// Peripheral clock control register 1 bit definitions:
struct PCLKCR1_BITS  {    // bits  descriptionUint16 EPWM1ENCLK:1;   // 0     Enable SYSCLKOUT to EPWM1Uint16 EPWM2ENCLK:1;   // 1     Enable SYSCLKOUT to EPWM2Uint16 EPWM3ENCLK:1;   // 2     Enable SYSCLKOUT to EPWM3Uint16 EPWM4ENCLK:1;   // 3     Enable SYSCLKOUT to EPWM4Uint16 EPWM5ENCLK:1;   // 4     Enable SYSCLKOUT to EPWM5Uint16 EPWM6ENCLK:1;   // 5     Enable SYSCLKOUT to EPWM6Uint16 rsvd1:2;        // 7:6   reservedUint16 ECAP1ENCLK:1;   // 8     Enable SYSCLKOUT to ECAP1 系统时钟150MHzUint16 ECAP2ENCLK:1;   // 9     Enable SYSCLKOUT to ECAP2Uint16 ECAP3ENCLK:1;   // 10    Enable SYSCLKOUT to ECAP3Uint16 ECAP4ENCLK:1;   // 11    Enable SYSCLKOUT to ECAP4Uint16 ECAP5ENCLK:1;   // 12    Enable SYSCLKOUT to ECAP5Uint16 ECAP6ENCLK:1;   // 13    Enable SYSCLKOUT to ECAP6Uint16 EQEP1ENCLK:1;   // 14    Enable SYSCLKOUT to EQEP1Uint16 EQEP2ENCLK:1;   // 15    Enable SYSCLKOUT to EQEP2
};

#define EC_RISING     0           //上升沿电平值
#define EC_FALLING    1            //下降沿电平值
#define EC_ABS_MODE   0            //在CAPx事件中不重置计数器
#define EC_ENABLE     1            //使能在捕获事件中加载CAP1-4寄存器的时间
#define EC_DIV1       00000      //输入信号分频选择 不分频
#define EC_CAP_MODE   0            //ECAP工作于捕获工作模式
#define EC_CONTINUOUS 0            //0为连续模式  1为单次模式
#define EC_SYNCO_DIS  2             //同步输出选择：  10、11屏蔽同步信号输出
#define EC_DISABLE    0            //屏蔽同步输入操作
#define EC_RUN        1            //1计数器启动    0计数器停止

void InitECAP()
{SysCtrlRegs.PCLKCR1.bit.ECAP1ENCLK = 1;//使能eCAP1SysCtrlRegs.PCLKCR1.bit.ECAP2ENCLK = 1;//使能eCAP2
//    SysCtrlRegs.PCLKCR1.bit.ECAP3ENCLK = 1;//使能eCAP3
//    SysCtrlRegs.PCLKCR1.bit.ECAP4ENCLK = 1;//使能eCAP4
//    SysCtrlRegs.PCLKCR1.bit.ECAP5ENCLK = 1;//使能eCAP5
//    SysCtrlRegs.PCLKCR1.bit.ECAP6ENCLK = 1;//使能eCAP6IER |= M_INT4;//
    ECap1Regs.ECEINT.all = 0x0000;             // Disable all capture interruptsECap1Regs.ECCLR.all = 0xFFFF;              // Clear all CAP interrupt flagsECap1Regs.ECCTL1.bit.CAPLDEN = 0;          // Disable CAP1-CAP4 register loadsECap1Regs.ECCTL2.bit.TSCTRSTOP = 0;        // Make sure the counter is stopped
    SetCap1();SetCap2();}void SetCap1()
{ECap1Regs.ECCTL1.bit.CAP1POL = EC_RISING;             //一级事件捕捉上升沿ECap1Regs.ECCTL1.bit.CAP2POL = EC_RISING;             //二级事件捕捉上升沿ECap1Regs.ECCTL1.bit.CAP3POL = EC_RISING;             //三级事件捕捉上升沿ECap1Regs.ECCTL1.bit.CAP4POL = EC_RISING;             //四级事件捕捉上升沿ECap1Regs.ECCTL1.bit.CTRRST1 = EC_ABS_MODE;         //一级事件捕捉后不清零计数器ECap1Regs.ECCTL1.bit.CTRRST2 = EC_ABS_MODE;         //二级事件捕捉后不清零计数器ECap1Regs.ECCTL1.bit.CTRRST3 = EC_ABS_MODE;         //三级事件捕捉后不清零计数器ECap1Regs.ECCTL1.bit.CTRRST4 = EC_ABS_MODE;         //四级事件捕捉后不清零计数器ECap1Regs.ECCTL1.bit.CAPLDEN = EC_ENABLE;             //使能事件捕捉时捕捉寄存器装载计数器值ECap1Regs.ECCTL1.bit.PRESCALE = EC_DIV1;             //对外部信号不分频
ECap1Regs.ECCTL2.bit.CAP_APWM = EC_CAP_MODE;         //捕捉模式ECAPECap1Regs.ECCTL2.bit.CONT_ONESHT = EC_CONTINUOUS;     //连续模式ECap1Regs.ECCTL2.bit.SYNCO_SEL = EC_SYNCO_DIS;        //屏蔽同步信号输出ECap1Regs.ECCTL2.bit.SYNCI_EN = EC_DISABLE;            //屏蔽同步输入操作ECap1Regs.ECEINT.all=0x0000;                         //关闭所有 CAP 中断ECap1Regs.ECCLR.all=0xFFFF;                         //清除所有中断标志位ECap1Regs.ECCTL2.bit.TSCTRSTOP = EC_RUN;             //启动 CAP 计数器ECap1Regs.ECEINT.bit.CEVT4=1;                         //使能四级事件中断，即当发生第四次捕捉时进入中断
}

interrupt void ECAP1_INT_ISR(void)    // ECAP-1
{// Insert ISR Code here
     Uint32 t1,t2,t3,t4,T1,T2;t1 = ECap1Regs.CAP1;t2 = ECap1Regs.CAP2;t3 = ECap1Regs.CAP3;t4 = ECap1Regs.CAP4;T1 = t2-t1;T2 = t4-t3;// To receive more interrupts from this PIE group, acknowledge this interrupt PieCtrlRegs.PIEACK.all = PIEACK_GROUP4;ECap1Regs.ECCLR.all=0xFFFF;                //clare all flag
}