forked from logzhan/RobotHardware-UESTC
239 lines
7.1 KiB
C
239 lines
7.1 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) 2024 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 <stdio.h>
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#include "main.h"
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#include "usart.h"
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#include "i2c.h"
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#include "usb_device.h"
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#include "usbd_customhid.h"
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#define pb_printf(format,...) printf("" __FILE__ ":%d - " format "\r\n", __LINE__, ##__VA_ARGS__)
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/* External variables --------------------------------------------------------*/
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extern USBD_HandleTypeDef hUsbDeviceFS;
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uint8_t report[64];
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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void UsbSendPackageReport(Sensor_t* pack, uint8_t* report);
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static void MX_GPIO_Init(void);
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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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HAL_Init();
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SystemClock_Config();
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MX_GPIO_Init();
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HC_I2C_Init();
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MX_USART3_UART_Init();
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MX_USB_DEVICE_Init();
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Sensor_t data;
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memset(&data, 0, sizeof(data));
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while (1)
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{
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HC_I2C_Write();
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for(int i = 0; i < 12; i++){
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GPIO_PinState pinStateA1 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_1);
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GPIO_PinState pinStateA2 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_2);
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GPIO_PinState pinStateA3 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_3);
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GPIO_PinState pinStateA4 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_4);
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HAL_Delay(10);
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GPIO_PinState pinStateAD1 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_1);
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GPIO_PinState pinStateAD2 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_2);
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GPIO_PinState pinStateAD3 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_3);
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GPIO_PinState pinStateAD4 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_4);
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if(pinStateA1 == pinStateAD1 && pinStateA1 == GPIO_PIN_RESET){
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data.p[0] = 1;
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}else{
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data.p[0] = 0;
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}
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if(pinStateA2 == pinStateAD2 && pinStateA2 == GPIO_PIN_RESET){
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data.p[1] = 1;
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}else{
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data.p[1] = 0;
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}
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if(pinStateA3 == pinStateAD3 && pinStateA3 == GPIO_PIN_RESET){
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data.p[2] = 1;
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}else{
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data.p[2] = 0;
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}
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if(pinStateA4 == pinStateAD4 && pinStateA4 == GPIO_PIN_RESET){
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data.p[3] = 1;
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}
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else{
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data.p[3] = 0;
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}
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UsbSendPackageReport(&data, report);
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pb_printf("Dist = %f mm, collision %d,%d,%d,%d\n", data.dist, pinStateAD1,pinStateAD2,pinStateAD3,pinStateAD4);
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}
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data.dist = HC_I2C_Read();
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HAL_Delay(30);
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for(int i = 0; i < 3; i++){
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HAL_Delay(10);
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UsbSendPackageReport(&data, report);
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}
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}
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/* USER CODE END 3 */
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}
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//void ReadCollisionGPIO(uint8_t* info){
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// GPIO_PinState pinStateA1 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_1);
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// GPIO_PinState pinStateA2 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_2);
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// GPIO_PinState pinStateA3 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_3);
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// GPIO_PinState pinStateA4 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_4);
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//}
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/**
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* @brief 把UWB的测距包信息拷贝到缓存中并发送
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* @date 2024/04/17
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* @author Zhanli. 719901725@qq.com
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* @retval None
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*/
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void UsbSendPackageReport(Sensor_t* pack, uint8_t* report){
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memset(report, 0, 64);
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memcpy(report, pack, sizeof(Sensor_t));
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// USB发送报文
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USBD_CUSTOM_HID_SendReport(&hUsbDeviceFS, report, 64);
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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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RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
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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.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
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RCC_OscInitStruct.HSIState = RCC_HSI_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.PLLMUL = RCC_PLL_MUL9;
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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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
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{
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Error_Handler();
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}
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PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;
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PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
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if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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 GPIO 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_GPIO_Init(void)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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/* USER CODE BEGIN MX_GPIO_Init_1 */
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/* USER CODE END MX_GPIO_Init_1 */
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/* GPIO Ports Clock Enable */
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__HAL_RCC_GPIOD_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_1, GPIO_PIN_RESET);
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/*Configure GPIO pins : PA1 PA2 PA3 PA4 */
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GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_PULLUP;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/*Configure GPIO pins : PB0 PB1 */
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GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/* USER CODE BEGIN MX_GPIO_Init_2 */
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/* USER CODE END MX_GPIO_Init_2 */
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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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}
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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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