Interrupt Service Routines. More...

#include "main.h"
#include "stm32f7xx_it.h"
#include "FreeRTOS.h"
#include "task.h"
#include "../Inc/Sensors/AnalogSensor.h"
#include "../Inc/Sensors/DigitalSensor.h"
#include "../Inc/Outputs/DigitalOutput.h"
#include "../Inc/Utils/Telemetry.h"
#include "../Inc/Utils/MessageFormat.h"

Include dependency graph for stm32f7xx_it.c:

Go to the source code of this file.

Functions
void	NMI_Handler (void)
	This function handles Non maskable interrupt. More...

void	HardFault_Handler (void)
	This function handles Hard fault interrupt. More...

void	MemManage_Handler (void)
	This function handles Memory management fault. More...

void	BusFault_Handler (void)
	This function handles Pre-fetch fault, memory access fault. More...

void	UsageFault_Handler (void)
	This function handles Undefined instruction or illegal state. More...

void	DebugMon_Handler (void)
	This function handles Debug monitor. More...

void	SysTick_Handler (void)
	This function handles System tick timer. More...

void	DMA1_Stream5_IRQHandler (void)
	This function handles DMA1 stream5 global interrupt. More...

void	DMA1_Stream6_IRQHandler (void)
	This function handles DMA1 stream6 global interrupt. More...

void	CAN1_RX0_IRQHandler (void)
	This function handles CAN1 RX0 interrupts. More...

void	TIM2_IRQHandler (void)
	This function handles TIM2 global interrupt. More...

void	USART3_IRQHandler (void)
	This function handles USART3 global interrupt. More...

void	DMA2_Stream0_IRQHandler (void)
	This function handles DMA2 stream0 global interrupt. More...

void	DMA2_Stream1_IRQHandler (void)
	This function handles DMA2 stream1 global interrupt. More...

void	DMA2_Stream2_IRQHandler (void)
	This function handles DMA2 stream2 global interrupt. More...

void	CAN2_RX0_IRQHandler (void)
	This function handles CAN2 RX0 interrupts. More...

void	initUartConfigListener (void)

void	HAL_TIM_PeriodElapsedCallback (TIM_HandleTypeDef *htim)

int	send_CAN_message_helper (CANBus bus, CAN_TxHeaderTypeDef TxHeader, uint8_t data)

void	HAL_CAN_RxFifo0MsgPendingCallback (CAN_HandleTypeDef *hcan)

void	HAL_UART_RxCpltCallback (UART_HandleTypeDef *huart)

void	HAL_ADC_ConvCpltCallback (ADC_HandleTypeDef *hadc)

void	HAL_CAN_TxMailbox0CompleteCallback (CAN_HandleTypeDef *hcan)

void	HAL_CAN_TxMailbox1CompleteCallback (CAN_HandleTypeDef *hcan)

void	HAL_CAN_TxMailbox2CompleteCallback (CAN_HandleTypeDef *hcan)

Variables
CAN_RxHeaderTypeDef	RxHeader1

CAN_RxHeaderTypeDef	RxHeader2

uint8_t	RxData1 [8]

uint8_t	RxData2 [8]

static uint8_t	uart_rx_char

static char	uart_cmd [16]

static uint8_t	cmd_index = 0

DMA_HandleTypeDef	hdma_adc1

DMA_HandleTypeDef	hdma_adc2

DMA_HandleTypeDef	hdma_adc3

CAN_HandleTypeDef	hcan1

CAN_HandleTypeDef	hcan2

DMA_HandleTypeDef	hdma_dac1

DMA_HandleTypeDef	hdma_dac2

TIM_HandleTypeDef	htim2

UART_HandleTypeDef	huart3

volatile uint32_t	timer_flag = 0

Detailed Description

Interrupt Service Routines.

Attention

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.

Definition in file stm32f7xx_it.c.

Function Documentation

◆ BusFault_Handler()

void BusFault_Handler ( void )

This function handles Pre-fetch fault, memory access fault.

Definition at line 138 of file stm32f7xx_it.c.

{
  /* USER CODE BEGIN BusFault_IRQn 0 */
 
  /* USER CODE END BusFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_BusFault_IRQn 0 */
    /* USER CODE END W1_BusFault_IRQn 0 */
  }
}

◆ CAN1_RX0_IRQHandler()

void CAN1_RX0_IRQHandler ( void )

This function handles CAN1 RX0 interrupts.

Definition at line 238 of file stm32f7xx_it.c.

{
  /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
 
  /* USER CODE END CAN1_RX0_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan1);
  /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
 
  /* USER CODE END CAN1_RX0_IRQn 1 */
}

◆ CAN2_RX0_IRQHandler()

void CAN2_RX0_IRQHandler ( void )

This function handles CAN2 RX0 interrupts.

Definition at line 322 of file stm32f7xx_it.c.

{
  /* USER CODE BEGIN CAN2_RX0_IRQn 0 */
 
  /* USER CODE END CAN2_RX0_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan2);
  /* USER CODE BEGIN CAN2_RX0_IRQn 1 */
 
  /* USER CODE END CAN2_RX0_IRQn 1 */
}

◆ DebugMon_Handler()

void DebugMon_Handler ( void )

This function handles Debug monitor.

Definition at line 168 of file stm32f7xx_it.c.

{
  /* USER CODE BEGIN DebugMonitor_IRQn 0 */
 
  /* USER CODE END DebugMonitor_IRQn 0 */
  /* USER CODE BEGIN DebugMonitor_IRQn 1 */
 
  /* USER CODE END DebugMonitor_IRQn 1 */
}

◆ DMA1_Stream5_IRQHandler()

void DMA1_Stream5_IRQHandler ( void )

This function handles DMA1 stream5 global interrupt.

Definition at line 210 of file stm32f7xx_it.c.

{
  /* USER CODE BEGIN DMA1_Stream5_IRQn 0 */
 
  /* USER CODE END DMA1_Stream5_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_dac1);
  /* USER CODE BEGIN DMA1_Stream5_IRQn 1 */
 
  /* USER CODE END DMA1_Stream5_IRQn 1 */
}

◆ DMA1_Stream6_IRQHandler()

void DMA1_Stream6_IRQHandler ( void )

This function handles DMA1 stream6 global interrupt.

Definition at line 224 of file stm32f7xx_it.c.

{
  /* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
 
  /* USER CODE END DMA1_Stream6_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_dac2);
  /* USER CODE BEGIN DMA1_Stream6_IRQn 1 */
 
  /* USER CODE END DMA1_Stream6_IRQn 1 */
}

◆ DMA2_Stream0_IRQHandler()

void DMA2_Stream0_IRQHandler ( void )

This function handles DMA2 stream0 global interrupt.

Definition at line 280 of file stm32f7xx_it.c.

{
  /* USER CODE BEGIN DMA2_Stream0_IRQn 0 */
 
  /* USER CODE END DMA2_Stream0_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_adc1);
  /* USER CODE BEGIN DMA2_Stream0_IRQn 1 */
 
  /* USER CODE END DMA2_Stream0_IRQn 1 */
}

◆ DMA2_Stream1_IRQHandler()

void DMA2_Stream1_IRQHandler ( void )

This function handles DMA2 stream1 global interrupt.

Definition at line 294 of file stm32f7xx_it.c.

{
  /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
 
  /* USER CODE END DMA2_Stream1_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_adc3);
  /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
 
  /* USER CODE END DMA2_Stream1_IRQn 1 */
}

◆ DMA2_Stream2_IRQHandler()

void DMA2_Stream2_IRQHandler ( void )

This function handles DMA2 stream2 global interrupt.

Definition at line 308 of file stm32f7xx_it.c.

{
  /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
 
  /* USER CODE END DMA2_Stream2_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_adc2);
  /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
 
  /* USER CODE END DMA2_Stream2_IRQn 1 */
}

◆ HAL_ADC_ConvCpltCallback()

void HAL_ADC_ConvCpltCallback ( ADC_HandleTypeDef * hadc )

Definition at line 446 of file stm32f7xx_it.c.

                                                       {
  if (hadc == &hadc1) {
    ProcessADCData(adc1_buffer, adc2_buffer, adc3_buffer);
  } else if (hadc == &hadc2) {
    ProcessADCData(adc1_buffer, adc2_buffer, adc3_buffer);
  } else if (hadc == &hadc3) {
    ProcessADCData(adc1_buffer, adc2_buffer, adc3_buffer);
  }
}

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◆ HAL_CAN_RxFifo0MsgPendingCallback()

void HAL_CAN_RxFifo0MsgPendingCallback ( CAN_HandleTypeDef * hcan )

Definition at line 404 of file stm32f7xx_it.c.

{
    if (hcan == &hcan1) {
        HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader1, RxData1);
        receive_CAN_message(&RxHeader1, RxData1, CAN_1);
    } else if (hcan == &hcan2) {
        HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader2, RxData2);
        receive_CAN_message(&RxHeader2, RxData2, CAN_2);
    }
}

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◆ HAL_CAN_TxMailbox0CompleteCallback()

void HAL_CAN_TxMailbox0CompleteCallback ( CAN_HandleTypeDef * hcan )

Definition at line 457 of file stm32f7xx_it.c.

{
    // Create a telemetry message for TX confirmation using proper sendMessage function
    if (hcan == &hcan1) {
        sendMessage("CAN", MSG_CAN_TX, "ID:0x123;DLC:8;Data:AABBCCDD55667788");
    } else if (hcan == &hcan2) {
        sendMessage("CAN", MSG_CAN_TX, "ID:0x123;DLC:8;Data:AABBCCDD55667788");
    }
}

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◆ HAL_CAN_TxMailbox1CompleteCallback()

void HAL_CAN_TxMailbox1CompleteCallback ( CAN_HandleTypeDef * hcan )

Definition at line 467 of file stm32f7xx_it.c.

{
    if (hcan == &hcan1) {
        sendMessage("CAN", MSG_CAN_TX, "ID:0x456;DLC:8;Data:1122334455667788");
    } else if (hcan == &hcan2) {
        sendMessage("CAN", MSG_CAN_TX, "ID:0x456;DLC:8;Data:1122334455667788");
    }
}

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◆ HAL_CAN_TxMailbox2CompleteCallback()

void HAL_CAN_TxMailbox2CompleteCallback ( CAN_HandleTypeDef * hcan )

Definition at line 476 of file stm32f7xx_it.c.

{
    if (hcan == &hcan1) {
        sendMessage("CAN", MSG_CAN_TX, "ID:0x789;DLC:8;Data:DEADBEEFCAFEBABE");
    } else if (hcan == &hcan2) {
        sendMessage("CAN", MSG_CAN_TX, "ID:0x789;DLC:8;Data:DEADBEEFCAFEBABE");
    }
}

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◆ HAL_TIM_PeriodElapsedCallback()

void HAL_TIM_PeriodElapsedCallback ( TIM_HandleTypeDef * htim )

Definition at line 341 of file stm32f7xx_it.c.

{
    if (htim->Instance == TIM1)
    {
        timer_flag++;
    } else if (htim->Instance == TIM2) {
        // OUTPUTS
        // D10
        HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, digital_out_buffer[0]);
        // D9
        HAL_GPIO_WritePin(GPIOD, GPIO_PIN_15, digital_out_buffer[1]);
        // D8
        HAL_GPIO_WritePin(GPIOF, GPIO_PIN_12, digital_out_buffer[2]);
        // D7
        HAL_GPIO_WritePin(GPIOF, GPIO_PIN_13, digital_out_buffer[3]);
        // D6
        HAL_GPIO_WritePin(GPIOE, GPIO_PIN_9 , digital_out_buffer[4]);
        // D5
        HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, digital_out_buffer[5]);
        // D4 for I2C
        // HAL_GPIO_WritePin(GPIOF, GPIO_PIN_14, digital_out_buffer[6]);
        // D3
        HAL_GPIO_WritePin(GPIOE, GPIO_PIN_13, digital_out_buffer[6]);
        // D2
        // HAL_GPIO_WritePin(GPIOF, GPIO_PIN_15, digital_out_buffer[8]);
        // D1
        // HAL_GPIO_WritePin(GPIOG, GPIO_PIN_14, digital_out_buffer[9]);
        // D0
        HAL_GPIO_WritePin(GPIOG, GPIO_PIN_9, digital_out_buffer[7]);
 
        // INPUTS
        // D42
        digital_in_buffer[0] = HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_8);
        // D41
        digital_in_buffer[1] = HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_7);
        // D40
        digital_in_buffer[2] = HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_10);
      }
}

◆ HAL_UART_RxCpltCallback()

void HAL_UART_RxCpltCallback ( UART_HandleTypeDef * huart )

Definition at line 416 of file stm32f7xx_it.c.

{
    if (huart->Instance == USART3) {
        if (uart_rx_char == '\n' || uart_rx_char == '\r') {
            // Check if it's CONFIG_REQUEST
            uart_cmd[cmd_index] = '\0';
            if (strcmp(uart_cmd, "CONFIG_REQUEST") == 0) {
                handleTelemetryConfigRequest();
            }
            cmd_index = 0;
        }
        else if (uart_rx_char >= 'A' && uart_rx_char <= 'Z' && cmd_index < 15) {
            // Only store uppercase letters for CONFIG_REQUEST
            uart_cmd[cmd_index++] = uart_rx_char;
        }
        else if (uart_rx_char == '_' && cmd_index < 15) {
            // Store underscore for CONFIG_REQUEST
            uart_cmd[cmd_index++] = uart_rx_char;
        }
        else if (uart_rx_char < 'A' || uart_rx_char > 'Z') {
            // Reset on any invalid character
            cmd_index = 0;
        }
        
        // Re-enable interrupt
        HAL_UART_Receive_IT(&huart3, &uart_rx_char, 1);
    }
}

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◆ HardFault_Handler()

void HardFault_Handler ( void )

This function handles Hard fault interrupt.

Definition at line 108 of file stm32f7xx_it.c.

{
  /* 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 */
  }
}

◆ initUartConfigListener()

void initUartConfigListener ( void )

Definition at line 336 of file stm32f7xx_it.c.

                                  {
    // Start UART interrupt reception
    HAL_UART_Receive_IT(&huart3, &uart_rx_char, 1);
}

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◆ MemManage_Handler()

void MemManage_Handler ( void )

This function handles Memory management fault.

Definition at line 123 of file stm32f7xx_it.c.

{
  /* USER CODE BEGIN MemoryManagement_IRQn 0 */
 
  /* USER CODE END MemoryManagement_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
    /* USER CODE END W1_MemoryManagement_IRQn 0 */
  }
}

◆ NMI_Handler()

void NMI_Handler ( void )

This function handles Non maskable interrupt.

Definition at line 93 of file stm32f7xx_it.c.

{
  /* 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 */
}

◆ send_CAN_message_helper()

int send_CAN_message_helper	(	CANBus	bus,
		CAN_TxHeaderTypeDef *	TxHeader,
		uint8_t *	data
	)

Definition at line 382 of file stm32f7xx_it.c.

{
    uint32_t mailbox;
    if (bus == CAN_1) {
        if (HAL_CAN_AddTxMessage(&hcan1, TxHeader, data, &mailbox) != HAL_OK) {
            uint32_t error = HAL_CAN_GetError(&hcan1);
            printf("CAN1 Transmission Error: %lx\n", error);
            return -1;
        }
    } else if (bus == CAN_2) {
        if (HAL_CAN_AddTxMessage(&hcan2, TxHeader, data, &mailbox) != HAL_OK) {
            uint32_t error = HAL_CAN_GetError(&hcan2);
            printf("CAN2 Transmission Error: %lx\n", error);
            return -1;
        }
    } else {
        return -1;
    }
    return 0;
}

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◆ SysTick_Handler()

void SysTick_Handler ( void )

This function handles System tick timer.

Definition at line 181 of file stm32f7xx_it.c.

{
  /* USER CODE BEGIN SysTick_IRQn 0 */
 
  /* USER CODE END SysTick_IRQn 0 */
  HAL_IncTick();
#if (INCLUDE_xTaskGetSchedulerState == 1 )
  if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
  {
#endif /* INCLUDE_xTaskGetSchedulerState */
  xPortSysTickHandler();
#if (INCLUDE_xTaskGetSchedulerState == 1 )
  }
#endif /* INCLUDE_xTaskGetSchedulerState */
  /* USER CODE BEGIN SysTick_IRQn 1 */
 
  /* USER CODE END SysTick_IRQn 1 */
}

◆ TIM2_IRQHandler()

void TIM2_IRQHandler ( void )

This function handles TIM2 global interrupt.

Definition at line 252 of file stm32f7xx_it.c.

{
  /* USER CODE BEGIN TIM2_IRQn 0 */
 
  /* USER CODE END TIM2_IRQn 0 */
  HAL_TIM_IRQHandler(&htim2);
  /* USER CODE BEGIN TIM2_IRQn 1 */
 
  /* USER CODE END TIM2_IRQn 1 */
}

◆ UsageFault_Handler()

void UsageFault_Handler ( void )

This function handles Undefined instruction or illegal state.

Definition at line 153 of file stm32f7xx_it.c.

{
  /* USER CODE BEGIN UsageFault_IRQn 0 */
 
  /* USER CODE END UsageFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
    /* USER CODE END W1_UsageFault_IRQn 0 */
  }
}

◆ USART3_IRQHandler()

void USART3_IRQHandler ( void )

This function handles USART3 global interrupt.

Definition at line 266 of file stm32f7xx_it.c.

{
  /* 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 */
}

Variable Documentation

◆ cmd_index

uint8_t cmd_index = 0

static

Definition at line 60 of file stm32f7xx_it.c.

◆ hcan1

CAN_HandleTypeDef hcan1

extern

Definition at line 70 of file main.c.

◆ hcan2

CAN_HandleTypeDef hcan2

extern

Definition at line 71 of file main.c.

◆ hdma_adc1

DMA_HandleTypeDef hdma_adc1

extern

Definition at line 66 of file main.c.

◆ hdma_adc2

DMA_HandleTypeDef hdma_adc2

extern

Definition at line 69 of file AnalogSensor.h.

◆ hdma_adc3

DMA_HandleTypeDef hdma_adc3

extern

Definition at line 69 of file AnalogSensor.h.

◆ hdma_dac1

DMA_HandleTypeDef hdma_dac1

extern

Definition at line 75 of file main.c.

◆ hdma_dac2

DMA_HandleTypeDef hdma_dac2

extern

Definition at line 76 of file main.c.

◆ htim2

TIM_HandleTypeDef htim2

extern

Definition at line 85 of file main.c.

◆ huart3

UART_HandleTypeDef huart3

extern

Definition at line 87 of file main.c.

◆ RxData1

uint8_t RxData1[8]

Definition at line 54 of file stm32f7xx_it.c.

◆ RxData2

uint8_t RxData2[8]

Definition at line 55 of file stm32f7xx_it.c.

◆ RxHeader1

CAN_RxHeaderTypeDef RxHeader1

Definition at line 52 of file stm32f7xx_it.c.

◆ RxHeader2

CAN_RxHeaderTypeDef RxHeader2

Definition at line 53 of file stm32f7xx_it.c.

◆ timer_flag

volatile uint32_t timer_flag = 0

Definition at line 334 of file stm32f7xx_it.c.

◆ uart_cmd

char uart_cmd[16]

static

Definition at line 59 of file stm32f7xx_it.c.

◆ uart_rx_char

uint8_t uart_rx_char

static

Definition at line 58 of file stm32f7xx_it.c.

Functions

Variables

Detailed Description

Function Documentation

◆ BusFault_Handler()

◆ CAN1_RX0_IRQHandler()

◆ CAN2_RX0_IRQHandler()

◆ DebugMon_Handler()

◆ DMA1_Stream5_IRQHandler()

◆ DMA1_Stream6_IRQHandler()

◆ DMA2_Stream0_IRQHandler()

◆ DMA2_Stream1_IRQHandler()

◆ DMA2_Stream2_IRQHandler()

◆ HAL_ADC_ConvCpltCallback()

◆ HAL_CAN_RxFifo0MsgPendingCallback()

◆ HAL_CAN_TxMailbox0CompleteCallback()

◆ HAL_CAN_TxMailbox1CompleteCallback()

◆ HAL_CAN_TxMailbox2CompleteCallback()

◆ HAL_TIM_PeriodElapsedCallback()

◆ HAL_UART_RxCpltCallback()

◆ HardFault_Handler()

◆ initUartConfigListener()

◆ MemManage_Handler()

◆ NMI_Handler()

◆ send_CAN_message_helper()

◆ SysTick_Handler()

◆ TIM2_IRQHandler()

◆ UsageFault_Handler()

◆ USART3_IRQHandler()

Variable Documentation

◆ cmd_index

◆ hcan1

◆ hcan2

◆ hdma_adc1

◆ hdma_adc2

◆ hdma_adc3

◆ hdma_dac1

◆ hdma_dac2

◆ htim2

◆ huart3

◆ RxData1

◆ RxData2

◆ RxHeader1

◆ RxHeader2

◆ timer_flag

◆ uart_cmd

◆ uart_rx_char