RPI_PICO_TimerInterrupt Library

Features

This library enables you to use Interrupt from Hardware Timers on on RP2040-based boards such as RASPBERRY_PI_PICO, using Earle Philhower's arduino-pico core. Support to Arduino-mbed RP2040 core will be added in future releases.

As Hardware Timers are rare, and very precious assets of any board, this library now enables you to use up to 16 ISR-based Timers, while consuming only 1 Hardware Timer. Timers' interval is very long (ulong millisecs).

Now with these new 16 ISR-based timers, the maximum interval is practically unlimited (limited only by unsigned long milliseconds) while the accuracy is nearly perfect compared to software timers.

The most important feature is they're ISR-based timers. Therefore, their executions are not blocked by bad-behaving functions / tasks. This important feature is absolutely necessary for mission-critical tasks.

The ISR_Timers_Array_Simple example will demonstrate the nearly perfect accuracy compared to software timers by printing the actual elapsed millisecs of each type of timers.

Being ISR-based timers, their executions are not blocked by bad-behaving functions / tasks, such as connecting to WiFi, Internet and Blynk services. You can also have many (up to 16) timers to use.

This non-being-blocked important feature is absolutely necessary for mission-critical tasks.

You'll see blynkTimer Software is blocked while system is connecting to WiFi / Internet / Blynk, as well as by blocking task in loop(), using delay() function as an example. The elapsed time then is very unaccurate

Why using ISR-based Hardware Timer Interrupt is better

Imagine you have a system with a mission-critical function, measuring water level and control the sump pump or doing something much more important. You normally use a software timer to poll, or even place the function in loop(). But what if another function is blocking the loop() or setup().

So your function might not be executed, and the result would be disastrous.

You'd prefer to have your function called, no matter what happening with other functions (busy loop, bug, etc.).

The correct choice is to use a Hardware Timer with Interrupt to call your function.

These hardware timers, using interrupt, still work even if other functions are blocking. Moreover, they are much more precise (certainly depending on clock frequency accuracy) than other software timers using millis() or micros(). That's necessary if you need to measure some data requiring better accuracy.

Functions using normal software timers, relying on loop() and calling millis(), won't work if the loop() or setup() is blocked by certain operation. For example, certain function is blocking while it's connecting to WiFi or some services.

The catch is your function is now part of an ISR (Interrupt Service Routine), and must be lean / mean, and follow certain rules. More to read on:

HOWTO Attach Interrupt

Currently supported Boards

RP2040-based boards such as RASPBERRY_PI_PICO, RASPBERRY_PI_PICO_W, ADAFRUIT_FEATHER_RP2040, Nano_RP2040_Connect, GENERIC_RP2040, etc., using arduino-pico core

Important Notes about ISR

Inside the attached function, delay() won’t work and the value returned by millis() will not increment. Serial data received while in the function may be lost. You should declare as volatile any variables that you modify within the attached function.
Typically global variables are used to pass data between an ISR and the main program. To make sure variables shared between an ISR and the main program are updated correctly, declare them as volatile.

Prerequisites

Arduino IDE 1.8.19+ for Arduino.
Earle Philhower's arduino-pico core v2.6.3+ for RP2040-based boards such as RASPBERRY_PI_PICO, ADAFRUIT_FEATHER_RP2040 and GENERIC_RP2040, etc.
To use with certain example, depending on which Ethernet card you're using:
- Ethernet_Generic library v2.7.1+ for W5100, W5200 and W5500.
- EthernetENC library v2.0.3+ for ENC28J60. . New and Better
- UIPEthernet library v2.0.12+ for ENC28J60.
To use with certain example

SimpleTimer library for ISR_16_Timers_Array and ISR_16_Timers_Array_Complex examples.

Installation

Use Arduino Library Manager

The best and easiest way is to use Arduino Library Manager. Search for RPI_PICO_TimerInterrupt, then select / install the latest version. You can also use this link for more detailed instructions.

Manual Install

Another way to install is to:

Navigate to RPI_PICO_TimerInterrupt page.
Download the latest release RPI_PICO_TimerInterrupt-main.zip.
Extract the zip file to RPI_PICO_TimerInterrupt-main directory
Copy whole RPI_PICO_TimerInterrupt-main folder to Arduino libraries' directory such as ~/Arduino/libraries/.

VS Code & PlatformIO

Install VS Code
Install PlatformIO
Install RPI_PICO_TimerInterrupt library by using Library Manager. Search for RPI_PICO_TimerInterrupt in Platform.io Author's Libraries
Please visit documentation for the other options and examples at Project Configuration File

Packages' Patches

1. For RP2040-based boards using Earle Philhower arduino-pico core

Important: Only necessary if you use core v1.4.0-

1.1 To use BOARD_NAME

To be able to automatically detect and display BOARD_NAME on RP2040-based boards (RASPBERRY_PI_PICO, ADAFRUIT_FEATHER_RP2040, GENERIC_RP2040, etc) boards, you have to copy the file RP2040 platform.txt into rp2040 directory (~/.arduino15/packages/rp2040/hardware/rp2040/1.4.0).

Supposing the rp2040 core version is 1.4.0. This file must be copied into the directory:

~/.arduino15/packages/rp2040/hardware/rp2040/1.4.0/platform.txt

Whenever a new version is installed, remember to copy this file into the new version directory. For example, new version is x.yy.zz This file must be copied into the directory:

~/.arduino15/packages/rp2040/hardware/rp2040/x.yy.zz/platform.txt

With core after v1.4.0, this step is not necessary anymore thanks to the PR Add -DBOARD_NAME="{build.board}" #136.

1.2 To avoid compile error relating to microsecondsToClockCycles

Some libraries, such as Adafruit DHT-sensor-library, require the definition of microsecondsToClockCycles(). To be able to compile and run on RP2040-based boards, you have to copy the files in RP2040 Arduino.h into rp2040 directory (~/.arduino15/packages/rp2040/hardware/rp2040/1.4.0).

Supposing the rp2040 core version is 1.4.0. This file must be copied to replace:

~/.arduino15/packages/rp2040/hardware/rp2040/1.4.0/cores/rp2040/Arduino.h

Whenever a new version is installed, remember to copy this file into the new version directory. For example, new version is x.yy.zz This file must be copied to replace:

~/.arduino15/packages/rp2040/hardware/rp2040/x.yy.zz/cores/rp2040/Arduino.h

With core after v1.4.0, this step is not necessary anymore thanks to the PR Add defs for compatibility #142.

HOWTO Fix `Multiple Definitions` Linker Error

The current library implementation, using xyz-Impl.h instead of standard xyz.cpp, possibly creates certain Multiple Definitions Linker error in certain use cases.

You can include these .hpp or .h files

// Can be included as many times as necessary, without `Multiple Definitions` Linker Error #include "RPi_Pico_TimerInterrupt.h" //https://github.com/khoih-prog/RPI_PICO_TimerInterrupt // Can be included as many times as necessary, without `Multiple Definitions` Linker Error #include "RPi_Pico_ISR_Timer.hpp" //https://github.com/khoih-prog/RPI_PICO_TimerInterrupt

in many files. But be sure to use the following .h file in just 1 .h, .cpp or .ino file, which must not be included in any other file, to avoid Multiple Definitions Linker Error

// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error #include "RPi_Pico_ISR_Timer.h" //https://github.com/khoih-prog/RPI_PICO_TimerInterrupt

Check the new multiFileProject example for a HOWTO demo.

More useful Information

The RPI_PICO system timer peripheral provides a global microsecond timebase for the system, and generates interrupts based on this timebase. It supports the following features: • A single 64-bit counter, incrementing once per microsecond • This counter can be read from a pair of latching registers, for race-free reads over a 32-bit bus. • Four alarms: match on the lower 32 bits of counter, IRQ on match: TIMER_IRQ_0-TIMER_IRQ_3

Now with these new 16 ISR-based timers (while consuming only 1 hardware timer), the maximum interval is practically unlimited (limited only by unsigned long milliseconds). The accuracy is nearly perfect compared to software timers. The most important feature is they're ISR-based timers Therefore, their executions are not blocked by bad-behaving functions / tasks. This important feature is absolutely necessary for mission-critical tasks.

The ISR_Timer_Complex example will demonstrate the nearly perfect accuracy compared to software timers by printing the actual elapsed millisecs of each type of timers. Being ISR-based timers, their executions are not blocked by bad-behaving functions / tasks, such as connecting to WiFi, Internet and Blynk services. You can also have many (up to 16) timers to use. This non-being-blocked important feature is absolutely necessary for mission-critical tasks. You'll see blynkTimer Software is blocked while system is connecting to WiFi / Internet / Blynk, as well as by blocking task in loop(), using delay() function as an example. The elapsed time then is very unaccurate

Usage

Before using any Timer, you have to make sure the Timer has not been used by any other purpose. TIMER_IRQ_0, TIMER_IRQ_1, TIMER_IRQ_2 and TIMER_IRQ_3 are supported for RP2040-based boards.

1. Using only Hardware Timer directly

1.1 Init Hardware Timer

// Select the timer you're using, from ITimer0(0)-ITimer3(3) // Init RPI_PICO_Timer RPI_PICO_Timer ITimer1(1);

1.2 Set Hardware Timer Interval and attach Timer Interrupt Handler function

Use one of these functions with interval in unsigned long microseconds

// interval (in us), callback is ISR bool setInterval(unsigned long interval, pico_timer_callback callback); // interval (in us), callback is ISR bool attachInterruptInterval(unsigned long interval, pico_timer_callback callback)

as follows

void TimerHandler() { // Doing something here inside ISR } #define TIMER_INTERVAL_MS 5000L // Init RPI_PICO_Timer RPI_PICO_Timer ITimer(0); void setup() { .... // Interval in unsigned long microseconds if (ITimer.attachInterruptInterval(TIMER_INTERVAL_MS * 1000, TimerHandler)) Serial.println("Starting ITimer OK, millis() = " + String(millis())); else Serial.println("Can't set ITimer. Select another freq. or timer"); }

1.3 Set Hardware Timer Frequency and attach Timer Interrupt Handler function

Use one of these functions with frequency in float Hz

// frequency (in Hz), callback is ISR bool setFrequency(float frequency, pico_timer_callback callback) // frequency (in Hz), callback is ISR bool attachInterrupt(float frequency, timer_callback callback);

as follows

void TimerHandler() { // Doing something here inside ISR } #define TIMER_FREQ_HZ 5555.555 // Init RPI_PICO_Timer RPI_PICO_Timer ITimer(0); void setup() { .... // Frequency in float Hz if (ITimer.attachInterrupt(TIMER_FREQ_HZ, TimerHandler)) Serial.println("Starting ITimer OK, millis() = " + String(millis())); else Serial.println("Can't set ITimer. Select another freq. or timer"); }

2. Using 16 ISR_based Timers from 1 Hardware Timer

2.1 Important Note

The 16 ISR_based Timers, designed for long timer intervals, only support using unsigned long millisec intervals. If you have to use much higher frequency or sub-millisecond interval, you have to use the Hardware Timers directly as in 1.3 Set Hardware Timer Frequency and attach Timer Interrupt Handler function

2.2 Init Hardware Timer and ISR-based Timer

// Init RPI_PICO_Timer RPI_PICO_Timer ITimer1(1); // Init ISR_Timer // Each ISR_Timer can service 16 different ISR-based timers RPI_PICO_ISR_Timer ISR_timer;

2.3 Set Hardware Timer Interval and attach Timer Interrupt Handler functions

void TimerHandler() { ISR_timer.run(); } #define HW_TIMER_INTERVAL_MS 50L #define TIMER_INTERVAL_2S 2000L #define TIMER_INTERVAL_5S 5000L #define TIMER_INTERVAL_11S 11000L #define TIMER_INTERVAL_101S 101000L // In AVR, avoid doing something fancy in ISR, for example complex Serial.print with String() argument // The pure simple Serial.prints here are just for demonstration and testing. Must be eliminate in working environment // Or you can get this run-time error / crash void doingSomething2s() { // Doing something here inside ISR every 2 seconds } void doingSomething5s() { // Doing something here inside ISR every 5 seconds } void doingSomething11s() { // Doing something here inside ISR every 11 seconds } void doingSomething101s() { // Doing something here inside ISR every 101 seconds } void setup() { .... if (ITimer1.attachInterruptInterval(HW_TIMER_INTERVAL_MS * 1000, TimerHandler)) { Serial.print(F("Starting ITimer1 OK, millis() = ")); Serial.println(millis()); } else Serial.println(F("Can't set ITimer1. Select another freq. or timer")); // Just to demonstrate, don't use too many ISR Timers if not absolutely necessary // You can use up to 16 timer for each ISR_Timer ISR_timer.setInterval(TIMER_INTERVAL_2S, doingSomething2s); ISR_timer.setInterval(TIMER_INTERVAL_5S, doingSomething5s); ISR_timer.setInterval(TIMER_INTERVAL_11S, doingSomething11s); ISR_timer.setInterval(TIMER_INTERVAL_101S, doingSomething101s); }

Examples

Example ISR_Timers_Array_Simple

RPI_PICO_TimerInterrupt/examples/ISR_Timers_Array_Simple/ISR_Timers_Array_Simple.ino

Lines 23 to 168 in b7d8f4b

     // These define's must be placed at the beginning before #include "TimerInterrupt_Generic.h"  
   // _TIMERINTERRUPT_LOGLEVEL_ from 0 to 4  
   // Don't define _TIMERINTERRUPT_LOGLEVEL_ > 0. Only for special ISR debugging only. Can hang the system.  
   #define TIMER_INTERRUPT_DEBUG 1  
   #define _TIMERINTERRUPT_LOGLEVEL_ 4  
    
   // Can be included as many times as necessary, without `Multiple Definitions` Linker Error  
   #include "RPi_Pico_TimerInterrupt.h"  
    
   // To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error  
   #include "RPi_Pico_ISR_Timer.h"  
    
   #include <SimpleTimer.h> // https://github.com/jfturcot/SimpleTimer  
    
   // Init RPI_PICO_Timer  
   RPI_PICO_Timer ITimer1(1);  
    
   RPI_PICO_ISR_Timer ISR_timer;  
    
   #ifndef LED_BUILTIN  
   #define LED_BUILTIN 25  
   #endif  
    
   #define LED_TOGGLE_INTERVAL_MS 1000L  
    
   // You have to use longer time here if having problem because Arduino AVR clock is low, 16MHz => lower accuracy.  
   // Tested OK with 1ms when not much load => higher accuracy.  
   #define TIMER_INTERVAL_MS 1L  
    
   volatile uint32_t startMillis = 0;  
    
   volatile uint32_t deltaMillis2s = 0;  
   volatile uint32_t deltaMillis5s = 0;  
    
   volatile uint32_t previousMillis2s = 0;  
   volatile uint32_t previousMillis5s = 0;  
    
    
   bool TimerHandler(struct repeating_timer *t)  
   {  
   (void) t;  
    
   static bool toggle = false;  
   static int timeRun = 0;  
    
   ISR_timer.run();  
    
   // Toggle LED every LED_TOGGLE_INTERVAL_MS = 2000ms = 2s  
   if (++timeRun == ((LED_TOGGLE_INTERVAL_MS) / TIMER_INTERVAL_MS) )  
   {  
   timeRun = 0;  
    
   //timer interrupt toggles pin LED_BUILTIN  
   digitalWrite(LED_BUILTIN, toggle);  
   toggle = !toggle;  
   }  
    
   return true;  
   }  
    
   void doingSomething2s()  
   {  
   unsigned long currentMillis = millis();  
    
   deltaMillis2s = currentMillis - previousMillis2s;  
   previousMillis2s = currentMillis;  
   }  
    
   void doingSomething5s()  
   {  
   unsigned long currentMillis = millis();  
    
   deltaMillis5s = currentMillis - previousMillis5s;  
   previousMillis5s = currentMillis;  
   }  
    
   /////////////////////////////////////////////////  
    
   #define SIMPLE_TIMER_MS 2000L  
    
   // Init SimpleTimer  
   SimpleTimer simpleTimer;  
    
   // Here is software Timer, you can do somewhat fancy stuffs without many issues.  
   // But always avoid  
   // 1. Long delay() it just doing nothing and pain-without-gain wasting CPU power.Plan and design your code / strategy ahead  
   // 2. Very long "do", "while", "for" loops without predetermined exit time.  
   void simpleTimerDoingSomething2s()  
   {  
   static unsigned long previousMillis = startMillis;  
    
   unsigned long currMillis = millis();  
    
   Serial.print(F("SimpleTimer : programmed ")); Serial.print(SIMPLE_TIMER_MS);  
   Serial.print(F("ms, current time ms : ")); Serial.print(currMillis);  
   Serial.print(F(", Delta ms : ")); Serial.println(currMillis - previousMillis);  
    
   Serial.print(F("Timer2s actual : ")); Serial.println(deltaMillis2s);  
   Serial.print(F("Timer5s actual : ")); Serial.println(deltaMillis5s);  
    
   previousMillis = currMillis;  
   }  
    
   ////////////////////////////////////////////////  
    
   void setup()  
   {  
   pinMode(LED_BUILTIN, OUTPUT);  
    
   Serial.begin(115200);  
   while (!Serial);  
    
   Serial.print(F("\nStarting ISR_Timers_Array_Simple on ")); Serial.println(BOARD_NAME);  
   Serial.println(RPI_PICO_TIMER_INTERRUPT_VERSION);  
   Serial.print(F("CPU Frequency = ")); Serial.print(F_CPU / 1000000); Serial.println(F(" MHz"));  
    
   if (ITimer1.attachInterruptInterval(TIMER_INTERVAL_MS * 1000, TimerHandler))  
   {  
   Serial.print(F("Starting ITimer1 OK, millis() = ")); Serial.println(millis());  
   }  
   else  
   Serial.println(F("Can't set ITimer1. Select another freq. or timer"));  
    
   previousMillis5s = previousMillis2s = millis();  
    
   ISR_timer.setInterval(2000L, doingSomething2s);  
   ISR_timer.setInterval(5000L, doingSomething5s);  
    
   // You need this timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary.  
   simpleTimer.setInterval(SIMPLE_TIMER_MS, simpleTimerDoingSomething2s);  
   }  
    
   #define BLOCKING_TIME_MS 10000L  
    
   void loop()  
   {  
   // This unadvised blocking task is used to demonstrate the blocking effects onto the execution and accuracy to Software timer  
   // You see the time elapse of ISR_Timer still accurate, whereas very unaccurate for Software Timer  
   // The time elapse for 2000ms software timer now becomes 3000ms (BLOCKING_TIME_MS)  
   // While that of ISR_Timer is still prefect.  
   delay(BLOCKING_TIME_MS);  
    
   // You need this Software timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary  
   // You don't need to and never call ISR_Timer.run() here in the loop(). It's already handled by ISR timer.  
   simpleTimer.run();  
   }  
 

Debug Terminal Output Samples

1. ISR_Timers_Array_Simple on RASPBERRY_PI_PICO

The following is the sample terminal output when running example ISR_Timers_Array_Simple to demonstrate the accuracy of ISR Hardware Timer, especially when system is very busy. The ISR timer is programmed for 2s, is activated exactly after 2.000s !!!

While software timer, programmed for 2s, is activated after more than 10.000s !!!

Starting ISR_Timers_Array_Simple on RASPBERRY_PI_PICO RPi_Pico_TimerInterrupt v1.3.1 CPU Frequency = 125 MHz [TISR] _timerNo = 1, Clock (Hz) = 1000000.00, _fre (Hz) = 1000.00 [TISR] _count = 0-1000 [TISR] add_repeating_timer_us = 1000 Starting ITimer3 OK, millis() = 1707 SimpleTimer : programmed 2000ms, current time ms : 11707, Delta ms : 11707 Timer2s actual : 2000 Timer5s actual : 5000 SimpleTimer : programmed 2000ms, current time ms : 21708, Delta ms : 10001 Timer2s actual : 2000 Timer5s actual : 5000 SimpleTimer : programmed 2000ms, current time ms : 31708, Delta ms : 10000 Timer2s actual : 2000 Timer5s actual : 5000

2. TimerInterruptTest on RASPBERRY_PI_PICO

The following is the sample terminal output when running example TimerInterruptTest to demonstrate how to start/stop Hardware Timers on RP2040-based boards.

Starting TimerInterruptTest on RASPBERRY_PI_PICO RPi_Pico_TimerInterrupt v1.3.1 CPU Frequency = 125 MHz [TISR] _timerNo = 0, Clock (Hz) = 1000000.00, _fre (Hz) = 1.00 [TISR] _count = 0-1000000 [TISR] add_repeating_timer_us = 1000000 Starting ITimer0 OK, millis() = 882 [TISR] _timerNo = 1, Clock (Hz) = 1000000.00, _fre (Hz) = 0.33 [TISR] _count = 0-3000000 [TISR] add_repeating_timer_us = 3000000 Starting ITimer1 OK, millis() = 1782 ITimer0 called, millis() = 2781 ITimer0 called, millis() = 3781 ITimer0 called, millis() = 4781 ITimer1 called, millis() = 4782 Stop ITimer0, millis() = 5001 ITimer1 called, millis() = 7782 Start ITimer0, millis() = 10002 ITimer1 called, millis() = 10782 ITimer0 called, millis() = 11002 ITimer0 called, millis() = 12002 ITimer0 called, millis() = 13002 ITimer1 called, millis() = 13782 ITimer0 called, millis() = 14002 Stop ITimer1, millis() = 15001 ITimer0 called, millis() = 15002 Stop ITimer0, millis() = 15003 Start ITimer0, millis() = 20004 ITimer0 called, millis() = 21004 ITimer0 called, millis() = 22004 ITimer0 called, millis() = 23004 ITimer0 called, millis() = 24004 ITimer0 called, millis() = 25004 Stop ITimer0, millis() = 25005

3. Change_Interval on RASPBERRY_PI_PICO

The following is the sample terminal output when running example Change_Interval to demonstrate how to change Timer Interval on-the-fly on RP2040-based boards.

Starting Change_Interval on RASPBERRY_PI_PICO RPi_Pico_TimerInterrupt v1.3.1 CPU Frequency = 125 MHz [TISR] _timerNo = 0, Clock (Hz) = 1000000.00, _fre (Hz) = 0.50 [TISR] _count = 0-2000000 [TISR] add_repeating_timer_us = 2000000 Starting ITimer0 OK, millis() = 2363 [TISR] _timerNo = 1, Clock (Hz) = 1000000.00, _fre (Hz) = 0.20 [TISR] _count = 0-5000000 [TISR] add_repeating_timer_us = 5000000 Starting ITimer1 OK, millis() = 1544 ITimer0: millis() = 3544 ITimer0: millis() = 5544 ITimer1: millis() = 6544 ITimer0: millis() = 7544 ITimer0: millis() = 9544 Time = 10001, Timer0Count = 4, Timer1Count = 1 ITimer0: millis() = 11544 ITimer1: millis() = 11544 ITimer0: millis() = 13544 ITimer0: millis() = 15544 ITimer1: millis() = 16544 ITimer0: millis() = 17544 ITimer0: millis() = 19544 Time = 20002, Timer0Count = 9, Timer1Count = 3 [TISR] RPI_PICO_TimerInterrupt: _timerNo = 0 , _fre = 1000000.00 [TISR] _count = 0 - 4000000 [TISR] add_repeating_timer_us = 4000000 [TISR] RPI_PICO_TimerInterrupt: _timerNo = 1 , _fre = 1000000.00 [TISR] _count = 0 - 10000000 [TISR] add_repeating_timer_us = 10000000 Changing Interval, Timer0 = 4000, Timer1 = 10000 ITimer0: millis() = 24002 ITimer0: millis() = 28002 ITimer1: millis() = 30003 Time = 30003, Timer0Count = 11, Timer1Count = 4 ITimer0: millis() = 32002 ITimer0: millis() = 36002 ITimer0: millis() = 40002 ITimer1: millis() = 40003 Time = 40004, Timer0Count = 14, Timer1Count = 5 [TISR] RPI_PICO_TimerInterrupt: _timerNo = 0 , _fre = 1000000.00 [TISR] _count = 0 - 2000000 [TISR] add_repeating_timer_us = 2000000 [TISR] RPI_PICO_TimerInterrupt: _timerNo = 1 , _fre = 1000000.00 [TISR] _count = 0 - 5000000 [TISR] add_repeating_timer_us = 5000000 Changing Interval, Timer0 = 2000, Timer1 = 5000 ITimer0: millis() = 42004 ITimer0: millis() = 44004 ITimer1: millis() = 45004 ITimer0: millis() = 46004 ITimer0: millis() = 48004 ITimer0: millis() = 50004 ITimer1: millis() = 50004 Time = 50005, Timer0Count = 19, Timer1Count = 7 ITimer0: millis() = 52004 ITimer0: millis() = 54004 ITimer1: millis() = 55005 ITimer0: millis() = 56004 ITimer0: millis() = 58004 ITimer0: millis() = 60004 ITimer1: millis() = 60005 Time = 60006, Timer0Count = 24, Timer1Count = 9 [TISR] RPI_PICO_TimerInterrupt: _timerNo = 0 , _fre = 1000000.00 [TISR] _count = 0 - 4000000 [TISR] add_repeating_timer_us = 4000000 [TISR] RPI_PICO_TimerInterrupt: _timerNo = 1 , _fre = 1000000.00 [TISR] _count = 0 - 10000000 [TISR] add_repeating_timer_us = 10000000 Changing Interval, Timer0 = 4000, Timer1 = 10000 ITimer0: millis() = 64006

4. SwitchDebounce on RASPBERRY_PI_PICO

The following is the sample terminal output when running example SwitchDebounce

Starting SwitchDebounce on RASPBERRY_PI_PICO RPi_Pico_TimerInterrupt v1.3.1 CPU Frequency = 125 MHz [TISR] _timerNo = 1, Clock (Hz) = 1000000.00, _fre (Hz) = 50.00 [TISR] _count = 0-20000 [TISR] add_repeating_timer_us = 20000 Starting ITimer1 OK, millis() = 1302 SW Press, from millis() = 77377 SW Released, from millis() = 78077 SW Pressed total time ms = 700 SW Press, from millis() = 78257 SW Released, from millis() = 78577 SW Pressed total time ms = 320 SW Press, from millis() = 79057 SW Released, from millis() = 80238 SW Pressed total time ms = 1181

5. ISR_Timers_Array_Simple on ADAFRUIT_FEATHER_RP2040

The following is the sample terminal output when running example ISR_Timers_Array_Simple on ADAFRUIT_FEATHER_RP2040

Starting ISR_Timers_Array_Simple on RASPBERRY_PI_PICO RPi_Pico_TimerInterrupt v1.3.1 CPU Frequency = 125 MHz [TISR] _timerNo = 1, Clock (Hz) = 1000000.00, _fre (Hz) = 1000.00 [TISR] _count = 0-1000 [TISR] add_repeating_timer_us = 1000 Starting ITimer1 OK, millis() = 1701 SimpleTimer : programmed 2000ms, current time ms : 11707, Delta ms : 11707 Timer2s actual : 2000 Timer5s actual : 5000 SimpleTimer : programmed 2000ms, current time ms : 21707, Delta ms : 10000 Timer2s actual : 2000 Timer5s actual : 5000 SimpleTimer : programmed 2000ms, current time ms : 31708, Delta ms : 10001 Timer2s actual : 2000 Timer5s actual : 5000

6. ISR_16_Timers_Array_Complex on ADAFRUIT_ITSYBITSY_RP2040

The following is the sample terminal output when running example ISR_16_Timers_Array_Complex on ADAFRUIT_ITSYBITSY_RP2040

Starting ISR_16_Timers_Array_Complex on RASPBERRY_PI_PICO RPi_Pico_TimerInterrupt v1.3.1 CPU Frequency = 125 MHz [TISR] _timerNo = 1, Clock (Hz) = 1000000.00, _fre (Hz) = 100.00 [TISR] _count = 0-10000 [TISR] add_repeating_timer_us = 10000 Starting ITimer OK, millis() = 1797 SimpleTimer : 2, ms : 11798, Dms : 10001 Timer : 0, programmed : 5000, actual : 5005 Timer : 1, programmed : 10000, actual : 0 Timer : 2, programmed : 15000, actual : 0 Timer : 3, programmed : 20000, actual : 0 Timer : 4, programmed : 25000, actual : 0 Timer : 5, programmed : 30000, actual : 0 Timer : 6, programmed : 35000, actual : 0 Timer : 7, programmed : 40000, actual : 0 Timer : 8, programmed : 45000, actual : 0 Timer : 9, programmed : 50000, actual : 0 Timer : 10, programmed : 55000, actual : 0 Timer : 11, programmed : 60000, actual : 0 Timer : 12, programmed : 65000, actual : 0 Timer : 13, programmed : 70000, actual : 0 Timer : 14, programmed : 75000, actual : 0 Timer : 15, programmed : 80000, actual : 0 SimpleTimer : 2, ms : 21800, Dms : 10002 Timer : 0, programmed : 5000, actual : 4995 Timer : 1, programmed : 10000, actual : 10010 Timer : 2, programmed : 15000, actual : 15005 Timer : 3, programmed : 20000, actual : 0 Timer : 4, programmed : 25000, actual : 0 Timer : 5, programmed : 30000, actual : 0 Timer : 6, programmed : 35000, actual : 0 Timer : 7, programmed : 40000, actual : 0 Timer : 8, programmed : 45000, actual : 0 Timer : 9, programmed : 50000, actual : 0 Timer : 10, programmed : 55000, actual : 0 Timer : 11, programmed : 60000, actual : 0 Timer : 12, programmed : 65000, actual : 0 Timer : 13, programmed : 70000, actual : 0 Timer : 14, programmed : 75000, actual : 0 Timer : 15, programmed : 80000, actual : 0 SimpleTimer : 2, ms : 31802, Dms : 10002 Timer : 0, programmed : 5000, actual : 4995 Timer : 1, programmed : 10000, actual : 10000 Timer : 2, programmed : 15000, actual : 15005 Timer : 3, programmed : 20000, actual : 20010 Timer : 4, programmed : 25000, actual : 25005 Timer : 5, programmed : 30000, actual : 0 Timer : 6, programmed : 35000, actual : 0 Timer : 7, programmed : 40000, actual : 0 Timer : 8, programmed : 45000, actual : 0 Timer : 9, programmed : 50000, actual : 0 Timer : 10, programmed : 55000, actual : 0 Timer : 11, programmed : 60000, actual : 0 Timer : 12, programmed : 65000, actual : 0 Timer : 13, programmed : 70000, actual : 0 Timer : 14, programmed : 75000, actual : 0 Timer : 15, programmed : 80000, actual : 0 SimpleTimer : 2, ms : 41804, Dms : 10002 Timer : 0, programmed : 5000, actual : 4995 Timer : 1, programmed : 10000, actual : 10000 Timer : 2, programmed : 15000, actual : 15005 Timer : 3, programmed : 20000, actual : 20010 Timer : 4, programmed : 25000, actual : 25005 Timer : 5, programmed : 30000, actual : 30010 Timer : 6, programmed : 35000, actual : 35005 Timer : 7, programmed : 40000, actual : 0 Timer : 8, programmed : 45000, actual : 0 Timer : 9, programmed : 50000, actual : 0 Timer : 10, programmed : 55000, actual : 0 Timer : 11, programmed : 60000, actual : 0 Timer : 12, programmed : 65000, actual : 0 Timer : 13, programmed : 70000, actual : 0 Timer : 14, programmed : 75000, actual : 0 Timer : 15, programmed : 80000, actual : 0 SimpleTimer : 2, ms : 51807, Dms : 10003 Timer : 0, programmed : 5000, actual : 4995 Timer : 1, programmed : 10000, actual : 10000 Timer : 2, programmed : 15000, actual : 14995 Timer : 3, programmed : 20000, actual : 20000 Timer : 4, programmed : 25000, actual : 25005 Timer : 5, programmed : 30000, actual : 30010 Timer : 6, programmed : 35000, actual : 35005 Timer : 7, programmed : 40000, actual : 40010 Timer : 8, programmed : 45000, actual : 45005 Timer : 9, programmed : 50000, actual : 50010 Timer : 10, programmed : 55000, actual : 0 Timer : 11, programmed : 60000, actual : 0 Timer : 12, programmed : 65000, actual : 0 Timer : 13, programmed : 70000, actual : 0 Timer : 14, programmed : 75000, actual : 0 Timer : 15, programmed : 80000, actual : 0 SimpleTimer : 2, ms : 61809, Dms : 10002 Timer : 0, programmed : 5000, actual : 5005 Timer : 1, programmed : 10000, actual : 10000 Timer : 2, programmed : 15000, actual : 15005 Timer : 3, programmed : 20000, actual : 20000 Timer : 4, programmed : 25000, actual : 25005 Timer : 5, programmed : 30000, actual : 30000 Timer : 6, programmed : 35000, actual : 35005 Timer : 7, programmed : 40000, actual : 40010 Timer : 8, programmed : 45000, actual : 45005 Timer : 9, programmed : 50000, actual : 50010 Timer : 10, programmed : 55000, actual : 55005 Timer : 11, programmed : 60000, actual : 60010 Timer : 12, programmed : 65000, actual : 0 Timer : 13, programmed : 70000, actual : 0 Timer : 14, programmed : 75000, actual : 0 Timer : 15, programmed : 80000, actual : 0 SimpleTimer : 2, ms : 71812, Dms : 10003 Timer : 0, programmed : 5000, actual : 5005 Timer : 1, programmed : 10000, actual : 10000 Timer : 2, programmed : 15000, actual : 15005 Timer : 3, programmed : 20000, actual : 20000 Timer : 4, programmed : 25000, actual : 25005 Timer : 5, programmed : 30000, actual : 30000 Timer : 6, programmed : 35000, actual : 35005 Timer : 7, programmed : 40000, actual : 40010 Timer : 8, programmed : 45000, actual : 45005 Timer : 9, programmed : 50000, actual : 50010 Timer : 10, programmed : 55000, actual : 55005 Timer : 11, programmed : 60000, actual : 60010 Timer : 12, programmed : 65000, actual : 65005 Timer : 13, programmed : 70000, actual : 70010 Timer : 14, programmed : 75000, actual : 0 Timer : 15, programmed : 80000, actual : 0 SimpleTimer : 2, ms : 81814, Dms : 10002 Timer : 0, programmed : 5000, actual : 5005 Timer : 1, programmed : 10000, actual : 10000 Timer : 2, programmed : 15000, actual : 14995 Timer : 3, programmed : 20000, actual : 20000 Timer : 4, programmed : 25000, actual : 24995 Timer : 5, programmed : 30000, actual : 30000 Timer : 6, programmed : 35000, actual : 35005 Timer : 7, programmed : 40000, actual : 40000 Timer : 8, programmed : 45000, actual : 45005 Timer : 9, programmed : 50000, actual : 50010 Timer : 10, programmed : 55000, actual : 55005 Timer : 11, programmed : 60000, actual : 60010 Timer : 12, programmed : 65000, actual : 65005 Timer : 13, programmed : 70000, actual : 70010 Timer : 14, programmed : 75000, actual : 75005 Timer : 15, programmed : 80000, actual : 80010

Debug

Debug is enabled by default on Serial.

You can also change the debugging level (TIMERINTERRUPT_LOGLEVEL) from 0 to 4

// These define's must be placed at the beginning before #include "RPI_PICO_TimerInterrupt.h" // _TIMERINTERRUPT_LOGLEVEL_ from 0 to 4 // Don't define _TIMERINTERRUPT_LOGLEVEL_ > 0. Only for special ISR debugging only. Can hang the system. #define TIMER_INTERRUPT_DEBUG 0 #define _TIMERINTERRUPT_LOGLEVEL_ 0

Troubleshooting

If you get compilation errors, more often than not, you may need to install a newer version of the core for Arduino boards.

Sometimes, the library will only work if you update the board core to the latest version because I am using newly added functions.

Issues

Submit issues to: RPI_PICO_TimerInterrupt issues

TO DO

Search for bug and improvement.
Add support to RP2040-based boards such as RASPBERRY_PI_PICO, using Arduino-mbed RP2040 core

DONE

Basic hardware timers for RP2040-based boards such as RASPBERRY_PI_PICO, using Earle Philhower's arduino-pico core
More hardware-initiated software-enabled timers
Longer time interval
Add Version String
Add Table of Contents
Add support to new boards (ADAFRUIT_ITSYBITSY_RP2040, ADAFRUIT_QTPY_RP2040, ADAFRUIT_STEMMAFRIEND_RP2040, ADAFRUIT_TRINKEYQT_RP2040, ADAFRUIT_MACROPAD_RP2040, SPARKFUN_PROMICRO_RP2040, Nano_RP2040_Connect, etc.) using the arduino-pico core
Fix multiple-definitions linker error
Optimize library code by using reference-passing instead of value-passing
Fix severe bug affecting time between the starts. Check Enable fixed timing between timer calls (vs fixed time btw. end of timer call and next call as implemented) #3
Using float instead of ulong for better interval accuracy

Contributions and Thanks

Many thanks for everyone for bug reporting, new feature suggesting, testing and contributing to the development of this library.

AndreasOKircher to report issue Enable fixed timing between timer calls (vs fixed time btw. end of timer call and next call as implemented) #3 leading to version v1.3.0 to fix severe bug affecting time between the starts

_{AndreasOKircher}

Contributing

If you want to contribute to this project:

Report bugs and errors
Ask for enhancements
Create issues and pull requests
Tell other people about this library

License

The library is licensed under MIT

Name		Name	Last commit message	Last commit date
Latest commit History 47 Commits
.github		.github
Packages_Patches/rp2040/hardware/rp2040		Packages_Patches/rp2040/hardware/rp2040
examples		examples
platformio		platformio
src		src
utils		utils
.codespellrc		.codespellrc
.gitignore		.gitignore
CONTRIBUTING.md		CONTRIBUTING.md
LICENSE		LICENSE
README.md		README.md
changelog.md		changelog.md
keywords.txt		keywords.txt
library.json		library.json
library.properties		library.properties

	// These define's must be placed at the beginning before #include "TimerInterrupt_Generic.h"
	// _TIMERINTERRUPT_LOGLEVEL_ from 0 to 4
	// Don't define _TIMERINTERRUPT_LOGLEVEL_ > 0. Only for special ISR debugging only. Can hang the system.
	#define TIMER_INTERRUPT_DEBUG 1
	#define _TIMERINTERRUPT_LOGLEVEL_ 4

	// Can be included as many times as necessary, without `Multiple Definitions` Linker Error
	#include "RPi_Pico_TimerInterrupt.h"

	// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
	#include "RPi_Pico_ISR_Timer.h"

	#include <SimpleTimer.h> // https://github.com/jfturcot/SimpleTimer

	// Init RPI_PICO_Timer
	RPI_PICO_Timer ITimer1(1);

	RPI_PICO_ISR_Timer ISR_timer;

	#ifndef LED_BUILTIN
	#define LED_BUILTIN 25
	#endif

	#define LED_TOGGLE_INTERVAL_MS 1000L

	// You have to use longer time here if having problem because Arduino AVR clock is low, 16MHz => lower accuracy.
	// Tested OK with 1ms when not much load => higher accuracy.
	#define TIMER_INTERVAL_MS 1L

	volatile uint32_t startMillis = 0;

	volatile uint32_t deltaMillis2s = 0;
	volatile uint32_t deltaMillis5s = 0;

	volatile uint32_t previousMillis2s = 0;
	volatile uint32_t previousMillis5s = 0;


	bool TimerHandler(struct repeating_timer *t)
	{
	(void) t;

	static bool toggle = false;
	static int timeRun = 0;

	ISR_timer.run();

	// Toggle LED every LED_TOGGLE_INTERVAL_MS = 2000ms = 2s
	if (++timeRun == ((LED_TOGGLE_INTERVAL_MS) / TIMER_INTERVAL_MS) )
	{
	timeRun = 0;

	//timer interrupt toggles pin LED_BUILTIN
	digitalWrite(LED_BUILTIN, toggle);
	toggle = !toggle;
	}

	return true;
	}

	void doingSomething2s()
	{
	unsigned long currentMillis = millis();

	deltaMillis2s = currentMillis - previousMillis2s;
	previousMillis2s = currentMillis;
	}

	void doingSomething5s()
	{
	unsigned long currentMillis = millis();

	deltaMillis5s = currentMillis - previousMillis5s;
	previousMillis5s = currentMillis;
	}

	/////////////////////////////////////////////////

	#define SIMPLE_TIMER_MS 2000L

	// Init SimpleTimer
	SimpleTimer simpleTimer;

	// Here is software Timer, you can do somewhat fancy stuffs without many issues.
	// But always avoid
	// 1. Long delay() it just doing nothing and pain-without-gain wasting CPU power.Plan and design your code / strategy ahead
	// 2. Very long "do", "while", "for" loops without predetermined exit time.
	void simpleTimerDoingSomething2s()
	{
	static unsigned long previousMillis = startMillis;

	unsigned long currMillis = millis();

	Serial.print(F("SimpleTimer : programmed ")); Serial.print(SIMPLE_TIMER_MS);
	Serial.print(F("ms, current time ms : ")); Serial.print(currMillis);
	Serial.print(F(", Delta ms : ")); Serial.println(currMillis - previousMillis);

	Serial.print(F("Timer2s actual : ")); Serial.println(deltaMillis2s);
	Serial.print(F("Timer5s actual : ")); Serial.println(deltaMillis5s);

	previousMillis = currMillis;
	}

	////////////////////////////////////////////////

	void setup()
	{
	pinMode(LED_BUILTIN, OUTPUT);

	Serial.begin(115200);
	while (!Serial);

	Serial.print(F("\nStarting ISR_Timers_Array_Simple on ")); Serial.println(BOARD_NAME);
	Serial.println(RPI_PICO_TIMER_INTERRUPT_VERSION);
	Serial.print(F("CPU Frequency = ")); Serial.print(F_CPU / 1000000); Serial.println(F(" MHz"));

	if (ITimer1.attachInterruptInterval(TIMER_INTERVAL_MS * 1000, TimerHandler))
	{
	Serial.print(F("Starting ITimer1 OK, millis() = ")); Serial.println(millis());
	}
	else
	Serial.println(F("Can't set ITimer1. Select another freq. or timer"));

	previousMillis5s = previousMillis2s = millis();

	ISR_timer.setInterval(2000L, doingSomething2s);
	ISR_timer.setInterval(5000L, doingSomething5s);

	// You need this timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary.
	simpleTimer.setInterval(SIMPLE_TIMER_MS, simpleTimerDoingSomething2s);
	}

	#define BLOCKING_TIME_MS 10000L

	void loop()
	{
	// This unadvised blocking task is used to demonstrate the blocking effects onto the execution and accuracy to Software timer
	// You see the time elapse of ISR_Timer still accurate, whereas very unaccurate for Software Timer
	// The time elapse for 2000ms software timer now becomes 3000ms (BLOCKING_TIME_MS)
	// While that of ISR_Timer is still prefect.
	delay(BLOCKING_TIME_MS);

	// You need this Software timer for non-critical tasks. Avoid abusing ISR if not absolutely necessary
	// You don't need to and never call ISR_Timer.run() here in the loop(). It's already handled by ISR timer.
	simpleTimer.run();
	}

License

khoih-prog/RPI_PICO_TimerInterrupt

Folders and files

Latest commit

History

Repository files navigation

RPI_PICO_TimerInterrupt Library

Table of Contents

Important Change from v1.2.0

Why do we need this RPI_PICO_TimerInterrupt library

Features

Why using ISR-based Hardware Timer Interrupt is better

Currently supported Boards

Important Notes about ISR

Prerequisites

Installation

Use Arduino Library Manager

Manual Install

VS Code & PlatformIO

Packages' Patches

1. For RP2040-based boards using Earle Philhower arduino-pico core

Important: Only necessary if you use core v1.4.0-

1.1 To use BOARD_NAME

1.2 To avoid compile error relating to microsecondsToClockCycles

HOWTO Fix Multiple Definitions Linker Error

More useful Information

Usage

1. Using only Hardware Timer directly

1.1 Init Hardware Timer

1.2 Set Hardware Timer Interval and attach Timer Interrupt Handler function

1.3 Set Hardware Timer Frequency and attach Timer Interrupt Handler function

2. Using 16 ISR_based Timers from 1 Hardware Timer

2.1 Important Note

2.2 Init Hardware Timer and ISR-based Timer

2.3 Set Hardware Timer Interval and attach Timer Interrupt Handler functions

Examples

Example ISR_Timers_Array_Simple

Debug Terminal Output Samples

1. ISR_Timers_Array_Simple on RASPBERRY_PI_PICO

2. TimerInterruptTest on RASPBERRY_PI_PICO

3. Change_Interval on RASPBERRY_PI_PICO

4. SwitchDebounce on RASPBERRY_PI_PICO

5. ISR_Timers_Array_Simple on ADAFRUIT_FEATHER_RP2040

6. ISR_16_Timers_Array_Complex on ADAFRUIT_ITSYBITSY_RP2040

Debug

Troubleshooting

Issues

TO DO

DONE

Contributions and Thanks

Contributing

License

Copyright

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HOWTO Fix `Multiple Definitions` Linker Error

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