// **************************************************************
// PWM0P0 interrupt is for IR Reciver
// **************************************************************
void PWM0P2_IRQHandler(void)
{
#ifdef SONAR
// ============================================================
// Caculate distance between object and sonar
// distance(cm) = time(us)/58.773
// distance(cm) = clock(10us)/5.8773
// ============================================================
if(PWM_GetCaptureIntFlag(PWM0, 4))
{
//Clear interrupt
PWM_ClearCaptureIntFlag(PWM0, 4, PWM_CAPTURE_INT_FALLING_LATCH);
Sonar_caprure_timer = IrSonar_CalPeriodTime(PWM0, 4);
// Caculate distance between Sonar and object
Sonar_Distance = (float)Sonar_caprure_timer/(float)SONARDISTANCE_SCALE;
Sonar_Distance_OUT = Sonar_Distance;
//Enable next time distence detect
SonarExecuteFLAG=0;
}
#endif
#ifdef IR
// ============================================================
// Get IR data
// ============================================================
if(PWM_GetCaptureIntFlag(PWM0, 5))
{
//Clear interrupt
PWM_ClearCaptureIntFlag(PWM0, 5, PWM_CAPTURE_INT_FALLING_LATCH);
PWM_caprure_timer = IrSonar_CalPeriodTime(PWM0, 5);
//start receive IR raw data
if(IR_RxExecute_Flag==0)
{
if(PWM_caprure_timer < IRRX_FIRST_BIT_MAX && PWM_caprure_timer > IRRX_FIRST_BIT_MIN) // start if > 3ms
{
IR_RxExecute_Flag=1;
IR_init_counter=getTickCount();
}
}
//store IR raw data
else if(IR_capture_count<32 && IR_RxExecute_Flag==1)
{
IR_rawDATA[IR_capture_count] = PWM_caprure_timer;
IR_capture_count++;
if(IR_capture_count==32)
{
IR_RxComplete_Flag=1;
}
}
// Detect stop bit
if(PWM_caprure_timer>1500)
{
IR_RxExecute_Flag = 0;
IR_capture_count = 0;
}
}
#endif
}
/*--------------------------------------------------------------------------------------*/
void CalPeriodTime(PWM_T *PWM, uint32_t u32Ch)
{
uint16_t u32Count[4];
uint32_t u32i;
uint16_t u16RisingTime, u16FallingTime, u16HighPeroid, u16LowPeroid, u16TotalPeroid;
/* Clear Capture Falling Indicator (Time A) */
PWM_ClearCaptureIntFlag(PWM, u32Ch, PWM_CAPTURE_INT_FALLING_LATCH);
/* Wait for Capture Falling Indicator */
while(PWM_GetCaptureIntFlag(PWM, u32Ch) < 2);
/* Clear Capture Falling Indicator (Time B)*/
PWM_ClearCaptureIntFlag(PWM, u32Ch, PWM_CAPTURE_INT_FALLING_LATCH);
u32i = 0;
while(u32i < 4)
{
/* Wait for Capture Falling Indicator */
while(PWM_GetCaptureIntFlag(PWM, u32Ch) < 2);
/* Clear Capture Falling and Rising Indicator */
PWM_ClearCaptureIntFlag(PWM, u32Ch, PWM_CAPTURE_INT_FALLING_LATCH | PWM_CAPTURE_INT_RISING_LATCH);
/* Get Capture Falling Latch Counter Data */
u32Count[u32i++] = PWM_GET_CAPTURE_FALLING_DATA(PWM, u32Ch);
/* Wait for Capture Rising Indicator */
while(PWM_GetCaptureIntFlag(PWM, u32Ch) < 2);
/* Clear Capture Rising Indicator */
PWM_ClearCaptureIntFlag(PWM, u32Ch, PWM_CAPTURE_INT_RISING_LATCH);
/* Get Capture Rising Latch Counter Data */
u32Count[u32i++] = PWM_GET_CAPTURE_RISING_DATA(PWM, u32Ch);
}
u16RisingTime = u32Count[1];
u16FallingTime = u32Count[0];
u16HighPeroid = u32Count[1] - u32Count[2];
u16LowPeroid = 0x10000 - u32Count[1];
u16TotalPeroid = 0x10000 - u32Count[2];
printf("\nPWM generate: \nHigh Period=7199 ~ 7201, Low Period=16799 ~ 16801, Total Period=23999 ~ 24001\n");
printf("\nCapture Result: Rising Time = %d, Falling Time = %d \nHigh Period = %d, Low Period = %d, Total Period = %d.\n\n",
u16RisingTime, u16FallingTime, u16HighPeroid, u16LowPeroid, u16TotalPeroid);
if((u16HighPeroid < 7199) || (u16HighPeroid > 7201) || (u16LowPeroid < 16799) || (u16LowPeroid > 16801) || (u16TotalPeroid < 23999) || (u16TotalPeroid > 24001))
printf("Capture Test Fail!!\n");
else
printf("Capture Test Pass!!\n");
}
/**
* @brief PWM0 IRQ Handler
*
* @param None
*
* @return None
*
* @details ISR to handle PWM0 interrupt event
*/
void PWM0_IRQHandler(void)
{
if(PWM_GetCaptureIntFlag(PWM0, 0) > 1)
{
PWM_ClearCaptureIntFlag(PWM0, 0, PWM_CAPTURE_INT_FALLING_LATCH);
}
}
