0, 0, 0, 0, 0, 0, 0, 0 };
volatile unsigned long deltaMicrosStop [] = { 0, 0, 0, 0, 0, 0, 0, 0 };
volatile unsigned long previousMicrosStop [] = { 0, 0, 0, 0, 0, 0, 0, 0 };
// You can assign any interval for any timer here, in Microseconds
uint32_t PWM_Period[] =
{
1000, 500, 333, 250, 200, 167, 143, 125
};
// You can assign any interval for any timer here, in Hz
float PWM_Freq[] =
{
1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f,
};
// You can assign any interval for any timer here, in Microseconds
float PWM_DutyCycle[] =
{
5.0, 10.0, 20.0, 25.0, 30.0, 35.0, 40.0, 45.0
};
void doingSomethingStart(int index)
{
unsigned long currentMicros = micros();
deltaMicrosStart[index] = currentMicros - previousMicrosStart[index];
previousMicrosStart[index] = currentMicros;
}
void doingSomethingStop(int index)
{
unsigned long currentMicros = micros();
// Count from start to stop PWM pulse
deltaMicrosStop[index] = currentMicros - previousMicrosStart[index];
previousMicrosStop[index] = currentMicros;
}
#endif // #if USE_COMPLEX_STRUCT
////////////////////////////////////
// Shared
////////////////////////////////////
void doingSomethingStart0()
{
doingSomethingStart(0);
}
void doingSomethingStart1()
{
doingSomethingStart(1);
}
void doingSomethingStart2()
{
doingSomethingStart(2);
}
void doingSomethingStart3()
{
doingSomethingStart(3);
}
void doingSomethingStart4()
{
doingSomethingStart(4);
}
void doingSomethingStart5()
{
doingSomethingStart(5);
}
void doingSomethingStart6()
{
doingSomethingStart(6);
}
void doingSomethingStart7()
{
doingSomethingStart(7);
}
//////////////////////////////////////////////////////
void doingSomethingStop0()
{
doingSomethingStop(0);
}
void doingSomethingStop1()
{
doingSomethingStop(1);
}
void doingSomethingStop2()
{
doingSomethingStop(2);
}
void doingSomethingStop3()
{
doingSomethingStop(3);
}
void doingSomethingStop4()
{
doingSomethingStop(4);
}
void doingSomethingStop5()
{
doingSomethingStop(5);
}
void doingSomethingStop6()
{
doingSomethingStop(6);
}
void doingSomethingStop7()
{
doingSomethingStop(7);
}
//////////////////////////////////////////////////////
#if USE_COMPLEX_STRUCT
ISR_PWM_Data curISR_PWM_Data[] =
{
// pin, irqCallbackStartFunc, irqCallbackStopFunc, PWM_Freq, PWM_DutyCycle, deltaMicrosStart, previousMicrosStart, deltaMicrosStop, previousMicrosStop
{ LED_BUILTIN, doingSomethingStart0, doingSomethingStop0, 1.0, 5.0, 0, 0, 0, 0 },
{ PIN_D0, doingSomethingStart1, doingSomethingStop1, 2.0, 10.0, 0, 0, 0, 0 },
{ PIN_D1, doingSomethingStart2, doingSomethingStop2, 3.0, 20.0, 0, 0, 0, 0 },
{ PIN_D2, doingSomethingStart3, doingSomethingStop3, 4.0, 25.0, 0, 0, 0, 0 },
{ PIN_D3, doingSomethingStart4, doingSomethingStop4, 5.0, 30.0, 0, 0, 0, 0 },
{ PIN_D4, doingSomethingStart5, doingSomethingStop5, 6.0, 35.0, 0, 0, 0, 0 },
{ PIN_D5, doingSomethingStart6, doingSomethingStop6, 7.0, 40.0, 0, 0, 0, 0 },
{ PIN_D6, doingSomethingStart7, doingSomethingStop7, 8.0, 45.0, 0, 0, 0, 0 },
};
void doingSomethingStart(int index)
{
unsigned long currentMicros = micros();
curISR_PWM_Data[index].deltaMicrosStart = currentMicros - curISR_PWM_Data[index].previousMicrosStart;
curISR_PWM_Data[index].previousMicrosStart = currentMicros;
}
void doingSomethingStop(int index)
{
unsigned long currentMicros = micros();
//curISR_PWM_Data[index].deltaMicrosStop = currentMicros - curISR_PWM_Data[index].previousMicrosStop;
// Count from start to stop PWM pulse
curISR_PWM_Data[index].deltaMicrosStop = currentMicros - curISR_PWM_Data[index].previousMicrosStart;
curISR_PWM_Data[index].previousMicrosStop = currentMicros;
}
#else // #if USE_COMPLEX_STRUCT
irqCallback irqCallbackStartFunc[] =
{
doingSomethingStart0, doingSomethingStart1, doingSomethingStart2, doingSomethingStart3,
doingSomethingStart4, doingSomethingStart5, doingSomethingStart6, doingSomethingStart7
};
irqCallback irqCallbackStopFunc[] =
{
doingSomethingStop0, doingSomethingStop1, doingSomethingStop2, doingSomethingStop3,
doingSomethingStop4, doingSomethingStop5, doingSomethingStop6, doingSomethingStop7
};
#endif // #if USE_COMPLEX_STRUCT
//////////////////////////////////////////////////////
#define SIMPLE_TIMER_MS 2000L
// Init SimpleTimer
SimpleTimer simpleTimer;
// Here is software Timer, you can do somewhat fancy stuffs without many issues.
// But always avoid
// 1. Long delay() it just doing nothing and pain-without-gain wasting CPU power.Plan and design your code / strategy ahead
// 2. Very long "do", "while", "for" loops without predetermined exit time.
void simpleTimerDoingSomething2s()
{
static unsigned long previousMicrosStart = startMicros;
unsigned long currMicros = micros();
Serial.print(F("SimpleTimer (us): ")); Serial.print(SIMPLE_TIMER_MS);
Serial.print(F(", us : ")); Serial.print(currMicros);
Serial.print(F(", Dus : ")); Serial.println(currMicros - previousMicrosStart);
for (uint16_t i = 0; i < NUMBER_ISR_PWMS; i++)
{
#if USE_COMPLEX_STRUCT
Serial.print(F("PWM Channel : ")); Serial.print(i);
Serial.print(F(", prog Period (ms): "));
Serial.print(1000.0f / curISR_PWM_Data[i].PWM_Freq);
Serial.print(F(", actual (uS) : ")); Serial.print(curISR_PWM_Data[i].deltaMicrosStart);
Serial.print(F(", prog DutyCycle : "));
Serial.print(curISR_PWM_Data[i].PWM_DutyCycle);
Serial.print(F(", actual : ")); Serial.println((float) curISR_PWM_Data[i].deltaMicrosStop * 100.0f / curISR_PWM_Data[i].deltaMicrosStart);
//Serial.print(F(", actual deltaMicrosStop : ")); Serial.println(curISR_PWM_Data[i].deltaMicrosStop);
//Serial.print(F(", actual deltaMicrosStart : ")); Serial.println(curISR_PWM_Data[i].deltaMicrosStart);
#else
Serial.print(F("PWM Channel : ")); Serial.print(i);
Serial.print(1000.0f / PWM_Freq[i]);
Serial.print(F(", prog. Period (us): ")); Serial.print(PWM_Period[i]);
Serial.print(F(", actual : ")); Serial.print(deltaMicrosStart[i]);
Serial.print(F(", prog DutyCycle : "));
Serial.print(PWM_DutyCycle[i]);
Serial.print(F(", actual : ")); Serial.println( (float) deltaMicrosStop[i] * 100.0f / deltaMicrosStart[i]);
//Serial.print(F(", actual deltaMicrosStop : ")); Serial.println(deltaMicrosStop[i]);
//Serial.print(F(", actual deltaMicrosStart : ")); Serial.println(deltaMicrosStart[i]);
#endif
}
previousMicrosStart = currMicros;
}
void setup()
{
Serial.begin(115200);
while (!Serial);
delay(2000);
Serial.print(F("\nStarting ISR_8_PWMs_Array_Complex on ")); Serial.println(BOARD_NAME);
Serial.println(AVR_SLOW_PWM_VERSION);
Serial.print(F("CPU Frequency = ")); Serial.print(F_CPU / 1000000); Serial.println(F(" MHz"));
// Timer0 is used for micros(), micros(), delay(), etc and can't be used
// Select Timer 1-2 for UNO, 1-5 for MEGA, 1,3,4 for 16u4/32u4
// Timer 2 is 8-bit timer, only for higher frequency
// Timer 4 of 16u4 and 32u4 is 8/10-bit timer, only for higher frequency
#if USING_HW_TIMER_INTERVAL_MS
#if USE_TIMER_1
ITimer1.init();
// Using ATmega328 used in UNO => 16MHz CPU clock ,
if (ITimer1.attachInterruptInterval(HW_TIMER_INTERVAL_MS, TimerHandler))
{
Serial.print(F("Starting ITimer1 OK, micros() = ")); Serial.println(micros());
}
else
Serial.println(F("Can't set ITimer1. Select another freq. or timer"));
#elif USE_TIMER_3
ITimer3.init();
if (ITimer3.attachInterruptInterval(HW_TIMER_INTERVAL_MS, TimerHandler))
{
Serial.print(F("Starting ITimer3 OK, micros() = ")); Serial.println(micros());
}
else
Serial.println(F("Can't set ITimer3. Select another freq. or timer"));
#endif
#else
#if USE_TIMER_1
ITimer1.init();
// Using ATmega328 used in UNO => 16MHz CPU clock ,
if (ITimer1.attachInterrupt(HW_TIMER_INTERVAL_FREQ, TimerHandler))
{
Serial.print(F("Starting ITimer1 OK, micros() = ")); Serial.println(micros());
}
else
Serial.println(F("Can't set ITimer1. Select another freq. or timer"));
#elif USE_TIMER_3
ITimer3.init();
if (ITimer3.attachInterrupt(HW_TIMER_INTERVAL_FREQ, TimerHandler))
{
Serial.print(F("Starting ITimer3 OK, micros() = ")); Serial.println(micros());
}
else
Serial.println(F("Can't set ITimer3. Select another freq. or timer"));
#endif
#endif
startMicros = micros();
// Just to demonstrate, don't use too many ISR Timers if not absolutely necessary
// You can use up to 16 timer for each ISR_PWM
for (uint16_t i = 0; i < NUMBER_ISR_PWMS; i++)
{
#if USE_COMPLEX_STRUCT
curISR_PWM_Data[i].previousMicrosStart = startMicros;
//ISR_PWM.setInterval(curISR_PWM_Data[i].PWM_Period, curISR_PWM_Data[i].irqCallbackStartFunc);
//void setPWM(uint32_t pin, float frequency, float dutycycle
// , timer_callback_p StartCallback = nullptr, timer_callback_p StopCallback = nullptr)
// You can use this with PWM_Freq in Hz
ISR_PWM.setPWM(curISR_PWM_Data[i].PWM_Pin, curISR_PWM_Data[i].PWM_Freq, curISR_PWM_Data[i].PWM_DutyCycle,
curISR_PWM_Data[i].irqCallbackStartFunc, curISR_PWM_Data[i].irqCallbackStopFunc);
#else
previousMicrosStart[i] = micros();
// You can use this with PWM_Freq in Hz
ISR_PWM.setPWM(PWM_Pin[i], PWM_Freq[i], PWM_DutyCycle[i], irqCallbackStartFunc[i], irqCallbackStopFunc[i]);
#endif
}
// You need this timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary.
simpleTimer.setInterval(SIMPLE_TIMER_MS, simpleTimerDoingSomething2s);
}
#define BLOCKING_TIME_MS 10000L
void loop()
{
// This unadvised blocking task is used to demonstrate the blocking effects onto the execution and accuracy to Software timer
// You see the time elapse of ISR_PWM still accurate, whereas very unaccurate for Software Timer
// The time elapse for 2000ms software timer now becomes 3000ms (BLOCKING_TIME_MS)
// While that of ISR_PWM is still prefect.
delay(BLOCKING_TIME_MS);
// You need this Software timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary
// You don't need to and never call ISR_PWM.run() here in the loop(). It's already handled by ISR timer.
simpleTimer.run();
}