main.c 18.4 KB
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/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  *
  * COPYRIGHT(c) 2017 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "stm32f3xx_hal.h"

/* USER CODE BEGIN Includes */
#include "globals.h"
#include <string.h>
#include <math.h>
#include "led_driver.h"
#include "image_generator.h"
#include "image_filter.h"
#include "commands.h"

/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;

TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim6;
TIM_HandleTypeDef htim7;
DMA_HandleTypeDef hdma_tim2_ch1;

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void Error_Handler(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_TIM6_Init(void);
static void MX_TIM7_Init(void);
static void MX_TIM2_Init(void);
static void MX_ADC1_Init(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */
	uint8_t raw[RAW_SIZE];
	uint8_t raw_out[RAW_SIZE];
	uint8_t rxWifi_raw[RAW_SIZE];

	uint8_t myColor[3];
	uint16_t t0,t1,t2;
	float frameRate;
	
#pragma pack(4)
  uint8_t portamem_flip[NB_DMA_WRITES];
  uint8_t portamem_flop[NB_DMA_WRITES];
	uint8_t *portamem_ff[2];
	uint8_t *portamem;

	float offsetX;
	float goffsetX;
  int ioffsetX;
	
	uint32_t currentMode;
	uint8_t dynamicGenerator;
	uint8_t intensity;	


// AUTO MODE 
// On startup or In absence of remote commands for 10 minutes, 

const uint8_t modTable[]={10, 1,10,19,10, 2,10,20,10, 3,10, 5,10, 4,10,12,10, 1,10,13,10, 2,10,14,10,16,10,15,10,17,10,18};
uint32_t durationTable[]={ 1,10, 2,10, 2,10, 1,10, 1,10, 2,10, 2,10, 1,10, 1,10, 2,10, 2,10, 1,10, 1,10, 2,10, 2,10, 1,10};

int findInTable(uint32_t timeSec)
{
	int i;
	for (i=0;i<sizeof(modTable);i++)
	{
		if (timeSec<durationTable[i])
			return i;
	}
	return 10; // scurit
}
 
float speeded_time;

void cycler(float time, uint8_t receivedCommand)
{
	static uint8_t initialized = 0;
	static uint8_t neverReceivedACommand = 1;
	static int lastMode;
	static float lastTimereceivedCommand = 0;
	uint32_t dt,modTime;
	static uint32_t modulo;
	int i;
	uint32_t total;
	
	if (!initialized)
	{
		total = 0;
		for (i=0;i<sizeof(modTable);i++)
		{
			total+=durationTable[i]*60; // interprets table expressed in minutes
			durationTable[i] = total; // duration table becomes a startup time table
		}
		modulo = total;
		lastMode = -1;
		initialized = 1;
	}
	
	if (receivedCommand)
	{
		lastTimereceivedCommand = time;
		neverReceivedACommand = 0;
		return;
	}
	
	dt = time-lastTimereceivedCommand;
	
	if ((dt>3600)|(neverReceivedACommand))
	{
		// which mode ???
		modTime = dt % modulo;
		intensity = 64;

    currentMode = modTable[findInTable(modTime)];	
		
	  switch(currentMode)
		{
			case 10 : setSpeedRPS(0.025f,speeded_time); break;
			default : setSpeedRPS(0,speeded_time); setOffsetX(0); break;
		}		
		if (currentMode!=lastMode) // detects the cycler wants to change mode
		{
			if (lastMode!=20) 
			{
			  currentMode = 20; // one frame black for cleanup, just one frame
			}
		  dynamicGenerator = 1;
		}
		lastMode = currentMode;
	}
	 
}


void dmaQuickBlack(void)
{
	initLedResetCodeInMemoryForDMA2(portamem_flip);
	dmaLedDrive2(portamem_flip);
	HAL_DMA_PollForTransfer(&hdma_tim2_ch1, HAL_DMA_FULL_TRANSFER, 20);
	dmaPostLedDrive();
}
/* USER CODE END 0 */


int main(void)
{

  /* USER CODE BEGIN 1 */
  int firstPass;
	int flip_flop;
	int cmd_id;
	uint8_t receivedCommand;
	float time, last_time, time_speed_coeff;

	portamem_ff[0] = portamem_flip;
	portamem_ff[1] = portamem_flop;
	
	// on veut tre sr que lorsque les pin RST et EN WIFI passent en sortie, elles sont bien  0.
	// Pour qu'il ne se mette pas  dmarrer sans notre contrle.
	GPIOA->ODR =  0;
	// tant que la clock n'est pas active, ne sera pas latch (pas vrifi si c'est vraiment latch)
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  /* USER CODE END 1 */

  /* MCU Configuration----------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* Configure the system clock */
  SystemClock_Config();

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_TIM6_Init();
  MX_TIM7_Init();
  MX_TIM2_Init();
  MX_ADC1_Init();

  /* USER CODE BEGIN 2 */

//	HAL_TIM_Base_Start(&htim2);

  GPIOA->ODR = 0;

__HAL_DBGMCU_FREEZE_TIM2();
__HAL_DBGMCU_FREEZE_TIM6();
__HAL_DBGMCU_FREEZE_TIM7();


	HAL_TIM_Base_Start(&htim6); // pour la base de temps principale. Avec une it par seconde. Secondes et 0.1ms step
	HAL_TIM_Base_Start(&htim7); // TIM7  la micro seconde

// on a besoin de TIM7 pour les dlais power up sequence

	clig();

//rose 0x80, 0x40, 0x40
	myColor[0] = 0xFF;
	myColor[1] = 0xFF;
	myColor[2] = 0xFF;
	myColor[0] = 0x80;
	myColor[1] = 0x40;
	myColor[2] = 0x40;

	generateUniformColor(raw,myColor);
//	generateBlack(raw);
//	generate3RGBSpaceInvaders(raw);
	
	

	HAL_NVIC_DisableIRQ(TIM6_DAC_IRQn);
	HAL_NVIC_SetPriority(TIM6_DAC_IRQn,2,2); // just below LED driver DMA
	TIM6->SR = 0; // Clear IT Flag
	HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
	TIM6->DIER |= TIM_DIER_UIE; // enable interrupt
	
	firstPass = 1;
	flip_flop = 0;
	
	// init DMA memory flip and flop
	initLedResetCodeInMemoryForDMA2(portamem_ff[0]);
	initLedResetCodeInMemoryForDMA2(portamem_ff[1]);

	currentMode = 1;
	dynamicGenerator = 1;
	intensity = 50;
	time_speed_coeff = 1;
	time = speeded_time = getTime(); // to have the current time from the start
	
  setSpeedRPS(0.0f,0); 
	setOffsetX(0.0f);
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

//		setOffsetX(cos(time)); // for play
		receivedCommand = 0;
		
		while (commandRx(&cmd_id,rxWifi_raw, time))
		{
			receivedCommand = 1;
			switch(cmd_id)
			{
				case CMD_POS : setOffsetX(*((float*)(rxWifi_raw))); RunLedToggle(); break;
//				case CMD_SPD : setSpeedRPS(*((float*)(rxWifi_raw)),speeded_time); RunLedToggle(); break;
				case CMD_SPD : time_speed_coeff = 1+9*(*((float*)(rxWifi_raw))); RunLedToggle(); break;
				case CMD_MOD : 	currentMode = *((uint32_t*)(rxWifi_raw)); 
												setOffsetX(0); 
												if (currentMode==10)
													setSpeedRPS(0.1f,speeded_time); 
												else
													setSpeedRPS(0,speeded_time); 
												dynamicGenerator = 1; 
												RunLedToggle(); break;
				case CMD_RAW : memcpy(raw,rxWifi_raw,RAW_SIZE); 
											 currentMode = 0; 
				#ifdef POWER_LIMITER
											 powerLimiter(raw,POWER_LIMIT);
				#endif
											 RunLedToggle(); 
											 break; // double copie,  viter
				case CMD_INT : intensity = (uint8_t) *((uint32_t*)(rxWifi_raw)); dynamicGenerator = 1; RunLedToggle(); break;
				case CMD_OFF : dmaWait();	// sweet stop	
											 dmaQuickBlack();	// pour viter la rmanence image
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												HAL_PWR_EnterSTANDBYMode();
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												break;
			}
		}

//		memcpy(raw,rxWifi_raw,RAW_SIZE+16);checkUpdateFlash(raw);
//		readImageFromFlash(raw,2);
		
		// get current offset to apply. Need it to compute the partial offset on gaussian
		// also gets the time
		last_time = time;
		time = getTime();
		speeded_time += (time-last_time)*time_speed_coeff;

		offsetX = updateOffsetX(speeded_time); // garanties 0<=offsetX<NB_COLUMNS
		
		    
		// invoque auto image generator (takes control on startup and after 60 minutes of inactivity (no commands received))
		// user has priority
		cycler(time,receivedCommand);


		// the offset must be expressed as the sum of an integer in [0;NB_COLUMN-1] and an offset in ]-0.5;0.5]
		// offsetX = ioffsetX+goffsetX;
		// values between NB_COLUMN-0.5<values<NB_COLUMN are reached by ioffset = 0 and -0.5<goffset<0

		ioffsetX = offsetX; //integer part in [0;NB_COLUMNS-1]
		goffsetX = offsetX - ioffsetX; // float part in [0;1[
		
		if (goffsetX>0.5f)
		{
			goffsetX = goffsetX - 1.0f; // float part in ]-0.5;0.5]
			ioffsetX++; //integer part in [1;NB_COLUMNS]
			if (ioffsetX == NB_COLUMNS)
				ioffsetX = 0; //integer part in [0;NB_COLUMNS-1]
		}
				
		// Generate Image into raw
		if (currentMode!=0)
		{
			if (dynamicGenerator)
			{
				dynamicGenerator = imageGenerator(currentMode,raw,speeded_time,intensity);
			}
		}
		
		// Process Image
		// Requires -0.5<=goffsetX<=0.5
		// needs the updated goffsetX
		filtreGaussienX(0.7f,NB_COLUMNS,NB_LINES, raw, raw_out,-goffsetX);

		// Format Data for DMA
		// requires  0 <= ioffset < NB_COLUMNS
		portamem = portamem_ff[flip_flop];
		formatMemoryForDMA2(raw_out,portamem,ioffsetX);

		
		// Wait for end of previous image DMA transfer before restarting a DMA transfer
		if (!firstPass)
		{
			dmaWait();
			t2 = TIM7->CNT;  // 1787s. OK ! Mesur 1.7ms  l'oscillo.
		}

// Position importante, cela assure que le DMA ne tourne plus au moment du power down.		
		// Si PWM tlcommande pas dtecte, STOP sans Wifi
		#ifdef REMOTE_MANAGER
			remoteManager();
		#endif

// Position importante, cela assure que le DMA ne tourne plus au moment du power down.
		// go to sleep anyway after 10 hours, with Wifi
		if (time>60*60*10)
		{
//			powerDownListeningWifi();
		}		

		// Start Send Image by DMA
		dmaLedDrive2(portamem); // Ne prend que 2s YES !!

		do
		{
			t1 = TIM7->CNT;
		}			
		while(t1<10000);
		
		TIM7->CNT = 0;	
		frameRate = 1e6/t1;
		
		firstPass = 0;
		flip_flop = 1 - flip_flop;

  }		
  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */

  /* USER CODE END 3 */

}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }

  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* ADC1 init function */
static void MX_ADC1_Init(void)
{

  ADC_ChannelConfTypeDef sConfig;

    /**Common config 
    */
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
  hadc1.Init.ContinuousConvMode = DISABLE;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc1.Init.NbrOfConversion = 2;
  hadc1.Init.DMAContinuousRequests = DISABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc1.Init.LowPowerAutoWait = ENABLE;
  hadc1.Init.Overrun = ADC_OVR_DATA_OVERWRITTEN;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    Error_Handler();
  }

    /**Configure Regular Channel 
    */
  sConfig.Channel = ADC_CHANNEL_11;
  sConfig.Rank = 1;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.SamplingTime = ADC_SAMPLETIME_7CYCLES_5;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

    /**Configure Regular Channel 
    */
  sConfig.Channel = ADC_CHANNEL_12;
  sConfig.Rank = 2;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

}

/* TIM2 init function */
static void MX_TIM2_Init(void)
{

  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_OC_InitTypeDef sConfigOC;

  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 0;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 25;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_OC_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sConfigOC.OCMode = TIM_OCMODE_TOGGLE;
  sConfigOC.Pulse = 10;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }

}

/* TIM6 init function */
static void MX_TIM6_Init(void)
{

  TIM_MasterConfigTypeDef sMasterConfig;

  htim6.Instance = TIM6;
  htim6.Init.Prescaler = 6400;
  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim6.Init.Period = 9999;
  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();
  }

}

/* TIM7 init function */
static void MX_TIM7_Init(void)
{

  TIM_MasterConfigTypeDef sMasterConfig;

  htim7.Instance = TIM7;
  htim7.Init.Prescaler = 64;
  htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim7.Init.Period = 0xFFFF;
  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();
  }

}

/** 
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void) 
{
  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_ENABLE();

  /* DMA interrupt init */
  /* DMA1_Channel5_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);

}

/** Configure pins as 
        * Analog 
        * Input 
        * Output
        * EVENT_OUT
        * EXTI
*/
static void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct;

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LD3_GPIO_Port, LD3_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : PA0 */
  GPIO_InitStruct.Pin = GPIO_PIN_0;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : LD3_Pin */
  GPIO_InitStruct.Pin = LD3_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LD3_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : BOUTON_POUSSOIR_Pin */
  GPIO_InitStruct.Pin = BOUTON_POUSSOIR_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(BOUTON_POUSSOIR_GPIO_Port, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler */
  /* User can add his own implementation to report the HAL error return state */
  while(1) 
  {
  }
  /* USER CODE END Error_Handler */ 
}

#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

/**
  * @}
  */ 

/**
  * @}
*/ 

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