/***************************************************************************/
/*                                                                         */
/*     int4_isr.h                                                          */
/*                                                                         */
/*     Interrupt function for measuring delta_omega.                       */
/*                                                                         */
/***************************************************************************/
//  DSP 2 <=> TMS320C6713
#include "int4_hwi.h"
#include "dsk_lib.h"

extern "C" {
	Void hwiOMEGA_isr(Void) ;}


Void hwiOMEGA_isr(Void)   /* HWI_INT 4 */
{

    Uint32 *pdata;  

  // Read the Timer1 counter and reset to 0
		pdata = (Uint32 *)(0x01980008);
        uiRotationalPeriod  = *pdata;
		*pdata = 0x00000000;
		
		// calles the rela-time control and adaptive calculations 
		SWI_post(&RT_Calculations);  

}

//-----------------------------------------------------------