wandering1
970e574433
- CubeMX 加 TIM6（PSC=83 / ARR=999 / ARR 预装载 / NVIC 抢占优先级 6） - Src/main.c 回调加 TIM6 分支触发 CONVST（USER CODE 区） - app_main.c 用 HAL_TIM_Base_Start_IT(&htim6) 替换单次触发 - adc_task.c 退化为纯消费者（1 ms 轮询仅作消费节奏） - @build 0 错 0 警；台架 @test 验收待做 - 同步 ADC采样节拍设计说明 / 继电保护复现规划 / AGENTS / TPAFE README
608 lines
17 KiB
C
608 lines
17 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file stm32f4xx_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 "stm32f4xx_it.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "usart.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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/* HardFault 现场报告实现（2026-09-29 迁移至此，**保护区**内）：
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* 原放在紧随 HardFault_Handler 之后的自造区 `HardFault_Report` 里——
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* 实测 CubeMX 重生成不会保留"生成区之外的自造标记区"（它整段按新模板重写），
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* 故迁入本文件本来就有的 `USER CODE BEGIN 0`（生成区内的标准保护位），
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* 从此重生成不会丢失。
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*
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* 说明：本函数由 __asm void HardFault_Handler 用 B 直接跳入（见下方），
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* 不经内核、不 printf、不遍历指针，只用 HAL_UART_Transmit 轮询 + SCB 寄存器读取，
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* 因此在内核状态已不可信时仍可用。输出后 HAL_Delay(200) 排空 UART 再复位。
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*/
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static void hard_fault_write(const char *s, uint16_t len)
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{
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/* 显式长度 + 有界单次发送：上报路径自身不得再崩（2026-09-24 加固；
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* 不做 '\0' 遍历，长度由调用方 sizeof 给出） */
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if ((s == NULL) || (len == 0u)) {
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return;
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}
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if (len > 64u) {
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len = 64u;
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}
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HAL_UART_Transmit(&huart1, (const uint8_t *)s, len, 0xFFFFu);
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}
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/* 字面量输出宏：长度由 sizeof 定，编译期即可确定 */
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#define HF_PUTS(lit) hard_fault_write((lit), (uint16_t)(sizeof(lit) - 1u))
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static void hard_fault_puthex(uint32_t v)
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{
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static const char digits[] = "0123456789ABCDEF";
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char out[9];
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int i;
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for (i = 0; i < 8; i++) {
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out[i] = digits[(v >> (28 - i * 4)) & 0xFu];
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}
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out[8] = '\0';
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hard_fault_write(out, 8u);
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}
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/* 崩溃现场报告核心（四个 Fault 共用）。
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* 入口参数：tag - 故障名（ASCII 字面量，如 "HARDFAULT" / "MEMFAULT"）
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* frame - 异常栈帧 {R0,R1,R2,R3,R12,LR,PC,xPSR}
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* 说明：CFSR 一次性打出，其子域已含 MMARVALID(bit7)/BFARVALID(bit15)，
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* 故 MMFAR/BFAR 的"是否有意义"由 CFSR 判定，四个 Fault 都能看全。
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*
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* ⚠ 本函数**不直接**被异常向量调用——异常入口是下方的 `__asm` 版 Handler，
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* 它们只负责取异常帧指针，然后 `B` 到下面 4 个 per-fault 入口之一
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* （每个入口自带 tag 字面量后再调本函数）。
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* 这样做的原因：ARMCC 的 `__asm` 块**取不到 C 的 static 数据符号**
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* （实测：`ADR r1, xxx_tag` 报 `A1516E: Bad symbol`，去掉 static 也无效），
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* 而 `__asm` 里也无法给 C 函数传结构体/字符串参数。故把"带 tag"这一步
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* 放在普通 C 函数里做。
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*/
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void hard_fault_report(const char *tag, uint32_t *frame)
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{
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HF_PUTS("\r\n[ERR] ");
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hard_fault_write(tag, 16u);
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HF_PUTS(" PC=");
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hard_fault_puthex(frame[6]);
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HF_PUTS(" LR=");
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hard_fault_puthex(frame[5]);
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HF_PUTS(" xPSR=");
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hard_fault_puthex(frame[7]);
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HF_PUTS(" R0=");
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hard_fault_puthex(frame[0]);
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HF_PUTS(" R1=");
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hard_fault_puthex(frame[1]);
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HF_PUTS(" R2=");
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hard_fault_puthex(frame[2]);
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HF_PUTS(" R3=");
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hard_fault_puthex(frame[3]);
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HF_PUTS(" CFSR=");
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hard_fault_puthex(SCB->CFSR);
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HF_PUTS(" HFSR=");
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hard_fault_puthex(SCB->HFSR);
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/* BFAR/MMFAR 仅在对应 valid 位为 1 时有意义 */
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if ((SCB->CFSR & (1UL << 15)) != 0U) {
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HF_PUTS(" BFAR=");
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hard_fault_puthex(SCB->BFAR);
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}
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if ((SCB->CFSR & (1UL << 7)) != 0U) {
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HF_PUTS(" MMFAR=");
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hard_fault_puthex(SCB->MMFAR);
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}
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HAL_Delay(200);
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NVIC_SystemReset();
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}
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/* 四个 per-fault 入口：__asm Handler 取到帧指针后 `B` 到这里，由 C 补上故障名。
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* 名字用 `fault_entry_*` 前缀，与向量符号（`*_Handler`）区分开。 */
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void fault_entry_hard(uint32_t *frame)
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{
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hard_fault_report("HARDFAULT", frame);
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}
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void fault_entry_mem(uint32_t *frame)
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{
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hard_fault_report("MEMFAULT", frame);
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}
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void fault_entry_bus(uint32_t *frame)
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{
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hard_fault_report("BUSFAULT", frame);
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}
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void fault_entry_usage(uint32_t *frame)
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{
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hard_fault_report("USAGEFAULT", frame);
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}
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/* ==== 4 个异常入口：__asm 版 Handler（符号与向量表一致）====
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* ⚠ **必须写在下面 4 个 `#define X X_Gen` 之前**——写在之后会被自己的宏改名。
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* 2026-10-09 从生成区迁入本保护区：此前放在生成区内（L3），每次 CubeMX 重生成
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* 都被抹掉、需 `git checkout HEAD -- Src/stm32f4xx_it.c` 复原；现在生成区保持
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* CubeMX 原样，重生成零改动。
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*
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* 原理：EXC_RETURN bit2（`TST lr, #4`）判断异常帧在 MSP 还是 PSP，取帧指针后
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* `B` 到上面的 per-fault C 入口。CubeMX 默认的空 `while(1)` 版会让死机在日志上
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* **完全静默**（2026-09-20 实证）。
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* ⚠ ARMCC 语法：内联汇编**只能**用整函数 `__asm void f(void) {...}` 形态。
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* `__asm volatile("MRS %0, lr" : "=r"(x))`（GCC 语法）报 #18；
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* `__asm { MRS x, lr }` 块内联会把寄存器名当 C 标识符报 #20（2026-09-29 实测）。
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*/
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__asm void HardFault_Handler(void)
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{
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extern fault_entry_hard
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TST lr, #4
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ITE EQ
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MRSEQ r0, MSP
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MRSNE r0, PSP
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B fault_entry_hard
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}
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/* MEMFAULT：访问 MPU 禁止区 / 非法特权级访问。须 SHCSR 的 MEMFAULTENA(bit16) 使能。
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* 命中时 CFSR 的 MMARVALID(bit7) 置 1，MMFAR 记录出错地址（报告函数按此判定）。 */
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__asm void MemManage_Handler(void)
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{
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extern fault_entry_mem
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TST lr, #4
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ITE EQ
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MRSEQ r0, MSP
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MRSNE r0, PSP
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B fault_entry_mem
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}
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/* BUSFAULT：非法总线访问 / 取指（外设时钟未开、错误指针、DMA 越界等）。
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* 须 SHCSR 的 BUSFAULTENA(bit17) 使能。命中时 CFSR 的 BFARVALID(bit15) 置 1。 */
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__asm void BusFault_Handler(void)
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{
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extern fault_entry_bus
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TST lr, #4
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ITE EQ
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MRSEQ r0, MSP
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MRSNE r0, PSP
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B fault_entry_bus
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}
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/* USAGEFAULT：未定义指令 / 非对齐访问 / 除零（须 DIV_0_TRP）/ 非法状态。
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* 须 SHCSR 的 USGFAULTENA(bit18) 使能。
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* ⚠ 本项目**刻意不使用硬件除零陷入**（C 代码里除零应自己判，避免把普通 bug 升级为死机）。 */
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__asm void UsageFault_Handler(void)
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{
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extern fault_entry_usage
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TST lr, #4
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ITE EQ
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MRSEQ r0, MSP
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MRSNE r0, PSP
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B fault_entry_usage
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}
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/* 为生成函数改名，避免与上面手工 `__asm` 实现符号冲突。
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* 生成实体改名为 <原名>_Gen（永不执行，仅为占名字不冲突，
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* 保持生成区代码零删除；未被引用 → 链接器自动移除）。
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*
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* 覆盖的 4 个 Cortex-M4 异常：HardFault / MemManage / BusFault / UsageFault。
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* 后三者须在 SHCSR 中使能对应位才会真正触发（见 fault_handler_enable）。 */
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#define HardFault_Handler HardFault_Handler_Gen
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#define MemManage_Handler MemManage_Handler_Gen
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#define BusFault_Handler BusFault_Handler_Gen
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#define UsageFault_Handler UsageFault_Handler_Gen
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/* USER CODE END 0 */
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/* External variables --------------------------------------------------------*/
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extern DMA_HandleTypeDef hdma_spi1_rx;
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extern DMA_HandleTypeDef hdma_spi1_tx;
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extern DMA_HandleTypeDef hdma_spi2_rx;
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extern DMA_HandleTypeDef hdma_spi2_tx;
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extern SPI_HandleTypeDef hspi1;
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extern SPI_HandleTypeDef hspi2;
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extern TIM_HandleTypeDef htim6;
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extern DMA_HandleTypeDef hdma_usart1_tx;
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extern DMA_HandleTypeDef hdma_usart1_rx;
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extern UART_HandleTypeDef huart4;
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extern UART_HandleTypeDef huart5;
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extern UART_HandleTypeDef huart1;
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extern UART_HandleTypeDef huart2;
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extern UART_HandleTypeDef huart3;
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extern TIM_HandleTypeDef htim7;
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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-M4 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 Pre-fetch 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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/* STM32F4xx 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_stm32f4xx.s). */
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/******************************************************************************/
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/**
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* @brief This function handles DMA1 stream3 global interrupt.
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*/
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void DMA1_Stream3_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
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/* USER CODE END DMA1_Stream3_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_spi2_rx);
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/* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
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/* USER CODE END DMA1_Stream3_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 stream4 global interrupt.
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*/
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void DMA1_Stream4_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
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/* USER CODE END DMA1_Stream4_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_spi2_tx);
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/* USER CODE BEGIN DMA1_Stream4_IRQn 1 */
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/* USER CODE END DMA1_Stream4_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(TP_BUSY_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 SPI1 global interrupt.
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*/
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void SPI1_IRQHandler(void)
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{
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/* USER CODE BEGIN SPI1_IRQn 0 */
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/* USER CODE END SPI1_IRQn 0 */
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HAL_SPI_IRQHandler(&hspi1);
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/* USER CODE BEGIN SPI1_IRQn 1 */
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/* USER CODE END SPI1_IRQn 1 */
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}
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/**
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* @brief This function handles SPI2 global interrupt.
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*/
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void SPI2_IRQHandler(void)
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{
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/* USER CODE BEGIN SPI2_IRQn 0 */
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/* USER CODE END SPI2_IRQn 0 */
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HAL_SPI_IRQHandler(&hspi2);
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/* USER CODE BEGIN SPI2_IRQn 1 */
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/* USER CODE END SPI2_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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/* 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 */
|
||
HAL_UART_IRQHandler(&huart2);
|
||
/* USER CODE BEGIN USART2_IRQn 1 */
|
||
|
||
/* USER CODE END USART2_IRQn 1 */
|
||
}
|
||
|
||
/**
|
||
* @brief This function handles USART3 global interrupt.
|
||
*/
|
||
void USART3_IRQHandler(void)
|
||
{
|
||
/* USER CODE BEGIN USART3_IRQn 0 */
|
||
|
||
/* USER CODE END USART3_IRQn 0 */
|
||
HAL_UART_IRQHandler(&huart3);
|
||
/* USER CODE BEGIN USART3_IRQn 1 */
|
||
|
||
/* USER CODE END USART3_IRQn 1 */
|
||
}
|
||
|
||
/**
|
||
* @brief This function handles UART4 global interrupt.
|
||
*/
|
||
void UART4_IRQHandler(void)
|
||
{
|
||
/* USER CODE BEGIN UART4_IRQn 0 */
|
||
|
||
/* USER CODE END UART4_IRQn 0 */
|
||
HAL_UART_IRQHandler(&huart4);
|
||
/* USER CODE BEGIN UART4_IRQn 1 */
|
||
|
||
/* USER CODE END UART4_IRQn 1 */
|
||
}
|
||
|
||
/**
|
||
* @brief This function handles UART5 global interrupt.
|
||
*/
|
||
void UART5_IRQHandler(void)
|
||
{
|
||
/* USER CODE BEGIN UART5_IRQn 0 */
|
||
|
||
/* USER CODE END UART5_IRQn 0 */
|
||
HAL_UART_IRQHandler(&huart5);
|
||
/* USER CODE BEGIN UART5_IRQn 1 */
|
||
|
||
/* USER CODE END UART5_IRQn 1 */
|
||
}
|
||
|
||
/**
|
||
* @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
|
||
*/
|
||
void TIM6_DAC_IRQHandler(void)
|
||
{
|
||
/* USER CODE BEGIN TIM6_DAC_IRQn 0 */
|
||
|
||
/* USER CODE END TIM6_DAC_IRQn 0 */
|
||
HAL_TIM_IRQHandler(&htim6);
|
||
/* USER CODE BEGIN TIM6_DAC_IRQn 1 */
|
||
|
||
/* USER CODE END TIM6_DAC_IRQn 1 */
|
||
}
|
||
|
||
/**
|
||
* @brief This function handles TIM7 global interrupt.
|
||
*/
|
||
void TIM7_IRQHandler(void)
|
||
{
|
||
/* USER CODE BEGIN TIM7_IRQn 0 */
|
||
|
||
/* USER CODE END TIM7_IRQn 0 */
|
||
HAL_TIM_IRQHandler(&htim7);
|
||
/* USER CODE BEGIN TIM7_IRQn 1 */
|
||
|
||
/* USER CODE END TIM7_IRQn 1 */
|
||
}
|
||
|
||
/**
|
||
* @brief This function handles DMA2 stream0 global interrupt.
|
||
*/
|
||
void DMA2_Stream0_IRQHandler(void)
|
||
{
|
||
/* USER CODE BEGIN DMA2_Stream0_IRQn 0 */
|
||
|
||
/* USER CODE END DMA2_Stream0_IRQn 0 */
|
||
HAL_DMA_IRQHandler(&hdma_spi1_rx);
|
||
/* USER CODE BEGIN DMA2_Stream0_IRQn 1 */
|
||
|
||
/* USER CODE END DMA2_Stream0_IRQn 1 */
|
||
}
|
||
|
||
/**
|
||
* @brief This function handles DMA2 stream2 global interrupt.
|
||
*/
|
||
void DMA2_Stream2_IRQHandler(void)
|
||
{
|
||
/* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
|
||
|
||
/* USER CODE END DMA2_Stream2_IRQn 0 */
|
||
HAL_DMA_IRQHandler(&hdma_usart1_rx);
|
||
/* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
|
||
|
||
/* USER CODE END DMA2_Stream2_IRQn 1 */
|
||
}
|
||
|
||
/**
|
||
* @brief This function handles DMA2 stream3 global interrupt.
|
||
*/
|
||
void DMA2_Stream3_IRQHandler(void)
|
||
{
|
||
/* USER CODE BEGIN DMA2_Stream3_IRQn 0 */
|
||
|
||
/* USER CODE END DMA2_Stream3_IRQn 0 */
|
||
HAL_DMA_IRQHandler(&hdma_spi1_tx);
|
||
/* USER CODE BEGIN DMA2_Stream3_IRQn 1 */
|
||
|
||
/* USER CODE END DMA2_Stream3_IRQn 1 */
|
||
}
|
||
|
||
/**
|
||
* @brief This function handles DMA2 stream7 global interrupt.
|
||
*/
|
||
void DMA2_Stream7_IRQHandler(void)
|
||
{
|
||
/* USER CODE BEGIN DMA2_Stream7_IRQn 0 */
|
||
|
||
/* USER CODE END DMA2_Stream7_IRQn 0 */
|
||
HAL_DMA_IRQHandler(&hdma_usart1_tx);
|
||
/* USER CODE BEGIN DMA2_Stream7_IRQn 1 */
|
||
|
||
/* USER CODE END DMA2_Stream7_IRQn 1 */
|
||
}
|
||
|
||
/* USER CODE BEGIN 1 */
|
||
|
||
/* 使能 MemManage / BusFault / UsageFault 三个异常。
|
||
*
|
||
* 为什么必须做：复位后 SCB->SHCSR 只开了 HardFault，后三者处于**禁用**状态——
|
||
* 它们触发时会被升级成 HardFault，`hard_fault_report` 打出来的是 "HARDFAULT"
|
||
* 且看不出根因。这里逐个置使能位，日志里才能直接看到 MEMFAULT / BUSFAULT /
|
||
* USAGEFAULT 字样。
|
||
*
|
||
* ⚠ 刻意**不**打开以下两项（都会把普通 bug 升级成死机，对本项目弊大于利）：
|
||
* - CCR.UNALIGN_TRP ：非对齐访问陷入。Cortex-M4 硬件本可处理非对齐访问，
|
||
* 打开后协议解析里常见的非对齐取字段会直接死机。
|
||
* - CCR.DIV_0_TRP ：除零陷入。除零应由业务代码自己判，不要靠硬件兜。
|
||
* 打开它们只会让"本该只是算错个值"变成"整机复位"。
|
||
*
|
||
* 调用时机：app_main_init() 早期（日志可用前即可，越早越好）。
|
||
*/
|
||
void fault_handler_enable(void)
|
||
{
|
||
SCB->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk |
|
||
SCB_SHCSR_BUSFAULTENA_Msk |
|
||
SCB_SHCSR_USGFAULTENA_Msk;
|
||
}
|
||
|
||
/* USER CODE END 1 */
|