MADAO/ManGoWalk_STM32
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add Encoder and PID control and Abstacle control

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This commit is contained in:
MADAO
2025-07-03 00:29:57 +08:00
parent 0361cd17af
commit a635b6d5eb
49 changed files with 9072 additions and 7610 deletions
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15
Core/Src/stm32h5xx_it.c
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@@ -58,6 +58,7 @@
/* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim5;
extern DMA_NodeTypeDef Node_GPDMA1_Channel5;
extern DMA_QListTypeDef List_GPDMA1_Channel5;
extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
@@ -242,6 +243,20 @@ void TIM3_IRQHandler(void)
/* USER CODE END TIM3_IRQn 1 */
}
/**
* @brief This function handles TIM5 global interrupt.
*/
void TIM5_IRQHandler(void)
{
/* USER CODE BEGIN TIM5_IRQn 0 */
/* USER CODE END TIM5_IRQn 0 */
HAL_TIM_IRQHandler(&htim5);
/* USER CODE BEGIN TIM5_IRQn 1 */
/* USER CODE END TIM5_IRQn 1 */
}
/**
* @brief This function handles TIM6 global interrupt.
*/