FOC_TEST/user/board_config.c

/**********************************
 * 文件名称: board_config.c
 * 功能描述: 硬件初始化配置文件
 * 主要功能:
 * 1. 系统时钟配置
 * 2. GPIO端口初始化
 * 3. Hall传感器配置
 * 4. PWM输出配置
 * 5. DMA配置（用于ADC3规则组）
 * 6. ADC采样配置（三相电流用注入组，其他用ADC3规则组）
 * 7. 按键输入配置
 * 8. 中断优先级配置
 * 
 * 注意事项:
 * - 三相电流使用注入组：
 *   - ADC1注入组：A相电流
 *   - ADC2注入组：B相电流  
 *   - ADC3注入组：C相电流
 * - ADC3规则组（5通道：U/V/W电压 + 温度 + 母线电压），使用DMA循环传输
 * - PWM使用TIM1，频率为10kHz
 * - Hall传感器使用TIM5进行捕获
 **********************************/
#include "main.h"
#include "board_config.h"

/**********************************
 * 系统时钟配置
 * 硬件平台: 正点原子 STM32F407 电机开发板
 * 外部晶振: 8MHz (关键！必须与实际硬件匹配)
 * 系统时钟: 168MHz
 **********************************/
#include "stm32f4xx.h"

/**
 * @brief 系统时钟配置函数
 */
static void SystemClock_Config(void)
{
    RCC_ClocksTypeDef RCC_ClocksStatus;
    
    RCC_DeInit();
    RCC_HSEConfig(RCC_HSE_ON);
    
    while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET) {}
    
    RCC_HCLKConfig(RCC_SYSCLK_Div1);
    RCC_PCLK2Config(RCC_HCLK_Div2);
    RCC_PCLK1Config(RCC_HCLK_Div4);
    
    RCC_PLLConfig(RCC_PLLSource_HSE, 8, 336, 2, 7);
    RCC_PLLCmd(ENABLE);
    
    while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET) {}
    
    RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
    
    while (RCC_GetSYSCLKSource() != 0x08) {}
    
    RCC_GetClocksFreq(&RCC_ClocksStatus);
    SystemCoreClock = RCC_ClocksStatus.SYSCLK_Frequency;
    
    FLASH_SetLatency(FLASH_Latency_5);
    FLASH_PrefetchBufferCmd(ENABLE);
    FLASH_InstructionCacheCmd(ENABLE);
    FLASH_DataCacheCmd(ENABLE);
}

/**
 * @brief 硬件初始化函数
 */
void hard_init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef PWM_TIM_TimeBaseStructure;
    TIM_OCInitTypeDef PWM_TIM_OCInitStructure;
    TIM_BDTRInitTypeDef PWM_TIM_BDTRInitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;
    DMA_InitTypeDef DMA_InitStructure;
    ADC_InitTypeDef ADC_InitStructure;
    ADC_InitTypeDef ADC3_InitStructure;
    ADC_CommonInitTypeDef ADC_CommonInitStructure;
    EXTI_InitTypeDef EXTI_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_HALLTimeBaseInitStructure;
    TIM_ICInitTypeDef TIM_HALLICInitStructure;
    RCC_ClocksTypeDef RCC_Clocks;
    
    /* ==================== 1. 系统时钟配置 ==================== */
    SystemClock_Config();
    RCC_GetClocksFreq(&RCC_Clocks);
    
    /* ==================== 2. GPIO 时钟使能 ==================== */
    RCC_AHB1PeriphClockCmd(KEY_1_GPIO_CLK|KEY_2_GPIO_CLK|KEY_3_GPIO_CLK, ENABLE);
    RCC_AHB1PeriphClockCmd(PWM_AH_GPIO_CLK|PWM_BH_GPIO_CLK|PWM_CH_GPIO_CLK, ENABLE);
    RCC_AHB1PeriphClockCmd(PWM_AL_GPIO_CLK|PWM_BL_GPIO_CLK|PWM_CL_GPIO_CLK, ENABLE);
    RCC_AHB1PeriphClockCmd(HALL_CH1_GPIO_CLK|HALL_CH2_GPIO_CLK|HALL_CH3_GPIO_CLK, ENABLE);
    RCC_AHB1PeriphClockCmd(A_CURRENT_ADC_GPIO_CLK|B_CURRENT_ADC_GPIO_CLK|C_CURRENT_ADC_GPIO_CLK, ENABLE);
    RCC_AHB1PeriphClockCmd(VBUS_ADC_GPIO_CLK|TEMPERATURE_ADC_GPIO_CLK, ENABLE);
    RCC_AHB1PeriphClockCmd(U_VOLT_ADC_GPIO_CLK|V_VOLT_ADC_GPIO_CLK|W_VOLT_ADC_GPIO_CLK, ENABLE);
    RCC_AHB1PeriphClockCmd(USER_LED1_GPIO_CLK|USER_LED2_GPIO_CLK, ENABLE);
    RCC_AHB1PeriphClockCmd(USER_EN_GPIO_CLK,ENABLE);
    
    /* ==================== 3. 外设时钟使能 ==================== */
    RCC_APB2PeriphClockCmd(PWM_TIM_CLK, ENABLE);
    RCC_APB2PeriphClockCmd(SAMPLE_ADC1_CLK, ENABLE);   // ADC1
    RCC_APB2PeriphClockCmd(SAMPLE_ADC2_CLK, ENABLE);   // ADC2
    RCC_APB2PeriphClockCmd(SAMPLE_ADC3_CLK, ENABLE);   // ADC3
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
    RCC_APB1PeriphClockCmd(HALL_TIM_CLK, ENABLE);
    RCC_AHB1PeriphClockCmd(DMA2_CLK, ENABLE);
    
    /* ==================== 4. SysTick 配置 ==================== */
    SysTick_Config(RCC_Clocks.HCLK_Frequency / 1000);
    
    /* ==================== 5. Hall 传感器配置 ==================== */
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    
    GPIO_InitStructure.GPIO_Pin = HALL_CH1_PIN;
    GPIO_Init(HALL_CH1_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = HALL_CH2_PIN;
    GPIO_Init(HALL_CH2_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = HALL_CH3_PIN;
    GPIO_Init(HALL_CH3_GPIO_PORT, &GPIO_InitStructure);
    
    GPIO_PinAFConfig(HALL_CH1_GPIO_PORT, HALL_CH1_SOURCE, HALL_CH1_AF);
    GPIO_PinAFConfig(HALL_CH2_GPIO_PORT, HALL_CH2_SOURCE, HALL_CH2_AF);
    GPIO_PinAFConfig(HALL_CH3_GPIO_PORT, HALL_CH3_SOURCE, HALL_CH3_AF);
    
    TIM_DeInit(HALL_TIM);
    TIM_TimeBaseStructInit(&TIM_HALLTimeBaseInitStructure); 
    TIM_HALLTimeBaseInitStructure.TIM_Period = 0xffffffff;
    TIM_HALLTimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInit(HALL_TIM, &TIM_HALLTimeBaseInitStructure);
    
    TIM_ICStructInit(&TIM_HALLICInitStructure);
    TIM_HALLICInitStructure.TIM_Channel = TIM_Channel_1;
    TIM_HALLICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
    TIM_HALLICInitStructure.TIM_ICFilter = 0x0f;
    TIM_ICInit(HALL_TIM, &TIM_HALLICInitStructure);
    
    TIM_PrescalerConfig(HALL_TIM, 0, TIM_PSCReloadMode_Immediate);
    TIM_InternalClockConfig(HALL_TIM);
    TIM_SelectHallSensor(HALL_TIM, ENABLE);
    TIM_SelectInputTrigger(HALL_TIM, TIM_TS_TI1FP1);
    TIM_SelectSlaveMode(HALL_TIM, TIM_SlaveMode_Reset);
    TIM_ClearFlag(HALL_TIM, TIM_FLAG_Update | TIM_FLAG_CC1 | TIM_FLAG_CC2 |
                  TIM_FLAG_CC3 | TIM_FLAG_CC4 | TIM_FLAG_Trigger |
                  TIM_FLAG_CC1OF | TIM_FLAG_CC2OF | TIM_FLAG_CC3OF | TIM_FLAG_CC4OF);
    TIM_ITConfig(HALL_TIM, TIM_IT_CC1, ENABLE);
    TIM_SetCounter(HALL_TIM, 0);
    TIM_Cmd(HALL_TIM, ENABLE);
    
    /* ==================== 6. LED 指示灯配置 ==================== */
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_InitStructure.GPIO_Pin = USER_LED1_PIN;
    GPIO_Init(USER_LED1_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = USER_LED2_PIN;
    GPIO_Init(USER_LED2_GPIO_PORT, &GPIO_InitStructure);
    
    /* ==================== 7. PWM 配置 ==================== */
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    
    GPIO_InitStructure.GPIO_Pin = PWM_AH_PIN;
    GPIO_Init(PWM_AH_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = PWM_AL_PIN;
    GPIO_Init(PWM_AL_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = PWM_BH_PIN;
    GPIO_Init(PWM_BH_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = PWM_BL_PIN;
    GPIO_Init(PWM_BL_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = PWM_CH_PIN;
    GPIO_Init(PWM_CH_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = PWM_CL_PIN;
    GPIO_Init(PWM_CL_GPIO_PORT, &GPIO_InitStructure);
    
    GPIO_PinAFConfig(PWM_AH_GPIO_PORT, PWM_AH_SOURCE, PWM_AH_AF);
    GPIO_PinAFConfig(PWM_AL_GPIO_PORT, PWM_AL_SOURCE, PWM_AL_AF);
    GPIO_PinAFConfig(PWM_BH_GPIO_PORT, PWM_BH_SOURCE, PWM_BH_AF);
    GPIO_PinAFConfig(PWM_BL_GPIO_PORT, PWM_BL_SOURCE, PWM_BL_AF);
    GPIO_PinAFConfig(PWM_CH_GPIO_PORT, PWM_CH_SOURCE, PWM_CH_AF);
    GPIO_PinAFConfig(PWM_CL_GPIO_PORT, PWM_CL_SOURCE, PWM_CL_AF);
    
    TIM_DeInit(PWM_TIM);
    TIM_TimeBaseStructInit(&PWM_TIM_TimeBaseStructure);
    PWM_TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
    PWM_TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;
    PWM_TIM_TimeBaseStructure.TIM_Period = PWM_TIM_PULSE;
    PWM_TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    PWM_TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(PWM_TIM, &PWM_TIM_TimeBaseStructure);
    
    TIM_OCStructInit(&PWM_TIM_OCInitStructure);
    PWM_TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    PWM_TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    PWM_TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
    PWM_TIM_OCInitStructure.TIM_Pulse = PWM_TIM_PULSE >> 1;
    PWM_TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    PWM_TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
    PWM_TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
    PWM_TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
    
    TIM_OC1Init(PWM_TIM, &PWM_TIM_OCInitStructure);
    TIM_OC2Init(PWM_TIM, &PWM_TIM_OCInitStructure);
    TIM_OC3Init(PWM_TIM, &PWM_TIM_OCInitStructure);
    
    PWM_TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    PWM_TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    PWM_TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
    PWM_TIM_OCInitStructure.TIM_Pulse = PWM_TIM_PULSE;
    PWM_TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    PWM_TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
    PWM_TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
    PWM_TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
    TIM_OC4Init(PWM_TIM, &PWM_TIM_OCInitStructure);
    
    PWM_TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
    PWM_TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
    PWM_TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1;
    PWM_TIM_BDTRInitStructure.TIM_DeadTime = PWM_DEAD_TIME;
    PWM_TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
    PWM_TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;
    PWM_TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
    TIM_BDTRConfig(PWM_TIM, &PWM_TIM_BDTRInitStructure);
    
    TIM_Cmd(PWM_TIM, ENABLE);
    
    PWM_TIM->CCR1 = PWM_TIM_PULSE >> 1;
    PWM_TIM->CCR2 = PWM_TIM_PULSE >> 1;
    PWM_TIM->CCR3 = PWM_TIM_PULSE >> 1;
    PWM_TIM->CCR4 = PWM_TIM_PULSE - 1;
    
    /* ==================== 8. DMA 配置（用于 ADC3 规则组） ==================== */
    // ADC3 规则组使用 DMA2_Stream1, Channel_2
    DMA_DeInit(DMA2_Stream1);
    DMA_InitStructure.DMA_Channel = DMA_CHANNEL2;
    DMA_InitStructure.DMA_PeripheralBaseAddr = ADC3_DR_ADDRESS;  
    DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)ADC3ConvertedValue;
    DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
    DMA_InitStructure.DMA_BufferSize = ADC3_DMA_BUFFER_SIZE;  // 5个通道
    DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
    DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
    DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
    DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
    DMA_InitStructure.DMA_Priority = DMA_Priority_High;
    DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
    DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
    DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
    DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
    DMA_Init(DMA2_Stream1, &DMA_InitStructure);
    DMA_Cmd(DMA2_Stream1, ENABLE);
    
    /* ==================== 9. ADC 引脚配置 ==================== */
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    
    // ADC1 引脚 (A相电流)
    GPIO_InitStructure.GPIO_Pin = A_CURRENT_ADC_PIN;
    GPIO_Init(A_CURRENT_ADC_GPIO_PORT, &GPIO_InitStructure);
    
    // ADC2 引脚 (B相电流)
    GPIO_InitStructure.GPIO_Pin = B_CURRENT_ADC_PIN;
    GPIO_Init(B_CURRENT_ADC_GPIO_PORT, &GPIO_InitStructure);
    
    // ADC3 引脚 (C相电流 + U/V/W电压 + 温度 + 母线电压)
    GPIO_InitStructure.GPIO_Pin = C_CURRENT_ADC_PIN;
    GPIO_Init(C_CURRENT_ADC_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = U_VOLT_ADC_PIN;
    GPIO_Init(U_VOLT_ADC_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = V_VOLT_ADC_PIN;
    GPIO_Init(V_VOLT_ADC_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = W_VOLT_ADC_PIN;
    GPIO_Init(W_VOLT_ADC_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = TEMPERATURE_ADC_PIN;
    GPIO_Init(TEMPERATURE_ADC_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = VBUS_ADC_PIN;
    GPIO_Init(VBUS_ADC_GPIO_PORT, &GPIO_InitStructure);
    
    /* ==================== 9.1 ADC1 配置（注入组：A相电流） ==================== */
    ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
    ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div4;
    ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
    ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
    ADC_CommonInit(&ADC_CommonInitStructure);
    
    ADC_StructInit(&ADC_InitStructure);
    ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
    ADC_InitStructure.ADC_ScanConvMode = DISABLE;
    ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
    ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
    ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
    ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
    ADC_InitStructure.ADC_NbrOfConversion = 0;
    ADC_Init(SAMPLE_ADC1, &ADC_InitStructure);
    
    // ADC1 注入组配置（A相电流）
    ADC_InjectedSequencerLengthConfig(SAMPLE_ADC1, 1);
    ADC_ExternalTrigInjectedConvConfig(SAMPLE_ADC1, ADC_ExternalTrigInjecConv_T1_CC4);
    ADC_ExternalTrigInjectedConvEdgeConfig(SAMPLE_ADC1, ADC_ExternalTrigInjecConvEdge_Rising);
    ADC_InjectedChannelConfig(SAMPLE_ADC1, A_CURRENT_ADC_CHANNEL, 1, ADC_SampleTime_15Cycles);
    
    ADC_ITConfig(SAMPLE_ADC1, ADC_IT_JEOC, ENABLE);
    ADC_ClearFlag(SAMPLE_ADC1, ADC_FLAG_JEOC);
    ADC_Cmd(SAMPLE_ADC1, ENABLE);
    
    /* ==================== 9.2 ADC2 配置（注入组：B相电流） ==================== */
    ADC_Init(SAMPLE_ADC2, &ADC_InitStructure);
    
    ADC_InjectedSequencerLengthConfig(SAMPLE_ADC2, 1);
    ADC_ExternalTrigInjectedConvConfig(SAMPLE_ADC2, ADC_ExternalTrigInjecConv_T1_CC4);
    ADC_ExternalTrigInjectedConvEdgeConfig(SAMPLE_ADC2, ADC_ExternalTrigInjecConvEdge_Rising);
    ADC_InjectedChannelConfig(SAMPLE_ADC2, B_CURRENT_ADC_CHANNEL, 1, ADC_SampleTime_15Cycles);
    
    ADC_ITConfig(SAMPLE_ADC2, ADC_IT_JEOC, ENABLE);
    ADC_ClearFlag(SAMPLE_ADC2, ADC_FLAG_JEOC);
    ADC_Cmd(SAMPLE_ADC2, ENABLE);
    
    /* ==================== 9.3 ADC3 配置（注入组：C相电流 + 规则组：其他5路） ==================== */
    // ADC3 配置
    ADC_StructInit(&ADC3_InitStructure);
    ADC3_InitStructure.ADC_ContinuousConvMode = ENABLE;
    ADC3_InitStructure.ADC_ScanConvMode = ENABLE;
    ADC3_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
    ADC3_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
    ADC3_InitStructure.ADC_Resolution = ADC_Resolution_12b;
    ADC3_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
    ADC3_InitStructure.ADC_NbrOfConversion = ADC3_DMA_BUFFER_SIZE;  // 规则组5个通道
    ADC_Init(SAMPLE_ADC3, &ADC3_InitStructure);
    
    // ADC3 注入组配置（C相电流）
    ADC_InjectedSequencerLengthConfig(SAMPLE_ADC3, 1);
    ADC_ExternalTrigInjectedConvConfig(SAMPLE_ADC3, ADC_ExternalTrigInjecConv_T1_CC4);
    ADC_ExternalTrigInjectedConvEdgeConfig(SAMPLE_ADC3, ADC_ExternalTrigInjecConvEdge_Rising);
    ADC_InjectedChannelConfig(SAMPLE_ADC3, C_CURRENT_ADC_CHANNEL, 1, ADC_SampleTime_15Cycles);
    
    ADC_ITConfig(SAMPLE_ADC3, ADC_IT_JEOC, ENABLE);
    ADC_ClearFlag(SAMPLE_ADC3, ADC_FLAG_JEOC);
    
    // ADC3 规则组通道配置（U/V/W电压 + 温度 + 母线电压）
    ADC_RegularChannelConfig(SAMPLE_ADC3, U_VOLT_ADC_CHANNEL, 1, ADC_SampleTime_15Cycles);
    ADC_RegularChannelConfig(SAMPLE_ADC3, V_VOLT_ADC_CHANNEL, 2, ADC_SampleTime_15Cycles);
    ADC_RegularChannelConfig(SAMPLE_ADC3, W_VOLT_ADC_CHANNEL, 3, ADC_SampleTime_15Cycles);
    ADC_RegularChannelConfig(SAMPLE_ADC3, TEMPERATURE_ADC_CHANNEL, 4, ADC_SampleTime_15Cycles);
    ADC_RegularChannelConfig(SAMPLE_ADC3, VBUS_ADC_CHANNEL, 5, ADC_SampleTime_15Cycles);
    
    // DMA 相关
    ADC_DMACmd(SAMPLE_ADC3, ENABLE);
    ADC_DMARequestAfterLastTransferCmd(SAMPLE_ADC3, ENABLE);
    
    // 使能ADC3并启动转换
    ADC_Cmd(SAMPLE_ADC3, ENABLE);
    ADC_SoftwareStartConv(SAMPLE_ADC3);
    
    /* ==================== 10. 按键配置 ==================== */
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    
    GPIO_InitStructure.GPIO_Pin = KEY_1_PIN;
    GPIO_Init(KEY_1_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = KEY_2_PIN;
    GPIO_Init(KEY_2_GPIO_PORT, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = KEY_3_PIN;
    GPIO_Init(KEY_3_GPIO_PORT, &GPIO_InitStructure);
    
    SYSCFG_EXTILineConfig(KEY_1_EXTI_GPIO_PORT, KEY_1_EXTI_SOURCE);
    SYSCFG_EXTILineConfig(KEY_2_EXTI_GPIO_PORT, KEY_2_EXTI_SOURCE);
    SYSCFG_EXTILineConfig(KEY_3_EXTI_GPIO_PORT, KEY_3_EXTI_SOURCE);
    
    EXTI_InitStructure.EXTI_Line = KEY_1_EXTI_LINE | KEY_2_EXTI_LINE | KEY_3_EXTI_LINE;
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTI_InitStructure);
    
    // EN PIN 
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_InitStructure.GPIO_Pin = USER_EN_PIN;
    GPIO_Init(USER_EN_GPIO_PORT, &GPIO_InitStructure);
    GPIO_ResetBits(USER_EN_GPIO_PORT, USER_EN_PIN);
    
    /* ==================== 11. 中断优先级配置 ==================== */
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
    
    // ADC1/ADC2/ADC3 注入组中断（共用ADC_IRQn）
    NVIC_InitStructure.NVIC_IRQChannel = ADC_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    
    // DMA2 Stream1 中断
    NVIC_InitStructure.NVIC_IRQChannel = DMA2_Stream1_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    DMA_ITConfig(DMA2_Stream1, DMA_IT_TC, ENABLE);
    
    // 按键中断
    NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    
    NVIC_InitStructure.NVIC_IRQChannel = EXTI3_IRQn;
    NVIC_Init(&NVIC_InitStructure);
    
    NVIC_InitStructure.NVIC_IRQChannel = EXTI4_IRQn;
    NVIC_Init(&NVIC_InitStructure);
    
    // TIM5 霍尔中断
    NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_Init(&NVIC_InitStructure);
}