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segunda-feira, 9 de novembro de 2015

Arduino - Como tratar interrupções externas dentro de objetos

Quem já tentou tratar uma interrupção dentro de uma classe sabe que não é muito simples fazer isso. Nesse vídeo mostro como redefinir a função attachInterrupt para anexar objetos ao invés de funções.




MyInterrupt.h

/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */

/*
  Part of the Wiring project - http://wiring.uniandes.edu.co

  Copyright (c) 2004-05 Hernando Barragan

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General
  Public License along with this library; if not, write to the
  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
  Boston, MA  02111-1307  USA
  
  Modified 24 November 2006 by David A. Mellis
  Modified 1 August 2010 by Mark Sproul
*/

#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <stdio.h>

#include "wiring_private.h"

class Interrupt;  //declaracao previa
void attachInterrupt(uint8_t interruptNum, Interrupt * interruptObject, int mode); //declaracao previa

class Interrupt {
  public:
    void attach(uint8_t interruptNum, int mode) { attachInterrupt(interruptNum, this, mode); };
    void volatile virtual execInterrupt(uint8_t interruptNum);
};

Interrupt * interruptObjects[EXTERNAL_NUM_INTERRUPTS];
//static volatile voidFuncPtr intFunc[EXTERNAL_NUM_INTERRUPTS];
// volatile static voidFuncPtr twiIntFunc;

void attachInterrupt(uint8_t interruptNum, Interrupt * interruptObject, int mode) {
  
  if(interruptNum < EXTERNAL_NUM_INTERRUPTS) {
    interruptObjects[interruptNum] = interruptObject;
    
    // Configure the interrupt mode (trigger on low input, any change, rising
    // edge, or falling edge).  The mode constants were chosen to correspond
    // to the configuration bits in the hardware register, so we simply shift
    // the mode into place.
      
    // Enable the interrupt.
      
    switch (interruptNum) {
#if defined(__AVR_ATmega32U4__)
 // I hate doing this, but the register assignment differs between the 1280/2560
 // and the 32U4.  Since avrlib defines registers PCMSK1 and PCMSK2 that aren't 
 // even present on the 32U4 this is the only way to distinguish between them.
    case 0:
 EICRA = (EICRA & ~((1<<ISC00) | (1<<ISC01))) | (mode << ISC00);
 EIMSK |= (1<<INT0);
 break;
    case 1:
 EICRA = (EICRA & ~((1<<ISC10) | (1<<ISC11))) | (mode << ISC10);
 EIMSK |= (1<<INT1);
 break; 
    case 2:
        EICRA = (EICRA & ~((1<<ISC20) | (1<<ISC21))) | (mode << ISC20);
        EIMSK |= (1<<INT2);
        break;
    case 3:
        EICRA = (EICRA & ~((1<<ISC30) | (1<<ISC31))) | (mode << ISC30);
        EIMSK |= (1<<INT3);
        break;
    case 4:
        EICRB = (EICRB & ~((1<<ISC60) | (1<<ISC61))) | (mode << ISC60);
        EIMSK |= (1<<INT6);
        break;
#elif defined(EICRA) && defined(EICRB) && defined(EIMSK)
    case 2:
      EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
      EIMSK |= (1 << INT0);
      break;
    case 3:
      EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
      EIMSK |= (1 << INT1);
      break;
    case 4:
      EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
      EIMSK |= (1 << INT2);
      break;
    case 5:
      EICRA = (EICRA & ~((1 << ISC30) | (1 << ISC31))) | (mode << ISC30);
      EIMSK |= (1 << INT3);
      break;
    case 0:
      EICRB = (EICRB & ~((1 << ISC40) | (1 << ISC41))) | (mode << ISC40);
      EIMSK |= (1 << INT4);
      break;
    case 1:
      EICRB = (EICRB & ~((1 << ISC50) | (1 << ISC51))) | (mode << ISC50);
      EIMSK |= (1 << INT5);
      break;
    case 6:
      EICRB = (EICRB & ~((1 << ISC60) | (1 << ISC61))) | (mode << ISC60);
      EIMSK |= (1 << INT6);
      break;
    case 7:
      EICRB = (EICRB & ~((1 << ISC70) | (1 << ISC71))) | (mode << ISC70);
      EIMSK |= (1 << INT7);
      break;
#else  
    case 0:
    #if defined(EICRA) && defined(ISC00) && defined(EIMSK)
      EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
      EIMSK |= (1 << INT0);
    #elif defined(MCUCR) && defined(ISC00) && defined(GICR)
      MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
      GICR |= (1 << INT0);
    #elif defined(MCUCR) && defined(ISC00) && defined(GIMSK)
      MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
      GIMSK |= (1 << INT0);
    #else
      #error attachInterrupt not finished for this CPU (case 0)
    #endif
      break;

    case 1:
    #if defined(EICRA) && defined(ISC10) && defined(ISC11) && defined(EIMSK)
      EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
      EIMSK |= (1 << INT1);
    #elif defined(MCUCR) && defined(ISC10) && defined(ISC11) && defined(GICR)
      MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
      GICR |= (1 << INT1);
    #elif defined(MCUCR) && defined(ISC10) && defined(GIMSK) && defined(GIMSK)
      MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
      GIMSK |= (1 << INT1);
    #else
      #warning attachInterrupt may need some more work for this cpu (case 1)
    #endif
      break;
    
    case 2:
    #if defined(EICRA) && defined(ISC20) && defined(ISC21) && defined(EIMSK)
      EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
      EIMSK |= (1 << INT2);
    #elif defined(MCUCR) && defined(ISC20) && defined(ISC21) && defined(GICR)
      MCUCR = (MCUCR & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
      GICR |= (1 << INT2);
    #elif defined(MCUCR) && defined(ISC20) && defined(GIMSK) && defined(GIMSK)
      MCUCR = (MCUCR & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
      GIMSK |= (1 << INT2);
    #endif
      break;
#endif
    }
  }
}

void detachInterrupt(uint8_t interruptNum) {
  if(interruptNum < EXTERNAL_NUM_INTERRUPTS) {
    // Disable the interrupt.  (We can't assume that interruptNum is equal
    // to the number of the EIMSK bit to clear, as this isn't true on the 
    // ATmega8.  There, INT0 is 6 and INT1 is 7.)
    switch (interruptNum) {
#if defined(__AVR_ATmega32U4__)
    case 0:
        EIMSK &= ~(1<<INT0);
        break;
    case 1:
        EIMSK &= ~(1<<INT1);
        break;
    case 2:
        EIMSK &= ~(1<<INT2);
        break;
    case 3:
        EIMSK &= ~(1<<INT3);
        break; 
    case 4:
        EIMSK &= ~(1<<INT6);
        break; 
#elif defined(EICRA) && defined(EICRB) && defined(EIMSK)
    case 2:
      EIMSK &= ~(1 << INT0);
      break;
    case 3:
      EIMSK &= ~(1 << INT1);
      break;
    case 4:
      EIMSK &= ~(1 << INT2);
      break;
    case 5:
      EIMSK &= ~(1 << INT3);
      break;
    case 0:
      EIMSK &= ~(1 << INT4);
      break;
    case 1:
      EIMSK &= ~(1 << INT5);
      break;
    case 6:
      EIMSK &= ~(1 << INT6);
      break;
    case 7:
      EIMSK &= ~(1 << INT7);
      break;
#else
    case 0:
    #if defined(EIMSK) && defined(INT0)
      EIMSK &= ~(1 << INT0);
    #elif defined(GICR) && defined(ISC00)
      GICR &= ~(1 << INT0); // atmega32
    #elif defined(GIMSK) && defined(INT0)
      GIMSK &= ~(1 << INT0);
    #else
      #error detachInterrupt not finished for this cpu
    #endif
      break;

    case 1:
    #if defined(EIMSK) && defined(INT1)
      EIMSK &= ~(1 << INT1);
    #elif defined(GICR) && defined(INT1)
      GICR &= ~(1 << INT1); // atmega32
    #elif defined(GIMSK) && defined(INT1)
      GIMSK &= ~(1 << INT1);
    #else
      #warning detachInterrupt may need some more work for this cpu (case 1)
    #endif
      break;
#endif
    }
      
    interruptObjects[interruptNum] = 0;
  }
}

/*
void attachInterruptTwi(void (*userFunc)(void) ) {
  twiIntFunc = userFunc;
}
*/

#if defined(__AVR_ATmega32U4__)
ISR(INT0_vect) {
 if(interruptObjects[EXTERNAL_INT_0])
  interruptObjects[EXTERNAL_INT_0]->execInterrupt(EXTERNAL_INT_0);
}

ISR(INT1_vect) {
 if(interruptObjects[EXTERNAL_INT_1])
  interruptObjects[EXTERNAL_INT_1]->execInterrupt(EXTERNAL_INT_1);
}

ISR(INT2_vect) {
    if(interruptObjects[EXTERNAL_INT_2])
  interruptObjects[EXTERNAL_INT_2]->execInterrupt(EXTERNAL_INT_2);
}

ISR(INT3_vect) {
    if(interruptObjects[EXTERNAL_INT_3])
  interruptObjects[EXTERNAL_INT_3]->execInterrupt(EXTERNAL_INT_3);
}

ISR(INT6_vect) {
    if(interruptObjects[EXTERNAL_INT_4])
  interruptObjects[EXTERNAL_INT_4]->execInterrupt(EXTERNAL_INT_4);
}

#elif defined(EICRA) && defined(EICRB)

ISR(INT0_vect) {
  if(interruptObjects[EXTERNAL_INT_2])
    interruptObjects[EXTERNAL_INT_2]->execInterrupt(EXTERNAL_INT_2);
}

ISR(INT1_vect) {
  if(interruptObjects[EXTERNAL_INT_3])
    interruptObjects[EXTERNAL_INT_3]->execInterrupt(EXTERNAL_INT_3);
}

ISR(INT2_vect) {
  if(interruptObjects[EXTERNAL_INT_4])
    interruptObjects[EXTERNAL_INT_4]->execInterrupt(EXTERNAL_INT_4);
}

ISR(INT3_vect) {
  if(interruptObjects[EXTERNAL_INT_5])
    interruptObjects[EXTERNAL_INT_5]->execInterrupt(EXTERNAL_INT_5);
}

ISR(INT4_vect) {
  if(interruptObjects[EXTERNAL_INT_0])
    interruptObjects[EXTERNAL_INT_0]->execInterrupt(EXTERNAL_INT_0);
}

ISR(INT5_vect) {
  if(interruptObjects[EXTERNAL_INT_1])
    interruptObjects[EXTERNAL_INT_1]->execInterrupt(EXTERNAL_INT_1);
}

ISR(INT6_vect) {
  if(interruptObjects[EXTERNAL_INT_6])
    interruptObjects[EXTERNAL_INT_6]->execInterrupt(EXTERNAL_INT_6);
}

ISR(INT7_vect) {
  if(interruptObjects[EXTERNAL_INT_7])
    interruptObjects[EXTERNAL_INT_7]->execInterrupt(EXTERNAL_INT_7);
}

#else

ISR(INT0_vect) {
  if(interruptObjects[EXTERNAL_INT_0])
    interruptObjects[EXTERNAL_INT_0]->execInterrupt(EXTERNAL_INT_0);
}

ISR(INT1_vect) {
  if(interruptObjects[EXTERNAL_INT_1])
    interruptObjects[EXTERNAL_INT_1]->execInterrupt(EXTERNAL_INT_1);
}

#if defined(EICRA) && defined(ISC20)
ISR(INT2_vect) {
  if(interruptObjects[EXTERNAL_INT_2])
    interruptObjects[EXTERNAL_INT_2]->execInterrupt(EXTERNAL_INT_2);
}
#endif

#endif

/*
ISR(TWI_vect) {
  if(twiIntFunc)
    twiIntFunc();
}
*/






Sketch


#include "MyInterrupt.h"

class Abc : public Interrupt{
  private:
  
  public:
    Abc(){
      attach(0, CHANGE);
      attach(1, CHANGE);
    }
    
    void volatile execInterrupt(uint8_t interruptNum){
      Serial.print("Abc: ");
      Serial.print(interruptNum);
      Serial.print(" - millis: ");
      Serial.println(millis());
    }
};



Abc * abc; 

void setup() {
  Serial.begin(9600);
  abc = new Abc();
}

void loop() {
  // put your main code here, to run repeatedly:
}


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