//void servo_interrupt()
void Timer2Interrupt(void)
{
// is this an TMR1 interrupt ?
if (IntGetFlag(INT_TIMER2))
{
if (phase)
{
ServosPulseUp();
PR2 = f500us; // load period register
phase = 0;
}
else
{
ServosPulseDown(); // 2 ms
PR2 = f20ms; // load period register
if (needreordering)
SortServoTimings(); // 1 ms
phase = 1; // will start the servos cycle on next interrupt
}
// enable interrupt again
IntClearFlag(INT_TIMER2);
}
}
void RTCCInterrupt(void)
{
if (IntGetFlag(INT_REAL_TIME_CLOCK))
{
IntClearFlag(INT_REAL_TIME_CLOCK);
intFunction();
}
}
void Timer5Interrupt()
{
if (IntGetFlag(INT_TIMER5))
{
if (intCount[5]++ >= intCountLimit[5])
{
// reset the counter
intCount[5] = 0;
// call user's routine
intFunction[INT_TIMER5]();
}
IntClearFlag(INT_TIMER5);
}
}
//#pragma interrupt Tmr2Interrupt ipl3 vector 8
void Tmr2Interrupt()
{
// is this an TMR2 interrupt ?
#if defined(PIC32_PINGUINO_220)||defined(GENERIC32MX250F128)||defined(GENERIC32MX220F032)
TMR2 = _tmr2; // 0xD910; // because PR2 don't work on PIC32MX220F032D
if (IFS0bits.T2IF)
#else
if (IntGetFlag(INT_TIMER2)) // TODO : add PIC32_PINGUINO_220 support
#endif
{
#if defined(PIC32_PINGUINO_220)||defined(GENERIC32MX250F128)||defined(GENERIC32MX220F032)
IFS0bits.T2IF=0;
#else
//IFS0CLR=0x00000100;
IntClearFlag(INT_TIMER2);
#endif
_millis++;
}
}
void Timer3Interrupt()
{
if (IntGetFlag(INT_TIMER3)) // Timer3 interrupt ?
{
irdata = digitalread(irparams.recvpin);
irparams.timer++; // One more 50us tick
// Buffer overflow ?
if (irparams.rawlen >= RAWBUF)
irparams.rcvstate = STATE_STOP;
switch(irparams.rcvstate)
{
// In the middle of a gap
case STATE_IDLE:
if (irdata == MARK)
{
// Not big enough to be a gap.
if (irparams.timer < GAP_TICKS)
irparams.timer = 0;
// gap just ended, record duration and start recording transmission
else
{
irparams.rawlen = 0;
irparams.rawbuf[irparams.rawlen++] = irparams.timer;
irparams.timer = 0;
irparams.rcvstate = STATE_MARK;
}
}
break;
// timing MARK
case STATE_MARK:
// MARK ended, record time
if (irdata == SPACE)
{
irparams.rawbuf[irparams.rawlen++] = irparams.timer;
irparams.timer = 0;
irparams.rcvstate = STATE_SPACE;
}
break;
// timing SPACE
case STATE_SPACE:
// SPACE just ended, record it
if (irdata == MARK)
{
irparams.rawbuf[irparams.rawlen++] = irparams.timer;
irparams.timer = 0;
irparams.rcvstate = STATE_MARK;
}
// SPACE
else
{
// big SPACE, indicates gap between codes
// Mark current code as ready for processing
// Switch to STOP
// Don't reset timer; keep counting space width
if (irparams.timer > GAP_TICKS)
irparams.rcvstate = STATE_STOP;
}
break;
// waiting, measuring gap
case STATE_STOP:
// reset gap timer
if (irdata == MARK)
irparams.timer = 0;
break;
}
if (irparams.blinkflag)
{
if (irdata == MARK)
digitalwrite(USERLED, 1); // turn USERLED on
else
digitalwrite(USERLED, 0); // turn USERLED off
}
// Timer3 flag reset
IntClearFlag(INT_TIMER3);
}
}
