/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    stm32l4xx_it.c
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 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 "tim.h"
#include "servo.h"
#include "usart.h"
#include <stdio.h>
#include "gpio.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 TIM_HandleTypeDef htim7;
extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN EV */
extern uint8_t Servo_Speed;
extern uint8_t LED_B_ON,LED1_ON,LED2_ON,LED3_ON;

/* 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 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 */

  /* USER CODE END SysTick_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 EXTI line[9:5] interrupts.
  */
void EXTI9_5_IRQHandler(void)
{
  /* USER CODE BEGIN EXTI9_5_IRQn 0 */

  /* USER CODE END EXTI9_5_IRQn 0 */
  HAL_GPIO_EXTI_IRQHandler(PB8_EXTI_Pin);
  HAL_GPIO_EXTI_IRQHandler(PB9_EXTI_Pin);
  /* USER CODE BEGIN EXTI9_5_IRQn 1 */

  /* USER CODE END EXTI9_5_IRQn 1 */
}

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

  /* 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 TIM7 global interrupt.
  */
void TIM7_IRQHandler(void)
{
  /* USER CODE BEGIN TIM7_IRQn 0 */
	//printf("tim7!");
	static int times=0;
	if(++times==500)
	{
		times=0;
	}
	else
	{
		return ;
	}
    if(Servo_position==Servo_goal)
    {
        return ;
    }
    if(Servo_Speed==1)
    {
        Servo_position=Servo_goal;
    }
    if(Servo_Speed==2)
    {
        Servo_position+=Servo_toward()*9;
    }
    if(Servo_Speed==3)
    {
        Servo_position+=Servo_toward();
    }
    Servo_SetAngle(Servo_position);
  /* USER CODE END TIM7_IRQn 0 */
  HAL_TIM_IRQHandler(&htim7);
  /* USER CODE BEGIN TIM7_IRQn 1 */

  /* USER CODE END TIM7_IRQn 1 */
}

/* USER CODE BEGIN 1 */
uint8_t NewCCRValue(int now_ccr,int plus)
{
    if(now_ccr==100&&plus>0)
    {
        return now_ccr;
    }
    if(now_ccr==0&&plus<0)
    {
        return now_ccr;
    }
    return now_ccr+plus;
}
void SET3CCR(int plus)
{
    if(LED3_ON)
    {
    uint8_t now_ccr=__HAL_TIM_GET_COMPARE(&htim1,TIM_CHANNEL_1);
        __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,NewCCRValue(now_ccr,plus));
    }
    // if(LED2_ON)
    // {
    // uint8_t now_ccr=__HAL_TIM_GET_COMPARE(&htim1,TIM_CHANNEL_1);
    //     __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,NewCCRValue(now_ccr,plus));
    // }
    // if(LED1_ON)
    // {
    // uint8_t now_ccr=__HAL_TIM_GET_COMPARE(&htim1,TIM_CHANNEL_1);
    //     __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,NewCCRValue(now_ccr,plus));
    // }
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
  if(GPIO_Pin==PB9_EXTI_Pin)
  {
    if(HAL_GPIO_ReadPin(PB8_EXTI_GPIO_Port,PB8_EXTI_Pin)==RESET)
    {
        SET3CCR(+1);
    }
  }
  if(GPIO_Pin==PB8_EXTI_Pin)
  {
    if(HAL_GPIO_ReadPin(PB9_EXTI_GPIO_Port,PB9_EXTI_Pin)==RESET)
    {
        SET3CCR(-1);
    }
  }

}
/* USER CODE END 1 */