#include "include.h"

u8 hv_motor1_data[8];
u8 hv_motor2_data[8];
u8 hv_motor3_data[8];

int cntBLight=0, cntSLight=0, cntUSBL=0, cntCamera1=0, cntCamera2=0, cntCamera3=0, cntCamera4=0, cntMotor1=0, cntMotor2=0;	

void SysTick_Handler(void)
{
	sysTickUptime++;
	static u32  countbiglight = 0;
	static u32  countbiglightshut = 0;
	//两线大灯
	if(Read_BIG_LIGHT)
	{
		if(++cntBLight>3) {
			CUT_BIG_LIGHT;
			LightOvercurrent = 1;
		}
	}
	else
	{
		
		cntBLight = 0;
		if(LightOvercurrent == 0){
			BIG_LIGHT_ON;
		}
		
	}		
	//三线小灯
	if(Read_SMG_LIGHT)
	{
		if(++cntSLight>3) CUT_SMG_LIGHT;
	}
	else
	{
		cntSLight = 0;
		if(light_pwm)
		{
			SMG_LIGHT_ON;
		}
		else
		{
			SMG_LIGHT_OFF;
		}	
	}		
	//USBL
	if(Read_USBL)
	{
		if(++cntUSBL>3) CUT_USBL;
	}
	else
	{
		cntUSBL = 0;
		if(usbl_opendown)
		{
			USBL_ON;
		}
		else
		{
			USBL_OFF;
		}
	}
	//camera1
	if(Read_CAMERA1)
	{	
		if(++cntCamera1>3) CUT_CAMERA1;
	}
	else cntCamera1 = 0;
	//camera2
	if(Read_CAMERA2)
	{
		if(++cntCamera2>3) CUT_CAMERA2;
	}
	else cntCamera2 = 0;	
	//camera3
	if(Read_CAMERA3)
	{
		if(++cntCamera3>3) CUT_CAMERA3;
	}
	else cntCamera3 = 0;
	//camera4
	if(Read_CAMERA4)
	{
		if(++cntCamera4>3) CUT_CAMERA4;
	}
	else cntCamera4 = 0;
	//motor1
	if(Read_MOTOR1)
	{
		if(++cntMotor1>3) CUT_Motor1;
	}
	else cntMotor1 = 0;
	//motor2
	if(Read_MOTOR2)
	{
		if(++cntMotor2>3) CUT_Motor2;
	}
	else cntMotor2 = 0;
}

void TIM1_UP_TIM10_IRQHandler(void)
{
  if(TIM_GetITStatus(TIM1, TIM_IT_Update))  //判断发生update事件中断
  {
		TIM_ClearITPendingBit(TIM1, TIM_IT_Update); //清除update事件中断标志
		
	}
}

int u1Rx = 0;
void USART1_IRQHandler(void)
{
	if(USART_GetITStatus(USART1,USART_IT_RXNE)!=RESET)
	{
		//GetMotorData(USART1, &left_track_motor);
		u1Rx = USART_ReceiveData(USART1);
		USART_ClearITPendingBit(USART1, USART_IT_RXNE);
	}
	else if(USART_GetITStatus(USART1,USART_IT_IDLE)!=RESET)
	{
		USART1->SR;
		USART1->DR;
		//AnaMotorData(&left_track_motor);
	}
}

int u4Rx = 0;
void UART4_IRQHandler(void)
{
	if(USART_GetITStatus(UART4,USART_IT_RXNE)!=RESET)
	{
		//GetMotorData(UART4, &left_track_motor);
		u4Rx = USART_ReceiveData(UART4);
		USART_ClearITPendingBit(UART4, USART_IT_RXNE);
	}
	else if(USART_GetITStatus(UART4,USART_IT_IDLE)!=RESET)
	{
		UART4->SR;
		UART4->DR;
		//AnaMotorData(&left_track_motor);
	}
}


void CAN1_RX0_IRQHandler(void)
{
	u8 RecData[8];
	u8 RecNum;
	u32 id = 0;
	IWDG_Feed();
	RecNum = CAN1_Receive_Msg(RecData,&id);
	
	if(id == 0X014E550A && RecNum == 7)
	{	
		light_pwm = (RecData[1]<<8)|RecData[0];//灯 PWM
		light_step = (RecData[3]<<8)|RecData[2];//灯 PWM
		usbl_opendown = (RecData[5]<<8)|RecData[4];//usbl			
	}
	
	
}
void ADC_IRQHandler(void)
{
	if(ADC_GetFlagStatus(ADC1,ADC_FLAG_EOC)!=RESET)						          		
	{
		Rntc = ADC_GetConversionValue(ADC1);
	}
											
	ADC_ClearITPendingBit(ADC1,ADC_FLAG_EOC);							
}


void HardFault_Handler(void)
{
  /* Go to infinite loop when Hard Fault exception occurs */
  while (1)
  {
  }
}