#include "M451Series.h"
#include "global.h"



/**
 * @brief       PWM0 IRQ Handler
 *
 * @param       None
 *
 * @return      None
 *
 * @details     ISR to handle PWM0 interrupt event
 */
uint32_t cnt = 0;
uint32_t out = 0;
uint32_t X_AxisStep = 0;

void PWM0P0_IRQHandler(void)
{
	  static uint32_t lastStep = 0;
		if (X_AxisStep > 0){
			X_AxisStep--;
		}
		if((X_AxisStep > 0) && (lastStep <= 0)){
			PWM_EnableOutput(PWM0, PWM_CH_0_MASK | PWM_CH_1_MASK | PWM_CH_2_MASK | PWM_CH_3_MASK);
		}else if((X_AxisStep <= 0) && (lastStep > 0)){
			PWM_DisableOutput(PWM0, PWM_CH_0_MASK | PWM_CH_1_MASK | PWM_CH_2_MASK | PWM_CH_3_MASK);
		}
		lastStep = X_AxisStep;

    // Clear channel 0 period interrupt flag
    PWM_ClearPeriodIntFlag(PWM0, 0);
}


/**
 * @brief       GPIO PB IRQ
 *
 * @param       None
 *
 * @return      None
 *
 * @details     The PB default IRQ, declared in startup_M451Series.s.
 */
void GPB_IRQHandler(void)
{
    /* To check if PB.2 interrupt occurred */
    if(GPIO_GET_INT_FLAG(PB, BIT2))
    {
				X_AxisStep = 200;
        GPIO_CLR_INT_FLAG(PB, BIT2);
        printf("PB.2 INT occurred.\n");
    }
    else
    {
        /* Un-expected interrupt. Just clear all PB interrupts */
        PB->INTSRC = PB->INTSRC;
        printf("Un-expected interrupts.\n");
    }
}

/**
 * @brief       GPIO PC IRQ
 *
 * @param       None
 *
 * @return      None
 *
 * @details     The PC default IRQ, declared in startup_M451Series.s.
 */
void GPC_IRQHandler(void)
{
    /* To check if PC.5 interrupt occurred */
    if(GPIO_GET_INT_FLAG(PC, BIT5))
    {
				X_AxisStep = 200;
        GPIO_CLR_INT_FLAG(PC, BIT5);
        printf("PC.5 INT occurred.\n");
    }
    else
    {
        /* Un-expected interrupt. Just clear all PC interrupts */
        PC->INTSRC = PC->INTSRC;
        printf("Un-expected interrupts.\n");
    }
}