motorcontroldemo_028/Vsrc/main.c

/*!
    Copyright 2017 	ÀÎ "ÍÈÈÝÒ" è ÎÎÎ "ÍÏÔ ÂÅÊÒÎÐ"

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

       http://www.apache.org/licenses/LICENSE-2.0

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

 \file      main.c
 \brief     Ãëàâíûé ôàéë ïðîåêòà. Ñîäåðæèò main(), à òàêæå îáðàáîò÷èêè ïðåðûâàíèé.
 \author    ÎÎÎ "ÍÏÔ Âåêòîð". http://motorcontrol.ru
 \version   v 2.0 25/03/2016

 */

/** \addtogroup MAIN */
/*@{*/
#include "main.h"
#include <string.h> //äëÿ memcpy

void InitCLK(void);

TClarke clarke = CLARKE_DEFAULTS; //!<Ôàçíûå ïðåîáðàçîâàíèÿ
#if defined (PARK_IPARK_IQMATH)
TPark park = PARK_DEFAULTS; //!<Êîîðäèíàòíûå ïðåîáðàçîâàíèÿ (ïðîãðàììíûå)
TIPark ipark = IPARK_DEFAULTS; //!<Îáðàòíûå êîîðäèíàòíûå ïðåîáðàçîâàíèÿ (ïðîãðàììíûå)
#elif defined (PARK_IPARK_TMU)
TTMUPark park = TMUPARK_DEFAULTS; //!<Êîîðäèíàòíûå ïðåîáðàçîâàíèÿ (àïïàðàòíûå ÷åðåç áëîê TMU)
TTMUIPark ipark = TMUIPARK_DEFAULTS; //!<Îáðàòíûå êîîðäèíàòíûå ïðåîáðàçîâàíèÿ (àïïàðàòíûå ÷åðåç áëîê TMU)
#endif
TPidReg3 pid_id = PIDREG3_DEFAULTS; //!<Ðåã. òîêà ïî îñè d
TPidReg3 pid_iq = PIDREG3_DEFAULTS; //!<Ðåã. òîêà ïî îñè q
TPidReg3 pid_ia = PIDREG3_DEFAULTS; //!<Ðåã. òîêà ÿêîðÿ ÄÏÒ
TPidReg3 pid_spd = PIDREG3_DEFAULTS; //!<Ðåã. ñêîðîñòè
TPidReg3_pos pid_pos = PIDREG3_DEFAULTS_POS; //!<Ðåã. ïîëîæåíèÿ
TRelayReg i_a_reg = RELAY_REG_DEFAULTS;	//!<ðåãóëÿòîð òîêà ôàçû A (äëÿ ìîäåëè SRM)
TRelayReg i_b_reg = RELAY_REG_DEFAULTS;	//!<ðåãóëÿòîð òîêà ôàçû A (äëÿ ìîäåëè SRM)
TRelayReg i_c_reg = RELAY_REG_DEFAULTS;	//!<ðåãóëÿòîð òîêà ôàçû A (äëÿ ìîäåëè SRM)
TVhzProf vhz = VHZPROF_DEFAULTS; 	//!< çàêîí U/f=const
TSM_Sys sm_sys = SM_Sys_DEFAULTS; //!< Ãëàâíàÿ îáîëî÷êà äëÿ âûçîâà âñåõ ìîäóëåé
Uint16 disp_group_number = 0; 	//!< Íåîáõîäèìî äëÿ äðàéâåðà CANOpen è Unicon
TDataLog dlog = DATALOG_DEFAULTS; //!< Ìîäóëü îñöèëëîãðàôèðîâàíèÿ ïåðåìåííûõ CANOpen
TSM_Protect sm_prot = SM_PROTECT_DEFAULTS; 	//!< Ìîäóëü çàùèò
TBitsToEnumNums pult_faults_lister = BITS_TO_ENUM_NUMS_DEFAULTS; //!<Ëèñòàëêà àâàðèé äëÿ Unicon
TSM_Ctrl sm_ctrl = SM_CTRL_DEFAULTS; //!< Ãëàâíûé äèñêðåòíûé àâòîìàò, ðåàëèçóåò ñòðóêòóðó óïðàâëåíèÿ
TSM_CmdLogic sm_cmd_logic = SM_CMD_LOGIC_DEFAULTS; //!< Îáðàáîòêà ïîëüçîâàòåëüñêèõ êîìàíä óïðàâëåíèÿ
TSM_Net sm_net = SM_NET_DEFAULTS; 	//!< Îáîëî÷êà äëÿ âûçîâà ñåòåâûõ äðàéâåðîâ
TRMPCtrl rmp = V_RMP_CTRL_DEFAULTS; 	//!< Çàäàò÷èê èíòåíñèâíîñòè
TAdcDrv adc = ADC_DRV_DEFAULTS; 	//!< Ìîäóëü ÀÖÏ
TPWM_Module pwm = PWM_Module_DEFAULTS; 	//!< Ìîäóëü ØÈÌ
Texcitation pwm_ex = excitation_DEFAULTS;	//!< Ìîäóëü âîçáóäèòåëÿ ÑÄ
TDPReCAP DPReCAP = DPRECAP_DEFAULTS; //!< Ìîäóëü ÄÏÐ íà ýëåìåíòàõ Õîëëà
TposspeedEqep posspeedEqep = POSSPEED_DEFAULTS; //!< Ìîäóëü ÄÏÐ òèïà ýíêîäåð
TCurPar cur_par = TCUR_PAR_DEFAULTS; //!< Ìîäóëü ðàñ÷åòà è õðàíåíèÿ òåêóùèõ ïîêàçàòåëåé ïðèâîäà - ìîùíîñòü, ñêîðîñòü
TUserMemory UserMem = USERMEMORY_DEFAULTS; //!< Ìîäóëü ðàáîòû ñ ýíåðãîíåçàâèñèìîé ïàìÿòüþ.
Tled leds = LED_DEFAULTS; //!< ìîäóëü äëÿ êðàñèâîãî ìèãàíèÿ ñâåòîäèîäàìè
TCanBTInterface Can1BTInterface = T_CANBT_INTERFACE_DEFAULTS;//!<Ïàêåòíàÿ ïåðåäà÷à CANopen
TCanBTInterface Can2BTInterface = T_CANBT_INTERFACE_DEFAULTS;//!<Ïàêåòíàÿ ïåðåäà÷à CANopen
TRTCClock RTCclock = RTC_CLOCK_DEFAULTS; //!< Ìîäóëü ðàáîòû ñ ÷àñàìè ðåàëüíîãîâðåìåíè. "spi" - ïî èñòîðè÷åñêèì ïðè÷èíàì ñîâìåñòèìîñòè
TAutoOffset AutoOffset = AUTO_OFFSET_DEFAULTS;	//!<Àâòîìàòè÷åñêàÿ ïîäñòðîéêà ñìåùåíèÿ òîêîâ ÀÖÏ
TSSI_Encoder SSI_Encoder = SSI_ENCODER_DEFAULTS; //!<Äðàéâåð îáðàáîòêè äàò÷èêà ïîëîæåíèÿ ñ SSI èíòåðôåéñîì
TMotorModel model = MOTOR_MODEL_DEFAULTS;	//!< Ìîäåëè ýëåêòðîäâèãàòåëåé äëÿ îòëàäêè "íà ñòîëå" â ðåæèìå ñèìóëÿòîðà
TRotorObserver RotorObserver = ROTOR_OBSERVER_DEFAULTS; //!<Äàò÷èêîâûé íàáëþäàòåëü ïîòîêîñöåïëåíèÿ ðîòîðà àñèíõðîííîãî äâèãàòåëÿ
TCANtoRS CANtoRS = CAN_TO_RS_DEFAULTS; //!<Ìîäóëü äëÿ ðàáîòû ñ äðàéâåðîì CANopen ÷åðåç UART (RS). Ïîñûëêè CAN çàïàêîâûâàþòñÿ â UART
TModBus ModBus = MODBUS_DEFAULTS; //!<Äðàéâåð äëÿ ðàáîòû ïî ïðîòîêîëó MODBUS
TMBVarsConv MBVarsConv = MBVARSCONV_DEFAULTS;//!< Ìîäóëü ïðåîáðàçîâàíèÿ äàííûõ èç ôîðìàòà 16 ðàçðÿäîâ Modbus â ôîðìàò ñèñòåìû óïðàâëåíèÿ (IQ 24)
TDrvInterface drv_interface = DRV_INTERFACE_DEFAULTS;	//!<Èíòåðôåéñ äëß ðàáîòû ñ áàíêàìè àâàðèé, ñîáûòèé è ò.ï.
TLogger FaultLog = LOGGER_DEFAULTS;			//!<Ïðîòîêîëèðîâàíèå àâàðèé
TGlobalTime global_time = GLOBAL_TIME_DEFAULTS; //!<Ðàáîòà ñ ÷àñàìè
TDIO dio = DIO_DEFAULTS; //!<Ìîäóëü ðàáîòû ñ äèñêðåòíûìè âõîäàìè/âûõîäàìè
TUdControl udControl = UD_CONTROL_DEFAULTS; //!<Ïëàâíàÿ çàðÿäêà ÇÏÒ ÷åðåç òåðìèñòîðû
TFanControl FanControl = FAN_CONTROL_DEFAULTS; //!<Âåíòèëÿòîð
TTMU tmu = TMU_DEFAULTS; //!<Áëîê òðèãîíîìåòè÷åñêèõ ïðåîáðàçîâàíèé
TRefs refs; //!< Ñòðóêòóðà ñ çàäàíèÿìè (òîêè, ñêîðîñòè)
TCmd cmd = { 0 }; //!< Ñòðóêòóðà ñ êîìàíäàìè óïðàâëåíèÿ
TDrvStatus drv_status = { 0 }; //!< Òåêóùèé ñòàòóñ ïðèâîäà
TDrvParams drv_params; //!< Ïàðàìåòðû äâèãàòåëÿ
TSysSwitches sw; //!< Ðàçëè÷íûå äèñêðåòíûå íàñòðîéêè ñèñòåìû óïðàâëåíèÿ

Uint32 VendorToken=0x11111111;//!< Óíèêàëüíûé êëþ÷ ïðîèçâîäèòåëÿ, íóæíûé äëÿ ïðîãðàììû UniCON è COODEdit äëÿ ðàçëè÷íûõ íàáîðîâ òåêñòîâ ðàçíûõ ïðîèçõâîäèòåëåé
int drv_status_code; //!<Ñòàòóñ ñèñòåìû óïðàâëåíèÿ â âèäå êîíñòàíòû (ÃÎÒÎÂ, ÐÀÁÎÒÀ è ò.ï.)

//Ïåðåìåííûå äëÿ îòëàäêè - âûâåäåíû â ñëîâàðü CANOpen, 
// íèõ ìîæíî ïðèñâàèâàòü ëþáóþ äðóãóþ ïåðåìåííóþ è íàáëþäàòü å¸
//â UniCon, à òàêæå èñïîëüçîâàòü èõ íàïðÿìóþ â ÏÎ äëÿ îòëàäêè è ìåíÿòü íà õîäó.
volatile long Debug1 = 0;
volatile long Debug2 = 0;
volatile Uint16 Debug3 = 0;
volatile Uint16 Debug4 = 0;
volatile long DebugW1 = 0;
volatile long DebugW2 = 0;
volatile long DebugW3 = 0;
volatile long DebugW4 = 0;
volatile float DebugF1 = 0;
volatile float DebugF2 = 0;
volatile float DebugF3 = 0;
volatile float DebugF4 = 0;

//Ñ÷åò÷èêè ïðåðûâàíèé ìîäóëÿ çàõâàòà
Uint16 CounterCAP_isr = 0;
Uint16 cap0_counter = 0;
Uint16 cap1_counter = 0;
Uint16 cap2_counter = 0;

Uint16 LoopCounter = 0; //!< Ñ÷åò÷èê èòåðàöèé ôîíîâîãî öèêëà

//!Ñ ýòîé ôóíêöèè íà÷èíàåòñÿ çàïóñê ïðîãðàììû
//! \memberof MAIN_C
int main(void) {

	/* Íàñòðîéêà òàêòèðîâàíèÿ, âêëþ÷åíèå ïåðèôåðèè */
	SystemInit();				// Íàñòðîéêà êëîêîâ
	SystemCoreClockUpdate();	// Àïäåéòè ñèñòåìíûõ ïåðåìåííûõ íàñòðîåííûìè êëîêàìè (÷òîáû ïðîãà çíàëà, êàêàÿ ó íå¸ ÷àñòîòà)
	// Êîïèðîâàíèå íåêîòîðûõ ôóíêöèé è âñåõ ïðåðûâàíèé â RAM
#if defined (__GNUC__)
	memcpy(&__fastcode_ram_start, &__fastcode_flash_start,
			((Uint32) (&__fastcode_ram_end) - (Uint32) (&__fastcode_ram_start)));

	memcpy(&__isr_vector_ram_start, &__isr_vector_flash_start,
			((Uint32) (&__isr_vector_ram_end)
					- (Uint32) (&__isr_vector_ram_start)));
#elif defined (__CMCPPARM__)
	// Äëÿ CodeMaster íåïîíÿòíî, êàê ðàçìåñòèòü òàáëèöó ïðåðûâàíèé âî ôëåøå, à îáðàùàòñÿ ê íåé â ðàìå,
	// òàê ÷òî ïîêà òàê.
#endif

	pwm.Off(&pwm); //âûêëþ÷èòü ØÈÌ (íà âñÿêèé ñëó÷àé)

	//Èíèöèàëèçàöèÿ, ñîáñòâåííî, âñåãî.
	sm_sys.init(&sm_sys);
	EINT;//ðàçðåøåíèå ïðåðûâàíèé

	//òèï è âåðñèÿ óñòðîéñòâà äëÿ äðàéâåðà CANOpen
	co1_vars.co_productCode = 51;
	co1_vars.co_revisionNumber = 1;

	co2_vars.co_productCode = 51;
	co2_vars.co_revisionNumber = 1;

	while (1) { //Ôîíîâûé öèêë
		LoopCounter++;
		sm_sys.slow_calc(&sm_sys); //Ôîíîâûé ðàñ÷åò
	}
}

unsigned long CpuTimerIsr1 = 0;
Uint16 TIsr1 = 0;
Uint16 msCounter = 0;

//! Ïðåðâûíèå, âûçûâàåìîå ïî òàéìåðó ñ ÷àñòîòîé 1êÃö
//! \memberof MAIN_C
void TMR1_IRQHandler(void) {
	CpuTimerIsr1 = TMR2->VALUE; //Çàñåêàåòñÿ âðåìÿ âûïîëíåíèÿ ôóíêöèè
	sm_sys.ms_calc(&sm_sys); //ìèëëèñåêóíäíûé ðàñ÷åò âñåãî

	msCounter++;
	TIsr1 = ((CpuTimerIsr1 - TMR2->VALUE) & 0xFFFFFF) << 1; //âðåìÿ âûïîëíåíèÿ ôóíêöèè ñäâèã íà 1 èç-çà âäâîå áîëåå ìåäëåííîãî òàêòèðîâàíèÿ òàéìåðà
	if (TIsr1 > 195000) {
		sm_prot.bit_fault1 |= F_PROGRAM_1K; //åñëè ðàñ÷åò ñëèøêîì äîëãèé, îøèáêà
	}

	TMR1->INTSTATUS_bit.INT = 1;	//ñáðîñ ïðåðûâàíèÿ
}

Uint16 FastCounter = 0;
unsigned long CpuTimerIsr10 = 0;
Uint16 TIsr10 = 0;

//! Ïðåðâûíèå, âûçûâàåìîå ïî òàéìåðó ñ ÷àñòîòîé 10êÃö
//! \memberof MAIN_C
void TMR0_IRQHandler(void) {
	CpuTimerIsr10 = TMR2->VALUE; //Çàñåêàåòñÿ âðåìÿ âûïîëíåíèÿ ôóíêöèè
	sm_sys.fast_calc(&sm_sys); //ðàñ÷åò 10êÃö âñåãî

	FastCounter++;
	TIsr10 = ((CpuTimerIsr10 - TMR2->VALUE) & 0xFFFFFF) << 1; //âðåìÿ âûïîëíåíèÿ ôóíêöèè, ñäâèã íà 1 èç-çà âäâîå áîëåå ìåäëåííîãî òàêòèðîâàíèÿ òàéìåðà
	if (TIsr10 > 19500) {
		sm_prot.bit_fault1 |= F_PROGRAM_10K; //åñëè ðàñ÷åò ñëèøêîì äîëãèé, îøèáêà
	}
	TMR0->INTSTATUS_bit.INT = 1;	//ñáðîñ ïðåðûâàíèÿ
}

Uint16 ePWM0_TZ_isr_counter = 0;
//!Ïðåðûâàíèå, âîçíèêàþùåå ïðè àïïàðàòíîé àâàðèè
//! \memberof MAIN_C
#if defined (__GNUC__)
void EPWM_TZ_0_IRQHandler(void)
#elif defined (__CMCPPARM__)
void PWM0_TZ_IRQHandler(void)
#endif
{
	//Òàê êàê àïïàðàòíàÿ àâàðèÿ âîçíèêàåò ïðè âêëþ÷åíèè ØÈÌ
	//è óäåðæèâàåòñÿ ïîêà çàðÿæàþòñÿ áóäñòðåïíûå êîíäåíñàòîðû,
	//â ïðåðûâàíèè íà íåå íå ðåàãèðóåì
	//Õîòÿ â "íàñòîÿùåì" èíâåðòîðå íà âûñîêîå íàïðÿæåíèå ýòî, êîíå÷íî, íàäî äåëàòü
	//Çäåñü ìèêðîñõåìà äðàéâåðîâ çàùèòèò âñ¸ ñàìà, òàêîãî âûõîäà ó íå¸ íåò
	ePWM0_TZ_isr_counter++;
	/*
	 pwm12.Off(&pwm12);

	 if (sm_ctrl.state!=CTRL_STOP)
	 {
	 sm_prot.bit_fault1|= F_PDPINT;
	 }
	 sm_ctrl.state=CTRL_STOP;
	 //ñáðàñûâàåì ôëàãè ïðåðûâàíèé ïî ýòîé íîæêå
	 */
}

//!Ïðåðûâàíèå, âîçíèêàþùåå ïî ñîáûòèÿì çàõâàòà ìîäóëÿ CAP0
//! \memberof MAIN_C
#if defined (__GNUC__)
void ECAP0_IRQHandler(void)
#elif defined (__CMCPPARM__)
void CAP0_IRQHandler(void)
#endif
{
	//Ïîäòâåðæäàåì ýòî ïðåðûâàíèå äëÿ NVIC - èíà÷å ïðè âûõîäå èç ôóíêöèè îíî âîçíèêíåò îïÿòü
	ECAP0->PEINT = 1;

	if (DPReCAP.CAPCalcEna1 == 0) { //åñëè ôóíêöèÿ âûçâàëàñü ïîâòîðíî
		DPReCAP.CAP_WrongEdgeCnt = (++DPReCAP.CAP_WrongEdgeCnt) & 0xFF;
		DPReCAP.CAP_WrongEdgeCnt1++;
		return;
	}
	DPReCAP.CAPCalcEna1 = 0;//ðàñ÷åò áóäåò ðàçðåøåí, êîãäà òèêíåò ïðåðûâàíèå 10êÃö. ×àùå ñ÷èòàòü íåò ñìûñëà, ýòî ïîìåõè

	CounterCAP_isr++;//îáùèé ñ÷¸ò÷èê âñåõ ïðåðûâàíèé ìîäóëÿ çàõâàòà
	CounterCAP_isr = CounterCAP_isr & 0xF;
	cap0_counter++;//ñ÷¸ò÷èê ïðåðûâàíèé èìåííî ýòîãî êàíàëà
	//èñõîäÿ èç ñîñòîÿíèÿ íîã òðåõ äàò÷èêîâ Õîëëà âûñ÷èòûâàåò òåêóùèé óãîë ñ òî÷íîñòüþ 60 ãðàäóñîâ.
	//âûõîäîì ôóíêöèè ÿâëÿåòñÿ  DPReCAP.Angle6 - óãîë ñ òî÷íîñòüþ 60 ãðàäóñîâ.
	DPReCAP.Angle6Calc(&DPReCAP);
	//îáðàáîò÷èê ìîäóëÿ çàõâàòà êàíàëà1 (0, åñëè ñ÷èòàòü ñ íóëÿ, íî íå ïåðåèìåíîâûâàòü æå êàêæäûé ðàç ôóíêöèè, â çàâèñèìîñòè îò âåðñèè çàãîëîâî÷íûõ ôàéëîâ...).
	//Çàñåêàåò âðåìÿ ìåæäó ýòèì èìïóëüñîì è ïðåäûäóùèìè äëÿ ðàñ÷åòà èíòåðïîëÿòîðà óãëà è ÷àñòîòû âðàùåíèÿ (ñêîðîñòè)
	DPReCAP.CAP1Calc(&DPReCAP);

	//Ïîäòâåðæäåíèå ïðåðûâàíèé â 10 êÃö
}

//!Ïðåðûâàíèå, âîçíèêàþùåå ïî ñîáûòèÿì çàõâàòà ìîäóëÿ CAP1
//! \memberof MAIN_C
#if defined (__GNUC__)
void ECAP1_IRQHandler(void)
#elif defined (__CMCPPARM__)
void CAP1_IRQHandler(void)
#endif
{
	//Ïîäòâåðæäàåì ýòî ïðåðûâàíèå äëÿ NVIC - èíà÷å ïðè âûõîäå èç ôóíêöèè îíî âîçíèêíåò îïÿòü
	ECAP1->PEINT = 1;

	if (DPReCAP.CAPCalcEna2 == 0) { //åñëè ôóíêöèÿ âûçâàëàñü ïîâòîðíî
		DPReCAP.CAP_WrongEdgeCnt = (++DPReCAP.CAP_WrongEdgeCnt) & 0xFF;
		DPReCAP.CAP_WrongEdgeCnt2++;
		return;
	}
	DPReCAP.CAPCalcEna2 = 0;

	CounterCAP_isr++;
	CounterCAP_isr = CounterCAP_isr & 0xF;
	cap1_counter++;
	DPReCAP.Angle6Calc(&DPReCAP);
	DPReCAP.CAP2Calc(&DPReCAP);

	//Ïîäòâåðæäåíèå ïðåðûâàíèé â 10 êÃö
}


//!Ïðåðûâàíèå, âîçíèêàþùåå ïî ñîáûòèÿì çàõâàòà ìîäóëÿ CAP2
//! \memberof MAIN_C
#if defined (__GNUC__)
void ECAP2_IRQHandler(void)
#elif defined (__CMCPPARM__)
void CAP2_IRQHandler(void)
#endif
{
	//Ïîäòâåðæäàåì ýòî ïðåðûâàíèå äëÿ NVIC - èíà÷å ïðè âûõîäå èç ôóíêöèè îíî âîçíèêíåò îïÿòü
	ECAP2->PEINT = 1;

	if (DPReCAP.CAPCalcEna3 == 0) { //åñëè ôóíêöèÿ âûçâàëàñü ïîâòîðíî
		DPReCAP.CAP_WrongEdgeCnt = (++DPReCAP.CAP_WrongEdgeCnt) & 0xFF;
		DPReCAP.CAP_WrongEdgeCnt3++;
		return;
	}
	DPReCAP.CAPCalcEna3 = 0;

	CounterCAP_isr++;
	CounterCAP_isr = CounterCAP_isr & 0xF;
	cap2_counter++;
	DPReCAP.Angle6Calc(&DPReCAP); //åñëè óáðàòü, òî â ìîìåíò ïðèõîäà ìåòêè íà îäèí ïåðèîä ØÈÌ êîñÿê, òàê êàê ïðåðûâàíèå ïîñ÷èòàëîñü, à Angle6Calc íåò
	DPReCAP.CAP3Calc(&DPReCAP);

	//Ïîäòâåðæäåíèå ïðåðûâàíèé â 10 êÃö
}

//!Ïðåðûâàíèå, âîçíèêàþùåå ïî ñîáûòèþ ðåïåðíîé ìåòêè(èíäåêñà) ìîäóëÿ QEP
//! \memberof MAIN_C
//! Íî - íà äâèãàòåëå ACM601V36-1000 íåò èíäåêñíîé ìåòêè.
//Òàê ÷òî ýòîãî ïðåðûâàíèÿ c òàêèì äâèãàòåëåì íå áóäåò (èëè áóäåò îò ïîìåõ, êàê ïîâåçåò)
#if defined (__GNUC__)
void EQEP0_IRQHandler(void)
#elif defined (__CMCPPARM__)
void QEP1_IRQHandler(void)
#endif
{
	//Îáðàáîòêà ðåïåðà
	posspeedEqep.index(&posspeedEqep);
	//Ïîäòâåðæäàåì ýòî ïðåðûâàíèå äëÿ NVIC
	QEP0->INTCLR = 1;
	QEP0->QCLR_bit.IEL = 1;
	QEP0->QCLR_bit.INT = 1;
}

/*@}*/

//Ïðåðûâàíèå âûçûâàåòñÿ îäèí ðàç íà ïåðèîäå ØÈÌ è çàáèðàåò 4 ðåçóëüòàòà çà ïåðèîä
void ADC_SEQ0_IRQHandler (void) {
	adc.fast_calc(&adc);
	ADC->IC_bit.SEQIC0 = 1;
}