motor_ctl-1/m0g3507_int.c

/* add user code begin Header */
/**
  **************************************************************************
  * @file     .c
  * @brief    main interrupt service routines.
  **************************************************************************
  *                       Copyright notice & Disclaimer
  *
  * The software Board Support Package (BSP) that is made available to
  * download from Artery official website is the copyrighted work of Artery.
  * Artery authorizes customers to use, copy, and distribute the BSP
  * software and its related documentation for the purpose of design and
  * development in conjunction with Artery microcontrollers. Use of the
  * software is governed by this copyright notice and the following disclaimer.
  *
  * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
  * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
  * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
  * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
  * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
  *
  **************************************************************************
  */
/* add user code end Header */

/* includes ------------------------------------------------------------------*/
//#include "at32f421_int.h"

/* private includes ----------------------------------------------------------*/
/* add user code begin private includes */
//#include "at32f421_wk_config.h"
 #include "TimeTask_Event.h"
#include "syspar.h"
#include "user.h"
//#include "at32f421_adc.h"
//#include "at32f421_tmr.h"
#include "usart.h"
#include "can.h"
//#include "SEGGER_RTT.h"
#include "bikelight.h"
#include "UserGpio_Config.h"

#include "ti_msp_dl_config.h"
/* add user code end private includes */

/* private typedef -----------------------------------------------------------*/
/* add user code begin private typedef */

/* add user code end private typedef */

/* private define ------------------------------------------------------------*/
/* add user code begin private define */

/* add user code end private define */

/* private macro -------------------------------------------------------------*/
/* add user code begin private macro */

/* add user code end private macro */

/* private variables ---------------------------------------------------------*/
/* add user code begin private variables */

/* add user code end private variables */

/* private function prototypes --------------------------------------------*/
/* add user code begin function prototypes */

/* add user code end function prototypes */

/* private user code ---------------------------------------------------------*/
/* add user code begin 0 */
//__IO uint16_t adc1_ordinary_valuetab[5][7] = {0};
__IO uint16_t adc1_preempt_valuetab[5][3] = {0};
__IO uint16_t chanel_trans_complete_flag = 0;
__IO uint16_t adc_trans_complete_flag = 0;
__IO uint16_t preempt_conversion_count = 0;

 
unsigned int BCnt;   // Variable: speed control period tick
unsigned int CCnt;
unsigned int DCnt;
unsigned int ECnt,FCnt,GCnt,CMPF,CLMPF;
unsigned int CHMPF=0;
unsigned int  HALLACnt,HALLBCnt,HALLCCnt;
unsigned int DAC_value;
unsigned int SPEED_edgeCapture,TIPIN_edgeCapture;
unsigned int  HGcnt;

//#define DAC12_REF_VOLTAGE_mV (3300)
//#define DAC12_OUTPUT_VOLTAGE_mV (1650)


volatile bool gCheckADC;
unsigned int i = 0;
#define RESULT_SIZE (10)
 uint16_t gAdcResult0[12]; //OPA0 OUTPUT
//volatile uint16_t gAdcResult1[RESULT_SIZE]; // PA25 pcb temp
//volatile uint16_t gAdcResult2[RESULT_SIZE];// PA24 motor temp
//volatile uint16_t gAdcResult3[RESULT_SIZE]; // PB24 zhuanba
//volatile uint16_t gAdcResult4[RESULT_SIZE];// PB20 bus current
//volatile uint16_t gAdcResult5[RESULT_SIZE]; // PA14 BAT VOLTAGE
//volatile uint16_t gAdcResult6[RESULT_SIZE]; //OPA1 OUTPUT
//volatile uint16_t gAdcResult7[RESULT_SIZE]; //PB19 A1_6 Liju
 
//                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_0);
//             gAdcResult1[i] =
//                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_1);
//             gAdcResult2[i] =
//                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_2);
//             gAdcResult3[i] =
//                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_3);
//
//             gAdcResult4[i] =
//                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_4);
//             gAdcResult5[i] =
//                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_5);
//
//
//             gAdcResult6[i] =
//                 DL_ADC12_getMemResult(ADC12_1_INST, DL_ADC12_MEM_IDX_0);
//            DL_GPIO_clearPins(OUTPUT_CAN_STB_PORT, OUTPUT_CAN_STB_PIN);
//            gAdcResult7[i] =
//                DL_ADC12_getMemResult(ADC12_1_INST, DL_ADC12_MEM_IDX_1);
 

/* add user code end 0 */

/* external variables ---------------------------------------------------------*/
/* add user code begin external variables */
#if 0

  if(adc_interrupt_flag_get(ADC1, ADC_PCCE_FLAG) != RESET)
  {
    adc_flag_clear(ADC1, ADC_PCCE_FLAG);
    if(preempt_conversion_count < 5){
      adc1_preempt_valuetab[preempt_conversion_count][0] = adc_preempt_conversion_data_get(ADC1, ADC_PREEMPT_CHANNEL_1);
      adc1_preempt_valuetab[preempt_conversion_count][1] = adc_preempt_conversion_data_get(ADC1, ADC_PREEMPT_CHANNEL_2);
      adc1_preempt_valuetab[preempt_conversion_count][2] = adc_preempt_conversion_data_get(ADC1, ADC_PREEMPT_CHANNEL_3);
      preempt_conversion_count++;
    }
  }

  if(adc_interrupt_flag_get(ADC1, ADC_CCE_FLAG) != RESET)
  {
    adc_flag_clear(ADC1, ADC_CCE_FLAG);
    if(chanel_trans_complete_flag < 7){
      adc1_ordinary_valuetab[adc_trans_complete_flag][chanel_trans_complete_flag++] = adc_ordinary_conversion_data_get(ADC1);
    }
  }
#endif
/* add user code end external variables */

///**
//  * @brief  this function handles nmi exception.
//  * @param  none
//  * @retval none
//  */
//void NMI_Handler(void)
//{
//  /* add user code begin NonMaskableInt_IRQ 0 */
//
//  /* add user code end NonMaskableInt_IRQ 0 */
//
//  /* add user code begin NonMaskableInt_IRQ 1 */
//
//  /* add user code end NonMaskableInt_IRQ 1 */
//}

/**
  * @brief  this function handles hard fault exception.
  * @param  none
  * @retval none
  */
void HardFault_Handler(void)
{
  /* add user code begin HardFault_IRQ 0 */
hw_voPWMOff();
  /* add user code end HardFault_IRQ 0 */
  /* go to infinite loop when hard fault exception occurs */
  while (1)
  {
    /* add user code begin W1_HardFault_IRQ 0 */

    /* add user code end W1_HardFault_IRQ 0 */
  }
}

///**
//  * @brief  this function handles memory manage exception.
//  * @param  none
//  * @retval none
//  */
//void MemManage_Handler(void)
//{
//  /* add user code begin MemoryManagement_IRQ 0 */
//
//  /* add user code end MemoryManagement_IRQ 0 */
//  /* go to infinite loop when memory manage exception occurs */
//  while (1)
//  {
//    /* add user code begin W1_MemoryManagement_IRQ 0 */
//
//    /* add user code end W1_MemoryManagement_IRQ 0 */
//  }
//}
//
///**
//  * @brief  this function handles bus fault exception.
//  * @param  none
//  * @retval none
//  */
//void BusFault_Handler(void)
//{
//  /* add user code begin BusFault_IRQ 0 */
//
//  /* add user code end BusFault_IRQ 0 */
//  /* go to infinite loop when bus fault exception occurs */
//  while (1)
//  {
//    /* add user code begin W1_BusFault_IRQ 0 */
//
//    /* add user code end W1_BusFault_IRQ 0 */
//  }
//}
//
///**
//  * @brief  this function handles usage fault exception.
//  * @param  none
//  * @retval none
//  */
//void UsageFault_Handler(void)
//{
//  /* add user code begin UsageFault_IRQ 0 */
//
//  /* add user code end UsageFault_IRQ 0 */
//  /* go to infinite loop when usage fault exception occurs */
//  while (1)
//  {
//    /* add user code begin W1_UsageFault_IRQ 0 */
//
//    /* add user code end W1_UsageFault_IRQ 0 */
//  }
//}
//
///**
//  * @brief  this function handles svcall exception.
//  * @param  none
//  * @retval none
//  */
//void SVC_Handler(void)
//{
//  /* add user code begin SVCall_IRQ 0 */
//
//  /* add user code end SVCall_IRQ 0 */
//  /* add user code begin SVCall_IRQ 1 */
//
//  /* add user code end SVCall_IRQ 1 */
//}
//
///**
//  * @brief  this function handles debug monitor exception.
//  * @param  none
//  * @retval none
//  */
//void DebugMon_Handler(void)
//{
//  /* add user code begin DebugMonitor_IRQ 0 */
//
//  /* add user code end DebugMonitor_IRQ 0 */
//  /* add user code begin DebugMonitor_IRQ 1 */
//
//  /* add user code end DebugMonitor_IRQ 1 */
//}
//
///**
//  * @brief  this function handles pendsv_handler exception.
//  * @param  none
//  * @retval none
//  */
//void PendSV_Handler(void)
//{
//  /* add user code begin PendSV_IRQ 0 */
//
//  /* add user code end PendSV_IRQ 0 */
//  /* add user code begin PendSV_IRQ 1 */
//
//  /* add user code end PendSV_IRQ 1 */
//}

/**
  * @brief  this function handles systick handler.
  * @param  none
  * @retval none
  */
void SysTick_Handler(void)
{
  /* add user code begin SysTick_IRQ 0 */

  /* add user code end SysTick_IRQ 0 */
  /* add user code begin SysTick_IRQ 1 */
    //clas_ubSystickFlg = 1; // for TUV
    cp_ulSystickCnt++;
    /* Add your code below */
    
    /* 1ms and Timing Event */
    TimingTaskTimerServer();
     Event_1ms();

    /* TBT interrupt */
    tbt_voIsr();

    /* UART */
   // UART_voApplTimer();

    /* LED */

    // at32_led_toggle();
   //  GPIOF->odt ^= GPIO_PINS_7;
  /* add user code end SysTick_IRQ 1 */
}

///**
//  * @brief  this function handles DMA1 Channel 1 handler.
//  * @param  none
//  * @retval none
//  */
//void DMA1_Channel1_IRQHandler(void)
//{
//  /* add user code begin DMA1_Channel1_IRQ 0 */
//  if(dma_interrupt_flag_get(DMA1_FDT1_FLAG) != RESET)
//  {
//      // adc_enable(ADC1,FALSE);
//    dma_flag_clear(DMA1_FDT1_FLAG);
//    //dma_trans_complete_flag++;
//  }
//  /* add user code end DMA1_Channel1_IRQ 0 */
//  /* add user code begin DMA1_Channel1_IRQ 1 */
//
//  /* add user code end DMA1_Channel1_IRQ 1 */
//}

/**
  * @brief  this function handles ADC1 & Comparator handler.
  * @param  none
  * @retval none
  */
UWORD tmpSCir = 0;

//void ADC12_0_INST_IRQHandler(void)
//{
//    switch (DL_ADC12_getPendingInterrupt(ADC12_0_INST)) {
//        case DL_ADC12_IIDX_MEM5_RESULT_LOADED:
//            gCheckADC = true;
//            DL_GPIO_setPins(OUTPUT_CAN_STB_PORT, OUTPUT_CAN_STB_PIN);
////            DL_GPIO_togglePins(OUTPUT_CAN_STB_PORT, OUTPUT_CAN_STB_PIN);
//            delay_cycles(1000);
//            gAdcResult0[i] =
//                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_0);
//             gAdcResult1[i] =
//                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_1);
//             gAdcResult2[i] =
//                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_2);
//             gAdcResult3[i] =
//                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_3);
//
//             gAdcResult4[i] =
//                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_4);
//             gAdcResult5[i] =
//                 DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_5);
//
//
//             gAdcResult6[i] =
//                 DL_ADC12_getMemResult(ADC12_1_INST, DL_ADC12_MEM_IDX_0);
//            DL_GPIO_clearPins(OUTPUT_CAN_STB_PORT, OUTPUT_CAN_STB_PIN);
//            gAdcResult7[i] =
//                DL_ADC12_getMemResult(ADC12_1_INST, DL_ADC12_MEM_IDX_1);
//           DL_GPIO_clearPins(OUTPUT_CAN_STB_PORT, OUTPUT_CAN_STB_PIN);
//             i++;
//             if (i >= RESULT_SIZE) {
//     //            __BKPT(0);
//                 i = 0;
//             }
//             else{
//                 ;/*No action required*/
//             }
//            break;
//        default:
//            break;
//    }
//}

void ADC12_0_INST_IRQHandler(void)//void ADC1_CMP_IRQHandler(void)
{
  /* add user code begin ADC1_CMP_IRQ 0 */
//  if(adc_interrupt_flag_get(ADC1, ADC_CCE_FLAG) != RESET)
//  {
//    adc_flag_clear(ADC1, ADC_CCE_FLAG);
//  }
//  if(adc_interrupt_flag_get(ADC1, ADC_PCCE_FLAG) != RESET)
//  {
//    adc_flag_clear(ADC1, ADC_PCCE_FLAG);
//    //if(preempt_conversion_count < 5)
//   // {
//      adc1_preempt_valuetab[0][0] = adc_preempt_conversion_data_get(ADC1, ADC_PREEMPT_CHANNEL_1);
//      adc1_preempt_valuetab[0][1] = adc_preempt_conversion_data_get(ADC1, ADC_PREEMPT_CHANNEL_2);
//      adc1_preempt_valuetab[0][2] = adc_preempt_conversion_data_get(ADC1, ADC_PREEMPT_CHANNEL_3);
//    //  preempt_conversion_count++;
//    //}
//  }

    BCnt++;
//    DL_GPIO_togglePins(LED_PORT, LED_LED1_PIN);
//    DL_GPIO_togglePins(LED_PORT, LED_LED2_PIN);
#if(SampleModelSelect == DOUBLERESISTANCE)
    if (DL_ADC12_getPendingInterrupt(ADC12_0_INST) &DL_ADC12_IIDX_MEM4_RESULT_LOADED)//  if (adc_flag_get(ADC1,ADC_PCCE_FLAG)) //ADCx->SR & 0x04 娉ㄥ叆缁勪腑鏂爣蹇�
        {

//
        gAdcResult0[0] =
             DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_0);
        gAdcResult0[1] =
             DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_1);
        gAdcResult0[2] =
             DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_2);
        gAdcResult0[3] =
             DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_3);

        gAdcResult0[4] =
             DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_4);


        gAdcResult0[5] =
             DL_ADC12_getMemResult(ADC12_1_INST, DL_ADC12_MEM_IDX_0);
        gAdcResult0[6] =
             DL_ADC12_getMemResult(ADC12_1_INST, DL_ADC12_MEM_IDX_1);
        gAdcResult0[7] =
            DL_ADC12_getMemResult(ADC12_1_INST, DL_ADC12_MEM_IDX_2);
        gAdcResult0[8] =
             DL_ADC12_getMemResult(ADC12_1_INST, DL_ADC12_MEM_IDX_3);
        gAdcResult0[9] =
             DL_ADC12_getMemResult(ADC12_1_INST, DL_ADC12_MEM_IDX_4);
        gAdcResult0[10] =
             DL_ADC12_getMemResult(ADC12_1_INST, DL_ADC12_MEM_IDX_5);
      // GPIOC->odt  ^= GPIO_PINS_13;
     // GPIOC->odt  ^= GPIO_PINS_15;
          // IO_PC10_TEST_ENABLE; //PC10鎵撳嵃鎸囩ず
//        if( (((uint8_t)DL_Timer_getTimerCount(MOTOR_PWM_INST)) & 0x10) ==0)//        if( (((uint8_t)TMR1->ctrl1) & 0x10) ==0)//    //TIME1 鍚戜笂璁℃暟璇诲彇鐩哥數娴丄D鍊�
            {
               // GPIOC->odt  ^= GPIO_PINS_13;
              //  if(hw_blPWMOnFlg == TRUE)
                {
#if((IPM_POWER_SEL == IPM_POWER_250W_6G) ||(IPM_POWER_SEL ==IPM_POWER_350W_6G))
                    adc_uwRdsonUReg =RDSON_U_REG();//  DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_0);//
                    adc_uwRdsonVReg =RDSON_V_REG();//
#else
                //    adc_uwRdsonUReg =RDSON_U_REG();//  DL_ADC12_getMemResult(ADC12_0_INST, DL_ADC12_MEM_IDX_0);//
                   adc_uwRdsonVReg = RDSON_V_REG();//
                   adc_uwRdsonWReg = RDSON_W_REG();//
#endif
            }
//                else
//                {
//                    adc_uwRdsonUReg =adc_stCof.uwIaOffset;//
//                    adc_uwRdsonVReg =adc_stCof.uwIbOffset;//
//                    adc_uwRdsonWReg = adc_stCof.uwIcOffset;//
//                }
            }
//           adc_flag_clear(ADC1,ADC_PCCE_FLAG);//    //娓匒DC娉ㄥ叆缁勪腑鏂爣蹇�
          // IO_PC10_TEST_DISABLE; //PC10鎵撳嵃鎸囩ず

        }
#elif(SampleModelSelect == COMBINATION)
   if (adc_flag_get(ADC1,ADC_PCCE_FLAG)) //ADCx->SR & 0x04 娉ㄥ叆缁勪腑鏂爣蹇�
        {
           if( (((uint8_t)TMR1->ctrl1) & 0x10) ==0)//    //TIME1 鍚戜笂璁℃暟璇诲彇鐩哥數娴丄D鍊�
            {
                //   GPIOC->odt  ^= GPIO_PINS_13;// gpio_bits_reset(GPIOC,GPIO_PINS_13);
               adc_uwRdsonUReg = ADC1->pdt1_bit.pdt1;//
               adc_uwRdsonVReg = ADC1->pdt2_bit.pdt2;//
               adc_uwRdsonWReg = ADC1->pdt3_bit.pdt3;//
                /* CH4 set to "Frozen" */
                   TMR1->cm2 &= ~0x7000;
                /* CH4 set to "PWM mode 1" */
                 TMR1->cm2 |= 0x6000;
                 hw_SetRdsonSample(ADC_CHANNEL_6);

            }
            else
            {

               // GPIOB->odt  ^= GPIO_PINS_11; // gpio_bits_set(GPIOC,GPIO_PINS_13);//
                if( (pwm_stGenOut.blSampleCalibFlag == TRUE)&&(TMR1->c4dt!=pwm_stGenCoef.uwHPWMPd))
                {
                    adc_uwADDMAPhase1 = ADC1->pdt1_bit.pdt1;//



                    if(pwm_stGenOut.uwSingelRSampleArea == SampleA)
                    {
                        adc_uwIaReg = ADC1->pdt2_bit.pdt2;////
                        GPIOC->odt  ^= GPIO_PINS_15;
                    }
                    if(pwm_stGenOut.uwSingelRSampleArea == SampleB)
                    {
                        adc_uwIbReg = ADC1->pdt3_bit.pdt3;//
                    }
                }
//                /* CH4 set to "Frozen" */
                   TMR1->cm2 &= ~0x7000;
//                /* CH4 set to "PWM mode 2" */
                  TMR1->cm2 |= 0x7000;
//
                 hw_SetIphaseSample();
              //   adc_enable(ADC1,FALSE);
//
//                 adc_flag_clear(ADC1,ADC_PCCE_FLAG);//    //娓匒DC娉ㄥ叆缁勪腑鏂爣蹇�
             }

           adc_flag_clear(ADC1,ADC_PCCE_FLAG);//    //娓匒DC娉ㄥ叆缁勪腑鏂爣蹇�

        }



#endif
  /* add user code end ADC1_CMP_IRQ 0 */
  /* add user code begin ADC1_CMP_IRQ 1 */

  /* add user code end ADC1_CMP_IRQ 1 */
}

/**
  * @brief  this function handles TMR1 brake overflow trigger and hall handler.
  * @param  none
  * @retval none
  */
UWORD tmpSigRTrigZ1 = 0;
UWORD SampUpTige = 0;
UWORD SampDowmTige = 0;
UWORD Samp_Step =0;
void MOTOR_PWM_INST_IRQHandler(void) //void TMR1_BRK_OVF_TRG_HALL_IRQHandler(void)
{
//    ECnt++;
  /* add user code begin TMR1_BRK_OVF_TRG_HALL_IRQ 0 */
//if(0)//if(tmr_flag_get(TMR1,TMR_BRK_FLAG))//if (TIM_GetFlagStatus(TIM1, TIM_FLAG_Break))
//    {
////        tmr_flag_clear(TMR1,TMR_BRK_FLAG);//TIM_ClearFlag(TIM1, TIM_FLAG_Break);
//
//    }
   // IO_CHECKIO_H();
    switch (DL_TimerA_getPendingInterrupt(MOTOR_PWM_INST))
    {

    case DL_TIMER_IIDX_FAULT:
        FCnt++;
        //DL_GPIO_setPins(GPIOA, DL_GPIO_PIN_31);
        DL_Timer_overrideCCPOut(MOTOR_PWM_INST, DL_TIMER_FORCE_OUT_LOW, DL_TIMER_FORCE_CMPL_OUT_LOW, DL_TIMER_CC_0_INDEX);
        DL_Timer_overrideCCPOut(MOTOR_PWM_INST, DL_TIMER_FORCE_OUT_LOW, DL_TIMER_FORCE_CMPL_OUT_LOW, DL_TIMER_CC_1_INDEX);
         DL_Timer_overrideCCPOut(MOTOR_PWM_INST, DL_TIMER_FORCE_OUT_LOW, DL_TIMER_FORCE_CMPL_OUT_LOW, DL_TIMER_CC_2_INDEX);


         hw_voPWMOff();
        // IO_FTESTLED_ON(); //

         alm_unCode.bit.IPMFlt = TRUE;

    break;
        case DL_TIMER_IIDX_ZERO:

//            ECnt++;

//            if(( Samp_Step==0) ||( Samp_Step>=4))
//                 Samp_Step=1;
//            else
//                Samp_Step++;
//           switch (Samp_Step)
//           {
//           case 1:
////                        adc_enable(ADC1,TRUE);
//               // GPIOB->odt  ^= GPIO_PINS_11;
//                    /* Set Rdson sample trigger */
//                //TMR1->c4dt= 108;//108;//pwm_stGenOut.uwRDSONTrig;//  TIM_SetCompare4(TIM1, pwm_stGenOut.uwRDSONTrig); //pwm鏈�澶у嚡90%锛屽湪娉㈣胺3us浣嶇疆閲囬泦姣嶇嚎鐢甸樆鐢垫祦
//                    /* ADC1 regular channel trigger */
////                         adc_ordinary_software_trigger_enable(ADC1,TRUE);//  ADC_SoftwareStartConvCmd(ADC1, ENABLE);
//
//                 tbc_voUpIsr();
//                // DL_GPIO_togglePins(LED_PORT, LED_LED1_PIN);
//             break;
//             case 3:
//                 /* ADC Rdson calibration with single resistance*/
//                 if (TimingDelay != 0)
//                      {
//                          TimingDelay--;
//                      }
//                 if(bikespeed_stFreGetOut.uwCaputureOverflowCnt<60000)
//                 bikespeed_stFreGetOut.uwCaputureOverflowCnt++; //
//                 cadence_stFreGetOut.uwCaputureOverflowCnt++;
//                 tbs_voIsr();//20241017
////                 if(BikeLedGloFun.blBike_ForwardLedSta==TRUE)
////                 {
////                     BikeLedGloFun.uwBikeLight_L_PWM +=100;
////                    if(BikeLedGloFun.uwBikeLight_L_PWM>720)
////                     {
////                        BikeLedGloFun.uwBikeLight_L_PWM=720;
////                     }
////
////                    BikeLedGloFun.uwBikeLight_F_PWM +=100;
////                    if(BikeLedGloFun.uwBikeLight_F_PWM>1800)
////                    {
////                       BikeLedGloFun.uwBikeLight_F_PWM=1800;
////                    }
////                    DL_TimerG_setCaptureCompareValue(PWM_2_INST, BikeLedGloFun.uwBikeLight_L_PWM, GPIO_PWM_2_C1_IDX);
////                    DL_TimerG_setCaptureCompareValue(PWM_3_INST, BikeLedGloFun.uwBikeLight_F_PWM, GPIO_PWM_3_C1_IDX);//max=1800
////                 }
//             break;
//              default:
//
//                break;
//           }

//         gpio_bits_reset(GPIOC,GPIO_PINS_15);//  GPIOC->odt  ^= GPIO_PINS_15;
//            /* ADC1 regular channel trigger */
//           adc_ordinary_software_trigger_enable(ADC1,TRUE);// ADC_SoftwareStartConvCmd(ADC1, ENABLE);
//           tbc_voUpIsr();
//           tmr_flag_clear(TMR1,TMR_OVF_FLAG);//  TIM_ClearFlag(TIM1, TIM_FLAG_Update);
//           if((cp_stBikeRunInfoPara.uwLightSwitch!=0) &&(BikeLedGloFun.blBike_ForwardLedStart==TRUE))
//                  {
//                      if(BikeLedGloFun.blBike_ForwardLedDetErr==TRUE)
//                      {
//                       BikeLedGloFun.blBike_ForwardLedDetErr=FALSE ;
//                       IO_FORWARDLED_ON(); //寮�鍓嶇伅
//                        BikeLedGloFun.blBike_ForwardLedSta=TRUE;
//                        BikeLedGloFun.uwlBike_ForwardLedDetErrTime++;
//                        if(BikeLedGloFun.uwlBike_ForwardLedDetErrTime>=64)
//                         {
//                             BikeLedGloFun.blBike_ForwardLedStart=FALSE;
//                         }
//                      }
//                  }
//          if(( BikeLedGloFun.blBike_BackLedSta==TRUE) &&(BikeLedGloFun.blBike_BackLedStart==TRUE))
//          {
//              if( BikeLedGloFun.blBike_BackLedDetErr==TRUE)
//
//              {
//                  BikeLedGloFun.blBike_BackLedDetErr=FALSE;
//                  IO_BACKLED_ON();
//                  BikeLedGloFun.uwBike_BackLedDetErrTime++;
//                  if( BikeLedGloFun.uwBike_BackLedDetErrTime>=64)
//                  {
//                      BikeLedGloFun.blBike_BackLedStart=FALSE;
//                  }
//              }
//          }

            break;

        case DL_TIMER_IIDX_LOAD:

//            GCnt++;

//            DL_GPIO_togglePins(LED_PORT, LED_LED2_PIN);
//            Samp_Step++;
////            DL_Timer_clearInterruptStatus(MOTOR_PWM_INST,GPTIMER_CPU_INT_IMASK_L_SET);//
//              switch (Samp_Step)
//               {
//               case 2:
//                  // gpio_bits_set(GPIOB,GPIO_PINS_11);
//        //                    adc_enable(ADC1,FALSE);//
//                   tbc_voDownIsr(); //鐢垫祦 /鐢靛帇鑾峰彇 锛岃绠楁牎鍑嗙數娴侀噰鏍风偣  TMR1->c4dt=1000;// tmpSigRTrigZ1;
//                  // gpio_bits_reset(GPIOB,GPIO_PINS_11);
//            #if(JSCOPE_EN!=0)
//                  Jscope_WtiteData();
//           #endif
//                  break;
//              case 4:
//                 // GPIOC->odt  ^= GPIO_PINS_13;
//
//                      hw_uwPWMCmpr[0] = pwm_stGenOut.uwNewTIM1COMPR[0];
//                       hw_uwPWMCmpr[1] = pwm_stGenOut.uwNewTIM1COMPR[1];
//                       hw_uwPWMCmpr[2] = pwm_stGenOut.uwNewTIM1COMPR[2];
//                       hw_uwPWMCmpr[3] = pwm_stGenOut.uwNewTIM1COMPR[3];
//                       hw_uwPWMCmpr[4] = pwm_stGenOut.uwNewTIM1COMPR[4];
//                       hw_uwPWMCmpr[5] = pwm_stGenOut.uwNewTIM1COMPR[5];
//                       /* Enable PWM DMA,  hw_uwPWMCmpr[0/1/2] at underflow update */
//        //                        tmr_dma_request_enable(TMR1,TMR_OVERFLOW_DMA_REQUEST,TRUE);// TIM_DMACmd(TIM1, TIM_DMA_Update, ENABLE);
//        //                       dma_channel_enable(DMA1_CHANNEL5,TRUE); //DMA_Cmd(DMA1_Channel5, ENABLE);
//
////                       pwm_stGenOut.uwNewTIM1COMPR[0]=900 ;
////                       pwm_stGenOut.uwNewTIM1COMPR[1]=1250;
////                       pwm_stGenOut.uwNewTIM1COMPR[2]=450 ;
//
//
//                       TIMER_CC_A_INDEX(pwm_stGenOut.uwNewTIM1COMPR[0]);//     DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, pwm_stGenOut.uwNewTIM1COMPR[0], DL_TIMER_CC_0_INDEX);//A
//                       TIMER_CC_B_INDEX(pwm_stGenOut.uwNewTIM1COMPR[1]);// DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, pwm_stGenOut.uwNewTIM1COMPR[1], DL_TIMER_CC_2_INDEX); //B
//                       TIMER_CC_C_INDEX(pwm_stGenOut.uwNewTIM1COMPR[2]);// DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, pwm_stGenOut.uwNewTIM1COMPR[2], DL_TIMER_CC_1_INDEX);//C
//
//        //                       adc_enable(ADC1,TRUE);//
//                         DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST,2, DL_TIMER_CC_4_INDEX); //采样点设置
//                 break;
//                  default:
//
//                    break;
//               }

            break;


        default:
            break;

    }
  //  IO_CHECKIO_L();
//    IO_CHECKIO_L();
////if(DL_TimerA_getPendingInterrupt(MOTOR_PWM_INST) & DL_TIMER_IIDX_ZERO )
//  {
//  //  GPIOC->scr = GPIO_PINS_13;  // GPIOC->odt  ^= GPIO_PINS_13;
//
// #if(SampleModelSelect == DOUBLERESISTANCE)
//    // ULONG OVtimeCnt = 0;
////     if( (((uint8_t)TMR1->ctrl1) & 0x10) ==0) //  if ((TIM1->CR1 & TIM_CR1_DIR) == 0) // When Counting Up
//        if(DL_TimerA_getPendingInterrupt(MOTOR_PWM_INST) & DL_TIMER_IIDX_ZERO )//   if( (((uint8_t)DL_Timer_getTimerCount(MOTOR_PWM_INST)) & 0x10) ==0) //  if ((TIM1->CR1 & TIM_CR1_DIR) == 0) // When Counting Up
//        {
//
//        DL_Timer_clearInterruptStatus(MOTOR_PWM_INST,GPTIMER_CPU_INT_IMASK_Z_SET);//         tmr_flag_clear(TMR1,TMR_OVF_FLAG);//
//                  // gpio_bits_reset(GPIOC,GPIO_PINS_15);
//                    if(( Samp_Step==0) ||( Samp_Step>=4))
//                         Samp_Step=1;
//                    else
//                        Samp_Step++;
//                   switch (Samp_Step)
//                   {
//                   case 1:
////                        adc_enable(ADC1,TRUE);
//                       // GPIOB->odt  ^= GPIO_PINS_11;
//                            /* Set Rdson sample trigger */
//                        //TMR1->c4dt= 108;//108;//pwm_stGenOut.uwRDSONTrig;//  TIM_SetCompare4(TIM1, pwm_stGenOut.uwRDSONTrig); //pwm鏈�澶у嚡90%锛屽湪娉㈣胺3us浣嶇疆閲囬泦姣嶇嚎鐢甸樆鐢垫祦
//                            /* ADC1 regular channel trigger */
////                         adc_ordinary_software_trigger_enable(ADC1,TRUE);//  ADC_SoftwareStartConvCmd(ADC1, ENABLE);
//
//                         tbc_voUpIsr();
//
//                     break;
//                     case 3:
//                         /* ADC Rdson calibration with single resistance*/
//                         if (TimingDelay != 0)
//                              {
//                                  TimingDelay--;
//                              }
//                     break;
//                      default:
//
//                        break;
//                   }
//
////         gpio_bits_reset(GPIOC,GPIO_PINS_15);//  GPIOC->odt  ^= GPIO_PINS_15;
////            /* ADC1 regular channel trigger */
////           adc_ordinary_software_trigger_enable(ADC1,TRUE);// ADC_SoftwareStartConvCmd(ADC1, ENABLE);
////           tbc_voUpIsr();
////           tmr_flag_clear(TMR1,TMR_OVF_FLAG);//  TIM_ClearFlag(TIM1, TIM_FLAG_Update);
//           if((cp_stBikeRunInfoPara.uwLightSwitch!=0) &&(BikeLedGloFun.blBike_ForwardLedStart==TRUE))
//                  {
//                      if(BikeLedGloFun.blBike_ForwardLedDetErr==TRUE)
//                      {
//                       BikeLedGloFun.blBike_ForwardLedDetErr=FALSE ;
//                       IO_FORWARDLED_ON(); //寮�鍓嶇伅
//                        BikeLedGloFun.blBike_ForwardLedSta=TRUE;
//                        BikeLedGloFun.uwlBike_ForwardLedDetErrTime++;
//                        if(BikeLedGloFun.uwlBike_ForwardLedDetErrTime>=64)
//                         {
//                             BikeLedGloFun.blBike_ForwardLedStart=FALSE;
//                         }
//                      }
//                  }
//          if(( BikeLedGloFun.blBike_BackLedSta==TRUE) &&(BikeLedGloFun.blBike_BackLedStart==TRUE))
//          {
//              if( BikeLedGloFun.blBike_BackLedDetErr==TRUE)
//
//              {
//                  BikeLedGloFun.blBike_BackLedDetErr=FALSE;
//                  IO_BACKLED_ON();
//                  BikeLedGloFun.uwBike_BackLedDetErrTime++;
//                  if( BikeLedGloFun.uwBike_BackLedDetErrTime>=64)
//                  {
//                      BikeLedGloFun.blBike_BackLedStart=FALSE;
//                  }
//              }
//          }
//        }
//        else if(DL_TimerA_getPendingInterrupt(MOTOR_PWM_INST) & DL_TIMER_IIDX_LOAD )
//        {
//              //  gpio_bits_set(GPIOC,GPIO_PINS_15);
////            if(DL_TimerA_getPendingInterrupt(MOTOR_PWM_INST) & DL_TIMER_IIDX_LOAD )//            DL_Timer_clearInterruptStatus(MOTOR_PWM_INST,GPTIMER_CPU_INT_IMASK_L_SET);//               tmr_flag_clear(TMR1,TMR_OVF_FLAG);//
//               //---------------------------
//                    Samp_Step++;
//            DL_Timer_clearInterruptStatus(MOTOR_PWM_INST,GPTIMER_CPU_INT_IMASK_L_SET);//
//              switch (Samp_Step)
//               {
//               case 2:
//                  // gpio_bits_set(GPIOB,GPIO_PINS_11);
////                    adc_enable(ADC1,FALSE);//
//                   tbc_voDownIsr(); //鐢垫祦 /鐢靛帇鑾峰彇 锛岃绠楁牎鍑嗙數娴侀噰鏍风偣  TMR1->c4dt=1000;// tmpSigRTrigZ1;
//                  // gpio_bits_reset(GPIOB,GPIO_PINS_11);
//            #if(JSCOPE_EN!=0)
//                  Jscope_WtiteData();
//           #endif
//                  break;
//              case 4:
//                 // GPIOC->odt  ^= GPIO_PINS_13;
//
//                      hw_uwPWMCmpr[0] = pwm_stGenOut.uwNewTIM1COMPR[0];
//                       hw_uwPWMCmpr[1] = pwm_stGenOut.uwNewTIM1COMPR[1];
//                       hw_uwPWMCmpr[2] = pwm_stGenOut.uwNewTIM1COMPR[2];
//                       hw_uwPWMCmpr[3] = pwm_stGenOut.uwNewTIM1COMPR[3];
//                       hw_uwPWMCmpr[4] = pwm_stGenOut.uwNewTIM1COMPR[4];
//                       hw_uwPWMCmpr[5] = pwm_stGenOut.uwNewTIM1COMPR[5];
//                       /* Enable PWM DMA,  hw_uwPWMCmpr[0/1/2] at underflow update */
////                        tmr_dma_request_enable(TMR1,TMR_OVERFLOW_DMA_REQUEST,TRUE);// TIM_DMACmd(TIM1, TIM_DMA_Update, ENABLE);
////                       dma_channel_enable(DMA1_CHANNEL5,TRUE); //DMA_Cmd(DMA1_Channel5, ENABLE);
//
//                       DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, pwm_stGenOut.uwNewTIM1COMPR[1], DL_TIMER_CC_0_INDEX); //B
//                        DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, pwm_stGenOut.uwNewTIM1COMPR[2], DL_TIMER_CC_2_INDEX);//C
//                        DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, pwm_stGenOut.uwNewTIM1COMPR[0], DL_TIMER_CC_3_INDEX);//A
////                       adc_enable(ADC1,TRUE);//
//                 break;
//                  default:
//
//                    break;
//               }
//
//            //   adc_enable(ADC1,TRUE);// ADC_Cmd(ADC1, ENABLE);
////            gpio_bits_set(GPIOC,GPIO_PINS_15);
////          tmr_counter_value_set(TMR6,0);    // TIM4->CNT = 0;
////           adc_enable(ADC1,FALSE);//  ADC_Cmd(ADC1, DISABLE);    //鍏抽棴ADC瑙勫垯缁�
////            tbc_voDownIsr();
////            while ((tmr_counter_value_get(TMR6) < (HW_PWM_PERIOD)) && (OVtimeCnt < ((HW_HHPWM_PERIOD * FPWM_HZ))))  //36M  clk
////            {
////                OVtimeCnt++;
////            };
////
////            /* Load PWM Compare value */
////            hw_uwPWMCmpr[0] = pwm_stGenOut.uwNewTIM1COMPR[0];
////            hw_uwPWMCmpr[1] = pwm_stGenOut.uwNewTIM1COMPR[1];
////            hw_uwPWMCmpr[2] = pwm_stGenOut.uwNewTIM1COMPR[2];
////            hw_uwPWMCmpr[3] = pwm_stGenOut.uwNewTIM1COMPR[3];
////            hw_uwPWMCmpr[4] = pwm_stGenOut.uwNewTIM1COMPR[4];
////            hw_uwPWMCmpr[5] = pwm_stGenOut.uwNewTIM1COMPR[5];
////            /* Enable PWM DMA,  hw_uwPWMCmpr[0/1/2] at underflow update */
////           tmr_dma_request_enable(TMR1,TMR_OVERFLOW_DMA_REQUEST,TRUE);// TIM_DMACmd(TIM1, TIM_DMA_Update, ENABLE);
////           dma_channel_enable(DMA1_CHANNEL5,TRUE); //DMA_Cmd(DMA1_Channel5, ENABLE);
////
////            adc_enable(ADC1,TRUE);// ADC_Cmd(ADC1, ENABLE);
////
////          tmr_flag_clear(TMR1,TMR_OVF_FLAG);//  TIM_ClearFlag(TIM1, TIM_FLAG_Update);
//        }
//        else
//        {
//            if(DL_TimerA_getPendingInterrupt(MOTOR_PWM_INST) & DL_TIMER_IIDX_FAULT )
//            {
//                DL_Timer_clearInterruptStatus(MOTOR_PWM_INST,GPTIMER_CPU_INT_IMASK_F_SET);//
//                GCnt++;
//                hw_voPWMOff();
//            }
//
//        }
//
//
//#elif(SampleModelSelect == COMBINATION)
//
//      //  ULONG OVtimeCnt = 0;
//
//       if( (((uint8_t)TMR1->ctrl1) & 0x10) ==0)// When Counting Up 璁℃暟鍣ㄥ悜涓婅鏁帮紝鐜板湪娉㈣胺
//        {
//           tmr_flag_clear(TMR1,TMR_OVF_FLAG);//
//          // gpio_bits_reset(GPIOC,GPIO_PINS_15);
//            if(( Samp_Step==0) ||( Samp_Step>=4))
//                 Samp_Step=1;
//            else
//                Samp_Step++;
//           switch (Samp_Step)
//           {
//           case 1:
//                adc_enable(ADC1,TRUE);
//               // GPIOB->odt  ^= GPIO_PINS_11;
//                    /* Set Rdson sample trigger */
//                TMR1->c4dt= 108;//108;//pwm_stGenOut.uwRDSONTrig;//  TIM_SetCompare4(TIM1, pwm_stGenOut.uwRDSONTrig); //pwm鏈�澶у嚡90%锛屽湪娉㈣胺3us浣嶇疆閲囬泦姣嶇嚎鐢甸樆鐢垫祦
//                    /* ADC1 regular channel trigger */
//                 adc_ordinary_software_trigger_enable(ADC1,TRUE);//  ADC_SoftwareStartConvCmd(ADC1, ENABLE);
//
//                 tbc_voUpIsr();
//
//             break;
//             case 3:
//                 /* ADC Rdson calibration with single resistance*/
//
//             break;
//              default:
//
//                break;
//           }
//
//
//    #if(JSCOPE_EN!=0)
//            Jscope_WtiteData();
//    #endif
//        }
//       else  //鍚戜笅璁℃暟锛屾尝宄�
//         {
//         //  gpio_bits_set(GPIOC,GPIO_PINS_15);
//           tmr_flag_clear(TMR1,TMR_OVF_FLAG);//
//           //---------------------------
//                Samp_Step++;
//
//          switch (Samp_Step)
//           {
//           case 2:
//              // gpio_bits_set(GPIOB,GPIO_PINS_11);
//               adc_enable(ADC1,FALSE);//
//               tbc_voDownIsr(); //鐢垫祦 /鐢靛帇鑾峰彇 锛岃绠楁牎鍑嗙數娴侀噰鏍风偣  TMR1->c4dt=1000;// tmpSigRTrigZ1;
//              // gpio_bits_reset(GPIOB,GPIO_PINS_11);
//              break;
//          case 4:
//             // GPIOC->odt  ^= GPIO_PINS_13;
//              adc_enable(ADC1,TRUE);//
////              if(tmpSigRTrigZ1>700)
////              {
////                  TMR1->c4dt=  tmpSigRTrigZ1;///TIM_SetCompare4(TIM1, tmpSigRTrigZ1);
////              }
////              else
////              {
////                  TMR1->c4dt= 1500;
////              }
//              TMR1->c4dt=  tmpSigRTrigZ1;
//              tmpSigRTrigZ1 = pwm_stGenOut.uwSigRTrig;
//                  hw_uwPWMCmpr[0] = pwm_stGenOut.uwNewTIM1COMPR[0];
//                   hw_uwPWMCmpr[1] = pwm_stGenOut.uwNewTIM1COMPR[1];
//                   hw_uwPWMCmpr[2] = pwm_stGenOut.uwNewTIM1COMPR[2];
//                   hw_uwPWMCmpr[3] = pwm_stGenOut.uwNewTIM1COMPR[3];
//                   hw_uwPWMCmpr[4] = pwm_stGenOut.uwNewTIM1COMPR[4];
//                   hw_uwPWMCmpr[5] = pwm_stGenOut.uwNewTIM1COMPR[5];
//                   /* Enable PWM DMA,  hw_uwPWMCmpr[0/1/2] at underflow update */
//                    tmr_dma_request_enable(TMR1,TMR_OVERFLOW_DMA_REQUEST,TRUE);// TIM_DMACmd(TIM1, TIM_DMA_Update, ENABLE);
//                   dma_channel_enable(DMA1_CHANNEL5,TRUE); //DMA_Cmd(DMA1_Channel5, ENABLE);
//
//             break;
//              default:
//
//                break;
//           }
//
//
//           //---------------------------
//
//
////                tmr_counter_value_set(TMR6,0); //  TIM4->CNT = 0;
////                gpio_bits_set(GPIOC,GPIO_PINS_15);
////                adc_enable(ADC1,FALSE);//
////
////                tbc_voDownIsr(); //鐢垫祦 /鐢靛帇鑾峰彇 锛岃绠楁牎鍑嗙數娴侀噰鏍风偣
////
////                while ((tmr_counter_value_get(TMR6) < (HW_PWM_PERIOD)) && (OVtimeCnt < ((HW_HHPWM_PERIOD * FPWM_HZ))))  //36M  clk
////                  {
////                     OVtimeCnt++;
////                  };
////
////                /* Set Ibus sample trigger */
////                adc_enable(ADC1,TRUE);//   ADC_Cmd(ADC2, ENABLE);
////                 TMR1->c4dt= 500;// tmpSigRTrigZ1;///TIM_SetCompare4(TIM1, tmpSigRTrigZ1);
////                tmpSigRTrigZ1 = pwm_stGenOut.uwSigRTrig;
////                /* Load PWM Compare value */
////                hw_uwPWMCmpr[0] = pwm_stGenOut.uwNewTIM1COMPR[0];
////                hw_uwPWMCmpr[1] = pwm_stGenOut.uwNewTIM1COMPR[1];
////                hw_uwPWMCmpr[2] = pwm_stGenOut.uwNewTIM1COMPR[2];
////                hw_uwPWMCmpr[3] = pwm_stGenOut.uwNewTIM1COMPR[3];
////                hw_uwPWMCmpr[4] = pwm_stGenOut.uwNewTIM1COMPR[4];
////                hw_uwPWMCmpr[5] = pwm_stGenOut.uwNewTIM1COMPR[5];
////                /* Enable PWM DMA,  hw_uwPWMCmpr[0/1/2] at underflow update */
////                 tmr_dma_request_enable(TMR1,TMR_OVERFLOW_DMA_REQUEST,TRUE);// TIM_DMACmd(TIM1, TIM_DMA_Update, ENABLE);
////                dma_channel_enable(DMA1_CHANNEL5,TRUE); //DMA_Cmd(DMA1_Channel5, ENABLE);
////
////                adc_enable(ADC1,TRUE);//
//
//
//            }
//
//
//#endif
//    }

        
   // BrkFlg++;
  /* add user code end TMR1_BRK_OVF_TRG_HALL_IRQ 0 */
  /* add user code begin TMR1_BRK_OVF_TRG_HALL_IRQ 1 */

  /* add user code end TMR1_BRK_OVF_TRG_HALL_IRQ 1 */
}

/**
  * @brief  this function handles TMR1 channel handler.
  * @param  none
  * @retval none
  */
//void TMR1_CH_IRQHandler(void)
//{
//  /* add user code begin TMR1_CH_IRQ 0 */
// // if(tmr_interrupt_flag_get(TMR1,TMR_OVF_FLAG))
// // {
////    if(tmr_cnt_dir_get(TMR1))
////    {
////      gpio_bits_set(Break_GPIO_PORT,Break_PIN);
////    }else{
////      gpio_bits_reset(Break_GPIO_PORT,Break_PIN);
////    }
//    //Break_GPIO_PORT->odt ^= Break_PIN;
// // }
//
//
//  /* add user code end TMR1_CH_IRQ 0 */
//  /* add user code begin TMR1_CH_IRQ 1 */
//
//  /* add user code end TMR1_CH_IRQ 1 */
//}


/**
  * @brief  this function handles TMR3 handler.
  * @param  none
  * @retval none
  */
void GROUP1_IRQHandler(void) //void TMR3_GLOBAL_IRQHandler(void)
{
    uint32_t gpioA = DL_GPIO_getEnabledInterruptStatus(GPIOA, DL_GPIO_PIN_8 | DL_GPIO_PIN_26);
    uint32_t gpioB = DL_GPIO_getEnabledInterruptStatus(GPIOB, DL_GPIO_PIN_3 | DL_GPIO_PIN_2);

    //BAT灯
#if 0
    if ((gpioA & DL_GPIO_PIN_26) ==  DL_GPIO_PIN_26)
    {
        if(BikeLedCheck_F.uwBike_OpenLedEn!=0)
        {
            BikeLedCheck_F.uwBikeLight_PWM=0;
            CLMPF++;
        }
        else
        {
            if( BikeLedCheck_F.blBike_LedSta==TRUE)
            {
                if(BikeLedCheck_F.uwBike_OpenPreTime<=2)
                {
                    BikeLedCheck_F.uwBike_OpenPreTime=2;
                    CMPF++;
                    BikeLedCheck_F.uwBikeLight_PWM=LIGHT_SECTPWM;//LIGHT_SECTPWM;
                }
            }
        }
        if( BikeLedCheck_F.blBike_LedSta==TRUE)
            BikeLedCheck_F.blBike_LedCurErr=TRUE;
        CHMPF++;
        DL_GPIO_clearInterruptStatus(GPIOA, DL_GPIO_PIN_26);
    }
#endif

   /* add user code begin TMR3_GLOBAL_IRQ 0 */
   if( ((gpioA & DL_GPIO_PIN_8) ==  DL_GPIO_PIN_8) || ((gpioB & DL_GPIO_PIN_3) ==  DL_GPIO_PIN_3) ||((gpioB & DL_GPIO_PIN_2) ==  DL_GPIO_PIN_2))
   {
       HGcnt++;
       switchhall_voTim3Int();
       DL_GPIO_clearInterruptStatus(GPIOA, DL_GPIO_PIN_8);
       DL_GPIO_clearInterruptStatus(GPIOB, DL_GPIO_PIN_3);
       DL_GPIO_clearInterruptStatus(GPIOB, DL_GPIO_PIN_2);
   }

    /* add user code end TMR3_GLOBAL_IRQ 0 */
    /* add user code begin TMR3_GLOBAL_IRQ 1 */

    /* add user code end TMR3_GLOBAL_IRQ 1 */

    /*
    * Get the pending interrupt for the GPIOA port and store for
    * comparisons later
    */
}

/**
  * @brief  this function handles TMR16 handler.
  * @param  none
  * @retval none
  */
//void SPEED_INST_IRQHandler(void) //void TMR16_GLOBAL_IRQHandler(void)
//{
//
//  /* add user code begin TMR16_GLOBAL_IRQ 0 */
////Bike Speed
//   UWORD uwIntSource = 0;
//
//
//   switch (DL_TimerG_getPendingInterrupt(SPEED_INST))
//   {
//       case DL_TIMER_IIDX_CC0_DN:
//           SPEED_edgeCapture = DL_Timer_getCaptureCompareValue(SPEED_INST, DL_TIMER_CC_0_INDEX);
//
////           tmr_flag_clear(TMR16,TMR_C1_FLAG);//TIM_ClearFlag(TIM2, TIM_FLAG_CC4);
//                   uwIntSource = 3;
//                  // tempIO2 = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_11);
////                   if(gpio_input_data_bit_read(GPIOB,GPIO_PINS_8))//(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_11))
//                   {
////                      tmr_output_channel_polarity_set(TMR16,TMR_SELECT_CHANNEL_1,TMR_POLARITY_ACTIVE_LOW); // TIM_OC4PolarityConfig(TIM2,TIM_ICPolarity_Falling);
//                   }
////                   else
//                   {
////                      tmr_output_channel_polarity_set(TMR16,TMR_SELECT_CHANNEL_1,TMR_POLARITY_ACTIVE_HIGH);  // TIM_OC4PolarityConfig(TIM2,TIM_ICPolarity_Rising);
//                   }
//
//                 //  bikespeed_voBikeSpeedCal(uwIntSource);
//
//           break;
//       case DL_TIMER_IIDX_ZERO:
//           uwIntSource = 1;
//           /* TBS interrupt */
//          // tbs_voIsr();
//
//           /* CadenceCal and BikespeedCal */
//
//          // bikespeed_voBikeSpeedCal(uwIntSource);
//           DCnt++;
//           break;
//       default:
//           break;
//   }
//
//
////   if(tmr_flag_get(TMR16,TMR_OVF_FLAG))// if (TIM_GetFlagStatus(TIM2, TIM_FLAG_Update))
////    {
////       tmr_flag_clear(TMR16,TMR_OVF_FLAG);//
////        uwIntSource = 1;
////        /* TBS interrupt */
////        tbs_voIsr();
////
////        /* CadenceCal and BikespeedCal */
////
////        bikespeed_voBikeSpeedCal(uwIntSource);
////
////    }
////     else if (tmr_flag_get(TMR16,TMR_C1_FLAG))//(TIM_GetFlagStatus(TIM2, TIM_FLAG_CC4))
////    {
////       tmr_flag_clear(TMR16,TMR_C1_FLAG);//TIM_ClearFlag(TIM2, TIM_FLAG_CC4);
////        uwIntSource = 3;
////       // tempIO2 = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_11);
////        if(gpio_input_data_bit_read(GPIOB,GPIO_PINS_8))//(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_11))
////        {
////           tmr_output_channel_polarity_set(TMR16,TMR_SELECT_CHANNEL_1,TMR_POLARITY_ACTIVE_LOW); // TIM_OC4PolarityConfig(TIM2,TIM_ICPolarity_Falling);
////        }
////        else
////        {
////           tmr_output_channel_polarity_set(TMR16,TMR_SELECT_CHANNEL_1,TMR_POLARITY_ACTIVE_HIGH);  // TIM_OC4PolarityConfig(TIM2,TIM_ICPolarity_Rising);
////        }
////
////        bikespeed_voBikeSpeedCal(uwIntSource);
////   }
//  /* add user code end TMR16_GLOBAL_IRQ 0 */
//  /* add user code begin TMR16_GLOBAL_IRQ 1 */
//
//  /* add user code end TMR16_GLOBAL_IRQ 1 */
//}

/**
  * @brief  this function handles TMR17 handler.
  * @param  none
  * @retval none
  */
//void TAPIN_INST_IRQHandler(void)//void TMR17_GLOBAL_IRQHandler(void)
//{
//  /* add user code begin TMR17_GLOBAL_IRQ 0 */
////韪忛牷
//UWORD uwIntSource = 0;
//
//
//    switch (DL_TimerG_getPendingInterrupt(TAPIN_INST))
//    {
//        case DL_TIMERG_IIDX_CC0_DN:
//            TIPIN_edgeCapture = DL_Timer_getCaptureCompareValue(TAPIN_INST, DL_TIMER_CC_0_INDEX);
//            uwIntSource = 2;
//           // tempIO1 = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_10);
//    //        if(gpio_input_data_bit_read(GPIOB,GPIO_PINS_9))//(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_10))
//    //        {
//    //           tmr_output_channel_polarity_set(TMR17,TMR_SELECT_CHANNEL_1,TMR_POLARITY_ACTIVE_LOW); //  TIM_OC3PolarityConfig(TIM2,TIM_ICPolarity_Falling);
//    //        }
//    //        else
//    //        {
//    //          tmr_output_channel_polarity_set(TMR17,TMR_SELECT_CHANNEL_1,TMR_POLARITY_ACTIVE_HIGH); //   TIM_OC3PolarityConfig(TIM2,TIM_ICPolarity_Rising);
//    //        }
//            cadence_voCadenceCal(uwIntSource);
//
//            break;
//        case DL_TIMER_IIDX_ZERO:
//            uwIntSource = 1;
//            /* TBS interrupt */
//           // tbs_voIsr();
//
//            /* CadenceCal and BikespeedCal */
//            cadence_voCadenceCal(uwIntSource);
//            ECnt++;
//            break;
//        default:
//            break;
//    }
//
////    if(tmr_flag_get(TMR17,TMR_OVF_FLAG))// if (TIM_GetFlagStatus(TIM2, TIM_FLAG_Update))
////    {
////        uwIntSource = 1;
////        /* TBS interrupt */
////       // tbs_voIsr();
////
////        /* CadenceCal and BikespeedCal */
////        cadence_voCadenceCal(uwIntSource);
////
////       tmr_flag_clear(TMR17,TMR_OVF_FLAG);// TIM_ClearFlag(TIM2, TIM_FLAG_Update);
////    }
////    else if (tmr_flag_get(TMR17,TMR_C1_FLAG))//(TIM_GetFlagStatus(TIM2, TIM_FLAG_CC3))
////    {
////        uwIntSource = 2;
////       // tempIO1 = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_10);
//////        if(gpio_input_data_bit_read(GPIOB,GPIO_PINS_9))//(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_10))
//////        {
//////           tmr_output_channel_polarity_set(TMR17,TMR_SELECT_CHANNEL_1,TMR_POLARITY_ACTIVE_LOW); //  TIM_OC3PolarityConfig(TIM2,TIM_ICPolarity_Falling);
//////        }
//////        else
//////        {
//////          tmr_output_channel_polarity_set(TMR17,TMR_SELECT_CHANNEL_1,TMR_POLARITY_ACTIVE_HIGH); //   TIM_OC3PolarityConfig(TIM2,TIM_ICPolarity_Rising);
//////        }
////        cadence_voCadenceCal(uwIntSource);
////         tmr_flag_clear(TMR17,TMR_C1_FLAG);//TIM_ClearFlag(TIM2, TIM_FLAG_CC3);
////    }
////
////  /* add user code end TMR17_GLOBAL_IRQ 0 */
////  /* add user code begin TMR17_GLOBAL_IRQ 1 */
////
////  /* add user code end TMR17_GLOBAL_IRQ 1 */
//}

/**
  * @brief  this function handles USART1 handler.
  * @param  none
  * @retval none
  */
void UART0_IRQHandler(void)
{
 //   USARTx_Rx_IRQ(&UART_RxBuff_Struct_OBC);
 //   USARTx_Tx_IRQ(&UART_TxBuff_Struct_OBC);

    USARTx_RxTX_IRQ(&UART_RxBuff_Struct_OBC,&UART_TxBuff_Struct_OBC,&stUSART_FrameBuf_OBC);

}
//
///**
//  * @brief  this function handles USART2 handler.
//  * @param  none
//  * @retval none
//  */
//void UART_BAT_INST_IRQHandler(void)
//{
//    USARTx_Rx_IRQ(&UART_RxBuff_Struct_BMS);
//    USARTx_Tx_IRQ(&UART_TxBuff_Struct_BMS);
//}
//
ULONG id = 0;
void MCAN0_INST_IRQHandler(void)
{
    volatile ULONG gInterruptLine1Status = 0;
    DL_MCAN_RxFIFOStatus rxFS;

    switch (DL_MCAN_getPendingInterrupt(MCAN0_INST)) {
            case DL_MCAN_IIDX_LINE1:
                /* Check MCAN interrupts fired during TX/RX of CAN package */
                gInterruptLine1Status |= DL_MCAN_getIntrStatus(MCAN0_INST);
                DL_MCAN_clearIntrStatus(MCAN0_INST, gInterruptLine1Status,DL_MCAN_INTR_SRC_MCAN_LINE_1);

                if ((gInterruptLine1Status & MCAN_IR_RF0N_MASK) == MCAN_IR_RF0N_MASK)
                {
                    rxFS.fillLvl = 0;
                    rxFS.num = DL_MCAN_RX_FIFO_NUM_0;
                    while ((rxFS.fillLvl) == 0)
                    {
                        DL_MCAN_getRxFIFOStatus(MCAN0_INST, &rxFS);
                    }

                    DL_MCAN_readMsgRam(MCAN0_INST, DL_MCAN_MEM_TYPE_FIFO, 0U, rxFS.num, pRxMsg);

                    DL_MCAN_writeRxFIFOAck(MCAN0_INST, rxFS.num, rxFS.getIdx);

                    if(pRxMsg->xtd == 0)
                    {
                        id = ((pRxMsg->id) & 0x1FFC0000)>>18;
                    }
                    else
                    {
                        id = pRxMsg->id & 0x1FFFFFFF;
                    }

                    if(pRxMsg->xtd == ID_MODE_STANDARD)
                    {
                        //11-bit standard identifier
                        switch (id)
                        {
                            case ID_PBU_BC:
                            case ID_PBU_TO_MC: //接收PBU数据
                            {
                                CAN_RxBuf_Struct_PBU.ulBufID = id;
                                CAN_Rx_ISR(&CAN_RxBuf_Struct_PBU, pRxMsg->dlc);
                                break;
                            }
                            case ID_BMS_BC:
                            case ID_BMS_TO_MC: //接收BMS数据
                            {
                                CAN_RxBuf_Struct_BMS.ulBufID = id;
                                CAN_Rx_ISR(&CAN_RxBuf_Struct_BMS, pRxMsg->dlc);
                                break;
                            }
                            case ID_HMI_BC:
                            case ID_HMI_TO_MC: //接收HMI数据
                            {
                                CAN_RxBuf_Struct_HMI.ulBufID = id;
                                CAN_Rx_ISR(&CAN_RxBuf_Struct_HMI, pRxMsg->dlc);
                                break;
                            }
                            case ID_CDL_BC:
                            case ID_CDL_TO_MC: // case ID_CDL_TO_MC_TE://接收CDL数据
                            {
                                CAN_RxBuf_Struct_CDL.ulBufID = id;
                                CAN_Rx_ISR(&CAN_RxBuf_Struct_CDL, pRxMsg->dlc);
                                break;
                            }
                            default:
                                break;
                        }
                    }
                    else
                    {
                        //29-bit extended identifier
                    }

                    gInterruptLine1Status &= ~(MCAN_IR_RF0N_MASK);
                }
                break;
            default:
                break;
        }
}
///**
//  * @brief  this function handles EXINT Line 1 & 0 handler.
//  * @param  none
//  * @retval none
//  */
//void EXINT1_0_IRQHandler(void)
//{
//    UWORD lightCnt=0;
//    UWORD lightCntTime=0;
//    UWORD lightTime=0;
//    UWORD BacklightTime=0;
//
//  /* add user code begin EXINT1_0_IRQ 0 */
//    if(exint_interrupt_flag_get(EXINT_LINE_0) != RESET)
//     {
//
//        for(lightCnt=0;lightCnt<=12;lightCnt++)
//        {
//            if(IO_FORWARDLEDCHECK_PORT()==0)
//               lightCntTime++;
//        }
//
//        if(lightCntTime>=(11))
//        {
//         IO_FORWARDLED_OFF();
//        BikeLedGloFun.blBike_ForwardLedDetErr=TRUE;
//          lightCntTime=0;
//        }
//       exint_flag_clear(EXINT_LINE_0);
//     }
//  /* add user code end EXINT1_0_IRQ 0 */
//  /* add user code begin EXINT1_0_IRQ 1 */
//    if(exint_interrupt_flag_get(EXINT_LINE_1) != RESET)
//     {
//        for(lightTime=0;lightTime<=12;lightTime++)//40
//           {
//               if(IO_BACKLEDCHECK_PORT()==0)
//                   BacklightTime++;
//           }
//           if(BacklightTime>=(11))
//           {
//               IO_BACKLED_OFF();
//               BikeLedGloFun.blBike_BackLedDetErr=TRUE ;
//               BacklightTime=0;
//           }
//
//       exint_flag_clear(EXINT_LINE_1);
//     }
//  /* add user code end EXINT1_0_IRQ 1 */
//}
void TIMA1_IRQHandler(void) //void TMR1_BRK_OVF_TRG_HALL_IRQHandler(void)
{
//    ECnt++;
  /* add user code begin TMR1_BRK_OVF_TRG_HALL_IRQ 0 */
//if(0)//if(tmr_flag_get(TMR1,TMR_BRK_FLAG))//if (TIM_GetFlagStatus(TIM1, TIM_FLAG_Break))
//    {
////        tmr_flag_clear(TMR1,TMR_BRK_FLAG);//TIM_ClearFlag(TIM1, TIM_FLAG_Break);
//
//    }

    switch (DL_TimerA_getPendingInterrupt(TIMA1))
    {


        case DL_TIMER_IIDX_ZERO:

            if(( Samp_Step==0) ||( Samp_Step>=4))
                 Samp_Step=1;
            else
                Samp_Step++;
           switch (Samp_Step)
           {
           case 1:
//                        adc_enable(ADC1,TRUE);
               // GPIOB->odt  ^= GPIO_PINS_11;
                    /* Set Rdson sample trigger */
                //TMR1->c4dt= 108;//108;//pwm_stGenOut.uwRDSONTrig;//  TIM_SetCompare4(TIM1, pwm_stGenOut.uwRDSONTrig); //pwm鏈�澶у嚡90%锛屽湪娉㈣胺3us浣嶇疆閲囬泦姣嶇嚎鐢甸樆鐢垫祦
                    /* ADC1 regular channel trigger */
//                         adc_ordinary_software_trigger_enable(ADC1,TRUE);//  ADC_SoftwareStartConvCmd(ADC1, ENABLE);
//                 ECnt++;
                 tbc_voUpIsr();
                // DL_GPIO_togglePins(LED_PORT, LED_LED1_PIN);
             break;
             case 3:
                 /* ADC Rdson calibration with single resistance*/
                 if (TimingDelay != 0)
                      {
                          TimingDelay--;
                      }
                 if(bikespeed_stFreGetOut.uwCaputureOverflowCnt<60000)
                 bikespeed_stFreGetOut.uwCaputureOverflowCnt++; //
                 if(cadence_stFreGetOut.uwCaputureOverflowCnt<60000)
                 cadence_stFreGetOut.uwCaputureOverflowCnt++;
                 tbs_voIsr();//20241017
                 ECnt++;
//                 if(BikeLedGloFun.blBike_ForwardLedSta==TRUE)
//                 {
//                     BikeLedGloFun.uwBikeLight_L_PWM +=100;
//                    if(BikeLedGloFun.uwBikeLight_L_PWM>720)
//                     {
//                        BikeLedGloFun.uwBikeLight_L_PWM=720;
//                     }
//
//                    BikeLedGloFun.uwBikeLight_F_PWM +=100;
//                    if(BikeLedGloFun.uwBikeLight_F_PWM>1800)
//                    {
//                       BikeLedGloFun.uwBikeLight_F_PWM=1800;
//                    }
//                    DL_TimerG_setCaptureCompareValue(PWM_2_INST, BikeLedGloFun.uwBikeLight_L_PWM, GPIO_PWM_2_C1_IDX);
//                    DL_TimerG_setCaptureCompareValue(PWM_3_INST, BikeLedGloFun.uwBikeLight_F_PWM, GPIO_PWM_3_C1_IDX);//max=1800
//                 }
             break;
              default:

                break;
           }

//         gpio_bits_reset(GPIOC,GPIO_PINS_15);//  GPIOC->odt  ^= GPIO_PINS_15;
//            /* ADC1 regular channel trigger */
//           adc_ordinary_software_trigger_enable(ADC1,TRUE);// ADC_SoftwareStartConvCmd(ADC1, ENABLE);
//           tbc_voUpIsr();
//           tmr_flag_clear(TMR1,TMR_OVF_FLAG);//  TIM_ClearFlag(TIM1, TIM_FLAG_Update);
//           if((cp_stBikeRunInfoPara.uwLightSwitch!=0) &&(BikeLedGloFun.blBike_ForwardLedStart==TRUE))
//                  {
//                      if(BikeLedGloFun.blBike_ForwardLedDetErr==TRUE)
//                      {
//                       BikeLedGloFun.blBike_ForwardLedDetErr=FALSE ;
//                       IO_FORWARDLED_ON(); //寮�鍓嶇伅
//                        BikeLedGloFun.blBike_ForwardLedSta=TRUE;
//                        BikeLedGloFun.uwlBike_ForwardLedDetErrTime++;
//                        if(BikeLedGloFun.uwlBike_ForwardLedDetErrTime>=64)
//                         {
//                             BikeLedGloFun.blBike_ForwardLedStart=FALSE;
//                         }
//                      }
//                  }


            break;

        case DL_TIMER_IIDX_LOAD:

//            GCnt++;

//            DL_GPIO_togglePins(LED_PORT, LED_LED2_PIN);
            Samp_Step++;
//            DL_Timer_clearInterruptStatus(MOTOR_PWM_INST,GPTIMER_CPU_INT_IMASK_L_SET);//
              switch (Samp_Step)
               {
               case 2:
                  // gpio_bits_set(GPIOB,GPIO_PINS_11);
        //                    adc_enable(ADC1,FALSE);//
                   tbc_voDownIsr(); //鐢垫祦 /鐢靛帇鑾峰彇 锛岃绠楁牎鍑嗙數娴侀噰鏍风偣  TMR1->c4dt=1000;// tmpSigRTrigZ1;
                   GCnt++;
                   // gpio_bits_reset(GPIOB,GPIO_PINS_11);
            #if(JSCOPE_EN!=0)
                  Jscope_WtiteData();
           #endif
                  break;
              case 4:
                 // GPIOC->odt  ^= GPIO_PINS_13;

                      hw_uwPWMCmpr[0] = pwm_stGenOut.uwNewTIM1COMPR[0];
                       hw_uwPWMCmpr[1] = pwm_stGenOut.uwNewTIM1COMPR[1];
                       hw_uwPWMCmpr[2] = pwm_stGenOut.uwNewTIM1COMPR[2];
                       hw_uwPWMCmpr[3] = pwm_stGenOut.uwNewTIM1COMPR[3];
                       hw_uwPWMCmpr[4] = pwm_stGenOut.uwNewTIM1COMPR[4];
                       hw_uwPWMCmpr[5] = pwm_stGenOut.uwNewTIM1COMPR[5];
                       /* Enable PWM DMA,  hw_uwPWMCmpr[0/1/2] at underflow update */
        //                        tmr_dma_request_enable(TMR1,TMR_OVERFLOW_DMA_REQUEST,TRUE);// TIM_DMACmd(TIM1, TIM_DMA_Update, ENABLE);
        //                       dma_channel_enable(DMA1_CHANNEL5,TRUE); //DMA_Cmd(DMA1_Channel5, ENABLE);

//                       pwm_stGenOut.uwNewTIM1COMPR[0]=900 ;
//                       pwm_stGenOut.uwNewTIM1COMPR[1]=1250;
//                       pwm_stGenOut.uwNewTIM1COMPR[2]=450 ;


                       TIMER_CC_A_INDEX(pwm_stGenOut.uwNewTIM1COMPR[0]);//     DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, pwm_stGenOut.uwNewTIM1COMPR[0], DL_TIMER_CC_0_INDEX);//A
                       TIMER_CC_B_INDEX(pwm_stGenOut.uwNewTIM1COMPR[1]);// DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, pwm_stGenOut.uwNewTIM1COMPR[1], DL_TIMER_CC_2_INDEX); //B
                       TIMER_CC_C_INDEX(pwm_stGenOut.uwNewTIM1COMPR[2]);// DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, pwm_stGenOut.uwNewTIM1COMPR[2], DL_TIMER_CC_1_INDEX);//C

        //                       adc_enable(ADC1,TRUE);//
                         DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST,2, DL_TIMER_CC_4_INDEX); //采样点设置
                 break;
                  default:

                    break;
               }

            break;


        default:
            break;

    }
   // DL_GPIO_clearPins(GPIOA, DL_GPIO_PIN_31);
}
/* add user code begin 1 */

/* add user code end 1 */