ESP32 Forum

Code: Select all

mcpwm_isr_register(MCPWM_UNIT_0, isr_handler, NULL, ESP_INTR_FLAG_IRAM, NULL);

Code: Select all

void IRAM_ATTR isr_handler(void *ctrl)

{

	

    uint32_t mcpwm_intr_status = MCPWM[MCPWM_UNIT_0]->int_st.val; //Read interrupt status

    MCPWM[MCPWM_UNIT_0]->int_clr.val = mcpwm_intr_status;

    

    uint32_t cp_state = xthal_get_cpenable();



    if (cp_state)

    {

        // Save FPU registers

        xthal_save_cp0(cp0_regs);

    }

    else

    {

        // enable FPU

        xthal_set_cpenable(1);

    }

    

    angle += step; // ***** simple float operation

    // set duty for all 6 switches as MCPWM[MCPWM_UNIT_0]->channel[MCPWM_TIMER_0].cmpr_value[MCPWM_OPR_A].cmpr_val = lookup(angle);



    if (cp_state)

    {

        // Restore FPU registers

        xthal_restore_cp0(cp0_regs);

    }

    else

    {

        // turn it back off

        xthal_set_cpenable(0);

    }

}