432 lines
16 KiB
C
432 lines
16 KiB
C
/*********************************************************************************************************************
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* CH32V307VCT6 Opensourec Library 即（CH32V307VCT6 开源库）是一个基于官方 SDK 接口的第三方开源库
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* Copyright (c) 2022 SEEKFREE 逐飞科技
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*
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* 本文件是 CH32V307VCT6 开源库的一部分
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*
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* CH32V307VCT6 开源库 是免费软件
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* 您可以根据自由软件基金会发布的 GPL（GNU General Public License，即 GNU 通用公共许可证）的条款
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* 即 GPL 的第 3 版（即 GPL3.0）或（您选择的）任何后来的版本，重新发布和/或修改它
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*
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* 本开源库的发布是希望它能发挥作用，但并未对其作任何的保证
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* 甚至没有隐含的适销性或适合特定用途的保证
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* 更多细节请参见 GPL
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*
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* 您应该在收到本开源库的同时收到一份 GPL 的副本
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* 如果没有，请参阅<https://www.gnu.org/licenses/>
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*
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* 额外注明：
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* 本开源库使用 GPL3.0 开源许可证协议 以上许可申明为译文版本
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* 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中
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* 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
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* 欢迎各位使用并传播本程序 但修改内容时必须保留逐飞科技的版权声明（即本声明）
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*
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* 文件名称 isr
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* 公司名称 成都逐飞科技有限公司
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* 版本信息 查看 libraries/doc 文件夹内 version 文件 版本说明
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* 开发环境 MounRiver Studio V1.8.1
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* 适用平台 CH32V307VCT6
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* 店铺链接 https://seekfree.taobao.com/
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*
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* 修改记录
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* 日期 作者 备注
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* 2022-09-15 大 W first version
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********************************************************************************************************************/
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#include "zf_common_headfile.h"
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#include "by_rt_button.h"
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#include "by_imu.h"
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void NMI_Handler(void) __attribute__((interrupt()));
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void HardFault_Handler(void) __attribute__((interrupt()));
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void USART1_IRQHandler(void) __attribute__((interrupt()));
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void USART2_IRQHandler(void) __attribute__((interrupt()));
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void USART3_IRQHandler(void) __attribute__((interrupt()));
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void UART4_IRQHandler(void) __attribute__((interrupt()));
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void UART5_IRQHandler(void) __attribute__((interrupt()));
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void UART6_IRQHandler(void) __attribute__((interrupt()));
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void UART7_IRQHandler(void) __attribute__((interrupt()));
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void UART8_IRQHandler(void) __attribute__((interrupt()));
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void DVP_IRQHandler(void) __attribute__((interrupt()));
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// void TIM1_BRK_IRQHandler (void) __attribute__((interrupt()));
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void TIM1_UP_IRQHandler(void) __attribute__((interrupt()));
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// void TIM1_TRG_COM_IRQHandler (void) __attribute__((interrupt()));
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// void TIM1_CC_IRQHandler (void) __attribute__((interrupt()));
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void TIM2_IRQHandler(void) __attribute__((interrupt()));
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void TIM3_IRQHandler(void) __attribute__((interrupt()));
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void TIM4_IRQHandler(void) __attribute__((interrupt()));
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void TIM5_IRQHandler(void) __attribute__((interrupt()));
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void TIM6_IRQHandler(void) __attribute__((interrupt()));
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void TIM7_IRQHandler(void) __attribute__((interrupt()));
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// void TIM8_BRK_IRQHandler (void) __attribute__((interrupt()));
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void TIM8_UP_IRQHandler(void) __attribute__((interrupt()));
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// void TIM8_TRG_COM_IRQHandler (void) __attribute__((interrupt()));
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// void TIM8_CC_IRQHandler (void) __attribute__((interrupt()));
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// void TIM9_BRK_IRQHandler (void) __attribute__((interrupt()));
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void TIM9_UP_IRQHandler(void) __attribute__((interrupt()));
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// void TIM9_TRG_COM_IRQHandler (void) __attribute__((interrupt()));
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// void TIM9_CC_IRQHandler (void) __attribute__((interrupt()));
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// void TIM10_BRK_IRQHandler (void) __attribute__((interrupt()));
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void TIM10_UP_IRQHandler(void) __attribute__((interrupt()));
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// void TIM10_TRG_COM_IRQHandler (void) __attribute__((interrupt()));
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// void TIM10_CC_IRQHandler (void) __attribute__((interrupt()));
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void EXTI0_IRQHandler(void) __attribute__((interrupt()));
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void EXTI1_IRQHandler(void) __attribute__((interrupt()));
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void EXTI2_IRQHandler(void) __attribute__((interrupt()));
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void EXTI3_IRQHandler(void) __attribute__((interrupt()));
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void EXTI4_IRQHandler(void) __attribute__((interrupt()));
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void EXTI9_5_IRQHandler(void) __attribute__((interrupt()));
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void EXTI15_10_IRQHandler(void) __attribute__((interrupt()));
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void USART1_IRQHandler(void)
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{
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if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) {
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USART_ClearITPendingBit(USART1, USART_IT_RXNE);
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}
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}
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void USART2_IRQHandler(void)
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{
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if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) {
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USART_ClearITPendingBit(USART2, USART_IT_RXNE);
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}
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}
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void USART3_IRQHandler(void)
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{
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if (USART_GetITStatus(USART3, USART_IT_RXNE) != RESET) {
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#if DEBUG_UART_USE_INTERRUPT // 如果开启 debug 串口中断
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debug_interrupr_handler(); // 调用 debug 串口接收处理函数 数据会被 debug 环形缓冲区读取
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#endif // 如果修改了 DEBUG_UART_INDEX 那这段代码需要放到对应的串口中断去
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USART_ClearITPendingBit(USART3, USART_IT_RXNE);
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}
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}
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void UART4_IRQHandler(void)
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{
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if (USART_GetITStatus(UART4, USART_IT_RXNE) != RESET) {
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USART_ClearITPendingBit(UART4, USART_IT_RXNE);
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}
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}
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void UART5_IRQHandler(void)
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{
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if (USART_GetITStatus(UART5, USART_IT_RXNE) != RESET) {
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camera_uart_handler();
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USART_ClearITPendingBit(UART5, USART_IT_RXNE);
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}
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}
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void UART6_IRQHandler(void)
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{
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if (USART_GetITStatus(UART6, USART_IT_RXNE) != RESET) {
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USART_ClearITPendingBit(UART6, USART_IT_RXNE);
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}
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}
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void UART7_IRQHandler(void)
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{
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if (USART_GetITStatus(UART7, USART_IT_RXNE) != RESET) {
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wireless_module_uart_handler();
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USART_ClearITPendingBit(UART7, USART_IT_RXNE);
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}
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}
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void UART8_IRQHandler(void)
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{
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if (USART_GetITStatus(UART8, USART_IT_RXNE) != RESET) {
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gps_uart_callback();
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USART_ClearITPendingBit(UART8, USART_IT_RXNE);
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}
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}
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void DVP_IRQHandler(void)
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{
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if (DVP->IFR & RB_DVP_IF_FRM_DONE) {
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camera_dvp_handler();
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DVP->IFR &= ~RB_DVP_IF_FRM_DONE;
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}
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}
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void EXTI0_IRQHandler(void)
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{
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if (SET == EXTI_GetITStatus(EXTI_Line0)) {
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EXTI_ClearITPendingBit(EXTI_Line0);
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}
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}
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void EXTI1_IRQHandler(void)
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{
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if (SET == EXTI_GetITStatus(EXTI_Line1)) {
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EXTI_ClearITPendingBit(EXTI_Line1);
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}
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}
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void EXTI2_IRQHandler(void)
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{
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if (SET == EXTI_GetITStatus(EXTI_Line2)) {
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EXTI_ClearITPendingBit(EXTI_Line2);
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}
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}
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void EXTI3_IRQHandler(void)
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{
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if (SET == EXTI_GetITStatus(EXTI_Line3)) {
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EXTI_ClearITPendingBit(EXTI_Line3);
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}
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}
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void EXTI4_IRQHandler(void)
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{
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if (SET == EXTI_GetITStatus(EXTI_Line4)) {
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EXTI_ClearITPendingBit(EXTI_Line4);
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}
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}
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void EXTI9_5_IRQHandler(void)
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{
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if (SET == EXTI_GetITStatus(EXTI_Line5)) {
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EXTI_ClearITPendingBit(EXTI_Line5);
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}
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if (SET == EXTI_GetITStatus(EXTI_Line6)) {
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EXTI_ClearITPendingBit(EXTI_Line6);
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}
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if (SET == EXTI_GetITStatus(EXTI_Line7)) {
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EXTI_ClearITPendingBit(EXTI_Line7);
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}
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if (SET == EXTI_GetITStatus(EXTI_Line8)) {
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EXTI_ClearITPendingBit(EXTI_Line8);
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}
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if (SET == EXTI_GetITStatus(EXTI_Line9)) {
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if (SET == gpio_get_level(E10)) {
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rotate_button = ROTATE_BUTTON_BACKWARD;
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} else {
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rotate_button = ROTATE_BUTTON_FORWARD;
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}
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EXTI_ClearITPendingBit(EXTI_Line9);
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}
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}
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void EXTI15_10_IRQHandler(void)
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{
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if (SET == EXTI_GetITStatus(EXTI_Line10)) {
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// 此处编写用户代码 (A10/B10..E10) 引脚触发
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// 此处编写用户代码 (A10/B10..E10) 引脚触发
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EXTI_ClearITPendingBit(EXTI_Line10);
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}
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if (SET == EXTI_GetITStatus(EXTI_Line11)) {
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system_delay_us(200);
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if (SET == !gpio_get_level(E11)) {
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rotate_button = ROTATE_BUTTON_PRESS;
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}
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EXTI_ClearITPendingBit(EXTI_Line11);
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}
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if (SET == EXTI_GetITStatus(EXTI_Line12)) {
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EXTI_ClearITPendingBit(EXTI_Line12);
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}
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if (SET == EXTI_GetITStatus(EXTI_Line13)) {
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// -----------------* ToF INT 更新中断 预置中断处理函数 *-----------------
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tof_module_exti_handler();
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// -----------------* ToF INT 更新中断 预置中断处理函数 *-----------------
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// 此处编写用户代码 (A13/B13..E13) 引脚触发
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// 此处编写用户代码 (A13/B13..E13) 引脚触发
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EXTI_ClearITPendingBit(EXTI_Line13);
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}
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if (SET == EXTI_GetITStatus(EXTI_Line14)) {
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// -----------------* DM1XA 光信号 预置中断处理函数 *-----------------
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dm1xa_light_callback();
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// -----------------* DM1XA 光信号 预置中断处理函数 *-----------------
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EXTI_ClearITPendingBit(EXTI_Line14);
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}
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if (SET == EXTI_GetITStatus(EXTI_Line15)) {
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// -----------------* DM1XA 声/反馈信号 预置中断处理函数 *-----------------
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dm1xa_sound_callback();
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// -----------------* DM1XA 声/反馈信号 预置中断处理函数 *-----------------
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EXTI_ClearITPendingBit(EXTI_Line15);
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}
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}
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void TIM1_UP_IRQHandler(void)
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{
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if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
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TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
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}
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}
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void TIM2_IRQHandler(void)
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{
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if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) {
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TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
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}
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}
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void TIM3_IRQHandler(void)
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{
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if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) {
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TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
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}
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}
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void TIM4_IRQHandler(void)
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{
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if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET) {
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TIM_ClearITPendingBit(TIM4, TIM_IT_Update);
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}
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}
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void TIM5_IRQHandler(void)
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{
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if (TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET) {
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TIM_ClearITPendingBit(TIM5, TIM_IT_Update);
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}
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}
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void TIM6_IRQHandler(void)
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{
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if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) {
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ICM_getEulerianAngles();
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TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
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}
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}
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void TIM7_IRQHandler(void)
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{
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if (TIM_GetITStatus(TIM7, TIM_IT_Update) != RESET) {
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TIM_ClearITPendingBit(TIM7, TIM_IT_Update);
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}
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}
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void TIM8_UP_IRQHandler(void)
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{
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if (TIM_GetITStatus(TIM8, TIM_IT_Update) != RESET) {
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TIM_ClearITPendingBit(TIM8, TIM_IT_Update);
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}
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}
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void TIM9_UP_IRQHandler(void)
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{
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if (TIM_GetITStatus(TIM9, TIM_IT_Update) != RESET) {
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TIM_ClearITPendingBit(TIM9, TIM_IT_Update);
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}
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}
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void TIM10_UP_IRQHandler(void)
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{
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if (TIM_GetITStatus(TIM10, TIM_IT_Update) != RESET) {
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TIM_ClearITPendingBit(TIM10, TIM_IT_Update);
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}
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}
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//.section .text.vector_handler, "ax", @progbits
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// .weak EXTI0_IRQHandler /* EXTI Line 0 */
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// .weak EXTI1_IRQHandler /* EXTI Line 1 */
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// .weak EXTI2_IRQHandler /* EXTI Line 2 */
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// .weak EXTI3_IRQHandler /* EXTI Line 3 */
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// .weak EXTI4_IRQHandler /* EXTI Line 4 */
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// .weak DMA1_Channel1_IRQHandler /* DMA1 Channel 1 */
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// .weak DMA1_Channel2_IRQHandler /* DMA1 Channel 2 */
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// .weak DMA1_Channel3_IRQHandler /* DMA1 Channel 3 */
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// .weak DMA1_Channel4_IRQHandler /* DMA1 Channel 4 */
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// .weak DMA1_Channel5_IRQHandler /* DMA1 Channel 5 */
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// .weak DMA1_Channel6_IRQHandler /* DMA1 Channel 6 */
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// .weak DMA1_Channel7_IRQHandler /* DMA1 Channel 7 */
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// .weak ADC1_2_IRQHandler /* ADC1_2 */
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// .weak USB_HP_CAN1_TX_IRQHandler /* USB HP and CAN1 TX */
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// .weak USB_LP_CAN1_RX0_IRQHandler /* USB LP and CAN1RX0 */
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// .weak CAN1_RX1_IRQHandler /* CAN1 RX1 */
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// .weak CAN1_SCE_IRQHandler /* CAN1 SCE */
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// .weak EXTI9_5_IRQHandler /* EXTI Line 9..5 */
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// .weak TIM1_BRK_IRQHandler /* TIM1 Break */
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// .weak TIM1_UP_IRQHandler /* TIM1 Update */
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// .weak TIM1_TRG_COM_IRQHandler /* TIM1 Trigger and Commutation */
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// .weak TIM1_CC_IRQHandler /* TIM1 Capture Compare */
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// .weak TIM2_IRQHandler /* TIM2 */
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// .weak TIM3_IRQHandler /* TIM3 */
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// .weak TIM4_IRQHandler /* TIM4 */
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// .weak I2C1_EV_IRQHandler /* I2C1 Event */
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// .weak I2C1_ER_IRQHandler /* I2C1 Error */
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// .weak I2C2_EV_IRQHandler /* I2C2 Event */
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// .weak I2C2_ER_IRQHandler /* I2C2 Error */
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// .weak SPI1_IRQHandler /* SPI1 */
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// .weak SPI2_IRQHandler /* SPI2 */
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// .weak USART1_IRQHandler /* USART1 */
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// .weak USART2_IRQHandler /* USART2 */
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// .weak USART3_IRQHandler /* USART3 */
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// .weak EXTI15_10_IRQHandler /* EXTI Line 15..10 */
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// .weak RTCAlarm_IRQHandler /* RTC Alarm through EXTI Line */
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// .weak USBWakeUp_IRQHandler /* USB Wakeup from suspend */
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// .weak TIM8_BRK_IRQHandler /* TIM8 Break */
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// .weak TIM8_UP_IRQHandler /* TIM8 Update */
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// .weak TIM8_TRG_COM_IRQHandler /* TIM8 Trigger and Commutation */
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// .weak TIM8_CC_IRQHandler /* TIM8 Capture Compare */
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// .weak RNG_IRQHandler /* RNG */
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// .weak FSMC_IRQHandler /* FSMC */
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// .weak SDIO_IRQHandler /* SDIO */
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// .weak TIM5_IRQHandler /* TIM5 */
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// .weak SPI3_IRQHandler /* SPI3 */
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// .weak UART4_IRQHandler /* UART4 */
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// .weak UART5_IRQHandler /* UART5 */
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// .weak TIM6_IRQHandler /* TIM6 */
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// .weak TIM7_IRQHandler /* TIM7 */
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// .weak DMA2_Channel1_IRQHandler /* DMA2 Channel 1 */
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// .weak DMA2_Channel2_IRQHandler /* DMA2 Channel 2 */
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// .weak DMA2_Channel3_IRQHandler /* DMA2 Channel 3 */
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// .weak DMA2_Channel4_IRQHandler /* DMA2 Channel 4 */
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// .weak DMA2_Channel5_IRQHandler /* DMA2 Channel 5 */
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// .weak ETH_IRQHandler /* ETH */
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// .weak ETH_WKUP_IRQHandler /* ETH WakeUp */
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// .weak CAN2_TX_IRQHandler /* CAN2 TX */
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// .weak CAN2_RX0_IRQHandler /* CAN2 RX0 */
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// .weak CAN2_RX1_IRQHandler /* CAN2 RX1 */
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// .weak CAN2_SCE_IRQHandler /* CAN2 SCE */
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// .weak OTG_FS_IRQHandler /* OTGFS */
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// .weak USBHSWakeup_IRQHandler /* USBHS Wakeup */
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// .weak USBHS_IRQHandler /* USBHS */
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// .weak DVP_IRQHandler /* DVP */
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// .weak UART6_IRQHandler /* UART6 */
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// .weak UART7_IRQHandler /* UART7 */
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// .weak UART8_IRQHandler /* UART8 */
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// .weak TIM9_BRK_IRQHandler /* TIM9 Break */
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// .weak TIM9_UP_IRQHandler /* TIM9 Update */
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// .weak TIM9_TRG_COM_IRQHandler /* TIM9 Trigger and Commutation */
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// .weak TIM9_CC_IRQHandler /* TIM9 Capture Compare */
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// .weak TIM10_BRK_IRQHandler /* TIM10 Break */
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// .weak TIM10_UP_IRQHandler /* TIM10 Update */
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// .weak TIM10_TRG_COM_IRQHandler /* TIM10 Trigger and Commutation */
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// .weak TIM10_CC_IRQHandler /* TIM10 Capture Compare */
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// .weak DMA2_Channel6_IRQHandler /* DMA2 Channel 6 */
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// .weak DMA2_Channel7_IRQHandler /* DMA2 Channel 7 */
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// .weak DMA2_Channel8_IRQHandler /* DMA2 Channel 8 */
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// .weak DMA2_Channel9_IRQHandler /* DMA2 Channel 9 */
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// .weak DMA2_Channel10_IRQHandler /* DMA2 Channel 10 */
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// .weak DMA2_Channel11_IRQHandler /* DMA2 Channel 11 */
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/*******************************************************************************
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* Function Name : NMI_Handler
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* Description : This function handles NMI exception.
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* Input : None
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* Return : None
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*******************************************************************************/
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void NMI_Handler(void)
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{
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}
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/*******************************************************************************
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* Function Name : HardFault_Handler
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* Description : This function handles Hard Fault exception.
|
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* Input : None
|
||
* Return : None
|
||
*******************************************************************************/
|
||
void HardFault_Handler(void)
|
||
{
|
||
while (1) {
|
||
}
|
||
}
|