//---------------------------------------------//
// Fast low-level control dispatcher
//
// Timer2 is also used to generate PWM for voltage
// and current setting
//---------------------------------------------//
void Timer2_IRQHandler(void)
{
static uint16_t hw_adc_counter = HW_ADC_CALL_PERIOD;
uint16_t temp;
// Time profiling
uint32_t time_mark1 = 0;
uint32_t time_mark2 = 0;
uint32_t ticks_count;
time_mark1 = DWT_Get();
/*
// Debug
if (MDR_PORTA->RXTX & (1<<TXD1))
PORT_ResetBits(MDR_PORTA, 1<<TXD1);
else
PORT_SetBits(MDR_PORTA, 1<<TXD1);
*/
if (--hw_adc_counter == 0)
{
hw_adc_counter = HW_ADC_CALL_PERIOD;
Converter_HW_ADCProcess(); // Converter low-level ADC control
}
Converter_HWProcess(); // Converter low-level ON/OFF control and overload handling
ProcessEncoder(); // Poll encoder
// Reinit timer2 CCR
temp = MDR_TIMER2->CCR2 + HW_IRQ_PERIOD;
MDR_TIMER2->CCR2 = (temp > MDR_TIMER2->ARR) ? temp - MDR_TIMER2->ARR : temp;
TIMER_ClearFlag(MDR_TIMER2, TIMER_STATUS_CCR_REF_CH2);
//-------------------------------//
time_mark2 = DWT_Get();
// Update time
ticks_count = DWT_GetDelta(time_mark1, time_mark2);
if (ticks_count > time_profile.max_ticks_in_Timer2_ISR)
time_profile.max_ticks_in_Timer2_ISR = ticks_count;
}
void DWT_Delay(uint32_t hz){
int32_t tp = DWT_Get() + hz;
while (DWT_Compare(tp));
}
void DWT_Delay(uint32_t us) // microseconds
{
int32_t tp = DWT_Get() + us * (SystemCoreClock1/1000000);
while (DWT_Compare(tp));
}
__inline uint8_t DWT_Compare(int32_t tp){
return (((int32_t)DWT_Get() - tp) < 0);
}
void Delay_us(uint32_t Delay) {
int32_t tp = DWT_Get() + Delay * (SYS_FREQUENCY/1000000);
while (((int32_t)DWT_Get() - tp) < 0);
}