Embedded System - TE4707
Jurusan Teknik Elektro
Semester Genap 2021/2022
Dr.-Ing., Indar Sugiarto
Arduino Programming Revisited
How to program this?
Method-1 : Pooling
byte ledPin = 13; void loop()
byte buttonPin = 2; {
if(digitalRead(buttonPin) == LOW) {
void setup() digitalWrite(ledPin, HIGH); //LED ON
{
}
pinMode(ledPin, OUTPUT);
else {
digitalWrite(ledPin, LOW); //set ledPin off as default
digitalWrite(ledPin, LOW); //LED OFF
pinMode(buttonPin, INPUT_PULLUP); //set buttonPin as
input }
digitalWrite(buttonPin, HIGH); //set the default state of }
the pin to HIGH (+5V)
}
Method-2 : Interrupt
byte ledPin = 13; void setup(){
byte buttonPin = 2; pinMode(ledPin, OUTPUT);
bool ledState = 0; digitalWrite(ledPin, LOW); //set ledPin off as default
pinMode(buttonPin, INPUT_PULLUP); //turn on the internal pullup
attachInterrupt(digitalPinToInterrupt(buttonPin), switchLED,
// create an ISR CHANGE); //creates the interrupt handler
void switchLED() }
{
void loop() {
ledState = !ledState;
//do nothing, but wait for interrupt
digitalWrite(ledPin, ledState);
}
}
What are interrupts?
Interrupts are a way for a microcontroller to temporarily stop what it is doing to
handle another task.
The currently executing program is paused, an ISR (interrupt service routine)
is executed, and then your program continues, none the wiser.
Interrupts can detect brief pulses on input pins. Polling may miss the pulse
while you are doing other calculations.
Types of interrupt:
Hardware interrupt
Software interrupt
Interrupts in Arduino
There are 26 different interrupts on an Arduino Uno
1 Reset
2 External Interrupt Request 0 (pin D2)
3 External Interrupt Request 1 (pin D3)
4 Pin Change Interrupt Request 0 (pins D8 to D13)
5 Pin Change Interrupt Request 1 (pins A0 to A5)
6 Pin Change Interrupt Request 2 (pins D0 to D7)
7 Watchdog Time-out Interrupt
8 Timer/Counter2 Compare Match A
…
18 SPI Serial Transfer Complete
19 USART Rx Complete
…
25 2-wire Serial Interface (I2C)
…
ISR
Interrupt Service Routines should be kept short. Interrupts are
disabled when the ISR is called, so other interrupts are postponed.
Do not call millis() or delay() or Serial or …
The hardware can call a routine for us based on activity on pin 2
(INT0) or pin 3 (INT1)
Our loop() code does not need to know what is happening
But, we often want to know what is going on. How do we share
that information?
Regarding the external interrupt...
attachInterrupt(digitalPinToInterrupt(pin),ISR,mode);//recommended for
arduino board
attachInterrupt(pin, ISR, mode) ; //recommended Arduino Due, Zero only
//argument pin: the pin number
//argument ISR: the ISR to call when the interrupt occurs; this function must
take no parameters and return nothing
//argument mode: defines when the interrupt should be triggered. Available
modes: RISING, FALLING, CHANGE, LOW
https://www.arduino.cc/reference/en/language/functions/external-interrupts/attachinterrupt/
Example for Data Access
const byte LED = 13, SW = 2;
volatile unsigned char count = 0; void setup () {
unsigned char lastCount = -1; //Start up the serial port
Serial.begin(9600);
void handleSW () {
digitalWrite(LED, digitalRead(SW)); Serial.println(F(“Example"));
count++;
} pinMode (LED, OUTPUT);
pinMode (SW, INPUT_PULLUP);
attachInterrupt(INT0,
void handleOtherStuff() {
handleSW, RISING);
if (count != lastCount) { }
Serial.print("Count ");
Serial.println(count); void loop () {
lastCount = count; handleOtherStuff();
} }
}
More on Data Sharing
An interrupt can happen at any time.
If you share a multi-byte value (e.g. short int) between an ISR and
your code, you have to take additional precautions.
volatile short count;
if (count == 256) …
1fa: 80 91 10 01 lds r24, 0x0110 ; count lower
1fe: 90 91 11 01 lds r25, 0x0111 ; count upper
202: 80 50 subi r24, 0x00
204: 91 40 sbci r25, 0x01
206: 69 f5 brne .+90
More on Data Sharing
// Disable interrupts and copy
noInterrupts();
short int myCount = count;
interrupts();
if (myCount == 256) …
1fa: f8 94 cli
1fc: 80 91 10 01 lds r24, 0x0110
200: 90 91 11 01 lds r25, 0x0111
204: 78 94 sei
206: 80 50 subi r24, 0x00
208: 91 40 sbci r25, 0x01
20a: 69 f5 brne .+90
Pin Change Interrupt
Pin 2 is INT0
Pin 3 is INT1
But, what about pins 0,1,4,5,6,…
Pin Change Interrupts can monitor all pins, but it requires certain library
(PinChangeInt.h)
Different pins can have different ISRs
Useful resources:
http://gammon.com.au/interrupts
https://playground.arduino.cc/Main/PinChangeInterrupt/
https://www.arduino.cc/reference/en/language/functions/external-interrupts/attachinterrupt/
http://brd4.braude.ac.il/~ksamuel/ElIn.31361/Exercises/E021%20Interrupts%202016-05-16.pdf
