Hardware manual

76
Function
void index_mark_isr_2 ( void)
Arguments
void
no arguments
Description
This interrupt routine works in exactly the same way as index_mark_isr_1. The only one
difference is that it works for second motor.
Function
void index_mark_isr ( void)
Arguments
void
no arguments
Description
This interrupt routine is used to detect index mark for the first motor. Function uses IRQ as a
source information about index mark crossing. In general the function was created for
HalDetector program and does one thing. It increases value of global variable: index_marking.
Function
void init_pwm ( void)
Arguments
void
no arguments
Description
This function sets up PWM for proper work with motor.