/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    stm32f4xx_it.c
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 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 */
/* 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 */

/* USER CODE END 0 */

/* External variables --------------------------------------------------------*/
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
extern DMA_HandleTypeDef hdma_i2c2_rx;
extern DMA_HandleTypeDef hdma_i2c2_tx;
extern I2C_HandleTypeDef hi2c2;
extern I2C_HandleTypeDef hi2c3;
extern DMA_HandleTypeDef hdma_spi1_rx;
extern DMA_HandleTypeDef hdma_spi1_tx;
extern SPI_HandleTypeDef hspi1;
extern SPI_HandleTypeDef hspi2;
extern TIM_HandleTypeDef htim8;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart6_rx;
extern DMA_HandleTypeDef hdma_usart6_tx;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3;
extern UART_HandleTypeDef huart6;
extern TIM_HandleTypeDef htim14;

/* 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.
  */
void HardFault_Handler(void)
{
  /* USER CODE BEGIN HardFault_IRQn 0 */
  asm("bx lr");
  /* USER CODE END HardFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
    asm("bx lr");
    /* 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 Flash global interrupt.
  */
void FLASH_IRQHandler(void)
{
  /* USER CODE BEGIN FLASH_IRQn 0 */

  /* USER CODE END FLASH_IRQn 0 */
  HAL_FLASH_IRQHandler();
  /* USER CODE BEGIN FLASH_IRQn 1 */

  /* USER CODE END FLASH_IRQn 1 */
}

/**
  * @brief This function handles EXTI line3 interrupt.
  */
void EXTI3_IRQHandler(void)
{
  /* USER CODE BEGIN EXTI3_IRQn 0 */

  /* USER CODE END EXTI3_IRQn 0 */
  HAL_GPIO_EXTI_IRQHandler(INT_MAG_Pin);
  /* USER CODE BEGIN EXTI3_IRQn 1 */

  /* USER CODE END EXTI3_IRQn 1 */
}

/**
  * @brief This function handles EXTI line4 interrupt.
  */
void EXTI4_IRQHandler(void)
{
  /* USER CODE BEGIN EXTI4_IRQn 0 */

  /* USER CODE END EXTI4_IRQn 0 */
  HAL_GPIO_EXTI_IRQHandler(INT_ACC_Pin);
  /* USER CODE BEGIN EXTI4_IRQn 1 */

  /* USER CODE END EXTI4_IRQn 1 */
}

/**
  * @brief This function handles DMA1 stream1 global interrupt.
  */
void DMA1_Stream1_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */

  /* USER CODE END DMA1_Stream1_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart3_rx);
  /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */

  /* USER CODE END DMA1_Stream1_IRQn 1 */
}

/**
  * @brief This function handles DMA1 stream2 global interrupt.
  */
void DMA1_Stream2_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */

  /* USER CODE END DMA1_Stream2_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_i2c2_rx);
  /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */

  /* USER CODE END DMA1_Stream2_IRQn 1 */
}

/**
  * @brief This function handles CAN1 RX0 interrupts.
  */
void CAN1_RX0_IRQHandler(void)
{
  /* USER CODE BEGIN CAN1_RX0_IRQn 0 */

  /* USER CODE END CAN1_RX0_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan1);
  /* USER CODE BEGIN CAN1_RX0_IRQn 1 */

  /* USER CODE END CAN1_RX0_IRQn 1 */
}

/**
  * @brief This function handles CAN1 RX1 interrupt.
  */
void CAN1_RX1_IRQHandler(void)
{
  /* USER CODE BEGIN CAN1_RX1_IRQn 0 */

  /* USER CODE END CAN1_RX1_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan1);
  /* USER CODE BEGIN CAN1_RX1_IRQn 1 */

  /* USER CODE END CAN1_RX1_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(INT_GYRO_Pin);
  /* USER CODE BEGIN EXTI9_5_IRQn 1 */

  /* USER CODE END EXTI9_5_IRQn 1 */
}

/**
  * @brief This function handles I2C2 event interrupt.
  */
void I2C2_EV_IRQHandler(void)
{
  /* USER CODE BEGIN I2C2_EV_IRQn 0 */

  /* USER CODE END I2C2_EV_IRQn 0 */
  HAL_I2C_EV_IRQHandler(&hi2c2);
  /* USER CODE BEGIN I2C2_EV_IRQn 1 */

  /* USER CODE END I2C2_EV_IRQn 1 */
}

/**
  * @brief This function handles I2C2 error interrupt.
  */
void I2C2_ER_IRQHandler(void)
{
  /* USER CODE BEGIN I2C2_ER_IRQn 0 */

  /* USER CODE END I2C2_ER_IRQn 0 */
  HAL_I2C_ER_IRQHandler(&hi2c2);
  /* USER CODE BEGIN I2C2_ER_IRQn 1 */

  /* USER CODE END I2C2_ER_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 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 TIM8 trigger and commutation interrupts and TIM14 global interrupt.
  */
void TIM8_TRG_COM_TIM14_IRQHandler(void)
{
  /* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 0 */

  /* USER CODE END TIM8_TRG_COM_TIM14_IRQn 0 */
  HAL_TIM_IRQHandler(&htim8);
  HAL_TIM_IRQHandler(&htim14);
  /* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 1 */

  /* USER CODE END TIM8_TRG_COM_TIM14_IRQn 1 */
}

/**
  * @brief This function handles DMA1 stream7 global interrupt.
  */
void DMA1_Stream7_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */

  /* USER CODE END DMA1_Stream7_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_i2c2_tx);
  /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */

  /* USER CODE END DMA1_Stream7_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_usart6_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 CAN2 RX0 interrupts.
  */
void CAN2_RX0_IRQHandler(void)
{
  /* USER CODE BEGIN CAN2_RX0_IRQn 0 */

  /* USER CODE END CAN2_RX0_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan2);
  /* USER CODE BEGIN CAN2_RX0_IRQn 1 */

  /* USER CODE END CAN2_RX0_IRQn 1 */
}

/**
  * @brief This function handles CAN2 RX1 interrupt.
  */
void CAN2_RX1_IRQHandler(void)
{
  /* USER CODE BEGIN CAN2_RX1_IRQn 0 */

  /* USER CODE END CAN2_RX1_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan2);
  /* USER CODE BEGIN CAN2_RX1_IRQn 1 */

  /* USER CODE END CAN2_RX1_IRQn 1 */
}

/**
  * @brief This function handles USB On The Go FS global interrupt.
  */
void OTG_FS_IRQHandler(void)
{
  /* USER CODE BEGIN OTG_FS_IRQn 0 */

  /* USER CODE END OTG_FS_IRQn 0 */
  HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
  /* USER CODE BEGIN OTG_FS_IRQn 1 */

  /* USER CODE END OTG_FS_IRQn 1 */
}

/**
  * @brief This function handles DMA2 stream5 global interrupt.
  */
void DMA2_Stream5_IRQHandler(void)
{
  /* USER CODE BEGIN DMA2_Stream5_IRQn 0 */

  /* USER CODE END DMA2_Stream5_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart1_rx);
  /* USER CODE BEGIN DMA2_Stream5_IRQn 1 */

  /* USER CODE END DMA2_Stream5_IRQn 1 */
}

/**
  * @brief This function handles DMA2 stream6 global interrupt.
  */
void DMA2_Stream6_IRQHandler(void)
{
  /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */

  /* USER CODE END DMA2_Stream6_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart6_tx);
  /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */

  /* USER CODE END DMA2_Stream6_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 */
}

/**
  * @brief This function handles USART6 global interrupt.
  */
void USART6_IRQHandler(void)
{
  /* USER CODE BEGIN USART6_IRQn 0 */

  /* USER CODE END USART6_IRQn 0 */
  HAL_UART_IRQHandler(&huart6);
  /* USER CODE BEGIN USART6_IRQn 1 */

  /* USER CODE END USART6_IRQn 1 */
}

/**
  * @brief This function handles I2C3 event interrupt.
  */
void I2C3_EV_IRQHandler(void)
{
  /* USER CODE BEGIN I2C3_EV_IRQn 0 */

  /* USER CODE END I2C3_EV_IRQn 0 */
  HAL_I2C_EV_IRQHandler(&hi2c3);
  /* USER CODE BEGIN I2C3_EV_IRQn 1 */

  /* USER CODE END I2C3_EV_IRQn 1 */
}

/**
  * @brief This function handles I2C3 error interrupt.
  */
void I2C3_ER_IRQHandler(void)
{
  /* USER CODE BEGIN I2C3_ER_IRQn 0 */

  /* USER CODE END I2C3_ER_IRQn 0 */
  HAL_I2C_ER_IRQHandler(&hi2c3);
  /* USER CODE BEGIN I2C3_ER_IRQn 1 */

  /* USER CODE END I2C3_ER_IRQn 1 */
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */