862 lines
22 KiB
C
862 lines
22 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "usb_device.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include <stdbool.h>
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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typedef struct EMA_Filter {
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float filtered_sample;
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uint32_t last_sample;
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float coeff;
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} EMA_Filter_t;
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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#define NUM_SLIDERS (6u)
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#define SLIDER_COEFF 0.30f
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#define MAX_PWM_VALUE (1000u)
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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ADC_HandleTypeDef hadc1;
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ADC_HandleTypeDef hadc2;
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DMA_HandleTypeDef hdma_adc1;
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DMA_HandleTypeDef hdma_adc2;
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I2C_HandleTypeDef hi2c1;
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TIM_HandleTypeDef htim1;
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TIM_HandleTypeDef htim2;
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TIM_HandleTypeDef htim3;
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UART_HandleTypeDef huart1;
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/* USER CODE BEGIN PV */
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uint16_t m_adc1[4];
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uint16_t m_adc2[2];
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bool m_adc1_filtered_ready = false;
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bool m_adc2_filtered_ready = false;
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EMA_Filter_t m_slider_filters[NUM_SLIDERS];
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float m_sliders[NUM_SLIDERS];
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MX_GPIO_Init(void);
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static void MX_DMA_Init(void);
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static void MX_I2C1_Init(void);
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static void MX_TIM1_Init(void);
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static void MX_TIM2_Init(void);
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static void MX_TIM3_Init(void);
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static void MX_ADC1_Init(void);
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static void MX_ADC2_Init(void);
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static void MX_USART1_UART_Init(void);
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/* USER CODE BEGIN PFP */
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void filter_adc1(void);
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void filter_adc2(void);
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void set_pwm_outputs(void);
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float map(float x, float in_min, float in_max, float out_min, float out_max);
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_I2C1_Init();
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MX_TIM1_Init();
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MX_TIM2_Init();
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MX_TIM3_Init();
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MX_ADC1_Init();
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MX_ADC2_Init();
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MX_USART1_UART_Init();
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MX_USB_Device_Init();
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/* USER CODE BEGIN 2 */
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// Initialize EMA filters
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for (uint32_t i = 0; i < NUM_SLIDERS; i++)
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{
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m_slider_filters[i].last_sample = 0;
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m_slider_filters[i].coeff = SLIDER_COEFF;
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}
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// ADC setup
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HAL_ADC_Start_DMA(&hadc1, (uint32_t *)m_adc1, 4);
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HAL_ADC_Start_DMA(&hadc2, (uint32_t *)m_adc2, 2);
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HAL_TIM_Base_Start(&htim3);
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// PWM Setup
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htim1.Instance->CCR1 = 0;
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htim1.Instance->CCR2 = 0;
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htim1.Instance->CCR3 = 0;
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htim2.Instance->CCR1 = 0;
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htim2.Instance->CCR2 = 0;
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htim2.Instance->CCR3 = 0;
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
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// PWM setup
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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if ((m_adc1_filtered_ready) == true && (m_adc2_filtered_ready == true))
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{
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// Map ADC value to PWM value
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for(uint32_t i = 0; i < NUM_SLIDERS; i++)
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{
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m_sliders[i] = map(m_slider_filters[i].filtered_sample, 0.0f, 4096.0f, 0.0f, 1000.0f);
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}
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set_pwm_outputs();
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m_adc1_filtered_ready = false;
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m_adc2_filtered_ready = false;
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}
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV4;
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RCC_OscInitStruct.PLL.PLLN = 85;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV6;
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RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/**
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* @brief ADC1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_ADC1_Init(void)
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{
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/* USER CODE BEGIN ADC1_Init 0 */
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/* USER CODE END ADC1_Init 0 */
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ADC_MultiModeTypeDef multimode = {0};
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ADC_ChannelConfTypeDef sConfig = {0};
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/* USER CODE BEGIN ADC1_Init 1 */
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/* USER CODE END ADC1_Init 1 */
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/** Common config
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*/
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hadc1.Instance = ADC1;
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hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
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hadc1.Init.Resolution = ADC_RESOLUTION_12B;
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hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc1.Init.GainCompensation = 0;
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hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
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hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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hadc1.Init.LowPowerAutoWait = DISABLE;
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hadc1.Init.ContinuousConvMode = DISABLE;
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hadc1.Init.NbrOfConversion = 4;
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hadc1.Init.DiscontinuousConvMode = DISABLE;
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hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T3_TRGO;
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hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
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hadc1.Init.DMAContinuousRequests = ENABLE;
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hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
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hadc1.Init.OversamplingMode = DISABLE;
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if (HAL_ADC_Init(&hadc1) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure the ADC multi-mode
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*/
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multimode.Mode = ADC_MODE_INDEPENDENT;
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if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure Regular Channel
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*/
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sConfig.Channel = ADC_CHANNEL_1;
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sConfig.Rank = ADC_REGULAR_RANK_1;
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sConfig.SamplingTime = ADC_SAMPLETIME_6CYCLES_5;
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sConfig.SingleDiff = ADC_SINGLE_ENDED;
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sConfig.OffsetNumber = ADC_OFFSET_NONE;
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sConfig.Offset = 0;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure Regular Channel
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*/
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sConfig.Channel = ADC_CHANNEL_2;
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sConfig.Rank = ADC_REGULAR_RANK_2;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure Regular Channel
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*/
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sConfig.Channel = ADC_CHANNEL_3;
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sConfig.Rank = ADC_REGULAR_RANK_3;
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sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure Regular Channel
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*/
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sConfig.Channel = ADC_CHANNEL_4;
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sConfig.Rank = ADC_REGULAR_RANK_4;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN ADC1_Init 2 */
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/* USER CODE END ADC1_Init 2 */
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}
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/**
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* @brief ADC2 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_ADC2_Init(void)
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{
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/* USER CODE BEGIN ADC2_Init 0 */
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/* USER CODE END ADC2_Init 0 */
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ADC_ChannelConfTypeDef sConfig = {0};
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/* USER CODE BEGIN ADC2_Init 1 */
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/* USER CODE END ADC2_Init 1 */
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/** Common config
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*/
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hadc2.Instance = ADC2;
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hadc2.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
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hadc2.Init.Resolution = ADC_RESOLUTION_12B;
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hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc2.Init.GainCompensation = 0;
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hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
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hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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hadc2.Init.LowPowerAutoWait = DISABLE;
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hadc2.Init.ContinuousConvMode = DISABLE;
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hadc2.Init.NbrOfConversion = 2;
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hadc2.Init.DiscontinuousConvMode = DISABLE;
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hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIG_T3_TRGO;
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hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
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hadc2.Init.DMAContinuousRequests = ENABLE;
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hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED;
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hadc2.Init.OversamplingMode = DISABLE;
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if (HAL_ADC_Init(&hadc2) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure Regular Channel
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*/
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sConfig.Channel = ADC_CHANNEL_17;
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sConfig.Rank = ADC_REGULAR_RANK_1;
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sConfig.SamplingTime = ADC_SAMPLETIME_6CYCLES_5;
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sConfig.SingleDiff = ADC_SINGLE_ENDED;
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sConfig.OffsetNumber = ADC_OFFSET_NONE;
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sConfig.Offset = 0;
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if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure Regular Channel
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*/
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sConfig.Rank = ADC_REGULAR_RANK_2;
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if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN ADC2_Init 2 */
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/* USER CODE END ADC2_Init 2 */
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}
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/**
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* @brief I2C1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_I2C1_Init(void)
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{
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/* USER CODE BEGIN I2C1_Init 0 */
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/* USER CODE END I2C1_Init 0 */
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/* USER CODE BEGIN I2C1_Init 1 */
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/* USER CODE END I2C1_Init 1 */
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hi2c1.Instance = I2C1;
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hi2c1.Init.Timing = 0x30A0A7FB;
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hi2c1.Init.OwnAddress1 = 0;
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hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
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hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
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hi2c1.Init.OwnAddress2 = 0;
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hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
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hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
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hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
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if (HAL_I2C_Init(&hi2c1) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure Analogue filter
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*/
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if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure Digital filter
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*/
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if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN I2C1_Init 2 */
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/* USER CODE END I2C1_Init 2 */
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}
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/**
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* @brief TIM1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM1_Init(void)
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{
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/* USER CODE BEGIN TIM1_Init 0 */
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/* USER CODE END TIM1_Init 0 */
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
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/* USER CODE BEGIN TIM1_Init 1 */
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/* USER CODE END TIM1_Init 1 */
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htim1.Instance = TIM1;
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htim1.Init.Prescaler = 169;
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htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim1.Init.Period = 1000;
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htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim1.Init.RepetitionCounter = 0;
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htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
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if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
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{
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Error_Handler();
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}
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
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if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 0;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
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sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
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{
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Error_Handler();
|
|
}
|
|
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
|
|
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
|
|
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
|
|
sBreakDeadTimeConfig.DeadTime = 0;
|
|
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
|
|
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
|
|
sBreakDeadTimeConfig.BreakFilter = 0;
|
|
sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
|
|
sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
|
|
sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
|
|
sBreakDeadTimeConfig.Break2Filter = 0;
|
|
sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
|
|
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
|
|
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN TIM1_Init 2 */
|
|
|
|
/* USER CODE END TIM1_Init 2 */
|
|
HAL_TIM_MspPostInit(&htim1);
|
|
|
|
}
|
|
|
|
/**
|
|
* @brief TIM2 Initialization Function
|
|
* @param None
|
|
* @retval None
|
|
*/
|
|
static void MX_TIM2_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN TIM2_Init 0 */
|
|
|
|
/* USER CODE END TIM2_Init 0 */
|
|
|
|
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
|
|
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
|
TIM_OC_InitTypeDef sConfigOC = {0};
|
|
|
|
/* USER CODE BEGIN TIM2_Init 1 */
|
|
|
|
/* USER CODE END TIM2_Init 1 */
|
|
htim2.Instance = TIM2;
|
|
htim2.Init.Prescaler = 169;
|
|
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
|
|
htim2.Init.Period = 1000;
|
|
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
|
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
|
|
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
|
|
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
|
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
|
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sConfigOC.OCMode = TIM_OCMODE_PWM1;
|
|
sConfigOC.Pulse = 0;
|
|
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
|
|
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
|
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN TIM2_Init 2 */
|
|
|
|
/* USER CODE END TIM2_Init 2 */
|
|
HAL_TIM_MspPostInit(&htim2);
|
|
|
|
}
|
|
|
|
/**
|
|
* @brief TIM3 Initialization Function
|
|
* @param None
|
|
* @retval None
|
|
*/
|
|
static void MX_TIM3_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN TIM3_Init 0 */
|
|
|
|
/* USER CODE END TIM3_Init 0 */
|
|
|
|
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
|
|
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
|
|
|
/* USER CODE BEGIN TIM3_Init 1 */
|
|
|
|
/* USER CODE END TIM3_Init 1 */
|
|
htim3.Instance = TIM3;
|
|
htim3.Init.Prescaler = 14399;
|
|
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
|
|
htim3.Init.Period = 9999;
|
|
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
|
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
|
if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
|
|
if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
|
|
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
|
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN TIM3_Init 2 */
|
|
|
|
/* USER CODE END TIM3_Init 2 */
|
|
|
|
}
|
|
|
|
/**
|
|
* @brief USART1 Initialization Function
|
|
* @param None
|
|
* @retval None
|
|
*/
|
|
static void MX_USART1_UART_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN USART1_Init 0 */
|
|
|
|
/* USER CODE END USART1_Init 0 */
|
|
|
|
/* USER CODE BEGIN USART1_Init 1 */
|
|
|
|
/* USER CODE END USART1_Init 1 */
|
|
huart1.Instance = USART1;
|
|
huart1.Init.BaudRate = 115200;
|
|
huart1.Init.WordLength = UART_WORDLENGTH_8B;
|
|
huart1.Init.StopBits = UART_STOPBITS_1;
|
|
huart1.Init.Parity = UART_PARITY_NONE;
|
|
huart1.Init.Mode = UART_MODE_TX_RX;
|
|
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
|
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
|
|
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
|
huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
|
|
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
|
if (HAL_UART_Init(&huart1) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN USART1_Init 2 */
|
|
|
|
/* USER CODE END USART1_Init 2 */
|
|
|
|
}
|
|
|
|
/**
|
|
* Enable DMA controller clock
|
|
*/
|
|
static void MX_DMA_Init(void)
|
|
{
|
|
|
|
/* DMA controller clock enable */
|
|
__HAL_RCC_DMAMUX1_CLK_ENABLE();
|
|
__HAL_RCC_DMA1_CLK_ENABLE();
|
|
|
|
/* DMA interrupt init */
|
|
/* DMA1_Channel1_IRQn interrupt configuration */
|
|
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
|
|
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
|
|
/* DMA1_Channel2_IRQn interrupt configuration */
|
|
HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
|
|
HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
|
|
|
|
}
|
|
|
|
/**
|
|
* @brief GPIO Initialization Function
|
|
* @param None
|
|
* @retval None
|
|
*/
|
|
static void MX_GPIO_Init(void)
|
|
{
|
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
|
/* USER CODE BEGIN MX_GPIO_Init_1 */
|
|
/* USER CODE END MX_GPIO_Init_1 */
|
|
|
|
/* GPIO Ports Clock Enable */
|
|
__HAL_RCC_GPIOF_CLK_ENABLE();
|
|
__HAL_RCC_GPIOA_CLK_ENABLE();
|
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
|
__HAL_RCC_GPIOC_CLK_ENABLE();
|
|
|
|
/*Configure GPIO pins : PB11 PB12 PB13 PB14
|
|
PB15 */
|
|
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14
|
|
|GPIO_PIN_15;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
|
|
/*Configure GPIO pin : PC6 */
|
|
GPIO_InitStruct.Pin = GPIO_PIN_6;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
|
|
|
/* USER CODE BEGIN MX_GPIO_Init_2 */
|
|
/* USER CODE END MX_GPIO_Init_2 */
|
|
}
|
|
|
|
/* USER CODE BEGIN 4 */
|
|
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
|
|
{
|
|
if (hadc->Instance == ADC1)
|
|
{
|
|
filter_adc1();
|
|
}
|
|
else if (hadc->Instance == ADC2)
|
|
{
|
|
filter_adc2();
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
*
|
|
*/
|
|
void filter_adc1(void)
|
|
{
|
|
for (uint32_t i = 0; i < 4; i++)
|
|
{
|
|
// EMA
|
|
m_slider_filters[i].filtered_sample = (m_adc1[i] * m_slider_filters[i].coeff) + ((1 - m_slider_filters[i].coeff) * m_slider_filters[i].last_sample);
|
|
// Store current sample for next time
|
|
m_slider_filters[i].last_sample = m_adc1[i];
|
|
|
|
m_adc1_filtered_ready = true;
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
*
|
|
*/
|
|
void filter_adc2(void)
|
|
{
|
|
for (uint32_t i = 4; i < NUM_SLIDERS; i++)
|
|
{
|
|
// EMA
|
|
m_slider_filters[i].filtered_sample = (m_adc1[i] * m_slider_filters[i].coeff) + ((1 - m_slider_filters[i].coeff) * m_slider_filters[i].last_sample);
|
|
// Store current sample for next time
|
|
m_slider_filters[i].last_sample = m_adc1[i];
|
|
|
|
m_adc2_filtered_ready = true;
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
*
|
|
*/
|
|
void set_pwm_outputs(void)
|
|
{
|
|
htim1.Instance->CCR1 = (uint32_t)m_sliders[0];
|
|
htim1.Instance->CCR2 = (uint32_t)m_sliders[1];
|
|
htim1.Instance->CCR3 = (uint32_t)m_sliders[2];
|
|
|
|
htim2.Instance->CCR1 = (uint32_t)m_sliders[3];
|
|
htim2.Instance->CCR2 = (uint32_t)m_sliders[4];
|
|
htim2.Instance->CCR3 = (uint32_t)m_sliders[5];
|
|
}
|
|
|
|
|
|
/*
|
|
*
|
|
*/
|
|
float map(float x, float in_min, float in_max, float out_min, float out_max)
|
|
{
|
|
return ((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min);
|
|
}
|
|
|
|
|
|
/* USER CODE END 4 */
|
|
|
|
/**
|
|
* @brief This function is executed in case of error occurrence.
|
|
* @retval None
|
|
*/
|
|
void Error_Handler(void)
|
|
{
|
|
/* USER CODE BEGIN Error_Handler_Debug */
|
|
/* User can add his own implementation to report the HAL error return state */
|
|
__disable_irq();
|
|
while (1)
|
|
{
|
|
}
|
|
/* USER CODE END Error_Handler_Debug */
|
|
}
|
|
|
|
#ifdef USE_FULL_ASSERT
|
|
/**
|
|
* @brief Reports the name of the source file and the source line number
|
|
* where the assert_param error has occurred.
|
|
* @param file: pointer to the source file name
|
|
* @param line: assert_param error line source number
|
|
* @retval None
|
|
*/
|
|
void assert_failed(uint8_t *file, uint32_t line)
|
|
{
|
|
/* USER CODE BEGIN 6 */
|
|
/* User can add his own implementation to report the file name and line number,
|
|
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
|
|
/* USER CODE END 6 */
|
|
}
|
|
#endif /* USE_FULL_ASSERT */
|