442 lines
11 KiB
C
442 lines
11 KiB
C
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/* USER CODE BEGIN Header */
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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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* <h2><center>© Copyright (c) 2024 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 "stm32f4xx_it.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "trigger.h"
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#include "serial.h"
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#include "stdebug.h"
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#include "ethernet.h"
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#include "stm32motos.h"
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#include "embfpga.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 CAN_HandleTypeDef hcan1;
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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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u32 stackaddr = (__get_MSP()+0x10);
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OutStackInfo(4, stackaddr);
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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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u32 stackaddr = (__get_MSP()+0x10);
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OutStackInfo(0, stackaddr);
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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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u32 stackaddr = (__get_MSP()+0x10);
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OutStackInfo(1, stackaddr);
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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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u32 stackaddr = (__get_MSP()+0x10);
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OutStackInfo(2, stackaddr);
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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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u32 stackaddr = (__get_MSP()+0x10);
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OutStackInfo(3, stackaddr);
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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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TriggerIntProc();
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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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/* 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 CAN1 TX interrupt.
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*/
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void CAN1_TX_IRQHandler(void)
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{
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/* USER CODE BEGIN CAN1_TX_IRQn 0 */
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/* USER CODE END CAN1_TX_IRQn 0 */
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HAL_CAN_IRQHandler(&hcan1);
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/* USER CODE BEGIN CAN1_TX_IRQn 1 */
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/* USER CODE END CAN1_TX_IRQn 1 */
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}
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/**
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* @brief This function handles CAN1 RX0 interrupt.
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*/
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void CAN1_RX0_IRQHandler(void)
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{
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/* USER CODE BEGIN CAN1_RX0_IRQn 0 */
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/* USER CODE END CAN1_RX0_IRQn 0 */
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HAL_CAN_IRQHandler(&hcan1);
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/* USER CODE BEGIN CAN1_RX0_IRQn 1 */
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/* USER CODE END CAN1_RX0_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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/* USER CODE END EXTI9_5_IRQn 0 */
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if (LL_EXTI_IsActiveFlag_0_31(LL_EXTI_LINE_6) != RESET)
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{
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LL_EXTI_ClearFlag_0_31(LL_EXTI_LINE_6);
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/* USER CODE BEGIN LL_EXTI_LINE_6 */
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FpgaIntProc(); // <20><><EFBFBD><EFBFBD>fpga<67>ж<EFBFBD>
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/* USER CODE END LL_EXTI_LINE_6 */
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}
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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 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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if (LL_TIM_IsActiveFlag_UPDATE(TIM9) == 1)
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{
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LL_TIM_ClearFlag_UPDATE(TIM9);
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#if (STM32_MOTOS_NUM >= 1)
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STM32Moto1IntProc();
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#endif
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}
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/* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
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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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if (LL_TIM_IsActiveFlag_UPDATE(TIM10) == 1)
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{
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LL_TIM_ClearFlag_UPDATE(TIM10);
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#if (STM32_MOTOS_NUM >= 2)
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STM32Moto2IntProc();
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#endif
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}
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/* USER CODE END TIM1_UP_TIM10_IRQn 0 */
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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 TIM1 trigger and commutation interrupts and TIM11 global interrupt.
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*/
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void TIM1_TRG_COM_TIM11_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM1_TRG_COM_TIM11_IRQn 0 */
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if (LL_TIM_IsActiveFlag_UPDATE(TIM11) == 1)
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{
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LL_TIM_ClearFlag_UPDATE(TIM11);
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#if (STM32_MOTOS_NUM >= 3)
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STM32Moto3IntProc();
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#endif
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}
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/* USER CODE END TIM1_TRG_COM_TIM11_IRQn 0 */
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/* USER CODE BEGIN TIM1_TRG_COM_TIM11_IRQn 1 */
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/* USER CODE END TIM1_TRG_COM_TIM11_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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#ifdef COMM_USART1
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USART1IntProc();
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#endif
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/* USER CODE END USART1_IRQn 0 */
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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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/**
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* @brief This function handles EXTI line[15:10] interrupts.
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*/
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void EXTI15_10_IRQHandler(void)
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{
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/* USER CODE BEGIN EXTI15_10_IRQn 0 */
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/* USER CODE END EXTI15_10_IRQn 0 */
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if (LL_EXTI_IsActiveFlag_0_31(LL_EXTI_LINE_15) != RESET)
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{
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LL_EXTI_ClearFlag_0_31(LL_EXTI_LINE_15);
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/* USER CODE BEGIN LL_EXTI_LINE_15 */
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//EthernetIntProc(); // 5500<30>ж<EFBFBD>
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/* USER CODE END LL_EXTI_LINE_15 */
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}
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/* USER CODE BEGIN EXTI15_10_IRQn 1 */
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/* USER CODE END EXTI15_10_IRQn 1 */
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}
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/**
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* @brief This function handles TIM8 break interrupt and TIM12 global interrupt.
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*/
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void TIM8_BRK_TIM12_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM8_BRK_TIM12_IRQn 0 */
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if (LL_TIM_IsActiveFlag_UPDATE(TIM12) == 1)
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{
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LL_TIM_ClearFlag_UPDATE(TIM12);
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#if (STM32_MOTOS_NUM >= 4)
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STM32Moto4IntProc();
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#endif
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}
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/* USER CODE END TIM8_BRK_TIM12_IRQn 0 */
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/* USER CODE BEGIN TIM8_BRK_TIM12_IRQn 1 */
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/* USER CODE END TIM8_BRK_TIM12_IRQn 1 */
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief This function handles TIM8 update interrupt and TIM13 global interrupt.
|
|||
|
|
*/
|
|||
|
|
void TIM8_UP_TIM13_IRQHandler(void)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN TIM8_UP_TIM13_IRQn 0 */
|
|||
|
|
if (LL_TIM_IsActiveFlag_UPDATE(TIM8) == 1)
|
|||
|
|
{
|
|||
|
|
LL_TIM_ClearFlag_UPDATE(TIM8);
|
|||
|
|
#if (STM32_MOTOS_NUM > 0 || STM32_SOFT_PWM > 0)
|
|||
|
|
STM32MotoSpeedIntProc();
|
|||
|
|
#endif
|
|||
|
|
}
|
|||
|
|
if (LL_TIM_IsActiveFlag_UPDATE(TIM13) == 1)
|
|||
|
|
{
|
|||
|
|
LL_TIM_ClearFlag_UPDATE(TIM13);
|
|||
|
|
#if (STM32_MOTOS_NUM >= 5)
|
|||
|
|
STM32Moto5IntProc();
|
|||
|
|
#endif
|
|||
|
|
}
|
|||
|
|
/* USER CODE END TIM8_UP_TIM13_IRQn 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE BEGIN TIM8_UP_TIM13_IRQn 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END TIM8_UP_TIM13_IRQn 1 */
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief This function handles TIM8 trigger and commutation interrupts and TIM14 global interrupt.
|
|||
|
|
*/
|
|||
|
|
void TIM8_TRG_COM_TIM14_IRQHandler(void)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 0 */
|
|||
|
|
if (LL_TIM_IsActiveFlag_UPDATE(TIM14) == 1)
|
|||
|
|
{
|
|||
|
|
LL_TIM_ClearFlag_UPDATE(TIM14);
|
|||
|
|
#if (STM32_MOTOS_NUM >= 6)
|
|||
|
|
STM32Moto6IntProc();
|
|||
|
|
#endif
|
|||
|
|
}
|
|||
|
|
/* USER CODE END TIM8_TRG_COM_TIM14_IRQn 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END TIM8_TRG_COM_TIM14_IRQn 1 */
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief This function handles USART6 global interrupt.
|
|||
|
|
*/
|
|||
|
|
void USART6_IRQHandler(void)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN USART6_IRQn 0 */
|
|||
|
|
#ifdef COMM_USART6
|
|||
|
|
USART6IntProc();
|
|||
|
|
#endif
|
|||
|
|
/* USER CODE END USART6_IRQn 0 */
|
|||
|
|
/* USER CODE BEGIN USART6_IRQn 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART6_IRQn 1 */
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* USER CODE BEGIN 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END 1 */
|
|||
|
|
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|