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342 lines
12 KiB
342 lines
12 KiB
#include "apphal.hpp"
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#include "uappbase\appcfg\appcfg.hpp"
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using namespace iflytop;
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void AppHal::MX_TIM6_Init(void) {
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__HAL_RCC_TIM6_CLK_ENABLE();
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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htim6.Instance = TIM6;
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htim6.Init.Prescaler = 71;
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htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim6.Init.Period = 65535;
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htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_Base_Init(&htim6) != HAL_OK) {
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK) {
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Error_Handler();
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}
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/* TIM6 interrupt Init */
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HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
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}
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/* TIM7 init function */
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void AppHal::MX_TIM7_Init(void) {
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__HAL_RCC_TIM7_CLK_ENABLE();
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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htim7.Instance = TIM7;
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htim7.Init.Prescaler = 81;
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htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim7.Init.Period = 65535;
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htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_Base_Init(&htim7) != HAL_OK) {
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig) != HAL_OK) {
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Error_Handler();
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}
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/* TIM7 interrupt Init */
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HAL_NVIC_SetPriority(TIM7_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(TIM7_IRQn);
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}
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#define EARLY_ASSERT(exptr) \
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if (!(exptr)) { \
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while (true) { \
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} \
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}
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void AppHal::DEBUG_UART_INIT(Pin_t tx, Pin_t rx, int32_t baudrate) {
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#if (DEBUG_UART_INDEX == 1)
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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__HAL_RCC_USART1_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_DMA2_CLK_ENABLE();
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if (tx == PA9 && rx == PA10) {
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GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_10;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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} else if (tx == PB6 && rx == PB7) {
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GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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} else {
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EARLY_ASSERT(false);
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}
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huart1.Instance = USART1;
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huart1.Init.BaudRate = baudrate;
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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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if (HAL_UART_Init(&huart1) != HAL_OK) {
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Error_Handler();
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}
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HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
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hdma2_stream2.Instance = DMA2_Stream2;
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hdma2_stream2.Init.Channel = DMA_CHANNEL_4;
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hdma2_stream2.Init.Direction = DMA_PERIPH_TO_MEMORY;
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hdma2_stream2.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma2_stream2.Init.MemInc = DMA_MINC_ENABLE;
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hdma2_stream2.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma2_stream2.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma2_stream2.Init.Mode = DMA_NORMAL;
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hdma2_stream2.Init.Priority = DMA_PRIORITY_LOW;
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hdma2_stream2.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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if (HAL_DMA_Init(&hdma2_stream2) != HAL_OK) {
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Error_Handler();
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}
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__HAL_LINKDMA(&huart1, hdmarx, hdma2_stream2);
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HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(USART1_IRQn);
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#else
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#error "DEBUG_UART_INDEX not supported"
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#endif
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}
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void AppHal::MX_IWDG_Init(void) {
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hiwdg.Instance = IWDG;
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hiwdg.Init.Prescaler = IWDG_PRESCALER_64;
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hiwdg.Init.Reload = 4095;
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if (HAL_IWDG_Init(&hiwdg) != HAL_OK) {
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Error_Handler();
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}
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}
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void AppHal::UART3_Init() {
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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__HAL_RCC_USART3_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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__HAL_RCC_DMA1_CLK_ENABLE();
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huart3.Instance = USART3;
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huart3.Init.BaudRate = 115200;
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huart3.Init.WordLength = UART_WORDLENGTH_8B;
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huart3.Init.StopBits = UART_STOPBITS_1;
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huart3.Init.Parity = UART_PARITY_NONE;
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huart3.Init.Mode = UART_MODE_TX_RX;
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huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart3.Init.OverSampling = UART_OVERSAMPLING_16;
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if (HAL_UART_Init(&huart3) != HAL_OK) {
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Error_Handler();
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}
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GPIO_InitStruct.Pin = GPIO_PIN_10 | GPIO_PIN_11;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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hdma1_stream1.Instance = DMA1_Stream1;
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hdma1_stream1.Init.Channel = DMA_CHANNEL_4;
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hdma1_stream1.Init.Direction = DMA_PERIPH_TO_MEMORY;
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hdma1_stream1.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma1_stream1.Init.MemInc = DMA_MINC_ENABLE;
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hdma1_stream1.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma1_stream1.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma1_stream1.Init.Mode = DMA_NORMAL;
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hdma1_stream1.Init.Priority = DMA_PRIORITY_LOW;
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hdma1_stream1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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if (HAL_DMA_Init(&hdma1_stream1) != HAL_OK) {
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Error_Handler();
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}
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__HAL_LINKDMA(&huart3, hdmarx, hdma1_stream1);
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hdma1_stream3.Instance = DMA1_Stream3;
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hdma1_stream3.Init.Channel = DMA_CHANNEL_4;
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hdma1_stream3.Init.Direction = DMA_MEMORY_TO_PERIPH;
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hdma1_stream3.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma1_stream3.Init.MemInc = DMA_MINC_ENABLE;
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hdma1_stream3.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma1_stream3.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma1_stream3.Init.Mode = DMA_NORMAL;
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hdma1_stream3.Init.Priority = DMA_PRIORITY_LOW;
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hdma1_stream3.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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if (HAL_DMA_Init(&hdma1_stream3) != HAL_OK) {
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Error_Handler();
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}
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__HAL_LINKDMA(&huart3, hdmatx, hdma1_stream3);
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HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
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HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
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HAL_NVIC_SetPriority(USART3_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(USART3_IRQn);
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}
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/**
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* @brief
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*/
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void AppHal::UART4_Init() {
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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__HAL_RCC_UART4_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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huart4.Instance = UART4;
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huart4.Init.BaudRate = 256000;
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huart4.Init.WordLength = UART_WORDLENGTH_8B;
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huart4.Init.StopBits = UART_STOPBITS_1;
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huart4.Init.Parity = UART_PARITY_NONE;
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huart4.Init.Mode = UART_MODE_TX_RX;
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huart4.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart4.Init.OverSampling = UART_OVERSAMPLING_16;
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if (HAL_UART_Init(&huart4) != HAL_OK) {
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Error_Handler();
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}
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/**UART4 GPIO Configuration
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PC10 ------> UART4_TX
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PC11 ------> UART4_RX
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_10 | GPIO_PIN_11;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_PULLDOWN;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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/* UART4 interrupt Init */
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HAL_NVIC_SetPriority(UART4_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(UART4_IRQn);
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/***********************************************************************************************************************
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* DMA_INIT *
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***********************************************************************************************************************/
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/* UART4 DMA Init */
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/* UART4_RX Init */
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hdma1_stream2.Instance = DMA1_Stream2;
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hdma1_stream2.Init.Channel = DMA_CHANNEL_4;
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hdma1_stream2.Init.Direction = DMA_PERIPH_TO_MEMORY;
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hdma1_stream2.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma1_stream2.Init.MemInc = DMA_MINC_ENABLE;
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hdma1_stream2.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma1_stream2.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma1_stream2.Init.Mode = DMA_NORMAL;
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hdma1_stream2.Init.Priority = DMA_PRIORITY_LOW;
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hdma1_stream2.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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if (HAL_DMA_Init(&hdma1_stream2) != HAL_OK) {
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Error_Handler();
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}
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__HAL_LINKDMA(&huart4, hdmarx, hdma1_stream2);
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/* UART4_TX Init */
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hdma1_stream4.Instance = DMA1_Stream4;
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hdma1_stream4.Init.Channel = DMA_CHANNEL_4;
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hdma1_stream4.Init.Direction = DMA_MEMORY_TO_PERIPH;
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hdma1_stream4.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma1_stream4.Init.MemInc = DMA_MINC_ENABLE;
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hdma1_stream4.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma1_stream4.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma1_stream4.Init.Mode = DMA_NORMAL;
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hdma1_stream4.Init.Priority = DMA_PRIORITY_LOW;
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hdma1_stream4.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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if (HAL_DMA_Init(&hdma1_stream4) != HAL_OK) {
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Error_Handler();
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}
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__HAL_LINKDMA(&huart4, hdmatx, hdma1_stream4);
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}
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void AppHal::MX_I2C1_Init(void) {
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__HAL_RCC_GPIOB_CLK_ENABLE();
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__HAL_RCC_I2C1_CLK_ENABLE();
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hi2c1.Instance = I2C1;
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hi2c1.Init.ClockSpeed = 400000;
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hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
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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.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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Error_Handler();
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}
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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/**I2C1 GPIO Configuration
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PB8 ------> I2C1_SCL
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PB9 ------> I2C1_SDA
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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}
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void AppHal::tmc_spi_init() {
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#if (MOTOR_SPI_INDEX == 1)
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__HAL_RCC_SPI1_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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static_assert(&MOTOR_SPI_INS == &hspi1);
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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_1EDGE;
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hspi1.Init.NSS = SPI_NSS_SOFT;
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hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
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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 = 10;
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if (HAL_SPI_Init(&hspi1) != HAL_OK) {
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Error_Handler();
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}
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static_assert(MOTOR_SPI_SCK == PA5);
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static_assert(MOTOR_SPI_SDO == PA6);
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static_assert(MOTOR_SPI_SDI == PA7);
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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GPIO_InitStruct.Pin = GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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#else
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#error "MOTOR_SPI_INDEX not supported"
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#endif
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}
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