1. /**
   
2.   ******************************************************************************
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3.   * @file    main.c
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4.   * @author  STMicroelectronics - System Lab - MC Team
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5.   * @version 4.3.0
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6.   * @date    22-Sep-2016 15:29
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7.   * @brief   Main program body
   
8.   ******************************************************************************
   
9.   * @attention
   
10.   *
    
11.   * <h2><center>© COPYRIGHT 2016 STMicroelectronics</center></h2>
    
12.   *
    
13.   * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
    8 I, v5 Z! J, x, Q
14.   * You may not use this file except in compliance with the License.
    
15.   * You may obtain a copy of the License at:
    
16.   *
    7 X9 e' i: `0 s( s2 q
17.   *        http://www.st.com/software_license_agreement_liberty_v2
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18.   *
    8 ?) g: v# A& Q5 W, N4 F
19.   * Unless required by applicable law or agreed to in writing, software
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20.   * distributed under the License is distributed on an "AS IS" BASIS,
    
21.   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    ' }0 H" ^, o$ [9 I
22.   * See the License for the specific language governing permissions and
    
23.   * limitations under the License.
    
24.   *
    
25.   ******************************************************************************
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26.   */
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27. 
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28. /* Includes ------------------------------------------------------------------*/
    
29. /* Pre-compiler coherency check */
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30. #define PROJECT_CHK
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31. #include "CrossCheck.h"
    
32. #undef PROJECT_CHK
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33. 
    
34. #include "MCTuningClass.h"
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35. #include "MCInterfaceClass.h"
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36. #include "StateMachineClass.h"
    
37. 
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38. #if defined(PFC_ENABLED)
    
39.   #include "PFCInit.h"
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40.   #include "PFCApplication.h"
    
41. #endif
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42. 
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43. #include "MCTasks.h"
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44. #include "Parameters conversion.h"
    
45. #ifdef DUALDRIVE
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46. #include "Parameters conversion motor 2.h"
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47. #endif
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48. #include "Timebase.h"
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49. #include "UITask.h"
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50. #include "MCLibraryISRPriorityConf.h"
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51. 
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52. #include <stdio.h>
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53. 
    
54. #if (defined(USE_STM32303C_EVAL))
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55. #include "stm32303c_eval.h"
    
56. #elif USE_EVAL
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57. #include "stm32_eval.h"
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58. #endif
    
59. 
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60. #ifdef USE_STGAP1S
    
61. #include "GAPApplication.h"
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62. #endif
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63. 
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64. #ifdef STSPIN32F0
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65. void STSPIN32F0_Init(void);
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66. #endif
    
67. 
    
68. #define INTERNAL 0
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69. #define EXTERNAL 1
    
70. #define STM32F3_64MHZ_INT  ((CLOCK_SOURCE == INTERNAL) && defined(STM32F30X) && defined(CPU_CLK_64_MHZ))
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71. 
    
72. #if STM32F3_64MHZ_INT
    
73. void STM32F3_64MHz_Internal(void);
    
74. #endif
    
75. 
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76. #define FIRMWARE_VERS "STM32 FOC SDK\0Ver.4.3.0"
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77. const char s_fwVer[32] = FIRMWARE_VERS;
    
78. 
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79. #ifdef __GNUC__
    
80. /* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
    ) z: y5 z' }0 K, m, T
81.    set to 'Yes') calls __io_putchar() */
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82. #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
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83. #else
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84. #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
    
85. #endif /* __GNUC__ */
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86. 
    
87. #if defined(EXAMPLE_SPEEDMONITOR)
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88.   void speedmonitor_start(void);
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89. #endif
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90. #if defined(EXAMPLE_POTENTIOMETER)
    
91. void potentiometer_start(void);  
    
92. #endif   
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93. #if defined(EXAMPLE_RAMP)
    
94.   void ramp_start(void);
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95. #endif   
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96. #if defined(EXAMPLE_PI)
    
97.   void NewPIval_start(void);
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98. #endif   
    
99. #if defined(EXAMPLE_CONTROLMODE)
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100. void TqSpeedMode_start(void);
     
101. #endif
     
102.    
     
103. /* Private function prototypes -----------------------------------------------*/
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104. 
     
105. void SysTick_Configuration(void);
     
106. 
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107. /* Private variables ---------------------------------------------------------*/
     
108. 
     
109. CMCI oMCI[MC_NUM];
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110. CMCT oMCT[MC_NUM];
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111. 
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112. uint32_t wConfig[MC_NUM] = {UI_CONFIG_M1,UI_CONFIG_M2};
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113. uint16_t mytime;
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114. uint16_t Fault_Type;
     
115. /* Private macro -------------------------------------------------------------*/
     
116. /* Private variables ---------------------------------------------------------*/  
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117. 
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118. /**
     
119.   * @brief  Main program.
     
120.   * @param  None
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121.   * @retval None
     
122.   */
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123. int main(void)
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124. {   
     
125.   /*!< At this stage the microcontroller clock setting is already configured,
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126.        this is done through SystemInit() function which is called from startup
     
127.        file (startup_stm32f10x_xx.s) before to branch to application main.
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128.        To reconfigure the default setting of SystemInit() function, refer to
     
129.        system_stm32f10x.c file
     
130.      */
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131.   
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132. #if !defined(STM32F0XX)
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133.   /*NVIC Priority group configuration.
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134.     Default option is NVIC_PriorityGroup_3.
     
135.   */
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136.   NVIC_PriorityGroupConfig(NVIC_PriorityGroup_3);
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137. #endif
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138.   
     
139. #ifdef USE_STGAP1S
     
140.   GAPboot();
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141. #endif
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142. 
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143. #if STM32F3_64MHZ_INT
     
144. STM32F3_64MHz_Internal();
     
145. #endif
     
146. 
     
147. #ifdef STSPIN32F0
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148.   STSPIN32F0_Init();
     
149. #endif
     
150.    
     
151.   /*MCInterface and MCTuning boot*/
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152.   MCboot(oMCI,oMCT);
     
153.   
     
154.   #if defined(PFC_ENABLED)
     
155.     PFC_Boot(oMCT[0],(CMCT)MC_NULL, (int16_t *)MC_NULL);
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156.   #endif
     
157.    
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158.   /*Systick configuration.*/
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159.   SysTick_Configuration();
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160.   
     
161.   /* Start here ***************************************************************/
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162.   /* GUI, this section is present only if LCD, DAC or serial communication is */
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163.   /* enabled.                                                                 */
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164. #if (defined(LCD_FUNCTIONALITY) | defined(DAC_FUNCTIONALITY) | defined(SERIAL_COMMUNICATION))
     
165.   UI_TaskInit(UI_INIT_CFG,wConfig,MC_NUM,oMCI,oMCT,s_fwVer);
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166. #endif  
     
167.   
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168. #ifdef ENABLE_START_STOP_BUTTON
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169.   /* Init Key input (Start/Stop button) */
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170.   {
     
171.     GPIO_InitTypeDef GPIO_InitStructure;
     
172.     GPIO_StructInit(&GPIO_InitStructure);
     
173.     GPIO_InitStructure.GPIO_Pin = START_STOP_GPIO_PIN;
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174.     GPIO_Init(START_STOP_GPIO_PORT, &GPIO_InitStructure);
     
175.   }
     
176. #endif
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177. //TASK2ÐÞ¸ÄPI²ÎÊý
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178. /*        
     
179.         static int16_t Speed_Kp,Speed_Ki;
     
180.         static CPI oPItuning;
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181.         oPItuning = MCT_GetSpeedLoopPID(oMCT[0]); // ????PID???
     
182.         Speed_Kp = PI_GetKP(oPItuning); // ????PID??
     
183.         Speed_Ki = PI_GetKI(oPItuning);
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184.         PI_SetKP(oPItuning,Speed_Kp*2.9-300); // ??PID??
     
185.         PI_SetKI(oPItuning,Speed_Ki*2.9);        
     
186. */        </font>
     
187.   /* End here******************************************************************/  
     
188. /* TASK3Õý·´×ª¹ÊÕÏ  
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189.         MCI_ExecSpeedRamp(oMCI[0],3000/6,1000);
     
190.         MCI_StartMotor(oMCI[0]);
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191.         MCI_ExecSpeedRamp(oMCI[0],-3000/6,1000);
     
192.         CSTM oSTM = MCT_GetStateMachine(oMCT[0]);
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193.         //STM_NextState(oSTM,STOP_IDLE);
     
194.         STM_FaultProcessing(oSTM, MC_SPEED_FDBK, STOP_IDLE );</font>
     
195. */        
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196.   while(1)
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197.   {
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198.                
     
199.               /*TASK3
     
200.                 Fault_Type = (uint16_t)STM_GetFaultState(oSTM);
     
201.                 if(Fault_Type == MC_SPEED_FDBK)
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202.                 {
     
203.                         MCI_FaultAcknowledged(oMCI[0]);
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204.                         MCI_ExecSpeedRamp(oMCI[0],MCI_GetLastRampFinalSpeed(oMCI[0]), 1000);
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205.                         MCI_StartMotor(oMCI[0]);
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206.                 }
     
207.                 */</font>
     
208.         
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209.                
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210.                 /*TASK1
     
211.                 if(mytime==0)
     
212.                 {
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213.                         MCI_ExecSpeedRamp(oMCI[0],3000/6,1000);
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214.                         MCI_StartMotor(oMCI[0]);
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215.                 }
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216.                 if(mytime==10000)
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217.                 {
     
218.                         MCI_StopMotor(oMCI[0]);
     
219.                 }
     
220. */</font>
     
221. #ifdef SERIAL_COMMUNICATION
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222.     /* Start here ***********************************************************/
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223.     /* GUI, this section is present only if serial communication is enabled.*/
     
224.     if (UI_SerialCommunicationTimeOutHasElapsed())
     
225.     {
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226.       // Send timeout message
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227.       Exec_UI_IRQ_Handler(UI_IRQ_USART,3,0); // Flag 3 = Send timeout error*/
     : D% \6 E4 ?$ Q
228.     }
     
229.     if (UI_SerialCommunicationATRTimeHasElapsed())
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230.     {
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231.       // Send ATR message
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232.       Exec_UI_IRQ_Handler(UI_IRQ_USART,4,0); // Flag 4 = Send ATR message*/
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233.     }
     
234.     /* End here**************************************************************/
     
235. #endif
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236. 
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237. #if (defined(LCD_FUNCTIONALITY) || defined(ENABLE_START_STOP_BUTTON))
     : B* L( H. [* |; K
238.     /* Start here ***********************************************************/
     
239.     /* GUI, this section is present only if LCD or start/stop button is enabled. */
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240.     if (UI_IdleTimeHasElapsed())
     
241.     {  
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242.       UI_SetIdleTime(UI_TASK_OCCURENCE_TICKS);
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243.       
     
244. #ifdef LCD_FUNCTIONALITY
     
245.       UI_LCDRefresh();
     
246. #endif
     
247.       
     + ~' p# b# {1 }( y* E
248. #ifdef ENABLE_START_STOP_BUTTON
     
249.       {
     
250.         /* Chek status of Start/Stop button and performs debounce management */
     
251.         static uint16_t hKeyButtonDebounceCounter = 0u;
     
252.         if ((GPIO_ReadInputDataBit(START_STOP_GPIO_PORT, START_STOP_GPIO_PIN) == START_STOP_POLARITY) &&
     * {" H5 z! b. T2 p
253.             (hKeyButtonDebounceCounter == 0))
     
254.         {
     
255. 
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256. #ifdef SINGLEDRIVE
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257.           /* Queries the STM and a command start or stop depending on the state. */
     
258.           /* It can be added to MCI functionality */
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259.           if (MCI_GetSTMState(oMCI[M1]) == IDLE)
     8 \) y7 b" A3 ~' Z- E7 g' {
260.           {
     
261.             MCI_StartMotor(oMCI[M1]);
     
262.           }
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263.           else
     
264.           {
     # i) C+ G& }/ o$ E+ `$ [
265.             MCI_StopMotor(oMCI[M1]);
     
266.           }
     
267. #endif
     + }; c: l; X# y
268.         
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269. #ifdef DUALDRIVE
     6 @9 w" U) w8 }
270.           /* Stop both motors */
     0 N4 w  D% _" |
271.           MCI_StopMotor(oMCI[M1]);
     
272.           MCI_StopMotor(oMCI[M2]);
     
273. #endif
     
274. 
     
275.           hKeyButtonDebounceCounter = 4u; /* Debounce time xx * LCD Clock */
     
276.         }
     
277.         if (hKeyButtonDebounceCounter > 0)
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278.         {
     
279.           hKeyButtonDebounceCounter--;
     2 Y" i5 L# P1 g5 \! ~
280.         }
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281.       }
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282. #endif
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283.       
     
284.     }
     
285.     /* End here**************************************************************/  
     
286. #endif
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287. 
     $ Z  |4 s; ]. \
288. /********************************   EXAMPLE AREA ******************************/
     
289. #if defined(EXAMPLE_POTENTIOMETER)
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290.    potentiometer_start();  
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291. #endif   
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292. #if defined(EXAMPLE_RAMP)
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293.    ramp_start();
     
294. #endif   
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295. #if defined(EXAMPLE_PI)
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296.    NewPIval_start();
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297. #endif   
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298. #if defined(EXAMPLE_CONTROLMODE)
     
299.    TqSpeedMode_start();
     
300. #endif
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301. #if defined(EXAMPLE_SPEEDMONITOR)
     
302.    speedmonitor_start();
     
303. #endif
     
304. /*****************************************************************************/
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305.    
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306. #ifdef USE_STGAP1S
     
307.    GAPSchedule();
     
308. #endif
     
309.    
     6 \* z) [* z2 |4 @
310.   }
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311. }
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312. /**
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313.   * @brief  Configures the SysTick.
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314.   * @param  None
     
315.   * @retval None
     
316.   */
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317. void SysTick_Configuration(void)
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318. {
     
319.   /* Setup SysTick Timer for 500 usec interrupts  */
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320.   if (SysTick_Config((SystemCoreClock) / SYS_TICK_FREQUENCY))
     
321.   {
     
322.     /* Capture error */
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323.     while (1);
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324.   }
     
325.   
     # o" v) h' e: H4 \+ W. E
326.   NVIC_SetPriority(SysTick_IRQn, SYSTICK_PRIORITY);
     
327.   NVIC_SetPriority(PendSV_IRQn, PENDSV_PRIORITY);
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328. }
     " {2 \3 H* Z$ c4 O
329. 
     
330. #if STM32F3_64MHZ_INT
     ( q; _% t/ ]& t
331. void STM32F3_64MHz_Internal()
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332. {
     
333. #warning "Internal"
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334.   /* Cleaning of Source clock register */
     - n4 u3 q1 b8 ^8 u; I
335.   RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
     # J8 s3 D$ [3 N/ q+ ?; Y8 u, p( R
336.   
     
337.   /* Disable PLL */
     
338.   RCC_PLLCmd((FunctionalState)DISABLE);
     ; e( v: z# O! J- R+ J$ B9 G
339.   
     
340.   /* Wait untill PLL is cleared */
     . l/ e" B) t4 s8 d# M9 X) p
341.   while((RCC->CR & RCC_CR_PLLRDY) == 1)
     
342.   {
     
343.   }
     
344.   
     
345.   /* Setting of system clock to 64 MHz */
     
346.   RCC_PLLConfig(RCC_PLLSource_HSI_Div2, RCC_PLLMul_16); //8/2*16 = 64MHz
     
347.   
     
348.   /* Enable PLL */
     
349.   RCC_PLLCmd((FunctionalState)ENABLE);
     
350.   
     : |; h' M; z* ?8 P
351.   /* Wait till PLL is ready */
     
352.   while((RCC->CR & RCC_CR_PLLRDY) == 0)
     
353.   {
     
354.   }
     # F  s* `9 L; J; U+ z
355.   
     
356.   /* Select PLL as system clock source */
     4 J) w1 J) D9 E/ u+ G
357.   RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL;   
     4 b1 `6 |9 J. A+ x$ s! e
358.   
     2 y2 F4 Q) z( Y. F4 `/ N# ^% a4 l0 _
359.   /* Wait till PLL is used as system clock source */
     " Y9 X9 L. Y9 S9 s& O
360.   while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL)
     9 [1 R8 w0 d7 K) N+ l& }& w5 h
361.   {
       `% i7 L  M, F8 s
362.   }
     ( H' D. o5 [/ h5 E: R) x
363.   
     
364.   /* HSE disabling */
     7 e: @) |- O" }
365.   RCC_HSEConfig(RCC_HSE_OFF);
     
366.   
     6 V. v% I/ t+ ?" T  @5 @
367.   /* Wait the disabling of HSE */
     ) {7 }9 _, Y9 Z" k3 P9 f5 _
368.   while(RCC_GetFlagStatus(RCC_FLAG_HSERDY)==1)
     ; X$ I5 ]. O6 e! a
369.   {
     ( Y7 ]! o% A" Q1 ~! }  q6 }
370.   }
     
371. }
     8 f0 p6 u. k1 M$ Z
372. #endif
     
373. 
     # r% z( g2 h/ X. P! p- N$ _+ {
374. #ifdef STSPIN32F0
     
375. void STSPIN32F0_Init(void)
     
376. {
     ' w) C9 M9 w6 N; o3 t
377.         /** This function is dedicated to the manual setting for STSPIN32F0. **/
     
378.         
     ' a' ~! J( Q% Q
379.         /** Setting of internal clock source **/
     0 t: j4 o1 B: W2 j' U5 {6 x
380.         
     2 W1 `$ m% E1 A8 F, T/ y
381.   /* Cleaning of Source clock register */
     * Q  o) Q; f$ o% ]* x4 I1 s4 f
382.   RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
     0 `3 S5 W6 Q* H% i) v) b
383.   
     % T" G) b- l% ]9 P
384.   /* Disable PLL */
     & b& u1 H1 F, z- L+ s9 }- _% S2 i
385.   RCC_PLLCmd((FunctionalState)DISABLE);
     
386.   
     
387.   /* Wait untill PLL is cleared */
     
388.   while((RCC->CR & RCC_CR_PLLRDY) == 1)
     
389.   {
     7 Z8 ^4 C/ f1 P) M  D: o9 J; `
390.   }
       m2 \# h6 ~& i6 G8 G
391.   
     $ r: i/ a2 n! o0 s: \9 W1 z0 h
392.   /* Setting of system clock to 48 MHz */
     ; I" b4 H  C1 l6 C0 r* \4 R
393.   RCC_PLLConfig(RCC_PLLSource_HSI_Div2, RCC_CFGR_PLLMUL12); //8/2*12 = 48MHz
     ) i- I/ g: U% ~' M' Q4 i, p
394.   
     4 C: b# Z) J( y1 }: @
395.   /* Enable PLL */
     8 \3 \4 @. u0 |& X
396.   RCC_PLLCmd((FunctionalState)ENABLE);
     
397.   
     / m% H# u, g) [* n+ ~
398.   /* Wait till PLL is ready */
     2 t, o9 [, O. j$ k$ P
399.   while((RCC->CR & RCC_CR_PLLRDY) == 0)
     
400.   {
     ) D1 l! P+ c& Z) {
401.   }
     5 }5 |9 J- S! A& H8 U* B
402.   
     & l; N; R" }' Z. X# E' g( l: r6 x# W
403.   /* Select PLL as system clock source */
     
404.   RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL;   
     
405.   
     # B  ?5 E, M& T9 o
406.   /* Wait till PLL is used as system clock source */
     ( F  z5 l; S, z; C
407.   while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL)
     
408.   {
     
409.   }
     0 a1 R& N& x1 p5 B3 P- `+ |1 X
410.   
     9 l7 x8 G6 f3 E% B" o5 }
411.   /* HSE disabling */
     
412.   RCC_HSEConfig(RCC_HSE_OFF);
     ( _0 _) B3 `" ~* X* e" [; S7 `
413.   
     ! z$ Q6 R) m3 {( y* e. c" @- G
414.   /* Wait the disabling of HSE */
       h" n$ ~7 d- h- _4 {7 s
415.   while(RCC_GetFlagStatus(RCC_FLAG_HSERDY)==1)
     
416.   {
     - G( m8 e( |" d$ v; G9 _; R
417.   }
     
418.   
     # E( {7 c/ M0 n% W5 T; W0 s8 b
419.   /** Setting for OC protection th **/
     + L6 P/ T* m+ C# I3 Y3 b
420.   RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOF,(FunctionalState) ENABLE);
     , j% O7 L4 `. A6 N
421.   GPIO_InitTypeDef GPIO_InitStructure;
     & e* U9 p' _9 g; U% k8 p
422.   GPIO_StructInit(&GPIO_InitStructure);
     0 B4 }7 B# `) f
423.   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
     5 C4 `2 u6 |; P7 Z2 V# I
424.   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
       N( O( |9 n9 f5 m4 v
425.   GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
     
426.   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
     
427.   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
     
428.   GPIO_Init(GPIOF, &GPIO_InitStructure);
     
429.   GPIOF->BSRR = GPIO_Pin_7;
     3 [+ V" O3 l! ?
430.   GPIOF->BRR = GPIO_Pin_6;
     ( C7 ?. U9 X3 z  B6 k5 ]) o# B
431. }
     % P* o0 L7 V3 Z7 [$ t
432. #endif
     5 \2 I9 w1 K* j$ M3 T
433. 
     
434. #ifdef  USE_FULL_ASSERT
     
435. /**
     
436.   * @brief  Reports the name of the source file and the source line number
     
437.   *   where the assert_param error has occurred.
     
438.   * @param  file: pointer to the source file name
     
439.   * @param  line: assert_param error line source number
     
440.   * @retval None
     
441.   */
     " N8 v1 Z% }6 j1 |% g/ Z" p8 ~
442. void assert_failed(uint8_t* file, uint32_t line)
     
443. {
     
444.   /* User can add his own implementation to report the file name and line number,
     # a  [; A7 m" `: n, l& X0 T8 L+ a. b
445.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     
446. 
     % A% w# p+ @4 S+ L$ d  M  _
447.   /* Infinite loop */
     
448.   while (1)
     ' Y- x" q+ T+ ~( x
449.   {
     2 a6 \" @* C' M8 D9 |
450.   }
     6 i& b( Z; r  F, J! l$ q
451. }
     2 V5 w! k/ G% M
452. #endif
     ' r5 B  K/ z& Y* q+ x; g4 z. i1 e
453. 
     8 M7 M4 Z8 F( K( r0 J
454. /******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/
     

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1. /**
   ( Q8 v2 ]9 k# ^# y2 o
2.   ******************************************************************************
   - m7 t2 d, t% L* B) L0 R9 ^( E
3.   * @file    Project/STM32F30x_StdPeriph_Templates/stm32f30x_it.c
   
4.   * @author  MCD Application Team
   1 l/ L+ I2 P7 w4 G! g2 A
5.   * @version 4.3.0
   . J! b9 b! Q* h8 C$ L. U2 d8 r
6.   * @date    22-Sep-2016 15:29
   
7.   * @brief   Main Interrupt Service Routines.
   6 N3 w4 v5 z" [
8.   *          This file provides template for all exceptions handler and
   5 ]4 A$ N8 D. S% C! T/ i8 h/ C
9.   *          peripherals interrupt service routine.
   8 \" K- G. d9 R2 Q7 s* z. z( D
10.   ******************************************************************************
    7 s6 x7 U3 c8 `; d$ d( Y/ L
11.   * @attention
    1 z% B% {% S3 r1 A, Y4 O+ C
12.   *
    
13.   * <h2><center>© COPYRIGHT 2016 STMicroelectronics</center></h2>
      Z1 h- \9 o9 i4 {7 R3 T& g
14.   *
    / ^2 J; P& {% ]  d) q
15.   * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
    6 t& n) C' F$ a2 [- R3 Q
16.   * You may not use this file except in compliance with the License.
    - l/ O) H- t' @4 \. w, r
17.   * You may obtain a copy of the License at:
    
18.   *
    
19.   *        http://www.st.com/software_license_agreement_liberty_v2
    & E! p6 [* |* ]! r: {# }
20.   *
    
21.   * Unless required by applicable law or agreed to in writing, software
    
22.   * distributed under the License is distributed on an "AS IS" BASIS,
    ) d9 E) F' x$ j
23.   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    ' B0 i% d9 |* t( {0 V7 o) L! o( D
24.   * See the License for the specific language governing permissions and
    
25.   * limitations under the License.
    & H3 [* P; T3 p; E* N5 p& z
26.   *
    0 @# E& p+ d: c- [5 n8 C& l
27.   ******************************************************************************
    
28.   */
    ) s- y- G4 o, v
29. 
    3 a# ]4 x" M5 k, e1 z5 U
30. /* Includes ------------------------------------------------------------------*/
    
31. #include "stm32f30x_it.h"
    & ^  G& M! a, e$ i9 a( F
32. #include "Timebase.h"
    & @- V6 {' M% g2 d
33. 
    
34. /** @addtogroup Template_Project
    * l  ?/ x2 u8 [: H2 R/ k. L
35.   * @{
    
36.   */
    
37. 
    0 {, e3 A3 c# y# l' V
38. /* Private typedef -----------------------------------------------------------*/
    
39. /* Private define ------------------------------------------------------------*/
    $ J8 L6 \+ o. j, t7 U  R
40. /* Private macro -------------------------------------------------------------*/
    2 M" N3 }7 d% }$ I
41. /* Private variables ---------------------------------------------------------*/
    
42. /* Private function prototypes -----------------------------------------------*/
    
43. /* Private functions ---------------------------------------------------------*/
    
44. 
    
45. /******************************************************************************/
    - I; ^* J! P+ ^- T( v- ^/ k: G
46. /*            Cortex-M4 Processor Exceptions Handlers                         */
    9 D6 Q. E. g& n$ M" P/ l- @1 e
47. /******************************************************************************/
    . @4 {1 z7 X: \  @( D2 Q8 H/ t
48. 
    
49. /**
    3 t1 X6 U' D7 E$ U- q' a$ P6 \
50.   * @brief  This function handles NMI exception.
    9 `0 J  Q0 \; }+ ^; i0 T  [
51.   * @param  None
    1 l2 {5 C3 i- W* Z
52.   * @retval None
    8 y3 k8 {8 G/ A/ v3 b
53.   */
    
54. void NMI_Handler(void)
    & ]! P0 V8 B- }2 o8 J1 A/ f
55. {
    1 P* M; z" J5 U2 S% z; B1 A" e' R
56. }
    * [& x- r+ s) D) f  S
57. 
    # `7 e, \2 `6 I$ J4 \
58. /**
    % P% M( h3 x$ r- X  y/ L+ j
59.   * @brief  This function handles Memory Manage exception.
    % m6 I0 }0 I0 d. Y4 p6 E" ~
60.   * @param  None
    
61.   * @retval None
    
62.   */
    9 Q+ V6 W- B: {
63. void MemManage_Handler(void)
    
64. {
    
65.   /* Go to infinite loop when Memory Manage exception occurs */
    # x4 T: q- U- |# U1 |
66.   while (1)
    % U0 y( y) _! d  Q
67.   {
    
68.   }
    
69. }
    
70. 
    
71. /**
    
72.   * @brief  This function handles Bus Fault exception.
    
73.   * @param  None
    
74.   * @retval None
    9 D( R; {# K7 U. w$ v
75.   */
    
76. void BusFault_Handler(void)
    ( S4 P/ m, C7 J
77. {
    , N( _- S; c3 p7 Y  v0 \
78.   /* Go to infinite loop when Bus Fault exception occurs */
    
79.   while (1)
    7 R; ^, I8 N7 t+ i/ r% c$ T
80.   {
    0 W& W7 A, [& W
81.   }
    
82. }
    
83. 
    
84. /**
    / ^! C3 R' V$ t4 @
85.   * @brief  This function handles Usage Fault exception.
    
86.   * @param  None
    
87.   * @retval None
    
88.   */
    2 [2 ^0 b- J: A/ g. e
89. void UsageFault_Handler(void)
    
90. {
    
91.   /* Go to infinite loop when Usage Fault exception occurs */
    
92.   while (1)
    
93.   {
    
94.   }
    8 p; u/ ?- `7 O5 a$ D4 S+ D+ v
95. }
    9 A( F: e( i* v+ k9 `6 D$ \
96. 
    ( o7 z0 l/ w% w9 e7 m
97. #ifndef FREE_RTOS
    & Y) v+ z+ i5 _. V/ E4 @7 V
98. /**
    
99.   * @brief  This function handles SVCall exception.
    
100.   * @param  None
     
101.   * @retval None
     8 B8 b2 ~# I2 \* k* _. a
102.   */
     
103. void SVC_Handler(void)
     
104. {
     
105. }
     
106. #endif
     
107. 
     
108. /**
     
109.   * @brief  This function handles Debug Monitor exception.
     
110.   * @param  None
     
111.   * @retval None
     
112.   */
     
113. void DebugMon_Handler(void)
     , E, |5 O, X$ ?* S7 K) L
114. {
     ' `& D' D# i. r( b
115. }
     
116. 
     
117. #ifndef FREE_RTOS
     " P% F& S0 T( Z
118. /**
     
119.   * @brief  This function handles PendSVC exception.
     $ A/ R) s  u5 I: t4 K
120.   * @param  None
     
121.   * @retval None
     
122.   */
     
123. void PendSV_Handler(void)
     
124. {
     8 U% G2 K5 u& g6 V1 G, i, W' U) p
125. }
     
126. #endif
     " c# U4 U. P5 O. p9 r
127. 
     
128. #ifndef FREE_RTOS
     8 H3 m6 P5 O4 x2 w1 I# t3 W
129. /**
     ' q& g6 M" ?; t; L' K7 o6 d; E# |- Y2 p
130.   * @brief  This function handles SysTick Handler.
     % Y' L. h2 o/ A4 W1 I; E
131.   * @param  None
     
132.   * @retval None
     ' s& `1 q' O- n0 j; U4 m0 i
133.   */
     
134. extern uint16_t mytime;
     
135. void SysTick_Handler(void)
     9 R. n. Z% p7 l6 J
136. {
     
137.   TB_Scheduler();
     
138.         mytime++;
     
139.         if(mytime == 20000)
     ) e% ?6 }( D2 f- i1 M8 E
140.         {mytime=0;}
     
141. }</font>
     6 L# o" i% K# f- M
142. #endif
     
143. 
     
144. /******************************************************************************/
     
145. /*                 STM32F30x Peripherals Interrupt Handlers                   */
     
146. /*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
     % L% Z2 q! p, m+ K3 r5 D' B1 l
147. /*  available peripheral interrupt handler's name please refer to the startup */
     
148. /*  file (startup_stm32f30x.s).                                            */
     3 t& o- N7 `: ^6 ]- [( H' O& o+ E* P: ?
149. /******************************************************************************/
     
150. 
     
151. /**
     / m3 k" B; x% H* a
152.   * @brief  This function handles PPP interrupt request.
     # z; S6 q+ W8 b; l1 k7 Q. @: l6 \
153.   * @param  None
     ' [3 z, j5 @  E  `& b: l2 _
154.   * @retval None
     
155.   */
     ' i0 b) m$ V( R8 [9 [$ ?+ |
156. /*void PPP_IRQHandler(void)
     ) C7 N. x2 m& o+ l
157. {
     $ [- ]! I. _9 `9 ]2 Q
158. }*/
     $ {: Y/ v! H/ `4 D
159. 
     3 |& X$ y0 M+ ]" @5 h
160. /**
     
161.   * @}
     4 n$ M8 m$ T# }1 z) h3 L% }
162.   */
     
163. 
     . s% R) |; S3 l; ^
164. 
     / f4 k  Y. p0 ~& h
165. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
     
166. 
     
167. /******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/
     

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1）如果是运行任务1，请取消TASK1代码注释
3 `4 _) K$ u6 v, C0 S; B
1 R9 d3 W+ b: p! c, d! N2）如果是运行任务2，请取消TASK2代码注释

4 f/ L6 I9 m( O! g, D3）如果是运行任务3，请取消TASK3代码注释


) D3 m, {' a8 R$ r: U
- J/ [1 t! l9 [: d7 O

真够懒的。
0 v6 g/ v. s$ e2 `7 u: x这又不是github。

moyanming2013 发表于 2017-8-29 11:47
0 n, @: I5 N& `6 G0 t$ f0 R真够懒的。
这又不是github。

详细的说明我在昨天的帖子里说了