STM32F413ZH 7路串口收发 +IIC +freertos+步进电机驱动

STM32F413ZH 7路串口收发 +IIC +freertos+步进电机驱动，实现急加速急减速功能，不懂可以咨询

#include “user_task.h“
#include “sys.h“
#include “cmsis_os.h“
#include “stm32f4xx_hal.h“
#include “usart.h“
#include “adc.h“
#include “key.h“
#include “exti.h“

osThreadId initTask_Handler;
osThreadId Task1Task_Handler;
osThreadId Task2Task_Handler;
osThreadId Task3Task_Handler;
osThreadId Task4Task_Handler;
TimerHandle_t	OneShotTimer_Handle;			//单次定时器句柄
TaskHandle_t TimerControlTask_Handler;

extern u8  TIM5CH1_CAPTURE_STA;	//输入捕获状态		    				
extern u32	TIM5CH1_CAPTURE_VAL;
//uart debug info
void task1_task（void *pvParameters）
{
	u16 task1_num=0;
  u16 temp;
	u8 len;
	while（1）
	{
		task1_num++;	
		
		//printf（“任务1已经执行：%d次\r\n“task1_num）;
		





    if（USART_RX_STA[1]&0x8000）
		{					   
			len=USART_RX_STA[1]&0x3fff;
			printf（“uart 1 :\r\n“）;
			HAL_UART_Transmit（&huart1（uint8_t*）USART1_RX_BUFlen1000）;	
			while（__HAL_UART_GET_FLAG（&huart1UART_FLAG_TC）!=SET）;		
			USART_RX_STA[1]=0;
		}
		else if（USART_RX_STA[2]&0x8000）
		{					   
			len=USART_RX_STA[2]&0x3fff;
			printf（“uart 2 :\r\n“）;
			HAL_UART_Transmit（&huart1（uint8_t*）USART2_RX_BUFlen1000）;	
			while（__HAL_UART_GET_FLAG（&huart1UART_FLAG_TC）!=SET）;		
			USART_RX_STA[2]=0;
		}
		else if（USART_RX_STA[3]&0x8000）
		{					   
			len=USART_RX_STA[3]&0x3fff;
			printf（“uart 3 :\r\n“）;
			HAL_UART_Transmit（&huart1（uint8_t*）USART3_RX_BUFlen1000）;	
			while（__HAL_UART_GET_FLAG（&huart1UART_FLAG_TC）!=SET）;		
			USART_RX_STA[3]=0;
		}
		else if（USART_RX_STA[4]&0x8000）
		{					   
			len=USART_RX_STA[4]&0x3fff;
			printf（“uart 4 :\r\n“）;
			HAL_UART_Transmit（&huart1（uint8_t*）USART4_RX_BUFlen1000）;	
			while（__HAL_UART_GET_FLAG（&huart1UART_FLAG_TC）!=SET）;		
			USART_RX_STA[4]=0;
		}
		else if（USART_RX_STA[5]&0x8000）
		{					   
			len=USART_RX_STA[5]&0x3fff;
			printf（“uart 5 :\r\n“）;
			HAL_UART_Transmit（&huart1（uint8_t*）USART5_RX_BUFlen1000）;	
			while（__HAL_UART_GET_FLAG（&huart1UART_FLAG_TC）!=SET）;		
			USART_RX_STA[5]=0;
		}
		else if（USART_RX_STA[6]&0x8000）
		{					   
			len=USART_RX_STA[6]&0x3fff;
			printf（“uart 6 \r\n“）;
			HAL_UART_Transmit（&huart1（uint8_t*）USART6_RX_BUFlen1000）;	
			while（__HAL_UART_GET_FLAG（&huart1UART_FLAG_TC）!=SET）;		
			USART_RX_STA[6]=0;
		}
		else if（USART_RX_STA[7]&0x8000）
		{					   
			len=USART_RX_STA[7]&0x3fff;
			printf（“uart 7 :\r\n“）;
			HAL_UART_Transmit（&huart1（uint8_t*）USART7_RX_BUFlen1000）;	
			while（__HAL_UART_GET_FLAG（&huart1UART_FLAG_TC）!=SET）;		
			USART_RX_STA[7]=0;
		}		
		else
		{
		  ;			 
		}	
		vTaskDelay（1000）;                           //延时1s，也就是1000个时钟节拍	
	}
}

//task2_adc
void task2_task（void *pvParameters）
{
	u8  task2_num = 0;
	u16 adcx = 0;
	float vol;
	while（1）
	{
		task2_num++;	
    adcx=Get_Adc_Average（ADC_CHANNEL_520）;
		vol=（float）adcx*（3.3/4096）;  
		//printf（“\r\n任务2已经执行：%d次\r\n“task2_num）;
	  //printf（“AD_value =  %.3f\r\n\r\n“vol）;
    vTaskDelay（1000）;                           	
	}
}

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件       7486  2019-02-27 10:34  stm32f4xx_freertos_project--0325\.mxproject

     文件       3938  2019-03-26 17:44  stm32f4xx_freertos_project--0325\App\user_task.c

     文件        745  2019-03-01 15:22  stm32f4xx_freertos_project--0325\App\user_task.h

     文件        495  2019-03-01 17:23  stm32f4xx_freertos_project--0325\debug.ini

     文件       2915  2019-03-26 19:07  stm32f4xx_freertos_project--0325\debug_log.txt

     文件      19342  2012-12-14 11:16  stm32f4xx_freertos_project--0325\DMP\eMPL\dmpKey.h

     文件       6765  2012-12-14 11:16  stm32f4xx_freertos_project--0325\DMP\eMPL\dmpmap.h

     文件      89370  2014-10-05 11:44  stm32f4xx_freertos_project--0325\DMP\eMPL\inv_mpu.c

     文件       4883  2019-03-11 09:02  stm32f4xx_freertos_project--0325\DMP\eMPL\inv_mpu.h

     文件      58387  2019-03-11 10:14  stm32f4xx_freertos_project--0325\DMP\eMPL\inv_mpu_dmp_motion_driver.c

     文件       3538  2014-10-05 11:44  stm32f4xx_freertos_project--0325\DMP\eMPL\inv_mpu_dmp_motion_driver.h

     文件       5298  2019-03-11 10:14  stm32f4xx_freertos_project--0325\DMP\mpu6050.c

     文件       4513  2019-03-11 09:48  stm32f4xx_freertos_project--0325\DMP\mpu6050.h

     文件     719923  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f401xc.h

     文件     719923  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f401xe.h

     文件    1228777  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f405xx.h

     文件    1344524  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h

     文件     606160  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f410cx.h

     文件     606469  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f410rx.h

     文件     601407  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f410tx.h

     文件     723418  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f411xe.h

     文件    1167059  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f412cx.h

     文件    1253447  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f412rx.h

     文件    1253447  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f412vx.h

     文件    1253519  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f412zx.h

     文件    1307927  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f413xx.h

     文件    1252263  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f415xx.h

     文件    1367610  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f417xx.h

     文件    1319090  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f423xx.h

     文件    1446739  2019-02-22 09:11  stm32f4xx_freertos_project--0325\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f427xx.h

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