596 lines
16 KiB
C++
596 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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#include "stm32g030xx.h"
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#include "stm32g0xx_hal.h"
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#include "stm32g0xx_hal_gpio.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 "stm32g0xx_hal_uart.h"
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#include <stdint.h>
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#define NUM_LED 10
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#define READ_BLOCK_CRC 0x8088
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// TLE5012 sensor
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#define READ_SENSOR 0x8000 // READ
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#define REG_AVAL (0x0020U)
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#define UPD_low 0x0000
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#define SAFE_low 0x0000 //!< \brief switch of safety word generation
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#define SAFE_high 0x0001
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#define WRITE_SENSOR 0x5000
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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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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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/* 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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// 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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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* 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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/* USER CODE BEGIN 2 */
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// HAL_DMA_Init(&hdma_spi2_tx);
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struct color led_data[NUM_LED];
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for(uint8_t i = 0; i < NUM_LED; i++){
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led_data[i].red = 10;
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led_data[i].blue = 10;
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led_data[i].green = 10;
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}
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ws2812_spi(led_data);
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int i = 0;
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uint8_t angle[6];
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Tle5012 AngleSensor = Tle5012(GPIOA, GPIO_PIN_7, &hspi1);
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// setOneSensor();
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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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{
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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// HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_4);
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// HAL_Delay(1000);
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// HAL_UART_Transmit(&huart1, buffer, sizeof(buffer), 10000);
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// setLED(0, 50, 1, 20);
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// uint32_t retcode = HAL_SPI_Transmit_DMA(&hspi1, uint8_t *pData, uint16_t Size)
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// build read command
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// uint16_t READ_COMMAND =
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// HAL_SPI_TransmitReceive_DMA(&hspi1, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size)
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// uint32_t retcode = HAL_SPI_Transmit_DMA(&hspi2, buffer, 24*NUM_LED);
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// uint8_t maxBrightness = 50;
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// uint8_t delay = 10;
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// for(uint8_t i = 0; i < maxBrightness; i++){
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// led_data[0].blue = i;
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// led_data[0].red = 0;
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// led_data[0].green = 0;
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// ws2812_spi(led_data);
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// HAL_Delay(delay);
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// }
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// ws2812_spi(led_data);
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// for(uint8_t i = 0; i < maxBrightness; i++){
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// led_data[0].blue = 0;
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// led_data[0].red = i;
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// led_data[0].green = 0;
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// ws2812_spi(led_data);
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// HAL_Delay(delay);
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// }
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// for(uint8_t i = 0; i < maxBrightness; i++){
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// led_data[0].blue = 0;
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// led_data[0].red = 0;
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// led_data[0].green = i;
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// ws2812_spi(led_data);
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// HAL_Delay(delay);
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// }
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// for(uint8_t i = 0; i < maxBrightness; i++){
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// led_data[1].blue = i;
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// led_data[1].red = 0;
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// led_data[1].green = 0;
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// ws2812_spi(led_data);
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// HAL_Delay(delay);
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// }
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// for(uint8_t i = 0; i < maxBrightness; i++){
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// led_data[1].blue = 0;
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// led_data[1].red = i;
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// led_data[1].green = 0;
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// ws2812_spi(led_data);
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// HAL_Delay(delay);
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// }
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// for(uint8_t i = 0; i < maxBrightness; i++){
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// led_data[1].blue = 0;
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// led_data[1].red = 0;
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// led_data[1].green = i;
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// ws2812_spi(led_data);
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// HAL_Delay(delay);
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// }
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// getAngle(angle);
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// uint16_t command = READ_SENSOR | REG_AVAL | UPD_low | SAFE_low;
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// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_SET);
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// HAL_Delay(1);
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// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_RESET);
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// uint16_t command = 0b1000000000100001;
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// // 1000000000100001
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// uint8_t formatedCommand[6] = {0};
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// formatedCommand[0] = (uint8_t)(command >> 8);
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// formatedCommand[1] = (uint8_t)command;
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// uint16_t angle[3] = {0};
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// uint16_t safety;
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// // HAL_SPI_TransmitReceive_DMA(&hspi1,formatedCommand, angle, 6);
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// HAL_SPI_Transmit(&hspi1, formatedCommand, 2, 100);
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// HAL_SPI_Receive(&hspi1, (uint8_t *)(angle), 4, 0xFFFF);
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// // HAL_SPI_Receive(&hspi1, (uint8_t *)(&safety), 2, 0xFF);
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// double angleDeg = 360.0 / 32768.0 * (angle[0] & 0x7FFF);
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// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_SET);
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// // HAL_SPI_Transmit(&hspi1,formatedCommand,2,1000);
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// // HAL_SPI_Receive(&hspi1, angle, 2, 1000);
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// HAL_Delay(10);
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double angle = AngleSensor.getAngel();
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if(angle < 0){
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angle *= 1;
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}
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for(uint8_t i = 0; i < NUM_LED; i++){
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led_data[i].red = (uint8_t)angle;
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led_data[i].blue = 180-(uint8_t)angle;
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led_data[i].green = (uint8_t)angle*0;
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}
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ws2812_spi(led_data);
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// char buf2[] = "Hallo Welt\n";
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// HAL_UART_Transmit(&huart1, (uint8_t*)buf2, sizeof(buf2), 1000);
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char charAngle[6] = {0};
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charAngle[5] = '\n';
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angleToCharArray(angle, charAngle);
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HAL_UART_Transmit(&huart1, (uint8_t*)charAngle, sizeof(charAngle), 1000);
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HAL_Delay(100);
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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HAL_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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{
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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;
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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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{
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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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{
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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_2LINES;
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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_64;
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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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{
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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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{
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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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{
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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 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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{
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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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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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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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{
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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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{
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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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{
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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, GPIO_PIN_7, GPIO_PIN_RESET);
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/*Configure GPIO pin : PA7 */
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GPIO_InitStruct.Pin = GPIO_PIN_7;
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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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// 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;
|
|
// LED_DATA[led][2] = RED;
|
|
// LED_DATA[led][3] = BLUE;
|
|
// }
|
|
|
|
|
|
// void setOneSensor(){
|
|
// uint8_t command[4] = {0};
|
|
|
|
// command[0] = WRITE_SENSOR >> 8;
|
|
// command[1] = 0;
|
|
// command[2] = 0;
|
|
// command[3] = 0;
|
|
|
|
// HAL_SPI_Transmit(&hspi1, command, 4, 1000);
|
|
// }
|
|
|
|
void ws2812_spi(struct color *led_data){
|
|
int index = 0;
|
|
for(uint8_t x = 0; x < NUM_LED; x++){
|
|
uint32_t color = 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 */
|