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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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| 9 | mjames | 26 | |
| 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 | |||
| 9 | mjames | 49 | TIM_HandleTypeDef htim3; |
| 2 | mjames | 50 | TIM_HandleTypeDef htim4; |
| 51 | |||
| 52 | UART_HandleTypeDef huart1; |
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| 53 | |||
| 54 | /* USER CODE BEGIN PV */ |
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| 55 | |||
| 56 | /* USER CODE END PV */ |
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| 57 | |||
| 58 | /* Private function prototypes -----------------------------------------------*/ |
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| 9 | mjames | 59 | void SystemClock_Config(void); |
| 60 | static void MX_GPIO_Init(void); |
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| 61 | static void MX_CAN_Init(void); |
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| 62 | static void MX_SPI1_Init(void); |
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| 63 | static void MX_TIM4_Init(void); |
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| 64 | static void MX_USART1_UART_Init(void); |
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| 65 | static void MX_TIM3_Init(void); |
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| 2 | mjames | 66 | /* USER CODE BEGIN PFP */ |
| 67 | |||
| 68 | /* USER CODE END PFP */ |
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| 69 | |||
| 70 | /* Private user code ---------------------------------------------------------*/ |
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| 71 | /* USER CODE BEGIN 0 */ |
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| 72 | |||
| 73 | /* USER CODE END 0 */ |
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| 74 | |||
| 75 | /** |
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| 9 | mjames | 76 | * @brief The application entry point. |
| 77 | * @retval int |
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| 78 | */ |
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| 79 | int main(void) |
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| 2 | mjames | 80 | { |
| 81 | /* USER CODE BEGIN 1 */ |
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| 82 | |||
| 83 | /* USER CODE END 1 */ |
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| 84 | |||
| 85 | /* MCU Configuration--------------------------------------------------------*/ |
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| 86 | |||
| 87 | /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ |
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| 9 | mjames | 88 | HAL_Init(); |
| 2 | mjames | 89 | |
| 90 | /* USER CODE BEGIN Init */ |
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| 91 | |||
| 92 | /* USER CODE END Init */ |
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| 93 | |||
| 94 | /* Configure the system clock */ |
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| 9 | mjames | 95 | SystemClock_Config(); |
| 2 | mjames | 96 | |
| 97 | /* USER CODE BEGIN SysInit */ |
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| 98 | |||
| 99 | /* USER CODE END SysInit */ |
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| 100 | |||
| 101 | /* Initialize all configured peripherals */ |
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| 9 | mjames | 102 | MX_GPIO_Init(); |
| 103 | MX_CAN_Init(); |
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| 104 | MX_SPI1_Init(); |
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| 105 | MX_TIM4_Init(); |
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| 106 | MX_USART1_UART_Init(); |
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| 107 | MX_TIM3_Init(); |
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| 2 | mjames | 108 | /* USER CODE BEGIN 2 */ |
| 109 | __HAL_RCC_USART1_CLK_ENABLE(); |
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| 110 | /* setup the USART control blocks */ |
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| 6 | mjames | 111 | init_usart_ctl (&uc1, huart1.Instance); |
| 2 | mjames | 112 | |
| 113 | EnableSerialRxInterrupt (&uc1); |
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| 114 | |||
| 6 | mjames | 115 | cc_init (); |
| 116 | HAL_Delay (1000); |
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| 2 | mjames | 117 | /* USER CODE END 2 */ |
| 118 | |||
| 119 | /* Infinite loop */ |
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| 120 | /* USER CODE BEGIN WHILE */ |
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| 121 | while (1) |
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| 122 | { |
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| 6 | mjames | 123 | cc_run (); |
| 2 | mjames | 124 | |
| 125 | |||
| 9 | mjames | 126 | HAL_Delay (50); |
| 5 | mjames | 127 | |
| 9 | mjames | 128 | /* USER CODE END WHILE */ |
| 5 | mjames | 129 | |
| 9 | mjames | 130 | /* USER CODE BEGIN 3 */ |
| 2 | mjames | 131 | } |
| 132 | /* USER CODE END 3 */ |
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| 133 | } |
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| 134 | |||
| 135 | /** |
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| 9 | mjames | 136 | * @brief System Clock Configuration |
| 137 | * @retval None |
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| 138 | */ |
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| 139 | void SystemClock_Config(void) |
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| 2 | mjames | 140 | { |
| 9 | mjames | 141 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
| 142 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
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| 2 | mjames | 143 | |
| 144 | /** Initializes the RCC Oscillators according to the specified parameters |
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| 9 | mjames | 145 | * in the RCC_OscInitTypeDef structure. |
| 146 | */ |
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| 2 | mjames | 147 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; |
| 148 | RCC_OscInitStruct.HSEState = RCC_HSE_ON; |
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| 149 | RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; |
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| 150 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
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| 151 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
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| 152 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; |
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| 153 | RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL8; |
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| 9 | mjames | 154 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) |
| 155 | { |
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| 156 | Error_Handler(); |
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| 157 | } |
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| 2 | mjames | 158 | /** Initializes the CPU, AHB and APB buses clocks |
| 9 | mjames | 159 | */ |
| 160 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
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| 161 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
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| 2 | mjames | 162 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
| 163 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
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| 164 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; |
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| 165 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; |
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| 166 | |||
| 9 | mjames | 167 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) |
| 168 | { |
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| 169 | Error_Handler(); |
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| 170 | } |
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| 2 | mjames | 171 | } |
| 172 | |||
| 173 | /** |
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| 9 | mjames | 174 | * @brief CAN Initialization Function |
| 175 | * @param None |
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| 176 | * @retval None |
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| 177 | */ |
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| 178 | static void MX_CAN_Init(void) |
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| 2 | mjames | 179 | { |
| 180 | |||
| 181 | /* USER CODE BEGIN CAN_Init 0 */ |
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| 182 | |||
| 183 | /* USER CODE END CAN_Init 0 */ |
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| 184 | |||
| 185 | /* USER CODE BEGIN CAN_Init 1 */ |
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| 186 | |||
| 187 | /* USER CODE END CAN_Init 1 */ |
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| 188 | hcan.Instance = CAN1; |
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| 189 | hcan.Init.Prescaler = 16; |
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| 190 | hcan.Init.Mode = CAN_MODE_NORMAL; |
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| 191 | hcan.Init.SyncJumpWidth = CAN_SJW_1TQ; |
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| 192 | hcan.Init.TimeSeg1 = CAN_BS1_1TQ; |
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| 193 | hcan.Init.TimeSeg2 = CAN_BS2_1TQ; |
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| 194 | hcan.Init.TimeTriggeredMode = DISABLE; |
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| 195 | hcan.Init.AutoBusOff = DISABLE; |
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| 196 | hcan.Init.AutoWakeUp = DISABLE; |
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| 197 | hcan.Init.AutoRetransmission = DISABLE; |
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| 198 | hcan.Init.ReceiveFifoLocked = DISABLE; |
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| 199 | hcan.Init.TransmitFifoPriority = DISABLE; |
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| 9 | mjames | 200 | if (HAL_CAN_Init(&hcan) != HAL_OK) |
| 201 | { |
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| 202 | Error_Handler(); |
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| 203 | } |
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| 2 | mjames | 204 | /* USER CODE BEGIN CAN_Init 2 */ |
| 205 | |||
| 206 | /* USER CODE END CAN_Init 2 */ |
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| 207 | |||
| 208 | } |
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| 209 | |||
| 210 | /** |
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| 9 | mjames | 211 | * @brief SPI1 Initialization Function |
| 212 | * @param None |
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| 213 | * @retval None |
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| 214 | */ |
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| 215 | static void MX_SPI1_Init(void) |
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| 2 | mjames | 216 | { |
| 217 | |||
| 218 | /* USER CODE BEGIN SPI1_Init 0 */ |
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| 219 | |||
| 220 | /* USER CODE END SPI1_Init 0 */ |
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| 221 | |||
| 222 | /* USER CODE BEGIN SPI1_Init 1 */ |
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| 223 | |||
| 224 | /* USER CODE END SPI1_Init 1 */ |
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| 225 | /* SPI1 parameter configuration*/ |
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| 226 | hspi1.Instance = SPI1; |
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| 227 | hspi1.Init.Mode = SPI_MODE_MASTER; |
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| 228 | hspi1.Init.Direction = SPI_DIRECTION_1LINE; |
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| 229 | hspi1.Init.DataSize = SPI_DATASIZE_8BIT; |
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| 5 | mjames | 230 | hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH; |
| 231 | hspi1.Init.CLKPhase = SPI_PHASE_2EDGE; |
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| 2 | mjames | 232 | hspi1.Init.NSS = SPI_NSS_SOFT; |
| 233 | hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; |
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| 234 | hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; |
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| 235 | hspi1.Init.TIMode = SPI_TIMODE_DISABLE; |
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| 236 | hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; |
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| 237 | hspi1.Init.CRCPolynomial = 10; |
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| 9 | mjames | 238 | if (HAL_SPI_Init(&hspi1) != HAL_OK) |
| 239 | { |
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| 240 | Error_Handler(); |
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| 241 | } |
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| 2 | mjames | 242 | /* USER CODE BEGIN SPI1_Init 2 */ |
| 243 | |||
| 244 | /* USER CODE END SPI1_Init 2 */ |
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| 245 | |||
| 246 | } |
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| 247 | |||
| 248 | /** |
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| 9 | mjames | 249 | * @brief TIM3 Initialization Function |
| 250 | * @param None |
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| 251 | * @retval None |
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| 252 | */ |
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| 253 | static void MX_TIM3_Init(void) |
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| 2 | mjames | 254 | { |
| 255 | |||
| 9 | mjames | 256 | /* USER CODE BEGIN TIM3_Init 0 */ |
| 257 | |||
| 258 | /* USER CODE END TIM3_Init 0 */ |
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| 259 | |||
| 260 | TIM_MasterConfigTypeDef sMasterConfig = {0}; |
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| 261 | TIM_OC_InitTypeDef sConfigOC = {0}; |
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| 262 | |||
| 263 | /* USER CODE BEGIN TIM3_Init 1 */ |
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| 264 | |||
| 265 | /* USER CODE END TIM3_Init 1 */ |
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| 266 | htim3.Instance = TIM3; |
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| 267 | htim3.Init.Prescaler = 640; |
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| 268 | htim3.Init.CounterMode = TIM_COUNTERMODE_UP; |
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| 269 | htim3.Init.Period = 10000; |
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| 270 | htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; |
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| 271 | htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; |
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| 272 | if (HAL_TIM_OC_Init(&htim3) != HAL_OK) |
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| 273 | { |
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| 274 | Error_Handler(); |
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| 275 | } |
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| 276 | if (HAL_TIM_OnePulse_Init(&htim3, TIM_OPMODE_SINGLE) != HAL_OK) |
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| 277 | { |
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| 278 | Error_Handler(); |
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| 279 | } |
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| 280 | sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE; |
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| 281 | sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; |
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| 282 | if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) |
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| 283 | { |
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| 284 | Error_Handler(); |
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| 285 | } |
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| 286 | sConfigOC.OCMode = TIM_OCMODE_TIMING; |
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| 287 | sConfigOC.Pulse = 9999; |
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| 288 | sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; |
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| 289 | sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; |
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| 290 | if (HAL_TIM_OC_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) |
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| 291 | { |
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| 292 | Error_Handler(); |
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| 293 | } |
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| 294 | /* USER CODE BEGIN TIM3_Init 2 */ |
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| 295 | |||
| 296 | /* USER CODE END TIM3_Init 2 */ |
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| 297 | |||
| 298 | } |
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| 299 | |||
| 300 | /** |
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| 301 | * @brief TIM4 Initialization Function |
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| 302 | * @param None |
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| 303 | * @retval None |
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| 304 | */ |
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| 305 | static void MX_TIM4_Init(void) |
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| 306 | { |
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| 307 | |||
| 2 | mjames | 308 | /* USER CODE BEGIN TIM4_Init 0 */ |
| 309 | |||
| 310 | /* USER CODE END TIM4_Init 0 */ |
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| 311 | |||
| 9 | mjames | 312 | TIM_Encoder_InitTypeDef sConfig = {0}; |
| 313 | TIM_MasterConfigTypeDef sMasterConfig = {0}; |
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| 2 | mjames | 314 | |
| 315 | /* USER CODE BEGIN TIM4_Init 1 */ |
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| 316 | |||
| 317 | /* USER CODE END TIM4_Init 1 */ |
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| 318 | htim4.Instance = TIM4; |
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| 319 | htim4.Init.Prescaler = 0; |
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| 320 | htim4.Init.CounterMode = TIM_COUNTERMODE_UP; |
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| 321 | htim4.Init.Period = 65535; |
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| 322 | htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; |
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| 323 | htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; |
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| 324 | sConfig.EncoderMode = TIM_ENCODERMODE_TI12; |
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| 325 | sConfig.IC1Polarity = TIM_ICPOLARITY_RISING; |
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| 326 | sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI; |
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| 327 | sConfig.IC1Prescaler = TIM_ICPSC_DIV1; |
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| 328 | sConfig.IC1Filter = 8; |
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| 329 | sConfig.IC2Polarity = TIM_ICPOLARITY_RISING; |
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| 330 | sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI; |
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| 331 | sConfig.IC2Prescaler = TIM_ICPSC_DIV1; |
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| 332 | sConfig.IC2Filter = 8; |
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| 9 | mjames | 333 | if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK) |
| 334 | { |
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| 335 | Error_Handler(); |
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| 336 | } |
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| 2 | mjames | 337 | sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; |
| 338 | sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; |
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| 9 | mjames | 339 | if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK) |
| 340 | { |
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| 341 | Error_Handler(); |
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| 342 | } |
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| 2 | mjames | 343 | /* USER CODE BEGIN TIM4_Init 2 */ |
| 344 | |||
| 345 | /* USER CODE END TIM4_Init 2 */ |
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| 346 | |||
| 347 | } |
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| 348 | |||
| 349 | /** |
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| 9 | mjames | 350 | * @brief USART1 Initialization Function |
| 351 | * @param None |
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| 352 | * @retval None |
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| 353 | */ |
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| 354 | static void MX_USART1_UART_Init(void) |
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| 2 | mjames | 355 | { |
| 356 | |||
| 357 | /* USER CODE BEGIN USART1_Init 0 */ |
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| 358 | |||
| 359 | /* USER CODE END USART1_Init 0 */ |
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| 360 | |||
| 361 | /* USER CODE BEGIN USART1_Init 1 */ |
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| 362 | |||
| 363 | /* USER CODE END USART1_Init 1 */ |
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| 364 | huart1.Instance = USART1; |
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| 365 | huart1.Init.BaudRate = 115200; |
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| 366 | huart1.Init.WordLength = UART_WORDLENGTH_8B; |
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| 367 | huart1.Init.StopBits = UART_STOPBITS_1; |
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| 368 | huart1.Init.Parity = UART_PARITY_NONE; |
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| 369 | huart1.Init.Mode = UART_MODE_TX_RX; |
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| 370 | huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; |
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| 371 | huart1.Init.OverSampling = UART_OVERSAMPLING_16; |
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| 9 | mjames | 372 | if (HAL_UART_Init(&huart1) != HAL_OK) |
| 373 | { |
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| 374 | Error_Handler(); |
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| 375 | } |
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| 2 | mjames | 376 | /* USER CODE BEGIN USART1_Init 2 */ |
| 377 | |||
| 378 | /* USER CODE END USART1_Init 2 */ |
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| 379 | |||
| 380 | } |
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| 381 | |||
| 382 | /** |
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| 9 | mjames | 383 | * @brief GPIO Initialization Function |
| 384 | * @param None |
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| 385 | * @retval None |
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| 386 | */ |
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| 387 | static void MX_GPIO_Init(void) |
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| 2 | mjames | 388 | { |
| 9 | mjames | 389 | GPIO_InitTypeDef GPIO_InitStruct = {0}; |
| 2 | mjames | 390 | |
| 391 | /* GPIO Ports Clock Enable */ |
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| 5 | mjames | 392 | __HAL_RCC_GPIOC_CLK_ENABLE(); |
| 2 | mjames | 393 | __HAL_RCC_GPIOD_CLK_ENABLE(); |
| 394 | __HAL_RCC_GPIOA_CLK_ENABLE(); |
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| 395 | __HAL_RCC_GPIOB_CLK_ENABLE(); |
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| 396 | |||
| 397 | /*Configure GPIO pin Output Level */ |
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| 9 | mjames | 398 | HAL_GPIO_WritePin(GPIOC, SPI_CD_Pin|SPI_RESET_Pin, GPIO_PIN_RESET); |
| 2 | mjames | 399 | |
| 400 | /*Configure GPIO pin Output Level */ |
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| 9 | mjames | 401 | HAL_GPIO_WritePin(SPI_NSS1_GPIO_Port, SPI_NSS1_Pin, GPIO_PIN_RESET); |
| 2 | mjames | 402 | |
| 5 | mjames | 403 | /*Configure GPIO pins : SPI_CD_Pin SPI_RESET_Pin */ |
| 9 | mjames | 404 | GPIO_InitStruct.Pin = SPI_CD_Pin|SPI_RESET_Pin; |
| 2 | mjames | 405 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; |
| 406 | GPIO_InitStruct.Pull = GPIO_NOPULL; |
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| 407 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; |
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| 9 | mjames | 408 | HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); |
| 2 | mjames | 409 | |
| 5 | mjames | 410 | /*Configure GPIO pin : SPI_NSS1_Pin */ |
| 411 | GPIO_InitStruct.Pin = SPI_NSS1_Pin; |
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| 2 | mjames | 412 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; |
| 413 | GPIO_InitStruct.Pull = GPIO_NOPULL; |
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| 414 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; |
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| 9 | mjames | 415 | HAL_GPIO_Init(SPI_NSS1_GPIO_Port, &GPIO_InitStruct); |
| 2 | mjames | 416 | |
| 417 | } |
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| 418 | |||
| 419 | /* USER CODE BEGIN 4 */ |
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| 420 | |||
| 421 | /* USER CODE END 4 */ |
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| 422 | |||
| 423 | /** |
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| 9 | mjames | 424 | * @brief This function is executed in case of error occurrence. |
| 425 | * @retval None |
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| 426 | */ |
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| 427 | void Error_Handler(void) |
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| 2 | mjames | 428 | { |
| 429 | /* USER CODE BEGIN Error_Handler_Debug */ |
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| 430 | /* User can add his own implementation to report the HAL error return state */ |
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| 431 | |||
| 432 | /* USER CODE END Error_Handler_Debug */ |
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| 433 | } |
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| 434 | |||
| 435 | #ifdef USE_FULL_ASSERT |
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| 436 | /** |
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| 437 | * @brief Reports the name of the source file and the source line number |
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| 438 | * where the assert_param error has occurred. |
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| 439 | * @param file: pointer to the source file name |
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| 440 | * @param line: assert_param error line source number |
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| 441 | * @retval None |
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| 442 | */ |
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| 443 | void assert_failed(uint8_t *file, uint32_t line) |
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| 444 | { |
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| 445 | /* USER CODE BEGIN 6 */ |
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| 446 | /* User can add his own implementation to report the file name and line number, |
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| 447 | tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ |
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| 448 | /* USER CODE END 6 */ |
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| 449 | } |
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| 450 | #endif /* USE_FULL_ASSERT */ |
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| 451 | |||
| 452 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |