348 lines
11 KiB
C
348 lines
11 KiB
C
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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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* This notice applies to any and all portions of this file
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* that are not between comment pairs USER CODE BEGIN and
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* USER CODE END. Other portions of this file, whether
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* inserted by the user or by software development tools
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* are owned by their respective copyright owners.
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*
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* Copyright (c) 2018 STMicroelectronics International N.V.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted, provided that the following conditions are met:
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*
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* 1. Redistribution of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* 3. Neither the name of STMicroelectronics nor the names of other
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* contributors to this software may be used to endorse or promote products
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* derived from this software without specific written permission.
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* 4. This software, including modifications and/or derivative works of this
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* software, must execute solely and exclusively on microcontroller or
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* microprocessor devices manufactured by or for STMicroelectronics.
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* 5. Redistribution and use of this software other than as permitted under
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* this license is void and will automatically terminate your rights under
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* this license.
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*
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* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
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* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
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* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
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* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "stm32f4xx_hal.h"
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#include "cmsis_os.h"
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#include "adc.h"
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#include "can.h"
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#include "dma.h"
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#include "spi.h"
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#include "tim.h"
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#include "usart.h"
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#include "usb_device.h"
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#include "gpio.h"
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/* USER CODE BEGIN Includes */
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#include <MotorControl/odrive_main.h>
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#include "freertos_vars.h"
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#include "i2c.h"
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/* USER CODE END Includes */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* Private variables ---------------------------------------------------------*/
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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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void MX_FREERTOS_Init(void);
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/* USER CODE BEGIN PFP */
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE END PFP */
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/* USER CODE BEGIN 0 */
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uint32_t _reboot_cookie __attribute__ ((section (".noinit")));
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extern char _estack; // provided by the linker script
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// Gets called from the startup assembly code
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void early_start_checks(void) {
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if(_reboot_cookie == 0xDEADFE75) {
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/* The STM DFU bootloader enables internal pull-up resistors on PB10 (AUX_H)
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* and PB11 (AUX_L), thereby causing shoot-through on the brake resistor
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* FETs and obliterating them unless external 3.3k pull-down resistors are
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* present. Pull-downs are only present on ODrive 3.5 or newer.
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* On older boards we disable DFU by default but if the user insists
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* there's only one thing left that might save it: time.
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* The brake resistor gate driver needs a certain 10V supply (GVDD) to
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* make it work. This voltage is supplied by the motor gate drivers which get
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* disabled at system reset. So over time GVDD voltage _should_ below
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* dangerous levels. This is completely handwavy and should not be relied on
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* so you are on your own on if you ignore this warning.
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*
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* This loop takes 5 cycles per iteration and at this point the system runs
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* on the internal 16MHz RC oscillator so the delay is about 2 seconds.
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*/
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for (size_t i = 0; i < (16000000UL / 5UL * 2UL); ++i) {
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__NOP();
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}
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_reboot_cookie = 0xDEADBEEF;
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}
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/* We could jump to the bootloader directly on demand without rebooting
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but that requires us to reset several peripherals and interrupts for it
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to function correctly. Therefore it's easier to just reset the entire chip. */
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if(_reboot_cookie == 0xDEADBEEF) {
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_reboot_cookie = 0xCAFEFEED; //Reset bootloader trigger
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__set_MSP((uintptr_t)&_estack);
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// http://www.st.com/content/ccc/resource/technical/document/application_note/6a/17/92/02/58/98/45/0c/CD00264379.pdf/files/CD00264379.pdf
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void (*builtin_bootloader)(void) = (void (*)(void))(*((uint32_t *)0x1FFF0004));
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builtin_bootloader();
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}
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/* The bootloader might fail to properly clean up after itself,
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so if we're not sure that the system is in a clean state we
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just reset it again */
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if(_reboot_cookie != 42) {
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_reboot_cookie = 42;
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NVIC_SystemReset();
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}
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}
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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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*
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* @retval None
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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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// This procedure of building a USB serial number should be identical
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// to the way the STM's built-in USB bootloader does it. This means
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// that the device will have the same serial number in normal and DFU mode.
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uint32_t uuid0 = *(uint32_t *)(UID_BASE + 0);
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uint32_t uuid1 = *(uint32_t *)(UID_BASE + 4);
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uint32_t uuid2 = *(uint32_t *)(UID_BASE + 8);
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uint32_t uuid_mixed_part = uuid0 + uuid2;
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serial_number = ((uint64_t)uuid_mixed_part << 16) | (uint64_t)(uuid1 >> 16);
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uint64_t val = serial_number;
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for (size_t i = 0; i < 12; ++i) {
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serial_number_str[i] = "0123456789ABCDEF"[(val >> (48-4)) & 0xf];
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val <<= 4;
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}
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serial_number_str[12] = 0;
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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_ADC1_Init();
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MX_ADC2_Init();
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// MX_CAN1_Init(); // CAN or I2C called in main.cpp instead
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MX_TIM1_Init();
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MX_TIM8_Init();
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MX_TIM3_Init();
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MX_TIM4_Init();
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MX_SPI3_Init();
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MX_ADC3_Init();
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MX_TIM2_Init();
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MX_UART4_Init();
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MX_TIM5_Init();
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MX_TIM13_Init();
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/* USER CODE BEGIN 2 */
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//Required to use OC4 for ADC triggering.
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OC4_PWM_Override(&htim1);
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OC4_PWM_Override(&htim8);
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/* USER CODE END 2 */
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/* Call init function for freertos objects (in freertos.c) */
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MX_FREERTOS_Init();
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/* Start scheduler */
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osKernelStart();
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/* We should never get here as control is now taken by the scheduler */
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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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/* 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;
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RCC_ClkInitTypeDef RCC_ClkInitStruct;
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/**Configure the main internal regulator output voltage
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*/
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__HAL_RCC_PWR_CLK_ENABLE();
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
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/**Initializes the CPU, AHB and APB busses clocks
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.LSIState = RCC_LSI_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 = 4;
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RCC_OscInitStruct.PLL.PLLN = 168;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = 7;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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/**Initializes the CPU, AHB and APB busses 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_DIV4;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
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{
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_Error_Handler(__FILE__, __LINE__);
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}
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/**Configure the Systick interrupt time
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*/
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HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
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/**Configure the Systick
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*/
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HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
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/* SysTick_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(SysTick_IRQn, 15, 0);
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}
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/* USER CODE BEGIN 4 */
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/* USER CODE END 4 */
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/**
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* @brief Period elapsed callback in non blocking mode
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* @note This function is called when TIM14 interrupt took place, inside
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* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
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* a global variable "uwTick" used as application time base.
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* @param htim : TIM handle
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* @retval None
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*/
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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{
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/* USER CODE BEGIN Callback 0 */
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/* USER CODE END Callback 0 */
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if (htim->Instance == TIM14) {
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HAL_IncTick();
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}
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/* USER CODE BEGIN Callback 1 */
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/* USER CODE END Callback 1 */
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}
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/**
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* @brief This function is executed in case of error occurrence.
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* @param file: The file name as string.
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* @param line: The line in file as a number.
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* @retval None
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*/
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void _Error_Handler(char *file, int line)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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while(1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t* file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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/**
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* @}
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*/
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/**
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* @}
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*/
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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