Arduino Mega の Timer 割り込みについて

概要

Arduino Mega では Timer2 がうまく機能しません。
一度躓いたので、他の方へメモを残します。

Timer3

download : https://github.com/PaulStoffregen/TimerThree

# include <TimerThree.h>

volatile int n = 0;
void function(){
  n++;
}

void setup() {
  Serial.begin(115200);
  Timer3.initialize(100000); //マイクロ秒単位で設定
  Timer3.attachInterrupt(function);
}

void loop() {
  Serial.println(n);
}

Timer1

Arduino micro を使っていたときに入れたのでどこでダウンロードしたか忘れましたが、Arudino UNO用がそのまま動きます。

# include <TimerOne.h>

volatile int n = 0;
void function(){
  n++;
}

void setup() {
  Serial.begin(115200);
  Timer1.initialize(100000); //マイクロ秒単位で設定
  Timer1.attachInterrupt(function);
}

void loop() {
  Serial.println(n);
}

Timer2

この方を参考にライブラリに変更を加えました。
http://mironal-memo.blogspot.com/2012/02/arduinoarduino-mega-adk-or-arduino-mega.html

MsTimer2.cppに少し変更を加えれば動きます。

MsTimer2.cpp

# include <MsTimer2.h>

unsigned long MsTimer2::msecs;
void (*MsTimer2::func)();
volatile unsigned long MsTimer2::count;
volatile char MsTimer2::overflowing;
volatile unsigned int MsTimer2::tcnt2;

void MsTimer2::set(unsigned long ms, void (*f)()) {
	float prescaler = 0.0;

# if defined(__AVR_ATmega168__) || defined(__AVR_ATmega48__) || defined(__AVR_ATmega88__) || defined(__AVR_ATmega328P__) || (__AVR_ATmega1280__) || (__AVR_ATmega2560__)
	TIMSK2 &= ~(1<<TOIE2);
	TCCR2A &= ~((1<<WGM21) | (1<<WGM20));
	TCCR2B &= ~(1<<WGM22);
	ASSR &= ~(1<<AS2);
	TIMSK2 &= ~(1<<OCIE2A);
	
	if ((F_CPU >= 1000000UL) && (F_CPU <= 16000000UL)) {	// prescaler set to 64
		TCCR2B |= (1<<CS22);
		TCCR2B &= ~((1<<CS21) | (1<<CS20));
		prescaler = 64.0;
	} else if (F_CPU < 1000000UL) {	// prescaler set to 8
		TCCR2B |= (1<<CS21);
		TCCR2B &= ~((1<<CS22) | (1<<CS20));
		prescaler = 8.0;
	} else { // F_CPU > 16Mhz, prescaler set to 128
		TCCR2B |= ((1<<CS22) | (1<<CS20));
		TCCR2B &= ~(1<<CS21);
		prescaler = 128.0;
	}
# elif defined (__AVR_ATmega8__)
	TIMSK &= ~(1<<TOIE2);
	TCCR2 &= ~((1<<WGM21) | (1<<WGM20));
	TIMSK &= ~(1<<OCIE2);
	ASSR &= ~(1<<AS2);
	
	if ((F_CPU >= 1000000UL) && (F_CPU <= 16000000UL)) {	// prescaler set to 64
		TCCR2 |= (1<<CS22);
		TCCR2 &= ~((1<<CS21) | (1<<CS20));
		prescaler = 64.0;
	} else if (F_CPU < 1000000UL) {	// prescaler set to 8
		TCCR2 |= (1<<CS21);
		TCCR2 &= ~((1<<CS22) | (1<<CS20));
		prescaler = 8.0;
	} else { // F_CPU > 16Mhz, prescaler set to 128
		TCCR2 |= ((1<<CS22) && (1<<CS20));
		TCCR2 &= ~(1<<CS21);
		prescaler = 128.0;
	}
# elif defined (__AVR_ATmega128__)
	TIMSK &= ~(1<<TOIE2);
	TCCR2 &= ~((1<<WGM21) | (1<<WGM20));
	TIMSK &= ~(1<<OCIE2);
	
	if ((F_CPU >= 1000000UL) && (F_CPU <= 16000000UL)) {	// prescaler set to 64
		TCCR2 |= ((1<<CS21) | (1<<CS20));
		TCCR2 &= ~(1<<CS22);
		prescaler = 64.0;
	} else if (F_CPU < 1000000UL) {	// prescaler set to 8
		TCCR2 |= (1<<CS21);
		TCCR2 &= ~((1<<CS22) | (1<<CS20));
		prescaler = 8.0;
	} else { // F_CPU > 16Mhz, prescaler set to 256
		TCCR2 |= (1<<CS22);
		TCCR2 &= ~((1<<CS21) | (1<<CS20));
		prescaler = 256.0;
	}
# endif
	
	tcnt2 = 256 - (int)((float)F_CPU * 0.001 / prescaler);
	
	if (ms == 0)
		msecs = 1;
	else
		msecs = ms;
		
	func = f;
}

void MsTimer2::start() {
	count = 0;
	overflowing = 0;
# if defined(__AVR_ATmega168__) || defined(__AVR_ATmega48__) || defined(__AVR_ATmega88__) || defined(__AVR_ATmega328P__) || (__AVR_ATmega1280__) || (__AVR_ATmega2560__)
	TCNT2 = tcnt2;
	TIMSK2 |= (1<<TOIE2);
# elif defined (__AVR_ATmega128__)
	TCNT2 = tcnt2;
	TIMSK |= (1<<TOIE2);
# elif defined (__AVR_ATmega8__)
	TCNT2 = tcnt2;
	TIMSK |= (1<<TOIE2);
# endif
}

void MsTimer2::stop() {
# if defined(__AVR_ATmega168__) || defined(__AVR_ATmega48__) || defined(__AVR_ATmega88__) || defined(__AVR_ATmega328P__) || (__AVR_ATmega1280__) || (__AVR_ATmega2560__)
	TIMSK2 &= ~(1<<TOIE2);
# elif defined (__AVR_ATmega128__)
	TIMSK &= ~(1<<TOIE2);
# elif defined (__AVR_ATmega8__)
	TIMSK &= ~(1<<TOIE2);
# endif
}

void MsTimer2::_overflow() {
	count += 1;
	
	if (count >= msecs && !overflowing) {
		overflowing = 1;
		count = 0;
		(*func)();
		overflowing = 0;
	}
}

ISR(TIMER2_OVF_vect) {
# if defined(__AVR_ATmega168__) || defined(__AVR_ATmega48__) || defined(__AVR_ATmega88__) || defined(__AVR_ATmega328P__) || (__AVR_ATmega1280__) || (__AVR_ATmega2560__)
	TCNT2 = MsTimer2::tcnt2;
# elif defined (__AVR_ATmega128__)
	TCNT2 = MsTimer2::tcnt2;
# elif defined (__AVR_ATmega8__)
	TCNT2 = MsTimer2::tcnt2;
# endif
	MsTimer2::_overflow();
}

後は、いつもの通り書けば動きます。

MsTimer2_Test

# include <MsTimer2.h>

volatile int n = 0;
void function(){
  n++;
}

void setup() {
  Serial.begin(115200);
  MsTimer2::set(100, function);
  MsTimer2::start();
}

void loop() {
  Serial.println(n);
}