/********************************************************************
* Function: void ISR_CCP1(void)
*******************************************************************/
void ISR_CCP3(void) // Interruption sur front montant sur RA2
{
n_Mont = n_TMR1;
if (!PulseOK)
{
n_TMR1 = 0; // On remet le compteur à zéro
rise = n_Mont*65536 + ReadCapture3(); // Lit la valeur de CCP1
fall = n_Des*65536 + ReadCapture4(); // Lit la valeur de ECCP1
lowtime = rise - fall; // Largeur du front bas
pulse_width = fall - lastrise; // Largeur du front haut => Presque inutile
lastrise = ReadCapture3(); // Sauvegarde
PulseOK = TRUE; // Indique qu'on a reçu un nouveu RF bit
// printf("lowtime: %u us \r\n", lowtime);
}
}
void __ISR(_INPUT_CAPTURE_4_VECTOR) INT_IC4_Handler(void)
{
mIC4ClearIntFlag();
//Read captured timer values
if(mIC4CaptureReady())
{
IC4_CT_Rise = mIC4ReadCapture();
IC4_CT_Fall = mIC4ReadCapture();
}
//Determine period
if(IC4_CT_Rise > IC4_CT_Fall)
period4 = (IC4_CT_Fall + PER_REG) - IC4_CT_Rise;
else
period4 = IC4_CT_Fall - IC4_CT_Rise;
//Correct period if out of range
if(period4 > ROLL_H - 3)
period4 = ROLL_H;
else if(period4 < ROLL_L + 3)
period4 = ROLL_L;
//Turn period into a percentage 0.0 thru 100.0% and
//a Roll angle -ROLL_LIMIT to ROLL_LIMIT degrees
if(zero_mode == 0)
{
if(period4 > rm + 5)
{
roll_pc = ((ROLL_H + period4 - (2.0 * rm)) / (ROLL_H - rm)) * 50.0;
IC_ROLL = (PI * ((roll_pc - 50.0) / 100.0))/(90.0/ROLL_LIMIT);
}
else if(period4 < rm - 5)
{
roll_pc = ((period4 - ROLL_L) / (rm-ROLL_L)) * 50.0;
IC_ROLL = (-1.0 * PI * ((50.0 - roll_pc) / 100.0))/(90.0/ROLL_LIMIT);
}
else
{
roll_pc = 50.0;
IC_ROLL = 0.0;
}
}
ReadCapture4(garbage); //clear any remaining capture values
}
