wangbeihong/car_stm32f103vet6
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特性：实现电机控制与霍尔传感器功能

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新增电机板级支持包：基于 AT8236-MS 驱动芯片，实现了对 4 个直流电机的 PWM 控制。
实现霍尔传感器功能：用于速度测量和脉冲计数。
更新 GPIO 初始化：为霍尔传感器添加了外部中断（EXTI）配置。
修改系统时钟配置：改用高速外部时钟（HSE）并调整了锁相环（PLL）设置。
更改定时器配置：将时基生成从 TIM8 改为 TIM4。
增强 FreeRTOS 任务：实现从霍尔传感器周期性读取并更新速度数据。
更新项目配置：以反映外设使用情况和优先级的变更。
This commit is contained in:
wangbeihong
2026-04-03 20:24:55 +08:00
parent a53aa38ed3
commit 1cc8327f13
17 changed files with 682 additions and 149 deletions
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47
Core/Src/stm32f1xx_it.c
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@@ -61,7 +61,7 @@ extern DMA_HandleTypeDef hdma_usart1_tx;
extern DMA_HandleTypeDef hdma_usart2_tx;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern TIM_HandleTypeDef htim8;
extern TIM_HandleTypeDef htim4;
/* USER CODE BEGIN EV */
@@ -207,6 +207,36 @@ void DMA1_Channel7_IRQHandler(void)
/* USER CODE END DMA1_Channel7_IRQn 1 */
}
/**
* @brief This function handles EXTI line[9:5] interrupts.
*/
void EXTI9_5_IRQHandler(void)
{
/* USER CODE BEGIN EXTI9_5_IRQn 0 */
/* USER CODE END EXTI9_5_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(IOR_Pin);
HAL_GPIO_EXTI_IRQHandler(M_I_2_Pin);
HAL_GPIO_EXTI_IRQHandler(M_I_1_Pin);
/* USER CODE BEGIN EXTI9_5_IRQn 1 */
/* USER CODE END EXTI9_5_IRQn 1 */
}
/**
* @brief This function handles TIM4 global interrupt.
*/
void TIM4_IRQHandler(void)
{
/* USER CODE BEGIN TIM4_IRQn 0 */
/* USER CODE END TIM4_IRQn 0 */
HAL_TIM_IRQHandler(&htim4);
/* USER CODE BEGIN TIM4_IRQn 1 */
/* USER CODE END TIM4_IRQn 1 */
}
/**
* @brief This function handles USART1 global interrupt.
*/
@@ -240,17 +270,18 @@ void USART2_IRQHandler(void)
}
/**
* @brief This function handles TIM8 update interrupt.
* @brief This function handles EXTI line[15:10] interrupts.
*/
void TIM8_UP_IRQHandler(void)
void EXTI15_10_IRQHandler(void)
{
/* USER CODE BEGIN TIM8_UP_IRQn 0 */
/* USER CODE BEGIN EXTI15_10_IRQn 0 */
/* USER CODE END TIM8_UP_IRQn 0 */
HAL_TIM_IRQHandler(&htim8);
/* USER CODE BEGIN TIM8_UP_IRQn 1 */
/* USER CODE END EXTI15_10_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(M_I_4_Pin);
HAL_GPIO_EXTI_IRQHandler(M_I_3_Pin);
/* USER CODE BEGIN EXTI15_10_IRQn 1 */
/* USER CODE END TIM8_UP_IRQn 1 */
/* USER CODE END EXTI15_10_IRQn 1 */
}
/* USER CODE BEGIN 1 */