/********************************** (C) COPYRIGHT *******************************
* File Name          : ch32v30x_it.c
* Author             : WCH
* Version            : V1.0.0
* Date               : 2022/01/18
* Description        : Main Interrupt Service Routines.
*********************************************************************************
* Copyright (c) 2021 Nanjing Qinheng Microelectronics Co., Ltd.
* Attention: This software (modified or not) and binary are used for 
* microcontroller manufactured by Nanjing Qinheng Microelectronics.
*******************************************************************************/

#include <interface_can.h>
#include "eth_driver.h"
#include "ch32v30x_it.h"
#include "string.h"
#include "interface_config.h"

void NMI_Handler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
void HardFault_Handler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
void ETH_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
void TIM2_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
void TIM3_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
void EXTI9_5_IRQHandler(void) __attribute__((interrupt()));
void CAN2_RX1_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
void USB_LP_CAN1_RX0_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
/*********************************************************************
 * @fn      NMI_Handler
 *
 * @brief   This function handles NMI exception.
 *
 * @return  none
 */
void NMI_Handler(void)
{
}

/*********************************************************************
 * @fn      HardFault_Handler
 *
 * @brief   This function handles Hard Fault exception.
 *
 * @return  none
 */
u_int32_t mepc = 0;
u_int32_t mcause = 0;
u_int32_t mtval = 0;
void HardFault_Handler(void)
{
    printf("HardFault_Handler\r\n");

    mepc = __get_MEPC();
    mcause = __get_MCAUSE();
    mtval = __get_MTVAL();

    printf("mepc  :%08x\r\n", __get_MEPC());
    printf("mcause:%08x\r\n", __get_MCAUSE());
    printf("mtval :%08x\r\n", __get_MTVAL());
    while(1);
}

/*********************************************************************
 * @fn      EXTI9_5_IRQHandler
 *
 * @brief   This function handles GPIO exception.
 *
 * @return  none
 */
void EXTI9_5_IRQHandler(void)
{
    // ETH_PHYLink( );
    EXTI_ClearITPendingBit(EXTI_Line7);     /* Clear Flag */
}

/*********************************************************************
 * @fn      ETH_IRQHandler
 *
 * @brief   This function handles ETH exception.
 *
 * @return  none
 */
void ETH_IRQHandler(void)
{
    enter_critical_section(); 
    WCHNET_ETHIsr();
    exit_critical_section(0);    

}

/*********************************************************************
 * @fn      TIM2_IRQHandler
 *
 * @brief   This function handles TIM2 exception.
 *
 * @return  none
 */
void TIM2_IRQHandler(void)
{
    static uint16_t Tim2Cnt = 0;
    enter_critical_section(); 
    Tim2Cnt ++;
    if(Tim2Cnt >= 10)
    {
        Tim2Cnt = 0;
        RgCntFlag10ms = 1;//10ms
    }

    //app
    timerUpdateAll(); // 调用定时器更新函数

    WCHNET_TimeIsr(WCHNETTIMERPERIOD);
    TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
    exit_critical_section(0);     
}
/*********************************************************************
 * @fn      TIM3_IRQHandler
 *
 * @brief   This function handles TIM2 exception.
 *
 * @return  none
 */
void TIM3_IRQHandler(void)
{
//    funcStepDriveOut(&StepXAxisMotorData);//X轴频率
//    PE10(StepXAxisMotorData.OutputFlg);//输出
//    PE12(StepXAxisMotorData.OperatDir);//方向
//
//    funcStepDriveOut(&StepYAxisMotorData);//Y轴频率
//    PE13(StepYAxisMotorData.OutputFlg);//输出
//    PE11(StepYAxisMotorData.OperatDir);//方向
//
//    funcStepDriveOut(&StepZAxisMotorData);//Z轴频率
//    PE07(StepZAxisMotorData.OutputFlg);//输出
//    PA06(StepZAxisMotorData.OperatDir);//方向
//
//    funcStepDriveOut(&StepRAxisMotorData);//R轴频率
//    PA04(StepRAxisMotorData.OutputFlg);//输出
//    PC00(StepRAxisMotorData.OperatDir);//方向
//
//    funcStepDriveOut(&StepROGAxisMotorData);//ROG轴频率
//    PE06(StepROGAxisMotorData.OutputFlg);//输出
//    PE05(StepROGAxisMotorData.OperatDir);//方向
//
//    TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
}

//中断服务函数
void USB_LP_CAN1_RX0_IRQHandler(void)
{
    CanRxMsg CanRxStructure;
    enter_critical_section(); 
    if(CAN_GetITStatus(CAN1, CAN_IT_FMP0) != RESET)         //中断发生，接收到消息
    {
        CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);               //清除中断标志


        if( CAN_MessagePending( CAN1, CAN_FIFO0 ) > 0)
        {
            CAN_Receive( CAN1, CAN_FIFO0, &CanRxStructure );
        }

        if(CanRxStructure.DLC > 0)//长度大于0
        {
            CAN_Send_Msg(CAN1, 0x7F1, CAN_Id_Standard, CAN_RTR_Data, &CanRxStructure.Data[0], 8);//调试信息发送

        }
    }
    exit_critical_section(0);     
}

//中断服务函数
void CAN2_RX1_IRQHandler(void)
{
    CanRxMsg CanRxStructure;
    enter_critical_section(); 
    if(CAN_GetITStatus(CAN2, CAN_IT_FMP1) != RESET)         //中断发生，接收到消息
    {
        CAN_ClearITPendingBit(CAN2, CAN_IT_FMP1);               //清除中断标志


        if( CAN_MessagePending( CAN2, CAN_FIFO1 ) > 0)
        {
            CAN_Receive( CAN2, CAN_FIFO1, &CanRxStructure );
        }

        if(CanRxStructure.DLC > 0)//长度大于0
        {

            // if (CanRxStructure.ExtId == DF_CanIDbattery)
            // {
            //     memcpy((uint8_t *)&un_wheel_speed_input.,(uint8_t *)&(CanRxStructure.Data[0]),8);//接受电池
            //     RgCanToBatteryCnt ++;
            // }
            // else if (CanRxStructure.ExtId == DF_CanIDRCH_3)
            // {
            //     memcpy((uint8_t *)&UnRCH_3Signal_1.ArrData.ArrRx[0][0],(uint8_t *)&(CanRxStructure.Data[0]),8);//接受遥控器数据
            //     RgCanRC6GSCnt ++;
            // }



            CAN_Send_Msg(CAN2, 0x7F2, CAN_Id_Standard, CAN_RTR_Data, &CanRxStructure.Data[0], 8);//调试信息发送
        }
    }
    exit_critical_section(0);     
}