Arduino 软件定时器应用

Arduino UNO 有timer0、timer1、timer2三个定时器。delay(),millis()是用timer0实现的。timer0和timer2都是8位，timer1是16位。由于millis()函数会禁止中断，所以不能在ISR中使用。精确定时可以使用delayMicroseconds()，或者如下方法：

#define ddtick __asm__("nop\n\t");
#define dd4tick __asm__("nop\n\t""nop\n\t""nop\n\t""nop\n\t");
//the Macro dd4tick will delay 0.25us exactly on 16MHz Arduino
#define delayOneUs() {dd4tick;dd4tick;dd4tick;dd4tick;}

 

/*
 * fifo.h
 * 
*/
struct FIFO8 {
  unsigned char *buf;
  int p, q, size, free, flags;
};

/*
 * fifo.c
 *
*/
#define FLAGS_OVERRUN    0x0001

void fifo8_init(struct FIFO8 *fifo, int size, unsigned char *buf)
{
  fifo->size = size;
  fifo->buf = buf;
  fifo->free = size;
  fifo->flags = 0;
  fifo->p = 0;
  fifo->q = 0;
  return;
}

int fifo8_put(struct FIFO8 *fifo, unsigned char data)
{
  if (fifo->free == 0) {
    fifo->flags |= FLAGS_OVERRUN;
    return -1;
  }
  fifo->buf[fifo->p] = data;
  fifo->p++;
  if (fifo->p == fifo->size) {
    fifo->p = 0;
  }
  fifo->free--;
  return 0;
}

int fifo8_get(struct FIFO8 *fifo)
{
  int data;
  if (fifo->free == fifo->size) {
    return -1;
  }
  data = fifo->buf[fifo->q];
  fifo->q++;
  if (fifo->q == fifo->size) {
    fifo->q = 0;
  }
  fifo->free++;
  return data;
}

int fifo8_status(struct FIFO8 *fifo)
{
  return fifo->size - fifo->free;
}

/*
 * timer.h
 * 
*/
int timer1_counter,i;
struct TIMERCTL {
  unsigned int count;
  unsigned int timeout;
  struct FIFO8 *fifo;
  unsigned char data;
};
struct TIMERCTL timerctl;
struct FIFO8 timerfifo;
char timerbuf[8];
int intLock=0;

/*
 * timer.c
 * 
*/

/*uint8_t oldSREG = SREG;  //狀態寄存器(包括是否允許 Interrupt)，也可以使用这个寄存器解决嵌套调用问题 */
void enterCritical(void){
  noInterrupts();
  return intLock++;
}
void exitCritical(void){
  if(--intLock<1){
    interrupts();
  }
}
void settimer(unsigned int timeout, struct FIFO8 *fifo, unsigned char data)
{
  enterCritical();
  timerctl.timeout = timeout;
  timerctl.fifo = fifo;
  timerctl.data = data;
  exitCritical();
  return;
}

ISR(TIMER1_OVF_vect){
  TCNT1=timer1_counter;
  intTimer1Handler();
}

void intTimer1Handler(void)
{
  //最好加入中断完成通知
  /*
   * do sth...
  */
  timerctl.count++;
  if (timerctl.timeout > 0) { 
    timerctl.timeout--;
    if (timerctl.timeout == 0) {
      fifo8_put(timerctl.fifo, timerctl.data);
    }
  }
  return;
}

void time1Init(void){
  noInterrupts();
  TCCR1A=0;
  TCCR1B=0;
  //timer1_counter=65536-((16MHz/256)*0.5);//0.5s定时器中断
  timer1_counter=65536-60*1;//10ms   //34286;//预加载timer1 65536-16Mhz/256/2Hz
  TCNT1=timer1_counter;
  TCCR1B|=(1<<CS12);
  TIMSK1|=(1<<TOIE1);  
  interrupts();

  fifo8_init(&timerfifo, 8, timerbuf);
}

void timer1Proc(void){
  noInterrupts();
  if (fifo8_status(&timerfifo) == 0) {
    interrupts();
  } else {
    if (fifo8_status(&timerfifo) != 0) {
      i = fifo8_get(&timerfifo);
      interrupts();
      Serial.println("timer1 timeout,do something...");
      //restart timer1
      //settimer(1000, &timerfifo, 2);
    }
  }  
}
/*
 * ledButton.h
 * 
*/
// constants won't change. They're used here to set pin numbers:
const int buttonPin = 4;    // the number of the pushbutton pin
const int ledPin = 13;      // the number of the LED pin

// Variables will change:
int ledState = HIGH;         // the current state of the output pin
int buttonState;             // the current reading from the input pin
int lastButtonState = LOW;   // the previous reading from the input pin

// the following variables are unsigned longs because the time, measured in
// milliseconds, will quickly become a bigger number than can be stored in an int.
unsigned long lastDebounceTime = 0;  // the last time the output pin was toggled
unsigned long debounceDelay = 50;    // the debounce time; increase if the output flickers

/*
 * ledButton.c
 * 
*/

void ledButtonInit(void){
  pinMode(buttonPin, INPUT);
  pinMode(ledPin, OUTPUT);

  // set initial LED state
  digitalWrite(ledPin, ledState);  
}

void ledButtonProc(void){
  // read the state of the switch into a local variable:
  int reading = digitalRead(buttonPin);

  // check to see if you just pressed the button
  // (i.e. the input went from LOW to HIGH), and you've waited long enough
  // since the last press to ignore any noise:

  // If the switch changed, due to noise or pressing:
  if (reading != lastButtonState) {
    // reset the debouncing timer
    lastDebounceTime = millis();
  }

  if ((millis() - lastDebounceTime) > debounceDelay) {
    // whatever the reading is at, it's been there for longer than the debounce
    // delay, so take it as the actual current state:
    
    // if the button state has changed:
    if (reading != buttonState) {
      buttonState = reading;
      // only toggle the LED if the new button state is HIGH
      if (buttonState == HIGH) {
        ledState = !ledState;
        //start timer1
        settimer(1000, &timerfifo, 1);
      }
    }
  }
  // set the LED:
  digitalWrite(ledPin, ledState);
  // save the reading. Next time through the loop, it'll be the lastButtonState:
  lastButtonState = reading;  
}

/*
 * esp.h
 * 
*/
#include "SoftwareSerial.h"
SoftwareSerial espSerial(2,3);
/*
 * esp.c
 * 
*/
void espInit(void){
  espSerial.begin(9600);
}
/*
 * espPowerOnSeq
*/
int espPwrOnStep;
int lastDelayTime4espPwrOnSeq;

void espPowerOnSeqInit(){
 espPwrOnStep=0;
 lastDelayTime4espPwrOnSeq=0;  
}

void espPowerOnSeqExit(){
 espPwrOnStep=-1;
 lastDelayTime4espPwrOnSeq=0;  
}

void espPowerOnSeq(void){
  if(espPwrOnStep==0){
    if((millis()-lastDelayTime4espPwrOnSeq)>10){
      Serial.println("delay 10ms");
      lastDelayTime4espPwrOnSeq=millis();
      espPwrOnStep=1;
    }
  }
  if(espPwrOnStep==1){
    if((millis()-lastDelayTime4espPwrOnSeq)>20){
      Serial.println("delay 20ms");
      lastDelayTime4espPwrOnSeq=millis();
      espPowerOnSeqExit();
    }
  }  
}
/*
 * doCMD
*/
String str;
int doCmdStep;
int doCmdSubStep1;
int lastDelayTime4doCMD;
int delayCount4doCMD; //timeout

void doCMDInit(){
  str="";
  doCmdStep=0;
  doCmdSubStep1=0;
  lastDelayTime4doCMD=0;
  delayCount4doCMD=0; //timeout 
}

void doCMDExit(){
  str="";
  doCmdStep=-1;
  doCmdSubStep1=0;
  lastDelayTime4doCMD=0;
  delayCount4doCMD=0; //timeout 
}

bool doCMD(String cmd,String flag,long timeout){
  if(doCmdStep==0){
    str="";  
    delayCount4doCMD=timeout/100;
    flag.toLowerCase();//小写
    espSerial.println(cmd);//发送命令
    //delay 10ms
    if((millis()-lastDelayTime4doCMD)>10){
      Serial.println("delay 10ms");
      lastDelayTime4doCMD=millis();
      doCmdStep=1;
    }
  }
  if(doCmdStep==1){
    if(espSerial.available()){
      if(doCmdSubStep1==0){
        str+=espSerial.read();
        doCmdSubStep1=1;      
      }
      if(doCmdSubStep1==1){
        //delay 2ms
        if((millis()-lastDelayTime4doCMD)>2){
          Serial.println("delay 2ms");
          lastDelayTime4doCMD=millis();
          doCmdSubStep1=0;
        }        
      }
    }else{
      doCmdStep=2;  
    }
  }
  if(doCmdStep==2){
    if(str!=""){
      Serial.println(str);
      str.toLowerCase();
      String flag1="",flag2="";
      int indexPosition=flag.indexOf('|');
      //有"|"，多个关键字符串
      if(indexPosition>-1){
        flag1=flag.substring(0,indexPosition);
        flag2=flag.substring(indexPosition+1,flag.length());

        if(flag1!=""&&flag2!=""){
          if(str.indexOf(flag1)>-1||str.indexOf(flag2)){
            doCMDExit();
            return true;
          }
        }
      }
      //没有"|"，单个关键字符串
      if(str.indexOf(flag)>-1){
        doCMDExit();
        return true;
      }
    }
    //delay 100ms
    if((millis()-lastDelayTime4doCMD)>100){
      Serial.println("delay 100ms");
      lastDelayTime4doCMD=millis();
      doCmdStep=1;
      delayCount4doCMD>0 ? delayCount4doCMD--:doCmdStep=3;
    }              
  }
  if(doCmdStep==3){
    doCMDExit();
    return false;
  }
}

void commaSplit(String message){
  int commaPosition;
  do{
    commaPosition=message.indexOf(',');
    if(commaPosition!=-1){
      Serial.println(message.substring(0,commaPosition));
      message=message.substring(commaPosition+1,message.length());
    }
    else{
      if(message.length()>0){
        Serial.println(message);
      }
    }
  }while(commaPosition!=-1);
}
//arduino UNO confige
void setup() {
  Serial.begin(9600);
  espInit();
  ledButtonInit(); 
  time1Init();
  commaSplit("1,2,3,4");
}
//round-robin scheduling
void loop() {
  timer1Proc();
  ledButtonProc();
}