/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    stm32f4xx_it.c
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "trigger.h"
#include "serial.h"
#include "stdebug.h"
#include "ethernet.h"
#include "stm32motos.h"
#include "embfpga.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 CAN_HandleTypeDef hcan1;
/* 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 */
	u32 stackaddr = (__get_MSP()+0x10);
	OutStackInfo(4, stackaddr);
  /* 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 */
	u32 stackaddr = (__get_MSP()+0x10);
	OutStackInfo(0, stackaddr);
  /* 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 */
	u32 stackaddr = (__get_MSP()+0x10);
	OutStackInfo(1, stackaddr);
  /* 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 */
	u32 stackaddr = (__get_MSP()+0x10);
	OutStackInfo(2, stackaddr);
  /* 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 */
	u32 stackaddr = (__get_MSP()+0x10);
	OutStackInfo(3, stackaddr);
  /* 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 */
	TriggerIntProc();
  /* 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 CAN1 TX interrupt.
  */
void CAN1_TX_IRQHandler(void)
{
  /* USER CODE BEGIN CAN1_TX_IRQn 0 */

  /* USER CODE END CAN1_TX_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan1);
  /* USER CODE BEGIN CAN1_TX_IRQn 1 */

  /* USER CODE END CAN1_TX_IRQn 1 */
}

/**
  * @brief This function handles CAN1 RX0 interrupt.
  */
void CAN1_RX0_IRQHandler(void)
{
  /* USER CODE BEGIN CAN1_RX0_IRQn 0 */

  /* USER CODE END CAN1_RX0_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan1);
  /* USER CODE BEGIN CAN1_RX0_IRQn 1 */

  /* USER CODE END CAN1_RX0_IRQn 1 */
}

/**
  * @brief This function handles EXTI line[9:5] interrupts.
  */
void EXTI9_5_IRQHandler(void)
{
  /* USER CODE BEGIN EXTI9_5_IRQn 0 */

  /* USER CODE END EXTI9_5_IRQn 0 */
  if (LL_EXTI_IsActiveFlag_0_31(LL_EXTI_LINE_6) != RESET)
  {
    LL_EXTI_ClearFlag_0_31(LL_EXTI_LINE_6);
    /* USER CODE BEGIN LL_EXTI_LINE_6 */
    FpgaIntProc();		// °åÔØfpgaÖÐ¶Ï
    /* USER CODE END LL_EXTI_LINE_6 */
  }
  /* USER CODE BEGIN EXTI9_5_IRQn 1 */

  /* USER CODE END EXTI9_5_IRQn 1 */
}

/**
  * @brief This function handles TIM1 break interrupt and TIM9 global interrupt.
  */
void TIM1_BRK_TIM9_IRQHandler(void)
{
  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */
	if (LL_TIM_IsActiveFlag_UPDATE(TIM9) == 1)
	{
		LL_TIM_ClearFlag_UPDATE(TIM9);
#if (STM32_MOTOS_NUM >= 1)
		STM32Moto1IntProc();
#endif
	}
  /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */

  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */

  /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
}

/**
  * @brief This function handles TIM1 update interrupt and TIM10 global interrupt.
  */
void TIM1_UP_TIM10_IRQHandler(void)
{
  /* USER CODE BEGIN TIM1_UP_TIM10_IRQn 0 */
	if (LL_TIM_IsActiveFlag_UPDATE(TIM10) == 1)
	{
		LL_TIM_ClearFlag_UPDATE(TIM10);
#if (STM32_MOTOS_NUM >= 2)
		STM32Moto2IntProc();
#endif
	}
  /* USER CODE END TIM1_UP_TIM10_IRQn 0 */

  /* USER CODE BEGIN TIM1_UP_TIM10_IRQn 1 */

  /* USER CODE END TIM1_UP_TIM10_IRQn 1 */
}

/**
  * @brief This function handles TIM1 trigger and commutation interrupts and TIM11 global interrupt.
  */
void TIM1_TRG_COM_TIM11_IRQHandler(void)
{
  /* USER CODE BEGIN TIM1_TRG_COM_TIM11_IRQn 0 */
	if (LL_TIM_IsActiveFlag_UPDATE(TIM11) == 1)
	{
		LL_TIM_ClearFlag_UPDATE(TIM11);
#if (STM32_MOTOS_NUM >= 3)
		STM32Moto3IntProc();
#endif
	}
  /* USER CODE END TIM1_TRG_COM_TIM11_IRQn 0 */

  /* USER CODE BEGIN TIM1_TRG_COM_TIM11_IRQn 1 */

  /* USER CODE END TIM1_TRG_COM_TIM11_IRQn 1 */
}

/**
  * @brief This function handles USART1 global interrupt.
  */
void USART1_IRQHandler(void)
{
  /* USER CODE BEGIN USART1_IRQn 0 */
#ifdef COMM_USART1
	USART1IntProc();
#endif
  /* USER CODE END USART1_IRQn 0 */
  /* USER CODE BEGIN USART1_IRQn 1 */

  /* USER CODE END USART1_IRQn 1 */
}

/**
  * @brief This function handles EXTI line[15:10] interrupts.
  */
void EXTI15_10_IRQHandler(void)
{
  /* USER CODE BEGIN EXTI15_10_IRQn 0 */

  /* USER CODE END EXTI15_10_IRQn 0 */
  if (LL_EXTI_IsActiveFlag_0_31(LL_EXTI_LINE_15) != RESET)
  {
    LL_EXTI_ClearFlag_0_31(LL_EXTI_LINE_15);
    /* USER CODE BEGIN LL_EXTI_LINE_15 */
    //EthernetIntProc();	// 5500ÖÐ¶Ï
    /* USER CODE END LL_EXTI_LINE_15 */
  }
  /* USER CODE BEGIN EXTI15_10_IRQn 1 */

  /* USER CODE END EXTI15_10_IRQn 1 */
}

/**
  * @brief This function handles TIM8 break interrupt and TIM12 global interrupt.
  */
void TIM8_BRK_TIM12_IRQHandler(void)
{
  /* USER CODE BEGIN TIM8_BRK_TIM12_IRQn 0 */
	if (LL_TIM_IsActiveFlag_UPDATE(TIM12) == 1)
	{
		LL_TIM_ClearFlag_UPDATE(TIM12);
#if (STM32_MOTOS_NUM >= 4)
		STM32Moto4IntProc();
#endif
	}
  /* USER CODE END TIM8_BRK_TIM12_IRQn 0 */

  /* USER CODE BEGIN TIM8_BRK_TIM12_IRQn 1 */

  /* USER CODE END TIM8_BRK_TIM12_IRQn 1 */
}

/**
  * @brief This function handles TIM8 update interrupt and TIM13 global interrupt.
  */
void TIM8_UP_TIM13_IRQHandler(void)
{
  /* USER CODE BEGIN TIM8_UP_TIM13_IRQn 0 */
	if (LL_TIM_IsActiveFlag_UPDATE(TIM8) == 1)
	{
		LL_TIM_ClearFlag_UPDATE(TIM8);
#if (STM32_MOTOS_NUM > 0 || STM32_SOFT_PWM > 0)
		STM32MotoSpeedIntProc();
#endif
	}
	if (LL_TIM_IsActiveFlag_UPDATE(TIM13) == 1)
	{
		LL_TIM_ClearFlag_UPDATE(TIM13);
#if (STM32_MOTOS_NUM >= 5)
		STM32Moto5IntProc();
#endif
	}
  /* USER CODE END TIM8_UP_TIM13_IRQn 0 */

  /* USER CODE BEGIN TIM8_UP_TIM13_IRQn 1 */

  /* USER CODE END TIM8_UP_TIM13_IRQn 1 */
}

/**
  * @brief This function handles TIM8 trigger and commutation interrupts and TIM14 global interrupt.
  */
void TIM8_TRG_COM_TIM14_IRQHandler(void)
{
  /* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 0 */
	if (LL_TIM_IsActiveFlag_UPDATE(TIM14) == 1)
	{
		LL_TIM_ClearFlag_UPDATE(TIM14);
#if (STM32_MOTOS_NUM >= 6)
		STM32Moto6IntProc();
#endif
	}
  /* USER CODE END TIM8_TRG_COM_TIM14_IRQn 0 */

  /* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 1 */

  /* USER CODE END TIM8_TRG_COM_TIM14_IRQn 1 */
}

/**
  * @brief This function handles USART6 global interrupt.
  */
void USART6_IRQHandler(void)
{
  /* USER CODE BEGIN USART6_IRQn 0 */
#ifdef COMM_USART6
	USART6IntProc();
#endif
  /* 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 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
