I want to know more about Arduino Nano timers.
What timers are there?
Do they produce interrupts?
What code would attach an interrupt handler to them?
How is delay() and delayMicroseconds() implemented...
Do they use timer interrupts? (If so, how can I have other code execute during this?)
Or do they repeatedly poll until a timer reaches a certain value?
Or do they increment a value X number of times?
Or do they do it another way?
The best way to think about the Arduino Nano timers is to think about the timers in the underlying chip: the ATmega328. It has three timers:
Timer 0: 8-bit, PWM on chip pins 11 and 12
Timer 1: 16-bit, PWM on chip pins 15 and 16
Timer 2: 8-bit, PWM on chip pins 17 and 5
All of these timers can produce two kinds of interrupts:
The "value matched" interrupt occurs when the timer value, which is added to every tick of the timer reaches a comparison value in the timer register.
The timer overflow interrupt occurs when the timer value reaches its maximum value
Unfortunately, there is no Arduino function to attach interrupts to timers. To use timer interrupts you will need to write slightly more low-level code. Basically, you will need to declare an interrupt routine something like this:
ISR(TIMER1_OVF_vect) {
...
}
This will declare a function to service timer1 overflow interrupt. Then you will need to enable the timer overflow interrupt using the TIMSK1 register. In the above example case this might look like this:
TIMSK1 |= (1<<TOIE1);
or
TIMSK1 |= BV(TOIE1);
This sets the TOIE1 (generate timer1 overflow interrupt, please) flag in the TIMSK1 register. Assuming that your interrupts are enabled, your ISR(TIMER1_OVF_vect) will get called every time timer1 overflows.
The Arduino delay() function looks as follows in the source code (wiring.c):
void delay(unsigned long ms)
{
uint16_t start = (uint16_t)micros();
while (ms > 0) {
if (((uint16_t)micros() - start) >= 1000) {
ms--;
start += 1000;
}
}
}
So internally it uses the micros() function, which indeed relies on the timer0 count. The Arduino framework uses timer0 to count milliseconds, indeed, timer0 count is is where millis() function gets its value.
The delayMicroseconds() function, on the other hand, uses certain well-timed microprocessor operations to create the delay; which function is used depends on the processor and the clock speed; the most common being nop() (no operation) which takes exactly one clock cycle. Arduino Nano uses a 16 MHz clock, and here's what the source code looks like for that:
// For a one-microsecond delay, simply return. The overhead
// of the function call yields a delay of approximately 1 1/8 µs.
if (--us == 0)
return;
// The following loop takes a quarter of a microsecond (4 cycles)
// per iteration, so execute it four times for each microsecond of
// delay requested.
us <<= 2;
// Account for the time taken in the proceeding commands.
us -= 2;
What we learn from this:
1 µs delay does nothing (the function call is the delay)
Longer delays use the left shift operation to time the delay.
Related
i would like to create a PWM signal. And i want the frequency to be close to 38 khz. My theoretical calculation for period is 26.3 microseconds. So i choose 26 microseconds. And i can observe my signal.
But i don't understand how my code works properly :)
(My clock frequency is 1MHz so my clock signal is 1 microseconds )
if((P1IN & BIT3)!=BIT3) { // if button is pressed
for(i=0;i<692;i++){ // pwm signal's duration is 9ms
P2OUT^=0x01; // switch from 1 to 0 or vice versa
__delay_cycles(4);
}
P2OUT=0x00;
}
my calculation is:
i <692,i++,P2OUT^=0x01; // total 3 cycles
__delay_cycles(4); //total 4 cycles
so 4+3=7. but i'm confused because i think it should be 13 not 7
(here is my signal)
https://e2e.ti.com/cfs-file/__key/communityserver-discussions-components-files/166/f0fd36b0_2D00_bebd_2D00_4a31_2D00_b564_2D00_98962cf4749e-_2800_1_2900_.jpg
You can not calculate cycles based on C or C++ code. you need to check the assembly file(s) generated during the compilation of the program. Based on your compiler (which you did not mention) you can pass some some compiler parameters/switches to ask the compiler to leave the generated assembly file(s) in place for you to check the generated assembly instructions. but basically the for loop would have a jump instruction which may take 2/3 cycles and you did not calculate that.
I recommend that you later check the number of cycles of each instruction from the micro controller datasheet.
The posted code (per your calculations) switches the output every ~7cycles. and does this 692 times. For a total of 346 total cycles, however the total pulse ON time is only ~7cycles. Suggest:
if((P1IN & BIT3)!=BIT3)
{ // if button is pressed
// start pwm signal
P2OUT = 0x01;
for(int i=0; i< (9*1000);i++) // may need to be adjusted
{ // so pwm signal's duration is 9ms
_delay( 1 );
}
// stop pwm signal
P2OUT=0x00;
// wait for button to be released
while( P1IN & BIT3)!=BIT3 ){;}
}
I'm not familiar with your microcontroller's PWM details, However, most have an initialization to set how fast the PWM timer counts and its start/termination count and if it repeats and if the output is a square wave or a step up or a step down signal and the percentage of ON .vs.OFF time.
However, the posted code indicates the PWM is only a regular GPIO bit.
The posted code indicates the PWM on percentage is to be 50percent. Is this what you want?
Recently, I started programming the Atmega328P in pure c/c++, without all the arduino libraries and arduino IDE. I want to blink an LED at a rate of 1Hz (1 sec. on, 1 sec. off). Unfortunately, I can only use Timer0, an 8-bit timer. The mcu has a clock frequency of 16MHz and I chose a prescaler of 1024 to reduce to number of overflows as much as possible to reduce jitter, as an interrupt routine always has overhead (this makes more sense if you read the rest of my question). Using simple maths, I came to conclusion that after 1 second, Timer0 has overflowed 61 times and that the TCNT0 register equals 8.
Then, I came up with this solution:
#define F_CPU 16000000ul
#include <avr/io.h>
#include <avr/interrupt.h>
#define bit(b) (1 << (b))
void initBlinkTimer()
{
//Timer0 with CTC Mode
TCCR0A |= bit(WGM01) | bit(WGM00);
//Compare TCNT0 with 8
OCR0B = 8;
//Interrupt at OCR0B compare match aka: execute interrupt when TCNT0 equals 8
TIMSK0 |= bit(OCIE0B);
//Set PB5 as output
DDRB |= bit(PB5);
//Set the prescaler to 1024
TCCR0B |= bit(CS02) | bit(CS00);
//Enable global interrupts, so that the interrupt routine can be executed upon the OCR0B compare match
sei();
}
//Keeps track of the number of overflows
volatile unsigned char nOverflows = 0;
ISR(TIMER0_COMPB_vect)
{
if(nOverflows >= 61)
{
//Toggle PB5
PORTB ^= bit(PB5);
//Reset timer
nOverflows = 0;
TCNT0 = 0;
}
else
{
nOverflows++;
}
}
int main()
{
initBlinkTimer();
while(1){}
}
This code initializes an 8-bit CTC timer with a prescaler of 1024. An interrupt service routine (ISR) is executed when TCNT0 equals OCR0B, which I set to 8 in my code. In the ISR, the nOverflows variable is compared to 61. If nOverflows equals 61, one second has passed and the PB5 pin is to be toggled. It also performs a greater-than check, in case the mcu missed the 61th overflow (if that's somehow possible in this case). The timer and nOverflows variable are cleared after toggling the pin and the timer then starts again from zero.
My question is: Is this a good way to blink an LED at 1Hz, when only an 8-bit timer is available? Can/should a part of this be implemented in the hardware instead of in the software?
You don't need super high precision in your LED blinking; no one will be able to tell with their eyes if it is slightly off.
I'd say you should configure the timer to overflow about one to ten times per millisecond. Let's say it overflows every 251 microseconds (the exact number doesn't matter). Then every time it overflows, you add 251 to a uint16_t variable for counting microseconds. If the microsecond counter is greater than or equal to 1000, you subtract 1000 from it and increment your millisecond counter, which should probably be a uint32_t so you can use it to time long periods of time.
But what if the overflow period is not an exact number of microseconds? That's still fine, because it will probably be expressible in the form "N/M milliseconds", where N and M are whole numbers. So every time the overflow happens, you increment your counter by N. If the counter reaches M, you subtract M from the counter and add 1 to your millisecond counter. (In the preivous paragraph, we only considered the M=1000 case, and I think by starting with that case it is easier to see what I'm talking about.)
You can either use an ISR to update your millisecond counter or do it in your main-line code by frequently checking for an overflow flag. Either way would work.
So now you have a variable that counts up once per millisecond, like the Arduino millis() function, and you can use it for all sorts of millisecond-scale timing, including blinking LEDs.
The least-significant bit (bit 0) of the millisecond counter toggles once per millisecond, so its period is 2 ms. The next bit up from that (bit 1) has a period of 4 ms. Bit 10 has a period of 2048 ms.
So a simple way to blink your LED with a period of 2048 ms would be:
led_state = millisecond_counter >> 10 & 1;
(The code above uses bitwise operations to set led_state to be a copy of bit 10 from the millisecond counter. Assuming you run this code frequently and write led_state out to the LED using the I/O registers, your LED would then have a period of 2048 ms.)
If you really care that your LED is slow by 2.4%, you could do something more complicated like this:
static uint16_t last_toggle = 0;
if ((uint16_t)(millisecond_counter - last_toggle) >= 1000)
{
last_toggle += 1000;
toggle_the_led();
}
How to get accurate milliseconds?
I need to calculate the delay of sending data from Arduino A to Arduino B. I tried to use DS3231 but I cannot get milliseconds. What should I do to get accurate milliseconds from DS3231?
The comment above is correct, but using millis() when you have a dedicated realtime clock makes no sense. I'll provide you with better instructions.
First thing in any hardware interfacing project is a close reading of the datasheet. The DS3231 datasheeet reveals that there are five possible frequencies of sub-second outputs (see page 13):
32 KHz
1 KHz
1.024 KHz
4.096 KHz
8.192 KHz
These last four options are achieved by various combinations of the RS1 and RS2 control bits.
So, for example, to get exact milliseconds, you'd target option 2, 1KHz. You set RS1 = 0 and RS2 = 0 (see page 13 of the datasheet you provided) and INTCN = 0 (page 9). Then you'd need an ISR to capture interrupts from the !INT/SQW pin of the device to a digital input pin on your Arduino.
volatile uint16_t milliseconds; // volatile important here since we're changing this variable inside an interrupt service routine:
ISR(INT0_vect) // or whatever pin/interrupt you choose
{
++milliseconds;
if(milliseconds == 999) // roll over to zero
milliseconds = 0;
}
OR:
const int RTCpin = 3; // use any digital pin you need.
void setup()
{
pinmode(RTCpin, INPUT);
// Global Enable INT0 interrupt
GICR |= ( 1 < < INT0);
// Signal change triggers interrupt
MCUCR |= ( 1 << ISC00);
MCUCR |= ( 0 << ISC01);
}
If these commands in setup() don't work on your Arduino, google 'Arduino external interrupt INT0'. I've shown you two ways, one with Arduino code and one in C.
Once you have this ISR working and pin3 of the DS3231 connected to a digital input pin of your choosing, that pin will be activated at 1KHz, or every millisecond. Perfect!
// down in main program now you have access to milliseconds, you might want to start off by setting:
// When 1-second RTC changes seconds:
milliseconds = 0; // So you can measure milliseconds since last second.
That's all there is to it. All you need to learn now is how to set the command register using I2C commands and you're all set.
The C code example gains 1ms every second. Should be:
{
if (milliseconds == 999) // roll over to zero
milliseconds = 0;
else
++milliseconds;
}
I'm trying to generate note for example Do , do's frequency is 523.
I wrote some codes but, i did not work
Systick 8 mhz
void note1(void){ // Note Do
for (int i = 0; i < 523; i++){
GPIOE->ODR = 0x4000;
delay_ms(1);
GPIOE->ODR = 0x0000;
delay_ms(1);
}
}
How can we solve this problem ?
EasyMx Pro v7
I'm calling the function like that
void button_handler(void)
{
note1();
// Clear pending bit depending on which one is pending
if (EXTI->PR & (1 << 0)){
EXTI->PR = (1 << 0);
}
else if (EXTI->PR & (1 << 1)){
EXTI->PR = (1 << 1);
}
}
523 times sending 1 and 0 and delay_ms 1 = 1 ms
1000 = 1 sec
On STM32 (as I can see you have it) you have timers which can be configured as PWM output.
So use timer, set period and prescaler values according to your needed frequency and set duty cycle on channel to 50%.
If you need 523Hz PWM output, then set your timer PWM to 523Hz using prescaler and period value:
timer_overflow_frequency = timer_input_clock /
(prescaler_value + 1) /
(period_value + 1) ;
Then, for your output channel set value half of timer period value.
For standard peripheral library, tutorial can be used from here:
https://stm32f4-discovery.net/2014/05/stm32f4-stm32f429-discovery-pwm-tutorial/
Link from unwind for Cube https://electronics.stackexchange.com/questions/179546/getting-pwm-to-work-on-stm32f4-using-sts-hal-libraries
You appear to have a fundamental misunderstanding. In your code note1(), the value 523 will affect only the duration of the note, nit its frequency. With 1ms high, 1ms low repeated 523 times you will generate a tone of approximately 500Hz for approximately 1.43 seconds. I say "approximately" because there will be some small overhead in the loop other then the time delays.
A time delay resolution 1ms is insufficient to generate an accurate tone in that manner. To do it in the manner you have, each delay would need to be 1/2f seconds, so for 523Hz approximately 956ms. The loop iteration count would need to be ft, so for say .25 seconds, 131 iterations.
However if button_handler() is as it appears to be an interrupt handler, you really should not be spending 1.46 seconds in an interrupt handler!
In any event this is an extraordinarily laborious, CPU intensive and inaccurate method of generating a specific frequency. The STM32 on your board is well endowed with hardware timers with direct GPIO output that will generate the frequency you need accurately with zero software over head. Even if none of the timers map to a suitable GPIO output that you need to use, ou can still get one to generate an interrupt at 1/2f and toggle the pin in the interrupt handler. Either way that will leave the processor free to do useful stuff while the tone is being output.
I'm using C with the BoostC compiler. I'm worried how accurate my code is. The configuration below ticks at more or less 1Hz, (tested with an LED to the naked eye). (It uses an external watch crystal 32kHz for Timer1 on the 16f74).
I'm hoping someone can tell me...
Does my code below need any adjustments? What would be the easiest way of measuring the accuracy to the nearest CPU clock period? Will I need to get dirty with assembly to reliably ensure accuracy of the 1Hz signal?
I'm hoping the time taken to execute the timer handler (and others) doesn't even come into the picture, since the timer is always counting. So long as the handlers never take longer to execute than 1/32kHz seconds, will the 1Hz signal have essentially the accuracy of the 32kHz Crystal?
Thanks
#define T1H_DEFAULT 0x80
#define T1L_DEFAULT 0
volatile char T1H = T1H_DEFAULT;
volatile char T1L = T1L_DEFAULT;
void main(void){
// setup
tmr1h = T1H;
tmr1l = T1L;
t1con = 0b00001111; // — — T1CKPS1 T1CKPS0 T1OSCEN NOT_T1SYNC TMR1CS TMR1ON
// ...
// do nothing repeatedly while no interrupt
while(1){}
}
interrupt(void) {
// Handle Timer1
if (test_bit(pir1, TMR1IF) & test_bit(pie1, TMR1IE)){
// reset timer's 2x8 bit value
tmr1h = T1H;
tmr1l = T1L;
// do things triggered by this time tick
//reset T1 interrupt flag
clear_bit(pir1, TMR1IF);
} else
... handle other interrupts
}
I can see some improvements...
Your timer initiation inside interrupt isn't accurate.
When you set the timer counter in interrupt...
tmr1h = T1H;
tmr1l = T1L;
... then you override the current value what isn't good for accuracy.
... just use:
tmr1h = T1H; //tmr1h must be still 0!
Or even better, just set the 7th bit of tmr1h register.
The compiler must compile this order to single asm instruction like...
bsf tmr1h, 7
...to avoid losing data in tmr1 register. Because if this is made with more than one instructions the hardware can increment the counter value between execution of: read-modify-write.