590 lines
17 KiB
C
590 lines
17 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file stm32f7xx_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) 2023 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 "stm32f7xx_it.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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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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extern uint32_t TO6, TO7, TO6_uart, TO10, TO10_counter;
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extern uint16_t UART_rec_incr, UART_header, COMMAND[CL_16];
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extern uint8_t uart_buf, flg_tmt, CPU_state, State_Data[2], UART_transmission_request, u_tx_flg, TIM10_coflag;
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extern task_t task;
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extern task_state;
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extern LD_Blinker_StateTypeDef LD_blinker;
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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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void UART_RxCpltCallback(void);
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void DMA2_Stream7_TransferComplete(void);
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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 ADC_HandleTypeDef hadc1;
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extern ADC_HandleTypeDef hadc3;
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extern TIM_HandleTypeDef htim8;
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extern TIM_HandleTypeDef htim10;
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extern TIM_HandleTypeDef htim11;
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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-M7 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 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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/* STM32F7xx 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_stm32f7xx.s). */
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/******************************************************************************/
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/**
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* @brief This function handles ADC1, ADC2 and ADC3 global interrupts.
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*/
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void ADC_IRQHandler(void)
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{
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/* USER CODE BEGIN ADC_IRQn 0 */
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/* USER CODE END ADC_IRQn 0 */
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HAL_ADC_IRQHandler(&hadc1);
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HAL_ADC_IRQHandler(&hadc3);
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/* USER CODE BEGIN ADC_IRQn 1 */
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/* USER CODE END ADC_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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//HAL_GPIO_WritePin(GPIOG, GPIO_PIN_9, GPIO_PIN_SET); // set the current step laser current trigger
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//HAL_GPIO_WritePin(GPIOG, GPIO_PIN_9, GPIO_PIN_RESET);
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TO10++;
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if (TO10 == TO10_counter)
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TIM10_coflag = 1;
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/* USER CODE END TIM1_UP_TIM10_IRQn 0 */
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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 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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TIM11 -> CR1 |= 1 << 3; //sets timer to one-pulse mode. So it will turn off at the next UpdateEvent (Mach-Zander)
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TIM4 -> CR1 |= 1 << 3; //sets timer to one-pulse mode. So it will turn off at the next UpdateEvent (ADC clock)
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TIM11 -> DIER &= ~(1); //disable interrupt
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/* USER CODE END TIM1_TRG_COM_TIM11_IRQn 0 */
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HAL_TIM_IRQHandler(&htim11);
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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 TIM2 global interrupt.
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*/
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void TIM2_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM2_IRQn 0 */
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/* USER CODE END TIM2_IRQn 0 */
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/* USER CODE BEGIN TIM2_IRQn 1 */
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/* USER CODE END TIM2_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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//----
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// volatile uint8_t temp;
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// if(LL_USART_IsActiveFlag_RXNE(USART1) && LL_USART_IsEnabledIT_RXNE(USART1))
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// {
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// UART_RxCpltCallback();
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// }
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// else
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// {
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// if(LL_USART_IsActiveFlag_ORE(USART1))
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// {
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// //temp = USART1->RDR;
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// LL_USART_ClearFlag_ORE(USART1);
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// temp+= LL_USART_ReceiveData8(USART1);
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// }
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// else if(LL_USART_IsActiveFlag_FE(USART1))
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// {
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// //(void) USART1->RDR;
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// //LL_USART_ClearFlag_FE(USART1);
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// temp+= LL_USART_ReceiveData8(USART1);
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// }
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// else if(LL_USART_IsActiveFlag_NE(USART1))
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// {
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// //(void) USART1->RDR;
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// LL_USART_ClearFlag_NE(USART1);
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// temp+= LL_USART_ReceiveData8(USART1);
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// }
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// else if(LL_USART_IsActiveFlag_PE(USART1))
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// {
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// //(void) USART1->RDR;
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// LL_USART_ClearFlag_PE(USART1);
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// temp+= LL_USART_ReceiveData8(USART1);
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// }
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// else
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// {
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// if(LL_USART_IsActiveFlag_TC(USART6) && LL_USART_IsEnabledIT_TC(USART6))
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// {
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// LL_USART_ClearFlag_TC(USART1);
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// //test_counter += 1;
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// //if(UART_transmission_busy == 1){
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// LL_USART_DisableIT_TC(USART1);
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// //UART_transmission_busy = 0;
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// }
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// }
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// }
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//----
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/* Любая ошибка приёма: снять ВСЕ флаги, выбросить битый байт, в парсер не пускать */
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if (LL_USART_IsActiveFlag_ORE(USART1) ||
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LL_USART_IsActiveFlag_FE(USART1) ||
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LL_USART_IsActiveFlag_NE(USART1) ||
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LL_USART_IsActiveFlag_PE(USART1))
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{
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LL_USART_ClearFlag_ORE(USART1);
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LL_USART_ClearFlag_FE(USART1);
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LL_USART_ClearFlag_NE(USART1);
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LL_USART_ClearFlag_PE(USART1);
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LL_USART_RequestRxDataFlush(USART1); // RXFRQ: сбросить RXNE, выкинуть байт из RDR
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UART_rec_incr = 0; // сбросить недособранную команду от глитча
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flg_tmt = 0;
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//temp = temp; // подавить warning
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return;
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}
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/* Нормальный приём — только чистые байты */
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if (LL_USART_IsActiveFlag_RXNE(USART1) && LL_USART_IsEnabledIT_RXNE(USART1))
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{
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UART_RxCpltCallback();
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}
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else if (LL_USART_IsActiveFlag_TC(USART1) && LL_USART_IsEnabledIT_TC(USART1))
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{
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LL_USART_ClearFlag_TC(USART1);
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LL_USART_DisableIT_TC(USART1);
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}
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//---
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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 TIM8 update interrupt and TIM13 global interrupt.
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*/
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void TIM8_UP_TIM13_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM8_UP_TIM13_IRQn 0 */
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// HAL_GPIO_TogglePin(LD_blinker.signal_port, LD_blinker.signal_pin);
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//HAL_GPIO_TogglePin(OUT_11_GPIO_Port, OUT_11_Pin);
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//*
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switch (LD_blinker.state) {
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case 0: //no LD update required
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break;
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case 1: //LD ON, need update
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//Set_LTEC(LD_blinker.task_type , LD_blinker.param);
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//LD_blinker.state = 0;
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break;
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case 2: //set LD ON, blinking
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//Set_LTEC(TT_CHANGE_CURR_2, task.current_param);
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Set_LTEC(2 , LD_blinker.param);
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HAL_GPIO_WritePin(LD_blinker.signal_port, LD_blinker.signal_pin, GPIO_PIN_SET);
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LD_blinker.state = 3;
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break;
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case 3: //set LD OFF, blinking
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Set_LTEC(2 , 0);
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HAL_GPIO_WritePin(LD_blinker.signal_port, LD_blinker.signal_pin, GPIO_PIN_RESET);
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LD_blinker.state = 2;
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break;
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}
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//*/
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/* USER CODE END TIM8_UP_TIM13_IRQn 0 */
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HAL_TIM_IRQHandler(&htim8);
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/* USER CODE BEGIN TIM8_UP_TIM13_IRQn 1 */
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/* USER CODE END TIM8_UP_TIM13_IRQn 1 */
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}
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/**
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* @brief This function handles TIM5 global interrupt.
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*/
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void TIM5_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM5_IRQn 0 */
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/* USER CODE END TIM5_IRQn 0 */
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/* USER CODE BEGIN TIM5_IRQn 1 */
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/* USER CODE END TIM5_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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/* USER CODE BEGIN TIM6_DAC_IRQn 1 */
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if(LL_TIM_IsActiveFlag_UPDATE(TIM6))
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{
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LL_TIM_ClearFlag_UPDATE(TIM6);
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TO6++;//increment tick
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//10 ms or 100 Hz
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HAL_GPIO_TogglePin(TEST_01_GPIO_Port, TEST_01_Pin);
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//HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_12);
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}
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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 TIM7 global interrupt.
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*/
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void TIM7_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM7_IRQn 0 */
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/* USER CODE END TIM7_IRQn 0 */
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/* USER CODE BEGIN TIM7_IRQn 1 */
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if(LL_TIM_IsActiveFlag_UPDATE(TIM7))
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{
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LL_TIM_ClearFlag_UPDATE(TIM7);
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TO7++;
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//1 ms or 1000 Hz
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//HAL_GPIO_TogglePin(TEST_01_GPIO_Port, TEST_01_Pin);
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}
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/* USER CODE END TIM7_IRQn 1 */
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}
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/**
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* @brief This function handles DMA2 stream7 global interrupt.
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*/
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void DMA2_Stream7_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream7_IRQn 0 */
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if(LL_DMA_IsActiveFlag_TC7(DMA2) == 1)
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{
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DMA2_Stream7_TransferComplete();
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u_tx_flg = 0;//indicate that transfer compete
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}
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else if(LL_DMA_IsActiveFlag_TE7(DMA2) == 1)
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{
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LL_DMA_ClearFlag_TE7(DMA2);
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}
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/* USER CODE END DMA2_Stream7_IRQn 0 */
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/* USER CODE BEGIN DMA2_Stream7_IRQn 1 */
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/* USER CODE END DMA2_Stream7_IRQn 1 */
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}
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/* USER CODE BEGIN 1 */
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void UART_RxCpltCallback(void)
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{
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uart_buf = LL_USART_ReceiveData8(USART1);
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switch (UART_rec_incr)
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{
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case 0:
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TO6_uart = TO6;//Save the time of start rec. command
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flg_tmt = 1;//Set the timeout flag
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UART_header = uart_buf;
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UART_rec_incr++;
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break;
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case 1:
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UART_header += ((uint16_t)uart_buf<<8);
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switch (UART_header)
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{
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case 0x1111: //received long packet
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UART_rec_incr = 2;//timeout flag is still setting!
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break;
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case 0x2222: //Back to default
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UART_rec_incr = 0;
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flg_tmt = 0;//Reset the timeout flag
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CPU_state = DEFAULT_ENABLE;
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break;
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case 0x3333: //Transmith saved DATA
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UART_rec_incr = 0;
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flg_tmt = 0;//Reset the timeout flag
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CPU_state = TRANS_S_ENABLE;
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break;
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case 0x4444: //Received packet
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UART_rec_incr = 0;
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flg_tmt = 0;//Reset the timeout flag
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CPU_state = TRANS_ENABLE;
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break;
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case 0x5555: //Erase saved DATA
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UART_rec_incr = 0;
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flg_tmt = 0;//Reset the timeout flag
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CPU_state = REMOVE_FILE;
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break;
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case 0x6666: //Request state
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UART_rec_incr = 0;
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flg_tmt = 0;//Reset the timeout flag
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CPU_state = STATE;
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break;
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case 0x7777:
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UART_rec_incr = 2;//timeout flag is still setting!
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break;
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default: //error decoding header
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UART_rec_incr = 0;
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flg_tmt = 0;//Reset the timeout flag
|
||
//UART_transmission_request = MESS_01;
|
||
//CPU_state = HALT;
|
||
State_Data[0] |= UART_ERR;
|
||
CPU_state = DEFAULT_ENABLE;//Parking system and send error state!
|
||
break;
|
||
}
|
||
break;
|
||
|
||
case (CL_8 - 1):
|
||
if (UART_header == 0x1111)
|
||
{
|
||
if ((UART_rec_incr & 0x0001) > 0)
|
||
COMMAND[(UART_rec_incr >> 1) - 1] += ((uint16_t)(uart_buf)) << 8;
|
||
else
|
||
COMMAND[(UART_rec_incr >> 1) - 1] = (uint16_t)(uart_buf);
|
||
CPU_state = DECODE_ENABLE;
|
||
UART_rec_incr = 0;
|
||
flg_tmt = 0;//Reset the timeout flag
|
||
}
|
||
else
|
||
{
|
||
if ((UART_rec_incr&0x0001)>0)
|
||
COMMAND[(UART_rec_incr>>1)-1] += ((uint16_t)(uart_buf))<<8;
|
||
else
|
||
COMMAND[(UART_rec_incr>>1)-1] = (uint16_t)(uart_buf);
|
||
UART_rec_incr++;
|
||
UART_transmission_request = NO_MESS;
|
||
}
|
||
break;
|
||
case (TSK_8 - 1):
|
||
if (UART_header == 0x7777)
|
||
{
|
||
if ((UART_rec_incr&0x0001)>0)
|
||
COMMAND[(UART_rec_incr>>1)-1] += ((uint16_t)(uart_buf))<<8;
|
||
else
|
||
COMMAND[(UART_rec_incr>>1)-1] = (uint16_t)(uart_buf);
|
||
CPU_state = DECODE_TASK;
|
||
UART_rec_incr = 0;
|
||
flg_tmt = 0;//Reset the timeout flag
|
||
}
|
||
else
|
||
{
|
||
if ((UART_rec_incr&0x0001)>0)
|
||
COMMAND[(UART_rec_incr>>1)-1] += ((uint16_t)(uart_buf))<<8;
|
||
else
|
||
COMMAND[(UART_rec_incr>>1)-1] = (uint16_t)(uart_buf);
|
||
UART_rec_incr++;
|
||
UART_transmission_request = NO_MESS;
|
||
}
|
||
break;
|
||
default:
|
||
if ((UART_rec_incr&0x0001)>0)
|
||
COMMAND[(UART_rec_incr>>1)-1] += ((uint16_t)(uart_buf))<<8;
|
||
else
|
||
COMMAND[(UART_rec_incr>>1)-1] = (uint16_t)(uart_buf);
|
||
UART_rec_incr++;
|
||
UART_transmission_request = NO_MESS;
|
||
break;
|
||
}
|
||
// HAL_UART_Receive_IT(&huart1, &uart_buf, 1);
|
||
}
|
||
|
||
//-----------------------------------------------
|
||
void DMA2_Stream7_TransferComplete(void)
|
||
{
|
||
LL_DMA_ClearFlag_TC7(DMA2);
|
||
}
|
||
//-----------------------------------------------
|
||
/* USER CODE END 1 */
|