From 97dfdf30eba54679ed34d41a117728428969ecd7 Mon Sep 17 00:00:00 2001 From: neilkim Date: Wed, 30 Apr 2025 14:22:05 +0900 Subject: [PATCH] base code MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 1. base code - add main.c - 파일을 하나 추가했음 --- main.c | 673 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 673 insertions(+) create mode 100644 main.c diff --git a/main.c b/main.c new file mode 100644 index 0000000..3d21679 --- /dev/null +++ b/main.c @@ -0,0 +1,673 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file : main.c + * @brief : Main program body + ****************************************************************************** + * @attention + * + * Copyright (c) 2025 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ +/* Includes ------------------------------------------------------------------*/ +#include "main.h" + +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ +#include +#include "define.h" +#include "usart_func.h" +#include "task_func.h" +#include "state_func.h" +#include "command.h" + +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN PTD */ + +/* USER CODE END PTD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN PD */ + +/* USER CODE END PD */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN PM */ + +/* USER CODE END PM */ + +/* Private variables ---------------------------------------------------------*/ +ADC_HandleTypeDef hadc; + +I2C_HandleTypeDef hi2c2; + +SPI_HandleTypeDef hspi1; + +TIM_HandleTypeDef htim1; +TIM_HandleTypeDef htim3; + +UART_HandleTypeDef huart1; +UART_HandleTypeDef huart2; + +/* USER CODE BEGIN PV */ +st_status_t g_st; +extern uint8_t g_uart_cli_rxd, g_uart_host_rxd; +/* USER CODE END PV */ + +/* Private function prototypes -----------------------------------------------*/ +void SystemClock_Config(void); +static void MX_GPIO_Init(void); +static void MX_ADC_Init(void); +static void MX_I2C2_Init(void); +static void MX_SPI1_Init(void); +static void MX_TIM1_Init(void); +static void MX_TIM3_Init(void); +static void MX_USART1_UART_Init(void); +static void MX_USART2_UART_Init(void); +/* USER CODE BEGIN PFP */ + +/* USER CODE END PFP */ + +/* Private user code ---------------------------------------------------------*/ +/* USER CODE BEGIN 0 */ +void APP_Init(void) +{ + setbuf(stdout, NULL); //neil: initialize standard output buffer for printf + HAL_UART_Receive_IT(&huart1, &g_uart_cli_rxd, 1); //neil: start receiving interrupt + HAL_UART_Receive_IT(&huart2, &g_uart_host_rxd, 1); //neil: start receiving interrupt + reset_cli_rx_que(); + + HAL_TIM_IC_Start_IT(&htim1, TIM_CHANNEL_1); + HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_3); + + //set_led_color(LED_MOTOR, LED_COLOR_OFF); + //set_led_color(LED_HOST_TX, LED_COLOR_OFF); + //set_led_color(LED_HOST_RX, LED_COLOR_OFF); + print_ver(); + + //state_ent_standby(EVENT_STATE_POLL); + g_st.report = true; +} +/* USER CODE END 0 */ + +/** + * @brief The application entry point. + * @retval int + */ +int main(void) +{ + + /* USER CODE BEGIN 1 */ + /* USER CODE END 1 */ + + /* MCU Configuration--------------------------------------------------------*/ + + /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ + HAL_Init(); + + /* USER CODE BEGIN Init */ + + /* USER CODE END Init */ + + /* Configure the system clock */ + SystemClock_Config(); + + /* USER CODE BEGIN SysInit */ + + /* USER CODE END SysInit */ + + /* Initialize all configured peripherals */ + MX_GPIO_Init(); + MX_ADC_Init(); + MX_I2C2_Init(); + MX_SPI1_Init(); + MX_TIM1_Init(); + MX_TIM3_Init(); + MX_USART1_UART_Init(); + MX_USART2_UART_Init(); + + /* USER CODE BEGIN 2 */ + APP_Init(); + /* USER CODE END 2 */ + + /* Infinite loop */ + /* USER CODE BEGIN WHILE */ + while (1) + { + task_console(); + task_event_timer(); + task_states(); + task_poll(); + /* USER CODE END WHILE */ + /* USER CODE BEGIN 3 */ + } + /* USER CODE END 3 */ +} + +/** + * @brief System Clock Configuration + * @retval None + */ +void SystemClock_Config(void) +{ + RCC_OscInitTypeDef RCC_OscInitStruct = {0}; + RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; + RCC_PeriphCLKInitTypeDef PeriphClkInit = {0}; + + /** Initializes the RCC Oscillators according to the specified parameters + * in the RCC_OscInitTypeDef structure. + */ + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_HSI14; + RCC_OscInitStruct.HSIState = RCC_HSI_ON; + RCC_OscInitStruct.HSI14State = RCC_HSI14_ON; + RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; + RCC_OscInitStruct.HSI14CalibrationValue = 16; + RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE; + if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) + { + Error_Handler(); + } + + /** Initializes the CPU, AHB and APB buses clocks + */ + RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK + |RCC_CLOCKTYPE_PCLK1; + RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI; + RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; + RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; + + if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) + { + Error_Handler(); + } + PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1; + PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK1; + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) + { + Error_Handler(); + } +} + +/** + * @brief ADC Initialization Function + * @param None + * @retval None + */ +static void MX_ADC_Init(void) +{ + + /* USER CODE BEGIN ADC_Init 0 */ + + /* USER CODE END ADC_Init 0 */ + + ADC_ChannelConfTypeDef sConfig = {0}; + + /* USER CODE BEGIN ADC_Init 1 */ + + /* USER CODE END ADC_Init 1 */ + + /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) + */ + hadc.Instance = ADC1; + hadc.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1; + hadc.Init.Resolution = ADC_RESOLUTION_12B; + hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT; + hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD; + hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV; + hadc.Init.LowPowerAutoWait = DISABLE; + hadc.Init.LowPowerAutoPowerOff = DISABLE; + hadc.Init.ContinuousConvMode = DISABLE; + hadc.Init.DiscontinuousConvMode = DISABLE; + hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START; + hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; + hadc.Init.DMAContinuousRequests = DISABLE; + hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED; + if (HAL_ADC_Init(&hadc) != HAL_OK) + { + Error_Handler(); + } + + /** Configure for the selected ADC regular channel to be converted. + */ + sConfig.Channel = ADC_CHANNEL_0; + sConfig.Rank = ADC_RANK_CHANNEL_NUMBER; + sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5; + if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK) + { + Error_Handler(); + } + + /** Configure for the selected ADC regular channel to be converted. + */ + sConfig.Channel = ADC_CHANNEL_1; + if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK) + { + Error_Handler(); + } + + /** Configure for the selected ADC regular channel to be converted. + */ + sConfig.Channel = ADC_CHANNEL_4; + if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN ADC_Init 2 */ + + /* USER CODE END ADC_Init 2 */ + +} + +/** + * @brief I2C2 Initialization Function + * @param None + * @retval None + */ +static void MX_I2C2_Init(void) +{ + + /* USER CODE BEGIN I2C2_Init 0 */ + + /* USER CODE END I2C2_Init 0 */ + + /* USER CODE BEGIN I2C2_Init 1 */ + + /* USER CODE END I2C2_Init 1 */ + hi2c2.Instance = I2C2; + hi2c2.Init.Timing = 0x0000020B; + hi2c2.Init.OwnAddress1 = 0; + hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; + hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; + hi2c2.Init.OwnAddress2 = 0; + hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK; + hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; + hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; + if (HAL_I2C_Init(&hi2c2) != HAL_OK) + { + Error_Handler(); + } + + /** Configure Analogue filter + */ + if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK) + { + Error_Handler(); + } + + /** Configure Digital filter + */ + if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN I2C2_Init 2 */ + + /* USER CODE END I2C2_Init 2 */ + +} + +/** + * @brief SPI1 Initialization Function + * @param None + * @retval None + */ +static void MX_SPI1_Init(void) +{ + + /* USER CODE BEGIN SPI1_Init 0 */ + + /* USER CODE END SPI1_Init 0 */ + + /* USER CODE BEGIN SPI1_Init 1 */ + + /* USER CODE END SPI1_Init 1 */ + /* SPI1 parameter configuration*/ + hspi1.Instance = SPI1; + hspi1.Init.Mode = SPI_MODE_MASTER; + hspi1.Init.Direction = SPI_DIRECTION_1LINE; + hspi1.Init.DataSize = SPI_DATASIZE_4BIT; + hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; + hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; + hspi1.Init.NSS = SPI_NSS_SOFT; + hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; + hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; + hspi1.Init.TIMode = SPI_TIMODE_DISABLE; + hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; + hspi1.Init.CRCPolynomial = 7; + hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE; + hspi1.Init.NSSPMode = SPI_NSS_PULSE_ENABLE; + if (HAL_SPI_Init(&hspi1) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN SPI1_Init 2 */ + + /* USER CODE END SPI1_Init 2 */ + +} + +/** + * @brief TIM1 Initialization Function + * @param None + * @retval None + */ +static void MX_TIM1_Init(void) +{ + + /* USER CODE BEGIN TIM1_Init 0 */ + + /* USER CODE END TIM1_Init 0 */ + + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; + TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; + + /* USER CODE BEGIN TIM1_Init 1 */ + + /* USER CODE END TIM1_Init 1 */ + htim1.Instance = TIM1; + htim1.Init.Prescaler = 0; + htim1.Init.CounterMode = TIM_COUNTERMODE_UP; + htim1.Init.Period = 65535; + htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim1.Init.RepetitionCounter = 0; + htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 0; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; + sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; + if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) + { + Error_Handler(); + } + sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; + sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; + sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; + sBreakDeadTimeConfig.DeadTime = 0; + sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; + sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; + sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; + if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM1_Init 2 */ + + /* USER CODE END TIM1_Init 2 */ + HAL_TIM_MspPostInit(&htim1); + +} + +/** + * @brief TIM3 Initialization Function + * @param None + * @retval None + */ +static void MX_TIM3_Init(void) +{ + + /* USER CODE BEGIN TIM3_Init 0 */ + + /* USER CODE END TIM3_Init 0 */ + + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; + + /* USER CODE BEGIN TIM3_Init 1 */ + + /* USER CODE END TIM3_Init 1 */ + htim3.Instance = TIM3; + htim3.Init.Prescaler = 0; + htim3.Init.CounterMode = TIM_COUNTERMODE_UP; + htim3.Init.Period = 65535; + htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_PWM_Init(&htim3) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 0; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM3_Init 2 */ + + /* USER CODE END TIM3_Init 2 */ + HAL_TIM_MspPostInit(&htim3); + +} + +/** + * @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 */ + + /* USER CODE BEGIN USART1_Init 1 */ + + /* USER CODE END USART1_Init 1 */ + huart1.Instance = USART1; + huart1.Init.BaudRate = 115200; + 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.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; + if (HAL_UART_Init(&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.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; + if (HAL_UART_Init(&huart2) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN USART2_Init 2 */ + + /* USER CODE END USART2_Init 2 */ + +} + +/** + * @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_GPIOF_CLK_ENABLE(); + __HAL_RCC_GPIOA_CLK_ENABLE(); + __HAL_RCC_GPIOB_CLK_ENABLE(); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(SENSOR_POWER_GPIO_Port, SENSOR_POWER_Pin, GPIO_PIN_RESET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOF, STEP_UP_ENABLE_Pin|SHDN_ENABLE_Pin, GPIO_PIN_RESET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOB, OLED_CSB_Pin|OLED_BL_EN_Pin|MOTOR_DIR_Pin|MOTOR_TORQUE1_Pin + |MOTOR_TORQUE2_Pin|BT_OLED_RESET_Pin|OLED_A0_Pin|AMP_ENABLE_Pin + |MOTOR_STEP_Pin, GPIO_PIN_RESET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(ERR0_GPIO_Port, ERR0_Pin, GPIO_PIN_RESET); + + /*Configure GPIO pins : BT_BOOT_SET_Pin CHG_CON_CHECK_Pin */ + GPIO_InitStruct.Pin = BT_BOOT_SET_Pin|CHG_CON_CHECK_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_INPUT; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + + /*Configure GPIO pin : SENSOR_POWER_Pin */ + GPIO_InitStruct.Pin = SENSOR_POWER_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(SENSOR_POWER_GPIO_Port, &GPIO_InitStruct); + + /*Configure GPIO pins : STEP_UP_ENABLE_Pin SHDN_ENABLE_Pin */ + GPIO_InitStruct.Pin = STEP_UP_ENABLE_Pin|SHDN_ENABLE_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOF, &GPIO_InitStruct); + + /*Configure GPIO pins : POWER_GOOD_Pin PHOTO_SENSOR_Pin HALL_SENSOR_Pin */ + GPIO_InitStruct.Pin = POWER_GOOD_Pin|PHOTO_SENSOR_Pin|HALL_SENSOR_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_INPUT; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /*Configure GPIO pins : OLED_CSB_Pin OLED_BL_EN_Pin MOTOR_DIR_Pin MOTOR_TORQUE1_Pin + MOTOR_TORQUE2_Pin BT_OLED_RESET_Pin OLED_A0_Pin AMP_ENABLE_Pin + MOTOR_STEP_Pin */ + GPIO_InitStruct.Pin = OLED_CSB_Pin|OLED_BL_EN_Pin|MOTOR_DIR_Pin|MOTOR_TORQUE1_Pin + |MOTOR_TORQUE2_Pin|BT_OLED_RESET_Pin|OLED_A0_Pin|AMP_ENABLE_Pin + |MOTOR_STEP_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /*Configure GPIO pins : KEY_POWER_Pin KEY_MODE_Pin CART_CON_CHECK_Pin */ + GPIO_InitStruct.Pin = KEY_POWER_Pin|KEY_MODE_Pin|CART_CON_CHECK_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_INPUT; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /*Configure GPIO pin : ERR0_Pin */ + GPIO_InitStruct.Pin = ERR0_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(ERR0_GPIO_Port, &GPIO_InitStruct); + + /* USER CODE BEGIN MX_GPIO_Init_2 */ + + /* USER CODE END MX_GPIO_Init_2 */ +} + +/* USER CODE BEGIN 4 */ + +/* 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 */