wangbeihong
1cc8327f13
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。
290 lines
7.2 KiB
C
290 lines
7.2 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file stm32f1xx_it.c
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* @brief Interrupt Service Routines.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "stm32f1xx_it.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "bsp_uart.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN TD */
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/* USER CODE END TD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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/* External variables --------------------------------------------------------*/
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extern DMA_HandleTypeDef hdma_usart1_rx;
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extern DMA_HandleTypeDef hdma_usart1_tx;
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extern DMA_HandleTypeDef hdma_usart2_tx;
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extern UART_HandleTypeDef huart1;
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extern UART_HandleTypeDef huart2;
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extern TIM_HandleTypeDef htim4;
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/* USER CODE BEGIN EV */
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/* USER CODE END EV */
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/******************************************************************************/
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/* Cortex-M3 Processor Interruption and Exception Handlers */
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/******************************************************************************/
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/**
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* @brief This function handles Non maskable interrupt.
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*/
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void NMI_Handler(void)
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{
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/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
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/* USER CODE END NonMaskableInt_IRQn 0 */
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/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
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while (1)
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{
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}
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/* USER CODE END NonMaskableInt_IRQn 1 */
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}
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/**
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* @brief This function handles Hard fault interrupt.
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*/
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void HardFault_Handler(void)
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{
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/* USER CODE BEGIN HardFault_IRQn 0 */
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/* USER CODE END HardFault_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_HardFault_IRQn 0 */
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/* USER CODE END W1_HardFault_IRQn 0 */
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}
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}
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/**
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* @brief This function handles Memory management fault.
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*/
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void MemManage_Handler(void)
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{
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/* USER CODE BEGIN MemoryManagement_IRQn 0 */
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/* USER CODE END MemoryManagement_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
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/* USER CODE END W1_MemoryManagement_IRQn 0 */
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}
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}
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/**
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* @brief This function handles Prefetch fault, memory access fault.
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*/
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void BusFault_Handler(void)
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{
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/* USER CODE BEGIN BusFault_IRQn 0 */
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/* USER CODE END BusFault_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_BusFault_IRQn 0 */
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/* USER CODE END W1_BusFault_IRQn 0 */
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}
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}
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/**
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* @brief This function handles Undefined instruction or illegal state.
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*/
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void UsageFault_Handler(void)
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{
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/* USER CODE BEGIN UsageFault_IRQn 0 */
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/* USER CODE END UsageFault_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
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/* USER CODE END W1_UsageFault_IRQn 0 */
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}
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}
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/**
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* @brief This function handles Debug monitor.
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*/
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void DebugMon_Handler(void)
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{
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/* USER CODE BEGIN DebugMonitor_IRQn 0 */
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/* USER CODE END DebugMonitor_IRQn 0 */
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/* USER CODE BEGIN DebugMonitor_IRQn 1 */
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/* USER CODE END DebugMonitor_IRQn 1 */
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}
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/******************************************************************************/
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/* STM32F1xx Peripheral Interrupt Handlers */
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/* Add here the Interrupt Handlers for the used peripherals. */
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/* For the available peripheral interrupt handler names, */
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/* please refer to the startup file (startup_stm32f1xx.s). */
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/******************************************************************************/
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/**
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* @brief This function handles DMA1 channel4 global interrupt.
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*/
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void DMA1_Channel4_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
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/* USER CODE END DMA1_Channel4_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart1_tx);
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/* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
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/* USER CODE END DMA1_Channel4_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 channel5 global interrupt.
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*/
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void DMA1_Channel5_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
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/* USER CODE END DMA1_Channel5_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart1_rx);
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/* USER CODE BEGIN DMA1_Channel5_IRQn 1 */
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/* USER CODE END DMA1_Channel5_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 channel7 global interrupt.
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*/
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void DMA1_Channel7_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Channel7_IRQn 0 */
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/* USER CODE END DMA1_Channel7_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart2_tx);
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/* USER CODE BEGIN DMA1_Channel7_IRQn 1 */
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/* USER CODE END DMA1_Channel7_IRQn 1 */
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}
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/**
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* @brief This function handles EXTI line[9:5] interrupts.
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*/
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void EXTI9_5_IRQHandler(void)
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{
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/* USER CODE BEGIN EXTI9_5_IRQn 0 */
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/* USER CODE END EXTI9_5_IRQn 0 */
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HAL_GPIO_EXTI_IRQHandler(IOR_Pin);
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HAL_GPIO_EXTI_IRQHandler(M_I_2_Pin);
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HAL_GPIO_EXTI_IRQHandler(M_I_1_Pin);
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/* USER CODE BEGIN EXTI9_5_IRQn 1 */
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/* USER CODE END EXTI9_5_IRQn 1 */
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}
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/**
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* @brief This function handles TIM4 global interrupt.
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*/
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void TIM4_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM4_IRQn 0 */
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/* USER CODE END TIM4_IRQn 0 */
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HAL_TIM_IRQHandler(&htim4);
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/* USER CODE BEGIN TIM4_IRQn 1 */
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/* USER CODE END TIM4_IRQn 1 */
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}
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/**
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* @brief This function handles USART1 global interrupt.
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*/
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void USART1_IRQHandler(void)
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{
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/* USER CODE BEGIN USART1_IRQn 0 */
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/* 检查空闲中断标志 */
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if (__HAL_UART_GET_FLAG(&huart1, UART_FLAG_IDLE)) {
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UART_IDLE_Callback(&huart1);
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return; // 已处理，直接返回
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}
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/* USER CODE END USART1_IRQn 0 */
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HAL_UART_IRQHandler(&huart1);
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/* USER CODE BEGIN USART1_IRQn 1 */
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/* USER CODE END USART1_IRQn 1 */
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}
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/**
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* @brief This function handles USART2 global interrupt.
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*/
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void USART2_IRQHandler(void)
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{
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/* USER CODE BEGIN USART2_IRQn 0 */
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/* USER CODE END USART2_IRQn 0 */
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HAL_UART_IRQHandler(&huart2);
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/* USER CODE BEGIN USART2_IRQn 1 */
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/* USER CODE END USART2_IRQn 1 */
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}
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/**
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* @brief This function handles EXTI line[15:10] interrupts.
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*/
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void EXTI15_10_IRQHandler(void)
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{
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/* USER CODE BEGIN EXTI15_10_IRQn 0 */
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/* USER CODE END EXTI15_10_IRQn 0 */
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HAL_GPIO_EXTI_IRQHandler(M_I_4_Pin);
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HAL_GPIO_EXTI_IRQHandler(M_I_3_Pin);
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/* USER CODE BEGIN EXTI15_10_IRQn 1 */
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/* USER CODE END EXTI15_10_IRQn 1 */
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}
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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