228 lines
5.8 KiB
C
228 lines
5.8 KiB
C
/* USER CODE BEGIN Header */
|
|
/**
|
|
******************************************************************************
|
|
* @file stm32l0xx_it.c
|
|
* @brief Interrupt Service Routines.
|
|
******************************************************************************
|
|
* @attention
|
|
*
|
|
* Copyright (c) 2024 STMicroelectronics.
|
|
* All rights reserved.
|
|
*
|
|
* This software is licensed under terms that can be found in the LICENSE file
|
|
* in the root directory of this software component.
|
|
* If no LICENSE file comes with this software, it is provided AS-IS.
|
|
*
|
|
******************************************************************************
|
|
*/
|
|
/* USER CODE END Header */
|
|
|
|
/* Includes ------------------------------------------------------------------*/
|
|
#include "main.h"
|
|
#include "stm32l0xx_it.h"
|
|
/* Private includes ----------------------------------------------------------*/
|
|
/* USER CODE BEGIN Includes */
|
|
#include "flow.h"
|
|
#include "motor.h"
|
|
/* USER CODE END Includes */
|
|
|
|
/* Private typedef -----------------------------------------------------------*/
|
|
/* USER CODE BEGIN TD */
|
|
extern adc_t adc1;
|
|
extern uart_t *uarts[UART_NUM_MAX];
|
|
extern motor_t *motor;
|
|
/* USER CODE END TD */
|
|
|
|
/* Private define ------------------------------------------------------------*/
|
|
/* USER CODE BEGIN PD */
|
|
|
|
/* USER CODE END PD */
|
|
|
|
/* Private macro -------------------------------------------------------------*/
|
|
/* USER CODE BEGIN PM */
|
|
|
|
/* USER CODE END PM */
|
|
|
|
/* Private variables ---------------------------------------------------------*/
|
|
/* USER CODE BEGIN PV */
|
|
|
|
/* USER CODE END PV */
|
|
|
|
/* Private function prototypes -----------------------------------------------*/
|
|
/* USER CODE BEGIN PFP */
|
|
|
|
/* USER CODE END PFP */
|
|
|
|
/* Private user code ---------------------------------------------------------*/
|
|
/* USER CODE BEGIN 0 */
|
|
|
|
/* USER CODE END 0 */
|
|
|
|
/* External variables --------------------------------------------------------*/
|
|
|
|
/* USER CODE BEGIN EV */
|
|
|
|
/* USER CODE END EV */
|
|
|
|
/******************************************************************************/
|
|
/* Cortex-M0+ Processor Interruption and Exception Handlers */
|
|
/******************************************************************************/
|
|
/**
|
|
* @brief This function handles Non maskable Interrupt.
|
|
*/
|
|
void NMI_Handler(void)
|
|
{
|
|
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
|
|
|
|
/* USER CODE END NonMaskableInt_IRQn 0 */
|
|
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
|
|
while (1)
|
|
{
|
|
}
|
|
/* USER CODE END NonMaskableInt_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles Hard fault interrupt.
|
|
*/
|
|
void HardFault_Handler(void)
|
|
{
|
|
/* USER CODE BEGIN HardFault_IRQn 0 */
|
|
|
|
/* USER CODE END HardFault_IRQn 0 */
|
|
while (1)
|
|
{
|
|
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
|
|
/* USER CODE END W1_HardFault_IRQn 0 */
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles System service call via SWI instruction.
|
|
*/
|
|
void SVC_Handler(void)
|
|
{
|
|
/* USER CODE BEGIN SVC_IRQn 0 */
|
|
|
|
/* USER CODE END SVC_IRQn 0 */
|
|
/* USER CODE BEGIN SVC_IRQn 1 */
|
|
|
|
/* USER CODE END SVC_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles Pendable request for system service.
|
|
*/
|
|
void PendSV_Handler(void)
|
|
{
|
|
/* USER CODE BEGIN PendSV_IRQn 0 */
|
|
|
|
/* USER CODE END PendSV_IRQn 0 */
|
|
/* USER CODE BEGIN PendSV_IRQn 1 */
|
|
|
|
/* USER CODE END PendSV_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles System tick timer.
|
|
*/
|
|
void SysTick_Handler(void)
|
|
{
|
|
/* USER CODE BEGIN SysTick_IRQn 0 */
|
|
|
|
/* USER CODE END SysTick_IRQn 0 */
|
|
|
|
/* USER CODE BEGIN SysTick_IRQn 1 */
|
|
|
|
/* USER CODE END SysTick_IRQn 1 */
|
|
}
|
|
|
|
/******************************************************************************/
|
|
/* STM32L0xx Peripheral Interrupt Handlers */
|
|
/* Add here the Interrupt Handlers for the used peripherals. */
|
|
/* For the available peripheral interrupt handler names, */
|
|
/* please refer to the startup file (startup_stm32l0xx.s). */
|
|
/******************************************************************************/
|
|
|
|
/**
|
|
* @brief This function handles DMA1 channel 1 interrupt.
|
|
*/
|
|
void DMA1_Channel1_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
|
|
|
|
/* USER CODE END DMA1_Channel1_IRQn 0 */
|
|
|
|
/* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
|
|
|
|
/* USER CODE END DMA1_Channel1_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles DMA1 channel 2 and channel 3 interrupts.
|
|
*/
|
|
void DMA1_Channel2_3_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */
|
|
|
|
/* USER CODE END DMA1_Channel2_3_IRQn 0 */
|
|
|
|
/* USER CODE BEGIN DMA1_Channel2_3_IRQn 1 */
|
|
|
|
/* USER CODE END DMA1_Channel2_3_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles TIM6 global interrupt and DAC1/DAC2 underrun error interrupts.
|
|
*/
|
|
void TIM6_DAC_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN TIM6_DAC_IRQn 0 */
|
|
|
|
/* USER CODE END TIM6_DAC_IRQn 0 */
|
|
|
|
/* USER CODE BEGIN TIM6_DAC_IRQn 1 */
|
|
if (LL_TIM_IsActiveFlag_UPDATE(TIM6))
|
|
{
|
|
FLOW_TICK_UPDATE();
|
|
LL_TIM_ClearFlag_UPDATE(TIM6);
|
|
}
|
|
/* USER CODE END TIM6_DAC_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles TIM21 global interrupt.
|
|
*/
|
|
void TIM21_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN TIM21_IRQn 0 */
|
|
|
|
/* USER CODE END TIM21_IRQn 0 */
|
|
/* USER CODE BEGIN TIM21_IRQn 1 */
|
|
if (LL_TIM_IsActiveFlag_UPDATE(TIM21))
|
|
{
|
|
__NOP();
|
|
step_motor_update(motor);
|
|
LL_TIM_ClearFlag_UPDATE(TIM21);
|
|
__NOP();
|
|
}
|
|
/* USER CODE END TIM21_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles USART1 global interrupt / USART1 wake-up interrupt through EXTI line 25.
|
|
*/
|
|
void USART1_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN USART1_IRQn 0 */
|
|
|
|
/* USER CODE END USART1_IRQn 0 */
|
|
/* USER CODE BEGIN USART1_IRQn 1 */
|
|
|
|
/* USER CODE END USART1_IRQn 1 */
|
|
}
|
|
|
|
/* USER CODE BEGIN 1 */
|
|
|
|
/* USER CODE END 1 */
|