312 lines
9 KiB
C
312 lines
9 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2023 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "adc.h"
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#include "can.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 "gpio.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "CAN_API.h"
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#include "InitDrive.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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volatile uint16_t asSpiWordLow = 0;
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volatile uint16_t asSpiWordHigh = 0;
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volatile uint32_t asResultWord = 0;
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typedef struct AS5045_data {
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};
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MX_NVIC_Init(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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#define PWM_FRQ_HZ (20000)
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#define ALG_TIMER_HZ (1000)
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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__disable_irq();
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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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SysTick_Config(0xFFFFFF);
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LL_DBGMCU_APB1_GRP1_FreezePeriph( LL_DBGMCU_APB1_GRP1_TIM3_STOP);
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LL_DBGMCU_APB1_GRP1_FreezePeriph( LL_DBGMCU_APB1_GRP1_TIM2_STOP);
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LL_DBGMCU_APB2_GRP1_FreezePeriph( LL_DBGMCU_APB2_GRP1_TIM1_STOP);
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LL_DBGMCU_APB2_GRP1_FreezePeriph( LL_DBGMCU_APB2_GRP1_TIM8_STOP);
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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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SystemCoreClockUpdate();
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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_ADC1_Init();
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MX_TIM1_Init();
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MX_USART1_UART_Init();
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MX_USART2_UART_Init();
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MX_TIM2_Init();
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MX_SPI2_Init();
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MX_CAN1_Init();
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MX_CAN2_Init();
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/* Initialize interrupts */
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MX_NVIC_Init();
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/* USER CODE BEGIN 2 */
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LL_GPIO_ResetOutputPin(LED1_GPIO_Port, LED1_Pin);
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LL_GPIO_ResetOutputPin(LED2_GPIO_Port, LED2_Pin);
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LL_ADC_EnableIT_JEOS(ADC1);
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LL_ADC_Enable(ADC1);
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/*Used center alogned mode so set ARR to Half of Calculated period*/
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uint32_t TIM_ARR_value = (SystemCoreClock / PWM_FRQ_HZ) >> 1;
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LL_TIM_SetAutoReload(TIM1, TIM_ARR_value - 1);
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LL_TIM_OC_SetCompareCH4(TIM1, LL_TIM_GetAutoReload(TIM1) - 1);
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LL_TIM_CC_EnableChannel(TIM1, LL_TIM_CHANNEL_CH4);
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LL_TIM_EnableIT_CC4(TIM1);
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LL_TIM_EnableCounter(TIM1);
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/*TIM2 on Half clock bus so divide SystemClock by 2 */
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LL_TIM_SetAutoReload(TIM2, ((SystemCoreClock / ALG_TIMER_HZ) >> 1) - 1);
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LL_TIM_EnableIT_UPDATE(TIM2);
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LL_TIM_EnableCounter(TIM2);
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LL_GPIO_SetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
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LL_SPI_SetBaudRatePrescaler(SPI2, LL_SPI_BAUDRATEPRESCALER_DIV64);
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LL_SPI_Enable(SPI2);
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/*Init Control structure*/
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float TSAMPLE_FAST = 1.f / PWM_FRQ_HZ;
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float TSAMPLE_SLOW = 1.f / ALG_TIMER_HZ;
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DriveInit(TSAMPLE_FAST, TSAMPLE_SLOW);
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//initCAN(CAN_BAUD_1000);
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__enable_irq();
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1) {
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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if (!LL_SPI_IsActiveFlag_OVR(SPI2)) {
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LL_GPIO_ResetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
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while (!LL_SPI_IsActiveFlag_TXE(SPI2)) {
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};
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LL_SPI_TransmitData16(SPI2, 0xFFFF);
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while (!LL_SPI_IsActiveFlag_RXNE(SPI2)) {
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}
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uint16_t buffer = LL_SPI_ReceiveData16(SPI2);
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asSpiWordLow = (buffer >> 4) & 0xFFF;
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LL_GPIO_SetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
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} else {
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LL_SPI_ClearFlag_OVR(SPI2);
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}
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CAN_TxHeaderTypeDef txheader;
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uint8_t txdata[8];
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txheader.DLC = 8;
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txheader.ExtId = 0x11111111;
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txheader.IDE = CAN_ID_STD;
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txheader.RTR = CAN_RTR_DATA;
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for (uint8_t i = 0; i < 8; i++) {
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txdata[i] = i;
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}
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static uint32_t txMailBox = 0;
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if (HAL_CAN_AddTxMessage(&hcan2, &txheader, txdata,
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(uint32_t*) &txMailBox) != HAL_OK) {
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HAL_CAN_AbortTxRequest(&hcan2,
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CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
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}
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/*
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if (HAL_CAN_AddTxMessage(&hcan1, &txheader, txdata,
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(uint32_t*) &txMailBox) != HAL_OK) {
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HAL_CAN_AbortTxRequest(&hcan1,
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CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
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}
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if (HAL_CAN_AddTxMessage(&hcan2, &txheader, txdata,
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(uint32_t*) &txMailBox) != HAL_OK) {
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HAL_CAN_AbortTxRequest(&hcan2,
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CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
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}
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*/
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HAL_Delay(10);
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static uint16_t state =0;
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//state = HAL_CAN_GetState(&hcan2);
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//LL_GPIO_TogglePin(CAN2_RX_GPIO_Port, CAN2_RX_Pin);
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//LL_GPIO_TogglePin(CAN2_TX_GPIO_Port, CAN2_TX_Pin);
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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__HAL_RCC_PWR_CLK_ENABLE();
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_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 = 180;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = 2;
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RCC_OscInitStruct.PLL.PLLR = 2;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Activate the Over-Drive mode
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*/
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if (HAL_PWREx_EnableOverDrive() != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_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();
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}
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}
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/**
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* @brief NVIC Configuration.
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* @retval None
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*/
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static void MX_NVIC_Init(void)
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{
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/* TIM1_BRK_TIM9_IRQn interrupt configuration */
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NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),1, 0));
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NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
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/* TIM1_CC_IRQn interrupt configuration */
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NVIC_SetPriority(TIM1_CC_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),3, 0));
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NVIC_EnableIRQ(TIM1_CC_IRQn);
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/* TIM2_IRQn interrupt configuration */
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NVIC_SetPriority(TIM2_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),4, 0));
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NVIC_EnableIRQ(TIM2_IRQn);
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/* ADC_IRQn interrupt configuration */
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NVIC_SetPriority(ADC_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),2, 0));
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NVIC_EnableIRQ(ADC_IRQn);
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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 This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void)
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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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__disable_irq();
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while (1) {
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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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