/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    stm32f4xx_it.c
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * 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.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */

/* USER CODE END TD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
int it_5ms_falg = 0;
int it_5ms_cnt = 0;
int it_10ms_falg = 0;
int it_10ms_cnt = 0;
int it_25ms_falg = 0;
int it_25ms_cnt = 0;
int it_50ms_falg = 0;
int it_50ms_cnt = 0;
int it_100ms_falg = 0;
int it_100ms_cnt = 0;
int it_300ms_falg = 0;
int it_300ms_cnt = 0;
int it_500ms_falg = 0;
int it_500ms_cnt = 0;
int it_1000ms_falg = 0;
int it_1000ms_cnt = 0;
/* USER CODE END 0 */

/* External variables --------------------------------------------------------*/

/* USER CODE BEGIN EV */

/* USER CODE END EV */

/******************************************************************************/
/*           Cortex-M4 Processor Interruption and Exception Handlers          */
/******************************************************************************/
/**
  * @brief This function handles Non maskable interrupt.
  */
void NMI_Handler(void)
{
  /* 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 */
}

/**
  * @brief This function handles Hard fault interrupt.
  */
void HardFault_Handler(void)
{
  /* 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 */
  }
}

/**
  * @brief This function handles Memory management fault.
  */
void MemManage_Handler(void)
{
  /* 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 */
  }
}

/**
  * @brief This function handles Pre-fetch fault, memory access fault.
  */
void BusFault_Handler(void)
{
  /* 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 */
  }
}

/**
  * @brief This function handles Undefined instruction or illegal state.
  */
void UsageFault_Handler(void)
{
  /* 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 */
  }
}

/**
  * @brief This function handles System service call via SWI instruction.
  */
void SVC_Handler(void)
{
  /* USER CODE BEGIN SVCall_IRQn 0 */

  /* USER CODE END SVCall_IRQn 0 */
  /* USER CODE BEGIN SVCall_IRQn 1 */

  /* USER CODE END SVCall_IRQn 1 */
}

/**
  * @brief This function handles Debug monitor.
  */
void DebugMon_Handler(void)
{
  /* USER CODE BEGIN DebugMonitor_IRQn 0 */

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

  /* USER CODE END DebugMonitor_IRQn 1 */
}

/**
  * @brief This function handles Pendable request for system service.
  */
void PendSV_Handler(void)
{
  /* USER CODE BEGIN PendSV_IRQn 0 */

  /* USER CODE END PendSV_IRQn 0 */
  /* USER CODE BEGIN PendSV_IRQn 1 */

  /* USER CODE END PendSV_IRQn 1 */
}

/**
  * @brief This function handles System tick timer.
  */
void SysTick_Handler(void)
{
  /* USER CODE BEGIN SysTick_IRQn 0 */

  /* USER CODE END SysTick_IRQn 0 */
  HAL_IncTick();
  /* USER CODE BEGIN SysTick_IRQn 1 */

  /* USER CODE END SysTick_IRQn 1 */
}

/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers                                    */
/* Add here the Interrupt Handlers for the used peripherals.                  */
/* For the available peripheral interrupt handler names,                      */
/* please refer to the startup file (startup_stm32f4xx.s).                    */
/******************************************************************************/

/**
  * @brief This function handles DMA1 stream3 global interrupt.
  */
void DMA1_Stream3_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
	if(LL_DMA_IsActiveFlag_TC3(DMA1))
    {
    	//清除Stream3 TC中断
        LL_DMA_ClearFlag_TC3(DMA1);
        //关闭DMA1 Stream3
        LL_DMA_DisableStream(DMA1,LL_DMA_STREAM_3);
    }
  /* USER CODE END DMA1_Stream3_IRQn 0 */

  /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */

  /* USER CODE END DMA1_Stream3_IRQn 1 */
}

/**
  * @brief This function handles DMA1 stream6 global interrupt.
  */
void DMA1_Stream6_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
	if(LL_DMA_IsActiveFlag_TC6(DMA1))
	{
		LL_DMA_ClearFlag_TC6(DMA1);//清除TC中断
		LL_DMA_DisableStream(DMA1,LL_DMA_STREAM_6);	//关闭DMA
	}
  /* USER CODE END DMA1_Stream6_IRQn 0 */

  /* USER CODE BEGIN DMA1_Stream6_IRQn 1 */

  /* USER CODE END DMA1_Stream6_IRQn 1 */
}

/**
  * @brief This function handles TIM3 global interrupt.
  */
void TIM3_IRQHandler(void)
{
  /* USER CODE BEGIN TIM3_IRQn 0 */
	if(LL_TIM_IsActiveFlag_UPDATE(TIM3) == SET)
	{
		it_5ms_cnt++;
		if(it_5ms_cnt > 4)
		{
			it_5ms_falg = 1;
			it_5ms_cnt = 0;
		}
		it_10ms_cnt++;
		if(it_10ms_cnt > 9)
		{
			if (laser_handle.state == LASER_READY)
			{
				laser_handle.command_distance_read_req();
				if(laser_handle.distance >= 0)
				{
					InputReg[4] = laser_handle.distance;
				}
				else
				{
					int laser_num = -laser_handle.distance;
					
					InputReg[4] = (uint16_t)((0xFFFF - laser_num) + 1);
				}
			}
			//it_10ms_falg = 1;
			it_10ms_cnt = 0;
		}
		it_25ms_cnt++;
		if(it_25ms_cnt > 24)
		{
			it_25ms_falg = 1;
			it_25ms_cnt = 0;
		}
		it_50ms_cnt++;
		if(it_50ms_cnt > 49)
		{
			it_50ms_falg = 1;
			it_50ms_cnt = 0;
		}
		it_100ms_cnt++;
		if(it_100ms_cnt > 99)
		{
			it_100ms_cnt = 0;
			if(flow_state == 6)
			{
				mf_read();
			}
			else
			{
				mf_clear();
			}
		}
		it_300ms_cnt++;
		if(it_300ms_cnt > 299)
		{
			it_300ms_falg = 1;
			it_300ms_cnt = 0;
		}
		it_500ms_cnt++;
		if(it_500ms_cnt > 499)
		{
			it_500ms_falg = 1;
			it_500ms_cnt = 0;
		}
		it_1000ms_cnt++;
		if(it_1000ms_cnt > 999)
		{
			it_1000ms_falg = 1;
			it_1000ms_cnt = 0;
		}
		
		LL_TIM_ClearFlag_UPDATE(TIM3);
	}
	
  /* USER CODE END TIM3_IRQn 0 */
  /* USER CODE BEGIN TIM3_IRQn 1 */

  /* USER CODE END TIM3_IRQn 1 */
}

/**
  * @brief This function handles USART1 global interrupt.
  */
void USART1_IRQHandler(void)
{
  /* USER CODE BEGIN USART1_IRQn 0 */

  /* USER CODE END USART1_IRQn 0 */
  /* USER CODE BEGIN USART1_IRQn 1 */

  /* USER CODE END USART1_IRQn 1 */
}

/**
  * @brief This function handles USART2 global interrupt.
  */
void USART2_IRQHandler(void)
{
  /* USER CODE BEGIN USART2_IRQn 0 */
	laser_rx_cb();

  /* USER CODE END USART2_IRQn 0 */
  /* USER CODE BEGIN USART2_IRQn 1 */

  /* USER CODE END USART2_IRQn 1 */
}

/**
  * @brief This function handles USART3 global interrupt.
  */
void USART3_IRQHandler(void)
{
  /* USER CODE BEGIN USART3_IRQn 0 */
	modbus_callback();
  /* USER CODE END USART3_IRQn 0 */
  /* USER CODE BEGIN USART3_IRQn 1 */

  /* USER CODE END USART3_IRQn 1 */
}

/**
  * @brief This function handles TIM7 global interrupt.
  */
void TIM7_IRQHandler(void)
{
  /* USER CODE BEGIN TIM7_IRQn 0 */
	modbus_tim_callback();
  /* USER CODE END TIM7_IRQn 0 */
  /* USER CODE BEGIN TIM7_IRQn 1 */

  /* USER CODE END TIM7_IRQn 1 */
}

/**
  * @brief This function handles DMA2 stream0 global interrupt.
  */
void DMA2_Stream0_IRQHandler(void)
{
  /* USER CODE BEGIN DMA2_Stream0_IRQn 0 */
	if(LL_DMA_IsActiveFlag_TC0(DMA2))
	{
		ADC_TC_Flag = 1;
	}
  /* USER CODE END DMA2_Stream0_IRQn 0 */

  /* USER CODE BEGIN DMA2_Stream0_IRQn 1 */
	LL_DMA_ClearFlag_TC0(DMA2);
	if (LL_DMA_IsActiveFlag_TE0(DMA2) != 0)
    {
        LL_DMA_ClearFlag_TE0(DMA2);
    }
  /* USER CODE END DMA2_Stream0_IRQn 1 */
}

/**
  * @brief This function handles DMA2 stream1 global interrupt.
  */
void DMA2_Stream1_IRQHandler(void)
{
  /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */

  /* USER CODE END DMA2_Stream1_IRQn 0 */

  /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */

  /* USER CODE END DMA2_Stream1_IRQn 1 */
}

/**
  * @brief This function handles DMA2 stream6 global interrupt.
  */
void DMA2_Stream6_IRQHandler(void)
{
  /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
    if(LL_DMA_IsActiveFlag_TC6(DMA2))
    {
    	//清除Stream3 TC中断
        LL_DMA_ClearFlag_TC6(DMA2);
        //关闭DMA1 Stream3
        LL_DMA_DisableStream(DMA2,LL_DMA_STREAM_6);
    }
  /* USER CODE END DMA2_Stream6_IRQn 0 */

  /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */

  /* USER CODE END DMA2_Stream6_IRQn 1 */
}

/**
  * @brief This function handles USART6 global interrupt.
  */
void USART6_IRQHandler(void)
{
  /* USER CODE BEGIN USART6_IRQn 0 */
	mf_rx_cb();
  /* USER CODE END USART6_IRQn 0 */
  /* USER CODE BEGIN USART6_IRQn 1 */

  /* USER CODE END USART6_IRQn 1 */
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */