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1. /**
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2.   ******************************************************************************
   
3.   * @file    main.c
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4.   * @author  STMicroelectronics - System Lab - MC Team
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5.   * @version 4.3.0
   
6.   * @date    22-Sep-2016 15:29
   
7.   * @brief   Main program body
   
8.   ******************************************************************************
   
9.   * @attention
   
10.   *
    
11.   * <h2><center>© COPYRIGHT 2016 STMicroelectronics</center></h2>
    
12.   *
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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.
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15.   * You may obtain a copy of the License at:
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16.   *
    8 J; A+ o  T# {
17.   *        http://www.st.com/software_license_agreement_liberty_v2
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18.   *
    9 z3 w& P0 Q1 Q& l9 n* s
19.   * Unless required by applicable law or agreed to in writing, software
    
20.   * distributed under the License is distributed on an "AS IS" BASIS,
    
21.   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    8 ^9 ~9 ]2 P# Q: V
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. 
    
28. /* Includes ------------------------------------------------------------------*/
    
29. /* Pre-compiler coherency check */
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30. #define PROJECT_CHK
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31. #include "CrossCheck.h"
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32. #undef PROJECT_CHK
    
33. 
    
34. #include "MCTuningClass.h"
    
35. #include "MCInterfaceClass.h"
    
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. 
    
43. #include "MCTasks.h"
    
44. #include "Parameters conversion.h"
    
45. #ifdef DUALDRIVE
    
46. #include "Parameters conversion motor 2.h"
    
47. #endif
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48. #include "Timebase.h"
    
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"
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56. #elif USE_EVAL
    
57. #include "stm32_eval.h"
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58. #endif
    
59. 
    
60. #ifdef USE_STGAP1S
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61. #include "GAPApplication.h"
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62. #endif
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63. 
    ' ~" u, z: V3 h: {# ~
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
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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);
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74. #endif
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75. 
    
76. #define FIRMWARE_VERS "STM32 FOC SDK\0Ver.4.3.0"
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77. const char s_fwVer[32] = FIRMWARE_VERS;
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78. 
    
79. #ifdef __GNUC__
    
80. /* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
    
81.    set to 'Yes') calls __io_putchar() */
    
82. #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
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83. #else
    
84. #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
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85. #endif /* __GNUC__ */
    
86. 
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87. #if defined(EXAMPLE_SPEEDMONITOR)
    
88.   void speedmonitor_start(void);
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89. #endif
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90. #if defined(EXAMPLE_POTENTIOMETER)
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91. void potentiometer_start(void);  
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92. #endif   
    
93. #if defined(EXAMPLE_RAMP)
    
94.   void ramp_start(void);
    
95. #endif   
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96. #if defined(EXAMPLE_PI)
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97.   void NewPIval_start(void);
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98. #endif   
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99. #if defined(EXAMPLE_CONTROLMODE)
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100. void TqSpeedMode_start(void);
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101. #endif
     
102.    
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103. /* Private function prototypes -----------------------------------------------*/
     
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};
     
113. uint16_t mytime;
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114. uint16_t Fault_Type;
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115. /* Private macro -------------------------------------------------------------*/
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116. /* Private variables ---------------------------------------------------------*/  
     
117. 
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118. /**
     
119.   * @brief  Main program.
     
120.   * @param  None
     
121.   * @retval None
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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
     
130.      */
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131.   
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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();
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141. #endif
     
142. 
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143. #if STM32F3_64MHZ_INT
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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();
     
149. #endif
     
150.    
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151.   /*MCInterface and MCTuning boot*/
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152.   MCboot(oMCI,oMCT);
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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.   
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161.   /* Start here ***************************************************************/
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162.   /* GUI, this section is present only if LCD, DAC or serial communication is */
     
163.   /* enabled.                                                                 */
     
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  
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167.   
     
168. #ifdef ENABLE_START_STOP_BUTTON
     
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;
     
174.     GPIO_Init(START_STOP_GPIO_PORT, &GPIO_InitStructure);
     
175.   }
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176. #endif
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177. //TASK2ÐÞ¸ÄPI²ÎÊý
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178. /*        
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179.         static int16_t Speed_Kp,Speed_Ki;
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180.         static CPI oPItuning;
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181.         oPItuning = MCT_GetSpeedLoopPID(oMCT[0]); // ????PID???
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182.         Speed_Kp = PI_GetKP(oPItuning); // ????PID??
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183.         Speed_Ki = PI_GetKI(oPItuning);
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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]);
     
191.         MCI_ExecSpeedRamp(oMCI[0],-3000/6,1000);
     
192.         CSTM oSTM = MCT_GetStateMachine(oMCT[0]);
     
193.         //STM_NextState(oSTM,STOP_IDLE);
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194.         STM_FaultProcessing(oSTM, MC_SPEED_FDBK, STOP_IDLE );</font>
     
195. */        
     
196.   while(1)
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197.   {
     
198.                
     
199.               /*TASK3
     
200.                 Fault_Type = (uint16_t)STM_GetFaultState(oSTM);
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201.                 if(Fault_Type == MC_SPEED_FDBK)
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202.                 {
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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]);
     
206.                 }
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207.                 */</font>
     
208.         
     ! P1 b9 R& k$ d
209.                
     
210.                 /*TASK1
     
211.                 if(mytime==0)
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212.                 {
     
213.                         MCI_ExecSpeedRamp(oMCI[0],3000/6,1000);
     
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]);
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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 ***********************************************************/
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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
     
227.       Exec_UI_IRQ_Handler(UI_IRQ_USART,3,0); // Flag 3 = Send timeout error*/
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228.     }
     
229.     if (UI_SerialCommunicationATRTimeHasElapsed())
     
230.     {
     
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.     }
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234.     /* End here**************************************************************/
     
235. #endif
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236. 
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237. #if (defined(LCD_FUNCTIONALITY) || defined(ENABLE_START_STOP_BUTTON))
     
238.     /* Start here ***********************************************************/
     
239.     /* GUI, this section is present only if LCD or start/stop button is enabled. */
     
240.     if (UI_IdleTimeHasElapsed())
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241.     {  
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242.       UI_SetIdleTime(UI_TASK_OCCURENCE_TICKS);
     
243.       
     
244. #ifdef LCD_FUNCTIONALITY
     
245.       UI_LCDRefresh();
     
246. #endif
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247.       
     
248. #ifdef ENABLE_START_STOP_BUTTON
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249.       {
     
250.         /* Chek status of Start/Stop button and performs debounce management */
     
251.         static uint16_t hKeyButtonDebounceCounter = 0u;
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252.         if ((GPIO_ReadInputDataBit(START_STOP_GPIO_PORT, START_STOP_GPIO_PIN) == START_STOP_POLARITY) &&
     * q, }3 w( `0 y7 w
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)
     + J% A! f- C8 ~" g  z; w
260.           {
     
261.             MCI_StartMotor(oMCI[M1]);
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262.           }
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263.           else
     
264.           {
     
265.             MCI_StopMotor(oMCI[M1]);
     
266.           }
     
267. #endif
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268.         
     
269. #ifdef DUALDRIVE
     
270.           /* Stop both motors */
     * J( [1 p5 k% |$ s
271.           MCI_StopMotor(oMCI[M1]);
     
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)
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278.         {
     
279.           hKeyButtonDebounceCounter--;
     
280.         }
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281.       }
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282. #endif
     
283.       
     
284.     }
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285.     /* End here**************************************************************/  
     
286. #endif
     
287. 
       Y5 Q  @7 `6 c  n# O% {
288. /********************************   EXAMPLE AREA ******************************/
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289. #if defined(EXAMPLE_POTENTIOMETER)
     
290.    potentiometer_start();  
     
291. #endif   
     
292. #if defined(EXAMPLE_RAMP)
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293.    ramp_start();
     
294. #endif   
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295. #if defined(EXAMPLE_PI)
     
296.    NewPIval_start();
     + a1 w: y0 ]6 z3 Q# g
297. #endif   
     
298. #if defined(EXAMPLE_CONTROLMODE)
     
299.    TqSpeedMode_start();
     
300. #endif
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301. #if defined(EXAMPLE_SPEEDMONITOR)
     
302.    speedmonitor_start();
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303. #endif
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304. /*****************************************************************************/
     
305.    
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306. #ifdef USE_STGAP1S
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307.    GAPSchedule();
     7 h$ b# b; ]( w
308. #endif
     
309.    
     
310.   }
       W/ k# X: T+ I3 u0 r4 u
311. }
     
312. /**
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313.   * @brief  Configures the SysTick.
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314.   * @param  None
     
315.   * @retval None
     $ i; e4 s; }; s8 S
316.   */
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317. void SysTick_Configuration(void)
     
318. {
     
319.   /* Setup SysTick Timer for 500 usec interrupts  */
     3 L1 O- U% R& I" t
320.   if (SysTick_Config((SystemCoreClock) / SYS_TICK_FREQUENCY))
     
321.   {
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322.     /* Capture error */
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323.     while (1);
     7 E" d2 e/ o2 z
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. }
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329. 
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330. #if STM32F3_64MHZ_INT
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331. void STM32F3_64MHz_Internal()
     
332. {
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333. #warning "Internal"
     / ?) V" q, y5 p
334.   /* Cleaning of Source clock register */
     
335.   RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
     
336.   
     
337.   /* Disable PLL */
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338.   RCC_PLLCmd((FunctionalState)DISABLE);
     
339.   
     
340.   /* Wait untill PLL is cleared */
     0 O5 h+ ]; Y' V# |
341.   while((RCC->CR & RCC_CR_PLLRDY) == 1)
     
342.   {
     
343.   }
     
344.   
     # B6 v4 X' O8 F
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);
     6 t4 i1 f; `) k* B" q
350.   
     ( C) H: q2 Y; {4 y
351.   /* Wait till PLL is ready */
     
352.   while((RCC->CR & RCC_CR_PLLRDY) == 0)
     2 @" M7 M1 I) Q: o5 z! A
353.   {
     
354.   }
     . G3 T% F$ f) E4 ^7 X6 e7 @  s" C/ S
355.   
       ]7 W: Q" o! s! C
356.   /* Select PLL as system clock source */
     
357.   RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL;   
     
358.   
     : Q2 a1 H- I9 W5 c
359.   /* Wait till PLL is used as system clock source */
     
360.   while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL)
     % `' ~: I) j" G/ H" d, G5 E
361.   {
     - P$ R% D2 b; l! P( i
362.   }
     
363.   
     1 c# {* _9 U, U1 `8 f5 ?* Q
364.   /* HSE disabling */
     1 K( O% y1 L3 i0 O; k1 V4 w* x
365.   RCC_HSEConfig(RCC_HSE_OFF);
     
366.   
     
367.   /* Wait the disabling of HSE */
     
368.   while(RCC_GetFlagStatus(RCC_FLAG_HSERDY)==1)
     5 z0 s' y# z4 ~
369.   {
     
370.   }
     
371. }
     
372. #endif
     
373. 
     
374. #ifdef STSPIN32F0
     
375. void STSPIN32F0_Init(void)
     " W1 z1 T. e" o1 n1 i
376. {
     
377.         /** This function is dedicated to the manual setting for STSPIN32F0. **/
     & S7 e3 U9 X, R$ j8 M
378.         
     
379.         /** Setting of internal clock source **/
     ' T5 b7 Y5 K: |$ K) v
380.         
     1 b6 x: ]6 o% P6 R' U. R2 e
381.   /* Cleaning of Source clock register */
     # |0 R9 j0 |" D3 K( u; F
382.   RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
     
383.   
     4 `, L8 T- H0 b+ c2 \! R
384.   /* Disable PLL */
     
385.   RCC_PLLCmd((FunctionalState)DISABLE);
     
386.   
     4 c! X5 H7 P/ X3 }- t, z
387.   /* Wait untill PLL is cleared */
     
388.   while((RCC->CR & RCC_CR_PLLRDY) == 1)
     : P, X& ?) Y4 G& X+ i
389.   {
     
390.   }
     
391.   
     
392.   /* Setting of system clock to 48 MHz */
     
393.   RCC_PLLConfig(RCC_PLLSource_HSI_Div2, RCC_CFGR_PLLMUL12); //8/2*12 = 48MHz
     
394.   
     7 q" k, `% [# H# t& Q' `' E
395.   /* Enable PLL */
     ' T5 q8 P8 T! _) Q5 B2 o
396.   RCC_PLLCmd((FunctionalState)ENABLE);
     9 N' S% E- W* Y  k+ X' i- _0 p
397.   
     8 o# c1 E! w' Z( h# X7 A
398.   /* Wait till PLL is ready */
     
399.   while((RCC->CR & RCC_CR_PLLRDY) == 0)
     2 d% k6 U4 ~8 q" L- ^
400.   {
     , f) y! ?1 |6 j8 P5 t8 ?5 E1 D) y
401.   }
     $ [' k3 L& w' }* D
402.   
     ; C2 l% V  C, L% |; [
403.   /* Select PLL as system clock source */
     
404.   RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL;   
       p$ g) n! q& l
405.   
     
406.   /* Wait till PLL is used as system clock source */
     & H8 _0 M4 `* x2 [9 W; r2 m" e5 D9 Z
407.   while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL)
     , W8 `5 S3 D" y) I
408.   {
     
409.   }
     4 c, l( g8 o/ k  Z, r3 A
410.   
     
411.   /* HSE disabling */
     
412.   RCC_HSEConfig(RCC_HSE_OFF);
     ' A/ V, E1 Z9 z
413.   
     
414.   /* Wait the disabling of HSE */
     ) S  o+ l; X% |* X1 O2 Z
415.   while(RCC_GetFlagStatus(RCC_FLAG_HSERDY)==1)
     0 |: ]1 ^4 e8 E
416.   {
     , ]: P6 I' G- o: ]
417.   }
     
418.   
     
419.   /** Setting for OC protection th **/
     
420.   RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOF,(FunctionalState) ENABLE);
     / p- J5 H- t" A
421.   GPIO_InitTypeDef GPIO_InitStructure;
     
422.   GPIO_StructInit(&GPIO_InitStructure);
     2 _7 t5 t: [; I+ ~! H8 y3 t: d
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;
     
426.   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
     & y; n' Z) F. z1 r
427.   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
     
428.   GPIO_Init(GPIOF, &GPIO_InitStructure);
     
429.   GPIOF->BSRR = GPIO_Pin_7;
     
430.   GPIOF->BRR = GPIO_Pin_6;
     
431. }
     ) x3 T1 S9 M, f& Q6 O, N0 |" t
432. #endif
     # c* w8 i* A# v! ^
433. 
     
434. #ifdef  USE_FULL_ASSERT
     6 R" d* M$ `3 k4 U( ?! q, g5 ?
435. /**
     9 w( E, b: C2 f) b$ c* r5 T
436.   * @brief  Reports the name of the source file and the source line number
     ) W" i+ q6 M$ n1 @) |' A) N
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
     4 G4 V% U7 ]! [0 ~+ R% x
440.   * @retval None
     
441.   */
       O4 k1 F0 W/ a3 F/ c; E3 {
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,
     7 m8 [1 ~; H% e; A! |; |! G7 t* g
445.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     
446. 
     
447.   /* Infinite loop */
     
448.   while (1)
     1 S: l3 `1 N( g( s: u! }
449.   {
     
450.   }
     
451. }
     1 U- q. c; k6 q% m6 A
452. #endif
     % l/ I6 K( ?2 r! d! s/ x; R
453. 
     
454. /******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/
     " C/ }) J8 Q" u

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1. /**
   
2.   ******************************************************************************
   # [# p0 X  Y6 N# |; c8 F; q
3.   * @file    Project/STM32F30x_StdPeriph_Templates/stm32f30x_it.c
   5 Y4 b( s  t) T2 L) |! e+ l; Q9 Q
4.   * @author  MCD Application Team
   
5.   * @version 4.3.0
   
6.   * @date    22-Sep-2016 15:29
   ; n" z2 S3 Y" X# Y# y1 M
7.   * @brief   Main Interrupt Service Routines.
   ' g$ V7 D& }3 S; _" G1 _
8.   *          This file provides template for all exceptions handler and
   
9.   *          peripherals interrupt service routine.
   
10.   ******************************************************************************
    
11.   * @attention
    
12.   *
    3 v6 V% P8 K! P6 t
13.   * <h2><center>© COPYRIGHT 2016 STMicroelectronics</center></h2>
    . a; o# L" W/ }+ I
14.   *
    $ \- V3 J" U& g9 S- t$ H
15.   * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
    4 V) H. A( w' I3 V( u7 e7 x7 M
16.   * You may not use this file except in compliance with the License.
    3 |0 @* x  x# O8 e7 H2 v/ _8 p
17.   * You may obtain a copy of the License at:
    . q3 a$ Q$ C! r) l
18.   *
    
19.   *        http://www.st.com/software_license_agreement_liberty_v2
    
20.   *
    & X$ s& y! |# }+ x
21.   * Unless required by applicable law or agreed to in writing, software
    0 [) X1 Y  v2 x' n! P& ]
22.   * distributed under the License is distributed on an "AS IS" BASIS,
    4 @6 g- B. A5 G
23.   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    
24.   * See the License for the specific language governing permissions and
    7 n6 x6 u9 q( o& K7 u
25.   * limitations under the License.
    
26.   *
    2 [2 b5 R3 j2 _4 `: I* b
27.   ******************************************************************************
    7 e* R) s1 x; a5 v( [" s$ z
28.   */
    
29. 
    
30. /* Includes ------------------------------------------------------------------*/
    5 i1 k! l, o1 O0 Q4 l* A3 U
31. #include "stm32f30x_it.h"
    ' E# s) M6 v; S" U" i) p' b( i
32. #include "Timebase.h"
    ! B. a% n' v8 ~9 h. M" q/ Y
33. 
    
34. /** @addtogroup Template_Project
    
35.   * @{
    % E0 v/ m. {3 J+ Q
36.   */
    ' P- l* `' |8 A' V9 v0 b
37. 
    
38. /* Private typedef -----------------------------------------------------------*/
    
39. /* Private define ------------------------------------------------------------*/
    * Q: s8 @9 D0 `, V! p- e
40. /* Private macro -------------------------------------------------------------*/
    , _" A2 t+ F6 t  p1 a0 J! W
41. /* Private variables ---------------------------------------------------------*/
    6 L8 E0 e+ Y, n+ m0 U
42. /* Private function prototypes -----------------------------------------------*/
    
43. /* Private functions ---------------------------------------------------------*/
    
44. 
    ( Y" t# W8 S0 X" l: I0 K" t+ ^
45. /******************************************************************************/
    / a1 C5 @7 `6 _9 p* I
46. /*            Cortex-M4 Processor Exceptions Handlers                         */
    
47. /******************************************************************************/
    " l3 }$ w7 h+ J% h' H
48. 
    4 E: K. w0 {7 D1 X* o
49. /**
    
50.   * @brief  This function handles NMI exception.
    9 l+ W4 z( I) f" U' `
51.   * @param  None
    ' j+ L% K: u# w# a
52.   * @retval None
    
53.   */
    ; D( G7 Y4 ?* Y' e
54. void NMI_Handler(void)
    
55. {
    
56. }
    : g& O4 L, g! G- t5 b4 z% w
57. 
    ; X7 s: p6 I4 B' A  C* a2 |$ J1 {
58. /**
    9 O; r$ z% k% k- P) ~
59.   * @brief  This function handles Memory Manage exception.
    
60.   * @param  None
    # f( s# a# R! Z9 ?( p. A1 M
61.   * @retval None
    " c0 c3 p8 \) ~' o' t. `: b6 N
62.   */
    & F# e# |. u6 @9 H
63. void MemManage_Handler(void)
    
64. {
    # x2 R, K$ D; Z. C& ^! h
65.   /* Go to infinite loop when Memory Manage exception occurs */
    5 n- _* r; y& |2 ]
66.   while (1)
    
67.   {
    & F# S7 ?1 `# u6 n& n
68.   }
    
69. }
    
70. 
    ; ~% ^) T! w$ q4 i+ e2 d
71. /**
    
72.   * @brief  This function handles Bus Fault exception.
    
73.   * @param  None
    0 V- D6 [. f( {
74.   * @retval None
    ' B7 l) I/ C  y+ w3 F5 t
75.   */
      L' e2 x2 P" T8 C0 V- v9 x- ^
76. void BusFault_Handler(void)
    * c* g* h: ~. \! q
77. {
    / L4 {# t( G/ u& f7 ?. S
78.   /* Go to infinite loop when Bus Fault exception occurs */
    , N* G1 J( ]) U$ k" L, B
79.   while (1)
    9 P' {& _1 X$ C% r
80.   {
    $ t; U" U# k  Z* y, F# U% @
81.   }
    
82. }
    
83. 
    
84. /**
    5 x. E1 `9 T( Z; i
85.   * @brief  This function handles Usage Fault exception.
    
86.   * @param  None
    9 V$ }2 W6 \! V* T
87.   * @retval None
    
88.   */
    " q& o5 ]7 d1 W: u  [, i! Y) F
89. void UsageFault_Handler(void)
    6 X5 |# C# }1 Z  f$ p1 \4 A- U
90. {
      A7 D# e/ h( x. o# F! u( W
91.   /* Go to infinite loop when Usage Fault exception occurs */
    
92.   while (1)
    2 s3 L5 z8 Q2 P( M
93.   {
    $ d) O9 p. j  o. o3 w4 ~
94.   }
    
95. }
    
96. 
    
97. #ifndef FREE_RTOS
    * M" _3 o) N- h$ z% y' ?
98. /**
    ) j# x/ G' z2 y0 t
99.   * @brief  This function handles SVCall exception.
    
100.   * @param  None
     
101.   * @retval None
     / X& X8 S6 k6 |) d8 k0 u1 }
102.   */
     4 `0 w. a8 g" I) ]3 \* u
103. void SVC_Handler(void)
     / b: B) E5 m8 d  U' \
104. {
     ) {. r' P; d1 e6 H, y; n
105. }
     - G) A: E, p( F" l; ~
106. #endif
     
107. 
     
108. /**
     
109.   * @brief  This function handles Debug Monitor exception.
     
110.   * @param  None
     ; ?4 u/ Q9 e8 K  j" D
111.   * @retval None
     
112.   */
     
113. void DebugMon_Handler(void)
     * ^) m) |! w5 C  N# D
114. {
     5 H% ^' A9 k/ @  t
115. }
     " T9 V9 d2 U; n' A
116. 
     
117. #ifndef FREE_RTOS
     8 l8 ?/ Q2 P3 s+ O3 N, v2 f
118. /**
     
119.   * @brief  This function handles PendSVC exception.
     3 s% A( n' x, n0 M: \
120.   * @param  None
     0 j% B: H# m4 Z+ a8 A+ f8 a
121.   * @retval None
     
122.   */
       \4 |$ {/ @7 K4 m% F) G  E
123. void PendSV_Handler(void)
     - b& }8 K! h7 {6 h* h
124. {
     
125. }
     
126. #endif
     
127. 
     & P9 ]: G1 w% I1 E! p. ~# `
128. #ifndef FREE_RTOS
     
129. /**
     
130.   * @brief  This function handles SysTick Handler.
     . s! y% i+ C% Y8 L
131.   * @param  None
     6 {2 i$ w8 K4 {) {- C
132.   * @retval None
     + r9 q$ Z8 |' U& L0 n9 O
133.   */
     . J7 H& V7 w  u4 R2 m$ P1 V
134. extern uint16_t mytime;
     % j7 ~7 N- O% P/ W; Q
135. void SysTick_Handler(void)
       O/ U# t. J! e' G
136. {
     ( X4 W& S7 f5 {7 @" t& C# r
137.   TB_Scheduler();
     $ B. k& H5 |4 q; }0 T7 H
138.         mytime++;
     
139.         if(mytime == 20000)
     * N& P) F6 w1 V5 D9 w# }/ Q* C0 l
140.         {mytime=0;}
     6 s, \  D; I" ~2 _' g# V
141. }</font>
     . e4 H" R8 w! c- {, e1 S& a& m
142. #endif
     ) @7 V8 }4 l% t
143. 
     ( ?3 e- g8 H  M1 U! a- A
144. /******************************************************************************/
     5 w5 z8 b6 a3 E; o0 U9 j
145. /*                 STM32F30x Peripherals Interrupt Handlers                   */
     
146. /*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
     
147. /*  available peripheral interrupt handler's name please refer to the startup */
     ' k* i' z& @* Q% n$ m
148. /*  file (startup_stm32f30x.s).                                            */
     
149. /******************************************************************************/
     . E5 g* q% F/ M! E. F
150. 
     
151. /**
     
152.   * @brief  This function handles PPP interrupt request.
     
153.   * @param  None
     
154.   * @retval None
     
155.   */
     
156. /*void PPP_IRQHandler(void)
     * N5 s" d/ z- e+ d
157. {
     
158. }*/
     . d, `, f: Q/ J' Q3 R+ O" I5 }
159. 
     
160. /**
     
161.   * @}
     
162.   */
     4 j6 r; N: r9 l
163. 
     ) P' P3 p/ [% |  ?/ S0 Y
164. 
     
165. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
     
166. 
     
167. /******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/
     4 v, L+ h  {% @

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1）如果是运行任务1，请取消TASK1代码注释
, e  X( ~- c( `7 P
1 E1 n/ A! J* s% M  d! c1 O: B2）如果是运行任务2，请取消TASK2代码注释

. t9 ^" D! V5 N8 k" D/ {: i3）如果是运行任务3，请取消TASK3代码注释


0 M% L& O8 Q/ l" m; Q9 K

真够懒的。
这又不是github。

moyanming2013 发表于 2017-8-29 11:47
. R5 ~- k( X1 e* u真够懒的。
6 y/ d7 u) z' e3 \+ P这又不是github。

详细的说明我在昨天的帖子里说了