Unknown operations throwing off polling timing

Sola_Oladosu · October 31, 2023, 4:55pm

I am trying to get a tight polling loop on two pins of an arduino nano 33 BLE to read an optical encoder. I implemented the code below using Mbed CE…

#include "mbed.h"

Ticker counterTicker;

volatile int bufpresE[2500];//Set to reflect memory limits
volatile int bufpresF[2500];//Set to reflect memory limits
volatile int buft3[2500];//Set to reflect memory limits

volatile int i = 0;
volatile int k = 1;
int l = 0;
volatile int n = 0;

void ISRcounter(void)
{
    counterTicker.detach();

    for (n = 0; n < 30000000; n++)
    {
        bufpresE[k] = ((NRF_P0->IN & 0x08000000) ? 1 : 0) ;
        bufpresF[k] = ((NRF_P1->IN & 0x00000004) ? 1 : 0) ;
        buft3[k] = DWT->CYCCNT;
        if ((bufpresE[k-1] != bufpresE[k]) || (bufpresF[k-1] != bufpresF[k]))
        {
            k++;
        }
    }

    i = 1;
}

int main()
{
  NRF_P0->PIN_CNF[27] = 0x0C;
  NRF_P1->PIN_CNF[2] = 0x0C;

  bufpresE[0] = ((NRF_P0->IN & 0x08000000) ? 1 : 0) ;
  bufpresF[0] = ((NRF_P1->IN & 0x00000004) ? 1 : 0) ;
  bufpresE[1] = bufpresE[0];
  bufpresF[1] = bufpresF[0];
  buft3[0] = 0;

  CoreDebug->DEMCR |= 0x01000000; //Enable the use of DWT.
  DWT->CYCCNT = 0; //Reset cycle counter.
  DWT->CTRL |= 0x1; //Enable cycle counter.

  counterTicker.attach(ISRcounter, 3ms); // Call ISRcounter function every stated s.

  while(true)
  {
    if (i == 1)
    {
      for (l = 0; l < k; l++)//Set to reflect memory limits
        {
          printf("%i, %i, %i\n", buft3[l], bufpresE[l], bufpresF[l]);
        }
        printf("end of sensor data\n");
      }
	}

	// main() is expected to loop forever.
	// If main() actually returns the processor will halt
	return 0;
  }

and got the output below…

1	0	0	0
2	412405887	0	1
3	412597180	1	1
4	413032223	0	1
5	413079681	0	0
6	413116149	1	0
7	413148207	1	1
8	413177965	0	1
9	413207438	0	0
10	413235326	1	0
11	413262874	1	1
12	413289442	0	1
13	413314570	0	0
14	413340368	1	0
15	413359831	1	1
16	413380294	0	1
17	413400637	0	0
18	413419175	1	0
19	413437208	1	1
20	413454316	0	1
21	413471304	0	0
22	413487147	1	0
23	413502980	1	1
24	413518438	0	1
25	413533996	0	0
26	413549014	1	0
27	413564132	1	1
28	413579260	0	1
29	413594928	0	0
30	413610331	1	0
31	413626384	1	1
32	413642282	0	1
33	413658335	0	0
34	413674453	1	0
35	413690561	1	1
36	413706899	0	1
37	413723667	0	0
38	413740005	1	0
39	413756553	1	1
40	413772781	0	1
41	413789219	0	0
42	413807427	1	0
43	413822820	1	1
44	413839323	0	1
45	413856696	0	0
46	413875949	1	0
47	413890957	1	1
48	413908120	0	1
49	413926373	0	0
50	413950081	1	0
51	413962009	1	1
52	413980272	0	1
53	413999295	0	0
54	414019263	1	0
55	414038726	1	1
56	414058584	0	1
57	414078762	0	0
58	414101920	1	0
59	414118138	1	1
60	414137226	0	1
61	414156744	0	0
62	414176877	1	0
63	414195130	1	1
64	414213778	0	1
65	414233241	0	0
66	414252164	1	0
67	414271462	1	1
68	414290605	0	1
69	414310178	0	0
70	414329486	1	0
71	414349609	1	1
72	414369247	0	1
73	414389865	0	0
74	414409943	1	0
75	414430286	1	1
76	414449924	0	1
77	414470487	0	0
78	414489795	1	0
79	414509313	1	1
80	414528071	0	1
81	414547204	0	0
82	414566182	1	0
83	414583775	1	1
84	414601763	0	1
85	414620126	0	0
86	414640644	1	0
87	414655432	1	1
88	414672925	0	1
89	414691453	0	0
90	414715051	1	0
91	414727584	1	1
92	414745132	0	1
93	414763935	0	0
94	414781978	1	0
95	414800176	1	1
96	414818329	0	1
97	414836307	0	0
98	414856550	1	0
99	414872988	1	1
100	414890591	0	1
101	414908789	0	0
102	414926447	1	0
103	414944535	1	1
104	414961973	0	1
105	414980006	0	0
106	414997279	1	0
107	415015587	1	1
108	415032970	0	1
109	415051058	0	0
110	415068771	1	0
111	415086584	1	1
112	415104242	0	1
113	415121890	0	0
114	415139438	1	0
115	415156316	1	1
116	415173204	0	1
117	415190467	0	0
118	415206695	1	0
119	415223903	1	1
120	415239746	0	1
121	415255524	0	0
122	415274722	1	0
123	415287420	1	1
124	415302493	0	1
125	415318491	0	0
126	415335599	1	0
127	415349012	1	1
128	415363975	0	1
129	415379643	0	0
130	415394826	1	0
131	415409614	1	1
132	415424852	0	1
133	415440410	0	0
134	415454933	1	0
135	415470271	1	1
136	415485344	0	1
137	415500407	0	0
138	415515425	1	0
139	415530543	1	1
140	415545121	0	1
141	415560624	0	0
142	415575532	1	0
143	415590595	1	1
144	415605393	0	1
145	415620456	0	0
146	415649884	1	0
147	415650867	1	1
148	415665610	0	1
149	415681333	0	0
150	415704491	1	0
151	415711414	1	1
152	415726707	0	1
153	415742375	0	0
154	415773398	1	1
155	415788351	0	1
156	415804514	0	0
157	415820467	1	0
158	415835310	1	1
159	415850823	0	1
160	415866326	0	0
161	415894104	1	0
162	415897507	1	1
163	415912470	0	1
164	415928358	0	0
165	415947611	1	0
166	415958604	1	1
167	415973952	0	1
168	415989510	0	0
169	416004363	1	0
170	416019701	1	1
171	416034664	0	1
172	416050277	0	0
173	416065460	1	0
174	416080633	1	1
175	416095981	0	1
176	416111429	0	0
177	416126447	1	0
178	416142060	1	1
179	416157298	0	1
180	416173296	0	0
181	416188699	1	0
182	416204367	1	1
183	416220375	0	1
184	416236263	0	0
185	416252106	1	0
186	416268544	1	1
187	416284552	0	1
188	416301540	0	0
189	416317548	1	0
190	416334591	1	1
191	416351479	0	1
192	416368302	0	0
193	416385465	1	0
194	416402508	1	1
195	416419616	0	1
196	416437044	0	0
197	416454152	1	0
198	416472405	1	1
199	416489623	0	1
200	416508261	0	0
201	416526194	1	0
202	416544392	1	1
203	416562380	0	1
204	416582118	0	0
205	416600766	1	0
206	416620504	1	1
207	416640417	0	1
208	416661035	0	0
209	416680728	1	0
210	416702721	1	1
211	416722414	0	1
212	416745287	0	0
213	416767180	1	0
214	416789998	1	1
215	416812276	0	1
216	416836689	0	0
217	416858307	1	0
218	416884205	1	1
219	416907143	0	1
220	416932381	0	0
221	416958069	1	0
222	416982537	1	1
223	417009380	0	1
224	417035663	0	0
225	417062726	1	0
226	417090439	1	1
227	417119427	0	1
228	417148240	0	0
229	417178438	1	0
230	417209341	1	1
231	417239704	0	1
232	417270497	0	0
233	417304215	1	0
234	417335393	1	1
235	417369826	0	1
236	417404579	0	0
237	417440442	1	0
238	417479045	1	1
239	417519528	0	1
240	417565666	0	0
241	417613849	1	0
242	417667577	1	1
243	417724945	0	1
244	417796933	0	0
245	417885156	1	0
246	418027214	1	1
247	418269107	1	0
248	418388680	0	0
249	418520728	0	1
250	418700471	0	0
251	418747499	0	1
252	418917837	1	1
253	419223850	1	0
254	419304703	1	1
255	419421031	0	1
256	419478059	0	0
257	419532457	1	0
258	419579365	1	1
259	419625568	0	1
260	419697886	0	0
261	419758994	1	0
262	419825537	1	1
263	419894290	0	1
264	419953023	0	0
265	420020841	1	0
266	420121319	1	1
267	420212292	0	1
268	420313595	0	0
269	420413863	1	0
270	420568736	1	1
271	420698979	0	1
272	421387902	1	1
273	421547285	1	0
274	421664493	0	0
275	421778611	0	1
276	421883499	1	1
277	421975727	1	0
278	422066590	0	0
279	422157663	0	1
280	422233016	1	1
281	422309294	1	0
282	422382007	0	0
283	422459165	0	1
284	422532318	1	1
285	422605846	1	0
286	422672069	0	0
287	422743177	0	1
288	422806375	1	1
289	422875173	1	0
290	422938096	0	0
291	422997929	0	1
292	423057057	1	1
293	423113700	1	0
294	423171838	0	0
295	423249876	0	1
296	423302844	1	1
297	423362732	1	0
298	423426645	0	0
299	423504353	0	1
300	423576516	1	1
301	423660934	1	0
302	423738927	0	0
303	423819990	0	1
304	423890613	1	1
305	423971731	1	0
306	424052859	0	0
307	424149157	0	1
308	424265375	1	1
309	424396158	1	0
310	424508306	0	0
311	424666314	0	1
312	424683642	1	1
313	424768995	1	0
314	424850948	0	0
315	424935476	0	1
316	425013194	1	1
317	425083422	1	0
318	425142165	0	0
319	425194573	0	1
320	425239126	1	1
321	425281579	1	0
322	425324702	0	0
323	425369685	0	1
324	425412093	1	1
325	425458506	1	0
326	425506414	0	0
327	425555467	0	1
328	425594575	1	1
329	425637743	1	0
330	425679656	0	0
331	425721944	0	1
332	425764407	1	1
333	425809060	1	0
334	425852843	0	0
335	425895571	0	1
336	425939959	1	1
337	425984887	1	0
338	426032300	0	0
339	426048738	1	0
340	426082886	0	0
341	426117529	0	1
342	426169892	1	1
343	426192655	1	0
344	426211633	0	0
345	426247761	0	1
346	426359414	1	1
347	426425407	1	0
348	426557685	0	0
349	426593538	0	1
350	426742756	1	1
351	426794174	0	1
352	427073622	0	0
353	427375080	0	1
354	427793028	1	1
355	427966491	1	0
356	428112959	0	0
357	428231697	0	1
358	428370905	1	1
359	428505978	1	0
360	428585896	0	0
361	428636269	0	1
362	428719927	1	1
363	428824145	1	0
364	428921113	0	0
365	428980396	0	1
366	429022474	1	1
367	429073672	1	0
368	429144020	0	0
369	429217603	0	1
370	429317761	1	1
371	429368739	1	0
372	429419892	0	0
373	429480000	0	1
374	429558653	1	1
375	429672661	1	0
376	429774854	0	0
377	429859327	0	1
378	429897555	1	1
379	429962338	1	0
380	430171341	0	0
381	430246244	0	1
382	430305207	1	1
383	430412285	1	0
384	430539008	0	0
385	430605771	0	1
386	430661104	1	1
387	430711037	1	0
388	430764555	0	0
389	430865363	0	1
390	430972286	1	1
391	431059179	1	0
392	431135797	0	0
393	431257835	0	1
394	431376088	1	1
395	431503901	1	0
396	432294364	1	1
397	432510242	0	1
398	432746790	0	0
399	432895623	1	0
400	433060231	1	1
401	433219404	0	1
402	433359262	0	0
403	433499625	1	0
404	433591633	1	1
405	433697786	0	1
406	433814379	0	0
407	433923667	1	0
408	434009020	1	1
409	434091413	0	1
410	434186666	0	0
411	434285229	1	0
412	434364422	1	1
413	434450610	0	1
414	434551088	0	0
415	434647286	1	0
416	434725379	1	1
417	434806287	0	1
418	434897690	0	0
419	434990313	1	0
420	435077371	1	1
421	435162074	0	1
422	435247757	0	0
423	435335705	1	0
424	435411763	1	1
425	435495146	0	1
426	435584349	0	0
427	435674112	1	0
428	435769200	1	1
429	435869798	0	1
430	435963621	0	0
431	436054649	1	0
432	436155127	1	1
433	436252920	0	1
434	436351693	0	0
435	436457626	1	0
436	436575429	1	1
437	436682847	0	1
438	436807415	0	0
439	436966423	1	0
440	437134881	1	1
441	437348944	0	1
442	437642857	0	0
443	438838340	0	1
444	439176043	1	1
445	439451036	1	0
446	439729009	0	0
447	439979637	1	0
448	440239725	1	1
449	440393948	0	1
450	440527041	0	0
451	440635449	1	0
452	440763812	1	1
453	440889600	0	1
454	441005148	0	0
455	441140836	1	0
456	441313694	1	1
457	441468852	0	1
458	441724760	0	0
459	443418048	0	1
460	443845951	1	1
461	444160764	1	0
462	444492582	0	0
463	444755420	0	1
464	445047803	1	1
465	445315756	1	0
466	445567549	0	0
467	445828792	0	1
468	446102145	1	1
469	446406948	1	0
470	446705436	0	0
471	447047199	0	1
472	447455027	1	1
473	448081140	1	0
474	450887518	1	1
475	453070141	0	1
476	454625369	0	0
477	459222327	0	1		
end of sensor data

Added line numbers for easy referencing. I have an unexpected sequence which should not happen @ line 153-154. This indicates that the processor is busy elsewhere. I want the processor to focus completely on the timer interrupt when it goes off and only attend to anything else afterwards. How can i best prevent other processes from affecting the timing of the code above?

MultipleMonomials · November 1, 2023, 3:41am

Hmm, what happens if you do the loop in a critical section (e.g. core_util_critical_section_enter())? That should prevent any other interrupts from executing.

If the critical section fixes it, next step is to figure out which interrupt is causing the problem. In the past, I’ve done this by turning off interrupts in the CPU registers until the problem goes away (you can binary search it!). One likely candidate could be the UART interrupt as this is active whenever text is being printed over the serial console.

Sola_Oladosu · November 1, 2023, 9:47pm

I have tried “core_util_critical_section_enter()” but that didn’t help. Placed

core_util_critical_section_enter();

before the for-loop in the ISRcounter timer interrupt and placed

core_util_critical_section_exit();

after the loop.

Ended up with the results below.

1	0	0	0
2	193466	1	0
3	5184108	0	0
4	5184156	1	0
5	6076634	0	0
6	6076682	1	0
7	6110280	0	0
8	6110328	1	0
9	7350241	0	0
10	7350289	1	0
11	7370742	0	0
12	7370790	1	0
13	9943628	0	0
14	9943676	1	0
15	11222639	0	0
16	11222687	1	0
17	11249575	0	0
18	11249623	1	0
19	13793256	0	0
20	13793304	1	0
21	16997487	0	0
22	16997535	1	0
23	23414323	0	0
24	23414371	1	0
25	23441039	0	0
26	23441087	1	0
27	23454500	0	0
28	23454548	1	0
29	23541496	0	0
30	23541544	1	0
31	24059857	0	0
32	24059905	1	0
33	24464478	0	0
34	24464526	1	0
35	26614744	0	0
36	26614792	1	0
37	27315540	0	0
38	27315588	1	0
39	28547471	0	0
40	28547519	1	0
41	29844467	0	0
42	29844515	1	0
43	31124523	0	0
44	31124571	1	0
45	33043184	0	0
46	33043232	1	0
47	38213500	0	0
48	38213548	1	0
49	38349116	0	0
50	38349164	1	0
51	39634562	0	0
52	39634610	1	0
53	40131968	0	0
54	40132016	1	0
55	41441889	0	0
56	41441937	1	0
57	42052485	0	0
58	42052533	1	0
59	42178916	0	0
60	42178964	1	0
61	42455497	0	0
62	42455545	1	0
63	43886583	0	0
64	43886631	1	0
65	44529134	0	0
66	44529182	1	0
67	44992495	0	0
68	44992543	1	0
69	45896021	0	0
70	45896069	1	0
71	47572682	0	0
72	47572730	1	0
73	47864168	0	0
74	47864216	1	0
75	47959854	0	0
76	47959902	1	0
77	48470240	0	0
78	48470288	1	0
79	49114386	0	0
80	49114434	1	0
81	49147207	0	0
82	49147255	1	0
83	49246908	0	0
84	49246956	1	0
85	50405744	0	0
86	50405792	1	0
87	51423065	0	0
88	51423113	1	0
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90	51801994	1	0
91	51815132	0	0
92	51815180	1	0
93	52965608	0	0
94	52965656	1	0
95	54003389	0	0
96	54003437	1	0
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100	55437699	1	0
101	56539177	0	0
102	56539225	1	0
103	56947648	0	0
104	56947696	1	0
105	57513474	0	0
106	57513522	1	0
107	57819590	0	0
108	57819638	1	0
109	58743026	0	0
110	58743074	1	0
111	59129332	0	0
112	59129380	1	0
113	60030603	0	0
114	60030651	1	0
115	60064524	0	0
116	60064572	1	0
117	61342435	0	0
118	61342483	1	0
119	61946871	0	0
120	61946919	1	0
121	62976182	0	0
122	62976230	1	0
123	63269153	0	0
124	63269201	1	0
125	63862094	0	0
126	63862142	1	0
127	65146495	0	0
128	65146543	1	0
129	65828921	0	0
130	65828969	1	0
131	65944132	0	0
132	65944180	1	0
133	66425588	0	0
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1005	204161899	0	1
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1010	204247189	0	0
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1067	205208700	1	0
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1074	205332816	0	0
1075	205355534	1	0
1076	205368837	1	1
1077	205387100	0	1
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1079	205444131	1	1
1080	205463264	0	1
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1094	205743846	1	0
1095	205764959	1	1
1096	205785367	0	1
1097	205808130	0	0
1098	205829198	1	0
1099	205851466	1	1
1100	205873524	0	1
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1103	205943143	1	1
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1107	206041420	1	1
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1109	206095976	0	0
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1111	206151742	1	1
1112	206180895	0	1
1113	206209488	0	0
1114	206240181	1	0
1115	206272184	1	1
1116	206304582	0	1
1117	206337245	0	0
1118	206372338	1	0
1119	206408686	1	1
1120	206446309	0	1
1121	206485572	0	0
1122	206524955	1	0
1123	206569003	1	1
1124	206615481	0	1
1125	206668219	0	0
1126	206728227	1	0
1127	206795760	1	1
1128	206881673	0	1
1129	207369406	1	1
1130	207445409	1	0
1131	207520047	0	0
1132	207629105	0	1
1133	207829308	1	1
1134	207905421	1	0
1135	208181579	1	1
1136	208243127	1	0
1137	208366825	1	1
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1154	210972706	0	1
1155	211084414	1	1
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1173	213414178	0	0
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1175	213517134	1	1
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1177	213600785	0	0
1178	213641313	0	1
1179	213683171	1	1
1180	213723754	1	0
1181	213764402	0	0
1182	213846290	1	1
1183	213885388	1	0
1184	213922296	0	0
1185	213959084	0	1
1186	213996377	1	1
1187	214035035	1	0
1188	214074748	0	0
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1190	214155594	1	1
1191	214195792	1	0
1192	214237375	0	0
1193	214278728	0	1
1194	214317946	1	1
1195	214362434	1	0
1196	214408582	0	0
1197	214456315	0	1
1198	214504058	1	1
1199	214556411	1	0
1200	214611964	0	0
1201	214671082	0	1
1202	214731420	1	1
1203	214803023	1	0
1204	214878541	0	0
1205	214984024	0	1
1206	215504712	0	0
1207	215648815	1	0
1208	215762273	1	1
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1210	215960214	0	0
1211	216053387	1	0
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1213	216097263	1	0
1214	216104021	0	0
1215	216104069	1	0
1216	216143882	1	1
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1219	216699051	0	1
1220	216737884	0	0
1221	216737942	0	1
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1223	216757858	0	1
1224	216809836	1	1
1225	216950244	1	0
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1228	217184213	1	1
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1234	217624476	0	0
1235	217707794	0	1
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1238	217930873	0	0
1239	218017051	0	1
1240	218094109	1	1
1241	218164117	1	0
1242	218226655	0	0
1243	218325978	0	1
1244	218365086	1	1
1245	218443949	1	0
1246	218511547	0	0
1247	218575505	0	1
1248	218639308	1	1
1249	218709206	1	0
1250	218784889	0	0
1251	218858087	0	1
1252	218922385	1	1
1253	219012798	1	0
1254	219075666	0	0
1255	219143529	0	1
1256	219181537	1	1
1257	219244725	1	0
1258	219304128	0	0
1259	219389261	0	1
1260	219463624	1	1
1261	219533137	1	0
1262	219622955	0	0
1263	219804448	0	1
1264	219928696	1	1
1265	220190489	1	0
1266	221255897	1	1
1267	221506975	0	1
1268	221703978	0	0
1269	221932396	1	0
1270	222077919	1	1
1271	222260357	0	1
1272	222387345	0	0
1273	222517918	1	0
1274	222644246	1	1
1275	222754689	0	1
1276	222883327	0	0
1277	223013625	1	0
1278	223132528	1	1
1279	223250011	0	1
1280	223375514	0	0
1281	223500257	1	0
1282	223611680	1	1
1283	223728338	0	1
1284	223809126	0	0
1285	223809184	0	1
1286	223855882	0	0
1287	223959230	1	0
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1290	224342734	0	0
1291	224476717	1	0
1292	224616850	1	1
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1294	224884586	0	0
1295	225013949	1	0
1296	225137912	1	1
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1300	225729209	1	1
1301	225907137	0	1
1302	226136755	0	0
1303	226347023	1	0
1304	226367476	0	0
1305	226367524	1	0
1306	226413497	0	0
1307	226413545	1	0
1308	226420138	0	0
1309	226420186	1	0
1310	226433269	0	0
1311	226433317	1	0
1312	226440020	0	0
1313	226440068	1	0
1314	226673096	1	1
1315	228030114	1	0
1316	228325467	0	0
1317	228325515	1	0
1318	228477143	0	0
1319	229031756	1	0
1320	229324019	1	1
1321	229524002	0	1
1322	229643455	0	0
1323	229650278	0	1
1324	229650336	0	0
1325	229657324	0	1
1326	229657382	0	0
1327	229664205	0	1
1328	229712388	0	0
1329	229902581	1	0
1330	230058444	1	1
1331	230215967	0	1
1332	230402575	0	0
1333	230622468	1	0
1334	230919791	1	1
1335	232674514	1	0
1336	232838472	0	0
1337	232838520	1	0
1338	232845278	0	0
1339	232845326	1	0
1340	232852139	0	0
1341	232852187	1	0
1342	233120195	0	0
1343	233516078	0	1
1344	233904106	1	1
1345	234324959	1	0
1346	234690657	0	0
1347	235103150	0	1
1348	235414783	1	1
1349	235862751	1	0
1350	236072249	0	0
1351	236072297	1	0
1352	236349215	0	0
1353	238475288	0	1
1354	240503856	0	0
1355	251801629	1	0
1356	254653922	0	0
1357	254653970	1	0
1358	255282778	0	0
1359	255282826	1	0
1360	256592094	0	0
1361	256592142	1	0
1362	256611660	0	0
1363	256611708	1	0
1364	257844966	0	0
1365	257845014	1	0
1366	258538777	0	0
1367	258538825	1	0
1368	258552238	0	0
1369	258552286	1	0
1370	259814529	0	0
1371	259814577	1	0
1372	261721145	0	0
1373	261721193	1	0
1374	261755726	0	0
1375	261755774	1	0
1376	263050907	0	0
1377	263050955	1	0
1378	264271563	0	0
1379	264271611	1	0
1380	264284859	0	0
1381	264284907	1	0
1382	264921250	0	0
1383	264921298	1	0
1384	264948131	0	0
1385	264948179	1	0
1386	264988102	0	0
1387	264988150	1	0
1388	265610303	0	0
1389	265610351	1	0
1390	266868964	0	0
1391	266869012	1	0
1392	268166235	0	0
1393	268166283	1	0
1394	269440021	0	0
1395	269440069	1	0
1396	270117002	0	0
1397	270117050	1	0
1398	270723528	0	0
1399	270723576	1	0
1400	270744084	0	0
1401	270744132	1	0
1402	271390265	0	0
1403	271390313	1	0
1404	275830951	1	1
1405	333596959	0	1
1406	413381987	0	0
1407	552654585	0	1

Lines 907 - 908, 1078 - 1079 and 1181 - 1182 still have that irregularity. Plus, the output now has a lot of jitter at the beginning of the data stream and in its tail end. I suppose that may be from the sensor (a US digital encoder clone, i think) cos i saw something like that a few times while working with the arduino IDE. I repeated the run once and only got the tail end jitter in the second trial.

Sola_Oladosu · November 1, 2023, 9:48pm

Also tried removing UARTE0_UART0_IRQn and UARTE1_IRQn by placing

NVIC_DisableIRQ(UARTE1_IRQn);
NVIC_DisableIRQ(UARTE0_UART0_IRQn);

before the loop and placing

NVIC_EnableIRQ(UARTE1_IRQn);
NVIC_EnableIRQ(UARTE0_UART0_IRQn);

after the loop. Got the data below instead.

1	0	0	0
2	193397	1	0
3	48525142	0	0
4	48525193	1	0
5	62593434	0	0
6	62593485	1	0
7	76013518	0	0
8	76013569	1	0
9	79202692	0	0
10	79202743	1	0
11	88153006	0	0
12	88153057	1	0
13	88173292	0	0
14	88173343	1	0
15	88803680	0	0
16	88803731	1	0
17	90053160	0	0
18	90053211	1	0
19	90121122	0	0
20	90121173	1	0
21	90713230	0	0
22	90713281	1	0
23	91351796	0	0
24	91351847	1	0
25	91399400	0	0
26	91399451	1	0
27	91996728	0	0
28	91996779	1	0
29	92016724	0	0
30	92016775	1	0
31	92643980	0	0
32	92644031	1	0
33	92676794	0	0
34	92676845	1	0
35	93906844	0	0
36	93906895	1	0
37	93919706	0	0
38	93919757	1	0
39	93926652	0	0
40	93926703	1	0
41	94579486	0	0
42	94579537	1	0
43	94606326	0	0
44	94606377	1	0
45	95845134	0	0
46	95845185	1	0
47	95871336	0	0
48	95871387	1	0
49	96502594	0	0
50	96502645	1	0
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740	236594473	0	0
741	236594524	1	0
742	237265635	0	0
743	237265686	1	0
744	237876709	0	0
745	237876760	1	0
746	238538475	0	0
747	238538526	1	0
748	239585419	1	1
749	313910856	0	1
750	395970467	0	0
751	760509402	0	1

That also had issues at lines 207 - 208, 310 - 311, 313 - 314, 462 - 463 and 567 - 568. Will try turning off the interrupts listed in the nrf52840.h file one by one to see which has any effect.

Am I right to assume that Ticker is powered by SysTick_IRQn (exception number -1)? If yes, then that suggests that ISRcounter already has higher priority than both UART0 and UART1. If it’s based on anyone of TIMER0 - TIMER4 then shifting the timer position lower might help.

MultipleMonomials · November 2, 2023, 3:56am

On ARM, the priority of interrupts is set in the core registers, it’s not determined by the ordering. But if starting a critical section didn’t fix the issue, I think we might be barking up the wrong tree. Critical sections should prevent ISRs from executing completely.

I wonder if somehow something is causing a stall on the memory bus? Like, we’re running code faster than the MCU flash controller can keep up with?

Sola_Oladosu · November 2, 2023, 1:27pm

Oh… I see. Didn’t know that could happen, never considered it. Clocked the code at about 38 clock cycles using DWT->CYCCNT. Seems funny though that a memory bus stall would take upwards of 15000 clock counts to clear up. Plus it only happens a few times during each code run (typically only once for the initial code posted earlier). Would have expected a whole lot more stalls. Interestingly, I found one run where there
wasn’t any skipped sensor data (one out of the first five trials).

Does it make sense to slow the code down some by adding pointless code lines like x++; or something of the sort?

Sola_Oladosu · November 2, 2023, 2:14pm

Correction: 54 clock cycles using variable “buft3” for timing. Still pretty fast, i think, for something that updates every 15000+ clock counts.

Sola_Oladosu · November 3, 2023, 5:29pm

Tried a multiply statement and a divide statement within the for-loop but those didn’t help. Also tried applying wait_ns at various levels up to 1000ns and tried wait_us at 10 and 50 us. The pattern just got worse as the wait time frames grew.

Swapped out the sensor for another thinking it might be a problem with faulty hardware but the sensor seems okay.

JojoS · November 3, 2023, 6:20pm

is the encoder speed that high? There are controllers with QEI in hardware, e.g. STM32 have some or also LPC1768 (but only one counter).

Sola_Oladosu · November 4, 2023, 11:01pm

The speed is not so high. It’s an impact event (latched spring being released) on the order of about 1 m/s (about 13 rad/s on my pulley-based setup) at its peak. I originally overestimated the event’s peak speed (rough calculations suggested 2.3m/s) which led to the search for faster read methods.

Don’t have those other boards on hand right now. Just the nano.

By the way, interrupts get me pretty close to where I need to be. Tested two code variants. One of them seems unstable (jitter at the tail end) while the other shows multiple issues like below.

1	0	0	0
2	153033648	0	1
3	154156704	0	0
4	154455874	1	0
5	154747109	1	1
6	154815667	0	1
7	154849864	0	0
8	154886178	1	0
9	154929237	1	1
10	154960438	0	1
11	154992048	0	0
12	155023943	1	0
13	155044097	1	1
14	155064590	0	1
15	155086297	0	0
16	155108562	1	0
17	155130568	1	1
18	155151054	0	1
19	155173593	0	0
20	155196838	1	0
21	155221128	1	1
22	155244315	0	1
23	155269649	0	0
24	155300906	1	0
25	155327661	1	1
26	155356619	0	1
27	155384801	0	0
28	155414571	1	0
29	155440373	1	1
30	155468198	0	1
31	155496020	0	0
32	155525906	1	0
33	155549885	1	1
34	155575830	0	1
35	155601521	0	0
36	155626874	1	0
37	155650580	1	1
38	155673002	0	1
39	155695436	0	0
40	155716922	1	0
41	155738032	1	1
42	155758219	0	1
43	155778441	0	0
44	155801891	1	0
45	155817117	1	1
46	155835266	0	1
47	155853689	0	0
48	155887846	1	0
49	155889021	1	1
50	155905842	0	1
51	155922958	0	0
52	155939814	1	0
53	155957064	1	1
54	155974054	0	1
55	155991877	0	0
56	156009354	1	0
57	156027129	1	1
58	156044554	0	1
59	156063088	0	0
60	156085075	1	0
61	156098964	1	1
62	156116850	0	1
63	156135693	0	0
64	156159750	1	0
65	156173013	1	1
66	156192543	0	1
67	156209833	0	0
68	156227930	1	0
69	156245968	1	1
70	156263603	0	1
71	156281773	0	0
72	156302378	1	0
73	156318336	1	1
74	156336623	0	1
75	156355669	0	0
76	156374346	1	0
77	156393549	1	1
78	156412131	0	1
79	156431353	0	0
80	156449650	1	0
81	156468069	1	1
82	156485562	0	1
83	156503357	0	0
84	156520330	1	0
85	156537380	1	1
86	156553554	0	1
87	156570061	0	0
88	156586102	1	0
89	156602468	1	1
90	156618238	0	1
91	156634761	0	0
92	156650702	1	0
93	156666832	1	1
94	156682558	0	1
95	156698678	0	0
96	156714514	1	0
97	156730712	1	1
98	156745974	0	1
99	156761861	0	0
100	156777158	1	0
101	156792469	1	1
102	156807282	0	1
103	156822593	0	0
104	156837347	1	0
105	156852384	1	1
106	156866563	0	1
107	156881209	0	0
108	156895507	1	0
109	156910081	1	1
110	156924182	0	1
111	156939029	0	0
112	156953514	1	0
113	156968753	1	1
114	156983586	0	1
115	156999129	0	0
116	157015154	1	0
117	157030897	1	1
118	157046503	0	1
119	157063325	0	0
120	157089410	1	0
121	157096909	1	1
122	157113462	0	1
123	157130685	0	0
124	157147774	1	0
125	157165005	1	1
126	157181590	0	1
127	157198925	0	0
128	157215382	1	0
129	157232273	1	1
130	157248482	0	1
131	157265673	0	0
132	157282083	1	0
133	157298665	1	1
134	157314670	0	1
135	157331313	0	0
136	157347466	1	0
137	157364049	1	1
138	157379958	0	1
139	157396585	0	0
140	157412306	1	0
141	157428678	1	1
142	157444566	0	1
143	157460817	0	0
144	157477847	1	0
145	157492428	1	1
146	157507638	0	1
147	157523441	0	0
148	157538462	1	0
149	157553978	1	1
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152	157598666	1	0
153	157613693	1	1
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155	157643721	0	0
156	157660078	1	0
157	157673837	1	1
158	157688918	0	1
159	157704297	0	0
160	157735510	1	1
161	157735818	1	1
162	157750918	0	1
163	157767185	0	0
164	157782842	1	0
165	157799801	1	1
166	157814966	0	1
167	157831005	0	0
168	157846870	1	0
169	157864581	1	1
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172	157910890	1	0
173	157929072	1	1
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176	157976103	1	0
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182	158076214	0	1
183	158093689	0	0
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190	158215710	0	1
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192	158251186	1	0
193	158267772	1	1
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195	158302374	0	0
196	158337246	1	1
197	158337554	1	1
198	158354754	0	1
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200	158409246	1	1
201	158409554	1	1
202	158427371	0	1
203	158446169	0	0
204	158467922	1	0
205	158483668	1	1
206	158502235	0	1
207	158522120	0	0
208	158543774	1	0
209	158560372	1	1
210	158579547	0	1
211	158599357	0	0
212	158618098	1	0
213	158637757	1	1
214	158656470	0	1
215	158675773	0	0
216	158695366	1	0
217	158714817	1	1
218	158733742	0	1
219	158754037	0	0
220	158777826	1	0
221	158794740	1	1
222	158815038	0	1
223	158836508	0	0
224	158859110	1	0
225	158878253	1	1
226	158899707	0	1
227	158921381	0	0
228	158947970	1	0
229	158965645	1	1
230	158987386	0	1
231	159010685	0	0
232	159056510	1	1
233	159056818	1	1
234	159079986	0	1
235	159104204	0	0
236	159128034	1	0
237	159153529	1	1
238	159178742	0	1
239	159205757	0	0
240	159234766	1	0
241	159259860	1	1
242	159287583	0	1
243	159316366	0	0
244	159350966	1	0
245	159375296	1	1
246	159407103	0	1
247	159438613	0	0
248	159472066	1	0
249	159507656	1	1
250	159544695	0	1
251	159585650	0	0
252	159628954	1	0
253	159676105	1	1
254	159726074	0	1
255	159784184	0	0
256	159853738	1	0
257	159955733	1	1
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259	160378811	0	0
260	160451863	0	1
261	160524462	1	1
262	160649102	1	0
263	160673376	1	1
264	160732938	1	0
265	160821685	0	0
266	160871712	0	1
267	161029774	1	1
268	161180450	1	0
269	161270055	0	0
270	161548094	1	0
271	161636670	1	1
272	161683327	0	1
273	161723080	0	0
274	161759426	1	0
275	161796013	1	1
276	161832499	0	1
277	161866220	0	0
278	161912391	1	0
279	161979259	1	1
280	162031978	0	1
281	162091829	0	0
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283	162203353	1	1
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297	163314916	1	1
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315	163380516	1	0
316	163380955	1	1
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318	163517473	0	0
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320	163519177	0	0
321	163520601	0	0
322	163548320	0	1
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327	163738010	1	1
328	163833458	1	0
329	163914539	0	0
330	164004527	0	1
331	164100430	1	1
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335	164411762	1	1
336	164490474	1	0
337	164561231	0	0
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340	164768154	1	0
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519	177297152	0	0
520	177390526	1	0
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527	178004268	0	0
528	178102694	1	0
529	178196497	1	1
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535	178888956	0	0
536	179023498	1	0
537	179197601	1	1
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539	179562432	0	0
540	179886102	1	0
541	180998395	0	0
542	181638447	0	1
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551	183596357	1	1
552	183753411	0	1
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556	184448407	0	1
557	184789628	0	0
558	185882103	0	1
559	186266246	1	1
560	186630970	1	0
561	186943007	0	0
562	187263691	0	1
563	187585938	1	1
564	187943998	1	0
565	188257619	0	0
566	188710455	0	1
567	188830010	1	1
568	189096954	1	0
569	189379195	0	0
570	189649035	0	1
571	189946226	1	1
572	190274842	1	0
573	190787459	0	0
574	193978470	1	0
575	203372805	1	1

Will run more tests on the first variant to verify code behaviour and post conclusions in a couple days.

Sola_Oladosu · November 6, 2023, 7:53pm

Went back to the arduino IDE and ditched interrupts having discovered there were quite a bit of clock cycles to play with between sensor reads.
Used the code below and did ten trials.

byte bufpresE[2500];//Set to reflect memory limits
byte bufpresF[2500];//Set to reflect memory limits
unsigned long buft3[2500];//Set to reflect memory limits

int k = 1;
unsigned long n = 0;

void setup() {
  Serial.begin(2000000); // !! 300, 600, 750, 1200, 2400, 4800, 9600, 19200, 31250, 38400, 57600, 74880, 115200, 230400, 250000, 460800, 500000, 921600, 1000000, 2000000
  while (!Serial); //Wait for serial port to connect. Needed for native USB on nano 33 ble sense.

  pinMode(9, INPUT_PULLUP);
  pinMode(10, INPUT_PULLUP);

  bufpresE[0] = digitalRead(9);
  bufpresF[0] = digitalRead(10);
  bufpresE[1] = bufpresE[0];
  bufpresF[1] = bufpresF[0];
  buft3[0] = 0;

  CoreDebug->DEMCR |= 0x01000000; //Enable the use of DWT.
  DWT->CYCCNT = 0; //Reset cycle counter.
  DWT->CTRL |= 0x1; //Enable cycle counter.
}

void loop() {

  for (n = 0; n < 5000000; n++) {
    bufpresE[k] = digitalRead(9);
    bufpresF[k] = digitalRead(10);
    buft3[k] = DWT->CYCCNT;
    if ((bufpresE[k-1] != bufpresE[k]) || (bufpresF[k-1] != bufpresF[k])) {
      k++;
    }
  }
  
  for (n = 0; n < k; n++) {
    Serial.print(buft3[n]);
    Serial.print(",");
    Serial.print(bufpresE[n]);
    Serial.print(",");
    Serial.println(bufpresF[n]);
  }
  Serial.println("end of sensor 3 data");
  
  while(1);
}

Got data like below for each trial.

1	0	0	0
2	260796672	1	0
3	348898378	0	0
4	349367810	1	0
5	349458161	1	1
6	349504838	0	1
7	349556516	0	0
8	349641440	1	0
9	349696688	1	1
10	349753603	0	1
11	349796472	0	0
12	349833511	1	0
13	349867601	1	1
14	349897948	0	1
15	349928693	0	0
16	349962594	1	0
17	349993965	1	1
18	350023066	0	1
19	350050257	0	0
20	350088334	1	0
21	350095646	1	1
22	350115735	0	1
23	350137302	0	0
24	350155904	1	0
25	350174533	1	1
26	350192717	0	1
27	350210519	0	0
28	350227867	1	0
29	350245657	1	1
30	350263005	0	1
31	350280394	0	0
32	350311565	1	0
33	350315533	1	1
34	350333336	0	1
35	350351725	0	0
36	350370007	1	0
37	350388064	1	1
38	350405689	0	1
39	350423316	0	0
40	350440272	1	0
41	350456780	1	1
42	350472503	0	1
43	350488175	0	0
44	350503458	1	0
45	350518712	1	1
46	350533598	0	1
47	350549061	0	0
48	350576472	1	0
49	350580022	1	1
50	350595740	0	1
51	350611830	0	0
52	350628162	1	0
53	350644252	1	1
54	350660394	0	1
55	350676902	0	0
56	350711207	0	1
57	350711417	1	1
58	350728591	0	1
59	350746353	0	0
60	350764352	1	0
61	350782365	1	1
62	350800340	0	1
63	350818741	0	0
64	350843001	1	0
65	350855370	1	1
66	350873554	0	1
67	350891348	0	0
68	350910832	1	0
69	350926922	1	1
70	350944688	0	1
71	350962474	0	0
72	350980493	1	0
73	350999300	1	1
74	351018137	0	1
75	351037571	0	0
76	351056425	1	0
77	351075023	1	1
78	351093439	0	1
79	351112080	0	0
80	351130264	1	0
81	351148050	1	1
82	351165816	0	1
83	351183618	0	0
84	351201175	1	0
85	351218547	1	1
86	351235727	0	1
87	351252862	0	0
88	351287165	1	1
89	351303925	0	1
90	351320851	0	0
91	351337598	1	0
92	351354733	1	1
93	351371495	0	1
94	351388630	0	0
95	351405798	1	0
96	351423142	1	1
97	351440113	0	1
98	351457248	0	0
99	351473995	1	0
100	351491162	1	1
101	351506847	0	1
102	351523355	0	0
103	351539479	1	0
104	351556239	1	1
105	351571288	0	1
106	351587587	0	0
107	351603708	1	0
108	351620049	1	1
109	351636143	0	1
110	351653069	0	0
111	351669815	1	0
112	351686783	1	1
113	351703504	0	1
114	351721488	0	0
115	351737600	1	0
116	351754361	1	1
117	351771291	0	1
118	351788452	0	0
119	351805173	1	0
120	351822347	1	1
121	351839277	0	1
122	351856440	0	0
123	351873161	1	0
124	351889919	1	1
125	351906431	0	1
126	351922968	0	0
127	351939480	1	0
128	351956239	1	1
129	351972542	0	1
130	351988868	0	0
131	352006879	1	0
132	352022138	1	1
133	352039068	0	1
134	352055813	0	0
135	352082820	1	0
136	352089296	1	1
137	352106017	0	1
138	352122761	0	0
139	352155618	0	1
140	352155828	1	1
141	352171500	0	1
142	352187619	0	0
143	352203545	1	0
144	352219217	1	1
145	352234684	0	1
146	352250383	0	0
147	352281356	1	1
148	352296401	0	1
149	352311686	0	0
150	352326944	1	0
151	352341826	1	1
152	352356875	0	1
153	352371734	0	0
154	352386783	1	0
155	352402077	1	1
156	352417126	0	1
157	352432200	0	0
158	352447667	1	0
159	352463169	1	1
160	352478218	0	1
161	352493890	0	0
162	352509590	1	0
163	352525300	1	1
164	352540558	0	1
165	352556021	0	0
166	352571728	1	0
167	352587432	1	1
168	352602493	0	1
169	352618165	0	0
170	352634075	1	0
171	352649956	1	1
172	352665883	0	1
173	352682182	0	0
174	352698722	1	0
175	352715230	1	1
176	352731789	0	1
177	352748924	0	0
178	352766092	1	0
179	352783272	1	1
180	352799993	0	1
181	352818199	0	0
182	352834920	1	0
183	352852092	1	1
184	352869231	0	1
185	352886604	0	0
186	352903743	1	0
187	352920924	1	1
188	352937854	0	1
189	352954809	0	0
190	352971530	1	0
191	352988286	1	1
192	353005007	0	1
193	353021960	0	0
194	353038722	1	0
195	353055857	1	1
196	353072996	0	1
197	353090368	0	0
198	353107759	1	0
199	353125939	1	1
200	353143735	0	1
201	353161915	0	0
202	353179933	1	0
203	353198113	1	1
204	353216113	0	1
205	353234544	0	0
206	353252937	1	0
207	353271354	1	1
208	353289538	0	1
209	353308594	0	0
210	353327196	1	0
211	353345817	1	1
212	353364459	0	1
213	353383684	0	0
214	353402730	1	0
215	353422164	1	1
216	353441436	0	1
217	353461288	0	0
218	353481385	1	0
219	353501907	1	1
220	353521972	0	1
221	353542896	0	0
222	353563838	1	0
223	353584944	1	1
224	353605665	0	1
225	353626811	0	0
226	353647503	1	0
227	353668637	1	1
228	353689580	0	1
229	353711313	0	0
230	353733287	1	0
231	353755271	1	1
232	353777426	0	1
233	353800027	0	0
234	353823060	1	0
235	353847301	1	1
236	353871570	0	1
237	353896857	0	0
238	353945149	1	0
239	353949117	1	1
240	353976497	0	1
241	354006435	0	0
242	354063128	1	0
243	354063334	1	1
244	354093260	0	1
245	354125049	0	0
246	354157486	1	0
247	354191577	1	1
248	354226941	0	1
249	354264635	0	0
250	354304375	1	0
251	354346628	1	1
252	354390340	0	1
253	354437223	0	0
254	354487633	1	0
255	354547264	1	1
256	354626154	0	1
257	354795491	0	0
258	354920436	0	1
259	355023368	1	1
260	355092198	1	0
261	355161232	0	0
262	355363588	0	1
263	355390341	1	1
264	355448090	1	0
265	355525075	0	0
266	355675719	0	1
267	355739537	1	1
268	355791439	1	0
269	355964878	0	0
270	355983295	0	1
271	355983505	0	0
272	355993120	0	1
273	355993957	0	0
274	355995212	1	0
275	356008209	1	1
276	356008419	1	0
277	356015108	1	1
278	356015318	1	0
279	356110300	1	1
280	356161554	0	1
281	356208854	0	0
282	356247335	1	0
283	356280814	1	1
284	356314492	0	1
285	356353823	0	0
286	356415127	1	0
287	356435007	1	1
288	356477687	0	1
289	356529999	0	0
290	356576848	1	0
291	356618271	1	1
292	356669754	0	1
293	356719355	0	0
294	356775601	1	0
295	356860977	1	1
296	356930856	0	1
297	357010573	0	0
298	357162864	1	0
299	357213299	1	1
300	357341140	0	1
301	357427984	0	0
302	357516675	1	0
303	357560007	1	1
304	357560217	1	0
305	357562517	1	1
306	357563145	1	0
307	357633858	1	1
308	357832207	0	1
309	357953358	1	1
310	358263856	1	0
311	358383911	0	0
312	358502242	0	1
313	358605182	1	1
314	358691173	1	0
315	358772335	0	0
316	358864819	0	1
317	358952183	1	1
318	359026651	1	0
319	359095485	0	0
320	359163059	0	1
321	359236320	1	1
322	359311000	1	0
323	359377951	0	0
324	359497634	0	1
325	359497844	1	1
326	359557270	1	0
327	359618163	0	0
328	359678590	0	1
329	359735722	1	1
330	359789290	1	0
331	359840121	0	0
332	359947159	0	1
333	359950295	1	1
334	360009300	1	0
335	360070818	0	0
336	360187952	0	1
337	360188162	1	1
338	360249675	1	0
339	360312440	0	0
340	360372911	0	1
341	360426666	1	1
342	360480856	1	0
343	360536110	0	0
344	360601590	0	1
345	360688843	1	1
346	360794912	1	0
347	360894699	0	0
348	360999939	0	1
349	361093670	1	1
350	361181562	1	0
351	361274033	1	1
352	361274452	1	0
353	361277797	1	1
354	361278007	1	0
355	361282815	1	1
356	361283025	1	0
357	361285952	1	1
358	361286162	1	0
359	361294353	0	0
360	361560280	0	1
361	361676793	1	1
362	361777434	1	0
363	361852981	0	0
364	361950699	0	1
365	362003639	1	1
366	362081036	1	0
367	362161572	0	0
368	362234606	0	1
369	362286275	1	1
370	362331279	1	0
371	362367881	0	0
372	362403448	0	1
373	362438385	1	1
374	362471444	1	0
375	362507212	0	0
376	362544244	0	1
377	362582968	1	1
378	362622077	1	0
379	362660787	0	0
380	362699057	0	1
381	362735679	1	1
382	362772069	1	0
383	362808897	0	0
384	362890089	0	1
385	362890299	1	1
386	362934020	1	0
387	362975474	0	0
388	363015837	0	1
389	363053497	1	1
390	363090722	1	0
391	363129221	0	0
392	363169839	0	1
393	363215222	1	1
394	363273603	1	0
395	363357110	0	0
396	363441606	0	1
397	363528031	1	1
398	363556490	1	0
399	363629709	1	1
400	363649774	0	1
401	363678890	0	0
402	363716322	0	1
403	363729499	1	1
404	363799163	0	1
405	363821354	1	1
406	363861717	1	0
407	363960064	1	1
408	364027851	0	1
409	364119491	0	0
410	364250267	0	1
411	364307395	1	1
412	364396542	0	1
413	364630070	1	1
414	364946220	1	0
415	365037034	0	0
416	365112762	0	1
417	365237468	1	1
418	365297107	1	0
419	365371793	0	0
420	365473258	1	1
421	365532265	1	0
422	365596709	0	0
423	365664908	0	1
424	365725172	1	1
425	365779994	1	0
426	365846738	0	0
427	365956993	0	1
428	365981685	1	1
429	366041112	1	0
430	366082748	0	0
431	366164532	1	1
432	366216646	1	0
433	366255549	0	0
434	366303900	0	1
435	366342817	1	1
436	366382966	1	0
437	366426924	0	0
438	366482557	0	1
439	366540937	1	1
440	366597859	1	0
441	366653947	0	0
442	366720476	0	1
443	366784500	1	1
444	366858354	1	0
445	366931578	0	0
446	367051260	0	1
447	367051470	1	1
448	367148752	1	0
449	367313862	0	0
450	367448262	0	1
451	367607267	1	1
452	367770039	1	0
453	368083995	0	0
454	368316222	0	1
455	368767732	1	1
456	369334432	0	1
457	369526078	0	0
458	369701400	1	0
459	369816066	1	1
460	369926717	0	1
461	370040247	0	0
462	370134208	1	0
463	370249251	1	1
464	370347809	0	1
465	370430669	0	0
466	370563801	1	0
467	370596236	1	1
468	370685576	0	1
469	370773454	0	0
470	370925030	1	0
471	370958072	1	1
472	371033217	0	1
473	371105391	0	0
474	371249321	1	0
475	371252871	1	1
476	371339494	0	1
477	371429265	0	0
478	371531562	1	0
479	371602064	1	1
480	371684730	0	1
481	371756480	0	0
482	371880140	1	0
483	371902918	1	1
484	371988298	0	1
485	372074302	0	0
486	372147109	1	0
487	372227012	1	1
488	372306109	0	1
489	372374521	0	0
490	372468056	1	0
491	372513267	1	1
492	372583981	0	1
493	372663473	0	0
494	372748013	1	0
495	372827083	1	1
496	372911217	0	1
497	372992591	0	0
498	373067716	1	0
499	373158727	1	1
500	373249313	0	1
501	373360848	0	0
502	373484931	1	0
503	373610044	1	1
504	373721750	0	1
505	373869059	0	0
506	374043950	1	0
507	374301091	1	1
508	375310831	1	0
509	375554805	0	0
510	375802119	0	1
511	375959015	1	1
512	376138124	1	0
513	376762943	1	1
514	376926359	0	1
515	377042069	0	0
516	377194425	1	0
517	377283562	1	1
518	377362053	0	1
519	377434154	0	0
520	377575292	0	1
521	377575502	1	1
522	377640359	0	1
523	377705846	0	0
524	377777633	1	0
525	377870954	1	1
526	377973879	0	1
527	378067825	0	0
528	378164906	1	0
529	378295248	1	1
530	378454282	0	1
531	378809748	0	0
532	379221980	0	1
533	379710306	1	1
534	380016595	1	0
535	380341738	0	0
536	380531924	0	1
537	380826821	1	1
538	381143389	1	0
539	381381171	0	0
540	381736051	0	1
541	381917424	1	1
542	382246107	1	0
543	382449923	0	0
544	382646801	0	1
545	382848693	1	1
546	383039509	1	0
547	383186166	0	0
548	383450846	0	1
549	383516755	1	1
550	383689146	1	0
551	383821171	0	0
552	384102172	0	1
553	384157595	1	1
554	384348414	1	0
555	384529834	0	0
556	384809786	0	1
557	385117136	1	1
558	385677996	1	0
559	387317569	1	1
560	388618263	0	1
561	390003345	0	0
562	390830026	1	0
563	391405782	1	1
564	392464727	0	1
565	459042282	0	0
566	581849828	1	0
567	617409534	1	1
568	722595262	0	1

It barely gets the job done but it seems to work. Almost getting skipped events (eg. line 57) but the code and arduino platform manage to survive somehow.

I think I’ll stick with this for the time being . Begs the question, however, why Mbed can’t seem to deliver even though it’s the base OS layer for the nano 33 BLE board.

Edit: Still have skipped events with the code above. See lines 87-88 of the output.

JohnnyK · November 7, 2023, 3:31pm

Hello,

I am not sure if this is still true, but I can’t imagine you will have better result with Arduino when this board is based on Mbed (under hood) also in Arduino.

BR, Jan

Sola_Oladosu · November 7, 2023, 4:01pm

You are right. Edited my previous post a bit earlier. Found a few trouble spots in the data on closer inspection. Think I was a bit too eager for positive results.

JohnnyK · November 7, 2023, 8:43pm

Why you did not try it via interrupts like in this library? - QEI - Cookbook | Mbed

BR, Jan

Sola_Oladosu · November 8, 2023, 7:06am

Thanks. I will try that out and report back.

JojoS · November 8, 2023, 9:30am

it depends also on the quality of the signals, the signals can bounce when it is not a an optical encoder.

Sola_Oladosu · November 12, 2023, 8:59pm

Finally got round to running an interrupt-based test. Used the code below and ran three trials.

#include "mbed.h"

InterruptIn line9(D9);
InterruptIn line10(D10);

int bufpresE[2];
int bufpresF[2];
volatile unsigned int buft9high[2500];//Set to reflect memory limits
volatile unsigned int buft9low[2500];//Set to reflect memory limits
volatile unsigned int buft10high[2500];//Set to reflect memory limits
volatile unsigned int buft10low[2500];//Set to reflect memory limits

volatile int a = 0;
int b = 0;

void Buf9high() {
  buft9high[a] = DWT->CYCCNT;
  a++;
}

void Buf9low() {
  buft9low[a] = DWT->CYCCNT;
  a++;
}

void Buf10high() {
  buft10high[a] = DWT->CYCCNT;
  a++;
}

void Buf10low() {
  buft10low[a] = DWT->CYCCNT;
  a++;
}

int main()
{
  NRF_P0->PIN_CNF[27] = 0x0C;
  NRF_P1->PIN_CNF[2] = 0x0C;

  bufpresE[0] = ((NRF_P0->IN & 0x08000000) ? 1 : 0) ;
  bufpresF[0] = ((NRF_P1->IN & 0x00000004) ? 1 : 0) ;

  line9.rise(&Buf9high);
  line9.fall(&Buf9low);
  line10.rise(&Buf10high);
  line10.fall(&Buf10low);

  CoreDebug->DEMCR |= 0x01000000; //Enable the use of DWT.
  DWT->CYCCNT = 0; //Reset cycle counter.
  DWT->CTRL |= 0x1; //Enable cycle counter.

	while(true) 
	{
    if (DWT->CYCCNT > 2200000000)
    {
      bufpresE[1] = ((NRF_P0->IN & 0x08000000) ? 1 : 0) ;
      bufpresF[1] = ((NRF_P1->IN & 0x00000004) ? 1 : 0) ;

      printf(" , , , ,%i, %i\n", bufpresE[0], bufpresF[0]);

      for (b = 0; b < a; b++)
      {
        printf("%i, %i, %i, %i\n", buft9high[b], buft9low[b], buft10high[b], buft10low[b]);
      }

      printf(" , , , ,%i, %i\n", bufpresE[1], bufpresF[1]);

      printf("end of sensor data\n");
    }  
	}

	// main() is expected to loop forever.
	// If main() actually returns the processor will halt
	return 0;
}

I modified Aaron Berk’s cookbook code a bit cos I couldn’t get it to compile on Mbed CE. I’m simply using the interrupts to mark event time and I’m decoding everything in post-processing. The only times I read pin states are at the start of measurements and at the end of measurements to do a rough check on what the interrupts have measured.

Turns out, BecK’s code ignores missed events. He also ignores multiple data samples of the same encoder state. Both cases are labelled as “Invalid” in his code. Apparently, it’s standard practice to ignore such conditions as seen in reply #12 here. A valid assumption, seeing that a missed event only introduces an error of 0.22 mm in my case cos I have a pulley in the mix. Other setups will have far less errors when the encoder spindle is used directly. Some folks advocate keeping a record of “invalid” events as seen in reply #17 also here, possibly to check the quality of measurements.

Posted a sample of the results obtained below.

1	 	 	 	 		1	1
2	0	169670985	0	0	169670985	0	1
3	0	0	0	169763471	169763471	0	0
4	169815062	0	0	0	169815062	1	0
5	0	0	169851188	0	169851188	1	1
6	0	169879829	0	0	169879829	0	1
7	0	0	0	169913581	169913581	0	0
8	169950630	0	0	0	169950630	1	0
9	0	0	169990077	0	169990077	1	1
10	0	170025060	0	0	170025060	0	1
11	0	0	0	170059140	170059140	0	0
12	170089934	0	0	0	170089934	1	0
13	0	0	170118081	0	170118081	1	1
14	0	170144392	0	0	170144392	0	1
15	0	0	0	170169973	170169973	0	0
16	170195022	0	0	0	170195022	1	0
17	0	0	170218576	0	170218576	1	1
18	0	170240568	0	0	170240568	0	1
19	0	0	0	170262280	170262280	0	0
20	170283618	0	0	0	170283618	1	0
21	0	0	170308540	0	170308540	1	1
22	0	170335769	0	0	170335769	0	1
23	0	0	0	170362393	170362393	0	0
24	170389446	0	0	0	170389446	1	0
25	0	0	170415784	0	170415784	1	1
26	0	170438617	0	0	170438617	0	1
27	0	0	0	170457421	170457421	0	0
28	170476326	0	0	0	170476326	1	0
29	0	0	170496628	0	170496628	1	1
30	0	170516437	0	0	170516437	0	1
31	0	0	0	170535961	170535961	0	0
32	170554938	0	0	0	170554938	1	0
33	0	0	170575053	0	170575053	1	1
34	0	170597768	0	0	170597768	0	1
35	0	0	0	170624433	170624433	0	0
36	170651838	0	0	0	170651838	1	0
37	0	0	170683572	0	170683572	1	1
38	0	170716897	0	0	170716897	0	1
39	0	0	0	170748889	170748889	0	0
40	170778078	0	0	0	170778078	1	0
41	0	0	170805228	0	170805228	1	1
42	0	170828253	0	0	170828253	0	1
43	0	0	0	170850277	170850277	0	0
44	170870906	0	0	0	170870906	1	0
45	0	0	170893301	0	170893301	1	1
46	0	170914488	0	0	170914488	0	1
47	0	0	0	170937713	170937713	0	0
48	170961322	0	0	0	170961322	1	0
49	0	0	170985096	0	170985096	1	1
50	0	171008816	0	0	171008816	0	1
51	0	0	0	171032964	171032964	0	0
52	171055974	0	0	0	171055974	1	0
53	0	0	171078596	0	171078596	1	1
54	0	171099441	0	0	171099441	0	1
55	0	0	0	171120005	171120005	0	0
56	171139538	0	0	0	171139538	1	0
57	0	0	171158865	0	171158865	1	1
58	0	171177412	0	0	171177412	0	1
59	0	0	0	171196489	171196489	0	0
60	171215074	0	0	0	171215074	1	0
61	0	0	171233944	0	171233944	1	1
62	0	171252028	0	0	171252028	0	1
63	0	0	0	171270453	171270453	0	0
64	171288006	0	0	0	171288006	1	0
65	0	0	171306048	0	171306048	1	1
66	0	171323108	0	0	171323108	0	1
67	0	0	0	171341212	171341212	0	0
68	171358446	0	0	0	171358446	1	0
69	0	0	171375884	0	171375884	1	1
70	0	171392608	0	0	171392608	0	1
71	0	0	0	171409848	171409848	0	0
72	171426238	0	0	0	171426238	1	0
73	0	0	171442312	0	171442312	1	1
74	0	171457520	0	0	171457520	0	1
75	0	0	0	171473224	171473224	0	0
76	171487754	0	0	0	171487754	1	0
77	0	0	171502712	0	171502712	1	1
78	0	171516956	0	0	171516956	0	1
79	0	0	0	171532976	171532976	0	0
80	171545422	0	0	0	171545422	1	0
81	0	0	171559544	0	171559544	1	1
82	0	171573332	0	0	171573332	0	1
83	0	0	0	171588425	171588425	0	0
84	171603294	0	0	0	171603294	1	0
85	0	0	171618440	0	171618440	1	1
86	0	171633624	0	0	171633624	0	1
87	0	0	0	171649617	171649617	0	0
88	171665694	0	0	0	171665694	1	0
89	0	0	171682684	0	171682684	1	1
90	0	171699588	0	0	171699588	0	1
91	0	0	0	171717877	171717877	0	0
92	171735306	0	0	0	171735306	1	0
93	0	0	171753160	0	171753160	1	1
94	0	171770544	0	0	171770544	0	1
95	0	0	0	171790050	171790050	0	0
96	171806257	0	0	0	171806257	1	0
97	0	0	171823844	0	171823844	1	1
98	0	171840884	0	0	171840884	0	1
99	0	0	0	171858340	171858340	0	0
100	171875066	0	0	0	171875066	1	0
101	0	0	171892628	0	171892628	1	1
102	0	171909340	0	0	171909340	0	1
103	0	0	0	171926820	171926820	0	0
104	171943274	0	0	0	171943274	1	0
105	0	0	171960460	0	171960460	1	1
106	0	171977264	0	0	171977264	0	1
107	0	0	0	171994856	171994856	0	0
108	172012422	0	0	0	172012422	1	0
109	0	0	172030376	0	172030376	1	1
110	0	172048157	0	0	172048157	0	1
111	0	0	0	172066589	172066589	0	0
112	172085030	0	0	0	172085030	1	0
113	0	0	172103780	0	172103780	1	1
114	0	172121681	0	0	172121681	0	1
115	0	0	0	172140185	172140185	0	0
116	172157778	0	0	0	172157778	1	0
117	0	0	172177024	0	172177024	1	1
118	0	172192244	0	0	172192244	0	1
119	0	0	0	172209885	172209885	0	0
120	172226310	0	0	0	172226310	1	0
121	0	0	172242797	0	172242797	1	1
122	0	172258940	0	0	172258940	0	1
123	0	0	0	172275509	172275509	0	0
124	172291698	0	0	0	172291698	1	0
125	0	0	172308169	0	172308169	1	1
126	0	172324148	0	0	172324148	0	1
127	0	0	0	172340929	172340929	0	0
128	172356778	0	0	0	172356778	1	0
129	0	0	172373485	0	172373485	1	1
130	0	172389648	0	0	172389648	0	1
131	0	0	0	172406277	172406277	0	0
132	172422310	0	0	0	172422310	1	0
133	0	0	172438693	0	172438693	1	1
134	0	172454624	0	0	172454624	0	1
135	0	0	0	172471149	172471149	0	0
136	172486930	0	0	0	172486930	1	0
137	0	0	172503305	0	172503305	1	1
138	0	172518708	0	0	172518708	0	1
139	0	0	0	172534497	172534497	0	0
140	172549650	0	0	0	172549650	1	0
141	0	0	172565057	0	172565057	1	1
142	0	172579684	0	0	172579684	0	1
143	0	0	0	172594617	172594617	0	0
144	172609030	0	0	0	172609030	1	0
145	0	0	172623968	0	172623968	1	1
146	0	172638401	0	0	172638401	0	1
147	0	0	0	172653253	172653253	0	0
148	172667802	0	0	0	172667802	1	0
149	0	0	172682860	0	172682860	1	1
150	0	172697669	0	0	172697669	0	1
151	0	0	0	172713057	172713057	0	0
152	172728178	0	0	0	172728178	1	0
153	0	0	172744164	0	172744164	1	1
154	0	172759917	0	0	172759917	0	1
155	0	0	0	172776101	172776101	0	0
156	172792158	0	0	0	172792158	1	0
157	0	0	172808804	0	172808804	1	1
158	0	172824989	0	0	172824989	0	1
159	0	0	0	172841745	172841745	0	0
160	172858066	0	0	0	172858066	1	0
161	0	0	172874880	0	172874880	1	1
162	0	172891217	0	0	172891217	0	1
163	0	0	0	172907925	172907925	0	0
164	172924286	0	0	0	172924286	1	0
165	0	0	172941180	0	172941180	1	1
166	0	172957549	0	0	172957549	0	1
167	0	0	0	172974337	172974337	0	0
168	172990774	0	0	0	172990774	1	0
169	0	0	173007800	0	173007800	1	1
170	0	173024225	0	0	173024225	0	1
171	0	0	0	173041185	173041185	0	0
172	173058014	0	0	0	173058014	1	0
173	0	0	173075488	0	173075488	1	1
174	0	173092633	0	0	173092633	0	1
175	0	0	0	173110633	173110633	0	0
176	173128586	0	0	0	173128586	1	0
177	0	0	173147101	0	173147101	1	1
178	0	173165092	0	0	173165092	0	1
179	0	0	0	173184089	173184089	0	0
180	173202358	0	0	0	173202358	1	0
181	0	0	173220773	0	173220773	1	1
182	0	173238288	0	0	173238288	0	1
183	0	0	0	173256433	173256433	0	0
184	173273814	0	0	0	173273814	1	0
185	0	0	173291448	0	173291448	1	1
186	0	173308444	0	0	173308444	0	1
187	0	0	0	173325785	173325785	0	0
188	173342690	0	0	0	173342690	1	0
189	0	0	173359928	0	173359928	1	1
190	0	173376900	0	0	173376900	0	1
191	0	0	0	173394473	173394473	0	0
192	173411894	0	0	0	173411894	1	0
193	0	0	173430044	0	173430044	1	1
194	0	173447836	0	0	173447836	0	1
195	0	0	0	173466600	173466600	0	0
196	173485082	0	0	0	173485082	1	0
197	0	0	173504436	0	173504436	1	1
198	0	173523352	0	0	173523352	0	1
199	0	0	0	173543428	173543428	0	0
200	173562878	0	0	0	173562878	1	0
201	0	0	173582840	0	173582840	1	1
202	0	173602329	0	0	173602329	0	1
203	0	0	0	173622445	173622445	0	0
204	173641694	0	0	0	173641694	1	0
205	0	0	173661457	0	173661457	1	1
206	0	173680692	0	0	173680692	0	1
207	0	0	0	173700525	173700525	0	0
208	173721594	0	0	0	173721594	1	0
209	0	0	173740712	0	173740712	1	1
210	0	173761064	0	0	173761064	0	1
211	0	0	0	173782525	173782525	0	0
212	173804186	0	0	0	173804186	1	0
213	0	0	173826472	0	173826472	1	1
214	0	173848756	0	0	173848756	0	1
215	0	0	0	173871940	173871940	0	0
216	173893938	0	0	0	173893938	1	0
217	0	0	173916397	0	173916397	1	1
218	0	173937900	0	0	173937900	0	1
219	0	0	0	173959797	173959797	0	0
220	173981270	0	0	0	173981270	1	0
221	0	0	174002760	0	174002760	1	1
222	0	174023400	0	0	174023400	0	1
223	0	0	0	174045024	174045024	0	0
224	174066070	0	0	0	174066070	1	0
225	0	0	174087852	0	174087852	1	1
226	0	174109653	0	0	174109653	0	1
227	0	0	0	174132561	174132561	0	0
228	174155898	0	0	0	174155898	1	0
229	0	0	174181025	0	174181025	1	1
230	0	174205848	0	0	174205848	0	1
231	0	0	0	174232293	174232293	0	0
232	174258562	0	0	0	174258562	1	0
233	0	0	174285724	0	174285724	1	1
234	0	174312417	0	0	174312417	0	1
235	0	0	0	174339465	174339465	0	0
236	174366438	0	0	0	174366438	1	0
237	0	0	174394124	0	174394124	1	1
238	0	174421644	0	0	174421644	0	1
239	0	0	0	174450864	174450864	0	0
240	174480982	0	0	0	174480982	1	0
241	0	0	174512845	0	174512845	1	1
242	0	174546208	0	0	174546208	0	1
243	0	0	0	174583160	174583160	0	0
244	174619010	0	0	0	174619010	1	0
245	0	0	174657653	0	174657653	1	1
246	0	174694889	0	0	174694889	0	1
247	0	0	0	174734457	174734457	0	0
248	174774134	0	0	0	174774134	1	0
249	0	0	174817737	0	174817737	1	1
250	0	174865480	0	0	174865480	0	1
251	0	0	0	174924464	174924464	0	0
252	174990834	0	0	0	174990834	1	0
253	0	0	175075377	0	175075377	1	1
254	0	175183397	0	0	175183397	0	1
255	175433243	0	0	0	175433243	1	1
256	0	0	0	175896186	175896186	1	0
257	0	0	175955492	0	175955492	1	1
258	0	0	0	176010867	176010867	1	0
259	0	176122451	0	0	176122451	0	0
260	176380087	0	0	0	176380087	1	0
261	0	0	176509777	0	176509777	1	1
262	0	176569501	0	0	176569501	0	1
263	0	0	0	176615753	176615753	0	0
264	176657994	0	0	0	176657994	1	0
265	0	0	176686493	0	176686493	1	1
266	0	176727760	0	0	176727760	0	1
267	0	0	0	176782488	176782488	0	0
268	176831366	0	0	0	176831366	1	0
269	0	0	176882201	0	176882201	1	1
270	0	176935440	0	0	176935440	0	1
271	0	0	0	176976540	176976540	0	0
272	177012358	0	0	0	177012358	1	0
273	0	0	177057104	0	177057104	1	1
274	0	177097849	0	0	177097849	0	1
275	0	0	0	177149856	177149856	0	0
276	177222282	0	0	0	177222282	1	0
277	0	0	177293433	0	177293433	1	1
278	0	177353729	0	0	177353729	0	1
279	0	0	0	177416504	177416504	0	0
280	177468850	0	0	0	177468850	1	0
281	0	0	177555481	0	177555481	1	1
282	0	177678737	0	0	177678737	0	1
283	0	0	0	177765848	177765848	0	0
284	177841546	0	0	0	177841546	1	0
285	0	0	177841826	0	177841826	1	1
286	0	0	0	177842229	177842229	1	0
287	0	0	177938597	0	177938597	1	1
288	0	178058093	0	0	178058093	0	1
289	0	0	0	178162380	178162380	0	0
290	0	0	178688742	0	178688742	0	1
291	178831300	0	0	0	178831300	1	1
292	0	0	0	178992566	178992566	1	0
293	0	0	179002309	0	179002309	1	1
294	0	0	0	179002711	179002711	1	0
295	0	0	179003117	0	179003117	1	1
296	0	0	0	179003518	179003518	1	0
297	0	0	179004231	0	179004231	1	1
298	0	0	0	179004632	179004632	1	0
299	0	0	179017496	0	179017496	1	1
300	0	0	0	179018201	179018201	1	0
301	0	179024951	0	0	179024951	0	0
302	179025358	0	0	0	179025358	1	0
303	0	0	179026668	0	179026668	1	1
304	0	0	0	179027876	179027876	1	0
305	0	0	179028282	0	179028282	1	1
306	0	0	0	179030368	179030368	1	0
307	0	0	179031083	0	179031083	1	1
308	0	0	0	179038908	179038908	1	0
309	0	0	179046756	0	179046756	1	1
310	0	0	0	179057884	179057884	1	0
311	0	0	179059104	0	179059104	1	1
312	0	0	0	179059809	179059809	1	0
313	0	0	179061396	0	179061396	1	1
314	0	0	0	179067622	179067622	1	0
315	0	0	179071660	0	179071660	1	1
316	0	0	0	179074668	179074668	1	0
317	0	0	179077984	0	179077984	1	1
318	0	0	0	179078385	179078385	1	0
319	0	0	179079099	0	179079099	1	1
320	0	0	0	179084769	179084769	1	0
321	0	0	179088188	0	179088188	1	1
322	0	0	0	179089677	179089677	1	0
323	0	179091258	0	0	179091258	0	0
324	0	0	179186147	0	179186147	0	1
325	179303760	0	0	0	179303760	1	1
326	0	0	0	179397138	179397138	1	0
327	0	179472279	0	0	179472279	0	0
328	0	0	179552871	0	179552871	0	1
329	179639048	0	0	0	179639048	1	1
330	0	0	0	179718878	179718878	1	0
331	0	0	179736060	0	179736060	1	1
332	0	0	0	179737597	179737597	1	0
333	0	0	179740948	0	179740948	1	1
334	0	0	0	179741349	179741349	1	0
335	0	0	179742063	0	179742063	1	1
336	0	0	0	179743480	179743480	1	0
337	0	0	179749196	0	179749196	1	1
338	0	0	0	179750501	179750501	1	0
339	0	179783325	0	0	179783325	0	0
340	0	0	179843675	0	179843675	0	1
341	179903680	0	0	0	179903680	1	1
342	0	0	0	179968786	179968786	1	0
343	0	180034067	0	0	180034067	0	0
344	0	0	180094479	0	180094479	0	1
345	180148664	0	0	0	180148664	1	1
346	0	0	0	180199286	180199286	1	0
347	0	180248147	0	0	180248147	0	0
348	0	0	180299775	0	180299775	0	1
349	180352856	0	0	0	180352856	1	1
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441	0	0	0	184791536	184791536	0	0
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444	185195170	0	0	0	185195170	1	0
445	0	185308188	0	0	185308188	0	0
446	185487171	0	0	0	185487171	1	0
447	0	185531012	0	0	185531012	0	0
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450	0	0	0	185740990	185740990	1	0
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452	0	0	185849155	0	185849155	0	1
453	185916828	0	0	0	185916828	1	1
454	0	0	0	185969866	185969866	1	0
455	0	186013130	0	0	186013130	0	0
456	0	0	186049435	0	186049435	0	1
457	186094932	0	0	0	186094932	1	1
458	0	0	0	186174106	186174106	1	0
459	0	186226887	0	0	186226887	0	0
460	0	0	186276731	0	186276731	0	1
461	186322272	0	0	0	186322272	1	1
462	0	0	0	186363122	186363122	1	0
463	0	186394698	0	0	186394698	0	0
464	0	0	186426407	0	186426407	0	1
465	186457948	0	0	0	186457948	1	1
466	0	0	0	186495254	186495254	1	0
467	0	186534023	0	0	186534023	0	0
468	0	0	186591817	0	186591817	0	1
469	186634912	0	0	0	186634912	1	1
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471	0	186712270	0	0	186712270	0	0
472	0	0	186749975	0	186749975	0	1
473	186794700	0	0	0	186794700	1	1
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476	0	0	186958367	0	186958367	0	1
477	187019256	0	0	0	187019256	1	1
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481	187212424	0	0	0	187212424	1	1
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537	0	0	0	193368392	193368392	0	0
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547	0	0	194463757	0	194463757	1	1
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561	0	0	197696393	0	197696393	1	1
562	0	197759325	0	0	197759325	0	1
563	0	0	0	197827236	197827236	0	0
564	197905058	0	0	0	197905058	1	0
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577	200382096	0	0	0	200382096	1	1
578	0	0	0	200543046	200543046	1	0
579	0	200712239	0	0	200712239	0	0
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581	201093412	0	0	0	201093412	1	1
582	0	0	0	201264330	201264330	1	0
583	0	201545391	0	0	201545391	0	0
584	0	0	201881135	0	201881135	0	1
585	202303645	0	0	0	202303645	1	1
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587	0	202866215	0	0	202866215	0	0
588	0	0	203068723	0	203068723	0	1
589	203228996	0	0	0	203228996	1	1
590	0	0	0	203386234	203386234	1	0
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592	0	0	203686647	0	203686647	0	1
593	203820000	0	0	0	203820000	1	1
594	0	0	0	203968398	203968398	1	0
595	0	204137735	0	0	204137735	0	0
596	0	0	204321179	0	204321179	0	1
597	204501040	0	0	0	204501040	1	1
598	0	0	0	204798122	204798122	1	0
599	0	205111015	0	0	205111015	0	0
600	0	0	205503347	0	205503347	0	1
601	205835524	0	0	0	205835524	1	1
602	0	0	0	206403702	206403702	1	0
603	0	0	207426192	0	207426192	1	1
604	0	208308273	0	0	208308273	0	1
605	0	0	0	211578952	211578952	0	0
606	212129998	0	0	0	212129998	1	0
607	0	0	212638973	0	212638973	1	1
608	0	213684281	0	0	213684281	0	1
609	0	0	0	263647020	263647020	0	0
610	0	0	272197462	0	272197462	0	1
611	0	0	0	281109733	281109733	0	0
612	360075098	0	0	0	360075098	1	0
	 	 	 	 		1	0

I added the results of post-processing in the last three columns. The results follow correctly from the first interrupt to the last read event. No missed events and no multiple sampling of the same state occurred in all three trials. Seems bunching timing operations and pin state reads into each iteration of the for-loop in the first code I posted did a number on the processor (possibly what Jamie suggested). The present form of interrupt code eases the processor enough for it to catch every pin state change (and then some…). Thanks, JojoS and Jan for pointing me in the interrupt direction. Will run more tests to verify code stability.

All the trials had this problem(?) [eg. lines 291 - 322, 329 - 336, 375 - 388, etc] that looks like interrupt-storms which seem to happen at turning points or inflection points. Nowhere near the fastest parts of the measurement event. Appears related to JojoS’ last reply except I’m using an optical encoder. It says again here though (reply #6) that that’s possible and I do have a couple other vibration hotspots in my rig.

Would appreciate it if anyone can give some clarity on the “problem” ( probably isn’t a problem anyways) and the best course of action on it (ignore or include in measurememt data?).

Sola_Oladosu · November 15, 2023, 10:15pm

Update: did seven more trials to make a total of ten runs of the last measurement technique. I’m ten-for-ten as per no recorded “invalid” counts so it’s probably safe to assume it’s stable. Of course, it’s only good for acquiring data and not for real time control (at least not in its present form).

Suits my purposes so I’m golden. Thanks everybody for helping figure this out.

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