// * svm_pwm_gen_ISR **********************************************************
// * ISR for our svm pwm generator *
// ****************************************************************************
void svm_pwm_gen_ISR(void)
{
static unsigned char toggle = 0; // test code
// for now the only thing that can get us here
// is the timer load interrupt
ROM_PWMGenIntClear(SVM_PWM_BASE, SVM_PWM_GEN, PWM_INT_CNT_LOAD);
// clear timer load interrupt or else nothiing else will run
// do things here
}
//*****************************************************************************
//
// This function is called each time the ADC sample sequence completes.
//
//*****************************************************************************
void
ADCIntHandler(void)
{
unsigned short pusADCData[8];
unsigned long ulIdx;
//
// Clear the ADC interrupt.
//
ROM_ADCIntClear(ADC0_BASE, 0);
//
// If running on Rev A0 silicon, clear the PWM trigger interrupt sources.
// This is a workaround to allow them to retrigger the ADC. Since this
// workaround is otherwise harmless, it is done unconditionally (to avoid
// checking the silicon revision within this interrupt handler).
//
ROM_PWMGenIntClear(PWM0_BASE, PWM_GEN_0, PWM_INT_CNT_BD);
//
// Call the H-bridge update function.
//
HBridgeTick();
//
// Drain the ADC of conversions.
//
if(HWREG(ADC0_BASE + ADC_O_SSFSTAT0) & ADC_SSFSTAT0_EMPTY)
{
return;
}
pusADCData[0] = HWREG(ADC0_BASE + ADC_O_SSFIFO0);
if(HWREG(ADC0_BASE + ADC_O_SSFSTAT0) & ADC_SSFSTAT0_EMPTY)
{
return;
}
pusADCData[1] = HWREG(ADC0_BASE + ADC_O_SSFIFO0);
if(HWREG(ADC0_BASE + ADC_O_SSFSTAT0) & ADC_SSFSTAT0_EMPTY)
{
return;
}
pusADCData[2] = HWREG(ADC0_BASE + ADC_O_SSFIFO0);
if(HWREG(ADC0_BASE + ADC_O_SSFSTAT0) & ADC_SSFSTAT0_EMPTY)
{
return;
}
pusADCData[3] = HWREG(ADC0_BASE + ADC_O_SSFIFO0);
if(!(HWREG(ADC0_BASE + ADC_O_SSFSTAT0) & ADC_SSFSTAT0_EMPTY))
{
while(!(HWREG(ADC0_BASE + ADC_O_SSFSTAT0) & ADC_SSFSTAT0_EMPTY))
{
HWREG(ADC0_BASE + ADC_O_SSFIFO0);
}
return;
}
g_pusADCData[0] = pusADCData[0];
g_pusADCData[1] = pusADCData[1];
g_pusADCData[2] = pusADCData[2];
g_pusADCData[3] = pusADCData[3];
//
// Put this winding current reading into the current bucket.
//
g_pusBuckets[g_ulBucket >> 16] += g_pusADCData[WINDING_CURRENT];
g_ulBucket++;
//
// See if this bucket is full.
//
if((g_ulBucket & 0xffff) == 16)
{
//
// Compute the new averaged winding current reading.
//
g_usCurrent = ((g_pusBuckets[0] + g_pusBuckets[1] + g_pusBuckets[2] +
g_pusBuckets[3] + g_pusBuckets[4] + g_pusBuckets[5] +
g_pusBuckets[6] + g_pusBuckets[7]) / (8 * 16));
//
// Advance to the next bucket.
//
g_ulBucket = (g_ulBucket + 0x10000) & 0x00070000;
g_pusBuckets[g_ulBucket >> 16] = 0;
}
