![]() This makes me think this must be related to the priorities of the interruptions. Motor 1 is related to timer 3 and motor 2 to timer 4. You can run pieces of code simultaneously on both cores, and make your. Although, if its motor 1 who has to do 34 steps and motor 2, 18, everything works. In this post well show you how to run code on the ESP32 second core by creating tasks. In this case, both motors 1 and 3 finish but motor 2 gets stuck and does not move any more. This only happens under one condition: when motor 1 has to do 18 steps and motor 2, 34. My problem is that, at some point, my interruptions crash and one of the motors stops working. This way, at each interruption, I make the motors do one step and, after that, I set the new compare value for the timer in order to reach the new velocity to move at. For so, I use timers 3, 4 and 5 in compare mode. In order to do so, from the distances to move of each of the motors, I calculate the amount of steps to do and the velocities for each of those steps in order to ensure that all the motors finish at the same time. The goal is to move to different positions applying accelerations and decelerations while finishing all of them at the same time. This is basically what I'm doing now, turning off timer interrupts on timer 1 which triggers my periodic "control" loop whenever I2C is used, modified part of library is attached.I am working with a MEGA2560 trying to implement velocity ramps for three steppers at the same time. Sketches (Part 1 & 2) README.md Timer2.pdf README. Although the program's stability increased a lot leading me to believe I'm on the right track, it didn't completely fix the issue so here I am now. GitHub - RalphBacon/Arduino-Timer-Interrupts: A hardware timer interrupt allows a regular process to run without you doing much at all RalphBacon Arduino-Timer-Interrupts main 1 branch 0 tags Code 7 commits Failed to load latest commit information. The keyword 'volatile' should be used in a proper way. If your interrupt function takes longer than the interrupts from receiving data at 115200 baud, then characters could be missed. I got the idea to fix this by manually disabling the timer interrupt just before I2C communication starts and enabling it right afterwards, testing it using only the I2C-connected barometer without which the sketch doesn't crash. If for example your interrupt function calls a Serial function, then it can go wrong because the Serial library uses interrupts itself. It only happens if the running loop uses I2C, so I reasoned that if the long interrupt fires during communications, it will not only garble the data (which sometimes happens) but crash the sketch as well. Turns out, it works magnificently and smoothly until the sketch crashes at a random point in time. So, instead of breaking up the GPS parsing into small state machine steps as I just might have to do anyway, I got the bright idea of reading the gyroscope/accelerometer and update the control servos accordingly in a timer interrupt, with all the other less time-critical stuff like the GPS running along in the "backround". ![]() Using interrupts in Arduino isn’t all that different to implementing them in C/C++. For example an emergency or something else that is time critical. ![]() I had all of these in my sketch and working easily fast enough (about 30 loops per second) using mostly Adafruit libraries, but the GPS parsing function takes long enough for there to be a noticeable pause, which isn't really good. Posted on Novem Ben Interrupts are really useful for when you need something to interrupt normal program execution flow. It includes an Arduino nano, a GPS, the usual gyroscope/accelerometer, a barometer, differential barometer and so on. My project is basically a crude autopilot for a RC parkflyer. ![]() I understand that it's bad practice to have long interrupts in the first place and I might have to do things differently anyway, but the whole issue interests me so I thought I'd ask about it. I have hit a snag in my project regarding long interrupt routines crashing when the program includes I2C communications.
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