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    Interrupts On Firebird-V Robot: E-Yantra Team Embedded Real-Time Systems Lab Indian Institute of Technology-Bombay

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    Sridhar Jayaraman
    The document discusses interrupts and interrupt handling on the Firebird robot. It begins with an introduction to interrupts, explaining that an interrupt halts the main program to execute an interrupt service routine (ISR) in response to some event. It also discusses closed loop programming and feedback. The rest of the document outlines sources of interrupts on the ATmega2560 microcontroller used in Firebird, including the position encoder, and describes registers involved in interrupt handling like SREG, EIMSK, EICRA and EICRB. It provides information on implementing interrupts and interrupt service routines using C code.

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    Interrupts On Firebird-V Robot: E-Yantra Team Embedded Real-Time Systems Lab Indian Institute of Technology-Bombay

    Uploaded by

    Sridhar Jayaraman
    62 views67 pages
    The document discusses interrupts and interrupt handling on the Firebird robot. It begins with an introduction to interrupts, explaining that an interrupt halts the main program to execute an interrupt service routine (ISR) in response to some event. It also discusses closed loop programming and feedback. The rest of the document outlines sources of interrupts on the ATmega2560 microcontroller used in Firebird, including the position encoder, and describes registers involved in interrupt handling like SREG, EIMSK, EICRA and EICRB. It provides information on implementing interrupts and interrupt service routines using C code.

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    The document discusses interrupts and interrupt handling on the Firebird robot. It begins with an introduction to interrupts, explaining that an interrupt halts the main program to execute an interrupt service routine (ISR) in response to some event. It also discusses closed loop programming and feedback. The rest of the document outlines sources of interrupts on the ATmega2560 microcontroller used in Firebird, including the position encoder, and describes registers involved in interrupt handling like SREG, EIMSK, EICRA and EICRB. It provides information on implementing interrupts and interrupt service routines using C code.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    62 views67 pages

    Interrupts On Firebird-V Robot: E-Yantra Team Embedded Real-Time Systems Lab Indian Institute of Technology-Bombay

    Uploaded by

    Sridhar Jayaraman
    The document discusses interrupts and interrupt handling on the Firebird robot. It begins with an introduction to interrupts, explaining that an interrupt halts the main program to execute an interrupt service routine (ISR) in response to some event. It also discusses closed loop programming and feedback. The rest of the document outlines sources of interrupts on the ATmega2560 microcontroller used in Firebird, including the position encoder, and describes registers involved in interrupt handling like SREG, EIMSK, EICRA and EICRB. It provides information on implementing interrupts and interrupt service routines using C code.

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    © All Rights Reserved
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    Outline

    Interrupts
    Interrupt-Handling on Firebird

    Interrupts On Firebird-V Robot

    E-Yantra Team
    Embedded Real-Time Systems Lab
    Indian Institute of Technology-Bombay

    IIT Bombay
    October 19, 2012

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 1/16


    Outline
    Interrupts
    Interrupt-Handling on Firebird

    Agenda for Discussion


    1 Interrupts
    What is an Interrupt
    Closed Loop Programming
    2 Interrupt-Handling on Firebird
    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    SREG-Register
    EIMSK
    EICRA
    EICRB
    ISR
    C-Code

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 2/16


    Outline
    What is an Interrupt
    Interrupts
    Closed Loop Programming
    Interrupt-Handling on Firebird

    What is an Interrupt

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/16


    Outline
    What is an Interrupt
    Interrupts
    Closed Loop Programming
    Interrupt-Handling on Firebird

    What is an Interrupt

    X Any signal that causes break in continuity of some ongoing process

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/16


    Outline
    What is an Interrupt
    Interrupts
    Closed Loop Programming
    Interrupt-Handling on Firebird

    What is an Interrupt

    X Any signal that causes break in continuity of some ongoing process

    X In microcontrollers interrupt signal halts the execution of main


    program and dedicates processor to another task

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/16


    Outline
    What is an Interrupt
    Interrupts
    Closed Loop Programming
    Interrupt-Handling on Firebird

    What is an Interrupt

    X Any signal that causes break in continuity of some ongoing process

    X In microcontrollers interrupt signal halts the execution of main


    program and dedicates processor to another task

    X While main program is running, if an interrupt occurs, execution of


    main program is stopped, and program counter goes to address of ISR

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/16


    Outline
    What is an Interrupt
    Interrupts
    Closed Loop Programming
    Interrupt-Handling on Firebird

    What is an Interrupt

    X Any signal that causes break in continuity of some ongoing process

    X In microcontrollers interrupt signal halts the execution of main


    program and dedicates processor to another task

    X While main program is running, if an interrupt occurs, execution of


    main program is stopped, and program counter goes to address of ISR

    X Interrupt Service Routine: Program that needs to be executed when


    interrupt occurs

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/16


    Outline
    What is an Interrupt
    Interrupts
    Closed Loop Programming
    Interrupt-Handling on Firebird

    What is an Interrupt

    X Any signal that causes break in continuity of some ongoing process

    X In microcontrollers interrupt signal halts the execution of main


    program and dedicates processor to another task

    X While main program is running, if an interrupt occurs, execution of


    main program is stopped, and program counter goes to address of ISR

    X Interrupt Service Routine: Program that needs to be executed when


    interrupt occurs

    X After program inside ISR is executed completely, program counter


    returns back to point where main program was interrupted

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 3/16


    Outline
    What is an Interrupt
    Interrupts
    Closed Loop Programming
    Interrupt-Handling on Firebird

    Closed Loop Programming

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/16


    Outline
    What is an Interrupt
    Interrupts
    Closed Loop Programming
    Interrupt-Handling on Firebird

    Closed Loop Programming


    Systems that utilize feedback are called closed-loop control systems

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/16


    Outline
    What is an Interrupt
    Interrupts
    Closed Loop Programming
    Interrupt-Handling on Firebird

    Closed Loop Programming


    Systems that utilize feedback are called closed-loop control systems

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/16


    Outline
    What is an Interrupt
    Interrupts
    Closed Loop Programming
    Interrupt-Handling on Firebird

    Closed Loop Programming


    Systems that utilize feedback are called closed-loop control systems

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/16


    Outline
    What is an Interrupt
    Interrupts
    Closed Loop Programming
    Interrupt-Handling on Firebird

    Closed Loop Programming


    Systems that utilize feedback are called closed-loop control systems

    The feedback is used to make decisions about changes to the control


    signal that drives the plant

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/16


    Outline
    What is an Interrupt
    Interrupts
    Closed Loop Programming
    Interrupt-Handling on Firebird

    Closed Loop Programming


    Systems that utilize feedback are called closed-loop control systems

    The feedback is used to make decisions about changes to the control


    signal that drives the plant

    An open-loop control system doesn’t have or doesn’t use feedback

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 4/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Sources of Interrupt on ATmega2560

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Sources of Interrupt on ATmega2560

    ATmega 2560 has Fifty-Seven Different sources for Interrupt generation

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Sources of Interrupt on ATmega2560

    ATmega 2560 has Fifty-Seven Different sources for Interrupt generation

    Timer Overflow Interrupt

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Sources of Interrupt on ATmega2560

    ATmega 2560 has Fifty-Seven Different sources for Interrupt generation

    Timer Overflow Interrupt

    Timer Compare

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Sources of Interrupt on ATmega2560

    ATmega 2560 has Fifty-Seven Different sources for Interrupt generation

    Timer Overflow Interrupt

    Timer Compare

    Serial interrupt

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Sources of Interrupt on ATmega2560

    ATmega 2560 has Fifty-Seven Different sources for Interrupt generation

    Timer Overflow Interrupt

    Timer Compare

    Serial interrupt

    Wired & Wireless Interrupt

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Sources of Interrupt on ATmega2560

    ATmega 2560 has Fifty-Seven Different sources for Interrupt generation

    Timer Overflow Interrupt

    Timer Compare

    Serial interrupt

    Wired & Wireless Interrupt

    External hardware Interrupt

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 5/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Position encoder

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Position encoder

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Position encoder

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Position encoder

    1 Optical position encoders are used


    for position feedback

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Position encoder

    1 Optical position encoders are used


    for position feedback
    2 It consists of IR LED and photo
    diode placed opposite of each other

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Position encoder

    1 Optical position encoders are used


    for position feedback
    2 It consists of IR LED and photo
    diode placed opposite of each other
    3 When IR light is interrupted by
    encoder disc,its output state
    changes (high to low or low to
    high)

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Position encoder

    1 Optical position encoders are used


    for position feedback
    2 It consists of IR LED and photo
    diode placed opposite of each other
    3 When IR light is interrupted by
    encoder disc,its output state
    changes (high to low or low to
    high)
    4 Output of the encoder is connected
    to the interrupt pin of the
    microcontroller

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Position encoder

    1 Optical position encoders are used


    for position feedback
    2 It consists of IR LED and photo
    diode placed opposite of each other
    3 When IR light is interrupted by
    encoder disc,its output state
    changes (high to low or low to
    high)
    4 Output of the encoder is connected
    to the interrupt pin of the
    microcontroller
    5 Left encoder is connected to INT4
    and Right encoder is connected to
    INT5
    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 6/16
    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Some Mathematics...

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Some Mathematics...

    1 Number of slots in disc = 30

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Some Mathematics...

    1 Number of slots in disc = 30

    2 Number of Pulse/rotation = 30

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Some Mathematics...

    1 Number of slots in disc = 30

    2 Number of Pulse/rotation = 30

    3 Diameter of wheel = 52mm

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Some Mathematics...

    1 Number of slots in disc = 30

    2 Number of Pulse/rotation = 30

    3 Diameter of wheel = 52mm

    4 Resolution of position encoder

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Some Mathematics...

    1 Number of slots in disc = 30

    2 Number of Pulse/rotation = 30

    3 Diameter of wheel = 52mm

    4 Resolution of position encoder

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Some Mathematics...

    1 Number of slots in disc = 30

    2 Number of Pulse/rotation = 30

    3 Diameter of wheel = 52mm

    4 Resolution of position encoder


    = (π∗d)/30 = 5.44

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Some Mathematics...

    1 Number of slots in disc = 30

    2 Number of Pulse/rotation = 30

    3 Diameter of wheel = 52mm

    4 Resolution of position encoder


    = (π∗d)/30 = 5.44
    5 Pulse count

    = distance/5.44

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 7/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    SREG- AVR Status Register


    This register is used to Globally Enable all Interrupt

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    SREG- AVR Status Register


    This register is used to Globally Enable all Interrupt

    Bit Symbol Description Bit Value


    7 I Global Interrupt Enable bit 1
    6 T Bit Copy Storage bit 0
    5 H Half Carry Flag 0
    4 S Sign Bit 0
    3 V Two0 s Complement Overflow Flag 0
    2 N Negative Flag 0
    1 Z Zero Flag 0
    0 C Carry Flag 0

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    SREG- AVR Status Register


    This register is used to Globally Enable all Interrupt

    Bit Symbol Description Bit Value


    7 I Global Interrupt Enable bit 1
    6 T Bit Copy Storage bit 0
    5 H Half Carry Flag 0
    4 S Sign Bit 0
    3 V Two0 s Complement Overflow Flag 0
    2 N Negative Flag 0
    1 Z Zero Flag 0
    0 C Carry Flag 0

    SREG = 0x80

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 8/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    EIMSK- External Interrupt Mask Register


    This register is Used to enable Individual External Interrupt

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    EIMSK- External Interrupt Mask Register


    This register is Used to enable Individual External Interrupt

    Bit Symbol Description Bit Value


    7 INT7 External Interrupt Request 7 0
    6 INT6 External Interrupt Request 6 0
    5 INT5 External Interrupt Request 5 1
    4 INT4 External Interrupt Request 4 1
    3 INT3 External Interrupt Request 3 0
    2 INT2 External Interrupt Request 2 0
    1 INT1 External Interrupt Request 1 0
    0 INT0 External Interrupt Request 0 0

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    EIMSK- External Interrupt Mask Register


    This register is Used to enable Individual External Interrupt

    Bit Symbol Description Bit Value


    7 INT7 External Interrupt Request 7 0
    6 INT6 External Interrupt Request 6 0
    5 INT5 External Interrupt Request 5 1
    4 INT4 External Interrupt Request 4 1
    3 INT3 External Interrupt Request 3 0
    2 INT2 External Interrupt Request 2 0
    1 INT1 External Interrupt Request 1 0
    0 INT0 External Interrupt Request 0 0

    EIMSK = 0x30

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 9/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    EICRA- External Interrupt Control Register A


    This register is Used to generate Interrupt Signal

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    EICRA- External Interrupt Control Register A


    This register is Used to generate Interrupt Signal

    Bit Symbol Description Bit Value


    7 ISC31 Interrupt Sense control bit for Ext. Interrupt 3 0
    6 ISC30 Interrupt Sense control bit for Ext. Interrupt 3 0
    5 ISC21 Interrupt Sense control bit for Ext. Interrupt 2 0
    4 ISC20 Interrupt Sense control bit for Ext. Interrupt 2 0
    3 ISC11 Interrupt Sense control bit for Ext. Interrupt 1 0
    2 ISC10 Interrupt Sense control bit for Ext. Interrupt 1 0
    1 ISC01 Interrupt Sense control bit for Ext. Interrupt 0 0
    0 ISC00 Interrupt Sense control bit for Ext. Interrupt 0 0

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    EICRA- External Interrupt Control Register A


    This register is Used to generate Interrupt Signal

    Bit Symbol Description Bit Value


    7 ISC31 Interrupt Sense control bit for Ext. Interrupt 3 0
    6 ISC30 Interrupt Sense control bit for Ext. Interrupt 3 0
    5 ISC21 Interrupt Sense control bit for Ext. Interrupt 2 0
    4 ISC20 Interrupt Sense control bit for Ext. Interrupt 2 0
    3 ISC11 Interrupt Sense control bit for Ext. Interrupt 1 0
    2 ISC10 Interrupt Sense control bit for Ext. Interrupt 1 0
    1 ISC01 Interrupt Sense control bit for Ext. Interrupt 0 0
    0 ISC00 Interrupt Sense control bit for Ext. Interrupt 0 0

    EICRA = 0x00

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 10/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    EICRB- External Interrupt Control Register B


    This register is Used to generate Interrupt Signal

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    EICRB- External Interrupt Control Register B


    This register is Used to generate Interrupt Signal

    Bit Symbol Description Bit Value


    7 ISC71 Interrupt Sense control bit for Ext. Interrupt 7 0
    6 ISC70 Interrupt Sense control bit for Ext. Interrupt 7 0
    5 ISC61 Interrupt Sense control bit for Ext. Interrupt 6 0
    4 ISC60 Interrupt Sense control bit for Ext. Interrupt 6 0
    3 ISC51 Interrupt Sense control bit for Ext. Interrupt 5 1
    2 ISC50 Interrupt Sense control bit for Ext. Interrupt 5 0
    1 ISC41 Interrupt Sense control bit for Ext. Interrupt 4 1
    0 ISC40 Interrupt Sense control bit for Ext. Interrupt 4 0

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    EICRB- External Interrupt Control Register B


    This register is Used to generate Interrupt Signal

    Bit Symbol Description Bit Value


    7 ISC71 Interrupt Sense control bit for Ext. Interrupt 7 0
    6 ISC70 Interrupt Sense control bit for Ext. Interrupt 7 0
    5 ISC61 Interrupt Sense control bit for Ext. Interrupt 6 0
    4 ISC60 Interrupt Sense control bit for Ext. Interrupt 6 0
    3 ISC51 Interrupt Sense control bit for Ext. Interrupt 5 1
    2 ISC50 Interrupt Sense control bit for Ext. Interrupt 5 0
    1 ISC41 Interrupt Sense control bit for Ext. Interrupt 4 1
    0 ISC40 Interrupt Sense control bit for Ext. Interrupt 4 0

    EICRB = 0x0A

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 11/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Interrupt Sense Control Bit

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 12/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Interrupt Sense Control Bit

    ISCn1 ISCn0 Description


    0 0 The low level of INTn generates an Interrupt request
    0 1 Any edge of INTn generates asynchronously an interrupt request
    1 0 The falling edge of INTn generates asynchronously an interrupt request
    1 1 The rising edge of INTn generates asynchronously an interrupt request

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 12/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    ISR-Interrupt Service Routine

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 13/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    ISR-Interrupt Service Routine

    The format of ISR for external interrupt is

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 13/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    ISR-Interrupt Service Routine

    The format of ISR for external interrupt is

    ISR Format

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 13/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    ISR-Interrupt Service Routine

    The format of ISR for external interrupt is

    ISR Format
    ISR(INTn_vect)
    {
    code
    }

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 13/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    ISR-Interrupt Service Routine

    The format of ISR for external interrupt is

    ISR Format
    ISR(INTn_vect)
    {
    code
    }

    Where n = External Interrupt Number (For Atmega2560: n=0-7)

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 13/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Syntax for C-Program


    Port Initialization

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 14/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Syntax for C-Program


    Port Initialization

    Left Encoder Port Initialization

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 14/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Syntax for C-Program


    Port Initialization

    Left Encoder Port Initialization


    void left_encoder_pin_config (void) //Configure Interrupt 4
    {

    DDRE = DDRE & 0xEF; //Set the direction of the PORTE 4 pin as input
    PORTE = PORTE | 0x10; //Enable internal pull-up for PORTE 4 pin

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 14/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Syntax for C-Program


    Port Initialization

    Left Encoder Port Initialization


    void left_encoder_pin_config (void) //Configure Interrupt 4
    {

    DDRE = DDRE & 0xEF; //Set the direction of the PORTE 4 pin as input
    PORTE = PORTE | 0x10; //Enable internal pull-up for PORTE 4 pin

    Right Encoder Port Initialization

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 14/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Syntax for C-Program


    Port Initialization

    Left Encoder Port Initialization


    void left_encoder_pin_config (void) //Configure Interrupt 4
    {

    DDRE = DDRE & 0xEF; //Set the direction of the PORTE 4 pin as input
    PORTE = PORTE | 0x10; //Enable internal pull-up for PORTE 4 pin

    Right Encoder Port Initialization


    void right_encoder_pin_config (void) //Configure Interrupt 5
    {

    DDRE = DDRE & 0xDF; //Set the direction of the PORTE 4 pin as input
    PORTE = PORTE | 0x20; //Enable internal pull-up for PORTE 4 pin

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 14/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Syntax for C-Program


    Interrupt Initialization

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Syntax for C-Program


    Interrupt Initialization

    Left-Encoder Interrupt Initialization

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Syntax for C-Program


    Interrupt Initialization

    Left-Encoder Interrupt Initialization


    void left_position_encoder_interrupt_init (void) //Interrupt 4 enable
    {
    cli(); //Clears the global interrupt
    EICRB = EICRB | 0x02; // INT4 is set to trigger with falling edge
    EIMSK = EIMSK | 0x10; // Enable Interrupt INT4 for left position encoder
    sei(); // Enables the global interrupt
    }

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Syntax for C-Program


    Interrupt Initialization

    Left-Encoder Interrupt Initialization


    void left_position_encoder_interrupt_init (void) //Interrupt 4 enable
    {
    cli(); //Clears the global interrupt
    EICRB = EICRB | 0x02; // INT4 is set to trigger with falling edge
    EIMSK = EIMSK | 0x10; // Enable Interrupt INT4 for left position encoder
    sei(); // Enables the global interrupt
    }

    Right-Encoder Interrupt Initialization

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Syntax for C-Program


    Interrupt Initialization

    Left-Encoder Interrupt Initialization


    void left_position_encoder_interrupt_init (void) //Interrupt 4 enable
    {
    cli(); //Clears the global interrupt
    EICRB = EICRB | 0x02; // INT4 is set to trigger with falling edge
    EIMSK = EIMSK | 0x10; // Enable Interrupt INT4 for left position encoder
    sei(); // Enables the global interrupt
    }

    Right-Encoder Interrupt Initialization


    void right_position_encoder_interrupt_init (void) //Interrupt 5 enable
    {
    cli(); //Clears the global interrupt
    EICRB = EICRB | 0x08; // INT5 is set to trigger with falling edge
    EIMSK = EIMSK | 0x20; // Enable Interrupt INT5 for left position encoder
    sei(); // Enables the global interrupt
    }

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 15/16


    Sources of Interrupt
    Position Encoder
    Interrupt Calculation
    Outline SREG-Register
    Interrupts EIMSK
    Interrupt-Handling on Firebird EICRA
    EICRB
    ISR
    C-Code

    Thank You!
    Post your queries on: http://qa.e-yantra.org/

    www.e-yantra.org Firebird ATmega2560 Robotics Research Platform 16/16

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