//HW层中断函数，用户无需调用
void UART3_IRQHandler(void)
{
#if (UCOS_II > 0u)
OS_CPU_SR cpu_sr = 0u;
OS_ENTER_CRITICAL(); //告知系统此时已经进入了中断服务子函数
OSIntEnter();
OS_EXIT_CRITICAL();
#endif
//进入接收中断函数
if((UART3->S1 & UART_S1_RDRF_MASK) && (UART3->C2 & UART_C2_RIE_MASK))
{
UART_R_ISR[3]();
}
//进入发送中断函数
if((UART3->S1 & UART_S1_TDRE_MASK) && (UART3->C2 & UART_C2_TIE_MASK))
{
UART_T_ISR[3]();
}
#if (UCOS_II > 0u)
OSIntExit(); //告知系统此时即将离开中断服务子函数
#endif
}
/**
* @brief This function handles TIM3 interrupt request.
* @param None
* @retval None
*/
void TIM2_IRQHandler(void)
{
uint8_t retval = OS_ERR_NONE;
static TASK1_MBOX_TypeDef mbox;
OSIntEnter();
LEDS_Toggle(LED_7);
//
// Clear the timer. Failure to do so and you will just
// stay here since the timer will keep the IRQ asserted
//
//TIM2->SR &= ~TIM_SR_UIF;
TIM_ClearFlag(TIM2, TIM_SR_UIF);
//
// Clear the interrupt at the NVIC level
//
NVIC_ClearPendingIRQ(TIM2_IRQn);
//
// Wake up task 1
//
mbox.action = 0x01;
retval = OSMboxPost(task1_mbox, (void *) &mbox);
if (retval != OS_ERR_NONE){
//Uh oh....??????
// while(1);
}
OSIntExit();
return;
}
/*******************************************************************************
* Function Name : TMR0_IRQHandler
* Description : This function handles timer 0 interrupt.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
__irq void TMR0_IRQHandler(void)
{
UINT32 RegEoi;
OSIntEnter();
// ASSERT(NVIC_GetIRQChannelPendingBitStatus(TMR0_IRQn) == SET);
// ASSERT(*Tmr0IntStatus & 0x01);
// 关中断
NVIC_DisableIRQ(TMR0_IRQn);
NVIC_ClearIRQChannelPendingBit(TMR0_IRQn);
// clear timer interrupt
RegEoi = *Tmr0Eoi;
RegEoi = *TmrsEoi;
RegEoi = RegEoi;
// 开中断
NVIC_EnableIRQ(TMR0_IRQn);
OSIntExit();
}
//systick中断服务函数，系统心跳
void SysTick_Handler(void)
{
OSIntEnter();//进入中断
OSTimeTick();//调用ucos的时钟服务程序
OSIntExit();//触发任务切换软中断
}
/*********************************************************************************************************
* Function Name: TIMER3_IRQHandler
* Description: 定时器3中断处理函数
* Input: None
* Output: None
* Return: None
*********************************************************************************************************/
void TIMER3_IRQHandler (void)
{
OSIntEnter();
T3IR = 1;
OSIntExit();
}
/*********************************************************************************************************
* Function Name: TIMER2_IRQHandler
* Description: 定时器2中断处理函数
* Input: None
* Output: None
* Return: None
*********************************************************************************************************/
void TIMER2_IRQHandler (void)
{
OSIntEnter();
T2IR = 1;
OSIntExit();
}
void USART1_IRQHandler(void) //����1�жϷ������
{
u8 Res;
u16 len;
u16 t;
#ifdef OS_TICKS_PER_SEC //���ʱ�ӽ�����������,˵��Ҫʹ��ucosII��.
OSIntEnter();
#endif
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //�����ж�(���յ������ݱ�����0x0d 0x0a��β)
{
Res =USART_ReceiveData(USART1);//(USART1->DR); //��ȡ���յ�������
if((USART_RX_STA&0x8000)==0)//������
{
if(USART_RX_STA&0x4000)//���յ���0x0d
{
if(Res!=0x0a)USART_RX_STA=0;//���մ���,���¿�ʼ
else USART_RX_STA|=0x8000; //���������
}
else //��û�յ�0X0D
{
if(Res==0x0d)USART_RX_STA|=0x4000;
else
{
USART_RX_BUF[USART_RX_STA&0X3FFF]=Res ;
USART_RX_STA++;
if(USART_RX_STA>(USART_REC_LEN-1))USART_RX_STA=0;//�������ݴ���,���¿�ʼ����
}
}
}
if (USART_RX_STA & 0x8000)//bit15?? ?��?��3��?? ?��?���?????�??��?���?
{
len = USART_RX_STA & 0x3FFF;////?��?�?�?3�?�'�13-0
printf("usart_flag1::%d and usart_flag2:: %d\n",usart_flag1,usart_flag2);
// printf("_usart_recv_packet1::%s and usart_flag2:: %s\n",_usart_recv_packet1,_usart_recv_packet2);
printf("USART_RX_BUF::%s \n",USART_RX_BUF);
//USART1->DR = USART_RX_BUF[t];
if( usart_flag1==0){
USART_ERR_NOMESSAGE=0;
for (t = 0; t<len; t++){
_usart_recv_packet1[t]=USART_RX_BUF[t];
while ((USART1->SR & 0X40) == 0);
}
usart_flag1=1;
}
else if ( usart_flag2==0&&usart_flag1==1){
USART_ERR_NOMESSAGE=0;
for (t = 0; t<len; t++){
_usart_recv_packet2[t]=USART_RX_BUF[t];
while ((USART1->SR & 0X40) == 0);
}
usart_flag2=1;
}
printf("over\n");
USART_RX_STA=0;
}
// _usart_recv_packet_len=sizeof(_usart_recv_packet_current);
}
#ifdef OS_TICKS_PER_SEC //���ʱ�ӽ�����������,˵��Ҫʹ��ucosII��.
OSIntExit();
#endif
}
/**
* @brief This function handles SysTick Handler.
* @param None
* @retval None
*/
void SysTick_Handler(void)
{
OSIntEnter();
OSTimeTick();
OSIntExit();
}
void I2C0_IRQHandler(void)
{
OSIntEnter();
(*i2c0HandlerPtr)();
OSIntExit();
}
//// }
//// /*加速处理过程结束*/
////
//// /*减速处理过程*/
//// if(MotorFreqD == 1)
//// {
//// MotorFreqD = 2;
//// FreqFlag = 0;
//// }
//// if(MotorFreqD == 2)
//// {
//// TIM_Cmd(TIM1,DISABLE);
//// if(FreqFlag < MotorFreqFlag)
//// {
//// if(FreqFlag != (MotorFreqFlag - 1))
//// {
//// PTO_HZ_Period(MotorFreqNow - DEC_HZ_MIN, DEC_PERIOD);
//// }
//// else if(FreqFlag == (MotorFreqFlag - 1))
//// {
//// PTO_Stop();
//// TIM_Cmd(TIM5,DISABLE);//关闭定时
////
//// MotorFreqD = 0;
//// MotorFreqFlag = 0;/*恢复初值*/
//// FreqFlag = 0; /*恢复中间变量初值*/
//// }
//// FreqFlag ++;
//// }
//// }
//// }
//// TIM_ClearITPendingBit(TIM5, TIM_IT_Update ); //清除TIMx的中断待处理位:TIM 中断源
//// OSIntExit();
////}
////定时器1更新中断服务程序
void TIM1_UP_IRQHandler(void)
{
static u8 tempflag = 0;
OSIntEnter();
if(MotorDir == 1)
PulseNum_Global++;
else if(MotorDir == 2)
PulseNum_Global--;
if(TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) //检查指定的TIM中断发生与否:TIM 中断源
{
switch(MotorActionState)
{
case 1://启动加速状态
tempflag = 0; /*计算中间变量 设定初值 0*/
PulseNum_TEMP =(MotorDir > 1)? (PulseNum_Global +1):(PulseNum_Global - 1);/*记录初始加速脉冲初值*/
MotorActionState = 2;//转移状态 2 加速过程中
break;
case 2://加速过程 处理
if((u32)abs(PulseNum_Global - PulseNum_TEMP) > (PulseNum_Buf[tempflag] - 1)) //输出达到指定脉冲数
{
PulseNum_TEMP = PulseNum_Global;/*记录初始加速脉冲初值*/
tempflag++;
if(tempflag == ACC_Status_Flag) //
{
if(PulseNum_ConstantVel == 0) /*如果设定脉冲数等于2倍的加减速所需脉冲个数 即匀速动作脉冲数为 0 加速完毕直接进入减速过程*/
{
tempflag = 0;
MotorActionState = 4;//跳至减速状态
break;
}
else
{
MotorActionState = 3;//进入恒速动作过程
PTO_Cycle(MotorCycleTarget);
break;
}
}
if(tempflag < ACC_Status_Flag) //未达到目标频率 继续加速
{
PTO_Cycle(MotorCycle_Buf[tempflag]);
}
}
break;
case 3://恒速动作
if((u32)abs(PulseNum_Global - PulseNum_TEMP) > (PulseNum_ConstantVel - 1))//输出达到指定脉冲数
{
tempflag = 0;
MotorActionState = 4; //转移状态 4 需要进入减速
}
break;
case 4://启动减速
tempflag = DEC_Status_Flag; /*计算中间变量 设定初值 0*/
PulseNum_TEMP =(MotorDir > 1)? (PulseNum_Global +1):(PulseNum_Global - 1);
PTO_Cycle(MotorCycle_Buf[tempflag - 1]);
MotorActionState = 5; //转移状态5 减速过程中
break;
case 5://减速过程中
if((u32)abs(PulseNum_Global - PulseNum_TEMP) > ((PulseNum_Buf[tempflag -1] - 1)))//达到指定脉冲数
{
PulseNum_TEMP = PulseNum_Global;/*记录脉冲值*/
tempflag--;
if(tempflag == 0) //达到0
{
PTO_Stop();
}
if(tempflag > 0)
{
PTO_Cycle(MotorCycle_Buf[tempflag - 1]);
}
}
break;
default:
break;
}
}
TIM_ClearITPendingBit(TIM1, TIM_IT_Update); //清除TIMx的中断待处理位:TIM 中断源
OSIntExit();
}
void OSTickISR()
{
OSIntEnter();
OSTimeTick();
OSIntExit();
}
void Uart0IsrHandler (void)
{
unsigned char i,ch,crc;
OSIntEnter();
read_in = 0;
while((U0IIR & 0x01) == 0) { //判断是否有中断挂起
switch(U0IIR & 0x0E){ //判断中断标志
case 0x04 : for(i = 0;i < 8;i++){
read_buf[read_in++] = U0RBR;
}
break;
case 0x0C : while((U0LSR & 0x01) == 0x01){
read_buf[read_in++] = U0RBR;
}
break;
default : break;
}
}
if(uart0_req == 0){
for(i = 0;i < read_in;i++){
ch = read_buf[i];
if(uart0_in == 0){
if(ch == HEAD_PC){
uart0_buf[uart0_in++] = ch;
Timer.uart0_timeout = 50;
}
}
else if(uart0_in == 1){
uart0_len = ch;
if(uart0_len >= UART0_BUF_SIZE){
uart0_in = 0;
}
else{
uart0_buf[uart0_in++] = ch;
}
}
else if(uart0_in >= uart0_len){
uart0_buf[uart0_in++] = ch;
crc = XorCheck((unsigned char *)uart0_buf,uart0_len);
if(crc == ch){
uart0_req = 1;
}
else{
uart0_req = 0;
}
uart0_len = uart0_in;
uart0_in = 0;
}
else{
uart0_buf[uart0_in++] = ch;
}
if(uart0_in > 0 && Timer.uart0_timeout == 0){
uart0_in = 0;
//uart0_req = 0;
}
}
}
OSIntExit();
}
void TIM4_IRQHandler(void) //TIM4中断
{
OSIntEnter();
if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET) //检查TIM4更新中断发生与否
{
TIM_ClearITPendingBit(TIM4, TIM_IT_Update ); //清除TIMx更新中断标志
if(mybox.master==0)
{
if(dog_clock==0)
{
// LED0=!LED0;
turn_master_id(mybox.myid);
cont++;
}
if(dog_clock>0){dog_clock--;cont=1;}
}
if (mystatus.work_status[0]==1) //工作时间的计时
{ life_time_1++;
if(life_time_1==10)
{ mystatus.work_time[0]++;
life_time_1=0;
}
if(mystatus.work_time[0]==37)mystatus.work_time[0]=39;
if(mystatus.work_time[0]==254)mystatus.work_time[0]=0;
}
if(mystatus.work_status[1]==1)
{ life_time_2++;
if(life_time_2==10)
{ mystatus.work_time[1]++;
life_time_2=0;
}
if(mystatus.work_time[1]==37)mystatus.work_time[1]=39;
if(mystatus.work_time[1]==254)mystatus.work_time[1]=0;
}
if (mystatus.work_status[2]==1) //工作时间的计时
{ life_time_3++;
if(life_time_3==10)
{ mystatus.work_time[2]++;
life_time_3=0;
}
if(mystatus.work_time[2]==37)mystatus.work_time[2]=39;
if(mystatus.work_time[2]==254)mystatus.work_time[2]=0;
}
if (mystatus.work_status[0]==0) //工作时间清零
{ mystatus.work_time[0]=0;}
if (mystatus.work_status[1]==0) //工作时间清零
{ mystatus.work_time[1]=0;}
if (mystatus.work_status[2]==0) //工作时间清零
{ mystatus.work_time[2]=0;}
if(mybox.master==1)
{ idle_time++;
if(idle_time==65535)idle_time=0;
}
}
OSIntExit();
}
void SysTick_Handler(void)
{
OSIntEnter(); //用于统计中断的嵌套层数，对嵌套层数+1
OSTimeTick(); //统计时间，遍历任务，对延时任务计时减1
OSIntExit(); //对嵌套层数减1，在退出中断前启动任务调度
}
void SysTick_Handler(void) // 非常重要 系统滴答
{
OSIntEnter();
OSTimeTick();
OSIntExit();
}
void EXTI15_10_IRQHandler()
{
uint32 bit;
OSIntEnter();
if(EXTI_GetITStatus(EXTI_Line10) == SET)
{
if(gExtiTrigerFlag[10] == RISE_EDGE)
{
gExtiTrigerFlag[10] = FALLING_EDGE;
EXTI->RTSR &= (uint32)~(1 << 10);
EXTI->FTSR |= (uint32)(1 << 10);
ExtiISR(10,RISE_EDGE);
}
else
{
gExtiTrigerFlag[10] = RISE_EDGE;
EXTI->RTSR |= (uint32)(1 << 10);
EXTI->FTSR &= (uint32)~(1 << 10);
ExtiISR(10,FALLING_EDGE);
}
EXTI_ClearITPendingBit(EXTI_Line10);
}
if(EXTI_GetITStatus(EXTI_Line11) == SET)
{
EXTI_ClearITPendingBit(EXTI_Line11);
}
if(EXTI_GetITStatus(EXTI_Line12) == SET)
{
EXTI_ClearITPendingBit(EXTI_Line12);
}
if(EXTI_GetITStatus(EXTI_Line13) == SET)
{
EXTI_MaskIRQ(13);
delayMs(20);
if(gExtiTrigerFlag[13] == RISE_EDGE)
{
gExtiTrigerFlag[13] = FALLING_EDGE;
EXTI->RTSR &= (uint32)~(1 << 13);
EXTI->FTSR |= (uint32)(1 << 13);
ExtiISR(13,RISE_EDGE);
}
else
{
gExtiTrigerFlag[13] = RISE_EDGE;
EXTI->RTSR |= (uint32)(1 << 13);
EXTI->FTSR &= (uint32)~(1 << 13);
ExtiISR(13,FALLING_EDGE);
}
EXTI_ClearITPendingBit(EXTI_Line13);
EXTI_UnMaskIRQ(13);
}
if(EXTI_GetITStatus(EXTI_Line14) == SET)
{
EXTI_ClearITPendingBit(EXTI_Line14);
}
if(EXTI_GetITStatus(EXTI_Line15) == SET)
{
EXTI_ClearITPendingBit(EXTI_Line15);
}
OSIntExit();
}