interrupt(PORT1_VECTOR) P1_ISR(void) {
if((P1IFG & BIT3) == BIT3) { // switch pressed
if (TACCR0 == 1) {
TACCR0 = 0; // disable timer interrupt
P1OUT = 0; // disable LED output
_BIS_SR_IRQ(4); // enter low power mode 4
}
else {
TACCR0 = 1;
_BIS_SR_IRQ(4);
}
}
P1IFG = 0x00; // clear interrupt flags
}
__interrupt void Timer_B1 (void) {
timer_periodicCbPtr();
TBCTL &= ~TBIFG;
if (pendingTimerStop) {
pendingStop = 0;
pendingShutdown = 0;
pendingTimerStop = 0;
pendingStart = 1;
_BIS_SR_IRQ(LPM3_bits);
}
}
void main(void) {
WDTCTL = WDTPW + WDTHOLD; // Disable watchdog timer
BCSCTL3 |= LFXT1S_2; // Set ACLK to use internal VLO (12kHz)
TACTL = TASSEL_1 | MC_1; // TimerA aux clock in UP mode
TACCTL0 = CCIE; // Enable interrupt for TACCR0 match
// setup switch interrupt
P1DIR &= ~BIT3; // as input
P1IES |= 0x01; // interrupt on falling edge
P1IE |= BIT3; // interrupt enable
eint(); // Enable interrupts
TACCR0 = 0;
_BIS_SR_IRQ(4); // enter low power mode 4
}
static void ISR_timer0_a1() {
_BIC_SR(GIE);
switch(TAIV)
{
case 0x02:
clear_pin(PWM_PINS[current_servo]);
if(current_servo == 0)
{
TA0CCR0 = last_period;
} else {
TA0CCR0 = norm_period;
}
break;
default:
break;
}
_BIS_SR_IRQ(GIE);
}
void ISR_timer0_a0()
{
_BIC_SR(GIE);
current_servo++;
if(current_servo == NUM_SERVOS)
{
current_servo = 0;
}
set_pin(PWM_PINS[current_servo]);
/*
* If the control structure is not locked, go ahead and access it
* (Also access if there was no busy query function specified)
*/
if(!servo_ctl_busy || !servo_ctl_busy())
{
current_servo_pos = servo_ctl->pos[current_servo];
servo_ctl_buffer.pos[current_servo] = current_servo_pos;
memcpy(&servo_ctl_buffer.baseband, &servo_ctl->baseband, 4);
}
else
{
current_servo_pos = servo_ctl_buffer.pos[current_servo];
}
// Clamp servo position
uint16_t maxband_diff = servo_ctl_buffer.maxband -
servo_ctl_buffer.baseband;
if(current_servo_pos > maxband_diff)
current_servo_pos = maxband_diff;
TA0CCR1 = servo_ctl_buffer.baseband + current_servo_pos;
_BIS_SR_IRQ(GIE);
}
