/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    stm32f4xx_it.c
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2026 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usart.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */

/* USER CODE END TD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* HardFault 现场报告实现（2026-09-29 迁移至此，**保护区**内）：
 * 原放在紧随 HardFault_Handler 之后的自造区 `HardFault_Report` 里——
 * 实测 CubeMX 重生成不会保留"生成区之外的自造标记区"（它整段按新模板重写），
 * 故迁入本文件本来就有的 `USER CODE BEGIN 0`（生成区内的标准保护位），
 * 从此重生成不会丢失。
 *
 * 说明：本函数由 __asm void HardFault_Handler 用 B 直接跳入（见下方），
 * 不经内核、不 printf、不遍历指针，只用 HAL_UART_Transmit 轮询 + SCB 寄存器读取，
 * 因此在内核状态已不可信时仍可用。输出后 HAL_Delay(200) 排空 UART 再复位。
 */
static void hard_fault_write(const char *s, uint16_t len)
{
    /* 显式长度 + 有界单次发送：上报路径自身不得再崩（2026-09-24 加固；
     * 不做 '\0' 遍历，长度由调用方 sizeof 给出） */
    if ((s == NULL) || (len == 0u)) {
        return;
    }
    if (len > 64u) {
        len = 64u;
    }
    HAL_UART_Transmit(&huart1, (const uint8_t *)s, len, 0xFFFFu);
}

/* 字面量输出宏：长度由 sizeof 定，编译期即可确定 */
#define HF_PUTS(lit) hard_fault_write((lit), (uint16_t)(sizeof(lit) - 1u))

static void hard_fault_puthex(uint32_t v)
{
    static const char digits[] = "0123456789ABCDEF";
    char out[9];
    int i;

    for (i = 0; i < 8; i++) {
        out[i] = digits[(v >> (28 - i * 4)) & 0xFu];
    }
    out[8] = '\0';
    hard_fault_write(out, 8u);
}

void hard_fault_report(uint32_t *frame)
{
    HF_PUTS("\r\n[ERR] HARDFAULT PC=");
    hard_fault_puthex(frame[6]);
    HF_PUTS(" LR=");
    hard_fault_puthex(frame[5]);
    HF_PUTS(" xPSR=");
    hard_fault_puthex(frame[7]);
    HF_PUTS(" R0=");
    hard_fault_puthex(frame[0]);
    HF_PUTS(" R1=");
    hard_fault_puthex(frame[1]);
    HF_PUTS(" R2=");
    hard_fault_puthex(frame[2]);
    HF_PUTS(" R3=");
    hard_fault_puthex(frame[3]);
    HF_PUTS(" CFSR=");
    hard_fault_puthex(SCB->CFSR);
    HF_PUTS(" HFSR=");
    hard_fault_puthex(SCB->HFSR);

    /* BFAR/MMFAR 仅在对应 valid 位为 1 时有意义 */
    if ((SCB->CFSR & (1UL << 15)) != 0U) {
        HF_PUTS(" BFAR=");
        hard_fault_puthex(SCB->BFAR);
    }
    if ((SCB->CFSR & (1UL << 7)) != 0U) {
        HF_PUTS(" MMFAR=");
        hard_fault_puthex(SCB->MMFAR);
    }

    HAL_Delay(200);
    NVIC_SystemReset();
}

/* 为生成函数改名，避免与下方手工 `__asm` 实现符号冲突。
 * 生成实体改名为 HardFault_Handler_Gen（永不执行，仅为占用名字不冲突，
 * 保持生成区代码零删除）。 */
#define HardFault_Handler HardFault_Handler_Gen
/* USER CODE END 0 */

/* External variables --------------------------------------------------------*/
extern DMA_HandleTypeDef hdma_spi1_rx;
extern DMA_HandleTypeDef hdma_spi1_tx;
extern DMA_HandleTypeDef hdma_spi2_rx;
extern DMA_HandleTypeDef hdma_spi2_tx;
extern SPI_HandleTypeDef hspi1;
extern SPI_HandleTypeDef hspi2;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern DMA_HandleTypeDef hdma_usart1_rx;
extern UART_HandleTypeDef huart4;
extern UART_HandleTypeDef huart5;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
extern TIM_HandleTypeDef htim7;

/* USER CODE BEGIN EV */

/* USER CODE END EV */

/******************************************************************************/
/*           Cortex-M4 Processor Interruption and Exception Handlers          */
/******************************************************************************/
/**
  * @brief This function handles Non maskable interrupt.
  */
void NMI_Handler(void)
{
  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */

  /* USER CODE END NonMaskableInt_IRQn 0 */
  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
   while (1)
  {
  }
  /* USER CODE END NonMaskableInt_IRQn 1 */
}

/**
 * @brief This function handles Hard fault interrupt.
 */
/* HARD-FAULT-ANCHOR — 本锚点与下方改动一体，重生成会一并消失，
 * 供 scripts/check_cubemx_survival.py 检出（勿删）：
 *
 * 崩溃现场采集（手工改写）。EXC_RETURN bit2 判断异常帧在 MSP 还是 PSP，
 * 取帧指针交给 C 报告函数 hard_fault_report()（实现在文件头 USER CODE BEGIN 0
 * 保护区内）。空 while(1) 版会让死机在日志上完全静默（2026-09-20 实证）。
 *
 * 命名：`#undef HardFault_Handler` 后重定义为 __asm 版本，与向量表符号一致；
 *       为避免与下方生成实体"重复定义"（ARMCC 报 #247，其"已定义"检查
 *       早于 C 作用域），已在文件头用 `#define HardFault_Handler
 *       HardFault_Handler_Gen` 把生成实体改名为不冲突的符号。 */
#undef HardFault_Handler
__asm void HardFault_Handler(void)
{
    extern hard_fault_report
    TST   lr, #4
    ITE   EQ
    MRSEQ r0, MSP
    MRSNE r0, PSP
    B     hard_fault_report
}

void HardFault_Handler_Gen(void)
{
  while (1)
  {
    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
    /* USER CODE END W1_HardFault_IRQn 0 */
  }
}

/**
  * @brief This function handles Memory management fault.
  */
void MemManage_Handler(void)
{
  /* USER CODE BEGIN MemoryManagement_IRQn 0 */

  /* USER CODE END MemoryManagement_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
    /* USER CODE END W1_MemoryManagement_IRQn 0 */
  }
}

/**
  * @brief This function handles Pre-fetch fault, memory access fault.
  */
void BusFault_Handler(void)
{
  /* USER CODE BEGIN BusFault_IRQn 0 */

  /* USER CODE END BusFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_BusFault_IRQn 0 */
    /* USER CODE END W1_BusFault_IRQn 0 */
  }
}

/**
  * @brief This function handles Undefined instruction or illegal state.
  */
void UsageFault_Handler(void)
{
  /* USER CODE BEGIN UsageFault_IRQn 0 */

  /* USER CODE END UsageFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
    /* USER CODE END W1_UsageFault_IRQn 0 */
  }
}

/**
  * @brief This function handles Debug monitor.
  */
void DebugMon_Handler(void)
{
  /* USER CODE BEGIN DebugMonitor_IRQn 0 */

  /* USER CODE END DebugMonitor_IRQn 0 */
  /* USER CODE BEGIN DebugMonitor_IRQn 1 */

  /* USER CODE END DebugMonitor_IRQn 1 */
}

/******************************************************************************/
/* 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 DMA1 stream3 global interrupt.
  */
void DMA1_Stream3_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */

  /* USER CODE END DMA1_Stream3_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_spi2_rx);
  /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */

  /* USER CODE END DMA1_Stream3_IRQn 1 */
}

/**
  * @brief This function handles DMA1 stream4 global interrupt.
  */
void DMA1_Stream4_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Stream4_IRQn 0 */

  /* USER CODE END DMA1_Stream4_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_spi2_tx);
  /* USER CODE BEGIN DMA1_Stream4_IRQn 1 */

  /* USER CODE END DMA1_Stream4_IRQn 1 */
}

/**
  * @brief This function handles EXTI line[9:5] interrupts.
  */
void EXTI9_5_IRQHandler(void)
{
  /* USER CODE BEGIN EXTI9_5_IRQn 0 */

  /* USER CODE END EXTI9_5_IRQn 0 */
  HAL_GPIO_EXTI_IRQHandler(TP_BUSY_Pin);
  /* USER CODE BEGIN EXTI9_5_IRQn 1 */

  /* USER CODE END EXTI9_5_IRQn 1 */
}

/**
  * @brief This function handles SPI1 global interrupt.
  */
void SPI1_IRQHandler(void)
{
  /* USER CODE BEGIN SPI1_IRQn 0 */

  /* USER CODE END SPI1_IRQn 0 */
  HAL_SPI_IRQHandler(&hspi1);
  /* USER CODE BEGIN SPI1_IRQn 1 */

  /* USER CODE END SPI1_IRQn 1 */
}

/**
  * @brief This function handles SPI2 global interrupt.
  */
void SPI2_IRQHandler(void)
{
  /* USER CODE BEGIN SPI2_IRQn 0 */

  /* USER CODE END SPI2_IRQn 0 */
  HAL_SPI_IRQHandler(&hspi2);
  /* USER CODE BEGIN SPI2_IRQn 1 */

  /* USER CODE END SPI2_IRQn 1 */
}

/**
  * @brief This function handles USART1 global interrupt.
  */
void USART1_IRQHandler(void)
{
  /* USER CODE BEGIN USART1_IRQn 0 */

  /* USER CODE END USART1_IRQn 0 */
  HAL_UART_IRQHandler(&huart1);
  /* USER CODE BEGIN USART1_IRQn 1 */

  /* USER CODE END USART1_IRQn 1 */
}

/**
  * @brief This function handles USART2 global interrupt.
  */
void USART2_IRQHandler(void)
{
  /* USER CODE BEGIN USART2_IRQn 0 */

  /* USER CODE END USART2_IRQn 0 */
  HAL_UART_IRQHandler(&huart2);
  /* USER CODE BEGIN USART2_IRQn 1 */

  /* USER CODE END USART2_IRQn 1 */
}

/**
  * @brief This function handles USART3 global interrupt.
  */
void USART3_IRQHandler(void)
{
  /* USER CODE BEGIN USART3_IRQn 0 */

  /* USER CODE END USART3_IRQn 0 */
  HAL_UART_IRQHandler(&huart3);
  /* USER CODE BEGIN USART3_IRQn 1 */

  /* USER CODE END USART3_IRQn 1 */
}

/**
  * @brief This function handles UART4 global interrupt.
  */
void UART4_IRQHandler(void)
{
  /* USER CODE BEGIN UART4_IRQn 0 */

  /* USER CODE END UART4_IRQn 0 */
  HAL_UART_IRQHandler(&huart4);
  /* USER CODE BEGIN UART4_IRQn 1 */

  /* USER CODE END UART4_IRQn 1 */
}

/**
  * @brief This function handles UART5 global interrupt.
  */
void UART5_IRQHandler(void)
{
  /* USER CODE BEGIN UART5_IRQn 0 */

  /* USER CODE END UART5_IRQn 0 */
  HAL_UART_IRQHandler(&huart5);
  /* USER CODE BEGIN UART5_IRQn 1 */

  /* USER CODE END UART5_IRQn 1 */
}

/**
  * @brief This function handles TIM7 global interrupt.
  */
void TIM7_IRQHandler(void)
{
  /* USER CODE BEGIN TIM7_IRQn 0 */

  /* USER CODE END TIM7_IRQn 0 */
  HAL_TIM_IRQHandler(&htim7);
  /* USER CODE BEGIN TIM7_IRQn 1 */

  /* USER CODE END TIM7_IRQn 1 */
}

/**
  * @brief This function handles DMA2 stream0 global interrupt.
  */
void DMA2_Stream0_IRQHandler(void)
{
  /* USER CODE BEGIN DMA2_Stream0_IRQn 0 */

  /* USER CODE END DMA2_Stream0_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_spi1_rx);
  /* USER CODE BEGIN DMA2_Stream0_IRQn 1 */

  /* USER CODE END DMA2_Stream0_IRQn 1 */
}

/**
  * @brief This function handles DMA2 stream2 global interrupt.
  */
void DMA2_Stream2_IRQHandler(void)
{
  /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */

  /* USER CODE END DMA2_Stream2_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart1_rx);
  /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */

  /* USER CODE END DMA2_Stream2_IRQn 1 */
}

/**
  * @brief This function handles DMA2 stream3 global interrupt.
  */
void DMA2_Stream3_IRQHandler(void)
{
  /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */

  /* USER CODE END DMA2_Stream3_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_spi1_tx);
  /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */

  /* USER CODE END DMA2_Stream3_IRQn 1 */
}

/**
  * @brief This function handles DMA2 stream7 global interrupt.
  */
void DMA2_Stream7_IRQHandler(void)
{
  /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */

  /* USER CODE END DMA2_Stream7_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart1_tx);
  /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */

  /* USER CODE END DMA2_Stream7_IRQn 1 */
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */