/********************************************************************************

 **** Copyright (C), 2018, Fortior Technology Co., Ltd.                      ****

 ********************************************************************************
    File Name     : Interrupt.c
    Author        : Bruce HW&RD
    Date          : 2018-12-27
    Description   : .C file function description
    Version       : 1.0
    Function List :

    Record        :
    1.Date        : 2018-12-27
     Author      : Bruce HW&RD
     Modification: Created file

********************************************************************************/

#include "FU68xx_5.h"
#include <Myproject.h>



void LVW_TSD_INT(void) interrupt 0  //LVW & TSD interrupt
{
    if (ReadBit(LVSR, LVWIF))
    {
        if (ReadBit(LVSR, LVWF))
        {
            FaultProcess();
            ClrBit(LVSR, LVWF);
        }
        
        ClrBit(LVSR, LVWIF);
    }
    
    if (TSDIF)
    {
        TSDIF = 0;
    }
}

/*  -------------------------------------------------------------------------------------------------
    Function Name : void FO_INT(void)
    Description   : FO_INT interrupt，硬件FO过流保护，关断输出，中断优先级最高
    Input         : 无
    Output        : 无
    -------------------------------------------------------------------------------------------------*/
void FO_INT(void) interrupt 1               // 硬件FO过流中断，关闭输出
{
    if (IF0)
    {
        FaultProcess();                         // 关闭输出
        mcFaultSource = FaultHardOVCurrent;     // 硬件过流保护
        IF0 = 0;                                // clear P00 interrupt flag
    }
}

/*  -------------------------------------------------------------------------------------------------
    Function Name : EXTERN_INT1
    Description   : interrupt1
    Input         : 无
    Output        : 无
    -------------------------------------------------------------------------------------------------*/
void EXTERN_INT1(void) interrupt 2
{
    if (ReadBit(P1_IF, P12))
    {
        ClrBit(P1_IF, P12);
    }
}
/*  -------------------------------------------------------------------------------------------------
    Function Name : void CMP3_INT(void)
    Description   : CMP3：硬件比较器过流保护，关断输出，中断优先级最高
    Input         : 无
    Output        : 无
    -------------------------------------------------------------------------------------------------*/
void CMP3_INT(void)  interrupt 12
{
    if (ReadBit(CMP_SR, CMP3IF))
    {
        FaultProcess();                                        // 关闭输出
        mcFaultSource = FaultHardOVCurrent;                    // 硬件过流保护
        ClrBit(CMP_SR, CMP3IF);
    }
}


/*---------------------------------------------------------------------------*/
/*  Name     :   void DRV_ISR(void) interrupt 3
    /* Input    :   NO
    /* Output   :   NO
    /* Description: FOC中断(Drv中断),每个载波周期执行一次，用于处理响应较高的程序，中断优先级第二。DCEN开了就会产生中断。
    /*---------------------------------------------------------------------------*/

void DRV_ISR(void) interrupt 3
{
    if (ReadBit(DRV_SR, DCIF))    // 比较中断
    {
        SetBit(ADC_CR, ADCBSY);           // 使能ADC的DCBUS采样
        dog_Status |= 0x01;
        Fault_Overcurrent(); //软件过流保护
        //            UdcMax_Min();       //udc最大值最小值获取
        #if (FiledWeakenCompEnable)
        {
            FiledWeakenControl(FOC__UD, FOC__UQ, udc.WeakenUsRef, mcFocCtrl.IsRef);
            
            if (mcFieldWeaken.mcIdref < ID_Limit)
            {mcFieldWeaken.mcIdref = ID_Limit;}
            
            mcFocCtrl.IdRef = mcFieldWeaken.mcIdref;
            mcFocCtrl.IqRef = mcFieldWeaken.mcIqref;
        }
        #else
        {
            mcFocCtrl.IqRef = mcFocCtrl.IsRef;
            mcFocCtrl.IdRef = 0;
        }
        #endif
        ID_IQ_Control();    //dq轴电流赋值
        #if (VoltageCompensationEn==1)
        VoltageCompensation();//电压补偿
        #endif
        #if (Debugg==1)
        {
            Trace_Select_read();
            PC_MONITOR_PWM(); //工具
        }
        #else
        {
            trace1();
        }
        #endif
        DRV_SR = (DRV_SR | SYSTIF) & (~DCIF);
    }
}


/*---------------------------------------------------------------------------*/
/*  Name     :   void TIM4S_INT(void) interrupt 10
    /* Input    :   NO
    /* Output   :   NO
    /* Description: 1ms定时器中断（SYS TICK中断），用于处理附加功能，如控制环路响应、各种保护等。中断优先级低于FO中断和FOC中断。
    /*---------------------------------------------------------------------------*/

void SYStick_INT(void) interrupt 10
{
    if (ReadBit(DRV_SR, SYSTIF))          // SYS TICK中断
    {
        dog_Status |= 0x02;
        flag_1ms_main   = 1;
        
        /****速度滤波、反电动势滤波*****/
        if ( (mcState == mcStart) || (mcState == mcRun) || (mcState == mcStop))
        {
            mcFocCtrl.SpeedFlt    =  LPF_realize(FOC__EOME, mcFocCtrl.SpeedFlt, LPF_K(71.0));     //LPF_K(30.0)
            mcFocCtrl.UDFlt       =  LPF_realize(FOC__UD, mcFocCtrl.UDFlt, LPF_K(30.0));          //LPF_K(30.0)
            mcFocCtrl.UQFlt       =  LPF_realize(FOC__UQ, mcFocCtrl.UQFlt, LPF_K(30.0));          //LPF_K(30.0)
        }
        else
        {
            mcFocCtrl.SpeedFlt = 0;
        }
        
        Speed_response();        //压机环路响应，速度环
        Fault_Detection();       //故障保护函数功能
        //              PFC_timer1ms();          //pfc控制1ms中断
        User_Dri_timer1ms();     //user控制1ms中断
        IsLimit_Over_tect();     //限流处理
        LED_Display();           //LED灯故障显示
        #if (Debugg==1)
        {
            PC_MONITOR_1MS();   //工具
            CMDMONI_WT_SENDCMD();
        }
        #endif
        
        /*串口相关*/
        if (Uart.ResponseFlag == 1)
        {
            Uart.send_delay_time++;
        }
        
        if (mcFocCtrl.mcAcbustime < 30000)
        {
            mcFocCtrl.mcAcbustime++;
        }
        
        if (Uart.time_cnt     < 20000)
        {
            Uart.time_cnt++;
        }
        
        if (Uart.time_shuju   < 30000)
        {
            Uart.time_shuju++;
        }
        
        if (mcFocCtrl.State_Count > 0)
        {
            mcFocCtrl.State_Count--;
        }
        
        if (Time.PowerOnCnt   < 60000)
        {
            Time.PowerOnCnt++;
        }
        
        if (mcFaultDect.commu_time < 60000)
        {
            mcFaultDect.commu_time++;
        }
        
        if (Uartwatch.uarttimejishu <= 250)
        {
            Uartwatch.uarttimejishu++;
        }
        
        StarRampDealwith();/*****电机启动爬坡函数处理*****/
        DRV_SR = (DRV_SR | DCIF) & (~SYSTIF);// 清零标志位
    }
}



/*---------------------------------------------------------------------------*/
/*  Name     :   void USART_INT(void) interrupt 12
    /* Input    :   NO
    /* Output   :   NO
    /* Description: 串口中断，中断优先级最低，用于接收调速信号,无中断插入时8us
    /*---------------------------------------------------------------------------*/
void USART_INT(void)  interrupt 14
{
    // 睡眠模式下，再次接收到串口通讯信号，从待机模式中唤醒
    if (UT2RI == 1)
    {
        UT2RI = 0;
        Uart.uarttimejishu = 0;
        
        if (Uart.Recive_Flag == 0)
        {
            UartRecive1();
        }
    }
    
    if (UT2TI == 1)
    {
        UT2TI = 0;
        UartSend1();
    }
}
/*工具串口*/
uint8 fasong = 0;
extern uint8 txbuff;
void USART_INT1(void)  interrupt 13
{
    #if (Debugg==1)
    {
        if (TI == 1)
        {
            TI = 0;
            fasong = 0;
        }
    }
    #endif
    
    if (RI == 1)
    {
        RI = 0;
        #if (Debugg==1)
        {
            PC_MONITOR_INTR();
        }
        #else
        {
            UART1RCE();
        }
        #endif
    }
}