From d44c95512a421ca24ee16ccdebc36efb4578e205 Mon Sep 17 00:00:00 2001
From: Nicolas Trimborn <nicolas.trimborn@tum.de>
Date: Thu, 19 Aug 2021 21:04:43 +0200
Subject: [PATCH] fixed issue by changing interrupt priorities

---
 .../Motor_Master/Motor_Master/bldc.c          |   2 +-
 .../Motor_Master/Motor_Master/main.c          |   5 ++++-
 Twincat/MotorData/.vs/MotorData/v15/.suo      | Bin 39936 -> 40960 bytes
 Twincat/MotorData/MotorData.sln               |   2 +-
 4 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/2_Motor_Master/Motor_Master/Motor_Master/bldc.c b/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
index 966d875..d5f80fc 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
+++ b/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
@@ -35,7 +35,7 @@ void motor_StateMachine(BLDCMotor_t* const motor)
 		case  MOTOR_IDLE:
 			//hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw,  DISABLE_PATTERN);
 			motor->motor_state.previousstate = motor->motor_state.currentstate;
-			motor->motor_state.currentstate = MOTOR_IDLE;
+			motor->motor_state.currentstate = MOTOR_PVI_CTRL_STATE;
 		break;
 		case MOTOR_OPEN_LOOP_STATE:
 			BLDC_runOpenLoop(motor, *M1_Desired_dc);
diff --git a/2_Motor_Master/Motor_Master/Motor_Master/main.c b/2_Motor_Master/Motor_Master/Motor_Master/main.c
index ecc8a56..2262acb 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/main.c
+++ b/2_Motor_Master/Motor_Master/Motor_Master/main.c
@@ -77,7 +77,9 @@ void enable_NVIC_IRQ(void)
 	//NVIC_EnableIRQ(TC2_IRQn);	 // TC2: M1_Speed_Timer
 	//NVIC_EnableIRQ(TC4_IRQn);	 // TC4: M2_Speed_Timer
 	NVIC_EnableIRQ(DMAC_0_IRQn);
-	//NVIC_SetPriority(DMAC_0_IRQn, 1);
+	NVIC_EnableIRQ(DMAC_1_IRQn);
+	NVIC_SetPriority(DMAC_0_IRQn, 2);
+	NVIC_SetPriority(ADC1_0_IRQn, 3);
 	NVIC_EnableIRQ(TCC0_0_IRQn);
 	NVIC_EnableIRQ(TCC1_0_IRQn);
 	//NVIC_SetPriority(TCC0_0_IRQn, 3);
@@ -184,6 +186,7 @@ int main(void)
 			PORT->Group[1].OUTCLR.reg = (1<<GPIO_PIN(SPI1_CS));
 			_dma_enable_transaction(DMAC_CHANNEL_CONF_SERCOM_1_RECEIVE, false);
 			_dma_enable_transaction(DMAC_CHANNEL_CONF_SERCOM_1_TRANSMIT, false);
+			volatile int x = 1;
 			//spi_m_dma_transfer(&SPI_1_MSIF, (uint8_t*)Slave_1.tx_buffer, (uint8_t*)Slave_1.rx_buffer, MASTER_BUFFER_SIZE);
 		}
 		
diff --git a/Twincat/MotorData/.vs/MotorData/v15/.suo b/Twincat/MotorData/.vs/MotorData/v15/.suo
index 9d9a1a7197edd42cccc8f48e54eaacd011a741f4..63ea7317014c7d6886c9442aef06a2eed89570dc 100644
GIT binary patch
delta 4857
zcmeGfS!^4}b(WN5S(hbCvUOOFV>7lan%0tBUTPg{xui&nhs9H*D#YRPSl-K1qG%*E
z497`p7qK;QKio8Ei~#v4lGs*13baU-kD^6epb7%C{V5QjKmF{7^<krp`-VE~IF9Y6
zZ9a<Z;?2By_nVoWop<(UlC!Il%ipG&Zk`yIbmcE`l;Y~2sD1>`Ag)PjR0OX}>diec
zzJ!;gXDBaTmmazDVw1ZYNF4yX0q(&wu-Oy*vrX6qw4IxDLfZqlY;!ya{SW{#y$_%d
zE1RFemzz3HOvC6Xz!-oW;23}c;5fiI01ZH_si0Q_FaR0=EdU2r)H_XpnE^h#;_mIS
z1L6b#je9QWhe71m%PpC%Ri*6-**d)--vU4$qEDV?!2bz7nSgcx5(<$aJTf7qCrNh#
zkR%D8JS3Qr2WNl~$qeiOAT!YQ_0E87vXz8J)(=}{(Izs$H)I3&H%;C6&$1})lXY(p
zXP%?U08h5%mpjUo2Uj}klpC)@JA*5o^%k-Ux*hm#XN?NuN>`oYSJu1Qsav~mQ#*aY
z8<Y|!J+fZhEu+7R*MZyAC|)0^Q^#;+@Z$2G#|1H5qmJXszB;AA>-+AtD8coeo|U`3
ztr9HRzd-e`EbV`l!Y_{w;?RX7-DEW>fS)AYfBEY>JM;MR1-iSuD4x!WWwE$LTm#~r
zWcuSj{_ccjOLC?ARhnAvD&J3esGY)0^Y3rI$WY6>xfSlfO{!%heSG)9s1Dzc>PU;^
zzZJ?Ytx00}5K`gL1e!;FR6;RSgmxaeP!dH@8or_+d<qtzn2-pR3d({^4wV~H0!Won
z0;oKGU4IkPk|sQ9SiMe5miJf5yp7c*)Nfbr9NQtqs|QCW5v3SjLy{rsniQ~W%`NC!
z>jsql@(}OxyNkg;v_U`!%!&|-355X*Hz?5HADugdCl8H|Y!OIr`l-Y;LBo4SKSkCB
zVe_Fw_;g~RlWZb#ph!^@`Xydd(l~dX##tqXK91v~O6o(P4z~!&a-zaxrP4P%bIM<u
zhvxK*SW1?YV(zpzRygj9013aPR8qhAyuw?J9r1;AzI@>Zwd^qc59an)_=dI*4^A9e
zIXltU+<6`nCOH%MJAV6Q@2=eT!c}3Z1pLv-k>;%h@~=EUsirW?_TowZ*kPJCD55;g
zD;P$pQ5e)prGgJfz!FkvwQ<c$Mupcmp~3F-(H3$_NfEyH8hhO+X_6q+hCk5u-;d+a
zzZ-{7Lg7gkc8gz5A;9_@-}`y?@SaCUwfx<)w*m)x@PWvu?RVe@(Ax-T8Gn?B4Z4z%
zv?A!V%$vkWB^%3?OY@s6$_iKUY9js^i6^c3`@$&o+7rBhja`j><792F&AsxzprxK7
zI%x|s{pS%L?0$I1jy+7kA7q|;{4|U-Qg~QzBb_&!@Q;-;d@ft7n{8gd#~3grW^!}3
zs!5z?&1S#Vt&(TTp1H_kC_L-03f_?1mSI>nBIJdTS#HbQr+D!c%lV^5pF3=c_yv8f
z<W9S1oxCnRrwXZcF8Q3*;}s*GrQBjFY2l*_blk0{EjDL0P)b*_Vk#t-J?ePfUNn}H
zRZTgj53p0dfSoVUi>cXUA)B`{+2pt&%%vjUh;nW!W6|f7ah;V*8!HQesZ)H-;!fw2
zqCJ_KW{f=J$i)I$_d?1VS}f?r@LWM<TAEH(0#&*orcxHRW)d8>QrO4%=$hMT;01$9
zp45sC(Ub79ad|jtwz27?*JEFj(={`rv+0w}5^s~&Jm~`G;G)HdXLioui*kP7tgkfg
zb6dxgT8r9Z3J5xLjZ@N5gIGywXHp4EZQRAuHE&g0a#*<;mK%52^LdRs>f}ZI@j2O7
z+<>EPO=LsvCk-tBkn9zTo0#{PV#U(@mwz&_nR^;L;r?d+n{<2iO^N%fKkec~=c3sb
zv@(fcp_0@ram7e%ky#K~-;#OCTr`Gsf-NRQqm`U1;mB}eb(T*CTwaljs|9B~8(lEw
zk^<*((N#+dW^!6-O}l&+j*HZEm6@P75jOiH)$wwL_bf5RV#yn<NBz-L4u`!s$5pf%
zuU*UwvmB>3+O4jI>5x|ldg!82qfzGrs;GZ4YH+ARQHJ-F?TkLgjF;3?LBq7RSg<(R
zYQn<ud7rOf6NQ9ZXNcxfne41P5D35$PcMSB-C6Qx3v-^3wid4lu^G9>WnuhPhgoHF
z3LLA^rBB5)6?e2?2zke2Mb;ctRtrg;*<4MeT*~xfhP5sl3xT-fR`9?s{AuQ!bL;be
zQ#e__Ik&#HbL+rk&aHw_iRSUzIT_xUexYUiuRr!QKQMeHqnEw@bO%dz<;{9fiYK*A
zQS!Inc*I<}DE_}3oto>HTkz!7)qT&7(66NaA?_$cvG9)g^S4Q^KZHAy;*A%Ac>a60
z>r-&G)gTrsQxnp|E!zk+sT%13V~`T@NClW4#zv@76+kfo&NMVg&o;C*=q1$J5rFG)
z25#UnxRLL4oB??b<ketV4N?qf)1apVoY-c-q5&!DU_u3=G!ThvEr@6v6dhnh%?!rd
ztSXRTfUbd_Mp2M9fY~^Vi7_pVlnt5^9K-?BLWvLoE=hp~JqC1$({>1KBSj^ef-!!B
zexB;UpU`qirvpzObx>XS-HXolU5p75i9<>ieDCVB*RM(H87KfMPzuCQH|ha1Q}F5`
zd}59RTmhkKfI<Rcz%9W^QYzq*?Dc@@VXOtYDd4g|*8{wScJH47M>(*Z0c|H-oXO=m
z3s3`E6!o_9NUTF0l0khBh^ihT+CSz2mC|O_LX^EI4|=3LDg&p8Jm9JfV-fA?h(Ze`
z6Yyhbua$>33;~dtBe^RY;|TCcLh^898c7~nn0hktS`gyl)d7tGVFuJS;Bo-lFFL6~
ztoVVG8p7YAZPYOS{?R$A6^~vzdV*Sm>Z@(L`f7Wy`Xa3MZC3jxtD(_Bc%9gFP+gZi
z+Jcmjcdwz|_YlGQwz2*-wCBBd+t#JuQG9Zeu=Z}d*t_ZC>2yhvxQ1S)6a(7^2DZW{
hb_ch~gFtSC`9)Wa;D)v(hqerC82{43RIwH6zW`m6r}qE=

delta 3412
zcmd^>drVVT9LMjueNg+dK-IF9(M25iDBRK_ZPl%Bb(<3(#7A(WLQ&j+3at-7%N{<E
z=`Q`@%)}W(-2X!T!@m}1vSmxmWdCgcF7uE5wJa{OM3Rkt5437<Vbf`%*=aua{?56-
zbAGRLZ%^-4vG<B7uVncnt13mKsr|Q-TZ2EaQUR@$y2LK_5six}RRQ`k9aMC)Q#7t9
zOKX*@Ceh3o=8xupKlwnm>Cxw69_~6|0rS9oFc%b3zG}fhgOy~Zp3Z4CW+w)hf@Q!C
zDga&4+E|44DoX|$Y(=XvvIeXLuY;Va1zaIhtFkiVg;#$62k%=>VWt}JmRmsu`44n>
z00zjpK)9YUtH%T6`aBpO2$#8@GAo<1cOIYy6i&Nsep~?#G+bKrF4lbyaJxB<qJIn=
z2YuiK<!cMcr&UfN>*6B~wJfbqu#=S3r`U%yj%z<94JmaT>aQwk!qCOur=&5(KFEw4
zb?iTwDGg?VrV*y@!OCY?W}-+VlBn-^(6)ZsHq_A4=G$xujhj=<PRV)wX=CD^KQ<jp
zTN3PTN?KBE4~<(U)qH2%G}6TLhuMzILF+M=b`@j_N`GS8r_D~SDG1CyXG{>EQ;aDf
zomHuYvl=xU!?2cLbo`>ftDuL%)I-DFAwzZ!pC{1Rd8cMdLXW=LP?L5S(~dI>^S0j5
za(i_0w1;}#<;8ZvB{+nr(2Py&7M2Uuf&@tt*pyayXoYEgbyV0QUi;;<m0x>8hVmmM
z4@qgQPm>P~UQ}A6ZBp{LfG%k*O8#2Vb#2^S3t<D;2sVMufNFJ8DhgpIXar3l2AaVx
zup6|1+-7+Paw}*9?b-3YxOad~kN`=r59|jAz(LRjy1@}}2pk3}&<h_X7bNeM=cQbE
zG81KLF>O7-OH`E-*|(WHt~|xCB);)X73SIUc63=teC-<Q5)`~by-<gm#!%Z%$h#mp
zg&I^ghHBOeA=JMSwQfbf4Rz-_tFc!Sf(=_NCdBc)llm)0$oI;ZriMFRJHJ1%Z0+ZD
zfm_@5UDVS&-%>Hm=ta>=RsI5#La?pFgaqio($S31XI2@GW7G3}&$&&}aAE#TFPf;e
zqDW`Mq<a?YG817Zo13U#*Pdwa2t^Z7E|G8b61vbg-**!q<U%Yc3YW!@SHiE`9SPLb
zNK(Y^2sk5lSGdY=4>&^+d$7h8sR}KZ0)AKZp`OkATiSyD&BGftPg$DE9yLwtMaI*z
z9-kN9W@PM<6Gc*aF|Zmd5{<3#j`lr0L2rFs=jcXTJ~4R*{n~7ylHGoKd6&^TTMcMP
z9;oc;>5e!Yk)Yolv<KZDr`;8Cx$PdwRc-fp!eLjHKe8MT5A}qbT2O9!A=XTJ@|OFJ
zRL*APZwj6BUw5DXX?ak3NLN&}`1o5a^ngd#``pR_7WAg&H>bS3v7(61rJ6_{SedEr
zSBj(CZF6Sk$uV09wso;+XR;&K8f#0~YLV|)W5Pj|<;61s_}}I7iYSF<OWeP&edr-;
zZ`!)ewyCi_9?R9^V-$Q;Zc@_4L8}7q8uguCmAN`7vAJO(fS(_Ki-tALf+I8e$rp?Q
z=ga8l#YIo_-=oi6VwpbOJa~BFr;{H&3pLr(i9p}Ui?CS>`4NTU<rX#nBqNHi9A5IA
iy!=$9d01A{)gd39_|!{Y>FBV7J<&8i_OsmZS@AC*aj@<H

diff --git a/Twincat/MotorData/MotorData.sln b/Twincat/MotorData/MotorData.sln
index 1206126..53e8314 100644
--- a/Twincat/MotorData/MotorData.sln
+++ b/Twincat/MotorData/MotorData.sln
@@ -1,6 +1,6 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 15
+# TcXaeShell Solution File, Format Version 11.00
 VisualStudioVersion = 15.0.28010.2050
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "MotorData", "MotorData\MotorData.tsproj", "{627AF960-8AD6-492C-BE55-42F15976A40C}"