/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 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 */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define CS_PIN			GPIO_PIN_6
#define CS_PORT			GPIOB
#define RESET_PIN		GPIO_PIN_9
#define RESET_PORT		GPIOA
#define FLAG_PIN		GPIO_PIN_2
#define FLAG_PORT		GPIOB
#define BUSY_PIN		GPIO_PIN_3
#define BUSY_PORT		GPIOB
#define STCK_PIN		GPIO_PIN_7
#define STCK_PORT		GPIOC

#define HIGH			GPIO_PIN_SET
#define LOW				GPIO_PIN_RESET


// CONFIGURATION REGISTERS
// TYPES: 	1. WR: ALWAYS WRITEABLE
//			2. WH: WRITABLE ONLY WHEN OUTPUTS ARE HIGH IMPEDENCE
//			3. WS: WRITABLE ONLY WHEN MOTOR IS STOPPED
//			4. RO: READABLE ONLY
#define ABS_POS			0X01			// WS
#define EL_POS			0X02			// WH
#define MARK			0X03			// WR
#define SPEED			0X04			// RO
#define ACC				0X05			// WS
#define DEC				0X06			// WS
#define MAX_SPEED		0X07			// WR
#define MIN_SPEED		0X08			// WS
#define ADC_OUT			0X12			// RO
#define OCD_TH			0X13			// WR
#define FS_SPD			0X15			// WR
#define STEP_MODE		0X16			// WH
#define ALARM_EN		0X17			// WS
#define GATECFG1		0X18			// WH
#define GATECFG2		0X19			// WH
#define STATUS			0X1B			// RO
#define CONFIG			0X1A			// WH
// VOLTAGE MODE CONFIGURATION REGISTERS
#define KVAL_HOLD		0X09			// WR
#define KVAL_RUN		0X0A			// WR
#define KVAL_ACC		0X0B			// WR
#define KVAL_DEC		0X0C			// WR
#define INT_SPEED		0X0D			// WH
#define ST_SLP			0X0E			// WH
#define FN_SLP_ACC		0X0F			// WH
#define FN_SLP_DEC		0X10			// WH
#define K_THERM			0X11			// WR
#define STALL_TH		0X14			// WR
// CURRENT MODE CONFIGURATION REGISTERS
#define TVAL_HOLD		0X09			// WR
#define TVAL_RUN		0X0A			// WR
#define TVAL_ACC		0X0B			// WR
#define TVAL_DEC		0X0C			// WR
#define T_FAST			0X0E			// WH
#define TON_MIN			0X0F			// WH
#define TOFF_MIN		0X10			// WH

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim3;

UART_HandleTypeDef huart2;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_TIM3_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void PowerStep01_Init()
{
	HAL_GPIO_WritePin(RESET_PORT, RESET_PIN, HIGH);

	HAL_GPIO_WritePin(CS_PORT, CS_PIN, HIGH);
	HAL_Delay(100);
}

void PS_Set_Register(uint8_t reg_add, uint8_t size, uint32_t value)
{
	uint8_t Txbuff[4] = {0x00, 0x00, 0x00, 0x00};
	uint8_t Rxbuff[4] = {0x00, 0x00, 0x00, 0x00};

	Txbuff[0] = reg_add;

	HAL_GPIO_WritePin(CS_PORT, CS_PIN, LOW);
//	HAL_Delay(1);
	HAL_SPI_TransmitReceive(&hspi1, Txbuff, &Rxbuff[0], 1, 2000);
//	HAL_Delay(1);
	HAL_GPIO_WritePin(CS_PORT, CS_PIN, HIGH);

//	HAL_Delay(1);

	Txbuff[1] = (uint8_t)(value>>16);
	Txbuff[2] = (uint8_t)(value>>8);
	Txbuff[3] = (uint8_t)(value);

	for(int i=1; i<=size; i++)
	{
		HAL_GPIO_WritePin(CS_PORT, CS_PIN, LOW);
//		HAL_Delay(1);
		HAL_SPI_TransmitReceive(&hspi1, &Txbuff[i], &Rxbuff[i], 1, 2000);
//		HAL_Delay(1);
		HAL_GPIO_WritePin(CS_PORT, CS_PIN, HIGH);
//		HAL_Delay(1);
	}
}

uint32_t PS_Get_Register(uint8_t reg_add, uint8_t size)
{
	uint8_t Txbuff[4] = {0x00, 0x00, 0x00, 0x00};
	uint8_t Rxbuff[4] = {0x00, 0x00, 0x00, 0x00};
	uint32_t result;

	Txbuff[0] = (0x20 | reg_add);

	for(int i=1; i<=size; i++)
	{
		HAL_GPIO_WritePin(CS_PORT, CS_PIN, LOW);
//		HAL_Delay(1);
		HAL_SPI_TransmitReceive(&hspi1, &Txbuff[i], &Rxbuff[i], 1, 2000);
//		HAL_Delay(1);
		HAL_GPIO_WritePin(CS_PORT, CS_PIN, HIGH);
	}

	result = (uint16_t)(Rxbuff[1] << 16) | (uint16_t)(Rxbuff[2] << 8) | (uint16_t)(Rxbuff[3]);

	return result;
}

uint16_t PS_Get_Status()
{
	uint8_t Txbuff[3] = {0xD0, 0x00, 0x00};
	uint8_t Rxbuff[3] = {0};
	uint16_t result = 0;

	for(uint8_t i=0; i<3; i++){
		HAL_GPIO_WritePin(CS_PORT, CS_PIN, LOW);
		if(HAL_SPI_TransmitReceive(&hspi1, &Txbuff[i], &Rxbuff[i], 1, 4096) == HAL_OK);
//		{
//			HAL_UART_Transmit(&huart2, (uint8_t *)"hello\r\n", 7, 100);
//		}
		HAL_GPIO_WritePin(CS_PORT, CS_PIN, HIGH);
	}
//	HAL_GPIO_WritePin(CS_PORT, CS_PIN, HIGH);
	result = (uint16_t)(Rxbuff[1] << 8) | (uint16_t)(Rxbuff[2]);
	return result;
}

void Set_StepMode(uint8_t Sync_En, uint8_t Sync_Sel, uint8_t CmVm, uint8_t Step_Mode)
{
	uint8_t value;
	value = (Sync_En<<7 & 0x80) | (Sync_Sel<<4 & 0x70) |
			(CmVm<<3 & 0x0E) | (Step_Mode & 0x01);
	PS_Set_Register(STEP_MODE, 1, value);
}

void Set_Acceleration(uint32_t value)
{
	PS_Set_Register(ACC, 2, value);
}

void Set_Deceleration(uint32_t value)
{
	PS_Set_Register(DEC, 2, value);
}

void Set_MaxSpeed(uint32_t value)
{
	PS_Set_Register(MAX_SPEED, 2, value);
}

void Set_FullStepSpeed(uint32_t value)
{
	PS_Set_Register(FS_SPD, 2, value);
}

void Set_SlewRate(uint32_t value)
{
	PS_Set_Register(GATECFG1, 2, value);
}

void Set_OCThreshold(uint32_t value)
{
	PS_Set_Register(OCD_TH, 1, value);
}

void Set_ConfigReg(uint32_t value)
{
	PS_Set_Register(CONFIG, 2, value);
}

void Set_RunKVAL(uint32_t value)
{
	PS_Set_Register(KVAL_RUN, 1, value);
}

void Set_AccKVAL(uint32_t value)
{
	PS_Set_Register(KVAL_ACC, 1, value);
}

void Set_DecKVAL(uint32_t value)
{
	PS_Set_Register(KVAL_DEC, 1, value);
}

void Set_HoldKVAL(uint32_t value)
{
	PS_Set_Register(KVAL_HOLD, 1, value);
}

void Set_AlarnEN(uint32_t value)
{
	PS_Set_Register(ALARM_EN, 1, value);
}

uint32_t Get_Acceleration(){
	return PS_Get_Register(ACC, 2);
}

uint32_t Get_Deceleration(){
	return PS_Get_Register(DEC, 2);
}

void initss(){
	uint8_t rxb;

	PS_Set_Register(ABS_POS, 3, 0x000000);
	PS_Set_Register(EL_POS, 2, 0x0000);
	PS_Set_Register(MARK, 3, 0x000000);
	PS_Set_Register(ACC, 2, 0x0028);
	PS_Set_Register(DEC, 2, 0x0028);
	PS_Set_Register(MAX_SPEED, 2, 0x0020);
	PS_Set_Register(MIN_SPEED, 2, 0x0000);
	PS_Set_Register(FS_SPD, 2, 0x0010);
	PS_Set_Register(OCD_TH, 1, 0x08);
	PS_Set_Register(STEP_MODE, 1, 0x0C);
	PS_Set_Register(ALARM_EN, 1, 0xEF);
	PS_Set_Register(GATECFG1, 2, 0x00C3);
	PS_Set_Register(GATECFG2, 1, 0x40);
	PS_Set_Register(KVAL_HOLD, 1, 0x29);
	PS_Set_Register(KVAL_RUN, 1, 0x29);
	PS_Set_Register(KVAL_ACC, 1, 0x29);
	PS_Set_Register(KVAL_DEC, 1, 0x29);
	PS_Set_Register(ST_SLP, 1, 0x35);
	PS_Set_Register(FN_SLP_ACC, 1, 0x05);
	PS_Set_Register(FN_SLP_DEC, 1, 0x29);
	PS_Set_Register(CONFIG, 2, 0x3208);

//	HAL_GPIO_WritePin(CS_PORT, CS_PIN, LOW);
//	HAL_SPI_TransmitReceive(&hspi1, (uint8_t *)(0xA8), &rxb, 1, 2000);
//	HAL_GPIO_WritePin(CS_PORT, CS_PIN, HIGH);

	PS_Get_Status();

//	 Set_StepMode(0,0,0,0);
//	 Set_MaxSpeed(0x0107);
//	 Set_FullStepSpeed(0x024D);
//	 Set_Acceleration(0x0113);
//	 Set_Deceleration(0x0113);
//	 Set_SlewRate(0x006C);
//	 Set_OCThreshold(0x16);
//	 Set_ConfigReg(0x1F90);
//	 Set_RunKVAL(0xA4);
//	 Set_AccKVAL(0xA4);
//	 Set_DecKVAL(0xA4);
//	 Set_HoldKVAL(0x08);
//	 Set_AlarnEN(0x8F);

}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
	uint32_t status;
//	uint16_t res=0;
	uint8_t Txbuff[10];
  /* USER CODE END 1 */

  /* 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_USART2_UART_Init();
  MX_SPI1_Init();
  MX_TIM3_Init();
  /* USER CODE BEGIN 2 */
  PowerStep01_Init();
  /* USER CODE END 2 */
  initss();
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

	 Txbuff[0] = 0x41;
	 Txbuff[1] = 0x00;
	 Txbuff[2] = 0x0F;
	 Txbuff[3] = 0xA0;

	status = PS_Get_Status();

//	PS_Set_Register(0x41, 3, 0xFA0);
	for(int i=1; i<=3; i++)
	{
		HAL_GPIO_WritePin(CS_PORT, CS_PIN, LOW);
		HAL_SPI_Transmit(&hspi1, &Txbuff[i], 1, 2000);
		HAL_GPIO_WritePin(CS_PORT, CS_PIN, HIGH);
	}

	for(int i =0; i<100; i++){
		status = PS_Get_Status();
		HAL_Delay(10);
	}

//	HAL_GPIO_WritePin(CS_PORT, CS_PIN, LOW);
//	HAL_SPI_TransmitReceive(&hspi1, (uint8_t *)(0x59), &Txbuff[0], 1, 2000);
//	HAL_GPIO_WritePin(CS_PORT, CS_PIN, HIGH);
//
//	for(int i=0; i<1000; i++){
//		HAL_GPIO_WritePin(STCK_PORT, STCK_PIN, HIGH);
//		HAL_Delay(1);
//		HAL_GPIO_WritePin(STCK_PORT, STCK_PIN, LOW);
//		HAL_Delay(1);
//	}
//	 Txbuff[0] = (uint8_t)status;
//	 Txbuff[1] = (uint8_t)(status>>8);
//	 Txbuff[2] = (uint8_t)(status>>16);
//
//	 HAL_UART_Transmit(&huart2, Txbuff, 3, 2000);



	 HAL_Delay(2000);

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** 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_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL12;
  RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
  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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief SPI1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI1_Init(void)
{

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */
  /* SPI1 parameter configuration*/
  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_HIGH;
  hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
  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 = 7;
  hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
  hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
  if (HAL_SPI_Init(&hspi1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_Init 2 */

}

/**
  * @brief TIM3 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM3_Init(void)
{

  /* USER CODE BEGIN TIM3_Init 0 */

  /* USER CODE END TIM3_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 64-1;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 65535;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM3_Init 2 */

  /* USER CODE END TIM3_Init 2 */
  HAL_TIM_MspPostInit(&htim3);

}

/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 38400;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
/* 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_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_SET);

  /*Configure GPIO pin : B1_Pin */
  GPIO_InitStruct.Pin = B1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : PA9 */
  GPIO_InitStruct.Pin = GPIO_PIN_9;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : PB6 */
  GPIO_InitStruct.Pin = GPIO_PIN_6;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @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 */