interrupt_sevice.c

单片机工业控制板,具备I/O,KEYBOARD,步进电机伺服电机等功能

#include <p30f4011.h>

#include "adr_port_define.h"
#include "extern_define.h"


void _ISR _T1Interrupt(void)				

{

	IFS0bits.T1IF=0;
	Time_base=Time_base+1600;	//400us			


}
void _ISR _T2Interrupt(void)
{
	IFS0bits.T2IF=0;	


//**********************test motor output
//通过timer2 interupt test motor out:0,1,0,1,0,1,0
//	PORTEbits.RE0=!PORTEbits.RE0;
//********************************
	
	if(FPWM==300)
	{	
		FPWM=FPWM+3;//80;							//200段  ptper=5us-10us
		PTPER=FCY/FPWM - 1;					//上升过程中改变PTPER
											//250段*20us(每段时间）
		PDC1=PTPER;							//动态改变占空比
		pwm_flag=1;
	/*	if(total_pluse<5)
		{
			PWM_ON=0;
			T2_ON=0;
		}*/
		

	}
	
	else if(pwm_flag==1)
	{					
		FPWM=FPWM+3;//80;							//250段  ptper=5us-10us
		PTPER=FCY/FPWM - 1;						//上升过程中改变PTPER
											//250段*20us(每段时间）
		PDC1=PTPER;								//动态改变占空比	
		if(FPWM==2400)
		{
			pwm_flag=2;
			pluse_con=pluse_counter;		//fpwm=f1:100k--f2:200k
			mid_pluse=total_pluse-pluse_con;
			
		}
		else pwm_flag=1;
		//		if(z_waitpostion_flag==0)				//连续运动 reset key 
		//		{
		//			if(motor_jingei==7)					//主轴微进给也可以view postion
		//			{
		//				if(KEYUPDOWN==0)
		//					{
		//						PWM_ON=0;
		//						T2_ON=0;
		//						}
		//				}
		//		}

		/*	if(total_pluse<80)
			{
				PWM_ON=0;
				T2_ON=0;
			}	*/
		}

		
	else if (pwm_flag==2)
		{

			if(pluse_counter>mid_pluse)pwm_flag=3;	
			
			else pwm_flag=2;
		//			if(z_waitpostion_flag==0)				//连续运动 reset key 
		//			{
		//				if(motor_jingei==7)
		//				{
		//					if(KEYUPDOWN==0)
		//					{
		//						PWM_ON=0;
		//						T2_ON=0;
		//						}
		//				}
		//			}
			
		}

		
		
		

	else if(pwm_flag==3)
		{
			FPWM=FPWM-140;
			if(FPWM<200)FPWM=200;
			PTPER=FCY/FPWM-1;
			
			PDC1=PTPER;

			if(FPWM==200)
			{
			
		/*	PWM_ON=0;
			timer=pluse_counter;
				T2_ON=0;
				
				Nop();*/
				pwm_flag=4;
			
			}
			else pwm_flag=3;
			
			
		//			if(z_waitpostion_flag==0)				//连续运动 reset key 
		//			{
		//				if(motor_jingei==7)
		//				{
			//					if(KEYUPDOWN==0)
		//					{
		//						PWM_ON=0;
		//						T2_ON=0;
		//						}
		//				}
		//			}

			
			
		}

	
	

	
Nop();

}



void _ISR _PWMInterrupt(void)
{

	IFS2bits.PWMIF=0;
	pluse_counter=pluse_counter+1;
	if(pwm_flag==4)
	{
			
		PWM_ON=0;
		T2_ON=0;
		pwm_flag=0;

//		z_waitpostion_flag=0;		//z_waitpostion view motor run encoder 
			
	}
			

}


void _ISR _DefaultInterrupt(void)// error
{



	while(1)
	{

	}

	asm("RESET");



}


void _ISR _AddressError(void)
{
//	DISABLE_FIRING;
	
	// Clear WDT and drive LED4 at 100% Duty
	while(1)
	{
//		ClrWdt();
	}
	asm("RESET");
	return;
}

void _ISR _StackError(void)
{
//	unsigned char i;

//	DISABLE_FIRING;
	
	// Clear WDT and drive LED4 at 50% Duty
	while(1)
	{
//		ClrWdt();
	}
	asm("RESET");
	return;
}

void _ISR _MathError(void)
{
//	unsigned char i;

//	DISABLE_FIRING;

	// Clear WDT and drive LED4 at 33% Duty
	while(1)
	{
//		ClrWdt();

	}
	asm("RESET");
	return;
}


void _ISR _OscillatorFail(void)
{

	while(1)
	{


	}
	asm("RESET");

}


void _ISR _ReservedTrap0(void)
{
	
	while(1)
	{



	}
	asm("RESET");
	



}


void _ISR _ReservedTrap5(void)
{
	
	while(1)
	{



	}
	asm("RESET");
	



}


void _ISR _ReservedTrap6(void)
{
	
	while(1)
	{



	}
	asm("RESET");
	



}



void _ISR _ReservedTrap7(void)
{
	
	while(1)
	{



	}
	asm("RESET");
	



}