/*********************************************************************************************************************
* TC364 Opensourec Library TC364 Դ⣩һڹٷ SDK ӿڵĵԴ
* Copyright (c) 2022 SEEKFREE ɿƼ
*
* ļ TC364 Դһ
*
* TC364 Դ 
* Ըᷢ GPLGNU General Public License GNUͨù֤
*  GPL ĵ3棨 GPL3.0ѡģκκİ汾·/޸
*
* Դķϣܷãδκεı֤
* ûԻʺض;ı֤
* ϸμ GPL
*
* ӦյԴͬʱյһ GPL ĸ
* ûУ<https://www.gnu.org/licenses/>
*
* ע
* Դʹ GPL3.0 Դ֤Э Ϊİ汾
* Ӣİ libraries/doc ļµ GPL3_permission_statement.txt ļ
* ֤ libraries ļ ļµ LICENSE ļ
* ӭλʹò ޸ʱ뱣ɿƼİȨ
*
* ļ          isr
* ˾          ɶɿƼ޹˾
* 汾Ϣ          鿴 libraries/doc ļ version ļ 汾˵
*           ADS v1.9.20
* ƽ̨          TC364DP
*           https://seekfree.taobao.com/
*
* ޸ļ¼
*                               ע
* 2022-11-02       pudding            first version
********************************************************************************************************************/

#include "isr_config.h"
#include "isr.h"

// TCϵĬǲ֧жǶ׵ģϣ֧жǶҪжʹ interrupt_global_enable(0); жǶ
// 򵥵˵ʵϽжϺTCϵеӲԶ interrupt_global_disable(); ܾӦκεжϣҪԼֶ interrupt_global_enable(0); жϵӦ

// **************************** PITжϺ ****************************
IFX_INTERRUPT(cc60_pit_ch0_isr, CCU6_0_CH0_INT_VECTAB_NUM, CCU6_0_CH0_ISR_PRIORITY)
{
    interrupt_global_enable(0);                     // жǶ
    pit_clear_flag(CCU60_CH0);

    if(para_update_flag)
    {
        para_update_flag=0;
        EEPROM_Update_All_Para();
    }
//    if(start_flag)
//    {
//        Speed_Loop();
//        seekfree_assistant_oscilloscope_data.data[0]=speed_L;
//        seekfree_assistant_oscilloscope_data.data[1]=speed_R;
////        printf("%f,%f,%f,%f\r\n",speed_L,speed_R,motor_l.out,motor_r.out);
//    }

//        tft180_show_float(0,110,speed_L,3,3);
//        encoder_data_L=-encoder_get_count(ENCODER_L);
//        encoder_clear_count(ENCODER_L);
//        speed_L=LowPass(encoder_data_L,speed_L,LP_filter_coef);
//        printf("%f\r\n",speed_L);
//        send_buffer_1[send_buffer_index++]=speed_L;
//        if(send_buffer_index==100)
//        {
//            for(send_buffer_index=0;send_buffer_index<100;send_buffer_index++)
//            {
//                seekfree_assistant_oscilloscope_data.data[0]=send_buffer_1[send_buffer_index];
//    //            seekfree_assistant_oscilloscope_data.data[1]=send_buffer_2[send_buffer_index];
//                seekfree_assistant_oscilloscope_data.channel_num = 1;
//                seekfree_assistant_oscilloscope_send(&seekfree_assistant_oscilloscope_data);
//            }
//            send_buffer_index=0;
//        }

//    seekfree_assistant_oscilloscope_data.data[0] = speed_L;
//    seekfree_assistant_oscilloscope_data.data[1] = speed_R;
//    seekfree_assistant_oscilloscope_data.channel_num = 1;


//    Get_Gyro_Z();
//    seekfree_assistant_oscilloscope_data.data[0] = gyro_z;
//    seekfree_assistant_oscilloscope_data.channel_num = 1;


//    seekfree_assistant_oscilloscope_send(&seekfree_assistant_oscilloscope_data);



}


IFX_INTERRUPT(cc60_pit_ch1_isr, CCU6_0_CH1_INT_VECTAB_NUM, CCU6_0_CH1_ISR_PRIORITY)
{
    interrupt_global_enable(0);                     // жǶ
    pit_clear_flag(CCU60_CH1);



}

IFX_INTERRUPT(cc61_pit_ch0_isr, CCU6_1_CH0_INT_VECTAB_NUM, CCU6_1_CH0_ISR_PRIORITY)
{
    interrupt_global_enable(0);                     // жǶ
    pit_clear_flag(CCU61_CH0);

    encoder_data_L=-encoder_get_count(ENCODER_L);
    encoder_clear_count(ENCODER_L);
    encoder_data_R=encoder_get_count(ENCODER_R);
    encoder_clear_count(ENCODER_R);
    speed_L=LowPass(encoder_data_L,speed_L,LP_filter_coef);
    speed_R=LowPass(encoder_data_R,speed_R,LP_filter_coef);
    printf("%f,%f\r\n",speed_L,speed_R);
//    send_buffer_1[send_buffer_index]=speed_L;
//    send_buffer_2[send_buffer_index++]=speed_R;
//    if(send_buffer_index==100)
//    {
//        for(send_buffer_index=0;send_buffer_index<100;send_buffer_index++)
//        {
//            seekfree_assistant_oscilloscope_data.data[0]=send_buffer_1[send_buffer_index];
//            seekfree_assistant_oscilloscope_data.data[1]=send_buffer_2[send_buffer_index];
//            seekfree_assistant_oscilloscope_data.channel_num = 2;
//            seekfree_assistant_oscilloscope_send(&seekfree_assistant_oscilloscope_data);
//        }
//        send_buffer_index=0;
//    }
//    tft180_show_uint(0,110,send_buffer_index,3);

}

IFX_INTERRUPT(cc61_pit_ch1_isr, CCU6_1_CH1_INT_VECTAB_NUM, CCU6_1_CH1_ISR_PRIORITY)
{
    interrupt_global_enable(0);                     // жǶ
    pit_clear_flag(CCU61_CH1);


    Key_Scan();
    switch(key_press)
    {
        case key1:
            DEVICE_TOGGLE(LIGHT_PIN);
            key_press=nokey;
            break;
        case key2:
            para_update_flag=1;
            para_update_display_flag=1;
            target_speed_L=(target_speed_L+10>170?50:target_speed_L+10);
            target_speed_R=(target_speed_R+10>170?50:target_speed_R+10);
            key_press=nokey;
            break;
        case key3:
            start_delay_count_flag=1;
//            EEPROM_Write_Data(motor_l_i,motor_l.i-0.01);
//            para_update_flag=1;
//            para_update_display_flag=1;
            key_press=nokey;
            break;
        case key4:
//            Motor_Control(left_motor,2000);
//            Motor_Control(right_motor,2000);
//            EEPROM_Write_Data(motor_l_i,motor_l.i+0.01);
//            para_update_flag=1;
//            para_update_display_flag=1;

            key_press=nokey;
            break;
        default:
            key_press=nokey;
    }
    if(start_delay_count_flag)
    {
        if(start_delay_count++==START_DELAY_TIME)
        {
            start_flag=1;
            start_delay_count_flag=0;
            start_delay_count=0;
        }
    }



}
// **************************** PITжϺ ****************************


// **************************** ⲿжϺ ****************************
IFX_INTERRUPT(exti_ch0_ch4_isr, EXTI_CH0_CH4_INT_VECTAB_NUM, EXTI_CH0_CH4_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    if(exti_flag_get(ERU_CH0_REQ0_P15_4))           // ͨ0ж
    {
        exti_flag_clear(ERU_CH0_REQ0_P15_4);


    }

    if(exti_flag_get(ERU_CH4_REQ13_P15_5))          // ͨ4ж
    {
        exti_flag_clear(ERU_CH4_REQ13_P15_5);




    }
}

IFX_INTERRUPT(exti_ch1_ch5_isr, EXTI_CH1_CH5_INT_VECTAB_NUM, EXTI_CH1_CH5_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ

    if(exti_flag_get(ERU_CH1_REQ10_P14_3))          // ͨ1ж
    {
        exti_flag_clear(ERU_CH1_REQ10_P14_3);

        tof_module_exti_handler();                  // ToF ģ INT ж

    }

    if(exti_flag_get(ERU_CH5_REQ1_P15_8))           // ͨ5ж
    {
        exti_flag_clear(ERU_CH5_REQ1_P15_8);



    }
}

// ͷpclkĬռ 2ͨڴDMAﲻٶжϺ
// IFX_INTERRUPT(exti_ch2_ch6_isr, EXTI_CH2_CH6_INT_VECTAB_NUM, EXTI_CH2_CH6_INT_PRIO)
// {
//  interrupt_global_enable(0);                     // жǶ
//  if(exti_flag_get(ERU_CH2_REQ7_P00_4))           // ͨ2ж
//  {
//      exti_flag_clear(ERU_CH2_REQ7_P00_4);
//  }
//  if(exti_flag_get(ERU_CH6_REQ9_P20_0))           // ͨ6ж
//  {
//      exti_flag_clear(ERU_CH6_REQ9_P20_0);
//  }
// }

IFX_INTERRUPT(exti_ch3_ch7_isr, EXTI_CH3_CH7_INT_VECTAB_NUM, EXTI_CH3_CH7_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    if(exti_flag_get(ERU_CH3_REQ6_P02_0))           // ͨ3ж
    {
        exti_flag_clear(ERU_CH3_REQ6_P02_0);
        camera_vsync_handler();                     // ͷɼͳһص
    }
    if(exti_flag_get(ERU_CH7_REQ16_P15_1))          // ͨ7ж
    {
        exti_flag_clear(ERU_CH7_REQ16_P15_1);




    }
}
// **************************** ⲿжϺ ****************************


// **************************** DMAжϺ ****************************
IFX_INTERRUPT(dma_ch5_isr, DMA_INT_VECTAB_NUM, DMA_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    camera_dma_handler();                           // ͷɼͳһص
}
// **************************** DMAжϺ ****************************


// **************************** жϺ ****************************
// 0ĬΪԴ
IFX_INTERRUPT(uart0_tx_isr, UART0_INT_VECTAB_NUM, UART0_TX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}
IFX_INTERRUPT(uart0_rx_isr, UART0_INT_VECTAB_NUM, UART0_RX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ

#if DEBUG_UART_USE_INTERRUPT                        //  debug ж
        debug_interrupr_handler();                  //  debug ڽմ ݻᱻ debug λȡ
#endif                                              // ޸ DEBUG_UART_INDEX δҪŵӦĴжȥ
}


// 1Ĭӵͷô
IFX_INTERRUPT(uart1_tx_isr, UART1_INT_VECTAB_NUM, UART1_TX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ




}
IFX_INTERRUPT(uart1_rx_isr, UART1_INT_VECTAB_NUM, UART1_RX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    camera_uart_handler();                          // ͷͳһص
}

// 2Ĭӵתģ
IFX_INTERRUPT(uart2_tx_isr, UART2_INT_VECTAB_NUM, UART2_TX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart2_rx_isr, UART2_INT_VECTAB_NUM, UART2_RX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    wireless_module_uart_handler();                 // ģͳһص



}
// 3ĬӵGPSλģ
IFX_INTERRUPT(uart3_tx_isr, UART3_INT_VECTAB_NUM, UART3_TX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart3_rx_isr, UART3_INT_VECTAB_NUM, UART3_RX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
//    gnss_uart_callback();                           // GNSSڻص



}


IFX_INTERRUPT(uart4_tx_isr, UART4_INT_VECTAB_NUM, UART4_TX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart4_rx_isr, UART4_INT_VECTAB_NUM, UART4_RX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart5_tx_isr, UART5_INT_VECTAB_NUM, UART5_TX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart5_rx_isr, UART5_INT_VECTAB_NUM, UART5_RX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart6_tx_isr, UART6_INT_VECTAB_NUM, UART6_TX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart6_rx_isr, UART6_INT_VECTAB_NUM, UART6_RX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart8_tx_isr, UART8_INT_VECTAB_NUM, UART8_TX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart8_rx_isr, UART8_INT_VECTAB_NUM, UART8_RX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart9_tx_isr, UART9_INT_VECTAB_NUM, UART9_TX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart9_rx_isr, UART9_INT_VECTAB_NUM, UART9_RX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart10_tx_isr, UART10_INT_VECTAB_NUM, UART10_TX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart10_rx_isr, UART10_INT_VECTAB_NUM, UART10_RX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart11_tx_isr, UART11_INT_VECTAB_NUM, UART11_TX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}

IFX_INTERRUPT(uart11_rx_isr, UART11_INT_VECTAB_NUM, UART11_RX_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ



}
// ͨѶж
IFX_INTERRUPT(uart0_er_isr, UART0_INT_VECTAB_NUM, UART0_ER_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    IfxAsclin_Asc_isrError(&uart0_handle);
}
IFX_INTERRUPT(uart1_er_isr, UART1_INT_VECTAB_NUM, UART1_ER_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    IfxAsclin_Asc_isrError(&uart1_handle);
}
IFX_INTERRUPT(uart2_er_isr, UART2_INT_VECTAB_NUM, UART2_ER_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    IfxAsclin_Asc_isrError(&uart2_handle);
}
IFX_INTERRUPT(uart3_er_isr, UART3_INT_VECTAB_NUM, UART3_ER_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    IfxAsclin_Asc_isrError(&uart3_handle);
}
IFX_INTERRUPT(uart4_er_isr, UART4_INT_VECTAB_NUM, UART4_ER_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    IfxAsclin_Asc_isrError(&uart4_handle);
}
IFX_INTERRUPT(uart5_er_isr, UART5_INT_VECTAB_NUM, UART5_ER_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    IfxAsclin_Asc_isrError(&uart5_handle);
}
IFX_INTERRUPT(uart6_er_isr, UART6_INT_VECTAB_NUM, UART6_ER_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    IfxAsclin_Asc_isrError(&uart6_handle);
}
IFX_INTERRUPT(uart8_er_isr, UART8_INT_VECTAB_NUM, UART8_ER_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    IfxAsclin_Asc_isrError(&uart8_handle);
}
IFX_INTERRUPT(uart9_er_isr, UART9_INT_VECTAB_NUM, UART9_ER_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    IfxAsclin_Asc_isrError(&uart9_handle);
}
IFX_INTERRUPT(uart10_er_isr, UART10_INT_VECTAB_NUM, UART10_ER_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    IfxAsclin_Asc_isrError(&uart10_handle);
}
IFX_INTERRUPT(uart11_er_isr, UART11_INT_VECTAB_NUM, UART11_ER_INT_PRIO)
{
    interrupt_global_enable(0);                     // жǶ
    IfxAsclin_Asc_isrError(&uart11_handle);
}
// **************************** жϺ ****************************
