/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    stm32f1xx_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 "stm32f1xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include "app.h"
#include "string.h"
#include "serial_port.h"
#include "Uart1.h"

/* 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 */

/* USER CODE END 0 */

/* External variables --------------------------------------------------------*/
extern I2C_HandleTypeDef hi2c1;
extern SPI_HandleTypeDef hspi2;
extern TIM_HandleTypeDef htim1;
extern DMA_HandleTypeDef hdma_usart2_rx;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
/* USER CODE BEGIN EV */

static volatile uint8_t txcplt_flag = 0;    // 发送完成标志，1完成0未完成
static volatile uint8_t rxcplt_flag = 0;    // 接收完成标志，1完成0未完成

uint8_t rx_data = 0, rx_data2[6] = {0},rx2_cnt = 0;
//HAL_StatusTypeDef hal_check_rx;
static volatile uint8_t test_buffer[10];

/* USER CODE END EV */

/******************************************************************************/
/*           Cortex-M3 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 */
	
	if (CoreDebug->DHCSR & 1) 
	{  //check C_DEBUGEN == 1 -> Debugger Connected  
		__breakpoint(0);  // halt program execution here         
	} 
	
  /* USER CODE END HardFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
		tmc5160_operate(0,0);
		Motor_Run = 0;
		HAL_GPIO_WritePin(LED_ERR_GPIO_Port,LED_ERR_Pin,GPIO_PIN_RESET);
		HAL_GPIO_WritePin(LED_NOR_GPIO_Port,LED_NOR_Pin,GPIO_PIN_RESET);
    /* 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 Prefetch 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 */
}

/******************************************************************************/
/* STM32F1xx 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_stm32f1xx.s).                    */
/******************************************************************************/

/**
  * @brief This function handles DMA1 channel6 global interrupt.
  */
void DMA1_Channel6_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Channel6_IRQn 0 */

  /* USER CODE END DMA1_Channel6_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart2_rx);
  /* USER CODE BEGIN DMA1_Channel6_IRQn 1 */

  /* USER CODE END DMA1_Channel6_IRQn 1 */
}

/**
  * @brief This function handles TIM1 update interrupt.
  */
void TIM1_UP_IRQHandler(void)
{
  /* USER CODE BEGIN TIM1_UP_IRQn 0 */

  /* USER CODE END TIM1_UP_IRQn 0 */
  HAL_TIM_IRQHandler(&htim1);
  /* USER CODE BEGIN TIM1_UP_IRQn 1 */

  /* USER CODE END TIM1_UP_IRQn 1 */
}

/**
  * @brief This function handles I2C1 event interrupt.
  */
void I2C1_EV_IRQHandler(void)
{
  /* USER CODE BEGIN I2C1_EV_IRQn 0 */

  /* USER CODE END I2C1_EV_IRQn 0 */
  HAL_I2C_EV_IRQHandler(&hi2c1);
  /* USER CODE BEGIN I2C1_EV_IRQn 1 */

  /* USER CODE END I2C1_EV_IRQn 1 */
}

/**
  * @brief This function handles I2C1 error interrupt.
  */
void I2C1_ER_IRQHandler(void)
{
  /* USER CODE BEGIN I2C1_ER_IRQn 0 */

  /* USER CODE END I2C1_ER_IRQn 0 */
  HAL_I2C_ER_IRQHandler(&hi2c1);
  /* USER CODE BEGIN I2C1_ER_IRQn 1 */

  /* USER CODE END I2C1_ER_IRQn 1 */
}

/**
  * @brief This function handles SPI2 global interrupt.
  */
void SPI2_IRQHandler(void)
{
  /* USER CODE BEGIN SPI2_IRQn 0 */

  /* USER CODE END SPI2_IRQn 0 */
  HAL_SPI_IRQHandler(&hspi2);
  /* USER CODE BEGIN SPI2_IRQn 1 */
  
  /* USER CODE END SPI2_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 */
  HAL_UART_IRQHandler(&huart1);
  /* USER CODE BEGIN USART1_IRQn 1 */
	
//	HAL_UART_IRQHandler(&huart1);   // HAL库中的UART统一中断服务函数，通过形参判断是要处理谁的中?
	

	if((USART1->SR &(1<<5)) != 0)   // 判断USART1的状态寄存器的第五位即RXNE位是否被置位
	{
		rx_data = USART1->DR; // RXNE=1，表明DR寄存器有值，就将它读出来保存到临时变量中；

//	HAL_UART_Receive_IT(&huart1,&rx_data,1);	
	
		receive_ttl_data(rx_data);
	}	

//  	HAL_UART_Transmit_IT( &huart1, (uint8_t *)text_r, 20);
	
  /* USER CODE END USART1_IRQn 1 */
}

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

  /* USER CODE END USART2_IRQn 0 */
  HAL_UART_IRQHandler(&huart2);
  /* USER CODE BEGIN USART2_IRQn 1 */
//	hal_check_rx = HAL_UART_Receive_IT(&huart2,rx_data2,4);	

//	if((USART2->SR &(2<<5)) != 0)   // 判断USART1的状态寄存器的第五位即RXNE位是否被置位
//	{
//		if(rx2_cnt < 4)
//		{
//			rx_data2[rx2_cnt] = USART2->DR;
//			rx2_cnt++;
//		}
//		if(rx2_cnt == 4)
//		{
//			rx2_cnt = 0;
//			memset(rx_data2,0,4);
//		}
//	}
	
	HAL_UARTEx_ReceiveToIdle_DMA(&huart2,rx_data2,6);		//接收来自磁感应模块的数据
	
  /* USER CODE END USART2_IRQn 1 */
}

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

  /* USER CODE END USART3_IRQn 0 */
  HAL_UART_IRQHandler(&huart3);
  /* USER CODE BEGIN USART3_IRQn 1 */

  /* USER CODE END USART3_IRQn 1 */
}

/* USER CODE BEGIN 1 */

int it_1ms_cnt = 0,it_1ms_flag = 0;
int it_200ms_cnt = 0,it_200ms_flag = 0;
int it_5ms_cnt = 0,it_5ms_flag = 0;
int it_10ms_cnt = 0,it_10ms_flag = 0;
int it_50ms_cnt = 0,it_50ms_flag = 0;
int it_100ms_cnt = 0,it_100ms_flag = 0;
int it_300ms_cnt = 0,it_300ms_flag = 0;
int it_500ms_cnt = 0,it_500ms_flag = 0;
int it_1000ms_cnt = 0,it_1000ms_flag = 0;
int it_5000ms_cnt = 0,it_5000ms_flag = 0;

void HAL_TIM_PeriodElapsedCallback (TIM_HandleTypeDef *htim)
{
	if(htim == &htim1) // 中断执行程序
	{
		//按档位统计中断发生次数
		it_1ms_cnt = (it_1ms_cnt+1)*(it_1ms_cnt < 1);					//已被使用，ads1220记录
		if(it_1ms_cnt == 1 ) it_1ms_flag = 1;
		
		it_200ms_cnt = (it_200ms_cnt+1)*(it_200ms_cnt<200);				//已被使用，LED闪烁
		if(it_200ms_cnt == 2 ) it_200ms_flag = 1;
		
		it_5ms_cnt = (it_5ms_cnt+1)*(it_5ms_cnt<5);
		if(it_5ms_cnt == 5 ) it_5ms_flag = 1;
		
		it_10ms_cnt = (it_10ms_cnt+1)*(it_10ms_cnt<10);					//已被使用，电机停止计时
		if(it_10ms_cnt == 10 ) it_10ms_flag = 1;
		
		it_50ms_cnt = (it_50ms_cnt+1)*(it_50ms_cnt<50);					//已被使用，给上位机发送数据，等待计时
		if(it_50ms_cnt == 50 ) it_50ms_flag = 1;
		
		it_100ms_cnt = (it_100ms_cnt+1)*(it_100ms_cnt<100);				//已被使用，大循环数据采集
		if(it_100ms_cnt == 100 ) it_100ms_flag = 1;		
		
		it_500ms_cnt = (it_500ms_cnt+1)*(it_500ms_cnt<500);
		if(it_500ms_cnt == 500 ) it_500ms_flag = 1;
		
		it_1000ms_cnt = (it_1000ms_cnt+1)*(it_1000ms_cnt<1000);			//已被使用，电机停止计时
		if(it_1000ms_cnt == 1000 ) it_1000ms_flag = 1;
		
		it_5000ms_cnt = (it_5000ms_cnt+1)*(it_5000ms_cnt<5000);	
		if(it_5000ms_cnt == 5000 ) it_5000ms_flag = !it_5000ms_flag;	//在debug中查看，用于验证定时的准确性
		
		Key_Scan();														//按键扫描
	}
}



void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) //HAL_UART_Receive_IT call back function
{
	if(huart->Instance == USART2)
	{


	}
}

void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) //HAL_UART_Receive_IT call back function
{
	if(huart->Instance == USART2)
	{
		HAL_GPIO_WritePin(RS485_EN1_GPIO_Port,RS485_EN1_Pin,GPIO_PIN_RESET); //发送完成后使能接收														
	}
}




/* USER CODE END 1 */