Add offset for firmware
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3 changed files with 191 additions and 21 deletions
178
controller/fw/embed/custom_script.ld
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178
controller/fw/embed/custom_script.ld
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/**
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******************************************************************************
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* @file LinkerScript.ld
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* @author Auto-generated by STM32CubeIDE
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* @brief Linker script for STM32F446RCTx Device from STM32F4 series
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* 256Kbytes FLASH
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* 128Kbytes RAM
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*
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* Set heap size, stack size and stack location according
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* to application requirements.
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*
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* Set memory bank area and size if external memory is used
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******************************************************************************
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* @attention
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*
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* <h2><center>© Copyright (c) 2020 STMicroelectronics.
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* All rights reserved.</center></h2>
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*
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* This software component is licensed by ST under BSD 3-Clause license,
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* the "License"; You may not use this file except in compliance with the
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* License. You may obtain a copy of the License at:
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* opensource.org/licenses/BSD-3-Clause
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*
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******************************************************************************
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*/
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/* Entry Point */
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ENTRY(Reset_Handler)
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/* Highest address of the user mode stack */
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_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
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_Min_Heap_Size = 0x200; /* required amount of heap */
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_Min_Stack_Size = 0x400; /* required amount of stack */
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/* Memories definition */
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MEMORY
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{
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RAM (xrw) : ORIGIN = 0x20000000, LENGTH = LD_MAX_DATA_SIZE
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FLASH (rx) : ORIGIN = 0x8000000 + 0x8000, LENGTH = 512K - 0x8000
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}
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/* Sections */
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SECTIONS
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{
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/* The startup code into "FLASH" Rom type memory */
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.isr_vector :
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{
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. = ALIGN(4);
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KEEP(*(.isr_vector)) /* Startup code */
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. = ALIGN(4);
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} >FLASH
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/* The program code and other data into "FLASH" Rom type memory */
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.text :
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{
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. = ALIGN(4);
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*(.text) /* .text sections (code) */
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*(.text*) /* .text* sections (code) */
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*(.glue_7) /* glue arm to thumb code */
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*(.glue_7t) /* glue thumb to arm code */
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*(.eh_frame)
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KEEP (*(.init))
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KEEP (*(.fini))
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. = ALIGN(4);
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_etext = .; /* define a global symbols at end of code */
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} >FLASH
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/* Constant data into "FLASH" Rom type memory */
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.rodata :
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{
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. = ALIGN(4);
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*(.rodata) /* .rodata sections (constants, strings, etc.) */
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*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
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. = ALIGN(4);
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} >FLASH
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.ARM.extab (READONLY) : {
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. = ALIGN(4);
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*(.ARM.extab* .gnu.linkonce.armextab.*)
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. = ALIGN(4);
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} >FLASH
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.ARM (READONLY) : {
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. = ALIGN(4);
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__exidx_start = .;
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*(.ARM.exidx*)
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__exidx_end = .;
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. = ALIGN(4);
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} >FLASH
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.preinit_array (READONLY) :
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{
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. = ALIGN(4);
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PROVIDE_HIDDEN (__preinit_array_start = .);
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KEEP (*(.preinit_array*))
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PROVIDE_HIDDEN (__preinit_array_end = .);
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. = ALIGN(4);
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} >FLASH
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.init_array (READONLY) :
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{
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. = ALIGN(4);
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PROVIDE_HIDDEN (__init_array_start = .);
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KEEP (*(SORT(.init_array.*)))
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KEEP (*(.init_array*))
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PROVIDE_HIDDEN (__init_array_end = .);
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. = ALIGN(4);
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} >FLASH
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.fini_array (READONLY) :
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{
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. = ALIGN(4);
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PROVIDE_HIDDEN (__fini_array_start = .);
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KEEP (*(SORT(.fini_array.*)))
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KEEP (*(.fini_array*))
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PROVIDE_HIDDEN (__fini_array_end = .);
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. = ALIGN(4);
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} >FLASH
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/* Used by the startup to initialize data */
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_sidata = LOADADDR(.data);
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/* Initialized data sections into "RAM" Ram type memory */
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.data :
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{
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. = ALIGN(4);
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_sdata = .; /* create a global symbol at data start */
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*(.data) /* .data sections */
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*(.data*) /* .data* sections */
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*(.RamFunc) /* .RamFunc sections */
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*(.RamFunc*) /* .RamFunc* sections */
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. = ALIGN(4);
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_edata = .; /* define a global symbol at data end */
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} >RAM AT> FLASH
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/* Uninitialized data section into "RAM" Ram type memory */
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. = ALIGN(4);
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.bss :
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{
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/* This is used by the startup in order to initialize the .bss section */
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_sbss = .; /* define a global symbol at bss start */
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__bss_start__ = _sbss;
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*(.bss)
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*(.bss*)
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*(COMMON)
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. = ALIGN(4);
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_ebss = .; /* define a global symbol at bss end */
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__bss_end__ = _ebss;
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} >RAM
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/* User_heap_stack section, used to check that there is enough "RAM" Ram type memory left */
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._user_heap_stack :
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{
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. = ALIGN(8);
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PROVIDE ( end = . );
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PROVIDE ( _end = . );
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. = . + _Min_Heap_Size;
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. = . + _Min_Stack_Size;
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. = ALIGN(8);
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} >RAM
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/* Remove information from the compiler libraries */
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/DISCARD/ :
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{
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libc.a ( * )
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libm.a ( * )
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libgcc.a ( * )
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}
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.ARM.attributes 0 : { *(.ARM.attributes) }
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}
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@ -1,15 +1,3 @@
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; PlatformIO Project Configuration File
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;
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; Build options: build flags, source filter
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; Upload options: custom upload port, speed and extra flags
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; Library options: dependencies, extra library storages
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; Advanced options: extra scripting
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;
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; Please visit documentation for the other options and examples
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; https://docs.platformio.org/page/projectconf.html
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[platformio]
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[env:robotroller_reborn]
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platform = ststm32
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board = genericSTM32F446RE
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@ -19,14 +7,18 @@ debug_tool = stlink
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monitor_speed = 19200
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monitor_parity = N
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board_build.ldscript = ${PROJECT_DIR}/custom_script.ld
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build_flags =
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-DSTM32F446xx
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-D HAL_CAN_MODULE_ENABLED
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-D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
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-D STM32F446xx
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-D HAL_CAN_MODULE_ENABLED
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-D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
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lib_deps =
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askuric/Simple FOC@^2.3.4
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pazi88/STM32_CAN@^1.1.2
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askuric/Simple FOC@^2.3.4
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pazi88/STM32_CAN@^1.1.2
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extra_scripts =
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post:hex_compile.py
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pre:gen_compile_commands.py
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pre:gen_compile_commands.py
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post:hex_compile.py
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@ -63,13 +63,13 @@ volatile uint32_t ipsr_value = 0;
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void setup(){
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// Vector table initialization (commented out)
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// SCB->VTOR = (uint32_t)0x08008004;
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SCB->VTOR = (uint32_t)0x08008004;
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Serial.setRx(HARDWARE_SERIAL_RX_PIN);
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Serial.setTx(HARDWARE_SERIAL_TX_PIN);
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Serial.begin(115200);
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pinMode(PC11, OUTPUT);
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// pinMode(PC11, OUTPUT);
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pinMode(PC10,OUTPUT);
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GPIOC->ODR &= ~GPIO_ODR_OD10;
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// Can.enableMBInterrupts();
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