void RefreshSensorData(void * Parameters)
{
vSemaphoreCreateBinary(xSemaphore);
/* Go to infinite loop when Memory Manage exception occurs */
while (1){
refreshSensorData();
xSemaphoreGive(xSemaphore);
vTaskDelay(100);
}
}
/*
* TIM2_IRQHandler - The interrupt handler for timer 2. There are 4 possible
* interrupt channels.
*
* Inputs: None
* Outputs: None
* Modifies: Possibly extern global var pid_set_flag
*/
void TIM2_IRQHandler(void) {
// Channel 1 is the interrupt for the detectEmegency() function
if (TIM_GetITStatus(TIM2, TIM_IT_CC1) != RESET) {
// Clear the IRQ
TIM_ClearITPendingBit(TIM2, TIM_IT_CC1);
detectEmergency();
// Interrupt needs to trigger again in 10ms
capture = TIM_GetCapture1(TIM2);
TIM_SetCompare1(TIM2, capture + DELAY_10MS);
// Channel 2 is the interrupt for refreshSensorData()
} else if (TIM_GetITStatus(TIM2, TIM_IT_CC2) != RESET) {
// Clear the IRQ
TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);
refreshSensorData();
// Interrupt needs to trigger again in 100ms
capture = TIM_GetCapture2(TIM2);
TIM_SetCompare2(TIM2, capture + DELAY_100MS);
// Channel 3 is the interupt for calculateOrientation()
} else if (TIM_GetITStatus(TIM2, TIM_IT_CC3) != RESET) {
// Clear the IRQ
TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);
calculateOrientation();
// This function refreshes once a second, so no need to reset the
// compare register
// Channel 4 is the interrupt for updatePid()
} else {
// Clear the IRQ
TIM_ClearITPendingBit(TIM2, TIM_IT_CC4);
// This function returns new motor PIDs, which means the main
// program needs to do additional processing after the interrupt
updatePid(&motor_speeds);
pid_set_flag = True;
// This function refreshes once a second, so no need to reset the
// compare register
}
}
