/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file stm32f4xx_it.c * @brief Interrupt Service Routines. ****************************************************************************** * @attention * * Copyright (c) 2025 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 "stm32f4xx_it.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "PLSR.h" #include "tim.h" #include "usart.h" #include "modbus.h" #include "string.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN TD */ /* 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 --------------------------------------------------------*/ extern TIM_HandleTypeDef htim2; extern DMA_HandleTypeDef hdma_usart1_rx; extern DMA_HandleTypeDef hdma_usart1_tx; extern UART_HandleTypeDef huart1; /* USER CODE BEGIN EV */ /* USER CODE END EV */ /******************************************************************************/ /* Cortex-M4 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 Memory management fault. */ void MemManage_Handler(void) { /* USER CODE BEGIN MemoryManagement_IRQn 0 */ /* USER CODE END MemoryManagement_IRQn 0 */ while (1) { /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */ /* USER CODE END W1_MemoryManagement_IRQn 0 */ } } /** * @brief This function handles Pre-fetch fault, memory access fault. */ void BusFault_Handler(void) { /* USER CODE BEGIN BusFault_IRQn 0 */ /* USER CODE END BusFault_IRQn 0 */ while (1) { /* USER CODE BEGIN W1_BusFault_IRQn 0 */ /* USER CODE END W1_BusFault_IRQn 0 */ } } /** * @brief This function handles Undefined instruction or illegal state. */ void UsageFault_Handler(void) { /* USER CODE BEGIN UsageFault_IRQn 0 */ /* USER CODE END UsageFault_IRQn 0 */ while (1) { /* USER CODE BEGIN W1_UsageFault_IRQn 0 */ /* USER CODE END W1_UsageFault_IRQn 0 */ } } /** * @brief This function handles System service call via SWI instruction. */ void SVC_Handler(void) { /* USER CODE BEGIN SVCall_IRQn 0 */ /* USER CODE END SVCall_IRQn 0 */ /* USER CODE BEGIN SVCall_IRQn 1 */ /* USER CODE END SVCall_IRQn 1 */ } /** * @brief This function handles Debug monitor. */ void DebugMon_Handler(void) { /* USER CODE BEGIN DebugMonitor_IRQn 0 */ /* USER CODE END DebugMonitor_IRQn 0 */ /* USER CODE BEGIN DebugMonitor_IRQn 1 */ /* USER CODE END DebugMonitor_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 */ HAL_IncTick(); /* USER CODE BEGIN SysTick_IRQn 1 */ /* USER CODE END SysTick_IRQn 1 */ } /******************************************************************************/ /* STM32F4xx 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_stm32f4xx.s). */ /******************************************************************************/ /** * @brief This function handles TIM2 global interrupt. */ void TIM2_IRQHandler(void) { /* USER CODE BEGIN TIM2_IRQn 0 */ /* USER CODE END TIM2_IRQn 0 */ HAL_TIM_IRQHandler(&htim2); /* USER CODE BEGIN TIM2_IRQn 1 */ PulseNum ++; /* 脉冲段数增加 */ BaseCNT += TIM2->ARR; if (Options.RunMod == 0) { /* 如果之后还有脉冲 */ if(Options.AllPulse - PulseNum > 0) { PrePulse = NowPulse; /* 保存之前的脉冲段 */ if(PulseOutput[NowPulse].NextPulse == 0) { NowPulse = NowPulse + 1; /* 进入下一段脉冲 */ } else { NowPulse = PulseOutput[NowPulse].NextPulse - 1; /* 进入下一段脉冲 */ } /* 准备加减速 */ Acc = GetAcc(PulseOutput[PrePulse].Frequency, PulseOutput[NowPulse].Frequency, Options.AccUpTime); /* 计算加速度 */ ArrFlag = 1; SetNextPulse();/* 设置下一次进入中断的脉冲数 */ } /* 如果之后没有脉冲 */ else { PulseCount = 0; HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */ EndFlag = 1; } } if(Options.RunMod == 1) { if(AllPulseCNT >= MAX_Pulse) { PulseCount = 0; HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */ FullFlag = 1; } else { /* 如果之后还有脉冲 */ if(Options.AllPulse - PulseNum > 0) { PrePulse = NowPulse; /* 保存之前的脉冲段 */ if(PulseOutput[NowPulse].NextPulse == 0) { NowPulse = NowPulse + 1; /* 进入下一段脉冲 */ } else { NowPulse = PulseOutput[NowPulse].NextPulse - 1; /* 进入下一段脉冲 */ } /* 准备加减速 */ Acc = GetAcc(PulseOutput[PrePulse].Frequency, PulseOutput[NowPulse].Frequency, Options.AccUpTime); /* 计算加速度 */ ArrFlag = 1; SetNextPulse();/* 设置下一次进入中断的脉冲数 */ PulseStart(); /* 开始产生脉冲 */ } /* 如果之后没有脉冲 */ else { PulseCount = 0; HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */ EndFlag = 1; } } } /* USER CODE END TIM2_IRQn 1 */ } /** * @brief This function handles USART1 global interrupt. */ void USART1_IRQHandler(void) { /* USER CODE BEGIN USART1_IRQn 0 */ uint32_t temp; // 空闲中断处理 if(__HAL_UART_GET_FLAG(&huart1, UART_FLAG_IDLE)) { __HAL_UART_CLEAR_IDLEFLAG(&huart1); temp = huart1.Instance->SR; temp = huart1.Instance->DR; HAL_UART_DMAStop(&huart1); // 计算接收到的数据长度 uint16_t len = RX_BUFFER_SIZE - __HAL_DMA_GET_COUNTER(&hdma_usart1_rx); // 处理数据 if(len > 0) { ProcessModbusFrame(RX1Data, len); /* 处理完整帧 */ // HAL_UART_Transmit(&huart1, RX1Data, len, 0xffff); // 将接收到的数据再发出 len = 0; memset(RX1Data, 0, RX_BUFFER_SIZE); HAL_UART_Receive_DMA(&huart1, RX1Data, RX_BUFFER_SIZE); /* 继续接收 */ } } /* USER CODE END USART1_IRQn 0 */ HAL_UART_IRQHandler(&huart1); /* USER CODE BEGIN USART1_IRQn 1 */ /* USER CODE END USART1_IRQn 1 */ } /** * @brief This function handles DMA2 stream2 global interrupt. */ void DMA2_Stream2_IRQHandler(void) { /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */ /* USER CODE END DMA2_Stream2_IRQn 0 */ HAL_DMA_IRQHandler(&hdma_usart1_rx); /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */ /* USER CODE END DMA2_Stream2_IRQn 1 */ } /** * @brief This function handles DMA2 stream7 global interrupt. */ void DMA2_Stream7_IRQHandler(void) { /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */ /* USER CODE END DMA2_Stream7_IRQn 0 */ HAL_DMA_IRQHandler(&hdma_usart1_tx); /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */ /* USER CODE END DMA2_Stream7_IRQn 1 */ } /* USER CODE BEGIN 1 */ /* USER CODE END 1 */