motor_ctl-4/User project/1.FrameLayer/Source/gd32f30x_it.c

/*!
    \file  gd32f3x0_it.c
    \brief interrupt service routines
*/

/*
    Copyright (C) 2022 GigaDevice

    2022-12-01, V1.0.0, firmware for GD32F3x0
*/

/******************************
 * Include File
 ******************************/
#include "gd32f30x_it.h"
#include "user.h"
#include "TimeTask_Event.h"
#include "can.h"
#include "FSM_1st.h"
#include "api_rt.h"
#include "sys_ctrl.h"
#include "enviolo_can.h"
#include "string.h"
/******************************
 *  Parameter
 ******************************/
extern uint8_t data;

/******************************
 *  Function
 ******************************/
/*!
    \brief      this function handles NMI exception
    \param[in]  none
    \param[out] none
    \retval     none
*/
void NMI_Handler(void)
{
}

/*!
    \brief      this function handles HardFault exception
    \param[in]  none
    \param[out] none
    \retval     none
*/
void HardFault_Handler(void)
{
    sysctrl_stPwmState.blPwmOnflg = TRUE;/* HardFault_Handler无法被屏蔽，hw_blPWMOnFlg可能被RAMtest修改 */
    sysctrl_voPwmOff();
    /* if Hard Fault exception occurs, go to infinite loop */
    while (1)
    {
    	//do nothing
    }
}

/*!
    \brief      this function handles MemManage exception
    \param[in]  none
    \param[out] none
    \retval     none
*/
void MemManage_Handler(void)
{
    /* if Memory Manage exception occurs, go to infinite loop */
    while (1)
    {
    	//do nothing
    }
}

/*!
    \brief      this function handles BusFault exception
    \param[in]  none
    \param[out] none
    \retval     none
*/
void BusFault_Handler(void)
{
    /* if Bus Fault exception occurs, go to infinite loop */
    while (1)
    {
    	//do nothing
    }
}

/*!
    \brief      this function handles UsageFault exception
    \param[in]  none
    \param[out] none
    \retval     none
*/
void UsageFault_Handler(void)
{
    /* if Usage Fault exception occurs, go to infinite loop */
    while (1)
    {
    	//do nothing
    }
}

/*!
    \brief      this function handles SVC exception
    \param[in]  none
    \param[out] none
    \retval     none
*/
void SVC_Handler(void)
{
}

/*!
    \brief      this function handles DebugMon exception
    \param[in]  none
    \param[out] none
    \retval     none
*/
void DebugMon_Handler(void)
{
}

/*!
    \brief      this function handles PendSV exception
    \param[in]  none
    \param[out] none
    \retval     none
*/
void PendSV_Handler(void)
{
}

/*!
    \brief      this function handles SysTick exception
    \param[in]  none
    \param[out] none
    \retval     none
*/
void SysTick_Handler(void)
{
    iRtTimer_Isr(HW_SYSTICK_TIMER);   
}
/*!
    \brief      
    \param[in]  none
    \param[out] none
    \retval     none
*/

void ADC0_1_IRQHandler(void)
{    

    /* MCU self check count */
    clasB_uwADCCnt++;
    
    iRtAdc_CompleteIsr(0);
   
}

/*!
    \brief      
    \param[in]  none
    \param[out] none
    \retval     none
*/
void TIMER0_UP_TIMER9_IRQHandler(void)
{   
      /* MCU self check count */
    clasB_uwTIM0Cnt ++;   
    iRtPwm_UpdateIsr(0);

}

/*!
    \brief      
    \param[in]  none
    \param[out] none
    \retval     none
*/
void TIMER1_IRQHandler(void)
{
    /* MCU self check count */
    clasB_uwTIM1Cnt++;
    
    iRtCap_Isr(0);
//    UWORD uwIntSource = 0;
//    if (timer_interrupt_flag_get(TIMER1, TIMER_INT_FLAG_UP) != 0)
//    {
//        if(switch_flg.SysCoef_Flag == TRUE)
//        {
//            uwIntSource = 1;
//            cadence_voCadenceCal(uwIntSource);
//            bikespeed_voBikeSpeedCal(uwIntSource);
//        }
//        timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_UP);
//    }
//    else if (timer_interrupt_flag_get(TIMER1, TIMER_INT_FLAG_CH2) != 0)
//    {
//        if(switch_flg.SysCoef_Flag == TRUE)
//        {
//            uwIntSource = 2;        
//            cadence_voCadenceCal(uwIntSource);
//            /* Select rising or falling edge trigger */ 
//            if(gpio_input_bit_get(GPIOB, GPIO_PIN_10) != 0)
//            {
//               /* reset the CH2P and CH2NP bits */
//               TIMER_CHCTL2(TIMER1) &= ~(uint32_t)(TIMER_CHCTL2_CH2P|TIMER_CHCTL2_CH2NP);
//               TIMER_CHCTL2(TIMER1) |= (uint32_t)((uint32_t)(TIMER_IC_POLARITY_FALLING) << 8U);
//            }
//            else
//            {
//               /* reset the CH2P and CH2NP bits */
//               TIMER_CHCTL2(TIMER1) &= ~(uint32_t)(TIMER_CHCTL2_CH2P|TIMER_CHCTL2_CH2NP);
//               TIMER_CHCTL2(TIMER1) |= (uint32_t)((uint32_t)(TIMER_IC_POLARITY_RISING) << 8U);       
//            }
//        }      
//        timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_CH2);
//    }
//    else if (timer_interrupt_flag_get(TIMER1, TIMER_INT_FLAG_CH3) != 0)
//    {
//        if(switch_flg.SysCoef_Flag == TRUE)
//        {
//            uwIntSource = 3;
//            bikespeed_voBikeSpeedCal(uwIntSource);
//        }
//        timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_CH3);
//    }
//    else
//    {
//    	//do nothing
//    }
}
/*!
    \brief      
    \param[in]  none
    \param[out] none
    \retval     none
*/
void TIMER3_IRQHandler(void)
{       
    /* MCU self check count */
    clasB_uwTIM3Cnt++;
    
    iRtTimer_Isr(HW_TBS_TIMER);   
}
/*!
    \brief      
    \param[in]  none
    \param[out] none
    \retval     none
*/
void TIMER5_IRQHandler(void)
{
    /* MCU self check count */
    clasB_uwTIM5Cnt++;
    
    iRtTimer_Isr(HW_EVENT1MS_TIMER);  
    
}

/*!
    \brief      
    \param[in]  none
    \param[out] none
    \retval     none
*/
void DMA1_Channel2_IRQHandler(void)
{

    
    iRtUart_RxIsr(0);
//    /* Read PC Conmand */
//    if (dma_flag_get(DMA1, DMA_CH2, DMA_INT_FLAG_FTF) != 0)
//    {
//        UART_voCBDoneRead(UART_ERR_OK, 22);
//        DMA_CH2CTL(DMA1) &= ~DMA_CHXCTL_CHEN;
//        //dma_flag_clear(DMA1, DMA_CH2, DMA_INT_FLAG_FTF);
//        DMA_INTC(DMA1) |= DMA_FLAG_ADD(DMA_INT_FLAG_FTF, DMA_CH2);
//        uwTempCount = 22 - DMA_CH2CNT(DMA1);  
//        DMA_CH2CNT(DMA1) = uwTempCount;
//        DMA_CH2CTL(DMA1) |= DMA_CHXCTL_CHEN;
//    }
//    /* RX error */
//    if (dma_flag_get(DMA1, DMA_CH2, DMA_FLAG_ERR) != 0)
//    {
//        DMA_CH2CTL(DMA1) &= ~DMA_CHXCTL_CHEN;
//        //dma_flag_clear(DMA1, DMA_CH2, DMA_FLAG_ERR);
//        DMA_INTC(DMA1) |= DMA_FLAG_ADD(DMA_FLAG_ERR, DMA_CH2); 
//        DMA_CH2CNT(DMA1) = 22;
//        DMA_CH2CTL(DMA1) |= DMA_CHXCTL_CHEN;
//    }
}


/*!
    \brief      
    \param[in]  none
    \param[out] none
    \retval     none
*/
void DMA1_Channel4_IRQHandler(void)
{
    /* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */

    if (dma_flag_get(DMA1, DMA_CH4, DMA_INT_FLAG_FTF) != 0)
    {
        iRtUart_AsyncWriteCompleteIsr(0);
        DMA_INTC(DMA1) |= DMA_FLAG_ADD(DMA_INT_FLAG_FTF, DMA_CH4);
    }
    // TX error
    if (dma_flag_get(DMA1, DMA_CH4, DMA_FLAG_ERR) != 0)
    {
        iRtUart_AsyncWriteErrorIsr(0);
        DMA_INTC(DMA1) |= DMA_FLAG_ADD(DMA_FLAG_ERR, DMA_CH4); 
    }
  
//    if (dma_flag_get(DMA1, DMA_CH4, DMA_INT_FLAG_FTF) != 0)
//    {
//        if (UART_stParaStatus.bParaStart)
//        {
//            UART_bInsertPendTx = FALSE;           // clear insertBuffer pending
//            UART_stParaStatus.bParaStart = FALSE; // clear parameter status
//        }
//        else
//        {
//            // do nothing
//        }
//        DMA_CH4CTL(DMA1) &= ~DMA_CHXCTL_CHEN;
//        //dma_flag_clear(DMA1, DMA_CH4, DMA_INT_FLAG_FTF);
//        DMA_INTC(DMA1) |= DMA_FLAG_ADD(DMA_INT_FLAG_FTF, DMA_CH4);
//        UART_stParaStatus.bWriteBusy = FALSE;
//    }
//    /*  TX error */
//    if (dma_flag_get(DMA1, DMA_CH4, DMA_FLAG_ERR) != 0)
//    {
//        if (UART_stParaStatus.bParaStart)
//        {
//            UART_bInsertPendTx = FALSE;           // clear insertBuffer pending
//            UART_stParaStatus.bParaStart = FALSE; // clear parameter status
//        }
//        DMA_CH4CTL(DMA1) &= ~DMA_CHXCTL_CHEN;
//        //dma_flag_clear(DMA1, DMA_CH4, DMA_FLAG_ERR);
//        DMA_INTC(DMA1) |= DMA_FLAG_ADD(DMA_FLAG_ERR, DMA_CH4); 
//        UART_stParaStatus.bWriteBusy = FALSE;
//    }
}
/*!
    \brief      
    \param[in]  none
    \param[out] none
    \retval     none
*/
void  CAN0_RX0_IRQHandler(void)
{
    can_message_receive(CAN0, CAN_FIFO0, pRxMsg);
    if((pRxMsg->rx_ff != CAN_FF_STANDARD) || (pRxMsg->rx_dlen == 0))
    {
        can_interrupt_enable(CAN0, CAN_INT_RFF0);
        return;
    }
    
    switch (pRxMsg->rx_sfid)
    {
    case ID_PBU_BC:
    case ID_PBU_TO_MC: //接收PBU数据
    {
        CAN_RxBuf_Struct_PBU.ucBufID = (UWORD)pRxMsg->rx_sfid;
        CAN_Rx_ISR(&CAN_RxBuf_Struct_PBU, pRxMsg->rx_dlen);
        break;
    }
    case ID_BMS_BC:
    case ID_BMS_TO_MC: //接收BMS数据
    {
        CAN_RxBuf_Struct_BMS.ucBufID = (UWORD)pRxMsg->rx_sfid;
        CAN_Rx_ISR(&CAN_RxBuf_Struct_BMS, pRxMsg->rx_dlen);
        break;
    }
    case ID_HMI_BC:
    case ID_HMI_TO_MC: //接收HMI数据
    {
        CAN_RxBuf_Struct_HMI.ucBufID = (UWORD)pRxMsg->rx_sfid;
        CAN_Rx_ISR(&CAN_RxBuf_Struct_HMI, pRxMsg->rx_dlen);
        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.ucBufID = (UWORD)pRxMsg->rx_sfid;
        CAN_Rx_ISR(&CAN_RxBuf_Struct_CDL, pRxMsg->rx_dlen);
        break;
    }
    default:
        break;
    }       
    can_interrupt_enable(CAN0, CAN_INT_RFF0);
}
/*!
    \brief      
    \param[in]  none
    \param[out] none
    \retval     none
*/
void CAN0_RX1_IRQHandler(void)
{   
    can_message_receive(CAN0, CAN_FIFO1, pRxMsg2);
    if((pRxMsg2->rx_ff != CAN_FF_STANDARD) || (pRxMsg2->rx_dlen == 0))
    {
        can_interrupt_enable(CAN0, CAN_INT_RFF1);
        return;
    }
    
    switch (pRxMsg2->rx_sfid)
    {
        case ID_ENVIOLO_TO_MC_1: 
        case ID_ENVIOLO_TO_MC_2:
        {
            if(pRxMsg2->rx_dlen == 8)//由于没有帧头帧尾和CRC,故保证数据的准确性必须为8字节才解析
            {
                GearBox_CanData.RefreshFlag = TRUE;
                GearBox_CanData.ID = pRxMsg2->rx_sfid;
                memcpy((uint8_t*)GearBox_CanData.Data, (uint8_t*)pRxMsg2->rx_data, 8);
            }
            break;
        } 
        default:
            break;
    }
    can_interrupt_enable(CAN0, CAN_INT_RFF1);
}