1. /**
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2.   ******************************************************************************
   
3.   * @file    main.c
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4.   * @author  STMicroelectronics - System Lab - MC Team
     l" s( n4 {3 h( r  a/ T3 Y0 e
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
   4 a. S- _/ V* t" I) i; y
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");
    
14.   * You may not use this file except in compliance with the License.
    
15.   * You may obtain a copy of the License at:
    
16.   *
    9 A) c7 v4 r6 ~/ W$ G8 V+ d3 X
17.   *        http://www.st.com/software_license_agreement_liberty_v2
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18.   *
    % x4 n% T0 i3 L1 o
19.   * Unless required by applicable law or agreed to in writing, software
    
20.   * distributed under the License is distributed on an "AS IS" BASIS,
    0 O- h7 d( j: m
21.   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    
22.   * See the License for the specific language governing permissions and
    
23.   * limitations under the License.
    
24.   *
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25.   ******************************************************************************
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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
    
31. #include "CrossCheck.h"
    
32. #undef PROJECT_CHK
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33. 
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34. #include "MCTuningClass.h"
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35. #include "MCInterfaceClass.h"
    
36. #include "StateMachineClass.h"
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37. 
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38. #if defined(PFC_ENABLED)
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39.   #include "PFCInit.h"
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40.   #include "PFCApplication.h"
    
41. #endif
    
42. 
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43. #include "MCTasks.h"
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44. #include "Parameters conversion.h"
    
45. #ifdef DUALDRIVE
    # C. U% h3 L' x; X
46. #include "Parameters conversion motor 2.h"
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47. #endif
    
48. #include "Timebase.h"
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49. #include "UITask.h"
    ! c0 m! R2 f( r  }
50. #include "MCLibraryISRPriorityConf.h"
    ! U, s' z1 |7 e# f5 l! e/ f$ e
51. 
    
52. #include <stdio.h>
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53. 
    
54. #if (defined(USE_STM32303C_EVAL))
    
55. #include "stm32303c_eval.h"
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56. #elif USE_EVAL
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57. #include "stm32_eval.h"
    
58. #endif
    
59. 
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60. #ifdef USE_STGAP1S
    
61. #include "GAPApplication.h"
    
62. #endif
    
63. 
    4 W( g* F) d7 z
64. #ifdef STSPIN32F0
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65. void STSPIN32F0_Init(void);
    
66. #endif
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67. 
    
68. #define INTERNAL 0
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69. #define EXTERNAL 1
    1 [# d" j+ v/ {$ g- g  E
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);
      i/ Y0 N4 C4 T
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. 
    1 j% Q1 K3 A$ C* ?3 R' _
79. #ifdef __GNUC__
    9 f( M4 B( z/ \8 U
80. /* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
    1 m5 M9 G. l" m+ }, o7 M/ [
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. 
    
87. #if defined(EXAMPLE_SPEEDMONITOR)
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88.   void speedmonitor_start(void);
    1 U. O+ ]6 Q* o& F
89. #endif
    
90. #if defined(EXAMPLE_POTENTIOMETER)
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91. void potentiometer_start(void);  
    . U4 B, K1 c4 T
92. #endif   
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93. #if defined(EXAMPLE_RAMP)
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94.   void ramp_start(void);
    9 N/ A6 l1 s& {0 }' v
95. #endif   
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96. #if defined(EXAMPLE_PI)
    6 L$ F: S: d0 K: X# G
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);
     8 E4 ~, d1 v$ I, L" C
101. #endif
     
102.    
     
103. /* Private function prototypes -----------------------------------------------*/
     
104. 
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105. void SysTick_Configuration(void);
     
106. 
     
107. /* Private variables ---------------------------------------------------------*/
     
108. 
     % L* H& D5 ?  E& ]
109. CMCI oMCI[MC_NUM];
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110. CMCT oMCT[MC_NUM];
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111. 
     
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;
     
115. /* Private macro -------------------------------------------------------------*/
     
116. /* Private variables ---------------------------------------------------------*/  
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117. 
     
118. /**
     
119.   * @brief  Main program.
     
120.   * @param  None
     
121.   * @retval None
     
122.   */
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123. int main(void)
     
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.
     
128.        To reconfigure the default setting of SystemInit() function, refer to
     , k+ X; \- E0 U% Y1 ~* W* O* A# @" F
129.        system_stm32f10x.c file
     # U/ M9 R) c- h! Z- W+ B
130.      */
     
131.   
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132. #if !defined(STM32F0XX)
     
133.   /*NVIC Priority group configuration.
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134.     Default option is NVIC_PriorityGroup_3.
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135.   */
     
136.   NVIC_PriorityGroupConfig(NVIC_PriorityGroup_3);
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137. #endif
     
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();
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145. #endif
     
146. 
     
147. #ifdef STSPIN32F0
     
148.   STSPIN32F0_Init();
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149. #endif
     
150.    
     
151.   /*MCInterface and MCTuning boot*/
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152.   MCboot(oMCI,oMCT);
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153.   
     
154.   #if defined(PFC_ENABLED)
     
155.     PFC_Boot(oMCT[0],(CMCT)MC_NULL, (int16_t *)MC_NULL);
     
156.   #endif
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157.    
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158.   /*Systick configuration.*/
     
159.   SysTick_Configuration();
     
160.   
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161.   /* Start here ***************************************************************/
     
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))
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165.   UI_TaskInit(UI_INIT_CFG,wConfig,MC_NUM,oMCI,oMCT,s_fwVer);
     ! g: ~4 [  [' Y" ~# T. |
166. #endif  
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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;
     " [7 s( Y! X. y
172.     GPIO_StructInit(&GPIO_InitStructure);
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173.     GPIO_InitStructure.GPIO_Pin = START_STOP_GPIO_PIN;
     . O. J6 A0 i& u
174.     GPIO_Init(START_STOP_GPIO_PORT, &GPIO_InitStructure);
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175.   }
     
176. #endif
     
177. //TASK2ÐÞ¸ÄPI²ÎÊý
     
178. /*        
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179.         static int16_t Speed_Kp,Speed_Ki;
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180.         static CPI oPItuning;
     
181.         oPItuning = MCT_GetSpeedLoopPID(oMCT[0]); // ????PID???
     $ }& P, J- V  [% k) h
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);        
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186. */        </font>
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187.   /* End here******************************************************************/  
     
188. /* TASK3Õý·´×ª¹ÊÕÏ  
     
189.         MCI_ExecSpeedRamp(oMCI[0],3000/6,1000);
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190.         MCI_StartMotor(oMCI[0]);
     
191.         MCI_ExecSpeedRamp(oMCI[0],-3000/6,1000);
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192.         CSTM oSTM = MCT_GetStateMachine(oMCT[0]);
     - }5 l; m  i" f7 a! G8 x4 ?) G. n
193.         //STM_NextState(oSTM,STOP_IDLE);
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194.         STM_FaultProcessing(oSTM, MC_SPEED_FDBK, STOP_IDLE );</font>
     ) X- C9 j- p2 y
195. */        
     
196.   while(1)
     # `* X4 Z3 B9 N
197.   {
     
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]);
     " m3 p7 Y; y6 b. Z$ {
204.                         MCI_ExecSpeedRamp(oMCI[0],MCI_GetLastRampFinalSpeed(oMCI[0]), 1000);
     
205.                         MCI_StartMotor(oMCI[0]);
     . {7 V. C  J  L* W0 ]4 I% t9 d
206.                 }
     
207.                 */</font>
     1 ]' u# K6 n8 \8 ~( Y
208.         
     
209.                
     
210.                 /*TASK1
     3 u2 v) \  N. r& `# C# N
211.                 if(mytime==0)
     # }- n: W' S9 }' X1 u( [
212.                 {
     
213.                         MCI_ExecSpeedRamp(oMCI[0],3000/6,1000);
     . k' ~8 R7 T$ b$ ?) ]
214.                         MCI_StartMotor(oMCI[0]);
     
215.                 }
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216.                 if(mytime==10000)
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217.                 {
     
218.                         MCI_StopMotor(oMCI[0]);
     
219.                 }
     " L% C" b: T* }& K4 z* }
220. */</font>
     
221. #ifdef SERIAL_COMMUNICATION
     
222.     /* Start here ***********************************************************/
     
223.     /* GUI, this section is present only if serial communication is enabled.*/
     - i$ G; E( S: {$ s, n
224.     if (UI_SerialCommunicationTimeOutHasElapsed())
     
225.     {
     % ]7 J2 Y4 S* [/ B% h" g' L
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.     }
     
229.     if (UI_SerialCommunicationATRTimeHasElapsed())
     ) p4 }  }; j, \" j& m
230.     {
     ) ]( X6 U8 w/ x+ B; h2 C0 P& h
231.       // Send ATR message
     
232.       Exec_UI_IRQ_Handler(UI_IRQ_USART,4,0); // Flag 4 = Send ATR message*/
     9 |0 T$ d, v! R/ A
233.     }
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234.     /* End here**************************************************************/
     
235. #endif
     8 [) N# F+ O2 e: f3 ~# Y2 |
236. 
     % r& E! j# m& J$ Q
237. #if (defined(LCD_FUNCTIONALITY) || defined(ENABLE_START_STOP_BUTTON))
     + t: V3 {9 J0 n5 E9 ?/ {
238.     /* Start here ***********************************************************/
     - u6 m+ q' o" O- e" U3 R, |
239.     /* GUI, this section is present only if LCD or start/stop button is enabled. */
     
240.     if (UI_IdleTimeHasElapsed())
     ( ]1 u" J. H5 d9 w8 Z( V2 X! s/ ?
241.     {  
     6 ]1 e- R3 ^1 N* Y0 p" H
242.       UI_SetIdleTime(UI_TASK_OCCURENCE_TICKS);
     
243.       
     % l: `) ~7 U( U! G. @: ^  ]& F
244. #ifdef LCD_FUNCTIONALITY
     
245.       UI_LCDRefresh();
     : y2 e( g* v7 a7 m
246. #endif
     
247.       
     
248. #ifdef ENABLE_START_STOP_BUTTON
     % s& i/ C; Q: {
249.       {
     
250.         /* Chek status of Start/Stop button and performs debounce management */
     3 f- V6 p0 i2 R  O3 ^2 Z& |
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.         {
     , J) J2 C/ R% P8 L
255. 
     
256. #ifdef SINGLEDRIVE
     - C' d" ^) C: r- y1 @
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)
     
260.           {
     8 O( F# m( [. A6 l: D  O
261.             MCI_StartMotor(oMCI[M1]);
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262.           }
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263.           else
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264.           {
     . M( i. k& V% U8 k: g) ]
265.             MCI_StopMotor(oMCI[M1]);
     
266.           }
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267. #endif
     8 W8 B9 A; M& o3 k& u* ]
268.         
     / I  g; B. |4 b+ j* b
269. #ifdef DUALDRIVE
     5 H( {% f4 s4 ~! d* C
270.           /* Stop both motors */
     ! B4 r" i& N& g. A. T, f3 C6 I) R
271.           MCI_StopMotor(oMCI[M1]);
     
272.           MCI_StopMotor(oMCI[M2]);
     , U/ l) o: L7 P% C) T1 m
273. #endif
     
274. 
     
275.           hKeyButtonDebounceCounter = 4u; /* Debounce time xx * LCD Clock */
     ; x0 \$ a$ j, C3 B# x( q; t
276.         }
     ) `, n  Q; p6 e3 M
277.         if (hKeyButtonDebounceCounter > 0)
     
278.         {
     . j) _- i4 L- R* d
279.           hKeyButtonDebounceCounter--;
       N" U/ X; F% q+ f" {
280.         }
     5 m3 U: I; E# d: A0 g3 [- S
281.       }
       u; Z( J) M! ~" j7 H+ P
282. #endif
     5 c2 T# I1 `. z8 T4 |  s, k2 Z- T! ~
283.       
     
284.     }
     
285.     /* End here**************************************************************/  
     1 \" V# D$ r" @5 V; r
286. #endif
     " B7 C: u3 H2 O* w! l
287. 
     
288. /********************************   EXAMPLE AREA ******************************/
     * E: q4 q; E" \# `- k
289. #if defined(EXAMPLE_POTENTIOMETER)
     
290.    potentiometer_start();  
     % e9 O( ?8 C* b: J
291. #endif   
     5 O- ?0 D- u% M* m5 N
292. #if defined(EXAMPLE_RAMP)
     ! V1 [; k! x4 m6 J, J& u
293.    ramp_start();
     3 ^2 N  A0 Y5 [5 N6 _8 C- O
294. #endif   
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295. #if defined(EXAMPLE_PI)
     
296.    NewPIval_start();
     
297. #endif   
     
298. #if defined(EXAMPLE_CONTROLMODE)
     , j3 T0 M) l( \' m
299.    TqSpeedMode_start();
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300. #endif
     
301. #if defined(EXAMPLE_SPEEDMONITOR)
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302.    speedmonitor_start();
     5 c& e! \. {4 A' i
303. #endif
     
304. /*****************************************************************************/
     
305.    
     
306. #ifdef USE_STGAP1S
     
307.    GAPSchedule();
     
308. #endif
     ( S, {. p9 Q$ O2 b: b
309.    
     4 z# ]8 O3 ^& Q( l0 \
310.   }
     
311. }
     
312. /**
     
313.   * @brief  Configures the SysTick.
     
314.   * @param  None
     " B. s. E  D" M' N
315.   * @retval None
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316.   */
     
317. void SysTick_Configuration(void)
       O$ `; N7 c5 A5 |" p3 c2 R
318. {
     ( J8 \$ Y7 Y$ u7 ~
319.   /* Setup SysTick Timer for 500 usec interrupts  */
     
320.   if (SysTick_Config((SystemCoreClock) / SYS_TICK_FREQUENCY))
     8 b. R; S, O: G0 |
321.   {
     
322.     /* Capture error */
     
323.     while (1);
     
324.   }
     
325.   
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326.   NVIC_SetPriority(SysTick_IRQn, SYSTICK_PRIORITY);
     
327.   NVIC_SetPriority(PendSV_IRQn, PENDSV_PRIORITY);
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328. }
     
329. 
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330. #if STM32F3_64MHZ_INT
     
331. void STM32F3_64MHz_Internal()
     
332. {
     7 s& L, K9 Z1 o* i4 c4 U- C3 J
333. #warning "Internal"
     ( a7 m5 ?8 o. I5 S
334.   /* Cleaning of Source clock register */
     
335.   RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
     
336.   
     
337.   /* Disable PLL */
     / ]7 p; ?( Q- {: E
338.   RCC_PLLCmd((FunctionalState)DISABLE);
     
339.   
     
340.   /* Wait untill PLL is cleared */
     . m2 Q/ t* b3 E8 z  k+ P) w
341.   while((RCC->CR & RCC_CR_PLLRDY) == 1)
     $ @' q3 J, ]9 v0 D; F0 K4 z9 `
342.   {
     7 j/ T$ o4 U# F0 Z5 R
343.   }
     
344.   
     
345.   /* Setting of system clock to 64 MHz */
     1 x" `1 M3 s% ]8 Z
346.   RCC_PLLConfig(RCC_PLLSource_HSI_Div2, RCC_PLLMul_16); //8/2*16 = 64MHz
     ( p" h5 W3 m, h/ L& H  R& J
347.   
     " e( g' M9 n. a! G# m8 q
348.   /* Enable PLL */
     5 J* Z1 b5 f2 r: X: d5 d! y
349.   RCC_PLLCmd((FunctionalState)ENABLE);
     . W! p! q% ]3 `0 p0 y5 F1 f
350.   
     % N# c& k/ T3 R7 ^6 v9 b7 c* s
351.   /* Wait till PLL is ready */
     ( |  k1 I4 P5 _, c0 j
352.   while((RCC->CR & RCC_CR_PLLRDY) == 0)
     4 g* y% l4 P/ l5 `
353.   {
     6 M) V! O% }0 i
354.   }
     4 y9 u6 q6 L6 h4 I/ k7 \, ~: v
355.   
     5 x% u1 g- F) G5 o
356.   /* Select PLL as system clock source */
     
357.   RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL;   
     ) M5 I# s/ U8 b! H
358.   
     
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)
     
361.   {
     
362.   }
     ) r- h, A6 s. c0 H3 b- B
363.   
     ) M7 u( P, k3 q0 |
364.   /* HSE disabling */
     : w1 p; _: D1 ~4 e  v
365.   RCC_HSEConfig(RCC_HSE_OFF);
     
366.   
     . q2 t! L1 K; S: b6 O
367.   /* Wait the disabling of HSE */
     0 B% R. F. U+ @: h9 Y
368.   while(RCC_GetFlagStatus(RCC_FLAG_HSERDY)==1)
     
369.   {
     
370.   }
     6 P) X; o5 h/ V, b9 |
371. }
     0 f! n- I  B% R; ~1 G8 P
372. #endif
     0 [. [0 R2 \2 k! k' k
373. 
     
374. #ifdef STSPIN32F0
     $ T: T$ }1 N/ v! }  L% u8 `+ `
375. void STSPIN32F0_Init(void)
     
376. {
     / E. E! m0 J2 r; e% b
377.         /** This function is dedicated to the manual setting for STSPIN32F0. **/
     1 X) x" L, j+ F  z8 s5 U
378.         
     
379.         /** Setting of internal clock source **/
     : v& P1 g  w% E+ s
380.         
     - b0 v, L. i; C, A$ G
381.   /* Cleaning of Source clock register */
     9 E4 @  C0 v! n3 V3 B7 f
382.   RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
     
383.   
     9 E) P7 i  T' h+ P5 g
384.   /* Disable PLL */
     + M( `  [6 K0 J6 z4 L
385.   RCC_PLLCmd((FunctionalState)DISABLE);
     
386.   
     
387.   /* Wait untill PLL is cleared */
     
388.   while((RCC->CR & RCC_CR_PLLRDY) == 1)
     0 Z) y$ }, @" m/ x
389.   {
     % V7 v. {5 W  i! D0 j, g8 [
390.   }
     & u  K6 e( m4 B' z  `
391.   
     
392.   /* Setting of system clock to 48 MHz */
     
393.   RCC_PLLConfig(RCC_PLLSource_HSI_Div2, RCC_CFGR_PLLMUL12); //8/2*12 = 48MHz
     ; |7 O7 C1 V* Y
394.   
     
395.   /* Enable PLL */
     * @; H' e  @3 z+ c4 T. H
396.   RCC_PLLCmd((FunctionalState)ENABLE);
     
397.   
     
398.   /* Wait till PLL is ready */
     : ?' z( E0 c) J
399.   while((RCC->CR & RCC_CR_PLLRDY) == 0)
     6 w3 m: }8 m( f6 o7 e
400.   {
     
401.   }
     8 O+ e* o3 x9 `( g2 p) u1 ?
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 */
     , B1 U- r$ X7 F5 z. k
407.   while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL)
     / I5 {6 h- q5 h8 f/ L
408.   {
     
409.   }
     , @7 z: J8 `, @3 ^
410.   
     $ B' c  f/ }2 O7 m
411.   /* HSE disabling */
     
412.   RCC_HSEConfig(RCC_HSE_OFF);
     
413.   
     
414.   /* Wait the disabling of HSE */
     * o* I! \) D0 m' Z# |" T
415.   while(RCC_GetFlagStatus(RCC_FLAG_HSERDY)==1)
     
416.   {
     
417.   }
     7 E( s0 s! r7 R5 S$ g4 W
418.   
     
419.   /** Setting for OC protection th **/
     - h# k$ ?, I- s
420.   RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOF,(FunctionalState) ENABLE);
     
421.   GPIO_InitTypeDef GPIO_InitStructure;
     
422.   GPIO_StructInit(&GPIO_InitStructure);
     
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;
     9 K  s/ k! C! o
426.   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
     % J# U/ `' p4 o# X) A, P4 G6 p
427.   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
     + F, d$ h! w4 l2 @) @: C8 b
428.   GPIO_Init(GPIOF, &GPIO_InitStructure);
     3 z, A8 `- @' C+ X. `& N
429.   GPIOF->BSRR = GPIO_Pin_7;
     
430.   GPIOF->BRR = GPIO_Pin_6;
     
431. }
     7 J/ R8 }$ L  J) a
432. #endif
     $ Q; P5 H; ]4 e$ `2 [) @0 K
433. 
     , }: U# L, {: ?& R. n
434. #ifdef  USE_FULL_ASSERT
     
435. /**
     * L( g/ H' v* R6 I$ j
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
     : d) E: u! d+ ~+ f% G. ~8 y
439.   * @param  line: assert_param error line source number
     : ]9 F) m* ~: [5 ^* V( k) ^& f
440.   * @retval None
     ! a& b5 W4 t  g  [
441.   */
     
442. void assert_failed(uint8_t* file, uint32_t line)
     
443. {
     ' D' G, `9 L9 Q( Y( Q) U, O+ A8 c
444.   /* User can add his own implementation to report the file name and line number,
       x% g8 a6 s  v( e4 P
445.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     : B* H/ ~6 b6 V% [: v" g+ e) {
446. 
     ; X5 n" R" k" z% s& v2 H" }/ O: L
447.   /* Infinite loop */
     
448.   while (1)
     0 c3 R$ G" P3 ]% l( n
449.   {
     
450.   }
     " y3 g/ k" _- s5 X0 `) f
451. }
     . w) j# d/ i3 f* C8 a" h/ n( t- [
452. #endif
     1 L% A, C! V# B5 D
453. 
     
454. /******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/
     ; R& s( A( g% b3 V! s( N

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1. /**
   " \' P1 r# }2 a- m" X4 @& X
2.   ******************************************************************************
   
3.   * @file    Project/STM32F30x_StdPeriph_Templates/stm32f30x_it.c
   % F1 a6 _  Z' m5 q
4.   * @author  MCD Application Team
   8 b  \. R- n, q  d' A+ T! e3 t( i2 N6 G
5.   * @version 4.3.0
   3 U) N! O) B! Y& T9 O
6.   * @date    22-Sep-2016 15:29
   " ^5 O% D- Q% n% y& e
7.   * @brief   Main Interrupt Service Routines.
   ) t6 I- s. h2 T# }) \  G! I
8.   *          This file provides template for all exceptions handler and
   ( s3 J3 _7 T1 g- X# e& ^8 u2 O2 u+ @2 P
9.   *          peripherals interrupt service routine.
   
10.   ******************************************************************************
    $ C! Y( r8 j# Z3 a; {( l
11.   * @attention
    
12.   *
    
13.   * <h2><center>© COPYRIGHT 2016 STMicroelectronics</center></h2>
    # z* ^' o& E. t  s
14.   *
    
15.   * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
    * ]+ S9 w! Y" ~5 e- Z0 ~
16.   * You may not use this file except in compliance with the License.
    
17.   * You may obtain a copy of the License at:
    8 S2 \9 u1 y  A9 q$ d# l7 [: j" g
18.   *
    
19.   *        http://www.st.com/software_license_agreement_liberty_v2
    
20.   *
    
21.   * Unless required by applicable law or agreed to in writing, software
    4 ^+ U6 }/ v# d% A, X- l$ Z
22.   * distributed under the License is distributed on an "AS IS" BASIS,
    9 A+ V6 p4 R- p8 H
23.   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    
24.   * See the License for the specific language governing permissions and
    0 X$ a1 e( @* @: c$ ]
25.   * limitations under the License.
    " h  Y5 i7 I6 U( ]" ?
26.   *
    1 I' r* g) S8 i2 f7 W
27.   ******************************************************************************
    
28.   */
    1 B( u4 g5 j* `
29. 
    
30. /* Includes ------------------------------------------------------------------*/
    
31. #include "stm32f30x_it.h"
    5 w- q6 Z- U( t- d- V
32. #include "Timebase.h"
    & p/ v/ {, Q; l% U% w
33. 
    
34. /** @addtogroup Template_Project
    ! N$ Q5 u! |" M( a8 ]/ `6 G2 P
35.   * @{
    
36.   */
    , s1 W/ p6 @# m& |' J0 o
37. 
    $ Q- B) c+ {) j  T( U- S( s
38. /* Private typedef -----------------------------------------------------------*/
    8 C+ X9 E: a) v& Q
39. /* Private define ------------------------------------------------------------*/
    
40. /* Private macro -------------------------------------------------------------*/
    
41. /* Private variables ---------------------------------------------------------*/
    
42. /* Private function prototypes -----------------------------------------------*/
    / J1 \0 X* H. o( a0 Q
43. /* Private functions ---------------------------------------------------------*/
    
44. 
    - l( Y: w- {* {" D
45. /******************************************************************************/
    * |' Q9 `1 m" b9 J
46. /*            Cortex-M4 Processor Exceptions Handlers                         */
    
47. /******************************************************************************/
    
48. 
    
49. /**
    . L. P. j9 t. s& [  \/ ^9 C
50.   * @brief  This function handles NMI exception.
    
51.   * @param  None
    
52.   * @retval None
    
53.   */
    
54. void NMI_Handler(void)
    
55. {
    2 L8 j* F: b  C  m! ~
56. }
    5 ^' \# `2 B. W: I4 l
57. 
    ) a" ~) `" o) c% I% _% v
58. /**
    $ h7 u  R5 g% j+ v
59.   * @brief  This function handles Memory Manage exception.
    
60.   * @param  None
    
61.   * @retval None
    ' K4 z5 J* w$ f! C% ~9 {  S
62.   */
    
63. void MemManage_Handler(void)
    
64. {
    1 E4 s3 r3 N+ ]; D8 p
65.   /* Go to infinite loop when Memory Manage exception occurs */
    
66.   while (1)
    , a5 M' b1 V% c; L
67.   {
    0 k$ `7 P4 v8 J, N. J8 t; i& i& r
68.   }
    * y" O* G6 U+ n# |* t" h# X$ r* C, n
69. }
    
70. 
    & R1 y0 D5 {  u8 Z
71. /**
    # i5 @) u. p9 }- j
72.   * @brief  This function handles Bus Fault exception.
    
73.   * @param  None
    5 H3 `9 h: {8 J7 A
74.   * @retval None
    ; Q# `' H% D8 I% T; e
75.   */
    
76. void BusFault_Handler(void)
    0 v4 B+ O* P; l* H8 o4 ]0 J) Y5 K
77. {
    
78.   /* Go to infinite loop when Bus Fault exception occurs */
    
79.   while (1)
    ! ^! x# p& h6 Q4 h
80.   {
    9 W' |( h. l4 {+ s0 Q
81.   }
    ; g8 R) H- m; h4 ~8 \: j6 i
82. }
    1 I. }9 ~  M4 C, p. i
83. 
    ' `, [  m% q& K
84. /**
    
85.   * @brief  This function handles Usage Fault exception.
    
86.   * @param  None
    
87.   * @retval None
    
88.   */
    9 m8 ^+ _! e+ U5 G+ i- ~
89. void UsageFault_Handler(void)
    
90. {
    
91.   /* Go to infinite loop when Usage Fault exception occurs */
    
92.   while (1)
    
93.   {
    
94.   }
    $ ?; ?& n/ f6 R+ B& [+ G5 ~4 s
95. }
    . n0 Q. Q& L) P
96. 
    % j+ H( |" Y" ^$ _) R
97. #ifndef FREE_RTOS
    
98. /**
    " X- `3 h+ B$ i# v! |
99.   * @brief  This function handles SVCall exception.
    
100.   * @param  None
     4 g$ L" E3 e4 {; K
101.   * @retval None
     $ K3 I+ B. p. J
102.   */
     
103. void SVC_Handler(void)
     2 `% p; k* n0 ?. o
104. {
     2 H$ v6 e& @) u$ |% C2 c" g
105. }
       k( h  Y) W9 K
106. #endif
     1 S' d. W! Y9 F& X+ W! X* h. f& {7 Z- v
107. 
     + y1 \) Q, W/ G' D
108. /**
     
109.   * @brief  This function handles Debug Monitor exception.
     + N( ]3 j9 y$ C, ~) e
110.   * @param  None
     ( L1 E; X( R5 `. ^/ W& f8 _
111.   * @retval None
     
112.   */
     
113. void DebugMon_Handler(void)
     
114. {
     , E! T, E: g' I/ ~
115. }
     ) z( Z5 Y3 z$ P' T7 A) P
116. 
     
117. #ifndef FREE_RTOS
     
118. /**
     
119.   * @brief  This function handles PendSVC exception.
     
120.   * @param  None
     % t! Z0 `3 ]# @% m' [
121.   * @retval None
     
122.   */
     
123. void PendSV_Handler(void)
     0 H% K' K3 _7 L' c
124. {
     * F( c, E7 W: y' W
125. }
     
126. #endif
     
127. 
     
128. #ifndef FREE_RTOS
     + M4 m, c) b& n( Y, @
129. /**
     2 e9 g. G& q. x0 v
130.   * @brief  This function handles SysTick Handler.
     6 m" A* E3 N- C/ r' D
131.   * @param  None
     
132.   * @retval None
     
133.   */
     ' V1 ~6 W/ s5 ~' Z, z$ D8 f
134. extern uint16_t mytime;
     
135. void SysTick_Handler(void)
     ( i8 s) H  D' i: W' N6 }, ?$ o
136. {
     0 |4 z5 `! D8 ~" X
137.   TB_Scheduler();
     
138.         mytime++;
     
139.         if(mytime == 20000)
     ( O$ x# ?$ x$ t& C6 u2 `
140.         {mytime=0;}
     1 ~' B! p( u0 R
141. }</font>
     
142. #endif
     # W4 a2 c8 `2 S
143. 
     8 a- @2 e' B& T3 z2 A" @- u
144. /******************************************************************************/
     1 C& e3 I2 `* \' x8 p0 a
145. /*                 STM32F30x Peripherals Interrupt Handlers                   */
     1 F0 n# R9 e4 p+ ]" p, `6 ~$ n* a3 M4 A
146. /*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
     0 w+ y1 W$ M2 ]- b
147. /*  available peripheral interrupt handler's name please refer to the startup */
     - P( V% z$ d$ J. q' s+ c+ D
148. /*  file (startup_stm32f30x.s).                                            */
     
149. /******************************************************************************/
     " C, N9 s  I5 t" h1 D
150. 
     # M7 L: G! X! S
151. /**
     ) L) k9 @* |; r/ H" `( X
152.   * @brief  This function handles PPP interrupt request.
     
153.   * @param  None
     ; M# H5 v6 Z( ~6 g. [1 h8 ^
154.   * @retval None
     9 a9 A$ D# H% ~. g. U
155.   */
     
156. /*void PPP_IRQHandler(void)
     
157. {
     - T1 ~% z, @! o6 _' Q$ @. b* `
158. }*/
     7 K3 K, p- X4 s8 F
159. 
     * [  U0 A. P4 @+ I9 N7 W
160. /**
     
161.   * @}
     
162.   */
     3 Z3 \( ]3 ^  X2 K% p5 C% e
163. 
     
164. 
     ' X7 |/ d' n# T
165. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
     
166. 
     / U7 X+ {" S* ?5 M4 C( U: b9 s
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

2）如果是运行任务2，请取消TASK2代码注释

' e0 |$ a' R1 U5 I# u3）如果是运行任务3，请取消TASK3代码注释
; B/ e( G- `9 ?" b7 u! S

  b7 |2 G3 z- O) o: s# W% O
1 g  Q# {! O. v* e  B/ X& V

真够懒的。
这又不是github。

moyanming2013 发表于 2017-8-29 11:47
; }6 w9 u2 X5 X2 a2 `; z! M# [) `真够懒的。
这又不是github。

详细的说明我在昨天的帖子里说了