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在没有上升沿和下降沿的时候电机无法启动,不能进入中断
interrupt void ISRCap1(void) { GpioCtrlRegs.GPAMUX2.bit.GPIO24=0;//设定cap1~3为gpio GpioCtrlRegs.GPAMUX2.bit.GPIO25=0; GpioCtrlRegs.GPAMUX2.bit.GPIO26=0; GpioCtrlRegs.GPADIR.bit.GPIO24=0;//设定cap1~3为输入 GpioCtrlRegs.GPADIR.bit.GPIO25=0; GpioCtrlRegs.GPADIR.bit.GPIO26=0; capstastus=(GpioDataRegs.GPADAT.all&0x07000000)>>24; GpioCtrlRegs.GPAMUX2.bit.GPIO24=1;//设定cap1~3为cap GpioCtrlRegs.GPAMUX2.bit.GPIO25=1; GpioCtrlRegs.GPAMUX2.bit.GPIO26=1; // Acknowledge this interrupt to receive more interrupts from group 1 PieCtrlRegs.PIEACK.all = PIEACK_GROUP4;//0x0001赋给12组中断ACKnowledge寄存器,对其全部清除,不接受其他中断 ECap1Regs.ECCLR.all=0xFFFF;//clear all flag 写0XFFFF对CAP1中断清除寄存器进行清除操作 ECap2Regs.ECCLR.all=0xFFFF; ECap3Regs.ECCLR.all=0xFFFF; } void SetCap1Mode(void) { ECap1Regs.ECCTL1.bit.CAP1POL = EC_RISING; ECap1Regs.ECCTL1.bit.CAP2POL = EC_FALLING; ECap1Regs.ECCTL1.bit.CAP3POL = EC_RISING; ECap1Regs.ECCTL1.bit.CAP4POL = EC_FALLING; ECap1Regs.ECCTL1.bit.CTRRST1 = EC_DELTA_MODE; ECap1Regs.ECCTL1.bit.CTRRST2 = EC_DELTA_MODE; ECap1Regs.ECCTL1.bit.CTRRST3 = EC_DELTA_MODE; ECap1Regs.ECCTL1.bit.CTRRST4 = EC_DELTA_MODE; ECap1Regs.ECCTL1.bit.CAPLDEN = EC_ENABLE; ECap1Regs.ECCTL1.bit.PRESCALE = EC_DIV1; ECap1Regs.ECCTL2.bit.CAP_APWM = EC_CAP_MODE; ECap1Regs.ECCTL2.bit.CONT_ONESHT = EC_ONESHOT; ECap1Regs.ECCTL2.bit.SYNCO_SEL = EC_SYNCO_DIS; ECap1Regs.ECCTL2.bit.SYNCI_EN = EC_DISABLE; ECap1Regs.ECEINT.all=0x0000;//stop all interrupt ECap1Regs.ECCLR.all=0xFFFF;//clare all flag ECap1Regs.ECCTL2.bit.TSCTRSTOP = EC_RUN;// 启动 ECap1Regs.ECEINT.bit.CEVT1=1;// Enable cevt1 interrupt ECap1Regs.ECEINT.bit.CEVT2=1;// Enable cevt2 interrupt ECap1Regs.ECEINT.bit.CEVT3=1;// Enable cevt3 interrupt ECap1Regs.ECEINT.bit.CEVT4=1;// Enable cevt4 interrupt } |
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