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hand_acid_mainboard/uappbase/apphal/apphal.cpp

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#include "apphal.hpp"
#include "uappbase\appcfg\appcfg.hpp"
using namespace iflytop;
void AppHal::MX_TIM6_Init(void) {
__HAL_RCC_TIM6_CLK_ENABLE();
TIM_MasterConfigTypeDef sMasterConfig = {0};
htim6.Instance = TIM6;
htim6.Init.Prescaler = 71;
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
htim6.Init.Period = 65535;
htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim6) != HAL_OK) {
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK) {
Error_Handler();
}
/* TIM6 interrupt Init */
HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
}
/* TIM7 init function */
void AppHal::MX_TIM7_Init(void) {
__HAL_RCC_TIM7_CLK_ENABLE();
TIM_MasterConfigTypeDef sMasterConfig = {0};
htim7.Instance = TIM7;
htim7.Init.Prescaler = 81;
htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
htim7.Init.Period = 65535;
htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim7) != HAL_OK) {
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig) != HAL_OK) {
Error_Handler();
}
/* TIM7 interrupt Init */
HAL_NVIC_SetPriority(TIM7_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM7_IRQn);
}
#define EARLY_ASSERT(exptr) \
if (!(exptr)) { \
while (true) { \
} \
}
void AppHal::DEBUG_UART_INIT(Pin_t tx, Pin_t rx, int32_t baudrate) {
#if (DEBUG_UART_INDEX == 1)
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_DMA2_CLK_ENABLE();
if (tx == PA9 && rx == PA10) {
GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
} else if (tx == PB6 && rx == PB7) {
GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
} else {
EARLY_ASSERT(false);
}
huart1.Instance = USART1;
huart1.Init.BaudRate = baudrate;
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;
if (HAL_UART_Init(&huart1) != HAL_OK) {
Error_Handler();
}
HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
hdma2_stream2.Instance = DMA2_Stream2;
hdma2_stream2.Init.Channel = DMA_CHANNEL_4;
hdma2_stream2.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma2_stream2.Init.PeriphInc = DMA_PINC_DISABLE;
hdma2_stream2.Init.MemInc = DMA_MINC_ENABLE;
hdma2_stream2.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma2_stream2.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma2_stream2.Init.Mode = DMA_NORMAL;
hdma2_stream2.Init.Priority = DMA_PRIORITY_LOW;
hdma2_stream2.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma2_stream2) != HAL_OK) {
Error_Handler();
}
__HAL_LINKDMA(&huart1, hdmarx, hdma2_stream2);
HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn);
#else
#error "DEBUG_UART_INDEX not supported"
#endif
}
void AppHal::MX_IWDG_Init(void) {
hiwdg.Instance = IWDG;
hiwdg.Init.Prescaler = IWDG_PRESCALER_64;
hiwdg.Init.Reload = 4095;
if (HAL_IWDG_Init(&hiwdg) != HAL_OK) {
Error_Handler();
}
}
void AppHal::UART3_Init(Pin_t tx, Pin_t rx, int32_t baudrate) {
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
huart3.Instance = USART3;
huart3.Init.BaudRate = baudrate;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE;
huart3.Init.Mode = UART_MODE_TX_RX;
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart3.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart3) != HAL_OK) {
Error_Handler();
}
if (tx == PB10 && rx == PB11) {
__HAL_RCC_GPIOB_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_10 | GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
} else if (tx == PD8 && rx == PD9) {
__HAL_RCC_GPIOD_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
} else {
ASSERT(false, "UART3 NOT SUPPORT PIN");
}
hdma1_stream1.Instance = DMA1_Stream1;
hdma1_stream1.Init.Channel = DMA_CHANNEL_4;
hdma1_stream1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma1_stream1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma1_stream1.Init.MemInc = DMA_MINC_ENABLE;
hdma1_stream1.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma1_stream1.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma1_stream1.Init.Mode = DMA_NORMAL;
hdma1_stream1.Init.Priority = DMA_PRIORITY_LOW;
hdma1_stream1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma1_stream1) != HAL_OK) {
Error_Handler();
}
__HAL_LINKDMA(&huart3, hdmarx, hdma1_stream1);
hdma1_stream3.Instance = DMA1_Stream3;
hdma1_stream3.Init.Channel = DMA_CHANNEL_4;
hdma1_stream3.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma1_stream3.Init.PeriphInc = DMA_PINC_DISABLE;
hdma1_stream3.Init.MemInc = DMA_MINC_ENABLE;
hdma1_stream3.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma1_stream3.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma1_stream3.Init.Mode = DMA_NORMAL;
hdma1_stream3.Init.Priority = DMA_PRIORITY_LOW;
hdma1_stream3.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma1_stream3) != HAL_OK) {
Error_Handler();
}
__HAL_LINKDMA(&huart3, hdmatx, hdma1_stream3);
HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
HAL_NVIC_SetPriority(USART3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(USART3_IRQn);
}
/**
* @brief
*/
void AppHal::UART4_Init(Pin_t tx, Pin_t rx, int32_t baudrate) {
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_UART4_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
huart4.Instance = UART4;
huart4.Init.BaudRate = baudrate; // 256000
huart4.Init.WordLength = UART_WORDLENGTH_8B;
huart4.Init.StopBits = UART_STOPBITS_1;
huart4.Init.Parity = UART_PARITY_NONE;
huart4.Init.Mode = UART_MODE_TX_RX;
huart4.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart4.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart4) != HAL_OK) {
Error_Handler();
}
/**UART4 GPIO Configuration
PC10 ------> UART4_TX
PC11 ------> UART4_RX
*/
if (tx == PC10 && rx == PC11) {
GPIO_InitStruct.Pin = GPIO_PIN_10 | GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
} else {
ASSERT(false, "UART4 NOT SUPPORT PIN");
}
/* UART4 interrupt Init */
HAL_NVIC_SetPriority(UART4_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(UART4_IRQn);
/***********************************************************************************************************************
* DMA_INIT *
***********************************************************************************************************************/
/* UART4 DMA Init */
/* UART4_RX Init */
hdma1_stream2.Instance = DMA1_Stream2;
hdma1_stream2.Init.Channel = DMA_CHANNEL_4;
hdma1_stream2.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma1_stream2.Init.PeriphInc = DMA_PINC_DISABLE;
hdma1_stream2.Init.MemInc = DMA_MINC_ENABLE;
hdma1_stream2.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma1_stream2.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma1_stream2.Init.Mode = DMA_NORMAL;
hdma1_stream2.Init.Priority = DMA_PRIORITY_LOW;
hdma1_stream2.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma1_stream2) != HAL_OK) {
Error_Handler();
}
__HAL_LINKDMA(&huart4, hdmarx, hdma1_stream2);
/* UART4_TX Init */
hdma1_stream4.Instance = DMA1_Stream4;
hdma1_stream4.Init.Channel = DMA_CHANNEL_4;
hdma1_stream4.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma1_stream4.Init.PeriphInc = DMA_PINC_DISABLE;
hdma1_stream4.Init.MemInc = DMA_MINC_ENABLE;
hdma1_stream4.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma1_stream4.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma1_stream4.Init.Mode = DMA_NORMAL;
hdma1_stream4.Init.Priority = DMA_PRIORITY_LOW;
hdma1_stream4.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma1_stream4) != HAL_OK) {
Error_Handler();
}
__HAL_LINKDMA(&huart4, hdmatx, hdma1_stream4);
}
void AppHal::MX_I2C1_Init(void) {
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_I2C1_CLK_ENABLE();
hi2c1.Instance = I2C1;
hi2c1.Init.ClockSpeed = 400000;
// hi2c1.Init.ClockSpeed = 1000000;
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
// hi2c1.Instance = I2C1;
// hi2c1.Init.ClockSpeed = 1000000; // 1MHz
// hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
// hi2c1.Init.OwnAddress1 = 0;
// hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
// hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
// hi2c1.Init.OwnAddress2 = 0;
// hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
// hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK) {
Error_Handler();
}
GPIO_InitTypeDef GPIO_InitStruct = {0};
/**I2C1 GPIO Configuration
PB8 ------> I2C1_SCL
PB9 ------> I2C1_SDA
*/
GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
void AppHal::tmc_spi_init() {
#if (MOTOR_SPI_INDEX == 1)
__HAL_RCC_SPI1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
static_assert(&MOTOR_SPI_INS == &hspi1);
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 10;
if (HAL_SPI_Init(&hspi1) != HAL_OK) {
Error_Handler();
}
static_assert(MOTOR_SPI_SCK == PA5);
static_assert(MOTOR_SPI_SDO == PA6);
static_assert(MOTOR_SPI_SDI == PA7);
GPIO_InitTypeDef GPIO_InitStruct = {0};
GPIO_InitStruct.Pin = GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
#else
#error "MOTOR_SPI_INDEX not supported"
#endif
}
void AppHal::rtc_init() {
RTC_TimeTypeDef sTime = {0};
RTC_DateTypeDef sDate = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_RTC;
PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSI;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) {
Error_Handler();
}
__HAL_RCC_RTC_ENABLE();
/** Initialize RTC Only
*/
hrtc.Instance = RTC;
hrtc.Init.HourFormat = RTC_HOURFORMAT_24;
hrtc.Init.AsynchPrediv = 127;
hrtc.Init.SynchPrediv = 255;
hrtc.Init.OutPut = RTC_OUTPUT_DISABLE;
hrtc.Init.OutPutPolarity = RTC_OUTPUT_POLARITY_HIGH;
hrtc.Init.OutPutType = RTC_OUTPUT_TYPE_OPENDRAIN;
if (HAL_RTC_Init(&hrtc) != HAL_OK) {
Error_Handler();
}
// /** Initialize RTC and set the Time and Date
// */
// sTime.Hours = 0x0;
// sTime.Minutes = 0x0;
// sTime.Seconds = 0x0;
// sTime.DayLightSaving = RTC_DAYLIGHTSAVING_NONE;
// sTime.StoreOperation = RTC_STOREOPERATION_RESET;
// if (HAL_RTC_SetTime(&hrtc, &sTime, RTC_FORMAT_BIN) != HAL_OK) {
// Error_Handler();
// }
// sDate.WeekDay = 0x01;
// sDate.Month = 0x1;
// sDate.Date = 0x1;
// sDate.Year = 24;
// if (HAL_RTC_SetDate(&hrtc, &sDate, RTC_FORMAT_BIN) != HAL_OK) {
// Error_Handler();
// }
}
void AppHal::rtc_get(zdate_t* date) {
RTC_DateTypeDef GetData;
RTC_TimeTypeDef GetTime;
/* Get the RTC current Time */
HAL_RTC_GetTime(&hrtc, &GetTime, RTC_FORMAT_BIN);
/* Get the RTC current Date */
HAL_RTC_GetDate(&hrtc, &GetData, RTC_FORMAT_BIN);
date->year = 1900 + GetData.Year;
date->month = GetData.Month;
date->day = GetData.Date;
date->hours = GetTime.Hours;
date->minutes = GetTime.Minutes;
date->seconds = GetTime.Seconds;
// /* Display date Format : yy/mm/dd */
// ZLOGI("", "%02d/%02d/%02d\r\n", 1900 + GetData.Year, GetData.Month, GetData.Date);
// /* Display time Format : hh:mm:ss */
// ZLOGI("", "%02d:%02d:%02d\r\n", GetTime.Hours, GetTime.Minutes, GetTime.Seconds);
}
void AppHal::rtc_set(zdate_t* date) {
RTC_DateTypeDef sDate = {0};
RTC_TimeTypeDef sTime = {0};
HAL_RTC_GetTime(&hrtc, &sTime, RTC_FORMAT_BIN);
HAL_RTC_GetDate(&hrtc, &sDate, RTC_FORMAT_BIN);
sTime.Hours = date->hours;
sTime.Minutes = date->minutes;
sTime.Seconds = date->seconds;
sTime.DayLightSaving = RTC_DAYLIGHTSAVING_NONE;
sTime.StoreOperation = RTC_STOREOPERATION_RESET;
if (HAL_RTC_SetTime(&hrtc, &sTime, RTC_FORMAT_BIN) != HAL_OK) {
Error_Handler();
}
sDate.WeekDay = 0x01;
sDate.Month = date->month;
sDate.Date = date->day;
sDate.Year = date->year - 1900;
if (HAL_RTC_SetDate(&hrtc, &sDate, RTC_FORMAT_BIN) != HAL_OK) {
Error_Handler();
}
}
void AppHal::usb_init() {
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USB_OTG_FS GPIO Configuration
PA11 ------> USB_OTG_FS_DM
PA12 ------> USB_OTG_FS_DP
*/
GPIO_InitStruct.Pin = GPIO_PIN_11 | GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
__HAL_RCC_USB_OTG_FS_CLK_ENABLE();
hhcd_USB_OTG_FS.Instance = USB_OTG_FS;
hhcd_USB_OTG_FS.Init.Host_channels = 8;
hhcd_USB_OTG_FS.Init.speed = HCD_SPEED_FULL;
hhcd_USB_OTG_FS.Init.dma_enable = DISABLE;
hhcd_USB_OTG_FS.Init.phy_itface = HCD_PHY_EMBEDDED;
hhcd_USB_OTG_FS.Init.Sof_enable = DISABLE;
if (HAL_HCD_Init(&hhcd_USB_OTG_FS) != HAL_OK) {
Error_Handler();
}
#if 0
__HAL_RCC_USB_OTG_FS_CLK_DISABLE();
/**USB_OTG_FS GPIO Configuration
PA11 ------> USB_OTG_FS_DM
PA12 ------> USB_OTG_FS_DP
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
#endif
}