mirror of
https://gitee.com/peng_zhihui/Dummy-Robot
synced 2025-11-04 20:49:40 +08:00
403 lines
9.8 KiB
C
403 lines
9.8 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file stm32f1xx_it.c
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* @brief Interrupt Service Routines.
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******************************************************************************
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* @attention
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*
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* <h2><center>© Copyright (c) 2021 STMicroelectronics.
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* All rights reserved.</center></h2>
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*
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* This software component is licensed by ST under BSD 3-Clause license,
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* the "License"; You may not use this file except in compliance with the
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* License. You may obtain a copy of the License at:
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* opensource.org/licenses/BSD-3-Clause
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "stm32f1xx_it.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include <memory.h>
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#include "common_inc.h"
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#include "usart.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN TD */
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/* USER CODE END TD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN PFP */
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extern void GpioPin7InterruptCallback();
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extern void Tim1Callback100Hz();
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extern void Tim3CaptureCallback();
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extern void Tim4Callback20kHz();
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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/* External variables --------------------------------------------------------*/
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extern DMA_HandleTypeDef hdma_adc1;
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extern CAN_HandleTypeDef hcan;
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extern TIM_HandleTypeDef htim1;
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extern TIM_HandleTypeDef htim3;
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extern TIM_HandleTypeDef htim4;
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extern DMA_HandleTypeDef hdma_usart1_rx;
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extern DMA_HandleTypeDef hdma_usart1_tx;
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extern UART_HandleTypeDef huart1;
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/* USER CODE BEGIN EV */
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/* USER CODE END EV */
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/******************************************************************************/
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/* Cortex-M3 Processor Interruption and Exception Handlers */
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/******************************************************************************/
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/**
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* @brief This function handles Non maskable interrupt.
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*/
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void NMI_Handler(void)
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{
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/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
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/* USER CODE END NonMaskableInt_IRQn 0 */
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/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
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while (1)
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{
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}
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/* USER CODE END NonMaskableInt_IRQn 1 */
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}
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/**
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* @brief This function handles Hard fault interrupt.
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*/
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void HardFault_Handler(void)
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{
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/* USER CODE BEGIN HardFault_IRQn 0 */
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/* USER CODE END HardFault_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_HardFault_IRQn 0 */
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/* USER CODE END W1_HardFault_IRQn 0 */
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}
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}
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/**
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* @brief This function handles Memory management fault.
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*/
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void MemManage_Handler(void)
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{
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/* USER CODE BEGIN MemoryManagement_IRQn 0 */
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/* USER CODE END MemoryManagement_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
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/* USER CODE END W1_MemoryManagement_IRQn 0 */
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}
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}
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/**
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* @brief This function handles Prefetch fault, memory access fault.
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*/
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void BusFault_Handler(void)
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{
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/* USER CODE BEGIN BusFault_IRQn 0 */
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/* USER CODE END BusFault_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_BusFault_IRQn 0 */
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/* USER CODE END W1_BusFault_IRQn 0 */
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}
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}
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/**
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* @brief This function handles Undefined instruction or illegal state.
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*/
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void UsageFault_Handler(void)
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{
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/* USER CODE BEGIN UsageFault_IRQn 0 */
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/* USER CODE END UsageFault_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
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/* USER CODE END W1_UsageFault_IRQn 0 */
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}
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}
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/**
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* @brief This function handles System service call via SWI instruction.
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*/
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void SVC_Handler(void)
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{
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/* USER CODE BEGIN SVCall_IRQn 0 */
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/* USER CODE END SVCall_IRQn 0 */
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/* USER CODE BEGIN SVCall_IRQn 1 */
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/* USER CODE END SVCall_IRQn 1 */
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}
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/**
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* @brief This function handles Debug monitor.
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*/
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void DebugMon_Handler(void)
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{
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/* USER CODE BEGIN DebugMonitor_IRQn 0 */
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/* USER CODE END DebugMonitor_IRQn 0 */
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/* USER CODE BEGIN DebugMonitor_IRQn 1 */
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/* USER CODE END DebugMonitor_IRQn 1 */
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}
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/**
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* @brief This function handles Pendable request for system service.
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*/
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void PendSV_Handler(void)
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{
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/* USER CODE BEGIN PendSV_IRQn 0 */
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/* USER CODE END PendSV_IRQn 0 */
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/* USER CODE BEGIN PendSV_IRQn 1 */
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/* USER CODE END PendSV_IRQn 1 */
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}
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/**
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* @brief This function handles System tick timer.
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*/
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void SysTick_Handler(void)
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{
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/* USER CODE BEGIN SysTick_IRQn 0 */
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/* USER CODE END SysTick_IRQn 0 */
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HAL_IncTick();
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/* USER CODE BEGIN SysTick_IRQn 1 */
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/* USER CODE END SysTick_IRQn 1 */
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}
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/******************************************************************************/
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/* STM32F1xx Peripheral Interrupt Handlers */
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/* Add here the Interrupt Handlers for the used peripherals. */
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/* For the available peripheral interrupt handler names, */
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/* please refer to the startup file (startup_stm32f1xx.s). */
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/******************************************************************************/
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/**
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* @brief This function handles DMA1 channel1 global interrupt.
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*/
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void DMA1_Channel1_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
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/* USER CODE END DMA1_Channel1_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_adc1);
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/* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
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/* USER CODE END DMA1_Channel1_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 channel4 global interrupt.
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*/
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void DMA1_Channel4_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
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/* USER CODE END DMA1_Channel4_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart1_tx);
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/* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
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/* USER CODE END DMA1_Channel4_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 channel5 global interrupt.
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*/
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void DMA1_Channel5_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
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/* USER CODE END DMA1_Channel5_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart1_rx);
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/* USER CODE BEGIN DMA1_Channel5_IRQn 1 */
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/* USER CODE END DMA1_Channel5_IRQn 1 */
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}
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/**
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* @brief This function handles USB high priority or CAN TX interrupts.
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*/
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void USB_HP_CAN1_TX_IRQHandler(void)
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{
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/* USER CODE BEGIN USB_HP_CAN1_TX_IRQn 0 */
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/* USER CODE END USB_HP_CAN1_TX_IRQn 0 */
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HAL_CAN_IRQHandler(&hcan);
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/* USER CODE BEGIN USB_HP_CAN1_TX_IRQn 1 */
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/* USER CODE END USB_HP_CAN1_TX_IRQn 1 */
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}
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/**
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* @brief This function handles USB low priority or CAN RX0 interrupts.
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*/
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void USB_LP_CAN1_RX0_IRQHandler(void)
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{
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/* USER CODE BEGIN USB_LP_CAN1_RX0_IRQn 0 */
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/* USER CODE END USB_LP_CAN1_RX0_IRQn 0 */
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HAL_CAN_IRQHandler(&hcan);
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/* USER CODE BEGIN USB_LP_CAN1_RX0_IRQn 1 */
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/* USER CODE END USB_LP_CAN1_RX0_IRQn 1 */
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}
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/**
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* @brief This function handles CAN RX1 interrupt.
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*/
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void CAN1_RX1_IRQHandler(void)
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{
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/* USER CODE BEGIN CAN1_RX1_IRQn 0 */
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/* USER CODE END CAN1_RX1_IRQn 0 */
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HAL_CAN_IRQHandler(&hcan);
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/* USER CODE BEGIN CAN1_RX1_IRQn 1 */
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/* USER CODE END CAN1_RX1_IRQn 1 */
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}
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/**
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* @brief This function handles CAN SCE interrupt.
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*/
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void CAN1_SCE_IRQHandler(void)
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{
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/* USER CODE BEGIN CAN1_SCE_IRQn 0 */
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/* USER CODE END CAN1_SCE_IRQn 0 */
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HAL_CAN_IRQHandler(&hcan);
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/* USER CODE BEGIN CAN1_SCE_IRQn 1 */
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/* USER CODE END CAN1_SCE_IRQn 1 */
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}
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/**
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* @brief This function handles EXTI line[9:5] interrupts.
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*/
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void EXTI9_5_IRQHandler(void)
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{
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/* USER CODE BEGIN EXTI9_5_IRQn 0 */
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return;
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/* USER CODE END EXTI9_5_IRQn 0 */
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HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_7);
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/* USER CODE BEGIN EXTI9_5_IRQn 1 */
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/* USER CODE END EXTI9_5_IRQn 1 */
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}
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/**
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* @brief This function handles TIM1 update interrupt.
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*/
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void TIM1_UP_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM1_UP_IRQn 0 */
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Tim1Callback100Hz();
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return;
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/* USER CODE END TIM1_UP_IRQn 0 */
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HAL_TIM_IRQHandler(&htim1);
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/* USER CODE BEGIN TIM1_UP_IRQn 1 */
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/* USER CODE END TIM1_UP_IRQn 1 */
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}
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/**
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* @brief This function handles TIM3 global interrupt.
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*/
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void TIM3_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM3_IRQn 0 */
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return;
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/* USER CODE END TIM3_IRQn 0 */
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HAL_TIM_IRQHandler(&htim3);
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/* USER CODE BEGIN TIM3_IRQn 1 */
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/* USER CODE END TIM3_IRQn 1 */
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}
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/**
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* @brief This function handles TIM4 global interrupt.
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*/
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void TIM4_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM4_IRQn 0 */
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Tim4Callback20kHz();
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return;
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/* USER CODE END TIM4_IRQn 0 */
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HAL_TIM_IRQHandler(&htim4);
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/* USER CODE BEGIN TIM4_IRQn 1 */
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/* USER CODE END TIM4_IRQn 1 */
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}
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/**
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* @brief This function handles USART1 global interrupt.
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*/
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void USART1_IRQHandler(void)
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{
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/* USER CODE BEGIN USART1_IRQn 0 */
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if ((__HAL_UART_GET_FLAG(&huart1, UART_FLAG_IDLE) != RESET))
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{
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__HAL_UART_CLEAR_IDLEFLAG(&huart1);
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HAL_UART_DMAStop(&huart1);
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uint32_t temp = __HAL_DMA_GET_COUNTER(&hdma_usart1_rx);
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rxLen = BUFFER_SIZE - temp;
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OnRecvEnd(rx_buffer, rxLen);
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memset(rx_buffer, 0, rxLen);
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rxLen = 0;
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HAL_UART_Receive_DMA(&huart1, rx_buffer, BUFFER_SIZE);
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}
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/* USER CODE END USART1_IRQn 0 */
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HAL_UART_IRQHandler(&huart1);
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/* USER CODE BEGIN USART1_IRQn 1 */
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/* USER CODE END USART1_IRQn 1 */
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}
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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