ricklon
commented
3 years ago I've had the same issue for a long time.
For the Autonomous Vehicle project Foocars. I've got custom code for the interrupts. I've been hoping we would support the change notice options to be compatible with the rotary encoder code from Paul at Teensy.
Here's the example sketch with change notice: https://github.com/fubarlabs/foocars/blob/master/cars/templatecar/arduino/FullAutoDrive-mini2/src/FullAutoDrive.ino
//This function pulls the data being populated by the input capture
interrupts.
//it corrects for the timer restarting.
inline int pulseRead(int RCindex){return
(pulseHighTime[RCindex]>0)?(int)(4.0*pulseHighTime[RCindex]/3.0):(int)(4.0*pulseHighTime[RCindex]/3.0+0xFFFF);}
//inline int pulseRead(int RCindex){return
(int)(0.8*pulseHighTime[RCindex]);}
//interrupt service routine for second input capture module
void __USER_ISR InputCaptureTHR_ISR(void) {
static uint16_t risingEdgeTime = 0;
static uint16_t fallingEdgeTime = 0;
clearIntFlag(_INPUT_CAPTURE_4_IRQ);
if (IC4CONbits.ICBNE == 1)
{
if (digitalRead(RC_INPUT_THR) == HIGH)
{
risingEdgeTime = IC4BUF;
pulseLowTime[1] = risingEdgeTime - fallingEdgeTime;
}
else
{
fallingEdgeTime = IC4BUF;
pulseHighTime[1] = fallingEdgeTime - risingEdgeTime;
}
}
}
//interrupt service routine for first input capture module
void __USER_ISR InputCaptureSTR_ISR(void) {
static uint16_t risingEdgeTime = 0;
static uint16_t fallingEdgeTime = 0;
clearIntFlag(_INPUT_CAPTURE_1_IRQ);
if (IC1CONbits.ICBNE == 1)
{
if (digitalRead(RC_INPUT_STR) == HIGH)
{
risingEdgeTime = IC1BUF;
pulseLowTime[0] = risingEdgeTime - fallingEdgeTime;
}
else
{
fallingEdgeTime = IC1BUF;
pulseHighTime[0] = fallingEdgeTime - risingEdgeTime;
}
}
}
void setup() {
Serial.begin(9600);
Serial.println( "Starting up..." );
mapPps(0, PPS_IN_IC1);
mapPps(10, PPS_IN_IC4);
//setup input capture modules one and two
IC1CON = 0;
IC1CONbits.ICM = 1; // Capture an interrupt on every rising and
falling edge
IC1CONbits.ICTMR = 1; // Set to user Timer2
IC1CONbits.ON = 1; // Turn IC1 on
IC4CON = 0;
IC4CONbits.ICM = 1; // Capture an interrupt on every rising and
falling edge
IC4CONbits.ICTMR = 1; // Set to user Timer2
IC4CONbits.ON = 1; // Turn IC2 on
/*We're using timer2 for the input capture. This shouldn't
interfere with pwm
output, which uses timers 3-5.
*/
PR2 = 0xFFFF; // This tells timer 2 to count up to 0xFFFF,
after which it will restart at 0
T2CONbits.TCKPS = 6; // 1:64 prescale, which means 48MHz/64 or 0.75MHz
clock rate
T2CONbits.TON = 1; // Turn on Timer2
pinMode(RC_INPUT_STR, INPUT);
pinMode(RC_INPUT_THR, INPUT);
pinMode(PIN_LED, OUTPUT);
digitalWrite(PIN_LED, LOW);
//these lines set up the interrupt functions to trigger
setIntVector(_INPUT_CAPTURE_1_VECTOR, InputCaptureSTR_ISR);
setIntPriority(_INPUT_CAPTURE_1_VECTOR, 4, 0);
clearIntFlag(_INPUT_CAPTURE_1_IRQ);
setIntEnable(_INPUT_CAPTURE_1_IRQ);
setIntVector(_INPUT_CAPTURE_4_VECTOR, InputCaptureTHR_ISR);
setIntPriority(_INPUT_CAPTURE_4_VECTOR, 4, 0);
clearIntFlag(_INPUT_CAPTURE_4_IRQ);
setIntEnable(_INPUT_CAPTURE_4_IRQ);
}
void loop () {
unsigned long STR_VAL = pulseRead(0); // Read pulse width of
unsigned long THR_VAL = pulseRead(1); // each channel
}
I hope this is helpful.
--Rick
On Sun, Mar 7, 2021 at 2:26 PM Jacob Christ notifications@github.com wrote:
I'm working on an interrupt lab for the Fubarino Mini 2.0 for my class.
I have found that the macros PIN_INT0-4 are defined as the following in Board_Defs.h:
define PIN_INT0 24 // B7 non-PPS
define PIN_INT1 3 // B14 INT1R = RPB14 = 1
define PIN_INT2 0 // B13 INT2R = RPB13 = 3
define PIN_INT3 6 // A1 INT3R = RPA1 = 0
define PIN_INT4 4 // B15 INT4R = RPB15 = 3
Board_Data.c has the following array defined:
const uint8_t external_int_to_digital_pin_PGM[] = { NOT_PPS_PIN, // INT0 is not mappable PIN_INT1, // INT1 PIN_INT2, // INT2 PIN_INT3, // INT3 PIN_INT4 // INT4 };
If I use:
attachInterrupt(PIN_INTx, isrX, MODE);
Where PIN_INTx is a defined interrupt pin and isrX is function that prints out a value if called that looks something like this:
void isr0() { digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN)); // toggle pin 1 Serial.println("ISR0"); }
I find that:
PIN_INT1 is mapped to pin 6 RISING or FALING PIN_INT2 is mapped to pin 24 RISING or FALING PIN_INT4 is mapped to pin 4 RISING or FALING
None of the CHANGE interrupt modes work (there is no code to support this type in WInterrupts).
Also, PIN_INT0 and PIN_INT3 do not seem to be working, didn't dig too deep to understand why.
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EmbeddedMan
JacobChrist
I'm working on an interrupt lab for the Fubarino Mini 2.0 for my class.
I have found that the macros PIN_INT0-4 are defined as the following in Board_Defs.h:
Board_Data.c has the following array defined:
If I use:
Where PIN_INTx is a defined interrupt pin and isrX is function that prints out a value if called that looks something like this:
I find that:
PIN_INT1 is mapped to pin 6 RISING or FALING PIN_INT2 is mapped to pin 24 RISING or FALING PIN_INT4 is mapped to pin 4 RISING or FALING
None of the CHANGE interrupt modes work (there is no code to support this type in WInterrupts).
Also, PIN_INT0 and PIN_INT3 do not seem to be working, didn't dig too deep to understand why.