void __ISR(_TIMER_4_VECTOR, ipl2) _InterruptHandler_TMR4(void) { // if(current_block->direction_bits[Z_AXIS]) // PORTSetBits(zAxis.directionPin.port, zAxis.directionPin.pin); // else // PORTClearBits(zAxis.directionPin.port, zAxis.directionPin.pin); if(steps_Z) { if(!(mPORTAReadBits(zAxis.enablePin.pin))) steps_Z--; } if (current_block != Null) { if (current_block->steps_z) { if(!(mPORTAReadBits(zAxis.enablePin.pin))) current_block->steps_z--; } else { //CloseOC2(); BSP_AxisDisable(Z_AXIS); BSP_Timer4Stop(); } } else { BSP_AxisDisable(Z_AXIS); } // clear the interrupt flag mT4ClearIntFlag(); }
static PT_THREAD(protothread_CSense(struct pt *pt)) { PT_BEGIN(pt); while (1) { if (config1 & CUR_SENSE_EN) { if(Status2 & M7_CUR){ if(M7_LastDir != M7_Dir)//if direction has changed, lower CS flag, which enables PWM writing Status2 &= !M7_CUR; } if(Status2 & M6_CUR){ if(M6_LastDir != M6_Dir) Status2 &= !M6_CUR; } if(Status2 & M6_CUR){ if(M6_LastDir != M6_Dir) Status2 &= !M6_CUR; } if(Status2 & M5_CUR){ if(M5_LastDir != M5_Dir) Status2 &= !M5_CUR; } if(Status2 & M4_CUR){ if(M4_LastDir != M4_Dir) Status2 &= !M4_CUR; } if(Status2 & M3_CUR){ if(M3_LastDir != M3_Dir) Status2 &= !M3_CUR; } if (mPORTBReadBits(BIT_3)) {//CS triggered! M7_PWM = 0; SetDCOC1PWM(M7_PWM);//Halt motor Status2 |= M7_CUR;//set CS flag M7_LastDir = M7_Dir;//save direction } if (mPORTBReadBits(BIT_1)) { M6_PWM = 0; SetDCOC2PWM(M6_PWM); Status2 |= M6_CUR; M6_LastDir = M6_Dir; } if (mPORTAReadBits(BIT_3)) { M5_PWM = 0; SetDCOC3PWM(M5_PWM); Status2 |= M5_CUR; M5_LastDir = M5_Dir; } if (mPORTBReadBits(BIT_4)) { M4_PWM = 0; SetDCOC5PWM(M4_PWM); Status2 |= M4_CUR; M4_LastDir = M4_Dir; } if (mPORTAReadBits(BIT_4)) { M3_PWM = 0; SetDCOC4PWM(M3_PWM); Status2 |= M3_CUR; M3_LastDir = M3_Dir; } } PT_YIELD_TIME_msec(10); } PT_END(pt); }