/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    stm32f4xx_it.c
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 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 */
#include "WESPION.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 */
IRQcnt ITcnt;
/* 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 DMA_HandleTypeDef hdma_adc3;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern ADC_HandleTypeDef hadc3;
extern I2C_HandleTypeDef hi2c1;
extern SPI_HandleTypeDef hspi1;
extern SPI_HandleTypeDef hspi4;
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim4;
extern TIM_HandleTypeDef htim8;
extern TIM_HandleTypeDef htim9;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
/* 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 */
  HAL_SYSTICK_IRQHandler();
  /* 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 EXTI line 0 interrupt.
  */
void EXTI0_IRQHandler(void)
{
  /* USER CODE BEGIN EXTI0_IRQn 0 */
  ITcnt.exti0++;
  /* USER CODE END EXTI0_IRQn 0 */
  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0);
  /* USER CODE BEGIN EXTI0_IRQn 1 */

  /* USER CODE END EXTI0_IRQn 1 */
}

/**
  * @brief This function handles ADC1, ADC2 and ADC3 interrupts.
  */
//void ADC_IRQHandler(void)
//{
//  /* USER CODE BEGIN ADC_IRQn 0 */
////  digitalWrite(57, 1);
//#if ANGLE_MODE == ANGLE_ENC
//  WP_CtrlErr.Motor1.Angle = WP_EncPos(MOTOR1, &Motor1_Ang);
//  WP_CtrlErr.Motor2.Angle = WP_EncPos(MOTOR2, &Motor2_Ang);
//#endif
//  ITcnt.adc++;  // Below 3 handler function execution time is about 10.20us
//  /* USER CODE END ADC_IRQn 0 */
//  HAL_ADC_IRQHandler(&hadc1);
//  HAL_ADC_IRQHandler(&hadc2);
//  HAL_ADC_IRQHandler(&hadc3);
//  /* USER CODE BEGIN ADC_IRQn 1 */
////  digitalWrite(57, 0);
//
////  digitalWrite(87, 1);
//  ConvMotorAng2Position();
////  WeightFeel();
//  switch (Debug_Status) {
//    case 0:
//      WeightManager();
//      break;
//    case 1:
//      break;
//    default :
//      WeightManager();
//      break;
//
//  }
////  digitalWrite(87, 0);
//
////  digitalWrite(88, 1);
//
//  WESPION_MotorControl();
//
////  digitalWrite(88, 0);
//  /* USER CODE END ADC_IRQn 1 */
//}
void ADC_IRQHandler(void)
{
  /* USER CODE BEGIN ADC_IRQn 0 */

///somebp 2024.02.07  //move to HAL_ADCEx_InjectedConvCpltCallback() in adc.c
//  digitalWrite(57, 1);
//#if ANGLE_MODE == ANGLE_ENC
//  WP_CtrlErr.Motor1.Angle = WP_EncPos(MOTOR1, &Motor1_Ang);
//  WP_CtrlErr.Motor2.Angle = WP_EncPos(MOTOR2, &Motor2_Ang);
//#endif
  ITcnt.adc++;  // Below 3 handler function execution time is about 10.20us
  /* USER CODE END ADC_IRQn 0 */
  HAL_ADC_IRQHandler(&hadc1);
  HAL_ADC_IRQHandler(&hadc2);
  HAL_ADC_IRQHandler(&hadc3);

  /* USER CODE BEGIN ADC_IRQn 1 */
///somebp 2024.02.07  //move to HAL_ADCEx_InjectedConvCpltCallback() in adc.c
//  ConvAng2Pos();
//  switch (Debug_Status) {
//    case 0:
//      WeightManager();
//      break;
//    case 1:
//      break;
//    default :
////      WeightManager();
//      break;
//  }
//  WESPION_MotorControl();

  /* USER CODE END ADC_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 */
  ITcnt.tim1_brk_tim9++;
  /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
  HAL_TIM_IRQHandler(&htim1);
  HAL_TIM_IRQHandler(&htim9);
  /* 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 */
//  digitalWrite(56, 1);
  ITcnt.tim1_up_tim10++;  // Below handler function + 2 Encoder function execution time is about 5us
  /* USER CODE END TIM1_UP_TIM10_IRQn 0 */
  HAL_TIM_IRQHandler(&htim1);
  /* USER CODE BEGIN TIM1_UP_TIM10_IRQn 1 */
//  WP_CtrlErr.Motor1.Angle = WP_EncPos(MOTOR1, &Motor1_Ang);
//  WP_CtrlErr.Motor2.Angle = WP_EncPos(MOTOR2, &Motor2_Ang);
//  digitalWrite(56, 0);
  /* 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 */
  ITcnt.tim1_trg_com_timm11++;
  /* USER CODE END TIM1_TRG_COM_TIM11_IRQn 0 */
  HAL_TIM_IRQHandler(&htim1);
  /* USER CODE BEGIN TIM1_TRG_COM_TIM11_IRQn 1 */

  /* USER CODE END TIM1_TRG_COM_TIM11_IRQn 1 */
}

/**
  * @brief This function handles TIM2 global interrupt.
  */
void TIM2_IRQHandler(void)
{
  /* USER CODE BEGIN TIM2_IRQn 0 */
  ITcnt.tim2++;
  /* USER CODE END TIM2_IRQn 0 */
  HAL_TIM_IRQHandler(&htim2);
  /* USER CODE BEGIN TIM2_IRQn 1 */

  /* USER CODE END TIM2_IRQn 1 */
}

/**
  * @brief This function handles TIM4 global interrupt.
  */
void TIM4_IRQHandler(void)
{
  /* USER CODE BEGIN TIM4_IRQn 0 */
  ITcnt.tim4++;
  /* USER CODE END TIM4_IRQn 0 */
  HAL_TIM_IRQHandler(&htim4);
  /* USER CODE BEGIN TIM4_IRQn 1 */

  /* USER CODE END TIM4_IRQn 1 */
}

/**
  * @brief This function handles I2C1 event interrupt.
  */
void I2C1_EV_IRQHandler(void)
{
  /* USER CODE BEGIN I2C1_EV_IRQn 0 */
  ITcnt.i2c1_ev++;
  /* 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 */
  ITcnt.i2c1_er++;
  /* 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 SPI1 global interrupt.
  */
void SPI1_IRQHandler(void)
{
  /* USER CODE BEGIN SPI1_IRQn 0 */
  ITcnt.spi1++;
  /* USER CODE END SPI1_IRQn 0 */
  HAL_SPI_IRQHandler(&hspi1);
  /* USER CODE BEGIN SPI1_IRQn 1 */

  /* USER CODE END SPI1_IRQn 1 */
}

/**
  * @brief This function handles USART2 global interrupt.
  */
void USART2_IRQHandler(void)
{
  /* USER CODE BEGIN USART2_IRQn 0 */
  ITcnt.usart2++;
  /* USER CODE END USART2_IRQn 0 */
  HAL_UART_IRQHandler(&huart2);
  /* 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 */
  ITcnt.usart3++;
  /* USER CODE END USART3_IRQn 0 */
  HAL_UART_IRQHandler(&huart3);
  /* USER CODE BEGIN USART3_IRQn 1 */

  /* USER CODE END USART3_IRQn 1 */
}

/**
  * @brief This function handles EXTI line[15:10] interrupts.
  */
void EXTI15_10_IRQHandler(void)
{
  /* USER CODE BEGIN EXTI15_10_IRQn 0 */
  ITcnt.exti15_10++;
  /* USER CODE END EXTI15_10_IRQn 0 */
  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_13);
  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_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 */

  /* USER CODE END TIM8_BRK_TIM12_IRQn 0 */
  HAL_TIM_IRQHandler(&htim8);
  /* 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 */
  ITcnt.tim8_up_tim13++;
  /* USER CODE END TIM8_UP_TIM13_IRQn 0 */
  HAL_TIM_IRQHandler(&htim8);
  /* 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 */
  ITcnt.tim8_trg_com_tim14++;
  /* USER CODE END TIM8_TRG_COM_TIM14_IRQn 0 */
  HAL_TIM_IRQHandler(&htim8);
  /* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 1 */

  /* USER CODE END TIM8_TRG_COM_TIM14_IRQn 1 */
}

/**
  * @brief This function handles DMA2 stream0 global interrupt.
  */
void DMA2_Stream0_IRQHandler(void)
{
  /* USER CODE BEGIN DMA2_Stream0_IRQn 0 */
  ITcnt.dma2_St0++;
  /* USER CODE END DMA2_Stream0_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_adc3);
  /* USER CODE BEGIN DMA2_Stream0_IRQn 1 */

  /* USER CODE END DMA2_Stream0_IRQn 1 */
}

/**
  * @brief This function handles SPI4 global interrupt.
  */
void SPI4_IRQHandler(void)
{
  /* USER CODE BEGIN SPI4_IRQn 0 */

  /* USER CODE END SPI4_IRQn 0 */
  HAL_SPI_IRQHandler(&hspi4);
  /* USER CODE BEGIN SPI4_IRQn 1 */

  /* USER CODE END SPI4_IRQn 1 */
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */