/*! **********************************************************************
* Function: configureRange(void)
*
* Include: Range.h
*
* Description: Configures the Range module
*
* Arguments: None
*
* Returns: None
*************************************************************************/
void configureRange(void)
{
unsigned char config;
INIT_PIN = 0;
//Enable global interrupts and interrupt priority
INT_SETUP()
readTemp();
//Make sure the AD is configured
configureAD();
CCP1_INPT = 1;
INIT_TRIS = 0; //Make the INIT
//Open Timer
config = T1_16BIT_RW & T1_SOURCE_INT & T1_OSC1EN_OFF & T1_PS_1_1 & T1_SYNC_EXT_OFF &TIMER_INT_ON;
OpenTimer1(config);
config = CAPTURE_INT_ON & CAP_EVERY_RISE_EDGE;
//CloseCapture1, which will clear any interrupt flags etc
CloseCapture1();
//Open the input capture on compare1
OpenCapture1(config);
}
// Input Capture Event Interrupt
// On input capture this interrupt will get the time taken to charge the capacitor
// and signal the capacitor thread to continue
void __ISR(_INPUT_CAPTURE_1_VECTOR, ipl2) IC1Handler(void)
{
charge_time = mIC1ReadCapture();
CloseCapture1();
mIC1ClearIntFlag();
charged = 1;
}
/*! **********************************************************************
* Function: rangeUltrasonic(void)
*
* Include:
*
* Description: performs an ultrasonic range reading.
* Pins:
*
* Arguments: None
*
* Returns: the average of the samples
*
* todo remove this function?
*************************************************************************/
unsigned int rangeUltrasonic(void)
{
unsigned int rng;
configureRange();
beginUS();
rng = rangeUS(25);
INIT_PIN = 0;
CloseCapture1();
CloseTimer1();
return rng;
}
