WolfieMouse

/**
  ******************************************************************************
  * @file    stm32f4xx_it.c
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  *
  * COPYRIGHT(c) 2016 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_it.h"
#include "config.h"

#include "encoder.h"
#include "config_measurements.h"

/* Global variables --------------------------------------------------------*/
UART_HandleTypeDef xUARTHandle;         /* Located in UART.h */
extern int rightSpeed;
extern int leftSpeed;
extern int diffSpeed;
int oldRightEnc = 0, oldLeftEnc = 0;

/* External variables --------------------------------------------------------*/

/******************************************************************************/
/*            Cortex-M4 Processor Interruption and Exception Handlers         */ 
/******************************************************************************/

/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
  int newRightEnc, newLeftEnc;
  /* USER CODE BEGIN SysTick_IRQn 0 */
  timer_inc_mil();
  HAL_IncTick();
  /* USER CODE END SysTick_IRQn 0 */
  osSystickHandler();
  /* USER CODE BEGIN SysTick_IRQn 1 */
  /*
  newRightEnc = getRightEncCount();
  newLeftEnc = getLeftEncCount();
  leftSpeed = (newLeftEnc - oldLeftEnc)*configLenPerCnt;
  rightSpeed = (newRightEnc - oldRightEnc)*configLenPerCnt;
  diffSpeed = rightSpeed - leftSpeed;
  oldLeftEnc = newLeftEnc;
  oldRightEnc = newRightEnc;
  */
  /* USER CODE END SysTick_IRQn 1 */
}


/******************************************************************************/
/*            Cortex-M4 Processor Exceptions Handlers                         */
/******************************************************************************/

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

/**
  * @brief  The fault handler implementation calls a function called prvGetRegistersFromStack().
  * @param  None
  * @retval None
  */
void HardFault_Handler(void)
{
  __asm volatile
  (
    " tst lr, #4                                                \n"
    " ite eq                                                    \n"
    " mrseq r0, msp                                             \n"
    " mrsne r0, psp                                             \n"
    " ldr r1, [r0, #24]                                         \n"
    " ldr r2, handler2_address_const                            \n"
    " bx r2                                                     \n"
    " handler2_address_const: .word prvGetRegistersFromStack    \n"
  );
}

void prvGetRegistersFromStack( uint32_t *pulFaultStackAddress )
{
  /* These are volatile to try and prevent the compiler/linker optimising them
  away as the variables never actually get used.  If the debugger won't show the
  values of the variables, make them global my moving their declaration outside
  of this function. */
  volatile uint32_t r0;
  volatile uint32_t r1;
  volatile uint32_t r2;
  volatile uint32_t r3;
  volatile uint32_t r12;
  volatile uint32_t lr; /* Link register. */
  volatile uint32_t pc; /* Program counter. */
  volatile uint32_t psr;/* Program status register. */

  r0 = pulFaultStackAddress[ 0 ];
  r1 = pulFaultStackAddress[ 1 ];
  r2 = pulFaultStackAddress[ 2 ];
  r3 = pulFaultStackAddress[ 3 ];
  r12 = pulFaultStackAddress[ 4 ];
  lr = pulFaultStackAddress[ 5 ];
  pc = pulFaultStackAddress[ 6 ];
  psr = pulFaultStackAddress[ 7 ];

  /* When the following line is hit, the variables contain the register values. */
  for( ;; );
}

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


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

/******************************************************************************/
/* STM32F4xx 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_stm32f4xx.s).                    */
/******************************************************************************/

/**
* @brief This function handles USART1 global interrupt.
*/
void uartUSARTx_IRQHandler(void)
{
  /* USER CODE BEGIN USART1_IRQn 0 */
  vUARTIRQHandler(&xUARTHandle);
  /* USER CODE END USART1_IRQn 0 */
  /* We do not use HAL library */
  //HAL_UART_IRQHandler(&huart1);
  /* USER CODE BEGIN USART1_IRQn 1 */

  /* USER CODE END USART1_IRQn 1 */
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/