I'm sure I'm doing something wrong in the way I am attempting to re-enable the TIMER5 ISR, but I really can't see it. The keyword 'volatile' should be used in a proper way. If your interrupt function takes longer than the interrupts from receiving data at 115200 baud, then characters could be missed. I have an LED set up to blink each time the ISR fires, and I can see that I can stop the ISR from firing reliably with the first 'T' input, but I can't reliably restart it with the second 'T' command, even though I can tell from the printouts that the proper piece of code executed, like in the following output Opening portĬhecking for MPU6050 IMU at I2C Addr 0圆9ĭMP ready! Waiting for MPU6050 drift rate to settle. If for example your interrupt function calls a Serial function, then it can go wrong because the Serial library uses interrupts itself. MySerial.printf("TIMSK5 = %x\n", TIMSK5) Serial.println(F("Toggle TIMER5 Enable/Disable")) I have a 'CheckForUserInput()' routine which allows me to input commands from the keyboard, so I added a 'T' command, as follows: switch (incomingByte) Each of the timers has a counter that is incremented on each tick of the timer’s clock. To troubleshoot, I added the TIMER5 ISR code to the test program, and I want to be able to enable and disable the ISR using keyboard commands, to see if I can cause the anomalous behavior with the ISR enabled, and prevent it by disabling the ISR.įrom reading about TIMER interrupts, it appears that setting TIMSKx (TIMSK5 in my case) to 0 will disable the ISR, and setting bit 0 to 1 (using TIMSKx |= OCIExA) will enable it. Step 1: Prescalers and the Compare Match Register The Uno has three timers called timer0, timer1, and timer2. You should decide on one and only one function to use that LED for. You cannot have two functions on one LED - it makes no sense. If you disable that timer you will never sample the sensor. The problem is I cant stop the timer any way I try. It is used to sample the heart rate sensor at a regular period. When I port the turn algorithm into the main program, however, it behaves erratically, and I suspect the culprit is a TIMER5 interrupt ISR that is in the main program but not in the test program. 2 I wrote some simple code where I am using the timer1 on my Arduino Uno. I constructed a very small program to test just the turns, and this works fine. ReceiverOne.I have a fairly complex autonomous robot program that is getting into trouble when executing controlled turns. PinMode(RC_INCOMING_SIGNAL_TRIGGER_PIN, INPUT) // pin 2ĪttachInterrupt(digitalPinToInterrupt(RC_INCOMING_SIGNAL_TRIGGER_PIN), callback_rc_receive, RISING) PinMode(RC_INPUT_CHANNEL4_PIN, INPUT) // pin 8 PinMode(RC_INPUT_CHANNE元_PIN, INPUT) // pin 7 TimerInterrupt - Arduino Reference Reference > Libraries > Timerinterrupt TimerInterrupt Device Control This library enables you to use Interrupt from Hardware Timers on an Arduino, Adafruit or Sparkfun AVR board, such as Nano, UNO, Mega, Leonardo, YUN, Teensy, Feather32u4, Feather328P, Pro Micro, etc. PinMode(RC_INPUT_CHANNEL2_PIN, INPUT) // pin 6 When the interrupt is triggered and the callback function is called, it does not execute timers and the buzzer properly and causes the buzzer not to sound at all and the timers do weird things. Here it is clock mode 3 - 262ms - (mode 2 has 32ms maximum time period). You would look at the table and see the minimum overflow value that is larger than 195.7ms. Lets say you want a repeat rate of exactly 195.7ms. PinMode(RC_INPUT_CHANNEL1_PIN, INPUT) // pin 5 Arduino Timer Interrupt: Set the desired repeat rate. #include "includes.h" // this includes arduino.h
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