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| Rev | Author | Line No. | Line |
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| 2 | mjames | 1 | /* USER CODE BEGIN Header */ |
| 2 | /** |
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| 3 | ****************************************************************************** |
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| 4 | * @file : main.c |
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| 5 | * @brief : Main program body |
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| 6 | ****************************************************************************** |
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| 7 | * @attention |
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| 8 | * |
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| 9 | * <h2><center>© Copyright (c) 2020 STMicroelectronics. |
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| 10 | * All rights reserved.</center></h2> |
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| 11 | * |
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| 12 | * This software component is licensed by ST under BSD 3-Clause license, |
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| 13 | * the "License"; You may not use this file except in compliance with the |
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| 14 | * License. You may obtain a copy of the License at: |
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| 15 | * opensource.org/licenses/BSD-3-Clause |
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| 16 | * |
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| 17 | ****************************************************************************** |
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| 18 | */ |
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| 19 | /* USER CODE END Header */ |
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| 20 | /* Includes ------------------------------------------------------------------*/ |
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| 21 | #include "main.h" |
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| 22 | |||
| 23 | /* Private includes ----------------------------------------------------------*/ |
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| 24 | /* USER CODE BEGIN Includes */ |
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| 25 | #include "libSerial/serial.h" |
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| 26 | #include "nmea.h" |
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| 6 | mjames | 27 | #include "display.h" |
| 2 | mjames | 28 | /* USER CODE END Includes */ |
| 29 | |||
| 30 | /* Private typedef -----------------------------------------------------------*/ |
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| 31 | /* USER CODE BEGIN PTD */ |
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| 32 | |||
| 33 | /* USER CODE END PTD */ |
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| 34 | |||
| 35 | /* Private define ------------------------------------------------------------*/ |
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| 36 | /* USER CODE BEGIN PD */ |
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| 37 | /* USER CODE END PD */ |
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| 38 | |||
| 39 | /* Private macro -------------------------------------------------------------*/ |
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| 40 | /* USER CODE BEGIN PM */ |
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| 41 | |||
| 42 | /* USER CODE END PM */ |
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| 43 | |||
| 44 | /* Private variables ---------------------------------------------------------*/ |
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| 45 | CAN_HandleTypeDef hcan; |
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| 46 | |||
| 47 | SPI_HandleTypeDef hspi1; |
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| 48 | |||
| 49 | TIM_HandleTypeDef htim4; |
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| 50 | |||
| 51 | UART_HandleTypeDef huart1; |
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| 52 | |||
| 53 | /* USER CODE BEGIN PV */ |
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| 54 | |||
| 55 | /* USER CODE END PV */ |
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| 56 | |||
| 57 | /* Private function prototypes -----------------------------------------------*/ |
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| 6 | mjames | 58 | void |
| 59 | SystemClock_Config (void); |
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| 60 | static void |
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| 61 | MX_GPIO_Init (void); |
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| 62 | static void |
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| 63 | MX_CAN_Init (void); |
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| 64 | static void |
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| 65 | MX_SPI1_Init (void); |
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| 66 | static void |
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| 67 | MX_TIM4_Init (void); |
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| 68 | static void |
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| 69 | MX_USART1_UART_Init (void); |
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| 2 | mjames | 70 | /* USER CODE BEGIN PFP */ |
| 71 | |||
| 72 | /* USER CODE END PFP */ |
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| 73 | |||
| 74 | /* Private user code ---------------------------------------------------------*/ |
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| 75 | /* USER CODE BEGIN 0 */ |
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| 76 | |||
| 77 | /* USER CODE END 0 */ |
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| 78 | |||
| 79 | /** |
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| 6 | mjames | 80 | * @brief The application entry point. |
| 81 | * @retval int |
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| 82 | */ |
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| 83 | int |
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| 84 | main (void) |
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| 2 | mjames | 85 | { |
| 86 | /* USER CODE BEGIN 1 */ |
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| 87 | |||
| 88 | /* USER CODE END 1 */ |
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| 89 | |||
| 90 | /* MCU Configuration--------------------------------------------------------*/ |
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| 91 | |||
| 92 | /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ |
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| 6 | mjames | 93 | HAL_Init (); |
| 2 | mjames | 94 | |
| 95 | /* USER CODE BEGIN Init */ |
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| 96 | |||
| 97 | /* USER CODE END Init */ |
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| 98 | |||
| 99 | /* Configure the system clock */ |
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| 6 | mjames | 100 | SystemClock_Config (); |
| 2 | mjames | 101 | |
| 102 | /* USER CODE BEGIN SysInit */ |
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| 103 | |||
| 104 | /* USER CODE END SysInit */ |
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| 105 | |||
| 106 | /* Initialize all configured peripherals */ |
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| 6 | mjames | 107 | MX_GPIO_Init (); |
| 108 | MX_CAN_Init (); |
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| 109 | MX_SPI1_Init (); |
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| 110 | MX_TIM4_Init (); |
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| 111 | MX_USART1_UART_Init (); |
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| 2 | mjames | 112 | /* USER CODE BEGIN 2 */ |
| 113 | __HAL_RCC_USART1_CLK_ENABLE(); |
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| 114 | /* setup the USART control blocks */ |
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| 6 | mjames | 115 | init_usart_ctl (&uc1, huart1.Instance); |
| 2 | mjames | 116 | |
| 117 | EnableSerialRxInterrupt (&uc1); |
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| 118 | |||
| 6 | mjames | 119 | cc_init (); |
| 120 | HAL_Delay (1000); |
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| 2 | mjames | 121 | /* USER CODE END 2 */ |
| 122 | |||
| 123 | /* Infinite loop */ |
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| 124 | /* USER CODE BEGIN WHILE */ |
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| 125 | while (1) |
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| 126 | { |
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| 6 | mjames | 127 | cc_run (); |
| 2 | mjames | 128 | |
| 6 | mjames | 129 | Location loc; |
| 130 | uint8_t stat = updateLocation (&loc); |
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| 2 | mjames | 131 | |
| 6 | mjames | 132 | HAL_Delay (10); |
| 5 | mjames | 133 | |
| 6 | mjames | 134 | /* USER CODE END WHILE */ |
| 5 | mjames | 135 | |
| 6 | mjames | 136 | /* USER CODE BEGIN 3 */ |
| 2 | mjames | 137 | } |
| 138 | /* USER CODE END 3 */ |
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| 139 | } |
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| 140 | |||
| 141 | /** |
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| 6 | mjames | 142 | * @brief System Clock Configuration |
| 143 | * @retval None |
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| 144 | */ |
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| 145 | void |
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| 146 | SystemClock_Config (void) |
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| 2 | mjames | 147 | { |
| 6 | mjames | 148 | RCC_OscInitTypeDef RCC_OscInitStruct = |
| 149 | { 0 }; |
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| 150 | RCC_ClkInitTypeDef RCC_ClkInitStruct = |
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| 151 | { 0 }; |
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| 2 | mjames | 152 | |
| 153 | /** Initializes the RCC Oscillators according to the specified parameters |
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| 6 | mjames | 154 | * in the RCC_OscInitTypeDef structure. |
| 155 | */ |
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| 2 | mjames | 156 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; |
| 157 | RCC_OscInitStruct.HSEState = RCC_HSE_ON; |
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| 158 | RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; |
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| 159 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
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| 160 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
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| 161 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; |
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| 162 | RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL8; |
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| 6 | mjames | 163 | if (HAL_RCC_OscConfig (&RCC_OscInitStruct) != HAL_OK) |
| 164 | { |
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| 165 | Error_Handler (); |
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| 166 | } |
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| 2 | mjames | 167 | /** Initializes the CPU, AHB and APB buses clocks |
| 6 | mjames | 168 | */ |
| 169 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
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| 170 | | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2; |
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| 2 | mjames | 171 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
| 172 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
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| 173 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; |
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| 174 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; |
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| 175 | |||
| 6 | mjames | 176 | if (HAL_RCC_ClockConfig (&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) |
| 177 | { |
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| 178 | Error_Handler (); |
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| 179 | } |
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| 2 | mjames | 180 | } |
| 181 | |||
| 182 | /** |
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| 6 | mjames | 183 | * @brief CAN Initialization Function |
| 184 | * @param None |
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| 185 | * @retval None |
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| 186 | */ |
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| 187 | static void |
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| 188 | MX_CAN_Init (void) |
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| 2 | mjames | 189 | { |
| 190 | |||
| 191 | /* USER CODE BEGIN CAN_Init 0 */ |
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| 192 | |||
| 193 | /* USER CODE END CAN_Init 0 */ |
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| 194 | |||
| 195 | /* USER CODE BEGIN CAN_Init 1 */ |
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| 196 | |||
| 197 | /* USER CODE END CAN_Init 1 */ |
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| 198 | hcan.Instance = CAN1; |
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| 199 | hcan.Init.Prescaler = 16; |
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| 200 | hcan.Init.Mode = CAN_MODE_NORMAL; |
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| 201 | hcan.Init.SyncJumpWidth = CAN_SJW_1TQ; |
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| 202 | hcan.Init.TimeSeg1 = CAN_BS1_1TQ; |
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| 203 | hcan.Init.TimeSeg2 = CAN_BS2_1TQ; |
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| 204 | hcan.Init.TimeTriggeredMode = DISABLE; |
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| 205 | hcan.Init.AutoBusOff = DISABLE; |
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| 206 | hcan.Init.AutoWakeUp = DISABLE; |
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| 207 | hcan.Init.AutoRetransmission = DISABLE; |
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| 208 | hcan.Init.ReceiveFifoLocked = DISABLE; |
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| 209 | hcan.Init.TransmitFifoPriority = DISABLE; |
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| 6 | mjames | 210 | if (HAL_CAN_Init (&hcan) != HAL_OK) |
| 211 | { |
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| 212 | Error_Handler (); |
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| 213 | } |
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| 2 | mjames | 214 | /* USER CODE BEGIN CAN_Init 2 */ |
| 215 | |||
| 216 | /* USER CODE END CAN_Init 2 */ |
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| 217 | |||
| 218 | } |
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| 219 | |||
| 220 | /** |
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| 6 | mjames | 221 | * @brief SPI1 Initialization Function |
| 222 | * @param None |
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| 223 | * @retval None |
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| 224 | */ |
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| 225 | static void |
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| 226 | MX_SPI1_Init (void) |
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| 2 | mjames | 227 | { |
| 228 | |||
| 229 | /* USER CODE BEGIN SPI1_Init 0 */ |
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| 230 | |||
| 231 | /* USER CODE END SPI1_Init 0 */ |
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| 232 | |||
| 233 | /* USER CODE BEGIN SPI1_Init 1 */ |
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| 234 | |||
| 235 | /* USER CODE END SPI1_Init 1 */ |
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| 236 | /* SPI1 parameter configuration*/ |
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| 237 | hspi1.Instance = SPI1; |
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| 238 | hspi1.Init.Mode = SPI_MODE_MASTER; |
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| 239 | hspi1.Init.Direction = SPI_DIRECTION_1LINE; |
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| 240 | hspi1.Init.DataSize = SPI_DATASIZE_8BIT; |
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| 5 | mjames | 241 | hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH; |
| 242 | hspi1.Init.CLKPhase = SPI_PHASE_2EDGE; |
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| 2 | mjames | 243 | hspi1.Init.NSS = SPI_NSS_SOFT; |
| 244 | hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; |
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| 245 | hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; |
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| 246 | hspi1.Init.TIMode = SPI_TIMODE_DISABLE; |
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| 247 | hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; |
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| 248 | hspi1.Init.CRCPolynomial = 10; |
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| 6 | mjames | 249 | if (HAL_SPI_Init (&hspi1) != HAL_OK) |
| 250 | { |
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| 251 | Error_Handler (); |
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| 252 | } |
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| 2 | mjames | 253 | /* USER CODE BEGIN SPI1_Init 2 */ |
| 254 | |||
| 255 | /* USER CODE END SPI1_Init 2 */ |
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| 256 | |||
| 257 | } |
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| 258 | |||
| 259 | /** |
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| 6 | mjames | 260 | * @brief TIM4 Initialization Function |
| 261 | * @param None |
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| 262 | * @retval None |
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| 263 | */ |
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| 264 | static void |
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| 265 | MX_TIM4_Init (void) |
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| 2 | mjames | 266 | { |
| 267 | |||
| 268 | /* USER CODE BEGIN TIM4_Init 0 */ |
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| 269 | |||
| 270 | /* USER CODE END TIM4_Init 0 */ |
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| 271 | |||
| 6 | mjames | 272 | TIM_Encoder_InitTypeDef sConfig = |
| 273 | { 0 }; |
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| 274 | TIM_MasterConfigTypeDef sMasterConfig = |
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| 275 | { 0 }; |
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| 2 | mjames | 276 | |
| 277 | /* USER CODE BEGIN TIM4_Init 1 */ |
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| 278 | |||
| 279 | /* USER CODE END TIM4_Init 1 */ |
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| 280 | htim4.Instance = TIM4; |
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| 281 | htim4.Init.Prescaler = 0; |
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| 282 | htim4.Init.CounterMode = TIM_COUNTERMODE_UP; |
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| 283 | htim4.Init.Period = 65535; |
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| 284 | htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; |
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| 285 | htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; |
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| 286 | sConfig.EncoderMode = TIM_ENCODERMODE_TI12; |
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| 287 | sConfig.IC1Polarity = TIM_ICPOLARITY_RISING; |
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| 288 | sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI; |
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| 289 | sConfig.IC1Prescaler = TIM_ICPSC_DIV1; |
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| 290 | sConfig.IC1Filter = 8; |
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| 291 | sConfig.IC2Polarity = TIM_ICPOLARITY_RISING; |
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| 292 | sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI; |
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| 293 | sConfig.IC2Prescaler = TIM_ICPSC_DIV1; |
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| 294 | sConfig.IC2Filter = 8; |
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| 6 | mjames | 295 | if (HAL_TIM_Encoder_Init (&htim4, &sConfig) != HAL_OK) |
| 296 | { |
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| 297 | Error_Handler (); |
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| 298 | } |
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| 2 | mjames | 299 | sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; |
| 300 | sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; |
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| 6 | mjames | 301 | if (HAL_TIMEx_MasterConfigSynchronization (&htim4, &sMasterConfig) != HAL_OK) |
| 302 | { |
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| 303 | Error_Handler (); |
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| 304 | } |
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| 2 | mjames | 305 | /* USER CODE BEGIN TIM4_Init 2 */ |
| 306 | |||
| 307 | /* USER CODE END TIM4_Init 2 */ |
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| 308 | |||
| 309 | } |
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| 310 | |||
| 311 | /** |
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| 6 | mjames | 312 | * @brief USART1 Initialization Function |
| 313 | * @param None |
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| 314 | * @retval None |
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| 315 | */ |
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| 316 | static void |
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| 317 | MX_USART1_UART_Init (void) |
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| 2 | mjames | 318 | { |
| 319 | |||
| 320 | /* USER CODE BEGIN USART1_Init 0 */ |
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| 321 | |||
| 322 | /* USER CODE END USART1_Init 0 */ |
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| 323 | |||
| 324 | /* USER CODE BEGIN USART1_Init 1 */ |
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| 325 | |||
| 326 | /* USER CODE END USART1_Init 1 */ |
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| 327 | huart1.Instance = USART1; |
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| 328 | huart1.Init.BaudRate = 115200; |
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| 329 | huart1.Init.WordLength = UART_WORDLENGTH_8B; |
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| 330 | huart1.Init.StopBits = UART_STOPBITS_1; |
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| 331 | huart1.Init.Parity = UART_PARITY_NONE; |
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| 332 | huart1.Init.Mode = UART_MODE_TX_RX; |
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| 333 | huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; |
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| 334 | huart1.Init.OverSampling = UART_OVERSAMPLING_16; |
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| 6 | mjames | 335 | if (HAL_UART_Init (&huart1) != HAL_OK) |
| 336 | { |
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| 337 | Error_Handler (); |
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| 338 | } |
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| 2 | mjames | 339 | /* USER CODE BEGIN USART1_Init 2 */ |
| 340 | |||
| 341 | /* USER CODE END USART1_Init 2 */ |
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| 342 | |||
| 343 | } |
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| 344 | |||
| 345 | /** |
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| 6 | mjames | 346 | * @brief GPIO Initialization Function |
| 347 | * @param None |
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| 348 | * @retval None |
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| 349 | */ |
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| 350 | static void |
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| 351 | MX_GPIO_Init (void) |
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| 2 | mjames | 352 | { |
| 6 | mjames | 353 | GPIO_InitTypeDef GPIO_InitStruct = |
| 354 | { 0 }; |
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| 2 | mjames | 355 | |
| 356 | /* GPIO Ports Clock Enable */ |
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| 5 | mjames | 357 | __HAL_RCC_GPIOC_CLK_ENABLE(); |
| 2 | mjames | 358 | __HAL_RCC_GPIOD_CLK_ENABLE(); |
| 359 | __HAL_RCC_GPIOA_CLK_ENABLE(); |
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| 360 | __HAL_RCC_GPIOB_CLK_ENABLE(); |
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| 361 | |||
| 362 | /*Configure GPIO pin Output Level */ |
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| 6 | mjames | 363 | HAL_GPIO_WritePin (GPIOC, SPI_CD_Pin | SPI_RESET_Pin, GPIO_PIN_RESET); |
| 2 | mjames | 364 | |
| 365 | /*Configure GPIO pin Output Level */ |
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| 6 | mjames | 366 | HAL_GPIO_WritePin (SPI_NSS1_GPIO_Port, SPI_NSS1_Pin, GPIO_PIN_RESET); |
| 2 | mjames | 367 | |
| 5 | mjames | 368 | /*Configure GPIO pins : SPI_CD_Pin SPI_RESET_Pin */ |
| 6 | mjames | 369 | GPIO_InitStruct.Pin = SPI_CD_Pin | SPI_RESET_Pin; |
| 2 | mjames | 370 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; |
| 371 | GPIO_InitStruct.Pull = GPIO_NOPULL; |
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| 372 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; |
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| 6 | mjames | 373 | HAL_GPIO_Init (GPIOC, &GPIO_InitStruct); |
| 2 | mjames | 374 | |
| 5 | mjames | 375 | /*Configure GPIO pin : SPI_NSS1_Pin */ |
| 376 | GPIO_InitStruct.Pin = SPI_NSS1_Pin; |
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| 2 | mjames | 377 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; |
| 378 | GPIO_InitStruct.Pull = GPIO_NOPULL; |
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| 379 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; |
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| 6 | mjames | 380 | HAL_GPIO_Init (SPI_NSS1_GPIO_Port, &GPIO_InitStruct); |
| 2 | mjames | 381 | |
| 382 | } |
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| 383 | |||
| 384 | /* USER CODE BEGIN 4 */ |
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| 385 | |||
| 386 | /* USER CODE END 4 */ |
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| 387 | |||
| 388 | /** |
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| 6 | mjames | 389 | * @brief This function is executed in case of error occurrence. |
| 390 | * @retval None |
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| 391 | */ |
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| 392 | void |
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| 393 | Error_Handler (void) |
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| 2 | mjames | 394 | { |
| 395 | /* USER CODE BEGIN Error_Handler_Debug */ |
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| 396 | /* User can add his own implementation to report the HAL error return state */ |
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| 397 | |||
| 398 | /* USER CODE END Error_Handler_Debug */ |
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| 399 | } |
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| 400 | |||
| 401 | #ifdef USE_FULL_ASSERT |
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| 402 | /** |
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| 403 | * @brief Reports the name of the source file and the source line number |
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| 404 | * where the assert_param error has occurred. |
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| 405 | * @param file: pointer to the source file name |
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| 406 | * @param line: assert_param error line source number |
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| 407 | * @retval None |
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| 408 | */ |
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| 409 | void assert_failed(uint8_t *file, uint32_t line) |
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| 410 | { |
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| 411 | /* USER CODE BEGIN 6 */ |
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| 412 | /* User can add his own implementation to report the file name and line number, |
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| 413 | tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ |
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| 414 | /* USER CODE END 6 */ |
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| 415 | } |
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| 416 | #endif /* USE_FULL_ASSERT */ |
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| 417 | |||
| 418 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |