void __ISR(_INPUT_CAPTURE_5_VECTOR) INT_IC5_Handler(void)
{
mIC5ClearIntFlag();
//Read captured timer values
if(mIC5CaptureReady())
{
IC5_CT_Rise = mIC5ReadCapture();
IC5_CT_Fall = mIC5ReadCapture();
}
//Determine period
if(IC5_CT_Rise > IC5_CT_Fall)
period5 = (IC5_CT_Fall + PER_REG) - IC5_CT_Rise;
else
period5 = IC5_CT_Fall - IC5_CT_Rise;
//Turn period into Aux percentage 0.0 or 100.0%
if(period5 > (int)MID_THRESH_L)
IC_AUX = 100;
else if(period5 < (int)MID_THRESH_L)
IC_AUX = 0;
ReadCapture5(garbage); //clear any remaining capture values
}
void __ISR(_INPUT_CAPTURE_5_VECTOR, IPL4AUTO) HCSR04_Interrupt(void){ // TODO: http://ww1.microchip.com/downloads/en/DeviceDoc/XC32-v131-ReleaseNotes.html#ISR_Context_improvements
if(up){
curr = mIC5ReadCapture();
if(curr < last)
lastDistance = (curr + ((~0)-last));
else
lastDistance = curr - last;
lastDistance *= scale;
reading = 0;
} else{
up = 1;
last = mIC5ReadCapture();
}
INTClearFlag(INT_IC5);
}