271 lines
6.9 KiB
C
271 lines
6.9 KiB
C
/* USER CODE BEGIN Header */
|
|
/**
|
|
******************************************************************************
|
|
* @file stm32g0xx_it.c
|
|
* @brief Interrupt Service Routines.
|
|
******************************************************************************
|
|
* @attention
|
|
*
|
|
* Copyright (c) 2026 STMicroelectronics.
|
|
* All rights reserved.
|
|
*
|
|
* This software is licensed under terms that can be found in the LICENSE file
|
|
* in the root directory of this software component.
|
|
* If no LICENSE file comes with this software, it is provided AS-IS.
|
|
*
|
|
******************************************************************************
|
|
*/
|
|
/* USER CODE END Header */
|
|
|
|
/* Includes ------------------------------------------------------------------*/
|
|
#include "main.h"
|
|
#include "stm32g0xx_it.h"
|
|
/* Private includes ----------------------------------------------------------*/
|
|
/* USER CODE BEGIN Includes */
|
|
/* USER CODE END Includes */
|
|
|
|
/* Private typedef -----------------------------------------------------------*/
|
|
/* USER CODE BEGIN TD */
|
|
|
|
/* USER CODE END TD */
|
|
|
|
/* Private define ------------------------------------------------------------*/
|
|
/* USER CODE BEGIN PD */
|
|
|
|
/* USER CODE END PD */
|
|
|
|
/* Private macro -------------------------------------------------------------*/
|
|
/* USER CODE BEGIN PM */
|
|
|
|
/* USER CODE END PM */
|
|
|
|
/* Private variables ---------------------------------------------------------*/
|
|
/* USER CODE BEGIN PV */
|
|
|
|
/* USER CODE END PV */
|
|
|
|
/* Private function prototypes -----------------------------------------------*/
|
|
/* USER CODE BEGIN PFP */
|
|
|
|
/* USER CODE END PFP */
|
|
|
|
/* Private user code ---------------------------------------------------------*/
|
|
/* USER CODE BEGIN 0 */
|
|
|
|
/* USER CODE END 0 */
|
|
|
|
/* External variables --------------------------------------------------------*/
|
|
extern ADC_HandleTypeDef hadc1;
|
|
extern DMA_HandleTypeDef hdma_i2c1_rx;
|
|
extern DMA_HandleTypeDef hdma_i2c2_tx;
|
|
extern I2C_HandleTypeDef hi2c1;
|
|
extern I2C_HandleTypeDef hi2c2;
|
|
extern DMA_HandleTypeDef hdma_usart2_rx;
|
|
extern DMA_HandleTypeDef hdma_usart2_tx;
|
|
extern UART_HandleTypeDef huart2;
|
|
extern TIM_HandleTypeDef htim17;
|
|
|
|
/* USER CODE BEGIN EV */
|
|
|
|
/* USER CODE END EV */
|
|
|
|
/******************************************************************************/
|
|
/* Cortex-M0+ Processor Interruption and Exception Handlers */
|
|
/******************************************************************************/
|
|
/**
|
|
* @brief This function handles Non maskable interrupt.
|
|
*/
|
|
void NMI_Handler(void)
|
|
{
|
|
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
|
|
|
|
/* USER CODE END NonMaskableInt_IRQn 0 */
|
|
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
|
|
while (1)
|
|
{
|
|
}
|
|
/* USER CODE END NonMaskableInt_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles Hard fault interrupt.
|
|
*/
|
|
void HardFault_Handler(void)
|
|
{
|
|
/* USER CODE BEGIN HardFault_IRQn 0 */
|
|
|
|
/* USER CODE END HardFault_IRQn 0 */
|
|
while (1)
|
|
{
|
|
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
|
|
/* USER CODE END W1_HardFault_IRQn 0 */
|
|
}
|
|
}
|
|
|
|
/******************************************************************************/
|
|
/* STM32G0xx Peripheral Interrupt Handlers */
|
|
/* Add here the Interrupt Handlers for the used peripherals. */
|
|
/* For the available peripheral interrupt handler names, */
|
|
/* please refer to the startup file (startup_stm32g0xx.s). */
|
|
/******************************************************************************/
|
|
|
|
/**
|
|
* @brief This function handles EXTI line 0 and line 1 interrupts.
|
|
*/
|
|
void EXTI0_1_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN EXTI0_1_IRQn 0 */
|
|
|
|
/* USER CODE END EXTI0_1_IRQn 0 */
|
|
HAL_GPIO_EXTI_IRQHandler(ENCODER_A_EXTI0_Pin);
|
|
/* USER CODE BEGIN EXTI0_1_IRQn 1 */
|
|
|
|
/* USER CODE END EXTI0_1_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles EXTI line 4 to 15 interrupts.
|
|
*/
|
|
void EXTI4_15_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN EXTI4_15_IRQn 0 */
|
|
|
|
/* USER CODE END EXTI4_15_IRQn 0 */
|
|
HAL_GPIO_EXTI_IRQHandler(ENCODER_S_EXTI4_Pin);
|
|
HAL_GPIO_EXTI_IRQHandler(MPU6050_EXTI15_Pin);
|
|
/* USER CODE BEGIN EXTI4_15_IRQn 1 */
|
|
|
|
/* USER CODE END EXTI4_15_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles DMA1 channel 1 interrupt.
|
|
*/
|
|
void DMA1_Channel1_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
|
|
|
|
/* USER CODE END DMA1_Channel1_IRQn 0 */
|
|
HAL_DMA_IRQHandler(&hdma_usart2_rx);
|
|
/* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
|
|
|
|
/* USER CODE END DMA1_Channel1_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles DMA1 channel 2 and channel 3 interrupts.
|
|
*/
|
|
void DMA1_Channel2_3_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */
|
|
|
|
/* USER CODE END DMA1_Channel2_3_IRQn 0 */
|
|
HAL_DMA_IRQHandler(&hdma_usart2_tx);
|
|
HAL_DMA_IRQHandler(&hdma_i2c1_rx);
|
|
/* USER CODE BEGIN DMA1_Channel2_3_IRQn 1 */
|
|
|
|
/* USER CODE END DMA1_Channel2_3_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles DMA1 channel 4, channel 5 and DMAMUX1 interrupts.
|
|
*/
|
|
void DMA1_Ch4_5_DMAMUX1_OVR_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN DMA1_Ch4_5_DMAMUX1_OVR_IRQn 0 */
|
|
|
|
/* USER CODE END DMA1_Ch4_5_DMAMUX1_OVR_IRQn 0 */
|
|
HAL_DMA_IRQHandler(&hdma_i2c2_tx);
|
|
/* USER CODE BEGIN DMA1_Ch4_5_DMAMUX1_OVR_IRQn 1 */
|
|
|
|
/* USER CODE END DMA1_Ch4_5_DMAMUX1_OVR_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles ADC1 interrupt.
|
|
*/
|
|
void ADC1_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN ADC1_IRQn 0 */
|
|
|
|
/* USER CODE END ADC1_IRQn 0 */
|
|
HAL_ADC_IRQHandler(&hadc1);
|
|
/* USER CODE BEGIN ADC1_IRQn 1 */
|
|
|
|
/* USER CODE END ADC1_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles TIM17 global interrupt.
|
|
*/
|
|
void TIM17_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN TIM17_IRQn 0 */
|
|
|
|
/* USER CODE END TIM17_IRQn 0 */
|
|
HAL_TIM_IRQHandler(&htim17);
|
|
/* USER CODE BEGIN TIM17_IRQn 1 */
|
|
|
|
/* USER CODE END TIM17_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles I2C1 event global interrupt / I2C1 wake-up interrupt through EXTI line 23.
|
|
*/
|
|
void I2C1_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN I2C1_IRQn 0 */
|
|
|
|
/* USER CODE END I2C1_IRQn 0 */
|
|
if (hi2c1.Instance->ISR & (I2C_FLAG_BERR | I2C_FLAG_ARLO | I2C_FLAG_OVR))
|
|
{
|
|
HAL_I2C_ER_IRQHandler(&hi2c1);
|
|
}
|
|
else
|
|
{
|
|
HAL_I2C_EV_IRQHandler(&hi2c1);
|
|
}
|
|
/* USER CODE BEGIN I2C1_IRQn 1 */
|
|
|
|
/* USER CODE END I2C1_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles I2C2 global interrupt.
|
|
*/
|
|
void I2C2_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN I2C2_IRQn 0 */
|
|
|
|
/* USER CODE END I2C2_IRQn 0 */
|
|
if (hi2c2.Instance->ISR & (I2C_FLAG_BERR | I2C_FLAG_ARLO | I2C_FLAG_OVR))
|
|
{
|
|
HAL_I2C_ER_IRQHandler(&hi2c2);
|
|
}
|
|
else
|
|
{
|
|
HAL_I2C_EV_IRQHandler(&hi2c2);
|
|
}
|
|
/* USER CODE BEGIN I2C2_IRQn 1 */
|
|
|
|
/* USER CODE END I2C2_IRQn 1 */
|
|
}
|
|
|
|
/**
|
|
* @brief This function handles USART2 global interrupt / USART2 wake-up interrupt through EXTI line 26.
|
|
*/
|
|
void USART2_IRQHandler(void)
|
|
{
|
|
/* USER CODE BEGIN USART2_IRQn 0 */
|
|
|
|
/* USER CODE END USART2_IRQn 0 */
|
|
HAL_UART_IRQHandler(&huart2);
|
|
/* USER CODE BEGIN USART2_IRQn 1 */
|
|
|
|
/* USER CODE END USART2_IRQn 1 */
|
|
}
|
|
|
|
/* USER CODE BEGIN 1 */
|
|
|
|
/* USER CODE END 1 */
|