/**
  ******************************************************************************
  * @file    Project/STM32F10x_StdPeriph_Template/stm32f10x_it.c
  * @author  MCD Application Team
  * @version V3.5.0
  * @date    08-April-2011
  * @brief   Main Interrupt Service Routines.
  *          This file provides template for all exceptions handler and
  *          peripherals interrupt service routine.
  ******************************************************************************
  * @attention
  *
  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
  *
  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_it.h"
#include "utils/timebase.h"
#include "main.h"
#include "dspin.h"
#include "dspin_config.h"

/** @addtogroup STM32F10x_StdPeriph_Template
  * @{
  */

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/

/******************************************************************************/
/*            Cortex-M3 Processor Exceptions Handlers                         */
/******************************************************************************/

/**
  * @brief  This function handles NMI exception.
  * @param  None
  * @retval None
  */
void NMI_Handler(void)
{
}

/**
  * @brief  This function handles Hard Fault exception.
  * @param  None
  * @retval None
  */
void __attribute__((noreturn))
HardFault_Handler(void)
{
	/* Go to infinite loop when Hard Fault exception occurs */
	while (1) {
	}
}

/**
  * @brief  This function handles Memory Manage exception.
  * @param  None
  * @retval None
  */
void __attribute__((noreturn))
MemManage_Handler(void)
{
	/* Go to infinite loop when Memory Manage exception occurs */
	while (1) {
	}
}

/**
  * @brief  This function handles Bus Fault exception.
  * @param  None
  * @retval None
  */
void __attribute__((noreturn))
BusFault_Handler(void)
{
	/* Go to infinite loop when Bus Fault exception occurs */
	while (1) {
	}
}

/**
  * @brief  This function handles Usage Fault exception.
  * @param  None
  * @retval None
  */
void __attribute__((noreturn))
UsageFault_Handler(void)
{
	/* Go to infinite loop when Usage Fault exception occurs */
	while (1) {
	}
}

/**
  * @brief  This function handles SVCall exception.
  * @param  None
  * @retval None
  */
void SVC_Handler(void)
{
}

/**
  * @brief  This function handles Debug Monitor exception.
  * @param  None
  * @retval None
  */
void DebugMon_Handler(void)
{
}

/**
  * @brief  This function handles PendSVC exception.
  * @param  None
  * @retval None
  */
void PendSV_Handler(void)
{
}

/**
  * @brief  This function handles SysTick Handler.
  * @param  None
  * @retval None
  */
void SysTick_Handler(void)
{
	timebase_ms_cb();
}

/******************************************************************************/
/*                 STM32F10x Peripherals Interrupt Handlers                   */
/*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
/*  available peripheral interrupt handler's name please refer to the startup */
/*  file (startup_stm32f10x_xx.s).                                            */
/******************************************************************************/

/******************************************************************************/
/*            STM32F10x Peripherals Interrupt Handlers                        */
/******************************************************************************/

/**
  * @brief  This function handles RCC interrupt request.
  * @param  None
  * @retval None
  */
void RCC_IRQHandler(void)
{
	if (RCC_GetITStatus(RCC_IT_HSERDY) != RESET) {
		/* Clear HSERDY interrupt pending bit */
		RCC_ClearITPendingBit(RCC_IT_HSERDY);

		/* Check if the HSE clock is still available */
		if (RCC_GetFlagStatus(RCC_FLAG_HSERDY) != RESET) {
#ifdef SYSCLK_HSE
			/* Select HSE as system clock source */
			RCC_SYSCLKConfig(RCC_SYSCLKSource_HSE);
#else

			/* Enable PLL: once the PLL is ready the PLLRDY interrupt is generated */
			RCC_PLLCmd(ENABLE);

#endif /* SYSCLK_HSE */
		}
	}

	if (RCC_GetITStatus(RCC_IT_PLLRDY) != RESET) {
		/* Clear PLLRDY interrupt pending bit */
		RCC_ClearITPendingBit(RCC_IT_PLLRDY);

		/* Check if the PLL is still locked */
		if (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) != RESET) {
			/* Select PLL as system clock source */
			RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
		}
	}
}

#if defined(STEVAL_PCC009V2)
/**
  * @brief  This function handles External interrupt Line 2 request.
  * @param  None
  * @retval None
  */
void EXTI2_IRQHandler(void)
{
	if (EXTI_GetITStatus(EXTI_Line2) != RESET) {
		/* Clear the EXTI line 2 pending bit */
		EXTI_ClearITPendingBit(EXTI_Line2);
		if (daisy_chain != 0) {
			if (number_of_slaves > 1) {
				cmdArray[DEVICE_1] = dSPIN_SOFT_HIZ;
				cmdArray[DEVICE_2] = dSPIN_SOFT_HIZ;
				dSPIN_All_Slaves_Send_Command(number_of_slaves, cmdArray, 0);
			} else {
				/* Wait just in case the motor is accelerating or decelerating */
				while (dSPIN_Busy_HW());
				dSPIN_All_Slaves_Get_Status(number_of_slaves, rspArray);
				dSPIN_rxdata = rspArray[DEVICE_1] & dSPIN_STATUS_MOT_STATUS;
				if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_CONST_SPD) {
					cmdArray[DEVICE_1] = dSPIN_SOFT_STOP;
					dSPIN_All_Slaves_Send_Command(number_of_slaves, cmdArray, 0);
				} else if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_STOPPED) {
					dSPIN_One_Slave_Run(DEVICE_1, number_of_slaves, FWD, Speed_Steps_to_Par(MAX_SPEED[DEVICE_1]) >> 2);
				} else {
					assert_param(0);
				}
			}
		} else {
			/* Wait just in case the motor is accelerating or decelerating */
			while (dSPIN_Busy_HW());
			dSPIN_rxdata = dSPIN_Get_Status() & dSPIN_STATUS_MOT_STATUS;
			if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_CONST_SPD) {
				dSPIN_Soft_HiZ();
			} else if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_STOPPED) {
				dSPIN_Run(FWD, Speed_Steps_to_Par(((uint16_t)(dSPIN_CONF_PARAM_MAX_SPEED)) >> 2));
			} else {
				assert_param(0);
			}
		}
	}
}

/**
  * @brief  This function handles External interrupt Line 3 request.
  * @param  None
  * @retval None
  */
void EXTI3_IRQHandler(void)
{
	if (EXTI_GetITStatus(EXTI_Line3) != RESET) {
		/* Clear the EXTI line 3 pending bit */
		EXTI_ClearITPendingBit(EXTI_Line3);
		/* Wait until the motor is not busy */
		while (dSPIN_Busy_HW());
		if (daisy_chain != 0) {
			if (number_of_slaves > 1) {
				dSPIN_One_Slave_Run(DEVICE_2, number_of_slaves, FWD, Speed_Steps_to_Par(MAX_SPEED[DEVICE_2]));
			} else {
				/* Read current speed parameter from dSPIN */
				cmdArray[DEVICE_1] = dSPIN_SPEED;
				dSPIN_All_Slaves_Get_Param(number_of_slaves, cmdArray, rspArray);
				/* Halve the motor speed */
				dSPIN_One_Slave_Run(DEVICE_1, number_of_slaves, FWD, rspArray[DEVICE_1] >> 1);
			}
		} else {
			/* Read current speed parameter from dSPIN */
			dSPIN_rxdata = dSPIN_Get_Param(dSPIN_SPEED);
			/* Halve the motor speed */
			dSPIN_Run(FWD, dSPIN_rxdata >> 1);
		}
	}
}

/**
  * @brief  This function handles External lines 9 to 5 interrupt request.
  * @param  None
  * @retval None
  */
void EXTI9_5_IRQHandler(void)
{
	if (EXTI_GetITStatus(EXTI_Line6) != RESET) {
		/* Clear the EXTI line 6 pending bit */
		EXTI_ClearITPendingBit(EXTI_Line6);
		/* Wait until the motor is not busy */
		while (dSPIN_Busy_HW());
		if (daisy_chain != 0) {
			if (number_of_slaves > 1) {
				dSPIN_One_Slave_Run(DEVICE_1, number_of_slaves, FWD, Speed_Steps_to_Par(MAX_SPEED[DEVICE_1]));
			} else {
				/* Read current speed parameter from dSPIN */
				cmdArray[DEVICE_1] = dSPIN_SPEED;
				dSPIN_All_Slaves_Get_Param(number_of_slaves, cmdArray, rspArray);
				/* Double the motor speed */
				dSPIN_One_Slave_Run(DEVICE_1, number_of_slaves, FWD, rspArray[DEVICE_1] << 1);
			}
		} else {
			/* Read current speed parameter from dSPIN */
			dSPIN_rxdata = dSPIN_Get_Param(dSPIN_SPEED);
			/* Double the motor speed */
			dSPIN_Run(FWD, dSPIN_rxdata << 1);
		}
	}
}

/**
  * @brief  This function handles External lines 15 to 10 interrupt request.
  * @param  None
  * @retval None
  */
void EXTI15_10_IRQHandler(void)
{
	if (EXTI_GetITStatus(EXTI_Line10) != RESET) {
		/* Clear the EXTI line 10 pending bit */
		EXTI_ClearITPendingBit(EXTI_Line10);
		if (GPIO_ReadInputDataBit(dSPIN_BUSY_Port, dSPIN_BUSY_Pin) == Bit_RESET) {
			GPIO_SetBits(POWER_LED_Port, POWER_LED_Pin);
		} else {
			GPIO_ResetBits(POWER_LED_Port, POWER_LED_Pin);
		}
	}
	if (EXTI_GetITStatus(EXTI_Line11) != RESET) {
		/* Clear the EXTI line 11 pending bit */
		EXTI_ClearITPendingBit(EXTI_Line11);
		if (GPIO_ReadInputDataBit(dSPIN_FLAG_Port, dSPIN_FLAG_Pin) == Bit_RESET) {
			GPIO_SetBits(STATUS_LED_Port, STATUS_LED_Pin);
		} else {
			GPIO_ResetBits(STATUS_LED_Port, STATUS_LED_Pin);
		}
	}
}
#endif /* defined(STEVAL_PCC009V2) */

#if defined(ST_DSPIN_6470H_DISCOVERY)
/**
  * @brief  This function handles External interrupt Line 0 request.
  * @param  None
  * @retval None
  */
void EXTI0_IRQHandler(void)
{
	if (EXTI_GetITStatus(EXTI_Line0) != RESET) {
		/* Clear the EXTI line 0 pending bit */
		EXTI_ClearITPendingBit(EXTI_Line0);
		GPIO_ResetBits(dSPIN_SW_Port, dSPIN_SW_Pin);
		dSPIN_Delay(0x00010000);
		GPIO_SetBits(dSPIN_SW_Port, dSPIN_SW_Pin);
	}
}

/**
  * @brief  This function handles External interrupt Line 1 request.
  * @param  None
  * @retval None
  */
void EXTI1_IRQHandler(void)
{
	uint32_t dSPIN_rxdata;

	if (EXTI_GetITStatus(EXTI_Line1) != RESET) {
		/* Clear the EXTI line 1 pending bit */
		EXTI_ClearITPendingBit(EXTI_Line1);
		/* Wait just in case the motor is accelerating or decelerating */
		while (dSPIN_Busy_HW());
		dSPIN_rxdata = dSPIN_Get_Status() & dSPIN_STATUS_MOT_STATUS;
		/* Accelerate if the motor is already running at constant speed */
		if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_CONST_SPD) {
			/* Read current speed parameter from dSPIN */
			dSPIN_rxdata = dSPIN_Get_Param(dSPIN_SPEED);
			/* Double the motor speed */
			dSPIN_Run(FWD, dSPIN_rxdata << 1);
		}
		/* Start the motor */
		else if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_STOPPED) {
			dSPIN_Run(FWD, Speed_Steps_to_Par(((uint16_t)(dSPIN_CONF_PARAM_MAX_SPEED)) >> 2));
			/* Warns the user that the motor is running by switching ON a LED */
			GPIO_SetBits(LED_SPARE_Port, LED_SPARE_Pin);
		}
		/* Unexpected motor status */
		else {
			assert_param(0);
		}
	}
}

/**
  * @brief  This function handles External interrupt Line 2 request.
  * @param  None
  * @retval None
  */
void EXTI2_IRQHandler(void)
{
	uint32_t dSPIN_rxdata;

	if (EXTI_GetITStatus(EXTI_Line2) != RESET) {
		/* Clear the EXTI line 2 pending bit */
		EXTI_ClearITPendingBit(EXTI_Line2);
		/* Wait just in case the motor is accelerating or decelerating */
		while (dSPIN_Busy_HW());
		dSPIN_rxdata = dSPIN_Get_Status() & dSPIN_STATUS_MOT_STATUS;
		/* Decelerate if the motor is already running at constant speed */
		if (dSPIN_rxdata == dSPIN_STATUS_MOT_STATUS_CONST_SPD) {
			/* Read current speed parameter from dSPIN */
			dSPIN_rxdata = dSPIN_Get_Param(dSPIN_SPEED);
			if ((dSPIN_rxdata >> 1) > Speed_Steps_to_Par(dSPIN_CONF_PARAM_MIN_SPEED)) {
				/* Halve the motor speed */
				dSPIN_Run(FWD, dSPIN_rxdata >> 1);
			} else {
				/* Disable the power bridges after a smooth stop */
				dSPIN_Soft_HiZ();
				/* Warns the user that the motor is stopped by switching off a LED */
				GPIO_ResetBits(LED_SPARE_Port, LED_SPARE_Pin);
			}
		}
		/* Unexpected motor status */
		else if (dSPIN_rxdata != dSPIN_STATUS_MOT_STATUS_STOPPED) {
			assert_param(0);
		}
	}
}

/**
  * @brief  This function handles External lines 15 to 10 interrupt request.
  * @param  None
  * @retval None
  */
void EXTI15_10_IRQHandler(void)
{
	if (EXTI_GetITStatus(EXTI_Line10) != RESET) {
		/* Clear the EXTI line 10 pending bit */
		EXTI_ClearITPendingBit(EXTI_Line10);
		if (GPIO_ReadInputDataBit(dSPIN_FLAG_Port, dSPIN_FLAG_Pin) == Bit_RESET) {
			GPIO_SetBits(STATUS_LED_Port, STATUS_LED_Pin);
		} else {
			GPIO_ResetBits(STATUS_LED_Port, STATUS_LED_Pin);
		}
	}
	if (EXTI_GetITStatus(EXTI_Line11) != RESET) {
		/* Clear the EXTI line 11 pending bit */
		EXTI_ClearITPendingBit(EXTI_Line11);
		if (GPIO_ReadInputDataBit(dSPIN_BUSY_Port, dSPIN_BUSY_Pin) == Bit_RESET) {
			GPIO_SetBits(LED_BUSY_Port, LED_BUSY_Pin);
		} else {
			GPIO_ResetBits(LED_BUSY_Port, LED_BUSY_Pin);
		}
	}
}
#endif /* defined(ST_DSPIN_6470H_DISCOVERY) */


/**
  * @}
  */


/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/