TuxMonkey/tronone-h7-scaffold
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/tronone-h7-scaffold synced 2026-07-23 19:25:09 +08:00
Code Issues Packages Projects Releases Wiki Activity

修复了吗？没有，很难的啦

Browse Source
This commit is contained in:
TuxMonkey
2026-03-09 18:28:45 +08:00
parent a96e9e939c
commit e3f5951881
7 changed files with 68 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
Core/Inc/stm32h7xx_it.h
View File

@@ -62,6 +62,8 @@ void DMA1_Stream6_IRQHandler(void);
void ADC_IRQHandler(void);
void FDCAN1_IT0_IRQHandler(void);
void FDCAN2_IT0_IRQHandler(void);
void FDCAN1_IT1_IRQHandler(void);
void FDCAN2_IT1_IRQHandler(void);
void SPI1_IRQHandler(void);
void SPI2_IRQHandler(void);
void USART1_IRQHandler(void);
@@ -80,6 +82,7 @@ void OTG_HS_IRQHandler(void);
void UART7_IRQHandler(void);
void USART10_IRQHandler(void);
void FDCAN3_IT0_IRQHandler(void);
void FDCAN3_IT1_IRQHandler(void);
void TIM23_IRQHandler(void);
/* USER CODE BEGIN EFP */

9
Core/Src/fdcan.c
View File

@@ -216,6 +216,8 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
/* FDCAN1 interrupt Init */
HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
HAL_NVIC_SetPriority(FDCAN1_IT1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
/* USER CODE BEGIN FDCAN1_MspInit 1 */
/* USER CODE END FDCAN1_MspInit 1 */
@@ -256,6 +258,8 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
/* FDCAN2 interrupt Init */
HAL_NVIC_SetPriority(FDCAN2_IT0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
HAL_NVIC_SetPriority(FDCAN2_IT1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(FDCAN2_IT1_IRQn);
/* USER CODE BEGIN FDCAN2_MspInit 1 */
/* USER CODE END FDCAN2_MspInit 1 */
@@ -296,6 +300,8 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
/* FDCAN3 interrupt Init */
HAL_NVIC_SetPriority(FDCAN3_IT0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(FDCAN3_IT0_IRQn);
HAL_NVIC_SetPriority(FDCAN3_IT1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(FDCAN3_IT1_IRQn);
/* USER CODE BEGIN FDCAN3_MspInit 1 */
/* USER CODE END FDCAN3_MspInit 1 */
@@ -324,6 +330,7 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
/* FDCAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn);
/* USER CODE BEGIN FDCAN1_MspDeInit 1 */
/* USER CODE END FDCAN1_MspDeInit 1 */
@@ -347,6 +354,7 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
/* FDCAN2 interrupt Deinit */
HAL_NVIC_DisableIRQ(FDCAN2_IT0_IRQn);
HAL_NVIC_DisableIRQ(FDCAN2_IT1_IRQn);
/* USER CODE BEGIN FDCAN2_MspDeInit 1 */
/* USER CODE END FDCAN2_MspDeInit 1 */
@@ -370,6 +378,7 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
/* FDCAN3 interrupt Deinit */
HAL_NVIC_DisableIRQ(FDCAN3_IT0_IRQn);
HAL_NVIC_DisableIRQ(FDCAN3_IT1_IRQn);
/* USER CODE BEGIN FDCAN3_MspDeInit 1 */
/* USER CODE END FDCAN3_MspDeInit 1 */

14
Core/Src/freertos.c
View File

@@ -151,30 +151,20 @@ void StartDaemonTask(void *argument); // <--- 新的，带参数的标准 RTOS
/* USER CODE END FunctionPrototypes */
void StartDefaultTask(void *argument);
void ShootTask(void *argument);
void GimbalTask(void *argument);
void ChassisTask(void *argument);
void StartInitTask(void *argument);
void VisionTask(void *argument);
void CmdTask(void *argument);
void RefereeTask(void *argument);
extern void ws2812Task(void *argument);
extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/* Hook prototypes */
void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
void vApplicationMallocFailedHook(void);
/* USER CODE BEGIN 4 */
@@ -209,8 +199,7 @@ void vApplicationMallocFailedHook(void)
* @param None
* @retval None
*/
void MX_FREERTOS_Init(void)
{
void MX_FREERTOS_Init(void) {
/* USER CODE BEGIN Init */
/* USER CODE END Init */
@@ -273,6 +262,7 @@ void MX_FREERTOS_Init(void)
/* USER CODE BEGIN RTOS_EVENTS */
/* add events, ... */
/* USER CODE END RTOS_EVENTS */
}
/* USER CODE BEGIN Header_StartDefaultTask */

42
Core/Src/stm32h7xx_it.c
View File

@@ -327,6 +327,34 @@ void FDCAN2_IT0_IRQHandler(void)
/* USER CODE END FDCAN2_IT0_IRQn 1 */
}
/**
* @brief This function handles FDCAN1 interrupt 1.
*/
void FDCAN1_IT1_IRQHandler(void)
{
/* USER CODE BEGIN FDCAN1_IT1_IRQn 0 */
/* USER CODE END FDCAN1_IT1_IRQn 0 */
HAL_FDCAN_IRQHandler(&hfdcan1);
/* USER CODE BEGIN FDCAN1_IT1_IRQn 1 */
/* USER CODE END FDCAN1_IT1_IRQn 1 */
}
/**
* @brief This function handles FDCAN2 interrupt 1.
*/
void FDCAN2_IT1_IRQHandler(void)
{
/* USER CODE BEGIN FDCAN2_IT1_IRQn 0 */
/* USER CODE END FDCAN2_IT1_IRQn 0 */
HAL_FDCAN_IRQHandler(&hfdcan2);
/* USER CODE BEGIN FDCAN2_IT1_IRQn 1 */
/* USER CODE END FDCAN2_IT1_IRQn 1 */
}
/**
* @brief This function handles SPI1 global interrupt.
*/
@@ -579,6 +607,20 @@ void FDCAN3_IT0_IRQHandler(void)
/* USER CODE END FDCAN3_IT0_IRQn 1 */
}
/**
* @brief This function handles FDCAN3 interrupt 1.
*/
void FDCAN3_IT1_IRQHandler(void)
{
/* USER CODE BEGIN FDCAN3_IT1_IRQn 0 */
/* USER CODE END FDCAN3_IT1_IRQn 0 */
HAL_FDCAN_IRQHandler(&hfdcan3);
/* USER CODE BEGIN FDCAN3_IT1_IRQn 1 */
/* USER CODE END FDCAN3_IT1_IRQn 1 */
}
/**
* @brief This function handles TIM23 global interrupt.
*/