/**
  ******************************************************************************
  * @file    TIM_TimeBase/stm32f4xx_it.c 
  * @author  MCD Application Team
  * @version V1.0.0
  * @date    19-September-2011
  * @brief   Main Interrupt Service Routines.
  *          This file provides template for all exceptions handler and peripherals
  *          interrupt service routine.
  ******************************************************************************
  * @attention
  *
  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
  *
  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
  ******************************************************************************
  */ 

/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx.h"                  /* STM32F4xx Definitions             */
#include "../Include/myGlobal_Vars.h"
#include "../Include/myLcdText.h"
#include "../Include/myDefinition.h"
#include "../Include/myMotor.h"
#include "../Include/myI2C.h"
#include "../Include/myDelay.h"
#include "../Include/effirof4_init.h"
#include "../Include/stm32f4xx_it.h"
#include "../Include/mySerial.h"
#include "../Include/myADC.h"
#include "../Include/MPU6050.h"
#include "../Include/tm_stm32f4_usart.h"
#include "../Include/tm_stm32f4_usart_dma.h"
#include "../Include/myIMUDMP.h"
#include "i2c.h"
#include "gpio.h"
#include "board-st_discovery.h"
/** @addtogroup STM32F4_Discovery_Peripheral_Examples
  * @{
  */

/** @addtogroup TIM_TimeBase
  * @{
  */ 

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
uint16_t capture = 0;
extern __IO uint16_t CCR1_Val;
extern __IO uint16_t CCR2_Val;
extern __IO uint16_t CCR3_Val;
extern __IO uint16_t CCR4_Val;

union Data32Bit datapp;

/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/

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

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

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

/**
  * @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)
{}

/**
  * @brief  This function handles SVCall exception.
  * @param  None
  * @retval None
  */
/*
	void SVC_Handler(void)
{}
*/
/**
  * @brief  This function handles PendSV_Handler exception.
  * @param  None
  * @retval None
  */
/*
void PendSV_Handler(void)
{}
*/
/**
  * @brief  This function handles SysTick Handler.
  * @param  None
  * @retval None
  */
/*
void SysTick_Handler(void)
{Gticks++;
	//Buzzer_On;
	}
*/
/******************************************************************************/
/*            STM32F4xx Peripherals Interrupt Handlers                        */
/******************************************************************************/

/**
  * @brief  This function handles TIM3 global interrupt request.
  * @param  None
  * @retval None
  */

void EXTI9_5_IRQHandler(void)
{
	EXTI_ClearITPendingBit(EXTI_Line5);
  /* Data ready! */
	gyro_data_ready_cb();

//	Monitor6(0xFF);
//	Monitor6(0xFF);
//	datapp.df=Roll;			
//	Monitor6(datapp.d8u[0]);
//	Monitor6(datapp.d8u[1]);
//	Monitor6(datapp.d8u[2]);
//	Monitor6(datapp.d8u[3]);
//	
//	datapp.df=Pitch;			
//	Monitor6(datapp.d8u[0]);
//	Monitor6(datapp.d8u[1]);
//	Monitor6(datapp.d8u[2]);
//	Monitor6(datapp.d8u[3]);
}

void EXTI4_IRQHandler(void)
{
	EXTI_ClearITPendingBit(EXTI_Line4);
  /* Data ready! */
	gyro_data_ready_cb();
	
//			Monitor6(0xFF);
//			Monitor6(0xFF);
//			
//			datapp.df=Roll;			
//		  Monitor6(datapp.d8u[0]);
//			Monitor6(datapp.d8u[1]);
//			Monitor6(datapp.d8u[2]);
//			Monitor6(datapp.d8u[3]);
//			
//			datapp.df=Pitch;			
//		  Monitor6(datapp.d8u[0]);
//			Monitor6(datapp.d8u[1]);
//			Monitor6(datapp.d8u[2]);
//			Monitor6(datapp.d8u[3]);
}


void DMA2_Stream7_IRQHandler(void) // USART3_TX
{ if (DMA_GetITStatus(DMA2_Stream7, DMA_IT_TCIF7))
  {
    DMA_ClearITPendingBit(DMA2_Stream7, DMA_IT_TCIF7);
		fTxFree=1;
  }
}
void DMA1_Stream4_IRQHandler(void) // USART3_TX
{
  if (DMA_GetITStatus(DMA1_Stream4, DMA_IT_TCIF4))
  {
    DMA_ClearITPendingBit(DMA1_Stream4, DMA_IT_TCIF4);
		fTxFreeX=1;
  }
}
void DMA1_Stream3_IRQHandler(void) // USART3_TX
{ if (DMA_GetITStatus(DMA1_Stream3, DMA_IT_TCIF3))
  {
    DMA_ClearITPendingBit(DMA1_Stream3, DMA_IT_TCIF3);
		fTxFree3=1;
  }
}

/******************************************************************************/
/*                 STM32F4xx Peripherals Interrupt Handlers                   */
/*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
/*  available peripheral interrupt handler's name please refer to the startup */
/*  file (startup_stm32f4xx.s).                                               */
/******************************************************************************/

/**
  * @brief  This function handles PPP interrupt request.
  * @param  None
  * @retval None
  */
/*void PPP_IRQHandler(void)
{
}*/

/**
  * @}
  */ 

/**
  * @}
  */ 

/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/