//************************************************************************
void __ISR(_CORE_TIMER_VECTOR, ipl2) CoreTimerHandler(void)
{
unsigned int cur_timer_val;
cur_timer_val = ReadCoreTimer();
// clear the interrupt flag
mCTClearIntFlag();
// update the period
UpdateCoreTimer(CORE_TICK_RATE);
// .. things to do
// Check for CoreTimer overflows, record for micros() function
// If micros() is not called more often than every 107 seconds (the
// period of overflow for CoreTimer) then overflows to CoreTimer
// will be lost. So we put code here to check for this condition
// and record it so that the next call to micros() will be accurate.
if (!gMicros_calculating)
{
if (cur_timer_val < gCore_timer_last_val)
{
// We have an overflow
gCore_timer_micros += ((0xFFFFFFFF - gCore_timer_last_val) + cur_timer_val) / CORETIMER_TICKS_PER_MICROSECOND;
gCore_timer_first_val = cur_timer_val;
gMicros_overflows = gCore_timer_micros;
}
gCore_timer_last_val = cur_timer_val;
}
// Count this millisecond
gTimer0_millis++;
}
//! Keep 1ms resolution system time
void __ISR(_CORE_TIMER_VECTOR, ipl2) CoreTimerHandler(void)
{
// clear the interrupt flag
mCTClearIntFlag();
// update the period
UpdateCoreTimer(CORE_TICK_RATE);
++_sys_time;
}
void __ISR(_CORE_TIMER_VECTOR, ipl6) CoreTimerHandler(void)
{
/* update the period */
UpdateCoreTimer(CORE_TICK_RATE);
/* do repetitive tasks here */
stepgen();
/* clear the interrupt flag */
mCTClearIntFlag();
}
void BSP_TickISR_Handler (void)
{
mCTClearIntFlag(); // Clear the core timer interrupt
UpdateCoreTimer(BSP_TMR_RELOAD); // Prepare for the next core timer interrupt
}
