357 lines
8.8 KiB
C
357 lines
8.8 KiB
C
/* USER CODE BEGIN Header */
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#include "usart.h"
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/**
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******************************************************************************
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* @file stm32f4xx_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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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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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 "stm32f4xx_it.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "communication.h"
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#include "motor.h"
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#include "bldc.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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/* 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 DMA_HandleTypeDef hdma_adc2;
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extern DMA_HandleTypeDef hdma_adc3;
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extern DAC_HandleTypeDef hdac;
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extern DMA_HandleTypeDef hdma_spi2_tx;
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extern DMA_HandleTypeDef hdma_spi2_rx;
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extern TIM_HandleTypeDef htim1;
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extern TIM_HandleTypeDef htim4;
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extern TIM_HandleTypeDef htim9;
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extern TIM_HandleTypeDef htim10;
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extern UART_HandleTypeDef huart4;
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extern UART_HandleTypeDef huart2;
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extern UART_HandleTypeDef huart3;
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extern TIM_HandleTypeDef htim6;
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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-M4 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 Pre-fetch 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 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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/* STM32F4xx 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_stm32f4xx.s). */
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/******************************************************************************/
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/**
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* @brief This function handles DMA1 stream3 global interrupt.
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*/
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void DMA1_Stream3_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
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/* USER CODE END DMA1_Stream3_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_spi2_rx);
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/* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
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/* USER CODE END DMA1_Stream3_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 stream4 global interrupt.
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*/
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void DMA1_Stream4_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
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/* USER CODE END DMA1_Stream4_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_spi2_tx);
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/* USER CODE BEGIN DMA1_Stream4_IRQn 1 */
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/* USER CODE END DMA1_Stream4_IRQn 1 */
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}
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/**
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* @brief This function handles TIM1 break interrupt and TIM9 global interrupt.
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*/
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void TIM1_BRK_TIM9_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */
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/* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
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HAL_TIM_IRQHandler(&htim1);
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HAL_TIM_IRQHandler(&htim9);
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/* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
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/* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
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}
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/**
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* @brief This function handles TIM1 update interrupt and TIM10 global interrupt.
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*/
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void TIM1_UP_TIM10_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM1_UP_TIM10_IRQn 0 */
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/* USER CODE END TIM1_UP_TIM10_IRQn 0 */
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HAL_TIM_IRQHandler(&htim1);
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HAL_TIM_IRQHandler(&htim10);
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/* USER CODE BEGIN TIM1_UP_TIM10_IRQn 1 */
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/* USER CODE END TIM1_UP_TIM10_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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/* 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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if (motor_X == MOTOR_A)
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fun_pwm_it_callback(&motor_A);
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else if (motor_X == MOTOR_B)
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fun_pwm_it_callback(&motor_B);
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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 USART2 global interrupt.
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*/
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void USART2_IRQHandler(void)
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{
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/* USER CODE BEGIN USART2_IRQn 0 */
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/* USER CODE END USART2_IRQn 0 */
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HAL_UART_IRQHandler(&huart2);
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/* USER CODE BEGIN USART2_IRQn 1 */
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fun_proc_huart_it(&huart2);
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/* USER CODE END USART2_IRQn 1 */
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}
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/**
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* @brief This function handles USART3 global interrupt.
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*/
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void USART3_IRQHandler(void)
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{
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/* USER CODE BEGIN USART3_IRQn 0 */
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/* USER CODE END USART3_IRQn 0 */
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HAL_UART_IRQHandler(&huart3);
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/* USER CODE BEGIN USART3_IRQn 1 */
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fun_proc_huart_it(&huart3);
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/* USER CODE END USART3_IRQn 1 */
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}
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/**
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* @brief This function handles UART4 global interrupt.
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*/
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void UART4_IRQHandler(void)
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{
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/* USER CODE BEGIN UART4_IRQn 0 */
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/* USER CODE END UART4_IRQn 0 */
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HAL_UART_IRQHandler(&huart4);
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/* USER CODE BEGIN UART4_IRQn 1 */
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fun_proc_huart_it(&huart4);
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/* USER CODE END UART4_IRQn 1 */
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}
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/**
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* @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
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*/
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void TIM6_DAC_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM6_DAC_IRQn 0 */
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/* USER CODE END TIM6_DAC_IRQn 0 */
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if (hdac.State != HAL_DAC_STATE_RESET) {
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HAL_DAC_IRQHandler(&hdac);
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}
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HAL_TIM_IRQHandler(&htim6);
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/* USER CODE BEGIN TIM6_DAC_IRQn 1 */
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/* USER CODE END TIM6_DAC_IRQn 1 */
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}
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/**
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* @brief This function handles DMA2 stream0 global interrupt.
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*/
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void DMA2_Stream0_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream0_IRQn 0 */
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/* USER CODE END DMA2_Stream0_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_adc1);
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/* USER CODE BEGIN DMA2_Stream0_IRQn 1 */
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/* USER CODE END DMA2_Stream0_IRQn 1 */
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}
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/**
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* @brief This function handles DMA2 stream1 global interrupt.
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*/
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void DMA2_Stream1_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
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/* USER CODE END DMA2_Stream1_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_adc3);
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/* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
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/* USER CODE END DMA2_Stream1_IRQn 1 */
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}
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/**
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* @brief This function handles DMA2 stream2 global interrupt.
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*/
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void DMA2_Stream2_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
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/* USER CODE END DMA2_Stream2_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_adc2);
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/* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
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/* USER CODE END DMA2_Stream2_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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