mirror of
https://github.com/DashyFox/StackSport.git
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firstTest
This commit is contained in:
192
Core/Src/main.c
192
Core/Src/main.c
@ -23,6 +23,11 @@
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "usbd_cdc_if.h"
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#include "pca9685.h"
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#include "IR.h"
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#include "EEPROM.h"
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#include "Print.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@ -51,6 +56,40 @@ UART_HandleTypeDef huart3;
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/* USER CODE BEGIN PV */
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uint8_t txdata[64];
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uint8_t rxdata[64];
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uint8_t velosety[600];
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uint8_t rxcomlite = 0;
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uint8_t initcomlete = 0;
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unsigned char Shiftreg[3];
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uint8_t rejim[60]; // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2...
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uint8_t avto = 0; // vkl/otkl avtomaticheskoi raboti
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uint8_t rejim_number = 1; // nomer tekyshego rejima
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uint8_t Vz1 = 100;
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uint8_t Vz2 = 100;
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uint16_t vi = 0;
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uint16_t timing1 = 0;
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uint16_t timing2 = 0;
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uint8_t MYIR_command = 0;
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volatile uint32_t millisCounter = 0;
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uint32_t previousMillis = 0;
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struct StructShot BufShots[MAX_NUMBER_SHOTS];
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struct StructProgram BufPrograms;
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struct StructMacro BufMacro;
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extern PCD_HandleTypeDef hpcd_USB_FS;
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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@ -94,7 +133,15 @@ int main(void)
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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// Установка приоритета прерывания
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// NVIC_SetPriority(SysTick_IRQn, 0);
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// Настройка SysTick таймера на 1 мс
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SysTick->LOAD = 479999; // 1ms Sys timer
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// SysTick_Config(SystemCoreClock / 1000);
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__HAL_RCC_USB_FORCE_RESET();
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HAL_Delay(10);
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__HAL_RCC_USB_RELEASE_RESET();
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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@ -107,12 +154,151 @@ int main(void)
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MX_USART3_UART_Init();
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/* USER CODE BEGIN 2 */
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); //PA8
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); //PA9
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); //PA0
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2); //PA1
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3); //PA2
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); //PA3
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initPCA9685();
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//BufShots[0].countRepeatShot = 5;
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//BufShots[0].speedRollerTop = 120;
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//BufShots[0].speedRollerBottom = 130;
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//BufShots[0].speedScrew = 50;
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//BufShots[0].rotationAxial = 90;
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//BufShots[0].rotationHorizontal = 90;
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//BufShots[0].rotationVertical = 90;
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// SaveShot(0, &BufShots[0]);
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// BufShots[1] = GetShot(0);
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initcomlete = 1;
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Shiftreg[0] = 0x00; Shiftreg[1] = 0x44; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x00; Shiftreg[1] = 0x66; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x00; Shiftreg[1] = 0x77; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x01; Shiftreg[1] = 0x77; Shiftreg[2] = 0x01; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x03; Shiftreg[1] = 0x77; Shiftreg[2] = 0x03; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x07; Shiftreg[1] = 0x77; Shiftreg[2] = 0x07; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x0F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x0F; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x1F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x1F; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x3F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x3F; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x7F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x7F; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x00; Shiftreg[1] = 0x00; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
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HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_1); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 1 <20>6 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> PA0 PA1
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HAL_TIM_Base_Start_IT(&htim3);
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HAL_NVIC_EnableIRQ(TIM3_IRQn);
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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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if (IRStatus == STATUS_REPEAT) {
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if (IR_Address == 0x01) MYIR_command = IR_Command;
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CDC_Transmit_FS(&MYIR_command, 1);
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ClearIRStatus();
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}
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if (rxcomlite == 1) {
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txdata[0] = 'O'; txdata[1] = 'K'; txdata[2] = '?';
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switch (rxdata[0]) {
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case 1: { SetServo(0, rxdata[1] ); txdata[0] = 'O'; txdata[1] = 'K';
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txdata[2] = '1'; CDC_Transmit_FS(txdata, 3); break; }
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case 2: { SetServo(1, rxdata[1] ); txdata[0] = 'O'; txdata[1] = 'K';
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txdata[2] = '2'; CDC_Transmit_FS(txdata, 3); break; }
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case 3: { SetServo(2, rxdata[1] ); txdata[0] = 'O'; txdata[1] = 'K';
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txdata[2] = '3'; CDC_Transmit_FS(txdata, 3); break; }
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case 4: { SetServo(0, rxdata[1] ); SetServo(1, rxdata[2] ); SetServo(2, rxdata[3] );
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Vz1 = rxdata[4]; //rolic verh 0..200
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Vz2 = rxdata[5]; //rolic niz 0..200
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vi = 0;
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//shnek 0..100
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if (rxdata[6] < 101) { TIM1->CCR1 = 0; TIM1->CCR2 = (uint16_t)(40*rxdata[6]); } else
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{ TIM1->CCR1 = 0; TIM1->CCR2 = 4000;}
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txdata[0] = 'O'; txdata[1] = 'K'; txdata[2] = '4'; CDC_Transmit_FS(txdata, 3); break; }
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case 5: {txdata[0] = LOBYTE(timing1) ; txdata[1] = HIBYTE(timing1) ;
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CDC_Transmit_FS(txdata, 3); break; }
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case 6: { CDC_Transmit_FS(velosety, 600); break; }
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case 7: { rejim[0] = rxdata[1];
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// copy to buffer
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for (uint8_t i = 0; i < rejim[0]; i++)
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{
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rejim[(i*6)+1] = rxdata[(i*6)+2];
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rejim[(i*6)+2] = rxdata[(i*6)+3];
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rejim[(i*6)+3] = rxdata[(i*6)+4];
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rejim[(i*6)+4] = rxdata[(i*6)+5];
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rejim[(i*6)+5] = rxdata[(i*6)+6];
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rejim[(i*6)+6] = rxdata[(i*6)+7];
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}
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// set rejim #1
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SetServo(0, rejim[1] );
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SetServo(1, rejim[2] );
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SetServo(2, rejim[3] );
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Vz1 = rejim[4];
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Vz2 = rejim[5];
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TIM1->CCR1 = 0; TIM1->CCR2 = (uint16_t)(40*rejim[6]);
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// set avto
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rejim_number = 1;
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avto = 1;
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break; }
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case 8: { // stop avto
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avto = 0; rejim_number = 1;
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// stop mecanics
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SetServo(0, 90);
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SetServo(1, 90);
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SetServo(2, 90);
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Vz1 = 100;
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Vz2 = 100;
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TIM1->CCR1 = 0; TIM1->CCR2 = 0;
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break; }
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case 9: { txdata[0] = avto ;
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txdata[1] = rejim_number;
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CDC_Transmit_FS(txdata, 3);
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break; }
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default: break;
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}
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rxcomlite = 0;
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// // HAL_Delay(1000);
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}
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uint32_t currentMillis = millisCounter;
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if (currentMillis - previousMillis >= 500) {
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previousMillis = currentMillis;
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GPIOC->ODR ^= GPIO_PIN_13;
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// unsigned char text[] = "Hello\n";
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// printNumber(SysTick->LOAD);
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// CDC_Transmit_FS(text, sizeof(text));
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}
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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@ -359,7 +545,7 @@ static void MX_TIM3_Init(void)
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{
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/* USER CODE BEGIN TIM3_Init 0 */
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__HAL_RCC_TIM3_CLK_ENABLE();
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/* USER CODE END TIM3_Init 0 */
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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@ -463,7 +649,7 @@ static void MX_GPIO_Init(void)
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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(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOA, LED_DATA_Pin|LED_CLK_Pin, GPIO_PIN_RESET);
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@ -518,8 +704,10 @@ void Error_Handler(void)
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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// GPIOC->ODR &= ~GPIO_PIN_13;
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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