Question
BNO055 getQuat() timing very different on STM32 vs Arduino — is my STM32 code an equivalent implementation?
I'm implementing getQuat() for the BNO055 on both STM32 and Arduino and getting very different times. On STM32H7 (HAL, 400kHz I2C) my equivalent code measures ~394µs typical with frequent spikes up to ~2573µs (mean ~912µs), but on Arduino with the Adafruit library getQuat() I get ~2ms. Is my STM32 HAL code below a fair equivalent of the Adafruit getQuat(), so that the times are actually comparable?
adfruit bno055 offical library
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2026 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 <stdio.h>
#include <string.h>
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* BNO055 I2C address (0x28 7-bit -> 0x50 8-bit for HAL) */
#define BNO055_ADDR (0x28 << 1)
#define BNO055_ID 0xA0 /* CHIP_ID should read this */
/* Registers (Page 0) */
#define BNO055_CHIP_ID_ADDR 0x00
#define BNO055_PAGE_ID_ADDR 0x07
#define BNO055_OPR_MODE_ADDR 0x3D
#define BNO055_PWR_MODE_ADDR 0x3E
#define BNO055_SYS_TRIGGER_ADDR 0x3F
#define BNO055_CALIB_STAT_ADDR 0x34
#define BNO055_QUAT_DATA_W_LSB 0x20
/* Operating modes */
#define OPERATION_MODE_CONFIG 0x00
#define OPERATION_MODE_NDOF 0x0C
/* Power mode */
#define POWER_MODE_NORMAL 0x00
/* DWT: CPU running at 64 MHz -> 64 cycles per microsecond */
#define CPU_MHZ 64
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;
I2C_HandleTypeDef hi2c2;
I2C_HandleTypeDef hi2c3;
I2C_HandleTypeDef hi2c4;
UART_HandleTypeDef huart3;
/* USER CODE BEGIN PV */
/* Sensor data buffers */
uint8_t quat_raw[8]; /* 8 raw bytes from 0x20..0x27 */
int16_t quat[4]; /* w, x, y, z as int16 */
float quat_f[4]; /* w, x, y, z as float (Q14) */
uint8_t calib_raw; /* CALIB_STAT byte */
/* Quaternion scale: Q14 -> divide by 2^14 */
const float quat_scale = (1.0f / (1 << 14));
/* UART print buffer */
char uart_buf[160];
/* Timing statistics (microseconds) */
uint32_t t_min = 0xFFFFFFFF;
uint32_t t_max = 0;
uint64_t t_sum = 0;
uint32_t t_count = 0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MPU_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_I2C2_Init(void);
static void MX_I2C3_Init(void);
static void MX_I2C4_Init(void);
static void MX_USART3_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* ---- DWT cycle counter (our microsecond stopwatch) ---- */
static void DWT_Init(void)
{
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
DWT->CYCCNT = 0;
DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
}
/* ---- Adafruit write8 equivalent: write one byte to a register ---- */
static HAL_StatusTypeDef bno_write8(uint8_t reg, uint8_t value)
{
return HAL_I2C_Mem_Write(&hi2c1, BNO055_ADDR, reg,
I2C_MEMADD_SIZE_8BIT, &value, 1, 100);
}
/* ---- Adafruit read8 equivalent: read one byte from a register ---- */
static uint8_t bno_read8(uint8_t reg)
{
uint8_t value = 0;
HAL_I2C_Mem_Read(&hi2c1, BNO055_ADDR, reg,
I2C_MEMADD_SIZE_8BIT, &value, 1, 100);
return value;
}
/* ---- Adafruit readLen equivalent: read N bytes from a register ---- */
static HAL_StatusTypeDef bno_readLen(uint8_t reg, uint8_t *buffer, uint16_t len)
{
return HAL_I2C_Mem_Read(&hi2c1, BNO055_ADDR, reg,
I2C_MEMADD_SIZE_8BIT, buffer, len, 100);
}
/* ---- Adafruit setMode equivalent ---- */
static void bno_setMode(uint8_t mode)
{
bno_write8(BNO055_OPR_MODE_ADDR, mode);
HAL_Delay(30);
}
/* ---- Adafruit begin() equivalent: full init sequence ---- */
/* Returns 1 on success, 0 if sensor not found. */
static uint8_t bno_begin(void)
{
/* Wait for boot (Adafruit waits up to 850ms) */
uint32_t timeout = 850;
while (timeout > 0) {
if (bno_read8(BNO055_CHIP_ID_ADDR) == BNO055_ID) break;
HAL_Delay(10);
timeout -= 10;
}
/* Verify chip ID, retry once after a boot delay (as Adafruit does) */
uint8_t id = bno_read8(BNO055_CHIP_ID_ADDR);
if (id != BNO055_ID) {
HAL_Delay(1000);
id = bno_read8(BNO055_CHIP_ID_ADDR);
if (id != BNO055_ID) {
return 0; /* still not found */
}
}
/* Switch to CONFIG mode (default, just to be safe) */
bno_setMode(OPERATION_MODE_CONFIG);
/* Reset */
bno_write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
HAL_Delay(30);
while (bno_read8(BNO055_CHIP_ID_ADDR) != BNO055_ID) {
HAL_Delay(10);
}
HAL_Delay(50);
/* Normal power mode */
bno_write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
HAL_Delay(10);
/* Page 0 */
bno_write8(BNO055_PAGE_ID_ADDR, 0x00);
/* Clear sys trigger */
bno_write8(BNO055_SYS_TRIGGER_ADDR, 0x00);
HAL_Delay(10);
/* Final operating mode: NDOF (9-DOF fusion, quaternion @ 100Hz) */
bno_setMode(OPERATION_MODE_NDOF);
HAL_Delay(20);
return 1;
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MPU Configuration--------------------------------------------------------*/
MPU_Config();
/* 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_I2C1_Init();
MX_I2C2_Init();
MX_I2C3_Init();
MX_I2C4_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
DWT_Init();
/* BNO055 power-on settle */
HAL_Delay(700);
if (bno_begin()) {
int n = snprintf(uart_buf, sizeof(uart_buf),
"BNO055 init OK (NDOF mode)\r\n");
HAL_UART_Transmit(&huart3, (uint8_t*)uart_buf, n, 100);
} else {
int n = snprintf(uart_buf, sizeof(uart_buf),
"BNO055 NOT FOUND - check wiring/address/pullups\r\n");
HAL_UART_Transmit(&huart3, (uint8_t*)uart_buf, n, 100);
Error_Handler(); /* stop here if no sensor */
}
HAL_Delay(500);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
/* ---- Timed quaternion read (this is our getQuat equivalent) ---- */
/* ===== EXACT Adafruit getQuat() equivalent (timed) ===== */
uint32_t t1 = DWT->CYCCNT;
uint8_t buffer[8];
memset(buffer, 0, 8); /* lib does this */
int16_t qx, qy, qz, qw;
qx = qy = qz = qw = 0;
HAL_StatusTypeDef st = HAL_I2C_Mem_Read(&hi2c1, BNO055_ADDR,
BNO055_QUAT_DATA_W_LSB,
I2C_MEMADD_SIZE_8BIT, buffer, 8, 100);
qw = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);
qx = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);
qy = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);
qz = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
const double scale = (1.0 / (1 << 14)); /* double, exactly like Adafruit */
double qd_w = scale * qw;
double qd_x = scale * qx;
double qd_y = scale * qy;
double qd_z = scale * qz;
uint32_t t2 = DWT->CYCCNT;
/* ===== end timed window ===== */
uint32_t us = (t2 - t1) / CPU_MHZ;
if (us < t_min) t_min = us;
if (us > t_max) t_max = us;
t_sum += us;
t_count++;
uint32_t avg = (uint32_t)(t_sum / t_count);
/* calibration — not timed */
calib_raw = bno_read8(BNO055_CALIB_STAT_ADDR);
uint8_t cal_sys = (calib_raw >> 6) & 0x03;
uint8_t cal_gyr = (calib_raw >> 4) & 0x03;
uint8_t cal_acc = (calib_raw >> 2) & 0x03;
uint8_t cal_mag = calib_raw & 0x03;
int n = snprintf(uart_buf, sizeof(uart_buf),
"st:%d getQuat:%lu us | min:%lu max:%lu avg:%lu | "
"W:%.3f X:%.3f Y:%.3f Z:%.3f | CAL S:%d G:%d A:%d M:%d\r\n",
(int)st, (unsigned long)us,
(unsigned long)t_min, (unsigned long)t_max, (unsigned long)avg,
qd_w, qd_x, qd_y, qd_z,
cal_sys, cal_gyr, cal_acc, cal_mag);
HAL_UART_Transmit(&huart3, (uint8_t*)uart_buf, n, 100);
HAL_Delay(10); /* pace the loop (~100Hz); does NOT affect measured read time */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/*AXI clock gating */
RCC->CKGAENR = 0xE003FFFF;
/** Supply configuration update enable
*/
HAL_PWREx_ConfigSupply(PWR_DIRECT_SMPS_SUPPLY);
/** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
RCC_OscInitStruct.HSICalibrationValue = 64;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 8;
RCC_OscInitStruct.PLL.PLLP = 2;
RCC_OscInitStruct.PLL.PLLQ = 4;
RCC_OscInitStruct.PLL.PLLR = 2;
RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
RCC_OscInitStruct.PLL.PLLFRACN = 0;
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_CLOCKTYPE_PCLK2
|RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief I2C1 Initialization Function
* @param None
* @retval None
*/
static void MX_I2C1_Init(void)
{
/* USER CODE BEGIN I2C1_Init 0 */
/* USER CODE END I2C1_Init 0 */
/* USER CODE BEGIN I2C1_Init 1 */
/* USER CODE END I2C1_Init 1 */
hi2c1.Instance = I2C1;
hi2c1.Init.Timing = 0x00602173;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
Error_Handler();
}
/** Configure Analogue filter
*/
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
Error_Handler();
}
/** Configure Digital filter
*/
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN I2C1_Init 2 */
/* USER CODE END I2C1_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 = 0x00602173;
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 I2C3 Initialization Function
* @param None
* @retval None
*/
static void MX_I2C3_Init(void)
{
/* USER CODE BEGIN I2C3_Init 0 */
/* USER CODE END I2C3_Init 0 */
/* USER CODE BEGIN I2C3_Init 1 */
/* USER CODE END I2C3_Init 1 */
hi2c3.Instance = I2C3;
hi2c3.Init.Timing = 0x00602173;
hi2c3.Init.OwnAddress1 = 0;
hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c3.Init.OwnAddress2 = 0;
hi2c3.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c3.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c3.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c3) != HAL_OK)
{
Error_Handler();
}
/** Configure Analogue filter
*/
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c3, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
Error_Handler();
}
/** Configure Digital filter
*/
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c3, 0) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN I2C3_Init 2 */
/* USER CODE END I2C3_Init 2 */
}
/**
* @brief I2C4 Initialization Function
* @param None
* @retval None
*/
static void MX_I2C4_Init(void)
{
/* USER CODE BEGIN I2C4_Init 0 */
/* USER CODE END I2C4_Init 0 */
/* USER CODE BEGIN I2C4_Init 1 */
/* USER CODE END I2C4_Init 1 */
hi2c4.Instance = I2C4;
hi2c4.Init.Timing = 0x00602173;
hi2c4.Init.OwnAddress1 = 0;
hi2c4.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c4.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c4.Init.OwnAddress2 = 0;
hi2c4.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c4.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c4.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c4) != HAL_OK)
{
Error_Handler();
}
/** Configure Analogue filter
*/
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c4, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
Error_Handler();
}
/** Configure Digital filter
*/
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c4, 0) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN I2C4_Init 2 */
/* USER CODE END I2C4_Init 2 */
}
/**
* @brief USART3 Initialization Function
* @param None
* @retval None
*/
static void MX_USART3_UART_Init(void)
{
/* USER CODE BEGIN USART3_Init 0 */
/* USER CODE END USART3_Init 0 */
/* USER CODE BEGIN USART3_Init 1 */
/* USER CODE END USART3_Init 1 */
huart3.Instance = USART3;
huart3.Init.BaudRate = 115200;
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;
huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart3.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart3) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart3, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart3, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART3_Init 2 */
/* USER CODE END USART3_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
/* 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_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/* MPU Configuration */
void MPU_Config(void)
{
MPU_Region_InitTypeDef MPU_InitStruct = {0};
/* Disables the MPU */
HAL_MPU_Disable();
/** Initializes and configures the Region and the memory to be protected
*/
MPU_InitStruct.Enable = MPU_REGION_ENABLE;
MPU_InitStruct.Number = MPU_REGION_NUMBER0;
MPU_InitStruct.BaseAddress = 0x0;
MPU_InitStruct.Size = MPU_REGION_SIZE_4GB;
MPU_InitStruct.SubRegionDisable = 0x87;
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
MPU_InitStruct.AccessPermission = MPU_REGION_NO_ACCESS;
MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE;
MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
HAL_MPU_ConfigRegion(&MPU_InitStruct);
/* Enables the MPU */
HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
}
/**
* @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 */