PMC->PMC_PCER0 |= PMC_PCER0_PID12 // PIOB power ON PIOB->PIO_ODSR ^= PIO_ODSR_P27 // Toggle LED with a 1 Hz frequency Here is a sketch to tune the external input frequency with a Timer Counter (jumper between pin 2 and pin 24): #define USE_PIO_INTERRUPT Considering a robot arm, I would say that the external interrupts frequencies will be low. You should begin to measure the maximum frequency an external interrupt can catch, then divide by the number of external interrupts you are willing to have to know, approximately, the maximum frequency all external interrupts can be. The Atmel SAMD51, and I think the SAMD21 used on the zero as well, can have "any pin" be an interrupt, but they can't have ALL pins be interrupts (turning on a interrupt on one pin may interfere with having an interrupt occur on some other pin. Yes, it looks like the PIO interrupts are all supported by the Arduino "attachInterrupt()" function.īe careful if you are tempted by some of the newer ARM boards. None of those are exactly "external" interrupts, but there ARE interrupts for each PIO controller, and the PIO controllers are smart enough to be able to generate interrupts for various pin changes (similar to the abilities of the external interrupts on AVR, in fact.) See the section on the "Parallel Input/output Controller (PIO)", especially the subsection on "Input Edge/Level Interrupt" (second 32.5.10 on the datasheet I have.)Īlso, if I understand correctly, I can attach an interrupt to any gpio pin on the due, right? It doesn't specify whether they're external interrupts. On the Atmel SAM datasheet (the one used in the Due) it says there are 30 Cortex M3 interrupts available for use, so I'd just like to confirm if this info is correct. It's been pretty hard to find info about the Due's interrupts.
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