void
GPIOIntHandler(void)
{
unsigned long ulHall, ulPWM;
//
// Clear the GPIO pin interrupts.
//
GPIOPinIntClear(HALL_PORT, HALL_A | HALL_B | HALL_C);
//
// Perform commutation if the motor is running.
//
if(g_iRunning == MOTOR_RUNNING)
{
//
// Get the current Hall effect sensor state.
//
ulHall = (GPIOPinRead(HALL_PORT, HALL_A | HALL_B | HALL_C) >>
HALL_SHIFT);
//
// Get the set of PWM signals to be driven.
//
ulPWM = pulHallToPhase[ulHall];
//
// Set the PWM signals to be driven.
//
PWMOutputState(PWM_BASE, ulPWM ^ (PHASE_A | PHASE_B | PHASE_C), false);
PWMOutputState(PWM_BASE, ulPWM, true);
}
}