UM0324 datasheet(89/105 Pages) STMICROELECTRONICS

89 / 105 page

UM0324

Library functions

89/105

To disable the linear curve computation routine in 75x_TBtimer:

void TB_IRQHandler(void)

{

[…]

if(State == RUN)

{

if ((wGlobal_Flags & CLOSED_LOOP) == CLOSED_LOOP)

{

[…]

//PID_Speed_Coefficients_update(hRot_Freq_Hz); //to be commented out

[…]

}

4.9

Main interrupt service routines: 75x_it module

4.9.1

Overview

The 75x_it module can be used to describe all the exception subroutines that might occur

within your application. When an interrupt happens, the software will automatically branch to

the corresponding routine accordingly with the interrupt vector table.

With the exception of the ADC and PWM emergency stop interrupt requests, all the routines

are empty, so that you can write your own code for exceptios handlers and peripheral

interrupt requests.

4.9.2

List of non-empty interrupt service routines

As mentioned above only two interrupts are managed by motor control tasks:

●

PWM_EM_IRQHandler on page 89

●

ADC_IRQHandler on page 90

PWM_EM_IRQHandler

Synopsis

void PWM_EM_IRQHandler(void)

Description

The purpose of this function is to manage an Emergency Stop

signal on the dedicated emergency pin. In particular, PWM outputs

are disabled, the main state machine is put into FAULT state.

Input

None.

Returns

None.

Functions called

PWM_ClearFlag, PWM_ITConfig

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