https://wiki.yo-net.jp/index.php?action=history&feed=atom&title=Arduino_Mega_2560_LESSON%3A9_%E3%82%B5%E3%83%BC%E3%83%9C_interrupt.h
Arduino Mega 2560 LESSON:9 サーボ interrupt.h - 版の履歴
2026-10-11T01:33:54Z
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https://wiki.yo-net.jp/index.php?title=Arduino_Mega_2560_LESSON:9_%E3%82%B5%E3%83%BC%E3%83%9C_interrupt.h&diff=14097&oldid=prev
2026年10月10日 (土) 15:55にYo-netによる
2026-10-10T15:55:25Z
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← 古い版</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">2026年10月11日 (日) 00:55時点における版</td>
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<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>[[Arduino Mega 2560]]に戻る。</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>[[Arduino Mega 2560 <ins style="font-weight: bold; text-decoration: none;">LESSON:9 サーボ</ins>]]に戻る。</div></td></tr>
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https://wiki.yo-net.jp/index.php?title=Arduino_Mega_2560_LESSON:9_%E3%82%B5%E3%83%BC%E3%83%9C_interrupt.h&diff=14096&oldid=prev
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[[Arduino Mega 2560]]に戻る。<br />
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<freescript></script><div class="hljs-wrap"><pre data-label="Arduino Code" class="pre-wrap"><br />
<code class="cpp">/* Copyright (c) 2002,2005,2007 Marek Michalkiewicz<br />
Copyright (c) 2007, Dean Camera<br />
<br />
All rights reserved.<br />
<br />
Redistribution and use in source and binary forms, with or without<br />
modification, are permitted provided that the following conditions are met:<br />
<br />
* Redistributions of source code must retain the above copyright<br />
notice, this list of conditions and the following disclaimer.<br />
<br />
* Redistributions in binary form must reproduce the above copyright<br />
notice, this list of conditions and the following disclaimer in<br />
the documentation and/or other materials provided with the<br />
distribution.<br />
<br />
* Neither the name of the copyright holders nor the names of<br />
contributors may be used to endorse or promote products derived<br />
from this software without specific prior written permission.<br />
<br />
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"<br />
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE<br />
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE<br />
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE<br />
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR<br />
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF<br />
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS<br />
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN<br />
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)<br />
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE<br />
POSSIBILITY OF SUCH DAMAGE. */<br />
<br />
/* $Id$ */<br />
<br />
#ifndef _AVR_INTERRUPT_H_<br />
#define _AVR_INTERRUPT_H_<br />
<br />
#include <avr/io.h><br />
<br />
#if !defined(__DOXYGEN__) && !defined(__STRINGIFY)<br />
/* Auxiliary macro for ISR_ALIAS(). */<br />
#define __STRINGIFY(x) #x<br />
#endif /* !defined(__DOXYGEN__) */<br />
<br />
/** <br />
\file <br />
\@{ <br />
*/<br />
<br />
<br />
/** \name Global manipulation of the interrupt flag<br />
<br />
The global interrupt flag is maintained in the I bit of the status<br />
register (SREG).<br />
<br />
Handling interrupts frequently requires attention regarding atomic<br />
access to objects that could be altered by code running within an<br />
interrupt context, see <util/atomic.h>.<br />
<br />
Frequently, interrupts are being disabled for periods of time in<br />
order to perform certain operations without being disturbed; see<br />
\ref optim_code_reorder for things to be taken into account with<br />
respect to compiler optimizations.<br />
*/<br />
<br />
#if defined(__DOXYGEN__)<br />
/** \def sei()<br />
\ingroup avr_interrupts<br />
<br />
Enables interrupts by setting the global interrupt mask. This function<br />
actually compiles into a single line of assembly, so there is no function<br />
call overhead. However, the macro also implies a <i>memory barrier</i><br />
which can cause additional loss of optimization.<br />
<br />
In order to implement atomic access to multi-byte objects,<br />
consider using the macros from <util/atomic.h>, rather than<br />
implementing them manually with cli() and sei().<br />
*/<br />
#define sei()<br />
#else /* !DOXYGEN */<br />
# define sei() __asm__ __volatile__ ("sei" ::: "memory")<br />
#endif /* DOXYGEN */<br />
<br />
#if defined(__DOXYGEN__)<br />
/** \def cli()<br />
\ingroup avr_interrupts<br />
<br />
Disables all interrupts by clearing the global interrupt mask. This function<br />
actually compiles into a single line of assembly, so there is no function<br />
call overhead. However, the macro also implies a <i>memory barrier</i><br />
which can cause additional loss of optimization.<br />
<br />
In order to implement atomic access to multi-byte objects,<br />
consider using the macros from <util/atomic.h>, rather than<br />
implementing them manually with cli() and sei().<br />
*/<br />
#define cli()<br />
#else /* !DOXYGEN */<br />
# define cli() __asm__ __volatile__ ("cli" ::: "memory")<br />
#endif /* DOXYGEN */<br />
<br />
<br />
/** \name Macros for writing interrupt handler functions */<br />
<br />
<br />
#if defined(__DOXYGEN__)<br />
/** \def ISR(vector [, attributes])<br />
\ingroup avr_interrupts<br />
<br />
Introduces an interrupt handler function (interrupt service<br />
routine) that runs with global interrupts initially disabled<br />
by default with no attributes specified.<br />
<br />
The attributes are optional and alter the behaviour and resultant<br />
generated code of the interrupt routine. Multiple attributes may<br />
be used for a single function, with a space seperating each<br />
attribute.<br />
<br />
Valid attributes are ISR_BLOCK, ISR_NOBLOCK, ISR_NAKED and<br />
ISR_ALIASOF(vect).<br />
<br />
\c vector must be one of the interrupt vector names that are<br />
valid for the particular MCU type.<br />
*/<br />
# define ISR(vector, [attributes])<br />
#else /* real code */<br />
<br />
#if (__GNUC__ == 4 && __GNUC_MINOR__ >= 1) || (__GNUC__ > 4)<br />
# define __INTR_ATTRS used, externally_visible<br />
#else /* GCC < 4.1 */<br />
# define __INTR_ATTRS used<br />
#endif<br />
<br />
#ifdef __cplusplus<br />
# define ISR(vector, ...) \<br />
extern "C" void vector (void) __attribute__ ((signal,__INTR_ATTRS)) __VA_ARGS__; \<br />
void vector (void)<br />
#else<br />
# define ISR(vector, ...) \<br />
void vector (void) __attribute__ ((signal,__INTR_ATTRS)) __VA_ARGS__; \<br />
void vector (void)<br />
#endif<br />
<br />
#endif /* DOXYGEN */<br />
<br />
#if defined(__DOXYGEN__)<br />
/** \def SIGNAL(vector)<br />
\ingroup avr_interrupts<br />
<br />
Introduces an interrupt handler function that runs with global interrupts<br />
initially disabled.<br />
<br />
This is the same as the ISR macro without optional attributes.<br />
\deprecated Do not use SIGNAL() in new code. Use ISR() instead.<br />
*/<br />
# define SIGNAL(vector)<br />
#else /* real code */<br />
<br />
#ifdef __cplusplus<br />
# define SIGNAL(vector) \<br />
extern "C" void vector(void) __attribute__ ((signal, __INTR_ATTRS)); \<br />
void vector (void)<br />
#else<br />
# define SIGNAL(vector) \<br />
void vector (void) __attribute__ ((signal, __INTR_ATTRS)); \<br />
void vector (void)<br />
#endif<br />
<br />
#endif /* DOXYGEN */<br />
<br />
#if defined(__DOXYGEN__)<br />
/** \def EMPTY_INTERRUPT(vector)<br />
\ingroup avr_interrupts<br />
<br />
Defines an empty interrupt handler function. This will not generate<br />
any prolog or epilog code and will only return from the ISR. Do not<br />
define a function body as this will define it for you.<br />
Example:<br />
\code EMPTY_INTERRUPT(ADC_vect);\endcode */<br />
# define EMPTY_INTERRUPT(vector)<br />
#else /* real code */<br />
<br />
#ifdef __cplusplus<br />
# define EMPTY_INTERRUPT(vector) \<br />
extern "C" void vector(void) __attribute__ ((signal,naked,__INTR_ATTRS)); \<br />
void vector (void) { __asm__ __volatile__ ("reti" ::); }<br />
#else<br />
# define EMPTY_INTERRUPT(vector) \<br />
void vector (void) __attribute__ ((signal,naked,__INTR_ATTRS)); \<br />
void vector (void) { __asm__ __volatile__ ("reti" ::); }<br />
#endif<br />
<br />
#endif /* DOXYGEN */<br />
<br />
#if defined(__DOXYGEN__)<br />
/** \def ISR_ALIAS(vector, target_vector)<br />
\ingroup avr_interrupts<br />
<br />
Aliases a given vector to another one in the same manner as the<br />
ISR_ALIASOF attribute for the ISR() macro. Unlike the ISR_ALIASOF<br />
attribute macro however, this is compatible for all versions of<br />
GCC rather than just GCC version 4.2 onwards.<br />
<br />
\note This macro creates a trampoline function for the aliased<br />
macro. This will result in a two cycle penalty for the aliased<br />
vector compared to the ISR the vector is aliased to, due to the<br />
JMP/RJMP opcode used.<br />
<br />
\deprecated<br />
For new code, the use of ISR(..., ISR_ALIASOF(...)) is<br />
recommended.<br />
<br />
Example:<br />
\code<br />
ISR(INT0_vect)<br />
{<br />
PORTB = 42;<br />
}<br />
<br />
ISR_ALIAS(INT1_vect, INT0_vect);<br />
\endcode <br />
<br />
*/<br />
# define ISR_ALIAS(vector, target_vector)<br />
#else /* real code */<br />
<br />
#ifdef __cplusplus<br />
# if defined(__AVR_MEGA__) && __AVR_MEGA__<br />
# define ISR_ALIAS(vector, tgt) extern "C" void vector (void) \<br />
__attribute__((signal, naked, __INTR_ATTRS)); \<br />
void vector (void) { asm volatile ("jmp " __STRINGIFY(tgt) ::); }<br />
# else /* !__AVR_MEGA */<br />
# define ISR_ALIAS(vector, tgt) extern "C" void vector (void) \<br />
__attribute__((signal, naked, __INTR_ATTRS)); \<br />
void vector (void) { asm volatile ("rjmp " __STRINGIFY(tgt) ::); }<br />
# endif /* __AVR_MEGA__ */<br />
#else /* !__cplusplus */<br />
# if defined(__AVR_MEGA__) && __AVR_MEGA__<br />
# define ISR_ALIAS(vector, tgt) void vector (void) \<br />
__attribute__((signal, naked, __INTR_ATTRS)); \<br />
void vector (void) { asm volatile ("jmp " __STRINGIFY(tgt) ::); }<br />
# else /* !__AVR_MEGA */<br />
# define ISR_ALIAS(vector, tgt) void vector (void) \<br />
__attribute__((signal, naked, __INTR_ATTRS)); \<br />
void vector (void) { asm volatile ("rjmp " __STRINGIFY(tgt) ::); }<br />
# endif /* __AVR_MEGA__ */<br />
#endif /* __cplusplus */<br />
<br />
#endif /* DOXYGEN */<br />
<br />
#if defined(__DOXYGEN__)<br />
/** \def reti()<br />
\ingroup avr_interrupts<br />
<br />
Returns from an interrupt routine, enabling global interrupts. This should<br />
be the last command executed before leaving an ISR defined with the ISR_NAKED<br />
attribute.<br />
<br />
This macro actually compiles into a single line of assembly, so there is<br />
no function call overhead.<br />
*/<br />
# define reti()<br />
#else /* !や<br />
# define reti() __asm__ __volatile__ ("reti" ::)<br />
#endif /* DOXYGEN */<br />
<br />
#if defined(__DOXYGEN__)<br />
/** \def BADISR_vect<br />
\ingroup avr_interrupts<br />
<br />
\code #include <avr/interrupt.h> \endcode<br />
<br />
This is a vector which is aliased to __vector_default, the vector<br />
executed when an ISR fires with no accompanying ISR handler. This<br />
may be used along with the ISR() macro to create a catch-all for<br />
undefined but used ISRs for debugging purposes.<br />
*/<br />
# define BADISR_vect<br />
#else /* !DOXYGEN */<br />
# define BADISR_vect __vector_default<br />
#endif /* DOXYGEN */<br />
<br />
/** \name ISR attributes */<br />
<br />
#if defined(__DOXYGEN__)<br />
/** \def ISR_BLOCK<br />
\ingroup avr_interrupts<br />
<br />
Identical to an ISR with no attributes specified. Global<br />
interrupts are initially disabled by the AVR hardware when<br />
entering the ISR, without the compiler modifying this state.<br />
<br />
Use this attribute in the attributes parameter of the ISR macro.<br />
*/<br />
# define ISR_BLOCK<br />
<br />
/** \def ISR_NOBLOCK<br />
\ingroup avr_interrupts<br />
<br />
ISR runs with global interrupts initially enabled. The interrupt<br />
enable flag is activated by the compiler as early as possible<br />
within the ISR to ensure minimal processing delay for nested<br />
interrupts.<br />
<br />
This may be used to create nested ISRs, however care should be<br />
taken to avoid stack overflows, or to avoid infinitely entering<br />
the ISR for those cases where the AVR hardware does not clear the<br />
respective interrupt flag before entering the ISR.<br />
<br />
Use this attribute in the attributes parameter of the ISR macro.<br />
*/<br />
# define ISR_NOBLOCK<br />
<br />
/** \def ISR_NAKED<br />
\ingroup avr_interrupts<br />
<br />
ISR is created with no prologue or epilogue code. The user code is<br />
responsible for preservation of the machine state including the<br />
SREG register, as well as placing a reti() at the end of the<br />
interrupt routine.<br />
<br />
Use this attribute in the attributes parameter of the ISR macro.<br />
*/<br />
# define ISR_NAKED<br />
<br />
/** \def ISR_ALIASOF(target_vector)<br />
\ingroup avr_interrupts<br />
<br />
The ISR is linked to another ISR, specified by the vect parameter.<br />
This is compatible with GCC 4.2 and greater only.<br />
<br />
Use this attribute in the attributes parameter of the ISR macro.<br />
*/<br />
# define ISR_ALIASOF(target_vector)<br />
#else /* !DOXYGEN */<br />
# define ISR_BLOCK<br />
# define ISR_NOBLOCK __attribute__((interrupt))<br />
# define ISR_NAKED __attribute__((naked))<br />
# define ISR_ALIASOF(v) __attribute__((alias(__STRINGIFY(v))))<br />
#endif /* DOXYGEN */<br />
<br />
/* \@} */<br />
<br />
#endif<br />
</code></pre></div><script></freescript><br />
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[[Arduino Mega 2560]]に戻る。</div>
Yo-net