void FC81_Interrupt(void)
{
clrRegBit(TMR0_SCTRL,TCF); /* Reset interrupt request flag */
TTicks++; /* Increment counter of timer ticks */
if (TTicks == 0) { /* Testing counter overflow */
TOvf = TRUE; /* If yes then set overflow flag */
}
}
void TI1_interrupt (void)
{
byte i;
_count++;
_wait = false;
clrRegBit (TMRA3_SCR, TCF); /* Reset interrupt request flag */
}
/*
** ===================================================================
** Method : HWEnDi (component ADC)
**
** Description :
** Enables or disables the peripheral(s) associated with the
** component. The method is called automatically as a part of
** Enable, Disable and Init methods and several internal methods.
** This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
static void HWEnDi(void)
{
if (AD1_ModeFlg) { /* Launch measurement? */
OutFlg = FALSE; /* Measured values are available */
setRegBits(ADC_ADSTAT,2048); /* Clear flag */
clrRegBit(ADC_ADCR1,STOP0); /* Normal operation mode */
setRegBit(ADC_ADCR1,START0); /* Launching of conversion */
}
else {
setRegBit(ADC_ADCR1,STOP0); /* Stop command issued */
}
}
/*
** ===================================================================
** Method : HWEnDi (component SynchroMaster)
**
** Description :
** Enables or disables the peripheral(s) associated with the bean.
** The method is called automatically as a part of the Enable and
** Disable methods and several internal methods.
** This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
static void HWEnDi(void)
{
if (EnUser) { /* Enable device? */
setRegBit(QSPI0_SCTRL,SPE); /* Enable device */
setRegBits(GPIO_C_PEREN,0x0200); /* Switch pin to peripheral */
if (SerFlag & FULL_TX) { /* Is any char in transmit buffer? */
setReg(QSPI0_DXMIT,BufferWrite); /* Store char to transmitter register */
SerFlag &= ~FULL_TX; /* Zeroize FULL_TX flag */
}
}
else {
clrRegBits(GPIO_C_PEREN,0x0200); /* Switch pin to GPIO */
clrRegBit(QSPI0_SCTRL,SPE); /* Disable device */
}
}
////////////////////////////////////////////////////////////////////////
//
// comMainLoop()
//
// Communication loop. Wait for CAN frames and parses the messagge.
// The loop ends when comContinue is false.
//
////////////////////////////////////////////////////////////////////////
void comMainLoop(void)
{
byte ReadCANState;
byte i;
comContinue = TRUE;
comTimerEn = TRUE;
while (comContinue)
{
/* wait CAN data or while timer expired, if set */
while (CAN1_getStateRX() == 0)
{
// Timer check
if (comTimerEn)
{
if (getRegBit(TMRC1_SCR,TCF)) /* Is the interrupt request flag set? */
{
clrRegBit(TMRC1_SCR,TCF); /* If yes then reset this flag */
if (--TmpXdataVar == 0)
{
setRegBitGroup(TMRC0_CTRL,CM,0); /* Stop counter */
return;
}
}
}
}
if (CAN1_getStateRX() != 0)
{
/* Received CAN frame */
ReadCANState=CAN1_readFrame (&comBuffer.CAN_messID,
&comBuffer.CAN_length,
comBuffer.CAN_data);
if ((ReadCANState != ERR_OK) && (ReadCANState != ERR_RXEMPTY))
{
userError(INDICATE_ERROR_RECEIVE);
}
sprsReady(&comBuffer); /* call CAN protocol parser */
}
} /* while */
}
/**
* starts the acquisition on channel A.
*
**************************************************************************************/
static void HWEnDiA(void)
{
if (ad_ModeFlgA) /* Launch measurement? */
{
OutFlgA = FALSE; /* Measured values are available */
/* Trigger mode? */
if (getRegBit (ADCA_ADCR1, SMODE2))
{
setRegBit (ADCA_ADCR1, SYNC); /* Use sync input to initiate a conversion */
clrRegBit (ADCA_ADCR1, STOP); /* Normal operation mode */
}
else
{
/* Set normal operation mode and sync input disabled */
clrRegBits (ADCA_ADCR1, ADCA_ADCR1_SYNC_MASK | ADCA_ADCR1_STOP_MASK);
setRegBit (ADCA_ADCR1, START); /* Launching of conversion */
}
}
else
{
setRegBit (ADCA_ADCR1, STOP); /* Stop command issued */
}
}
void PWM_B_outputPadDisable (word mask)
{
clrRegBit(PWMB_PMOUT,PAD_EN);
}
void COUNTER1_Interrupt(void)
{
clrRegBit(TMR0_SCR,TOF); /* Clear overflow interrupt flag */
Overflow = TRUE; /* Set an internal overflow flag */
}
void PIT_1ms_Interrupt(void)
{
clrRegBit(PIT0_CTRL,PRF); /* Reset interrupt request flag */
PIT_1ms_OnInterrupt(); /* Invoke user event */
}
void TD0_interrupt(void)
{
static Int16 counter = 0;
if (counter == 20)
{
//saves the number of commutations occurred during this period
comm_count[0]=comm_enc[0];
comm_count[1]=comm_enc[1];
//zero the commutation econder
comm_enc[0]=0;
comm_enc[1]=0;
counter = 0;
}
else counter++;
if (DutyCycleReq[0].Dir != DutyCycle[0].Dir)
{
if (DutyCycle[0].Duty <= (MIN_DUTY))
{
if (DutyCycleReq[0].Dir) pTable0 = bldcCommutationTableCompInv;
else pTable0 = bldcCommutationTableComp;
DutyCycle[0].Dir = DutyCycleReq[0].Dir;
}
else
{
DutyCycle[0].Duty=DutyCycle[0].Duty-STEP;
}
}
else {
if (DutyCycleReq[0].Duty > DutyCycle[0].Duty)
{
if (DutyCycleReq[0].Duty-DutyCycle[0].Duty>=STEP)
DutyCycle[0].Duty=DutyCycle[0].Duty+STEP;
else
DutyCycle[0].Duty=DutyCycleReq[0].Duty;
}
else if (DutyCycleReq[0].Duty < DutyCycle[0].Duty)
{
if (DutyCycle[0].Duty-DutyCycleReq[0].Duty>=STEP)
DutyCycle[0].Duty=DutyCycle[0].Duty-STEP;
else
DutyCycle[0].Duty=DutyCycleReq[0].Duty;
}
// else TD0_Disable();
}
//++++++
if (DutyCycleReq[1].Dir != DutyCycle[1].Dir)
{
if (DutyCycle[1].Duty <= (MIN_DUTY))
{
if (DutyCycleReq[1].Dir) pTable1 = bldcCommutationTableCompInv;
else pTable1 = bldcCommutationTableComp;
DutyCycle[1].Dir = DutyCycleReq[1].Dir;
}
else
{
DutyCycle[1].Duty=DutyCycle[1].Duty-STEP;
}
}
else {
if (DutyCycleReq[1].Duty > DutyCycle[1].Duty)
{
if (DutyCycleReq[1].Duty-DutyCycle[1].Duty>=STEP)
DutyCycle[1].Duty=DutyCycle[1].Duty+STEP;
else
DutyCycle[1].Duty=DutyCycleReq[1].Duty;
}
else if (DutyCycleReq[1].Duty < DutyCycle[1].Duty)
{
if (DutyCycle[1].Duty-DutyCycleReq[1].Duty>=STEP)
DutyCycle[1].Duty=DutyCycle[1].Duty-STEP;
else
DutyCycle[1].Duty=DutyCycleReq[1].Duty;
}
// else TD0_Disable();
}
PWM_generate_BLL(0, DutyCycle[0].Duty);
PWM_generate_BLL(1, DutyCycle[1].Duty);
clrRegBit (TMRD0_SCR, TCF); /* Reset interrupt request flag */
}
void TI1_Interrupt(void)
{
clrRegBit(TMR2_SCR,TCF); /* Reset interrupt request flag */
TI1_OnInterrupt(); /* Invoke user event */
}
