|
|
|
@ -58,8 +58,8 @@ extern "C" void handle_m_ext_interrupt() { |
|
|
|
|
plic_source int_num = PLIC_claim_interrupt(&g_plic); |
|
|
|
|
if ((int_num >=1 ) && (int_num < PLIC_NUM_INTERRUPTS)) |
|
|
|
|
g_ext_interrupt_handlers[int_num](); |
|
|
|
|
else |
|
|
|
|
exit(1 + (uintptr_t) int_num); |
|
|
|
|
//else
|
|
|
|
|
// exit(1 + (uintptr_t) int_num);
|
|
|
|
|
PLIC_complete_interrupt(&g_plic, int_num); |
|
|
|
|
} |
|
|
|
|
/*! \brief mtime interval interrupt
|
|
|
|
@ -242,9 +242,9 @@ void run_closed_loop(void){ |
|
|
|
|
int main() { |
|
|
|
|
platform_init(); |
|
|
|
|
printf("Starting motor\n"); |
|
|
|
|
start_open_loop(); |
|
|
|
|
start_open_loop(); |
|
|
|
|
printf("done...\n"); |
|
|
|
|
// Switch to sensor-less closed-loop commutation.
|
|
|
|
|
run_closed_loop(); |
|
|
|
|
return 0; |
|
|
|
|
run_closed_loop(); |
|
|
|
|
return 0; |
|
|
|
|
} |
|
|
|
|