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1. /**
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2.   ******************************************************************************
   
3.   * @file    main.c
   
4.   * @author  STMicroelectronics - System Lab - MC Team
   
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.   ******************************************************************************
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9.   * @attention
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10.   *
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11.   * <h2><center>© COPYRIGHT 2016 STMicroelectronics</center></h2>
    
12.   *
    
13.   * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
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14.   * You may not use this file except in compliance with the License.
    * E9 b4 z. s7 t: P$ z; j& m6 C7 j" \/ j
15.   * You may obtain a copy of the License at:
    
16.   *
    
17.   *        http://www.st.com/software_license_agreement_liberty_v2
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18.   *
    
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.
      h+ q" b( t2 i1 R' D! `# r
22.   * See the License for the specific language governing permissions and
    / F5 w2 @! ?% s' d4 O
23.   * limitations under the License.
    
24.   *
    
25.   ******************************************************************************
    
26.   */
    
27. 
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28. /* Includes ------------------------------------------------------------------*/
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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
    
33. 
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34. #include "MCTuningClass.h"
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35. #include "MCInterfaceClass.h"
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36. #include "StateMachineClass.h"
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37. 
    
38. #if defined(PFC_ENABLED)
    
39.   #include "PFCInit.h"
    
40.   #include "PFCApplication.h"
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41. #endif
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42. 
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43. #include "MCTasks.h"
    
44. #include "Parameters conversion.h"
    
45. #ifdef DUALDRIVE
    
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"
    
50. #include "MCLibraryISRPriorityConf.h"
    
51. 
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52. #include <stdio.h>
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53. 
    
54. #if (defined(USE_STM32303C_EVAL))
    
55. #include "stm32303c_eval.h"
    
56. #elif USE_EVAL
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57. #include "stm32_eval.h"
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58. #endif
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59. 
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60. #ifdef USE_STGAP1S
    
61. #include "GAPApplication.h"
    
62. #endif
    
63. 
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64. #ifdef STSPIN32F0
    
65. void STSPIN32F0_Init(void);
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66. #endif
    
67. 
    
68. #define INTERNAL 0
    
69. #define EXTERNAL 1
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70. #define STM32F3_64MHZ_INT  ((CLOCK_SOURCE == INTERNAL) && defined(STM32F30X) && defined(CPU_CLK_64_MHZ))
    
71. 
    
72. #if STM32F3_64MHZ_INT
    
73. void STM32F3_64MHz_Internal(void);
    
74. #endif
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75. 
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76. #define FIRMWARE_VERS "STM32 FOC SDK\0Ver.4.3.0"
    
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* G* R. N/ I0 x; x
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__ */
    
86. 
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87. #if defined(EXAMPLE_SPEEDMONITOR)
    
88.   void speedmonitor_start(void);
    
89. #endif
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90. #if defined(EXAMPLE_POTENTIOMETER)
    
91. void potentiometer_start(void);  
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92. #endif   
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93. #if defined(EXAMPLE_RAMP)
    
94.   void ramp_start(void);
    
95. #endif   
    
96. #if defined(EXAMPLE_PI)
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97.   void NewPIval_start(void);
    
98. #endif   
    
99. #if defined(EXAMPLE_CONTROLMODE)
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100. void TqSpeedMode_start(void);
     
101. #endif
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102.    
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103. /* Private function prototypes -----------------------------------------------*/
     
104. 
     
105. void SysTick_Configuration(void);
     
106. 
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107. /* Private variables ---------------------------------------------------------*/
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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};
     
113. uint16_t mytime;
     
114. uint16_t Fault_Type;
     
115. /* Private macro -------------------------------------------------------------*/
     
116. /* Private variables ---------------------------------------------------------*/  
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117. 
     
118. /**
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119.   * @brief  Main program.
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120.   * @param  None
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121.   * @retval None
     
122.   */
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123. int main(void)
     
124. {   
     
125.   /*!< At this stage the microcontroller clock setting is already configured,
     
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
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130.      */
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131.   
     
132. #if !defined(STM32F0XX)
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133.   /*NVIC Priority group configuration.
     
134.     Default option is NVIC_PriorityGroup_3.
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135.   */
     
136.   NVIC_PriorityGroupConfig(NVIC_PriorityGroup_3);
     
137. #endif
     
138.   
     
139. #ifdef USE_STGAP1S
     
140.   GAPboot();
     
141. #endif
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142. 
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143. #if STM32F3_64MHZ_INT
     
144. STM32F3_64MHz_Internal();
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145. #endif
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146. 
     
147. #ifdef STSPIN32F0
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148.   STSPIN32F0_Init();
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149. #endif
     
150.    
     
151.   /*MCInterface and MCTuning boot*/
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152.   MCboot(oMCI,oMCT);
     
153.   
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154.   #if defined(PFC_ENABLED)
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155.     PFC_Boot(oMCT[0],(CMCT)MC_NULL, (int16_t *)MC_NULL);
     
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 ***************************************************************/
     
162.   /* GUI, this section is present only if LCD, DAC or serial communication is */
     
163.   /* enabled.                                                                 */
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164. #if (defined(LCD_FUNCTIONALITY) | defined(DAC_FUNCTIONALITY) | defined(SERIAL_COMMUNICATION))
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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) */
     
170.   {
     
171.     GPIO_InitTypeDef GPIO_InitStructure;
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172.     GPIO_StructInit(&GPIO_InitStructure);
     
173.     GPIO_InitStructure.GPIO_Pin = START_STOP_GPIO_PIN;
     
174.     GPIO_Init(START_STOP_GPIO_PORT, &GPIO_InitStructure);
     
175.   }
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176. #endif
     
177. //TASK2ÐÞ¸ÄPI²ÎÊý
     
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);
     
184.         PI_SetKP(oPItuning,Speed_Kp*2.9-300); // ??PID??
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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);
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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.   {
     
198.                
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199.               /*TASK3
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200.                 Fault_Type = (uint16_t)STM_GetFaultState(oSTM);
     
201.                 if(Fault_Type == MC_SPEED_FDBK)
     
202.                 {
     
203.                         MCI_FaultAcknowledged(oMCI[0]);
     
204.                         MCI_ExecSpeedRamp(oMCI[0],MCI_GetLastRampFinalSpeed(oMCI[0]), 1000);
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205.                         MCI_StartMotor(oMCI[0]);
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206.                 }
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207.                 */</font>
     
208.         
     
209.                
     
210.                 /*TASK1
     
211.                 if(mytime==0)
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212.                 {
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213.                         MCI_ExecSpeedRamp(oMCI[0],3000/6,1000);
     
214.                         MCI_StartMotor(oMCI[0]);
     
215.                 }
     
216.                 if(mytime==10000)
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217.                 {
     
218.                         MCI_StopMotor(oMCI[0]);
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219.                 }
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220. */</font>
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221. #ifdef SERIAL_COMMUNICATION
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222.     /* Start here ***********************************************************/
     
223.     /* GUI, this section is present only if serial communication is enabled.*/
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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*/
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228.     }
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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. 
     
237. #if (defined(LCD_FUNCTIONALITY) || defined(ENABLE_START_STOP_BUTTON))
     1 C# B& l' `$ r
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())
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241.     {  
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242.       UI_SetIdleTime(UI_TASK_OCCURENCE_TICKS);
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243.       
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244. #ifdef LCD_FUNCTIONALITY
     
245.       UI_LCDRefresh();
     
246. #endif
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247.       
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248. #ifdef ENABLE_START_STOP_BUTTON
     
249.       {
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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) &&
     
253.             (hKeyButtonDebounceCounter == 0))
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254.         {
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255. 
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256. #ifdef SINGLEDRIVE
     
257.           /* Queries the STM and a command start or stop depending on the state. */
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258.           /* It can be added to MCI functionality */
     
259.           if (MCI_GetSTMState(oMCI[M1]) == IDLE)
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260.           {
     3 C1 ^, j/ X$ S- d
261.             MCI_StartMotor(oMCI[M1]);
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262.           }
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263.           else
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264.           {
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265.             MCI_StopMotor(oMCI[M1]);
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266.           }
     
267. #endif
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268.         
     
269. #ifdef DUALDRIVE
     
270.           /* Stop both motors */
     
271.           MCI_StopMotor(oMCI[M1]);
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272.           MCI_StopMotor(oMCI[M2]);
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273. #endif
     
274. 
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275.           hKeyButtonDebounceCounter = 4u; /* Debounce time xx * LCD Clock */
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276.         }
     
277.         if (hKeyButtonDebounceCounter > 0)
     
278.         {
     
279.           hKeyButtonDebounceCounter--;
     8 `0 Y, Z% u) x/ o" t
280.         }
     
281.       }
     
282. #endif
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283.       
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284.     }
     / _% N/ _0 T. }% V  M
285.     /* End here**************************************************************/  
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286. #endif
     
287. 
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288. /********************************   EXAMPLE AREA ******************************/
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289. #if defined(EXAMPLE_POTENTIOMETER)
     
290.    potentiometer_start();  
     
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();
     
297. #endif   
     
298. #if defined(EXAMPLE_CONTROLMODE)
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299.    TqSpeedMode_start();
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300. #endif
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301. #if defined(EXAMPLE_SPEEDMONITOR)
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302.    speedmonitor_start();
     
303. #endif
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304. /*****************************************************************************/
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305.    
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306. #ifdef USE_STGAP1S
     
307.    GAPSchedule();
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308. #endif
     
309.    
     
310.   }
     
311. }
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312. /**
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313.   * @brief  Configures the SysTick.
     
314.   * @param  None
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315.   * @retval None
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316.   */
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317. void SysTick_Configuration(void)
     
318. {
     
319.   /* Setup SysTick Timer for 500 usec interrupts  */
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320.   if (SysTick_Config((SystemCoreClock) / SYS_TICK_FREQUENCY))
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321.   {
     
322.     /* Capture error */
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323.     while (1);
     
324.   }
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325.   
     
326.   NVIC_SetPriority(SysTick_IRQn, SYSTICK_PRIORITY);
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327.   NVIC_SetPriority(PendSV_IRQn, PENDSV_PRIORITY);
     
328. }
     
329. 
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330. #if STM32F3_64MHZ_INT
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331. void STM32F3_64MHz_Internal()
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332. {
     
333. #warning "Internal"
     
334.   /* Cleaning of Source clock register */
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335.   RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
     
336.   
     / E7 F/ i- ^3 x! Y5 S
337.   /* Disable PLL */
     
338.   RCC_PLLCmd((FunctionalState)DISABLE);
     
339.   
     
340.   /* Wait untill PLL is cleared */
     
341.   while((RCC->CR & RCC_CR_PLLRDY) == 1)
     : J8 D  ]" U) N( L+ Z2 `
342.   {
     
343.   }
     
344.   
     
345.   /* Setting of system clock to 64 MHz */
     ( U& e9 W8 I/ t1 K; }$ {
346.   RCC_PLLConfig(RCC_PLLSource_HSI_Div2, RCC_PLLMul_16); //8/2*16 = 64MHz
     
347.   
     ) S; o8 s% Y- I) n+ L
348.   /* Enable PLL */
     9 J1 A+ b7 P7 D( Z
349.   RCC_PLLCmd((FunctionalState)ENABLE);
     , f: ?- p8 j7 I# k
350.   
     / z9 k" |7 t" W' w- I
351.   /* Wait till PLL is ready */
     & ^! d9 E+ y+ W  O& z
352.   while((RCC->CR & RCC_CR_PLLRDY) == 0)
     
353.   {
     
354.   }
     
355.   
     
356.   /* Select PLL as system clock source */
     , H8 ]( {, R: s8 E0 w7 x8 }7 j
357.   RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL;   
     ( n1 J" y# l5 \% Z  N
358.   
     
359.   /* Wait till PLL is used as system clock source */
     - B5 {, ^" o( _1 ]" @; ^
360.   while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL)
     
361.   {
     
362.   }
     
363.   
     
364.   /* HSE disabling */
     ! Q' I4 O1 z5 L1 x+ h* |! [% J
365.   RCC_HSEConfig(RCC_HSE_OFF);
     - Z" ]! c% }5 y: Y( o  d
366.   
     
367.   /* Wait the disabling of HSE */
     & L9 j- R% d' p3 g5 W9 H
368.   while(RCC_GetFlagStatus(RCC_FLAG_HSERDY)==1)
     ( G: f# T! z/ U6 H" \, |
369.   {
     6 U4 t4 V: |0 O8 s
370.   }
     
371. }
     
372. #endif
     4 C* ~# x0 B/ J6 f' ^
373. 
     ) I! O9 O# x/ c
374. #ifdef STSPIN32F0
     ( j* u) o. z; \
375. void STSPIN32F0_Init(void)
     . F" D6 @- n" p& D" I7 L4 q
376. {
     
377.         /** This function is dedicated to the manual setting for STSPIN32F0. **/
     7 h! A5 c4 v; l) V0 w2 |/ B
378.         
     7 H# o) t% T: }; z% S  [& W
379.         /** Setting of internal clock source **/
     
380.         
     
381.   /* Cleaning of Source clock register */
     - A) S$ ^7 D5 x2 \# p, a3 B
382.   RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
     # E1 K) E! q; m1 f+ |
383.   
     7 u/ k; n- ]/ ?
384.   /* Disable PLL */
     
385.   RCC_PLLCmd((FunctionalState)DISABLE);
     
386.   
     
387.   /* Wait untill PLL is cleared */
     0 G+ r. X: C1 Y4 q, a
388.   while((RCC->CR & RCC_CR_PLLRDY) == 1)
     
389.   {
     
390.   }
     
391.   
     
392.   /* Setting of system clock to 48 MHz */
     6 L" E3 {' S3 F2 h
393.   RCC_PLLConfig(RCC_PLLSource_HSI_Div2, RCC_CFGR_PLLMUL12); //8/2*12 = 48MHz
     4 n6 _$ _6 P# e& ?4 d, k
394.   
     ' R  f2 M4 F) m' l5 j
395.   /* Enable PLL */
     4 Y; z0 ]8 |% o- M+ ^( G
396.   RCC_PLLCmd((FunctionalState)ENABLE);
     2 _- y" e. L. o
397.   
     $ s1 |. _/ }) I1 @1 C4 i0 \
398.   /* Wait till PLL is ready */
     
399.   while((RCC->CR & RCC_CR_PLLRDY) == 0)
     + Y4 O. }" m" x6 l8 u; {9 I' c, T
400.   {
     ' L( [& Y5 \8 P. j: Q. v5 t/ h; |" c
401.   }
     
402.   
     
403.   /* Select PLL as system clock source */
     
404.   RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL;   
     
405.   
     
406.   /* Wait till PLL is used as system clock source */
     
407.   while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL)
     9 {# @2 `. e7 {6 s, t
408.   {
     0 l2 }* b) E+ n" Q1 c% o
409.   }
     
410.   
     0 O- H9 c) m6 M
411.   /* HSE disabling */
     $ i: `9 o, u* g3 R. ]! w8 W( y
412.   RCC_HSEConfig(RCC_HSE_OFF);
     
413.   
     
414.   /* Wait the disabling of HSE */
     
415.   while(RCC_GetFlagStatus(RCC_FLAG_HSERDY)==1)
     7 n. |+ ?2 n0 \( U2 i- ]
416.   {
     7 P7 R- q, m7 V0 ~  h& n; h
417.   }
     1 H# e: V7 m/ w% C- e
418.   
     
419.   /** Setting for OC protection th **/
     / G, u% f' @+ _# a: \. a* s$ {
420.   RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOF,(FunctionalState) ENABLE);
     / r, C/ @: L& z6 W* K
421.   GPIO_InitTypeDef GPIO_InitStructure;
     ; K& }, b0 m0 N; e9 f3 G
422.   GPIO_StructInit(&GPIO_InitStructure);
     ; ~# Y5 Z9 ?* J
423.   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
     
424.   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
     
425.   GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
     + l: Z1 I# o7 P8 ?
426.   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
     0 s# p: s* X/ }4 b5 g! q5 Q0 C, P
427.   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
     
428.   GPIO_Init(GPIOF, &GPIO_InitStructure);
     
429.   GPIOF->BSRR = GPIO_Pin_7;
     7 H1 o/ ~, f/ X* w' q
430.   GPIOF->BRR = GPIO_Pin_6;
     1 t9 Q2 p3 E: g  W; v
431. }
     3 k9 u; P' S! h. |# @7 H
432. #endif
     & P' A6 L9 [: B5 W- h* G4 r' W0 Z
433. 
     7 T8 L7 n& H& _; Y0 j1 o0 E: a
434. #ifdef  USE_FULL_ASSERT
     
435. /**
     , j6 P9 @9 S7 {
436.   * @brief  Reports the name of the source file and the source line number
     % z! W) g+ l8 L% M! L3 {4 d
437.   *   where the assert_param error has occurred.
     ! k7 u0 D9 o/ ~6 i2 _
438.   * @param  file: pointer to the source file name
     : @) t# P1 F" c( L
439.   * @param  line: assert_param error line source number
     
440.   * @retval None
     6 K/ G, b: s$ e: z( k. ~" d
441.   */
     
442. void assert_failed(uint8_t* file, uint32_t line)
     6 s0 U0 q* G4 Q7 d# @* d
443. {
     
444.   /* User can add his own implementation to report the file name and line number,
     
445.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     " r2 l$ e  z( j% l' s
446. 
     
447.   /* Infinite loop */
     
448.   while (1)
     ! e! ~' ]: ~) A, I" D& O0 }
449.   {
     
450.   }
     
451. }
     1 H2 b( M$ W/ H2 c+ M
452. #endif
     
453. 
     
454. /******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/
     

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1. /**
   
2.   ******************************************************************************
   
3.   * @file    Project/STM32F30x_StdPeriph_Templates/stm32f30x_it.c
   " ?5 L4 Q+ o; ]5 t. U4 z
4.   * @author  MCD Application Team
   ) U- ]- \  i% p& d: W& [
5.   * @version 4.3.0
   
6.   * @date    22-Sep-2016 15:29
   
7.   * @brief   Main Interrupt Service Routines.
   6 e4 t/ s, D; O1 e! w& _, h6 Q
8.   *          This file provides template for all exceptions handler and
   2 W( s$ c/ q5 d2 t' v; b) @* m
9.   *          peripherals interrupt service routine.
   
10.   ******************************************************************************
    
11.   * @attention
    4 M8 G7 d% t! f$ N: a
12.   *
    + V3 }$ e3 v) ?) n, L3 G3 |, L% G
13.   * <h2><center>© COPYRIGHT 2016 STMicroelectronics</center></h2>
    - z1 e/ n# e- t8 u
14.   *
    % z! B6 x( _( \+ k, M
15.   * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
    
16.   * You may not use this file except in compliance with the License.
    * p. F! y& j7 g2 d
17.   * You may obtain a copy of the License at:
    
18.   *
    
19.   *        http://www.st.com/software_license_agreement_liberty_v2
    " K/ }# B$ w+ @/ M5 [/ [  z
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,
    9 F& E1 D- h8 @# }! C
23.   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    ( d3 C* W, q" d. d! E
24.   * See the License for the specific language governing permissions and
    
25.   * limitations under the License.
    5 X0 H4 G5 D& v  u# L0 l
26.   *
    
27.   ******************************************************************************
    4 R  @- A, j* d1 Y! y7 R
28.   */
    
29. 
    ; I+ m: D- Q7 n; [' U2 x- {; q" ^
30. /* Includes ------------------------------------------------------------------*/
    7 ~( o  N9 e  \5 W/ J3 j3 N
31. #include "stm32f30x_it.h"
    
32. #include "Timebase.h"
    7 I3 Z2 H1 w! @- h. G: ?2 |
33. 
    
34. /** @addtogroup Template_Project
    / `+ a" ]) n* Z3 f2 v
35.   * @{
    
36.   */
    & Q5 x5 J" w9 D( r# Q0 a1 W4 m  Y0 z5 C
37. 
    - f0 }3 \( J; U1 \9 F
38. /* Private typedef -----------------------------------------------------------*/
    5 ^1 H: j2 a8 ?3 u, }! z; P
39. /* Private define ------------------------------------------------------------*/
    9 R1 O% h& F' O  `9 a! `
40. /* Private macro -------------------------------------------------------------*/
    
41. /* Private variables ---------------------------------------------------------*/
    
42. /* Private function prototypes -----------------------------------------------*/
    ! n2 x4 a4 b" K( e( L
43. /* Private functions ---------------------------------------------------------*/
    
44. 
    
45. /******************************************************************************/
    
46. /*            Cortex-M4 Processor Exceptions Handlers                         */
      u/ C( }" N. v
47. /******************************************************************************/
    % b* y0 I7 t! l! |3 }2 H4 _' U
48. 
    
49. /**
    
50.   * @brief  This function handles NMI exception.
    
51.   * @param  None
    ( y- h* v( Q+ y% E
52.   * @retval None
    6 U: j5 n6 S& c8 A+ t* O, S
53.   */
    
54. void NMI_Handler(void)
    
55. {
    
56. }
    
57. 
    
58. /**
    $ j# T4 H& i' P  e1 d
59.   * @brief  This function handles Memory Manage exception.
    
60.   * @param  None
    
61.   * @retval None
    # W! }" K$ a6 P
62.   */
    
63. void MemManage_Handler(void)
    , x- E3 M( M) t4 r
64. {
    6 [/ f3 K9 l) r" G* {/ A
65.   /* Go to infinite loop when Memory Manage exception occurs */
    
66.   while (1)
    ; b# D& j4 V0 W  j! T' E3 j
67.   {
    4 c. U8 Q8 H, p! w
68.   }
    ! Q9 f2 @; ^( T* j
69. }
    
70. 
    ' X3 @# q" W2 Y6 w7 `
71. /**
    : I$ C7 t$ u4 d8 g( i/ z! J
72.   * @brief  This function handles Bus Fault exception.
    
73.   * @param  None
    
74.   * @retval None
    
75.   */
    9 o! t! a7 K# m6 z  |
76. void BusFault_Handler(void)
    
77. {
    
78.   /* Go to infinite loop when Bus Fault exception occurs */
    
79.   while (1)
    
80.   {
    
81.   }
    
82. }
    
83. 
      n6 _- B( }7 C( `
84. /**
    3 {, i! P2 |7 H
85.   * @brief  This function handles Usage Fault exception.
    
86.   * @param  None
    % n% [4 N  q# ?5 Z
87.   * @retval None
    5 g# X* [! `' d5 k
88.   */
    
89. void UsageFault_Handler(void)
    5 R' N' a8 ~" l6 D$ V- B9 M
90. {
    - O3 U& _4 n  I. p
91.   /* Go to infinite loop when Usage Fault exception occurs */
    
92.   while (1)
    6 i- o; Z0 I# v  |
93.   {
    
94.   }
    6 v# o& X0 a% x3 o0 r3 y6 _, g5 X
95. }
    3 v/ f3 y2 }8 \* E- T
96. 
      y/ t4 R: L. }' t
97. #ifndef FREE_RTOS
    
98. /**
    
99.   * @brief  This function handles SVCall exception.
    
100.   * @param  None
     
101.   * @retval None
     
102.   */
     " |% X- K5 B4 X9 p
103. void SVC_Handler(void)
     
104. {
     
105. }
     
106. #endif
       x+ ^) n# k# o
107. 
     
108. /**
     
109.   * @brief  This function handles Debug Monitor exception.
     
110.   * @param  None
     
111.   * @retval None
     : X+ P4 I3 Z5 l# f" W' A" ]
112.   */
     1 Q8 u6 a% a% \+ N' F6 Y: J4 A
113. void DebugMon_Handler(void)
     
114. {
     
115. }
     $ L, T0 a) W$ z. P, o2 a
116. 
     $ i; y, ?' m' `
117. #ifndef FREE_RTOS
     
118. /**
     
119.   * @brief  This function handles PendSVC exception.
     
120.   * @param  None
     ) \% y& ]5 |0 T9 a1 @2 b4 o% k
121.   * @retval None
     
122.   */
     
123. void PendSV_Handler(void)
     
124. {
     
125. }
     8 |# L' l# `. y& M* X
126. #endif
     
127. 
     
128. #ifndef FREE_RTOS
     9 A" W* u# r6 z( `
129. /**
     
130.   * @brief  This function handles SysTick Handler.
     6 p' M; z( F6 ~0 o! A1 G
131.   * @param  None
     ( M# S& L+ w* @
132.   * @retval None
     
133.   */
     
134. extern uint16_t mytime;
     
135. void SysTick_Handler(void)
     . f- s3 F. u6 x
136. {
     9 P. _8 l8 `2 a; m+ N( ]5 b! G
137.   TB_Scheduler();
     , h8 {* p! }% N" y3 o9 Y
138.         mytime++;
     $ B4 `2 ~1 M0 E% h) S
139.         if(mytime == 20000)
     3 j" i9 \1 W6 C" H! n6 p% z  x& s# `
140.         {mytime=0;}
     5 [1 L/ [/ J3 F- a8 O
141. }</font>
     / o& C/ G$ {. `3 D; Q5 w
142. #endif
     
143. 
     $ L% V4 r9 d7 g! h& l  M
144. /******************************************************************************/
     
145. /*                 STM32F30x Peripherals Interrupt Handlers                   */
     
146. /*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
     ' y# ^3 i/ N3 e
147. /*  available peripheral interrupt handler's name please refer to the startup */
     . ~* k' ]0 p% {
148. /*  file (startup_stm32f30x.s).                                            */
     : @. c% X- F* f5 d/ _
149. /******************************************************************************/
     , B7 u7 a1 B0 c, u- w0 o* ~
150. 
     2 _0 Y0 P: N3 v8 \2 [5 M( {& z
151. /**
     
152.   * @brief  This function handles PPP interrupt request.
     . H/ E- w; [6 z' x' t/ L
153.   * @param  None
     3 k+ H9 z) s" j: ^, t" v
154.   * @retval None
     
155.   */
     
156. /*void PPP_IRQHandler(void)
     * u4 @3 }" J; M7 U# w/ N
157. {
     # i' j  d! N3 k$ r! u1 Z  x- [
158. }*/
     
159. 
     
160. /**
     - W6 Y2 n' G# O5 Q  Q9 n( F
161.   * @}
     
162.   */
     3 a! b" u- X& I
163. 
     / n6 d% U, f5 E# b7 e  X% x
164. 
     . s2 x+ B; [0 k
165. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
     2 v( x7 [& _" G* s$ x* r
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
) q: y5 _/ p2 |5 ^3 f8 _8 z
( n2 q/ k  X6 b2）如果是运行任务2，请取消TASK2代码注释

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- t: g3 o( i/ l+ M/ V

真够懒的。
这又不是github。

moyanming2013 发表于 2017-8-29 11:47
5 i; ^+ S, V' ^- b" F( k! 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