void InitECapture()
{
   
    CLK_enableEcap1Clock(myClk);

    CAP_disableInt(myCap, CAP_Int_Type_All);    // Disable all capture interrupts
    CAP_clearInt(myCap, CAP_Int_Type_All);      // Clear all CAP interrupt flags
    CAP_disableCaptureLoad(myCap);              // Disable CAP1-CAP4 register loads
    CAP_disableTimestampCounter(myCap);         // Make sure the counter is stopped

    // Configure peripheral registers
    CAP_setCapOneShot(myCap);                   // One-shot
    CAP_setStopWrap(myCap, CAP_Stop_Wrap_CEVT4);// Stop at 4 events
    CAP_setCapEvtPolarity(myCap, CAP_Event_1, CAP_Polarity_Falling);    // Falling edge
    CAP_setCapEvtPolarity(myCap, CAP_Event_2, CAP_Polarity_Rising);     // Rising edge
    CAP_setCapEvtPolarity(myCap, CAP_Event_3, CAP_Polarity_Falling);    // Falling edge
    CAP_setCapEvtPolarity(myCap, CAP_Event_4, CAP_Polarity_Rising);     // Rising edge
   
    CAP_setCapEvtReset(myCap, CAP_Event_1, CAP_Reset_Enable);   // Difference operation
    CAP_setCapEvtReset(myCap, CAP_Event_2, CAP_Reset_Enable);   // Difference operation
    CAP_setCapEvtReset(myCap, CAP_Event_3, CAP_Reset_Enable);   // Difference operation
    CAP_setCapEvtReset(myCap, CAP_Event_4, CAP_Reset_Enable);   // Difference operation
   
    CAP_enableSyncIn(myCap);                    // Enable sync in
    CAP_setSyncOut(myCap, CAP_SyncOut_SyncIn);  // Pass through
   
    CAP_enableCaptureLoad(myCap);

    CAP_enableTimestampCounter(myCap);          // Start Counter
    CAP_rearm(myCap);                           // arm one-shot
    CAP_enableCaptureLoad(myCap);               // Enable CAP1-CAP4 register loads
    CAP_enableInt(myCap, CAP_Int_Type_CEVT4);   // 4 events = interrupt

}

interrupt void ecap1_isr(void)
{

    // Cap input is syc'ed to SYSCLKOUT so there may be
    // a +/- 1 cycle variation

    if(CAP_getCap2(myCap) > PWM_getPeriod(myPwm)*2+1 || CAP_getCap2(myCap) < PWM_getPeriod(myPwm)*2-1)
    {
        Fail();
    }

    if(CAP_getCap3(myCap) > PWM_getPeriod(myPwm)*2+1 || CAP_getCap3(myCap) < PWM_getPeriod(myPwm)*2-1)
    {
        Fail();
    }

    if(CAP_getCap4(myCap) > PWM_getPeriod(myPwm)*2+1 || CAP_getCap4(myCap) < PWM_getPeriod(myPwm)*2-1)
    {
        Fail();
    }

    ECap1IntCount++;

    if(EPwm3TimerDirection == EPwm_TIMER_UP) {
        if(PWM_getPeriod(myPwm) < PWM3_TIMER_MAX) {
            PWM_setPeriod(myPwm, PWM_getPeriod(myPwm) + 1);
        }
        else {
            EPwm3TimerDirection = EPwm_TIMER_DOWN;
            PWM_setPeriod(myPwm, PWM_getPeriod(myPwm) - 1);
        }
    }
    else {
        if(PWM_getPeriod(myPwm) > PWM3_TIMER_MIN) {
            PWM_setPeriod(myPwm, PWM_getPeriod(myPwm) - 1);
        }
        else {
            EPwm3TimerDirection = EPwm_TIMER_UP;
            PWM_setPeriod(myPwm, PWM_getPeriod(myPwm) + 1);
        }
    }

    ECap1PassCount++;

    CAP_clearInt(myCap, CAP_Int_Type_CEVT4);
    CAP_clearInt(myCap, CAP_Int_Type_Global);
    CAP_rearm(myCap);

    // Acknowledge this interrupt to receive more interrupts from group 4
    PIE_clearInt(myPie, PIE_GroupNumber_4);
}

void Fail()
{
    asm("   ESTOP0");
}