/* 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) 2025 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 "cmsis_os.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "Uart.h"
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#include "DBG.h"
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#include "bluetooth.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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TIM_HandleTypeDef htim1;
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TIM_HandleTypeDef htim2;
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TIM_HandleTypeDef htim3;
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TIM_HandleTypeDef htim4;
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UART_HandleTypeDef huart1;
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UART_HandleTypeDef huart2;
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UART_HandleTypeDef huart3;
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UART_HandleTypeDef huart6;
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DMA_HandleTypeDef hdma_usart1_rx;
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DMA_HandleTypeDef hdma_usart1_tx;
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DMA_HandleTypeDef hdma_usart2_rx;
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DMA_HandleTypeDef hdma_usart2_tx;
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DMA_HandleTypeDef hdma_usart3_rx;
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DMA_HandleTypeDef hdma_usart3_tx;
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DMA_HandleTypeDef hdma_usart6_rx;
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DMA_HandleTypeDef hdma_usart6_tx;
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/* Definitions for defaultTask */
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osThreadId_t defaultTaskHandle;
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const osThreadAttr_t defaultTask_attributes = {
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.name = "defaultTask",
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.stack_size = 128 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* USER CODE BEGIN PV */
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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 MPU_Config(void);
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static void MX_GPIO_Init(void);
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static void MX_DMA_Init(void);
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static void MX_USART1_UART_Init(void);
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static void MX_USART2_UART_Init(void);
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static void MX_USART3_UART_Init(void);
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static void MX_TIM1_Init(void);
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static void MX_TIM2_Init(void);
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static void MX_TIM3_Init(void);
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static void MX_USART6_UART_Init(void);
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static void MX_TIM4_Init(void);
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void StartDefaultTask(void *argument);
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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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void app_main(void);
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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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/* Enable the CPU Cache */
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/* Enable I-Cache---------------------------------------------------------*/
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// SCB_EnableICache();
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/* Enable D-Cache---------------------------------------------------------*/
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// SCB_EnableDCache();
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/* USER CODE END 1 */
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/* MPU Configuration--------------------------------------------------------*/
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MPU_Config();
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_USART1_UART_Init();
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MX_USART2_UART_Init();
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MX_USART3_UART_Init();
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MX_TIM1_Init();
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MX_TIM2_Init();
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MX_TIM3_Init();
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MX_USART6_UART_Init();
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MX_TIM4_Init();
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/* USER CODE BEGIN 2 */
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UART6_StartReceive();
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Uart_Register(UART_ID_DBG, &huart1);
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Uart_Register(UART_ID_GPS, &huart2);
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Uart_Register(UART_ID_4G, &huart3);
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Uart_Register(UART_ID_BT, &huart6);
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HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1); // MOTOR_TIM
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HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2); // STEERING_TIM
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// TIM4 CH1 Capture
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HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_1);
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// HAL_TIM_Base_Start_IT(&htim4);
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__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_1, 1500);
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__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, 1500);
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/* USER CODE END 2 */
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/* Init scheduler */
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osKernelInitialize();
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/* USER CODE BEGIN RTOS_MUTEX */
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/* add mutexes, ... */
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DBG_Init();
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/* USER CODE END RTOS_MUTEX */
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/* USER CODE BEGIN RTOS_SEMAPHORES */
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/* add semaphores, ... */
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/* USER CODE END RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_TIMERS */
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/* start timers, add new ones, ... */
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/* USER CODE END RTOS_TIMERS */
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/* USER CODE BEGIN RTOS_QUEUES */
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/* add queues, ... */
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/* USER CODE END RTOS_QUEUES */
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/* Create the thread(s) */
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/* creation of defaultTask */
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defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
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/* USER CODE BEGIN RTOS_THREADS */
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/* add threads, ... */
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app_main();
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/* USER CODE END RTOS_THREADS */
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/* USER CODE BEGIN RTOS_EVENTS */
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/* add events, ... */
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/* USER CODE END RTOS_EVENTS */
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/* Start scheduler */
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osKernelStart();
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/* We should never get here as control is now taken by the scheduler */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Supply configuration update enable
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*/
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HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
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/** Configure the main internal regulator output voltage
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*/
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
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while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
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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_HSI;
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RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
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RCC_OscInitStruct.PLL.PLLM = 4;
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RCC_OscInitStruct.PLL.PLLN = 60;
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RCC_OscInitStruct.PLL.PLLP = 2;
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RCC_OscInitStruct.PLL.PLLQ = 2;
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RCC_OscInitStruct.PLL.PLLR = 2;
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RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
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RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
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RCC_OscInitStruct.PLL.PLLFRACN = 0;
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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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/** 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_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
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RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
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RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != 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 TIM1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM1_Init(void)
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{
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/* USER CODE BEGIN TIM1_Init 0 */
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/* USER CODE END TIM1_Init 0 */
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
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/* USER CODE BEGIN TIM1_Init 1 */
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/* USER CODE END TIM1_Init 1 */
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htim1.Instance = TIM1;
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htim1.Init.Prescaler = 239;
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htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim1.Init.Period = 13513;
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htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim1.Init.RepetitionCounter = 0;
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htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
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if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
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{
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Error_Handler();
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}
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
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if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 1500;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
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sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
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{
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Error_Handler();
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}
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sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
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sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
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sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
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sBreakDeadTimeConfig.DeadTime = 0;
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sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
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sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
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sBreakDeadTimeConfig.BreakFilter = 0;
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sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
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sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
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sBreakDeadTimeConfig.Break2Filter = 0;
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sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
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if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN TIM1_Init 2 */
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HAL_TIM_Base_Start_IT(&htim1); // ������ʱ����ʹ���ж�
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/* USER CODE END TIM1_Init 2 */
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HAL_TIM_MspPostInit(&htim1);
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}
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/**
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* @brief TIM2 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM2_Init(void)
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{
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/* USER CODE BEGIN TIM2_Init 0 */
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/* USER CODE END TIM2_Init 0 */
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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/* USER CODE BEGIN TIM2_Init 1 */
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/* USER CODE END TIM2_Init 1 */
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htim2.Instance = TIM2;
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htim2.Init.Prescaler = 239;
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htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim2.Init.Period = 13513;
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htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
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{
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Error_Handler();
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}
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
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if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 1500;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN TIM2_Init 2 */
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HAL_TIM_Base_Start_IT(&htim2); // ������ʱ����ʹ���ж�
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/* USER CODE END TIM2_Init 2 */
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HAL_TIM_MspPostInit(&htim2);
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}
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/**
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* @brief TIM3 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM3_Init(void)
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{
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/* USER CODE BEGIN TIM3_Init 0 */
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/* USER CODE END TIM3_Init 0 */
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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/* USER CODE BEGIN TIM3_Init 1 */
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/* USER CODE END TIM3_Init 1 */
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htim3.Instance = TIM3;
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htim3.Init.Prescaler = 239;
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htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim3.Init.Period = 13513;
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htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
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if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
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{
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Error_Handler();
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}
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
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if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 1500;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN TIM3_Init 2 */
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HAL_TIM_Base_Start_IT(&htim3); // ������ʱ����ʹ���ж�
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/* USER CODE END TIM3_Init 2 */
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HAL_TIM_MspPostInit(&htim3);
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}
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/**
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* @brief TIM4 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM4_Init(void)
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{
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/* USER CODE BEGIN TIM4_Init 0 */
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/* USER CODE END TIM4_Init 0 */
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_IC_InitTypeDef sConfigIC = {0};
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/* USER CODE BEGIN TIM4_Init 1 */
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/* USER CODE END TIM4_Init 1 */
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htim4.Instance = TIM4;
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htim4.Init.Prescaler = 239;
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htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim4.Init.Period = 65535;
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htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
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if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
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{
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Error_Handler();
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}
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
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if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
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{
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Error_Handler();
|
}
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if (HAL_TIM_IC_Init(&htim4) != HAL_OK)
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{
|
Error_Handler();
|
}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_BOTHEDGE;
|
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
|
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
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sConfigIC.ICFilter = 0xF;
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if (HAL_TIM_IC_ConfigChannel(&htim4, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN TIM4_Init 2 */
|
HAL_TIM_Base_Start_IT(&htim4); // ������ʱ����ʹ���ж�
|
/* USER CODE END TIM4_Init 2 */
|
|
}
|
|
/**
|
* @brief USART1 Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_USART1_UART_Init(void)
|
{
|
|
/* USER CODE BEGIN USART1_Init 0 */
|
|
/* USER CODE END USART1_Init 0 */
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|
/* USER CODE BEGIN USART1_Init 1 */
|
|
/* USER CODE END USART1_Init 1 */
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huart1.Instance = USART1;
|
huart1.Init.BaudRate = 921600;
|
huart1.Init.WordLength = UART_WORDLENGTH_8B;
|
huart1.Init.StopBits = UART_STOPBITS_1;
|
huart1.Init.Parity = UART_PARITY_NONE;
|
huart1.Init.Mode = UART_MODE_TX_RX;
|
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
|
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
|
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
if (HAL_UART_Init(&huart1) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN USART1_Init 2 */
|
|
/* USER CODE END USART1_Init 2 */
|
|
}
|
|
/**
|
* @brief USART2 Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_USART2_UART_Init(void)
|
{
|
|
/* USER CODE BEGIN USART2_Init 0 */
|
|
/* USER CODE END USART2_Init 0 */
|
|
/* USER CODE BEGIN USART2_Init 1 */
|
|
/* USER CODE END USART2_Init 1 */
|
huart2.Instance = USART2;
|
huart2.Init.BaudRate = 115200;
|
huart2.Init.WordLength = UART_WORDLENGTH_8B;
|
huart2.Init.StopBits = UART_STOPBITS_1;
|
huart2.Init.Parity = UART_PARITY_NONE;
|
huart2.Init.Mode = UART_MODE_TX_RX;
|
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
|
huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1;
|
huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
if (HAL_UART_Init(&huart2) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if (HAL_UARTEx_DisableFifoMode(&huart2) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN USART2_Init 2 */
|
|
/* USER CODE END USART2_Init 2 */
|
|
}
|
|
/**
|
* @brief USART3 Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_USART3_UART_Init(void)
|
{
|
|
/* USER CODE BEGIN USART3_Init 0 */
|
|
/* USER CODE END USART3_Init 0 */
|
|
/* USER CODE BEGIN USART3_Init 1 */
|
|
/* USER CODE END USART3_Init 1 */
|
huart3.Instance = USART3;
|
huart3.Init.BaudRate = 115200;
|
huart3.Init.WordLength = UART_WORDLENGTH_8B;
|
huart3.Init.StopBits = UART_STOPBITS_1;
|
huart3.Init.Parity = UART_PARITY_NONE;
|
huart3.Init.Mode = UART_MODE_TX_RX;
|
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
huart3.Init.OverSampling = UART_OVERSAMPLING_16;
|
huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
huart3.Init.ClockPrescaler = UART_PRESCALER_DIV1;
|
huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
if (HAL_UART_Init(&huart3) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if (HAL_UARTEx_SetTxFifoThreshold(&huart3, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if (HAL_UARTEx_SetRxFifoThreshold(&huart3, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN USART3_Init 2 */
|
|
/* USER CODE END USART3_Init 2 */
|
|
}
|
|
/**
|
* @brief USART6 Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_USART6_UART_Init(void)
|
{
|
|
/* USER CODE BEGIN USART6_Init 0 */
|
|
/* USER CODE END USART6_Init 0 */
|
|
/* USER CODE BEGIN USART6_Init 1 */
|
|
/* USER CODE END USART6_Init 1 */
|
huart6.Instance = USART6;
|
huart6.Init.BaudRate = 115200;
|
huart6.Init.WordLength = UART_WORDLENGTH_8B;
|
huart6.Init.StopBits = UART_STOPBITS_1;
|
huart6.Init.Parity = UART_PARITY_NONE;
|
huart6.Init.Mode = UART_MODE_TX_RX;
|
huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
huart6.Init.OverSampling = UART_OVERSAMPLING_16;
|
huart6.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
huart6.Init.ClockPrescaler = UART_PRESCALER_DIV1;
|
huart6.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
if (HAL_UART_Init(&huart6) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if (HAL_UARTEx_SetTxFifoThreshold(&huart6, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if (HAL_UARTEx_SetRxFifoThreshold(&huart6, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if (HAL_UARTEx_DisableFifoMode(&huart6) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN USART6_Init 2 */
|
//__HAL_UART_ENABLE_IT(&huart6, UART_IT_IDLE);
|
|
//HAL_UART_Receive_DMA(&huart6,uart6_dma_rxbuf,UART6_DMA_RX_BUF_SIZE);
|
/* USER CODE END USART6_Init 2 */
|
|
}
|
|
/**
|
* Enable DMA controller clock
|
*/
|
static void MX_DMA_Init(void)
|
{
|
|
/* DMA controller clock enable */
|
__HAL_RCC_DMA1_CLK_ENABLE();
|
|
/* DMA interrupt init */
|
/* DMA1_Stream0_IRQn interrupt configuration */
|
HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 5, 0);
|
HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
|
/* DMA1_Stream1_IRQn interrupt configuration */
|
HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
|
HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
|
/* DMA1_Stream2_IRQn interrupt configuration */
|
HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 5, 0);
|
HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);
|
/* DMA1_Stream3_IRQn interrupt configuration */
|
HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
|
HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
|
/* DMA1_Stream4_IRQn interrupt configuration */
|
HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 5, 0);
|
HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn);
|
/* DMA1_Stream5_IRQn interrupt configuration */
|
HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 5, 0);
|
HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
|
/* DMA1_Stream6_IRQn interrupt configuration */
|
HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 5, 0);
|
HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
|
/* DMA1_Stream7_IRQn interrupt configuration */
|
HAL_NVIC_SetPriority(DMA1_Stream7_IRQn, 5, 0);
|
HAL_NVIC_EnableIRQ(DMA1_Stream7_IRQn);
|
|
}
|
|
/**
|
* @brief GPIO Initialization Function
|
* @param None
|
* @retval None
|
*/
|
static void MX_GPIO_Init(void)
|
{
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
/* USER CODE BEGIN MX_GPIO_Init_1 */
|
|
/* USER CODE END MX_GPIO_Init_1 */
|
|
/* GPIO Ports Clock Enable */
|
__HAL_RCC_GPIOC_CLK_ENABLE();
|
__HAL_RCC_GPIOH_CLK_ENABLE();
|
__HAL_RCC_GPIOA_CLK_ENABLE();
|
__HAL_RCC_GPIOE_CLK_ENABLE();
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
__HAL_RCC_GPIOD_CLK_ENABLE();
|
|
/*Configure GPIO pin Output Level */
|
HAL_GPIO_WritePin(GPIOC, RED_Pin|GREEN_Pin|BLUE_Pin, GPIO_PIN_SET);
|
|
/*Configure GPIO pin : KEY_Pin */
|
GPIO_InitStruct.Pin = KEY_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
HAL_GPIO_Init(KEY_GPIO_Port, &GPIO_InitStruct);
|
|
/*Configure GPIO pin : RED_Pin */
|
GPIO_InitStruct.Pin = RED_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
HAL_GPIO_Init(RED_GPIO_Port, &GPIO_InitStruct);
|
|
/*Configure GPIO pins : GREEN_Pin BLUE_Pin */
|
GPIO_InitStruct.Pin = GREEN_Pin|BLUE_Pin;
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
|
/*AnalogSwitch Config */
|
HAL_SYSCFG_AnalogSwitchConfig(SYSCFG_SWITCH_PC2, SYSCFG_SWITCH_PC2_CLOSE);
|
|
/* USER CODE BEGIN MX_GPIO_Init_2 */
|
|
/* USER CODE END MX_GPIO_Init_2 */
|
}
|
|
/* USER CODE BEGIN 4 */
|
|
/* USER CODE END 4 */
|
|
/* USER CODE BEGIN Header_StartDefaultTask */
|
/**
|
* @brief Function implementing the defaultTask thread.
|
* @param argument: Not used
|
* @retval None
|
*/
|
/* USER CODE END Header_StartDefaultTask */
|
void StartDefaultTask(void *argument)
|
{
|
/* USER CODE BEGIN 5 */
|
/* Infinite loop */
|
for (;;)
|
{
|
osDelay(1);
|
}
|
/* USER CODE END 5 */
|
}
|
|
/* MPU Configuration */
|
|
void MPU_Config(void)
|
{
|
MPU_Region_InitTypeDef MPU_InitStruct = {0};
|
|
/* Disables the MPU */
|
HAL_MPU_Disable();
|
|
/** Initializes and configures the Region and the memory to be protected
|
*/
|
MPU_InitStruct.Enable = MPU_REGION_ENABLE;
|
MPU_InitStruct.Number = MPU_REGION_NUMBER0;
|
MPU_InitStruct.BaseAddress = 0x0;
|
MPU_InitStruct.Size = MPU_REGION_SIZE_4GB;
|
MPU_InitStruct.SubRegionDisable = 0x87;
|
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
|
MPU_InitStruct.AccessPermission = MPU_REGION_NO_ACCESS;
|
MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE;
|
MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
|
MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
|
MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
|
|
HAL_MPU_ConfigRegion(&MPU_InitStruct);
|
/* Enables the MPU */
|
HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
|
|
}
|
|
/**
|
* @brief Period elapsed callback in non blocking mode
|
* @note This function is called when TIM17 interrupt took place, inside
|
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
|
* a global variable "uwTick" used as application time base.
|
* @param htim : TIM handle
|
* @retval None
|
*/
|
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
{
|
/* USER CODE BEGIN Callback 0 */
|
|
/* USER CODE END Callback 0 */
|
if (htim->Instance == TIM17)
|
{
|
HAL_IncTick();
|
}
|
/* USER CODE BEGIN Callback 1 */
|
|
/* USER CODE END Callback 1 */
|
}
|
|
/**
|
* @brief This function is executed in case of error occurrence.
|
* @retval None
|
*/
|
void Error_Handler(void)
|
{
|
/* USER CODE BEGIN Error_Handler_Debug */
|
/* User can add his own implementation to report the HAL error return state */
|
__disable_irq();
|
while (1)
|
{
|
}
|
/* USER CODE END Error_Handler_Debug */
|
}
|
#ifdef USE_FULL_ASSERT
|
/**
|
* @brief Reports the name of the source file and the source line number
|
* where the assert_param error has occurred.
|
* @param file: pointer to the source file name
|
* @param line: assert_param error line source number
|
* @retval None
|
*/
|
void assert_failed(uint8_t *file, uint32_t line)
|
{
|
/* USER CODE BEGIN 6 */
|
/* User can add his own implementation to report the file name and line number,
|
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
|
/* USER CODE END 6 */
|
}
|
#endif /* USE_FULL_ASSERT */
|
