329 lines
11 KiB
C
329 lines
11 KiB
C
#include <stdio.h>
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#include <math.h>
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#include "main.h"
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#include "lcd_i2c.h"
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#include "icm20948.h"
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#include "FusionAhrs.h"
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#include "moto_config.h"
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I2C_HandleTypeDef hi2c1;
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UART_HandleTypeDef huart2;
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FusionAhrs ahrs;
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MotoData_t moto_data;
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MotoStats_t moto_stats = {0};
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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_I2C1_Init(void);
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static void MX_USART2_UART_Init(void);
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int __io_putchar(int ch) {
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HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
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return ch;
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}
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// Variables pour le filtrage du magnétomètre
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float mx_filtered = 0.0f, my_filtered = 0.0f, mz_filtered = 0.0f;
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int main(void) {
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HAL_Init();
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SystemClock_Config();
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MX_GPIO_Init();
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MX_I2C1_Init();
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MX_USART2_UART_Init();
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// Initialisation de l'écran
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lcd_init();
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lcd_clear();
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lcd_set_cursor(0, 0);
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lcd_print("MOTO IMU SYSTEM");
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HAL_Delay(1000);
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// Initialisation de l'IMU
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icm20948_init();
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// Initialisation de la fusion AHRS
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FusionAhrsInitialise(&ahrs);
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FusionAhrsSettings settings = {
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.convention = FusionConventionNed, // North-East-Down pour véhicule
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.gain = 0.75f, // Gain plus élevé pour réactivité sur moto
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.gyroscopeRange = 2000.0f, // Range du gyroscope en dps
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.accelerationRejection = 15.0f, // Rejet modéré (vibrations moto)
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.magneticRejection = 30.0f, // Rejet élevé (interférences métalliques)
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.recoveryTriggerPeriod = (int)(2.0f / MOTO_SAMPLE_PERIOD) // 2 secondes
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};
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FusionAhrsSetSettings(&ahrs, &settings);
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// Initialisation des données moto
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Moto_InitData(&moto_data);
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uint32_t last_time = HAL_GetTick();
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uint32_t init_start_time = last_time;
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uint32_t display_update_counter = 0;
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while (1) {
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uint32_t current_time = HAL_GetTick();
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float dt = (current_time - last_time) / 1000.0f;
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if (dt >= MOTO_SAMPLE_PERIOD) {
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float ax, ay, az; // Accéléromètre
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float gx, gy, gz; // Gyroscope
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float mx, my, mz; // Magnétomètre
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// Lecture des capteurs
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icm20948_read_accel(&ax, &ay, &az);
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icm20948_read_gyro(&gx, &gy, &gz);
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icm20948_read_mag(&mx, &my, &mz);
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// Calibration et filtrage du magnétomètre
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Moto_CalibrateMagnetometer(&mx, &my, &mz);
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mx_filtered = MOTO_MAG_FILTER_ALPHA * mx + (1.0f - MOTO_MAG_FILTER_ALPHA) * mx_filtered;
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my_filtered = MOTO_MAG_FILTER_ALPHA * my + (1.0f - MOTO_MAG_FILTER_ALPHA) * my_filtered;
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mz_filtered = MOTO_MAG_FILTER_ALPHA * mz + (1.0f - MOTO_MAG_FILTER_ALPHA) * mz_filtered;
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// Préparation des données pour Fusion
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FusionVector gyroscope = {gx, gy, gz};
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FusionVector accelerometer = {ax, ay, az};
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FusionVector magnetometer = {mx_filtered, my_filtered, mz_filtered};
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// Mise à jour AHRS
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FusionAhrsUpdate(&ahrs, gyroscope, accelerometer, magnetometer, dt);
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// Récupération des angles d'Euler
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FusionEuler euler = FusionQuaternionToEuler(FusionAhrsGetQuaternion(&ahrs));
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float roll = euler.angle.roll;
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float pitch = euler.angle.pitch;
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float yaw = euler.angle.yaw;
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// Vérification de la phase d'initialisation
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FusionAhrsFlags flags = FusionAhrsGetFlags(&ahrs);
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moto_data.is_initializing = flags.initialising;
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// Mise à jour de l'état de la moto
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Moto_UpdateState(&moto_data, roll, pitch, yaw, gx, gy, gz);
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Moto_FilterAngles(&moto_data);
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Moto_UpdateStats(&moto_stats, &moto_data, gx, gy, gz);
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// Mise à jour de l'affichage (toutes les 5 itérations = ~50ms)
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display_update_counter++;
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if (display_update_counter >= 5) {
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char buffer[21];
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for (int line = 0; line < 4; line++) {
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Moto_FormatDisplay(&moto_data, line, buffer);
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lcd_set_cursor(line, 0);
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lcd_print(buffer);
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}
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display_update_counter = 0;
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}
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// LED d'état
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switch (moto_data.state) {
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case MOTO_STATE_NORMAL:
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HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
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break;
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case MOTO_STATE_WARNING:
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case MOTO_STATE_RAPID_TURN:
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// Clignotement lent
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if ((current_time / 500) % 2) {
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HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
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} else {
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HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
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}
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break;
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case MOTO_STATE_DANGER:
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case MOTO_STATE_POSSIBLE_CRASH:
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// Clignotement rapide
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if ((current_time / 100) % 2) {
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HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
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} else {
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HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
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}
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break;
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default:
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HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_SET);
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break;
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}
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// Debug UART (toutes les 50 itérations = ~500ms)
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static uint32_t uart_counter = 0;
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uart_counter++;
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if (uart_counter >= 50) {
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FusionAhrsInternalStates states = FusionAhrsGetInternalStates(&ahrs);
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printf("R:%.1f P:%.1f Y:%.1f | St:%s | AE:%.1f ME:%.1f | AI:%d MI:%d | Smp:%lu\r\n",
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roll, pitch, yaw,
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Moto_GetStateString(moto_data.state),
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states.accelerationError, states.magneticError,
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states.accelerometerIgnored, states.magnetometerIgnored,
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moto_stats.total_samples);
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uart_counter = 0;
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}
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// Mise à jour du timestamp
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moto_data.last_update_time = current_time;
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last_time = current_time;
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}
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// Petite pause pour éviter la surcharge du processeur
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HAL_Delay(20);
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}
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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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if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
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{
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Error_Handler();
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}
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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.HSICalibrationValue = 64;
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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 = 1;
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RCC_OscInitStruct.PLL.PLLN = 10;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
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RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
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RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
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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_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
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{
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Error_Handler();
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}
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}
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static void MX_I2C1_Init(void)
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{
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hi2c1.Instance = I2C1;
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hi2c1.Init.Timing = 0x10D19CE4;
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hi2c1.Init.OwnAddress1 = 0;
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hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
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hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
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hi2c1.Init.OwnAddress2 = 0;
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hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
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hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
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hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
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if (HAL_I2C_Init(&hi2c1) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 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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static void MX_USART2_UART_Init(void)
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{
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huart2.Instance = USART2;
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huart2.Init.BaudRate = 115200;
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huart2.Init.WordLength = UART_WORDLENGTH_8B;
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huart2.Init.StopBits = UART_STOPBITS_1;
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huart2.Init.Parity = UART_PARITY_NONE;
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huart2.Init.Mode = UART_MODE_TX_RX;
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huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart2.Init.OverSampling = UART_OVERSAMPLING_16;
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huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
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huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
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if (HAL_UART_Init(&huart2) != HAL_OK)
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{
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Error_Handler();
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}
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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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/* GPIO Ports Clock Enable */
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__HAL_RCC_GPIOC_CLK_ENABLE();
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__HAL_RCC_GPIOH_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(GPIOA, SMPS_EN_Pin|SMPS_V1_Pin|SMPS_SW_Pin, GPIO_PIN_RESET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);
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/*Configure GPIO pin : B1_Pin */
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GPIO_InitStruct.Pin = B1_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
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/*Configure GPIO pins : SMPS_EN_Pin SMPS_V1_Pin SMPS_SW_Pin */
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GPIO_InitStruct.Pin = SMPS_EN_Pin|SMPS_V1_Pin|SMPS_SW_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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/*Configure GPIO pin : SMPS_PG_Pin */
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GPIO_InitStruct.Pin = SMPS_PG_Pin;
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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(SMPS_PG_GPIO_Port, &GPIO_InitStruct);
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/*Configure GPIO pin : LD4_Pin */
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GPIO_InitStruct.Pin = LD4_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(LD4_GPIO_Port, &GPIO_InitStruct);
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}
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void Error_Handler(void)
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{
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__disable_irq();
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while (1)
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{
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}
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}
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#ifdef USE_FULL_ASSERT
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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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