diff options
| author | Damien George <damien.p.george@gmail.com> | 2014-03-22 18:34:16 +0000 |
|---|---|---|
| committer | Damien George <damien.p.george@gmail.com> | 2014-03-22 18:34:16 +0000 |
| commit | 0119fc7532c573bd596fb6173b4d36ef5260027a (patch) | |
| tree | 34b58be58b793d55b8c08ddd36608bef9b4823f7 /stmhal/stm32f4xx_it.c | |
| parent | 626f6b813375a2a67d110cf8f240fe829d5887e4 (diff) | |
stmhal: Servo driver can move at a given speed.
Diffstat (limited to 'stmhal/stm32f4xx_it.c')
| -rw-r--r-- | stmhal/stm32f4xx_it.c | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/stmhal/stm32f4xx_it.c b/stmhal/stm32f4xx_it.c index 9100d63a2..30ded5f7b 100644 --- a/stmhal/stm32f4xx_it.c +++ b/stmhal/stm32f4xx_it.c @@ -42,12 +42,15 @@ #include "stm32f4xx_it.h"
#include "stm32f4xx_hal.h"
+#include "usbd_cdc_msc.h"
+#include "usbd_cdc_interface.h"
#include "misc.h"
#include "mpconfig.h"
#include "qstr.h"
#include "obj.h"
#include "exti.h"
+#include "servo.h"
/** @addtogroup STM32F4xx_HAL_Examples
* @{
@@ -64,7 +67,6 @@ extern void fatality();
extern PCD_HandleTypeDef hpcd;
-extern TIM_HandleTypeDef USBD_CDC_TimHandle;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
@@ -349,9 +351,14 @@ void RTC_WKUP_IRQHandler(void) { Handle_EXTI_Irq(EXTI_RTC_WAKEUP);
}
+void TIM2_IRQHandler(void) {
+ // servo timer is TIM2
+ HAL_TIM_IRQHandler(&servo_TIM2_Handle);
+}
+
void TIM3_IRQHandler(void) {
// USBD CDC timer is TIM3
- HAL_TIM_IRQHandler(&USBD_CDC_TimHandle);
+ HAL_TIM_IRQHandler(&USBD_CDC_TIM3_Handle);
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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