557 lines
16 KiB
C++
557 lines
16 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) 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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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "TLE5012.hpp"
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#include "stm32g030xx.h"
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#include "stm32g0xx_hal.h"
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#include "stm32g0xx_hal_gpio.h"
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#include "stm32g0xx_hal_tim.h"
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#include "stm32g0xx_hal_uart.h"
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#include <cstdint>
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#include <stdint.h>
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constexpr uint8_t NUM_LED = 10;
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uint8_t buffer[24 * NUM_LED];
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struct color {
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uint8_t red;
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uint8_t green;
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uint8_t blue;
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};
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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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SPI_HandleTypeDef hspi1;
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SPI_HandleTypeDef hspi2;
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DMA_HandleTypeDef hdma_spi2_tx;
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TIM_HandleTypeDef htim1;
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DMA_HandleTypeDef hdma_tim1_ch4;
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UART_HandleTypeDef huart1;
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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 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_SPI1_Init(void);
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static void MX_SPI2_Init(void);
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static void MX_TIM1_Init(void);
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/* USER CODE BEGIN PFP */
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void setLED(uint8_t led, uint8_t RED, uint8_t GREEN, uint8_t BLUE);
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void ws2812_spi(struct color * led_data);
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void angleToCharArray(double angle, char * charAngle);
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uint16_t mapToRange(uint16_t minIn, uint16_t maxIn, uint16_t minOut,
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uint16_t maxOut, uint16_t input);
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// void getAngle(uint8_t * angle);
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// void setOneSensor();
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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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/* 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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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU
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* Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the
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* 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_SPI1_Init();
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// MX_SPI2_Init();
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MX_TIM1_Init();
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/* USER CODE BEGIN 2 */
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// disable brake
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);
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Tle5012 AngleSensor = Tle5012(GPIOA, GPIO_PIN_1, &hspi1);
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uint16_t dutyCycle = 0;
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
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TIM1->CCR4 = 0;
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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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uint16_t angleSensor = AngleSensor.getAngel();
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dutyCycle = mapToRange(12600, 16100, 0, 1000, angleSensor);
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if (dutyCycle < 100) {
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dutyCycle = 0;
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// enable brake
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_RESET);
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}
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else {
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);
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}
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if (dutyCycle > 950) {
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dutyCycle = 1000;
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}
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TIM1->CCR4 = dutyCycle;
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HAL_Delay(5);
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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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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_PWREx_ControlVoltageScaling(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_HSI;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSIDiv = 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 = RCC_PLLM_DIV1;
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RCC_OscInitStruct.PLL.PLLN = 10;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV4;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
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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 =
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RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV2;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
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Error_Handler();
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}
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}
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/**
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* @brief SPI1 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_SPI1_Init(void) {
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/* USER CODE BEGIN SPI1_Init 0 */
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/* USER CODE END SPI1_Init 0 */
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/* USER CODE BEGIN SPI1_Init 1 */
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/* USER CODE END SPI1_Init 1 */
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/* SPI1 parameter configuration*/
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hspi1.Instance = SPI1;
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hspi1.Init.Mode = SPI_MODE_MASTER;
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hspi1.Init.Direction = SPI_DIRECTION_1LINE;
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hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
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hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
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hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
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hspi1.Init.NSS = SPI_NSS_SOFT;
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hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
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hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
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hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
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hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
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hspi1.Init.CRCPolynomial = 7;
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hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
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hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
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if (HAL_SPI_Init(&hspi1) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN SPI1_Init 2 */
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/* USER CODE END SPI1_Init 2 */
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}
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/**
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* @brief SPI2 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_SPI2_Init(void) {
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/* USER CODE BEGIN SPI2_Init 0 */
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/* USER CODE END SPI2_Init 0 */
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/* USER CODE BEGIN SPI2_Init 1 */
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/* USER CODE END SPI2_Init 1 */
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/* SPI2 parameter configuration*/
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hspi2.Instance = SPI2;
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hspi2.Init.Mode = SPI_MODE_MASTER;
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hspi2.Init.Direction = SPI_DIRECTION_2LINES;
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hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
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hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
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hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
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hspi2.Init.NSS = SPI_NSS_SOFT;
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hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
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hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
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hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
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hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
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hspi2.Init.CRCPolynomial = 7;
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hspi2.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
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hspi2.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
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if (HAL_SPI_Init(&hspi2) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN SPI2_Init 2 */
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/* USER CODE END SPI2_Init 2 */
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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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/* 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 = 20 - 1;
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htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim1.Init.Period = 1000 - 1;
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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_DISABLE;
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if (HAL_TIM_Base_Init(&htim1) != HAL_OK) {
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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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Error_Handler();
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}
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if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) {
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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) !=
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HAL_OK) {
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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 = 0;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_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_4) !=
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HAL_OK) {
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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.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
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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.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
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sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
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if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) !=
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HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN TIM1_Init 2 */
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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 USART1 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_USART1_UART_Init(void) {
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/* USER CODE BEGIN USART1_Init 0 */
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/* USER CODE END USART1_Init 0 */
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/* USER CODE BEGIN USART1_Init 1 */
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/* USER CODE END USART1_Init 1 */
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huart1.Instance = USART1;
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huart1.Init.BaudRate = 9600;
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huart1.Init.WordLength = UART_WORDLENGTH_8B;
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huart1.Init.StopBits = UART_STOPBITS_1;
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huart1.Init.Parity = UART_PARITY_NONE;
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huart1.Init.Mode = UART_MODE_TX_RX;
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huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart1.Init.OverSampling = UART_OVERSAMPLING_16;
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huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
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huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
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huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
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if (HAL_UART_Init(&huart1) != HAL_OK) {
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Error_Handler();
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}
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if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) !=
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HAL_OK) {
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Error_Handler();
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}
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if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) !=
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HAL_OK) {
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Error_Handler();
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}
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if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK) {
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Error_Handler();
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}
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/* USER CODE BEGIN USART1_Init 2 */
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/* USER CODE END USART1_Init 2 */
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}
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/**
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* Enable DMA controller clock
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*/
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static void MX_DMA_Init(void) {
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/* DMA controller clock enable */
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__HAL_RCC_DMA1_CLK_ENABLE();
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/* DMA interrupt init */
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/* DMA1_Channel1_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
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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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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_GPIOB_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOA, CS_Sensor_Pin | BRAKE_Pin, GPIO_PIN_RESET);
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/*Configure GPIO pins : CS_Sensor_Pin BRAKE_Pin */
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GPIO_InitStruct.Pin = CS_Sensor_Pin | BRAKE_Pin;
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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(GPIOA, &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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uint16_t mapToRange(uint16_t minIn, uint16_t maxIn, uint16_t minOut,
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uint16_t maxOut, uint16_t input) {
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float m = (float)(maxOut - minOut) / (maxIn - minIn);
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float b = minOut - m * minIn;
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uint16_t valToRet = input * m + b;
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if (valToRet > maxOut) {
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return 0;
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}
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return uint16_t(input * m + b);
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// minIn should be lower than maxIn
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}
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// void setLED(uint8_t led, uint8_t RED, uint8_t GREEN, uint8_t BLUE){
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// LED_DATA[led][0] = led;
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// LED_DATA[led][1] = GREEN;
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// LED_DATA[led][2] = RED;
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// LED_DATA[led][3] = BLUE;
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// }
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// void setOneSensor(){
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// uint8_t command[4] = {0};
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// command[0] = WRITE_SENSOR >> 8;
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// command[1] = 0;
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// command[2] = 0;
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// command[3] = 0;
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// HAL_SPI_Transmit(&hspi1, command, 4, 1000);
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// }
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void ws2812_spi(struct color * led_data) {
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int index = 0;
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for (uint8_t x = 0; x < NUM_LED; x++) {
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uint32_t color =
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led_data[x].green << 16 | led_data[x].red << 8 | led_data[x].blue;
|
|
// index = 0;
|
|
for (int i = 23; i >= 0; i--) {
|
|
if (((color >> i) & 0x01) == 1) {
|
|
buffer[index++] = 0b110; // 1
|
|
}
|
|
else {
|
|
buffer[index++] = 0b100; // 0
|
|
}
|
|
}
|
|
}
|
|
// HAL_SPI_Transmit(&hspi2, sendData, 24*NUM_LED, 1000);
|
|
uint32_t retcode = HAL_SPI_Transmit_DMA(&hspi2, buffer, 24 * NUM_LED);
|
|
// uint8_t fuck = 1;
|
|
}
|
|
|
|
void angleToCharArray(double angle, char * charAngle) {
|
|
|
|
int16_t angleInt = (int16_t)(angle * 10);
|
|
if (angle < 0) {
|
|
charAngle[0] = '-';
|
|
angleInt *= -1;
|
|
}
|
|
else {
|
|
charAngle[0] = '+';
|
|
}
|
|
charAngle[4] = angleInt % 10 + 48;
|
|
angleInt /= 10;
|
|
charAngle[3] = angleInt % 10 + 48;
|
|
angleInt /= 10;
|
|
charAngle[2] = angleInt % 10 + 48;
|
|
angleInt /= 10;
|
|
charAngle[1] = angleInt % 10 + 48;
|
|
}
|
|
/* USER CODE END 4 */
|
|
|
|
/**
|
|
* @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 */
|