/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    stm32l4xx_it.c
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 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 "stm32l4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "cmsis_os.h"
#include "FreeRTOS.h"
#include "queue.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 DMA_HandleTypeDef hdma_adc1;
extern DMA_HandleTypeDef hdma_tim1_ch1;
extern DMA_HandleTypeDef hdma_tim1_ch2;
extern TIM_HandleTypeDef htim1;
extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern UART_HandleTypeDef huart1;
extern TIM_HandleTypeDef htim6;

/* USER CODE BEGIN EV */
uint8_t dataReceive485[BUFFER_SIZE485]; // 485串口接收buffer
uint16_t uartIRQ_rx_len = 0 ;	// 485串口接收数据长度
extern QueueHandle_t uart485rxqueueHandle;
/* 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 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 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 */
}

/******************************************************************************/
/* STM32L4xx 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_stm32l4xx.s).                    */
/******************************************************************************/

/**
  * @brief This function handles DMA1 channel1 global interrupt.
  */
void DMA1_Channel1_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Channel1_IRQn 0 */

  /* USER CODE END DMA1_Channel1_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_adc1);
  /* USER CODE BEGIN DMA1_Channel1_IRQn 1 */

  /* USER CODE END DMA1_Channel1_IRQn 1 */
}

/**
  * @brief This function handles DMA1 channel2 global interrupt.
  */
void DMA1_Channel2_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Channel2_IRQn 0 */

  /* USER CODE END DMA1_Channel2_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_tim1_ch1);
  /* USER CODE BEGIN DMA1_Channel2_IRQn 1 */
	Process_One_Capture(); // 处理新角度
  /* USER CODE END DMA1_Channel2_IRQn 1 */
}

/**
  * @brief This function handles DMA1 channel3 global interrupt.
  */
void DMA1_Channel3_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Channel3_IRQn 0 */

  /* USER CODE END DMA1_Channel3_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_tim1_ch2);
  /* USER CODE BEGIN DMA1_Channel3_IRQn 1 */
	Process_One_Capture(); // 处理新角度
  /* USER CODE END DMA1_Channel3_IRQn 1 */
}

/**
  * @brief This function handles DMA1 channel4 global interrupt.
  */
void DMA1_Channel4_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Channel4_IRQn 0 */

  /* USER CODE END DMA1_Channel4_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart1_tx);
  /* USER CODE BEGIN DMA1_Channel4_IRQn 1 */

  /* USER CODE END DMA1_Channel4_IRQn 1 */
}

/**
  * @brief This function handles DMA1 channel5 global interrupt.
  */
void DMA1_Channel5_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Channel5_IRQn 0 */

  /* USER CODE END DMA1_Channel5_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart1_rx);
  /* USER CODE BEGIN DMA1_Channel5_IRQn 1 */

  /* USER CODE END DMA1_Channel5_IRQn 1 */
}

/**
  * @brief This function handles TIM1 trigger and commutation interrupts.
  */
void TIM1_TRG_COM_IRQHandler(void)
{
  /* USER CODE BEGIN TIM1_TRG_COM_IRQn 0 */

  /* USER CODE END TIM1_TRG_COM_IRQn 0 */
  HAL_TIM_IRQHandler(&htim1);
  /* USER CODE BEGIN TIM1_TRG_COM_IRQn 1 */

  /* USER CODE END TIM1_TRG_COM_IRQn 1 */
}

/**
  * @brief This function handles TIM1 capture compare interrupt.
  */
void TIM1_CC_IRQHandler(void)
{
  /* USER CODE BEGIN TIM1_CC_IRQn 0 */

  /* USER CODE END TIM1_CC_IRQn 0 */
  HAL_TIM_IRQHandler(&htim1);
  /* USER CODE BEGIN TIM1_CC_IRQn 1 */
	
	HAL_NVIC_SetPriority(TIM1_CC_IRQn, 1, 0);
	HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
	
  /* USER CODE END TIM1_CC_IRQn 1 */
}

/**
  * @brief This function handles USART1 global interrupt.
  */
void USART1_IRQHandler(void)
{
  /* USER CODE BEGIN USART1_IRQn 0 */
	uint32_t len = 0;

	if(__HAL_UART_GET_FLAG(&huart1 , UART_FLAG_IDLE)!= RESET)
	{		

		__HAL_UART_CLEAR_IDLEFLAG(&huart1); 

		HAL_UART_DMAStop(&huart1);
		
		len  =  __HAL_DMA_GET_COUNTER(&hdma_usart1_rx);
		uartIRQ_rx_len =  BUFFER_SIZE485 - len;
	
//		if(uartIRQ_rx_len == 9 || uartIRQ_rx_len ==15 || uartIRQ_rx_len ==27 ){	
			if (uartIRQ_rx_len > 0 && uartIRQ_rx_len <= BUFFER_SIZE485){			
			HAL_UART_RxCpltCallback(&huart1);  // 调用回调函数			
		}

		HAL_UART_Receive_DMA(&huart1, dataReceive485, BUFFER_SIZE485);
		__HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);  // 开启空闲中断		

//		HAL_UART_DMAStop(&huart1);  // 停止 DMA
//    __HAL_UART_DISABLE_IT(&huart1, UART_IT_IDLE);  // 禁止 IDLE 中断   
//    memset(dataReceive485, 0, sizeof(dataReceive485));// 清空接收缓冲区    
//    HAL_UART_Receive_DMA(&huart1, dataReceive485, BUFFER_SIZE485);// 重新启动 DMA 接收   
//    __HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);// 重新开启 IDLE 中断
		
	}
	
		// 错误中断处理
    if (__HAL_UART_GET_FLAG(&huart1, UART_FLAG_ORE) ||
        __HAL_UART_GET_FLAG(&huart1, UART_FLAG_NE) ||
        __HAL_UART_GET_FLAG(&huart1, UART_FLAG_FE))
    {
        __HAL_UART_CLEAR_OREFLAG(&huart1);
        __HAL_UART_CLEAR_NEFLAG(&huart1);
        __HAL_UART_CLEAR_FEFLAG(&huart1);

        Restart_UART1_DMA();  // 错误发生后立即重启
    }
		
  /* USER CODE END USART1_IRQn 0 */
  HAL_UART_IRQHandler(&huart1);
  /* USER CODE BEGIN USART1_IRQn 1 */

  /* USER CODE END USART1_IRQn 1 */
}

/**
  * @brief This function handles TIM6 global interrupt, DAC channel1 and channel2 underrun error interrupts.
  */
void TIM6_DAC_IRQHandler(void)
{
  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */

  /* USER CODE END TIM6_DAC_IRQn 0 */
  HAL_TIM_IRQHandler(&htim6);
  /* USER CODE BEGIN TIM6_DAC_IRQn 1 */

  /* USER CODE END TIM6_DAC_IRQn 1 */
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */