dsp28_defaultisr.c

DSP IO控制

//###########################################################################
//
// FILE:	DSP28_DefaultIsr.c
//
// TITLE:	DSP28 Device Default Interrupt Service Routines.
//
//###########################################################################
//
//  Ver | dd mmm yyyy | Who  | Description of changes
// =====|=============|======|===============================================
//  0.55| 06 May 2002 | L.H. | EzDSP Alpha Release
//  0.56| 20 May 2002 | L.H. | No change
//  0.57| 27 May 2002 | L.H. | No change
//###########################################################################
#include "DSP28_Device.h"


int i1;
int i2;
int i3;
int jjj = 0;

unsigned int i,j;
unsigned int Send_Flag;
int SCIRX = 0;
int TempSci = 0x00;
unsigned char msg[7] = 0;
unsigned char msgplus = 0;
int ind = 0;
int Sciflag = 0;
int iii = 0;
double sampletime = 0.05;

long tminus1 = 0;
long tminus2 = 0;

void delay_loop1(void);
void delay_loop2(void);
void delay_loop3(void);


unsigned int var0 = 0;
unsigned int var1 = 0;
unsigned int var2 = 0;
unsigned int var3 = 0;
unsigned int var4 = 0;
unsigned int var5 = 0;
double T2CNT_COUNT1 = 0;
double T2CNT_COUNT2 = 0;

unsigned int timer111[1000] = 0;
//double T2CNT_COUNT[3] = 0;
double Vel = 0;
int V_high = 0;
int V_low = 0;
unsigned char trans_msg_plus = 0;


int V_min = 0x0000;
double V_min_double = 0;

//int Timer4InterruptCount=0;


int Output_V;
int temp_T3CMPR;

/*
double doublePitch = 0;
double doubleRoll = 0;
double doubleYaw = 0;
double doubleMain = 0;
double doubleOil = 0;

unsigned int intPitch = 0;
unsigned int  intRoll = 0;
unsigned int  intYaw = 0; 
unsigned int intMain = 0;
unsigned int  intOil = 0;
unsigned int p_pitch,p_roll,p_yaw,p_height,p_oil;

double RPitchMax = 244.0;	//0x00F4	//DSP捕获
double RPitchMin = 4.0;	//0x0004
double RRollMax = 186.0;	//0x00BA
double RRollMin = 4.0;	//0x0004
double RThMax = 242.0;	//0x00F2;// 油门
double RThMin = 3.0;	//0x0003;
double RYawMax = 180.0;	//0x00B4;
double RYawMin = 10.0;	//0x000A;
  
double SPitchMax = 1007.0;	//0x03EF; //发送给DSP
double SPitchMin = 751.0;	//0x02EF;

double SRollMax = 1149.0;	//0x047D;
double SRollMin = 954.0;	//0x03BA;

double SThMax = 1280.0;	//0x0500;
double SThMin = 548.0;	//0x0224;

double SYawMax = 1001.0;	//0x03E9;
double SYawMin = 510.0;	//0x01FE;

double SMainMax = 1220.0;	//0x04C4;
double SMainMin = 820.0;	//0x0334;
*/

/*
unsigned int RPitchMax = 0x00E2; //接收
unsigned int RPitchMin = 0x0006;
unsigned int RRollMax = 0x00FA;
unsigned int RRollMin = 0x0008;
unsigned int RThMax = 0x00E2;// 油门
unsigned int RThMin = 0x0006;
unsigned int RYawMax = 0x009B;
unsigned int RYawMin = 0x0014;
  
unsigned int SPitchMax = 0x0460; //发送给DSP
unsigned int SPitchMin = 0x0274;
unsigned int SRollMax = 0x0460;
unsigned int SRollMin = 0x02A0;
unsigned int SThMax = 0x0500;
unsigned int SThMin = 0x01F0;
unsigned int SYawMax = 0x03B0;
unsigned int SYawMin = 0x0350;
unsigned int SMainMax = 0x0520;
unsigned int SMainMin = 0x0220;
*/
/*
extern unsigned int cap3_high;
extern unsigned int cap4_high;
extern unsigned int cap5_high;
extern unsigned int cap6_high;
*/
int timercount = 0;


//---------------------------------------------------------------------------
// INT13, INT14, NMI, XINT1, XINT2 Default ISRs:
//
interrupt void INT13_ISR(void)     // INT13 or CPU-Timer1
{
  // Insert ISR Code here
  
  // Next two lines for debug only - remove after inserting
  // ISR Code
     asm ("      ESTOP0");
     for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}

interrupt void INT14_ISR(void)     // CPU-Timer2
{
  // Insert ISR Code here
  
  // Next two lines for debug only - remove after inserting
  // ISR Code
     asm ("      ESTOP0");
     for(;;);
 
  // Uncomment this line after adding ISR Code 
  // return;
}

interrupt void NMI_ISR(void)       // Non-maskable interrupt
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}

interrupt void  XINT1_ISR(void)
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}     

interrupt void  XINT2_ISR(void)
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}

//---------------------------------------------------------------------------
// DATALOG, RTOSINT, EMUINT, RTOS Default ISRs:
//
interrupt void DATALOG_ISR(void)   // Datalogging interrupt
{
  // Insert ISR Code here
 
  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;

}

interrupt void RTOSINT_ISR(void)   // RTOS interrupt
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}

interrupt void EMUINT_ISR(void)    // Emulation interrupt
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}

//---------------------------------------------------------------------------
// ILLEGAL Instruction Trap ISR:
//
interrupt void ILLEGAL_ISR(void)   // Illegal operation TRAP
{
  // Insert ISR Code here
  asm("          ESTOP0");
  for(;;);

  // Uncomment this line after adding ISR Code 
  // return;

}

//---------------------------------------------------------------------------
// USER Traps Default ISRs:
//
interrupt void USER0_ISR(void)     // User Defined trap 0
{
 // Insert ISR Code here
 
  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}

interrupt void USER1_ISR(void)     // User Defined trap 1
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}

interrupt void USER2_ISR(void)     // User Defined trap 2
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;

}

interrupt void USER3_ISR(void)     // User Defined trap 3
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;

}

interrupt void USER4_ISR(void)     // User Defined trap 4
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}

interrupt void USER5_ISR(void)     // User Defined trap 5
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}

interrupt void USER6_ISR(void)     // User Defined trap 6
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}

interrupt void USER7_ISR(void)     // User Defined trap 7
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;

}

interrupt void USER8_ISR(void)     // User Defined trap 8
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}

interrupt void USER9_ISR(void)     // User Defined trap 9
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;

}

interrupt void USER10_ISR(void)    // User Defined trap 10
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;

}

interrupt void USER11_ISR(void)    // User Defined trap 11
{
  // Insert ISR Code here

  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;

}

//---------------------------------------------------------------------------
// ADC Default ISR: 
//
interrupt void  ADCINT_ISR(void)     // ADC
{
  // Insert ISR Code here

  // To recieve more interrupts from this PIE group, acknowledge this interrupt 
  // PieCtrl.PIEACK.all = PIEACK_GROUP1; 
  
  // Next two lines for debug only - remove after inserting
  // ISR Code
   asm ("      ESTOP0");
   for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}

//---------------------------------------------------------------------------
// CPU Timer 0 Default ISR: 
//
interrupt void  TINT0_ISR(void)      // CPU-Timer 0
{
  // Insert ISR Code here

  // To recieve more interrupts from this PIE group, acknowledge this interrupt 
  // PieCtrl.PIEACK.all = PIEACK_GROUP1; 

  // Next two lines for debug only - remove after inserting
  // ISR Code
     asm ("      ESTOP0");
     for(;;);

  // Uncomment this line after adding ISR Code 
  // return;
}

//---------------------------------------------------------------------------
// Watchdog Default ISR: 
//
interrupt void  WAKEINT_ISR(void)    // WD
{
  // Insert ISR Code here

  // To recieve more interrupts from this PIE group, acknowledge this interrupt 
  // PieCtrl.PIEACK.all = PIEACK_GROUP1; 
  
  // Next two lines for debug only - remove after inserting
  // ISR Code