/* add user code begin Header */
/**
 **************************************************************************
 * @file     at32f413_int.c
 * @brief    main interrupt service routines.
 **************************************************************************
 *                       Copyright notice & Disclaimer
 *
 * The software Board Support Package (BSP) that is made available to
 * download from Artery official website is the copyrighted work of Artery.
 * Artery authorizes customers to use, copy, and distribute the BSP
 * software and its related documentation for the purpose of design and
 * development in conjunction with Artery microcontrollers. Use of the
 * software is governed by this copyright notice and the following disclaimer.
 *
 * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
 * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
 * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
 * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
 * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
 *
 **************************************************************************
 */
/* add user code end Header */

/* includes ------------------------------------------------------------------*/
#include "at32f413_int.h"

/* private includes ----------------------------------------------------------*/
/* add user code begin private includes */
#include "by_debug.h"
#include "by_motion.h"
/* add user code end private includes */

/* private typedef -----------------------------------------------------------*/
/* add user code begin private typedef */

/* add user code end private typedef */

/* private define ------------------------------------------------------------*/
/* add user code begin private define */

/* add user code end private define */

/* private macro -------------------------------------------------------------*/
/* add user code begin private macro */

/* add user code end private macro */

/* private variables ---------------------------------------------------------*/
/* add user code begin private variables */

/* add user code end private variables */

/* private function prototypes --------------------------------------------*/
/* add user code begin function prototypes */

/* add user code end function prototypes */

/* private user code ---------------------------------------------------------*/
/* add user code begin 0 */

/* add user code end 0 */

/* external variables ---------------------------------------------------------*/
/* add user code begin external variables */

/* add user code end external variables */

/**
  * @brief  this function handles nmi exception.
  * @param  none
  * @retval none
  */
void NMI_Handler(void)
{
  /* add user code begin NonMaskableInt_IRQ 0 */

  /* add user code end NonMaskableInt_IRQ 0 */

  /* add user code begin NonMaskableInt_IRQ 1 */

  /* add user code end NonMaskableInt_IRQ 1 */
}

/**
  * @brief  this function handles hard fault exception.
  * @param  none
  * @retval none
  */
void HardFault_Handler(void)
{
  /* add user code begin HardFault_IRQ 0 */

  /* add user code end HardFault_IRQ 0 */
  /* go to infinite loop when hard fault exception occurs */
  while (1)
  {
    /* add user code begin W1_HardFault_IRQ 0 */

    /* add user code end W1_HardFault_IRQ 0 */
  }
}

/**
  * @brief  this function handles memory manage exception.
  * @param  none
  * @retval none
  */
void MemManage_Handler(void)
{
  /* add user code begin MemoryManagement_IRQ 0 */

  /* add user code end MemoryManagement_IRQ 0 */
  /* go to infinite loop when memory manage exception occurs */
  while (1)
  {
    /* add user code begin W1_MemoryManagement_IRQ 0 */

    /* add user code end W1_MemoryManagement_IRQ 0 */
  }
}

/**
  * @brief  this function handles bus fault exception.
  * @param  none
  * @retval none
  */
void BusFault_Handler(void)
{
  /* add user code begin BusFault_IRQ 0 */

  /* add user code end BusFault_IRQ 0 */
  /* go to infinite loop when bus fault exception occurs */
  while (1)
  {
    /* add user code begin W1_BusFault_IRQ 0 */

    /* add user code end W1_BusFault_IRQ 0 */
  }
}

/**
  * @brief  this function handles usage fault exception.
  * @param  none
  * @retval none
  */
void UsageFault_Handler(void)
{
  /* add user code begin UsageFault_IRQ 0 */

  /* add user code end UsageFault_IRQ 0 */
  /* go to infinite loop when usage fault exception occurs */
  while (1)
  {
    /* add user code begin W1_UsageFault_IRQ 0 */

    /* add user code end W1_UsageFault_IRQ 0 */
  }
}

/**
  * @brief  this function handles svcall exception.
  * @param  none
  * @retval none
  */
void SVC_Handler(void)
{
  /* add user code begin SVCall_IRQ 0 */

  /* add user code end SVCall_IRQ 0 */
  /* add user code begin SVCall_IRQ 1 */

  /* add user code end SVCall_IRQ 1 */
}

/**
  * @brief  this function handles debug monitor exception.
  * @param  none
  * @retval none
  */
void DebugMon_Handler(void)
{
  /* add user code begin DebugMonitor_IRQ 0 */

  /* add user code end DebugMonitor_IRQ 0 */
  /* add user code begin DebugMonitor_IRQ 1 */

  /* add user code end DebugMonitor_IRQ 1 */
}

/**
  * @brief  this function handles pendsv_handler exception.
  * @param  none
  * @retval none
  */
void PendSV_Handler(void)
{
  /* add user code begin PendSV_IRQ 0 */

  /* add user code end PendSV_IRQ 0 */
  /* add user code begin PendSV_IRQ 1 */

  /* add user code end PendSV_IRQ 1 */
}

/**
  * @brief  this function handles USB Low  Priority or CAN1 RX0 handler.
  * @param  none
  * @retval none
  */
void USBFS_L_CAN1_RX0_IRQHandler(void)
{
  /* add user code begin USBFS_L_CAN1_RX0_IRQ 0 */
  if (SET == can_flag_get(CAN1, CAN_RF0MN_FLAG)) {

    can_rx_message_type can_rx_message;
    can_message_receive(CAN1, CAN_RX_FIFO0, &can_rx_message);
    by_motion_can_handle((uint16_t)can_rx_message.standard_id, can_rx_message.data, can_rx_message.dlc);

    can_flag_clear(CAN1, CAN_RF0MN_FLAG);
  }
  /* add user code end USBFS_L_CAN1_RX0_IRQ 0 */
  /* add user code begin USBFS_L_CAN1_RX0_IRQ 1 */

  /* add user code end USBFS_L_CAN1_RX0_IRQ 1 */
}

/**
  * @brief  this function handles TMR4 handler.
  * @param  none
  * @retval none
  */
void TMR4_GLOBAL_IRQHandler(void)
{
  /* add user code begin TMR4_GLOBAL_IRQ 0 */
  if (SET == tmr_interrupt_flag_get(TMR4, TMR_OVF_FLAG)) {
    by_motion_run();
    tmr_flag_clear(TMR4, TMR_OVF_FLAG);
  }
  /* add user code end TMR4_GLOBAL_IRQ 0 */
  /* add user code begin TMR4_GLOBAL_IRQ 1 */

  /* add user code end TMR4_GLOBAL_IRQ 1 */
}

/* add user code begin 1 */

/* add user code end 1 */