Problems Combining Camera Code and Driving Code

[Jon236]

Originally Posted by kaszeta

You should need an interrupt handler for tx1, rx1, tx2, and rx2, unless you are also using encoders, the adc code, or the gyro (which uses the adc code).

We do use all of those, and it's working fine. Here's our InterruptHandlerLow:

#pragma code

#pragma interruptlow InterruptHandlerLow save=PROD,section(".tmpdata")



void InterruptHandlerLow(void)     

{                               

	unsigned char Port_B;

	unsigned char Port_B_Delta;

	

	if(PIR1bits.RC1IF && PIE1bits.RC1IE) // rx1 interrupt?

	{

		#ifdef ENABLE_SERIAL_PORT_ONE_RX

		Rx_1_Int_Handler(); // call the rx1 interrupt handler (in serial_ports.c)

		#endif

	}                              

	else if(PIR3bits.RC2IF && PIE3bits.RC2IE) // rx2 interrupt?

	{

		#ifdef ENABLE_SERIAL_PORT_TWO_RX

		Rx_2_Int_Handler(); // call the rx2 interrupt handler (in serial_ports.c)

		#endif

	} 

	else if(PIR1bits.TMR2IF && PIE1bits.TMR2IE) // timer 2 interrupt?

	{

		PIR1bits.TMR2IF = 0; // clear the timer 2 interrupt flag [92]

		Timer_2_Int_Handler(); // call the timer 2 interrupt handler (in adc.c)

	}                     

	else if(PIR1bits.ADIF && PIE1bits.ADIE) // ADC interrupt

	{

		PIR1bits.ADIF = 0; // clear the ADC interrupt flag

		ADC_Int_Handler(); // call the ADC interrupt handler (in adc.c)

	}

	else if (INTCON3bits.INT2IF && INTCON3bits.INT2IE) // encoder 1 interrupt?

	{ 

		INTCON3bits.INT2IF = 0; // clear the interrupt flag

		#ifdef ENABLE_ENCODER_1

		Encoder_1_Int_Handler(); // call the left encoder interrupt handler (in encoder.c)

		#endif

	}

	else if (INTCON3bits.INT3IF && INTCON3bits.INT3IE) // encoder 2 interrupt?

	{

		INTCON3bits.INT3IF = 0; // clear the interrupt flag

		#ifdef ENABLE_ENCODER_2

		Encoder_2_Int_Handler(); // call right encoder interrupt handler (in encoder.c)

		#endif

	}

	else if (INTCONbits.RBIF && INTCONbits.RBIE) // encoder 3-6 interrupt?

	{

		Port_B = PORTB; // remove the "mismatch condition" by reading port b            

		INTCONbits.RBIF = 0; // clear the interrupt flag

		Port_B_Delta = Port_B ^ Old_Port_B; // determine which bits have changed

		Old_Port_B = Port_B; // save a copy of port b for next time around

	 

		if(Port_B_Delta & 0x10) // did external interrupt 3 change state?

		{

			#ifdef ENABLE_ENCODER_3

			Encoder_3_Int_Handler(Port_B & 0x10 ? 1 : 0); // call the encoder 3 interrupt handler (in encoder.c)

			#endif

		}

		if(Port_B_Delta & 0x20) // did external interrupt 4 change state?

		{

			#ifdef ENABLE_ENCODER_4

			Encoder_4_Int_Handler(Port_B & 0x20 ? 1 : 0); // call the encoder 4 interrupt handler (in encoder.c)

			#endif

		}

		if(Port_B_Delta & 0x40) // did external interrupt 5 change state?

		{

			#ifdef ENABLE_ENCODER_5

			Encoder_5_Int_Handler(Port_B & 0x40 ? 1 : 0); // call the encoder 5 interrupt handler (in encoder.c)

			#endif

		}

		if(Port_B_Delta & 0x80) // did external interrupt 6 change state?

		{

			#ifdef ENABLE_ENCODER_6

			Encoder_6_Int_Handler(Port_B & 0x80 ? 1 : 0); // call the encoder 6 interrupt handler (in encoder.c)

			#endif

		}

	}

	else if(PIR1bits.TX1IF && PIE1bits.TX1IE) // tx1 interrupt?

	{

		#ifdef ENABLE_SERIAL_PORT_ONE_TX

		Tx_1_Int_Handler(); // call the tx1 interrupt handler (in serial_ports.c)

		#endif

	}                              

	else if(PIR3bits.TX2IF && PIE3bits.TX2IE) // tx2 interrupt?

	{

		#ifdef ENABLE_SERIAL_PORT_TWO_TX

		Tx_2_Int_Handler(); // call the tx2 interrupt handler (in serial_ports.c)

		#endif

	}

}

I've made all of those changes and still get the RLOD. We use the interrupts, timers, rx1&2 tx1&2.

Any other thoughts?

Jon