DS9 28377中 ADC中断和TIMER0中断冲突 关闭TIMER0中断程序正常 开启后进入interrupt void ADCA1_ISR(void)

main.c

#include "F28x_Project.h"
__interrupt void adca1_isr(void);
__interrupt void epwm1_isr(void);
__interrupt void cpu_timer0_isr(void);
#include "adc.h"
#include "epwm.h"
#include "pid.h"
#include "timer.h"

#define RESULTS_BUFFER_SIZE 256
Uint16 AdcaResults;
Uint16 resultsIndex;
float V=0;
volatile Uint16 bufferFull;
Uint16 sum=0,ave=0;
extern int PwmValue;


void main(void)
{

    InitSysCtrl();
    InitGpio();
    EPWM1_Init(2000);
    DINT;
    InitPieCtrl();
    IER = 0x0000;
    IFR = 0x0000;
    InitPieVectTable();

    EALLOW;
    PieVectTable.ADCA1_INT = &adca1_isr;    //中断向量表指向中断
    EDIS;

    EALLOW;
    PieVectTable.EPWM1_INT=&epwm1_isr;
    EDIS;



    PieCtrlRegs.PIEIER1.bit.INTx1 = 1;         //ADC
    PieCtrlRegs.PIEIER3.bit.INTx1=1;           //EPWM


    ConfigureADC();
    ConfigureEPWM();
    SetupADCEpwm(0);
    Time0_Init(60,500000);
    PID_M1_Init();

    IER |= M_INT1;  //使能CPU的INT1
    IER|=M_INT3;

    EINT;
    ERTM;

    PieCtrlRegs.PIECTRL.bit.ENPIE = 1;

    EALLOW;
    CpuSysRegs.PCLKCR0.bit.TBCLKSYNC = 1;
    EDIS;


    do
    {

        EPwm1Regs.ETSEL.bit.SOCAEN = 1;        //使能EPWMXSOCA启动ADC
        EPwm1Regs.TBCTL.bit.CTRMODE = 0;       //上升计数


        EPwm1Regs.ETSEL.bit.SOCAEN = 0;     //关闭转换
        EPwm1Regs.TBCTL.bit.CTRMODE = 3;   //停止计数


    }while(1);
}




__interrupt void adca1_isr(void)
{

	AdcaResults= AdcaResultRegs.ADCRESULT0;
	V=(float)3.3*AdcaResults/4096;
	AdcaRegs.ADCINTFLGCLR.bit.ADCINT1 = 1;
	PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
}



__interrupt void epwm1_isr(void)
{

   EPwm1Regs.CMPB.bit.CMPB= PwmValue;
  // EPwm1Regs.CMPA.bit.CMPA=0;

   EPwm1Regs.ETCLR.bit.INT=1;
   PieCtrlRegs.PIEACK.all=PIEACK_GROUP3;
}


timer.c

/*
 * timer.c
 *
 *  Created on: 2020年7月22日
 *      Author: 汪
 */



#include "timer.h"
#include "F2837xD_cputimer.h"
#include "pid.h"

Uint16 i=0;
__interrupt void cpu_timer0_isr(void);
extern PIDTypdDef M1PID;
extern PIDTypdDef M2PID;
int PwmValue=0;
extern float V;
void Time0_Init(float Freq,double time)
{

    InitSysCtrl();


      DINT;
      IER = 0x0000;
      IFR = 0x0000;
      InitPieVectTable();
      EALLOW;
      PieVectTable.TIMER0_INT = &cpu_timer0_isr;
      EDIS;
      InitCpuTimers();
      ConfigCpuTimer(&CpuTimer0, 60, 500000);
      CpuTimer0Regs.TCR.all = 0x4001;
      InitGpio();
      EALLOW;
      GpioCtrlRegs.GPEMUX1.bit.GPIO133 = 0;
      GpioCtrlRegs.GPEDIR.bit.GPIO133 = 1;
      EDIS;
      IER |= M_INT1;
      PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
      EINT;
      ERTM;


}


__interrupt void cpu_timer0_isr(void)
{


        PID_M1_SetPoint(5);
        PID_M1_SetKp(200);
        PID_M1_SetKi(0.1);
        PID_M1_SetKd(0);

        PwmValue = PID_M1_PosLocCalc(V);

        if(PwmValue > 2000)  PwmValue=  2000;
        if(PwmValue < -2000) PwmValue = -2000;


   PieCtrlRegs.PIEACK.all = PIEACK_GROUP1; //清除中断应答位

}
在开启TIMEO中断后 程序进入

interrupt void ADCA1_ISR(void)
{
// Insert ISR Code here

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

// Next two lines for debug only to halt the processor here
// Remove after inserting ISR Code

asm (" ESTOP0");
for(;;);
}