314 lines
12 KiB
C
314 lines
12 KiB
C
/*!
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Copyright 2017 ÀÎ "ÍÈÈÝÒ" è ÎÎÎ "ÍÏÔ ÂÅÊÒÎÐ"
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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\file main.c
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\brief Ãëàâíûé ôàéë ïðîåêòà. Ñîäåðæèò main(), à òàêæå îáðàáîò÷èêè ïðåðûâàíèé.
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\author ÎÎÎ "ÍÏÔ Âåêòîð". http://motorcontrol.ru
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\version v 2.0 25/03/2016
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*/
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/** \addtogroup MAIN */
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/*@{*/
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#include "main.h"
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#include <string.h> //äëÿ memcpy
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TClarke clarke = CLARKE_DEFAULTS; //!<Ôàçíûå ïðåîáðàçîâàíèÿ
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TPark park = PARK_DEFAULTS; //!<Êîîðäèíàòíûå ïðåîáðàçîâàíèÿ
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TIPark ipark = IPARK_DEFAULTS; //!<Îáðàòíûå êîîðäèíàòíûå ïðåîáðàçîâàíèÿ
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TPidReg3 pid_id = PIDREG3_DEFAULTS; //!<Ðåã. òîêà ïî îñè d
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TPidReg3 pid_iq = PIDREG3_DEFAULTS; //!<Ðåã. òîêà ïî îñè q
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TPidReg3 pid_ia = PIDREG3_DEFAULTS; //!<Ðåã. òîêà ÿêîðÿ ÄÏÒ
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TPidReg3 pid_spd = PIDREG3_DEFAULTS; //!<Ðåã. ñêîðîñòè
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TPidReg3_pos pid_pos = PIDREG3_DEFAULTS_POS; //!<Ðåã. ïîëîæåíèÿ
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TVhzProf vhz = VHZPROF_DEFAULTS; //!< çàêîí U/f=const
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TSM_Sys sm_sys = SM_Sys_DEFAULTS; //!< Ãëàâíàÿ îáîëî÷êà äëÿ âûçîâà âñåõ ìîäóëåé
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Uint16 disp_group_number = 0; //!< Íåîáõîäèìî äëÿ äðàéâåðà CANOpen è Unicon
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TDataLog dlog = DATALOG_DEFAULTS; //!< Ìîäóëü îñöèëëîãðàôèðîâàíèÿ ïåðåìåííûõ CANOpen
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TSM_Protect sm_prot = SM_PROTECT_DEFAULTS; //!< Ìîäóëü çàùèò
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TBitsToEnumNums pult_faults_lister = BITS_TO_ENUM_NUMS_DEFAULTS; //!<Ëèñòàëêà àâàðèé äëÿ Unicon
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TSM_Ctrl sm_ctrl = SM_CTRL_DEFAULTS; //!< Ãëàâíûé äèñêðåòíûé àâòîìàò, ðåàëèçóåò ñòðóêòóðó óïðàâëåíèÿ
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TSM_CmdLogic sm_cmd_logic = SM_CMD_LOGIC_DEFAULTS; //!< Îáðàáîòêà ïîëüçîâàòåëüñêèõ êîìàíä óïðàâëåíèÿ
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TSM_Net sm_net = SM_NET_DEFAULTS; //!< Îáîëî÷êà äëÿ âûçîâà ñåòåâûõ äðàéâåðîâ
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TRMPCtrl rmp = V_RMP_CTRL_DEFAULTS; //!< Çàäàò÷èê èíòåíñèâíîñòè
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TAdcDrv adc = ADC_DRV_DEFAULTS; //!< Ìîäóëü ÀÖÏ
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TPWM_Module pwm = PWM_Module_DEFAULTS; //!< Ìîäóëü ØÈÌ
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TDPReCAP DPReCAP = DPRECAP_DEFAULTS; //!< Ìîäóëü ÄÏÐ íà ýëåìåíòàõ Õîëëà
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TposspeedEqep posspeedEqep = POSSPEED_DEFAULTS; //!< Ìîäóëü ÄÏÐ òèïà ýíêîäåð
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TCurPar cur_par = TCUR_PAR_DEFAULTS; //!< Ìîäóëü ðàñ÷åòà è õðàíåíèÿ òåêóùèõ ïîêàçàòåëåé ïðèâîäà - ìîùíîñòü, ñêîðîñòü
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TUserMemory UserMem = USERMEMORY_DEFAULTS; //!< Ìîäóëü ðàáîòû ñ ýíåðãîíåçàâèñèìîé ïàìÿòüþ.
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Tled leds = LED_DEFAULTS; //!< ìîäóëü äëÿ êðàñèâîãî ìèãàíèÿ ñâåòîäèîäàìè
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//TCanBTInterface Can2BTInterface = T_CANBT_INTERFACE_DEFAULTS;//!<Ïàêåòíàÿ ïåðåäà÷à CANopen
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TRTCClock RTCclock = RTC_CLOCK_DEFAULTS; //!< Ìîäóëü ðàáîòû ñ ÷àñàìè ðåàëüíîãîâðåìåíè. "spi" - ïî èñòîðè÷åñêèì ïðè÷èíàì ñîâìåñòèìîñòè
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TAutoOffset AutoOffset = AUTO_OFFSET_DEFAULTS; //!<Àâòîìàòè÷åñêàÿ ïîäñòðîéêà ñìåùåíèÿ òîêîâ ÀÖÏ
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TSSI_Encoder SSI_Encoder = SSI_ENCODER_DEFAULTS; //!<Äðàéâåð îáðàáîòêè äàò÷èêà ïîëîæåíèÿ ñ SSI èíòåðôåéñîì
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//TMotorModel model = MOTOR_MODEL_DEFAULTS; //!< Ìîäåëè ýëåêòðîäâèãàòåëåé äëÿ îòëàäêè "íà ñòîëå" â ðåæèìå ñèìóëÿòîðà
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TRotorObserver RotorObserver = ROTOR_OBSERVER_DEFAULTS; //!<Äàò÷èêîâûé íàáëþäàòåëü ïîòîêîñöåïëåíèÿ ðîòîðà àñèíõðîííîãî äâèãàòåëÿ
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TCANtoRS CANtoRS = CAN_TO_RS_DEFAULTS; //!<Ìîäóëü äëÿ ðàáîòû ñ äðàéâåðîì CANopen ÷åðåç UART (RS). Ïîñûëêè CAN çàïàêîâûâàþòñÿ â UART
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//TModBus ModBus = MODBUS_DEFAULTS; //!<Äðàéâåð äëÿ ðàáîòû ïî ïðîòîêîëó MODBUS
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//TMBVarsConv MBVarsConv = MBVARSCONV_DEFAULTS;//!< Ìîäóëü ïðåîáðàçîâàíèÿ äàííûõ èç ôîðìàòà 16 ðàçðÿäîâ Modbus â ôîðìàò ñèñòåìû óïðàâëåíèÿ (IQ 24)
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TDrvInterface drv_interface = DRV_INTERFACE_DEFAULTS; //!<Èíòåðôåéñ äëß ðàáîòû ñ áàíêàìè àâàðèé, ñîáûòèé è ò.ï.
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TLogger FaultLog = LOGGER_DEFAULTS; //!<Ïðîòîêîëèðîâàíèå àâàðèé
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TGlobalTime global_time = GLOBAL_TIME_DEFAULTS; //!<Ðàáîòà ñ ÷àñàìè
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TRefs refs; //!< Ñòðóêòóðà ñ çàäàíèÿìè (òîêè, ñêîðîñòè)
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TCmd cmd = { 0 }; //!< Ñòðóêòóðà ñ êîìàíäàìè óïðàâëåíèÿ
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TDrvStatus drv_status = { 0 }; //!< Òåêóùèé ñòàòóñ ïðèâîäà
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TDrvParams drv_params; //!< Ïàðàìåòðû äâèãàòåëÿ
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TSysSwitches sw; //!< Ðàçëè÷íûå äèñêðåòíûå íàñòðîéêè ñèñòåìû óïðàâëåíèÿ
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Uint32 VendorToken=0x11111111;//!< Óíèêàëüíûé êëþ÷ ïðîèçâîäèòåëÿ, íóæíûé äëÿ ïðîãðàììû UniCON è COODEdit äëÿ ðàçëè÷íûõ íàáîðîâ òåêñòîâ ðàçíûõ ïðîèçõâîäèòåëåé
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int drv_status_code; //!<Ñòàòóñ ñèñòåìû óïðàâëåíèÿ â âèäå êîíñòàíòû (ÃÎÒÎÂ, ÐÀÁÎÒÀ è ò.ï.)
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//Ïåðåìåííûå äëÿ îòëàäêè - âûâåäåíû â ñëîâàðü CANOpen,
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// íèõ ìîæíî ïðèñâàèâàòü ëþáóþ äðóãóþ ïåðåìåííóþ è íàáëþäàòü å¸
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//â UniCon, à òàêæå èñïîëüçîâàòü èõ íàïðÿìóþ â ÏÎ äëÿ îòëàäêè è ìåíÿòü íà õîäó.
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volatile long Debug1 = 0;
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volatile long Debug2 = 0;
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volatile Uint16 Debug3 = 0;
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volatile Uint16 Debug4 = 0;
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volatile long DebugW1 = 0;
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volatile long DebugW2 = 0;
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volatile long DebugW3 = 0;
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volatile long DebugW4 = 0;
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volatile float DebugF1 = 0;
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volatile float DebugF2 = 0;
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volatile float DebugF3 = 0;
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volatile float DebugF4 = 0;
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//Ñ÷åò÷èêè ïðåðûâàíèé ìîäóëÿ çàõâàòà
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Uint16 CounterCAP_isr = 0;
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Uint16 cap0_counter = 0;
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Uint16 cap1_counter = 0;
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Uint16 cap2_counter = 0;
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Uint16 LoopCounter = 0; //!< Ñ÷åò÷èê èòåðàöèé ôîíîâîãî öèêëà
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//!Ñ ýòîé ôóíêöèè íà÷èíàåòñÿ çàïóñê ïðîãðàììû
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//! \memberof MAIN_C
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int main(void) {
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co1_vars.co_productCode = 51;
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co1_vars.co_revisionNumber = 1;
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/* Íàñòðîéêà òàêòèðîâàíèÿ, âêëþ÷åíèå ïåðèôåðèè */
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SystemInit(); // Íàñòðîéêà êëîêîâ
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SystemCoreClockUpdate(); // Àïäåéòè ñèñòåìíûõ ïåðåìåííûõ íàñòðîåííûìè êëîêàìè (õç çà÷åì, íåîáÿçàòåëüíî)
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pwm.Off(&pwm); //âûêëþ÷èòü ØÈÌ (íà âñÿêèé ñëó÷àé)
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DINT;
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//Èíèöèàëèçàöèÿ, ñîáñòâåííî, âñåãî.
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sm_sys.init(&sm_sys);
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EINT;//ðàçðåøåíèå ïðåðûâàíèé
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//òèï è âåðñèÿ óñòðîéñòâà äëÿ äðàéâåðà CANOpen
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while (1) { //Ôîíîâûé öèêë
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LoopCounter++;
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sm_sys.slow_calc(&sm_sys); //Ôîíîâûé ðàñ÷åò
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}
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}
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unsigned long CpuTimerIsr1 = 0;
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Uint16 TIsr1 = 0;
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Uint16 msCounter = 0;
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//! Ïðåðâûíèå, âûçûâàåìîå ïî òàéìåðó ñ ÷àñòîòîé 1êÃö
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//! \memberof MAIN_C
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void TMR1_IRQHandler(void) {
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CpuTimerIsr1 = TMR2->VALUE; //Çàñåêàåòñÿ âðåìÿ âûïîëíåíèÿ ôóíêöèè
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sm_sys.ms_calc(&sm_sys); //ìèëëèñåêóíäíûé ðàñ÷åò âñåãî
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msCounter++;
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TIsr1 = (CpuTimerIsr1 - TMR2->VALUE) & 0xFFFFFF; //âðåìÿ âûïîëíåíèÿ ôóíêöèè
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if (TIsr1 > 97000) {
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sm_prot.bit_fault1 |= F_PROGRAM_1K; //åñëè ðàñ÷åò ñëèøêîì äîëãèé, îøèáêà
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}
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TMR1->INTSTATUS_bit.INT = 1; //ñáðîñ ïðåðûâàíèÿ
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}
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Uint16 FastCounter = 0;
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unsigned long CpuTimerIsr10 = 0;
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Uint16 TIsr10 = 0;
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//! Ïðåðâûíèå, âûçûâàåìîå ïî òàéìåðó ñ ÷àñòîòîé 10êÃö
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//! \memberof MAIN_C
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void TMR0_IRQHandler(void) {
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CpuTimerIsr10 = TMR2->VALUE; //Çàñåêàåòñÿ âðåìÿ âûïîëíåíèÿ ôóíêöèè
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sm_sys.fast_calc(&sm_sys); //ðàñ÷åò 10êÃö âñåãî
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FastCounter++;
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TIsr10 = (CpuTimerIsr10 - TMR2->VALUE) & 0xFFFFFF; //âðåìÿ âûïîëíåíèÿ ôóíêöèè
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if (TIsr10 > 9700) {
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sm_prot.bit_fault1 |= F_PROGRAM_10K; //åñëè ðàñ÷åò ñëèøêîì äîëãèé, îøèáêà
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}
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TMR0->INTSTATUS_bit.INT = 1; //ñáðîñ ïðåðûâàíèÿ
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}
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Uint16 ePWM0_TZ_isr_counter = 0;
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//!Ïðåðûâàíèå, âîçíèêàþùåå ïðè àïïàðàòíîé àâàðèè
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//! \memberof MAIN_C
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#if defined (__GNUC__)
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void PWM0_TZ_IRQHandler(void)
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#elif defined (__CMCPPARM__)
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void PWM0_TZ_IRQHandler(void)
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#endif
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{
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//Òàê êàê àïïàðàòíàÿ àâàðèÿ âîçíèêàåò ïðè âêëþ÷åíèè ØÈÌ
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//è óäåðæèâàåòñÿ ïîêà çàðÿæàþòñÿ áóäñòðåïíûå êîíäåíñàòîðû,
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//â ïðåðûâàíèè íà íåå íå ðåàãèðóåì
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//Õîòÿ â "íàñòîÿùåì" èíâåðòîðå íà âûñîêîå íàïðÿæåíèå ýòî, êîíå÷íî, íàäî äåëàòü
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//Çäåñü ìèêðîñõåìà äðàéâåðîâ çàùèòèò âñ¸ ñàìà, òàêîãî âûõîäà ó íå¸ íåò
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ePWM0_TZ_isr_counter++;
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/*
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pwm12.Off(&pwm12);
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if (sm_ctrl.state!=CTRL_STOP)
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{
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sm_prot.bit_fault1|= F_PDPINT;
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}
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sm_ctrl.state=CTRL_STOP;
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//ñáðàñûâàåì ôëàãè ïðåðûâàíèé ïî ýòîé íîæêå
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*/
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}
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//!Ïðåðûâàíèå, âîçíèêàþùåå ïî ñîáûòèÿì çàõâàòà ìîäóëÿ CAP0
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//! \memberof MAIN_C
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#if defined (__GNUC__)
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void ECAP0_IRQHandler(void)
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#elif defined (__CMCPPARM__)
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void CAP0_IRQHandler(void)
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#endif
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{
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//Ïîäòâåðæäàåì ýòî ïðåðûâàíèå äëÿ NVIC - èíà÷å ïðè âûõîäå èç ôóíêöèè îíî âîçíèêíåò îïÿòü
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ECAP0->PEINT = 1;
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if (DPReCAP.CAPCalcEna1 == 0) { //åñëè ôóíêöèÿ âûçâàëàñü ïîâòîðíî
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DPReCAP.CAP_WrongEdgeCnt = (++DPReCAP.CAP_WrongEdgeCnt) & 0xFF;
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DPReCAP.CAP_WrongEdgeCnt1++;
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return;
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}
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DPReCAP.CAPCalcEna1 = 0;//ðàñ÷åò áóäåò ðàçðåøåí, êîãäà òèêíåò ïðåðûâàíèå 10êÃö. ×àùå ñ÷èòàòü íåò ñìûñëà, ýòî ïîìåõè
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CounterCAP_isr++;//îáùèé ñ÷¸ò÷èê âñåõ ïðåðûâàíèé ìîäóëÿ çàõâàòà
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CounterCAP_isr = CounterCAP_isr & 0xF;
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cap0_counter++;//ñ÷¸ò÷èê ïðåðûâàíèé èìåííî ýòîãî êàíàëà
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//èñõîäÿ èç ñîñòîÿíèÿ íîã òðåõ äàò÷èêîâ Õîëëà âûñ÷èòûâàåò òåêóùèé óãîë ñ òî÷íîñòüþ 60 ãðàäóñîâ.
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//âûõîäîì ôóíêöèè ÿâëÿåòñÿ DPReCAP.Angle6 - óãîë ñ òî÷íîñòüþ 60 ãðàäóñîâ.
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DPReCAP.Angle6Calc(&DPReCAP);
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//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...).
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//Çàñåêàåò âðåìÿ ìåæäó ýòèì èìïóëüñîì è ïðåäûäóùèìè äëÿ ðàñ÷åòà èíòåðïîëÿòîðà óãëà è ÷àñòîòû âðàùåíèÿ (ñêîðîñòè)
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DPReCAP.CAP1Calc(&DPReCAP);
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//Ïîäòâåðæäåíèå ïðåðûâàíèé
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ECAP0->ECCLR_bit.CEVT0 = 1;
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ECAP0->ECCLR_bit.CEVT1 = 1;
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ECAP0->ECCLR_bit.INT = 1;
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}
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//!Ïðåðûâàíèå, âîçíèêàþùåå ïî ñîáûòèÿì çàõâàòà ìîäóëÿ CAP1
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//! \memberof MAIN_C
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#if defined (__GNUC__)
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void ECAP1_IRQHandler(void)
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#elif defined (__CMCPPARM__)
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void CAP1_IRQHandler(void)
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#endif
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{
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//Ïîäòâåðæäàåì ýòî ïðåðûâàíèå äëÿ NVIC - èíà÷å ïðè âûõîäå èç ôóíêöèè îíî âîçíèêíåò îïÿòü
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ECAP1->PEINT = 1;
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if (DPReCAP.CAPCalcEna2 == 0) { //åñëè ôóíêöèÿ âûçâàëàñü ïîâòîðíî
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DPReCAP.CAP_WrongEdgeCnt = (++DPReCAP.CAP_WrongEdgeCnt) & 0xFF;
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DPReCAP.CAP_WrongEdgeCnt2++;
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return;
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}
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DPReCAP.CAPCalcEna2 = 0;
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CounterCAP_isr++;
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CounterCAP_isr = CounterCAP_isr & 0xF;
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cap1_counter++;
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DPReCAP.Angle6Calc(&DPReCAP);
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DPReCAP.CAP2Calc(&DPReCAP);
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//Ïîäòâåðæäåíèå ïðåðûâàíèé
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ECAP1->ECCLR_bit.CEVT0 = 1;
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ECAP1->ECCLR_bit.CEVT1 = 1;
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ECAP1->ECCLR_bit.INT = 1;
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}
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//!Ïðåðûâàíèå, âîçíèêàþùåå ïî ñîáûòèÿì çàõâàòà ìîäóëÿ CAP2
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//! \memberof MAIN_C
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#if defined (__GNUC__)
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void ECAP2_IRQHandler(void)
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#elif defined (__CMCPPARM__)
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void CAP2_IRQHandler(void)
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#endif
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{
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//Ïîäòâåðæäàåì ýòî ïðåðûâàíèå äëÿ NVIC - èíà÷å ïðè âûõîäå èç ôóíêöèè îíî âîçíèêíåò îïÿòü
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ECAP2->PEINT = 1;
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if (DPReCAP.CAPCalcEna3 == 0) { //åñëè ôóíêöèÿ âûçâàëàñü ïîâòîðíî
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DPReCAP.CAP_WrongEdgeCnt = (++DPReCAP.CAP_WrongEdgeCnt) & 0xFF;
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DPReCAP.CAP_WrongEdgeCnt3++;
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return;
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}
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DPReCAP.CAPCalcEna3 = 0;
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CounterCAP_isr++;
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CounterCAP_isr = CounterCAP_isr & 0xF;
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cap2_counter++;
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DPReCAP.Angle6Calc(&DPReCAP); //åñëè óáðàòü, òî â ìîìåíò ïðèõîäà ìåòêè íà îäèí ïåðèîä ØÈÌ êîñÿê, òàê êàê ïðåðûâàíèå ïîñ÷èòàëîñü, à Angle6Calc íåò
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DPReCAP.CAP3Calc(&DPReCAP);
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//Ïîäòâåðæäåíèå ïðåðûâàíèé
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ECAP2->ECCLR_bit.CEVT0 = 1;
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ECAP2->ECCLR_bit.CEVT1 = 1;
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ECAP2->ECCLR_bit.INT = 1;
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}
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//!Ïðåðûâàíèå, âîçíèêàþùåå ïî ñîáûòèþ ðåïåðíîé ìåòêè(èíäåêñà) ìîäóëÿ QEP
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//! \memberof MAIN_C
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//! Íî - íà äâèãàòåëå ACM601V36-1000 íåò èíäåêñíîé ìåòêè.
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//Òàê ÷òî ýòîãî ïðåðûâàíèÿ c òàêèì äâèãàòåëåì íå áóäåò (èëè áóäåò îò ïîìåõ, êàê ïîâåçåò)
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#if defined (__GNUC__)
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void QEP_IRQHandler(void)
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#elif defined (__CMCPPARM__)
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void QEP1_IRQHandler(void)
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#endif
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{
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//Îáðàáîòêà ðåïåðà
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posspeedEqep.index(&posspeedEqep);
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//Ïîäòâåðæäàåì ýòî ïðåðûâàíèå äëÿ NVIC
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QEP->INTCLR = 1;
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QEP->QCLR_bit.IEL = 1;
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QEP->QCLR_bit.INT = 1;
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}
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//Ïðåðûâàíèå âûçûâàåòñÿ îäèí ðàç íà ïåðèîäå ØÈÌ è çàáèðàåò 4 ðåçóëüòàòà çà ïåðèîä
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void ADC_SEQ0_IRQHandler (void) {
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adc.fast_calc(&adc);
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dlog.update(&dlog); //Îñöèëëîãðàôèðîâàíèå äàííûõ
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ADC->IC_bit.SEQIC0 = 1;
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}
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/*@}*/
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