SOES implementation i.c.w. ET1100 (Beckhoff ASIC)
Dependencies: KL25Z_ClockControl MODSERIAL mbed
Fork of EtherCAT-XbusMaster by
soes.cpp@12:cac4e7c2bd0f, 2015-03-03 (annotated)
- Committer:
- vsluiter
- Date:
- Tue Mar 03 10:58:20 2015 +0000
- Revision:
- 12:cac4e7c2bd0f
- Parent:
- 11:166353137b95
- Child:
- 14:e3c49b75fee9
Made first changes to objlist and cpu_init, copied some xbus software
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 1:5e22bf1a3817 | 1 | /* |
vsluiter | 1:5e22bf1a3817 | 2 | * SOES Simple Open EtherCAT Slave |
vsluiter | 1:5e22bf1a3817 | 3 | * |
vsluiter | 1:5e22bf1a3817 | 4 | * File : soes.c |
vsluiter | 1:5e22bf1a3817 | 5 | * Version : 0.9.2 |
vsluiter | 1:5e22bf1a3817 | 6 | * Date : 22-02-2010 |
vsluiter | 1:5e22bf1a3817 | 7 | * Copyright (C) 2007-2010 Arthur Ketels |
vsluiter | 1:5e22bf1a3817 | 8 | * |
vsluiter | 1:5e22bf1a3817 | 9 | * SOES is free software; you can redistribute it and/or modify it under |
vsluiter | 1:5e22bf1a3817 | 10 | * the terms of the GNU General Public License version 2 as published by the Free |
vsluiter | 1:5e22bf1a3817 | 11 | * Software Foundation. |
vsluiter | 1:5e22bf1a3817 | 12 | * |
vsluiter | 1:5e22bf1a3817 | 13 | * SOES is distributed in the hope that it will be useful, but WITHOUT ANY |
vsluiter | 1:5e22bf1a3817 | 14 | * WARRANTY; without even the implied warranty of MERCHANTABILITY or |
vsluiter | 1:5e22bf1a3817 | 15 | * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License |
vsluiter | 1:5e22bf1a3817 | 16 | * for more details. |
vsluiter | 1:5e22bf1a3817 | 17 | * |
vsluiter | 1:5e22bf1a3817 | 18 | * As a special exception, if other files instantiate templates or use macros |
vsluiter | 1:5e22bf1a3817 | 19 | * or inline functions from this file, or you compile this file and link it |
vsluiter | 1:5e22bf1a3817 | 20 | * with other works to produce a work based on this file, this file does not |
vsluiter | 1:5e22bf1a3817 | 21 | * by itself cause the resulting work to be covered by the GNU General Public |
vsluiter | 1:5e22bf1a3817 | 22 | * License. However the source code for this file must still be made available |
vsluiter | 1:5e22bf1a3817 | 23 | * in accordance with section (3) of the GNU General Public License. |
vsluiter | 1:5e22bf1a3817 | 24 | * |
vsluiter | 1:5e22bf1a3817 | 25 | * This exception does not invalidate any other reasons why a work based on |
vsluiter | 1:5e22bf1a3817 | 26 | * this file might be covered by the GNU General Public License. |
vsluiter | 1:5e22bf1a3817 | 27 | * |
vsluiter | 1:5e22bf1a3817 | 28 | * The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual |
vsluiter | 1:5e22bf1a3817 | 29 | * property of, and protected by Beckhoff Automation GmbH. |
vsluiter | 1:5e22bf1a3817 | 30 | */ |
vsluiter | 1:5e22bf1a3817 | 31 | |
vsluiter | 1:5e22bf1a3817 | 32 | /**************************************************** |
vsluiter | 1:5e22bf1a3817 | 33 | Chip type : STM32F051R8 |
vsluiter | 1:5e22bf1a3817 | 34 | Clock frequency : 48 MHz |
vsluiter | 1:5e22bf1a3817 | 35 | *****************************************************/ |
vsluiter | 1:5e22bf1a3817 | 36 | |
vsluiter | 1:5e22bf1a3817 | 37 | /* Includes ------------------------------------------------------------------*/ |
vsluiter | 1:5e22bf1a3817 | 38 | #include "mbed.h" |
vsluiter | 1:5e22bf1a3817 | 39 | #include "cpuinit.h" |
vsluiter | 1:5e22bf1a3817 | 40 | #include "utypes.h" |
vsluiter | 1:5e22bf1a3817 | 41 | #include "esc.h" |
vsluiter | 12:cac4e7c2bd0f | 42 | #include "MODSERIAL.h" |
vsluiter | 1:5e22bf1a3817 | 43 | |
vsluiter | 1:5e22bf1a3817 | 44 | /* Private typedef -----------------------------------------------------------*/ |
vsluiter | 1:5e22bf1a3817 | 45 | /* Private define ------------------------------------------------------------*/ |
vsluiter | 1:5e22bf1a3817 | 46 | #define wd_reset 1000 |
vsluiter | 1:5e22bf1a3817 | 47 | |
vsluiter | 1:5e22bf1a3817 | 48 | /* Private macro -------------------------------------------------------------*/ |
vsluiter | 1:5e22bf1a3817 | 49 | /* Private variables ---------------------------------------------------------*/ |
vsluiter | 1:5e22bf1a3817 | 50 | _ESCvar ESCvar; |
vsluiter | 1:5e22bf1a3817 | 51 | uint8 APPstate; |
vsluiter | 1:5e22bf1a3817 | 52 | _MBX MBX[MBXBUFFERS]; |
vsluiter | 1:5e22bf1a3817 | 53 | _MBXcontrol MBXcontrol[MBXBUFFERS]; |
vsluiter | 1:5e22bf1a3817 | 54 | uint8 MBXrun=0; |
vsluiter | 1:5e22bf1a3817 | 55 | uint16 SM2_sml,SM3_sml; |
vsluiter | 1:5e22bf1a3817 | 56 | _Rbuffer Rb; |
vsluiter | 1:5e22bf1a3817 | 57 | _Wbuffer Wb; |
vsluiter | 11:166353137b95 | 58 | _Ebuffer Eb; //EEprom |
vsluiter | 1:5e22bf1a3817 | 59 | uint8 TXPDOsize,RXPDOsize; |
vsluiter | 1:5e22bf1a3817 | 60 | uint16 wd_ok = 1, wd_cnt = wd_reset; |
vsluiter | 1:5e22bf1a3817 | 61 | |
vsluiter | 1:5e22bf1a3817 | 62 | DigitalOut led(LED_PIN); |
vsluiter | 1:5e22bf1a3817 | 63 | DigitalOut et1100_ss(ET1100_SS); |
vsluiter | 1:5e22bf1a3817 | 64 | DigitalIn et1100_miso(ET1100_MISO); |
vsluiter | 1:5e22bf1a3817 | 65 | SPI et1100_spi(ET1100_MOSI,ET1100_MISO,ET1100_SCK); |
vsluiter | 12:cac4e7c2bd0f | 66 | MODSERIAL xbus(PTA1,PTA2); |
vsluiter | 1:5e22bf1a3817 | 67 | /* Private function prototypes -----------------------------------------------*/ |
vsluiter | 1:5e22bf1a3817 | 68 | /* Private functions ---------------------------------------------------------*/ |
vsluiter | 1:5e22bf1a3817 | 69 | |
vsluiter | 1:5e22bf1a3817 | 70 | /** void ESC_objecthandler(uint16 index, uint8 subindex) |
vsluiter | 1:5e22bf1a3817 | 71 | \brief Object handler, declared from esc.h, as extern function |
vsluiter | 1:5e22bf1a3817 | 72 | \param index |
vsluiter | 1:5e22bf1a3817 | 73 | \param subindex |
vsluiter | 1:5e22bf1a3817 | 74 | */ |
vsluiter | 1:5e22bf1a3817 | 75 | void ESC_objecthandler(uint16 index, uint8 subindex); |
vsluiter | 1:5e22bf1a3817 | 76 | void TXPDO_update(void); |
vsluiter | 1:5e22bf1a3817 | 77 | void RXPDO_update(void); |
vsluiter | 1:5e22bf1a3817 | 78 | void DIG_process(void); |
vsluiter | 5:6d75f432a41f | 79 | void sample(void); |
vsluiter | 1:5e22bf1a3817 | 80 | |
vsluiter | 1:5e22bf1a3817 | 81 | void ESC_objecthandler(uint16 index, uint8 subindex) |
vsluiter | 1:5e22bf1a3817 | 82 | { |
vsluiter | 1:5e22bf1a3817 | 83 | uint8 dummy8; |
vsluiter | 1:5e22bf1a3817 | 84 | uint16 dummy16; |
vsluiter | 1:5e22bf1a3817 | 85 | switch (index) |
vsluiter | 1:5e22bf1a3817 | 86 | { |
vsluiter | 1:5e22bf1a3817 | 87 | case 0x8000: |
vsluiter | 1:5e22bf1a3817 | 88 | switch (subindex) |
vsluiter | 1:5e22bf1a3817 | 89 | { |
vsluiter | 1:5e22bf1a3817 | 90 | case 0x01: |
vsluiter | 5:6d75f432a41f | 91 | dummy8 = 0;//Eb.setting8;//Write value to EEPROM; eeprom_write_byte(&eedat.setting8, Wb.setting8); |
vsluiter | 1:5e22bf1a3817 | 92 | break; |
vsluiter | 1:5e22bf1a3817 | 93 | case 0x02: |
vsluiter | 5:6d75f432a41f | 94 | dummy16 = 0;//Eb.setting16;//Write value to EEPROM; eeprom_write_word(&eedat.setting16, Wb.setting16); |
vsluiter | 1:5e22bf1a3817 | 95 | break; |
vsluiter | 1:5e22bf1a3817 | 96 | } |
vsluiter | 1:5e22bf1a3817 | 97 | break; |
vsluiter | 1:5e22bf1a3817 | 98 | } |
vsluiter | 1:5e22bf1a3817 | 99 | } |
vsluiter | 1:5e22bf1a3817 | 100 | |
vsluiter | 1:5e22bf1a3817 | 101 | void TXPDO_update(void) |
vsluiter | 1:5e22bf1a3817 | 102 | { |
vsluiter | 1:5e22bf1a3817 | 103 | ESC_write(SM3_sma, &Rb, TXPDOsize, &ESCvar.ALevent); |
vsluiter | 1:5e22bf1a3817 | 104 | } |
vsluiter | 1:5e22bf1a3817 | 105 | |
vsluiter | 1:5e22bf1a3817 | 106 | void RXPDO_update(void) |
vsluiter | 1:5e22bf1a3817 | 107 | { |
vsluiter | 1:5e22bf1a3817 | 108 | ESC_read(SM2_sma, &Wb, RXPDOsize, &ESCvar.ALevent); |
vsluiter | 1:5e22bf1a3817 | 109 | } |
vsluiter | 1:5e22bf1a3817 | 110 | |
vsluiter | 1:5e22bf1a3817 | 111 | void APP_safeoutput(void) |
vsluiter | 1:5e22bf1a3817 | 112 | { |
vsluiter | 1:5e22bf1a3817 | 113 | asm("nop"); |
vsluiter | 1:5e22bf1a3817 | 114 | //Wb.dout = 0; |
vsluiter | 1:5e22bf1a3817 | 115 | //DOUTPORT = (Wb.dout >> 4) & 0xf0; |
vsluiter | 1:5e22bf1a3817 | 116 | } |
vsluiter | 1:5e22bf1a3817 | 117 | |
vsluiter | 1:5e22bf1a3817 | 118 | void DIG_process(void) |
vsluiter | 1:5e22bf1a3817 | 119 | { |
vsluiter | 1:5e22bf1a3817 | 120 | if (APPstate & APPSTATE_OUTPUT) //output enabled |
vsluiter | 1:5e22bf1a3817 | 121 | { |
vsluiter | 1:5e22bf1a3817 | 122 | if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) // SM2 trigger ? |
vsluiter | 1:5e22bf1a3817 | 123 | { |
vsluiter | 1:5e22bf1a3817 | 124 | ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2; |
vsluiter | 8:09dcef3ed467 | 125 | RXPDO_update(); |
vsluiter | 1:5e22bf1a3817 | 126 | // dummy output point |
vsluiter | 5:6d75f432a41f | 127 | correct_offset = Wb.correct_offset; |
vsluiter | 5:6d75f432a41f | 128 | if(correct_offset & 0x01) { |
vsluiter | 8:09dcef3ed467 | 129 | // led.write(1); |
vsluiter | 8:09dcef3ed467 | 130 | FrontLeft_offset = rawFrontLeft; |
vsluiter | 8:09dcef3ed467 | 131 | FrontRight_offset = rawFrontRight; |
vsluiter | 8:09dcef3ed467 | 132 | BackLeft_offset = rawBackLeft; |
vsluiter | 8:09dcef3ed467 | 133 | BackRight_offset = rawBackRight; |
vsluiter | 8:09dcef3ed467 | 134 | } |
vsluiter | 8:09dcef3ed467 | 135 | // else |
vsluiter | 8:09dcef3ed467 | 136 | // led.write(0); |
vsluiter | 1:5e22bf1a3817 | 137 | wd_cnt = wd_reset; |
vsluiter | 1:5e22bf1a3817 | 138 | } |
vsluiter | 1:5e22bf1a3817 | 139 | |
vsluiter | 5:6d75f432a41f | 140 | if (!wd_cnt) { |
vsluiter | 1:5e22bf1a3817 | 141 | ESC_stopoutput(); |
vsluiter | 1:5e22bf1a3817 | 142 | // watchdog, invalid outputs |
vsluiter | 1:5e22bf1a3817 | 143 | ESC_ALerror(ALERR_WATCHDOG); |
vsluiter | 1:5e22bf1a3817 | 144 | // goto safe-op with error bit set |
vsluiter | 1:5e22bf1a3817 | 145 | ESC_ALstatus(ESCsafeop | ESCerror); |
vsluiter | 1:5e22bf1a3817 | 146 | } |
vsluiter | 1:5e22bf1a3817 | 147 | } |
vsluiter | 1:5e22bf1a3817 | 148 | else |
vsluiter | 1:5e22bf1a3817 | 149 | { |
vsluiter | 1:5e22bf1a3817 | 150 | //wd_ok = 1; |
vsluiter | 1:5e22bf1a3817 | 151 | wd_cnt = wd_reset; |
vsluiter | 1:5e22bf1a3817 | 152 | } |
vsluiter | 1:5e22bf1a3817 | 153 | if (APPstate) //input or output enabled |
vsluiter | 5:6d75f432a41f | 154 | { |
vsluiter | 5:6d75f432a41f | 155 | float fl,fr,br,bl,copx,copy; |
vsluiter | 10:4e9069e5d698 | 156 | float total_f; |
vsluiter | 1:5e22bf1a3817 | 157 | Rb.timestamp = ESCvar.Time; |
vsluiter | 1:5e22bf1a3817 | 158 | //just some dummy data to test |
vsluiter | 4:bb72df6dce33 | 159 | //Rb.counter++; |
vsluiter | 4:bb72df6dce33 | 160 | //Rb.diginput = diginput; |
vsluiter | 4:bb72df6dce33 | 161 | //Rb.analog[0] = 1; |
vsluiter | 4:bb72df6dce33 | 162 | //Rb.analog[1] = 2; |
vsluiter | 5:6d75f432a41f | 163 | fr = rawFrontRight - FrontRight_offset; |
vsluiter | 5:6d75f432a41f | 164 | fl = rawFrontLeft - FrontLeft_offset; |
vsluiter | 5:6d75f432a41f | 165 | br = rawBackRight - BackRight_offset; |
vsluiter | 5:6d75f432a41f | 166 | bl = rawBackLeft - BackLeft_offset; |
vsluiter | 10:4e9069e5d698 | 167 | total_f = fr+fl+br+bl; |
vsluiter | 10:4e9069e5d698 | 168 | copx = (((fl+bl)-(fr+br))/total_f)*BALANCE_WIDTH; |
vsluiter | 10:4e9069e5d698 | 169 | copy = (((fr+fl)-(br+bl))/total_f)*BALANCE_HEIGHT; |
vsluiter | 10:4e9069e5d698 | 170 | grf = (total_f)*(4096*(1<<4)*(1./1100.0)); |
vsluiter | 5:6d75f432a41f | 171 | Rb.CoPx = copx; |
vsluiter | 5:6d75f432a41f | 172 | Rb.CoPy = copy; |
vsluiter | 9:33673e05639f | 173 | Rb.grf = grf; |
vsluiter | 5:6d75f432a41f | 174 | Rb.FrontRight = rawFrontRight; |
vsluiter | 5:6d75f432a41f | 175 | Rb.FrontLeft = rawFrontLeft; |
vsluiter | 5:6d75f432a41f | 176 | Rb.BackRight = rawBackRight; |
vsluiter | 5:6d75f432a41f | 177 | Rb.BackLeft = rawBackLeft; |
vsluiter | 1:5e22bf1a3817 | 178 | |
vsluiter | 1:5e22bf1a3817 | 179 | TXPDO_update(); |
vsluiter | 5:6d75f432a41f | 180 | } |
vsluiter | 1:5e22bf1a3817 | 181 | } |
vsluiter | 1:5e22bf1a3817 | 182 | |
vsluiter | 5:6d75f432a41f | 183 | void sample(void) |
vsluiter | 5:6d75f432a41f | 184 | { |
vsluiter | 5:6d75f432a41f | 185 | rawFrontLeft = adcFrontLeft; |
vsluiter | 5:6d75f432a41f | 186 | rawFrontRight = adcFrontRight; |
vsluiter | 5:6d75f432a41f | 187 | rawBackLeft = adcBackLeft; |
vsluiter | 5:6d75f432a41f | 188 | rawBackRight = adcBackRight; |
vsluiter | 5:6d75f432a41f | 189 | |
vsluiter | 5:6d75f432a41f | 190 | } |
vsluiter | 1:5e22bf1a3817 | 191 | int main(void) |
vsluiter | 1:5e22bf1a3817 | 192 | { |
vsluiter | 1:5e22bf1a3817 | 193 | /*!< At this stage the microcontroller clock setting is already configured, |
vsluiter | 1:5e22bf1a3817 | 194 | this is done through SystemInit() function which is called from startup |
vsluiter | 1:5e22bf1a3817 | 195 | file (startup_stm32f0xx.s) before to branch to application main. |
vsluiter | 1:5e22bf1a3817 | 196 | To reconfigure the default setting of SystemInit() function, refer to |
vsluiter | 1:5e22bf1a3817 | 197 | system_stm32f0xx.c file |
vsluiter | 1:5e22bf1a3817 | 198 | */ |
vsluiter | 5:6d75f432a41f | 199 | Ticker adc_sampler; |
vsluiter | 1:5e22bf1a3817 | 200 | cpuinit(); |
vsluiter | 5:6d75f432a41f | 201 | adc_sampler.attach(sample,0.001); |
vsluiter | 1:5e22bf1a3817 | 202 | TXPDOsize = sizeTXPDO(); |
vsluiter | 1:5e22bf1a3817 | 203 | RXPDOsize = sizeRXPDO(); |
vsluiter | 1:5e22bf1a3817 | 204 | wait_ms(200); |
vsluiter | 1:5e22bf1a3817 | 205 | /*initialize configuration*/ |
vsluiter | 5:6d75f432a41f | 206 | //Eb.setting16 = 0xABCD; |
vsluiter | 5:6d75f432a41f | 207 | //Eb.setting8 = 111; |
vsluiter | 1:5e22bf1a3817 | 208 | // wait until ESC is started up |
vsluiter | 1:5e22bf1a3817 | 209 | while ((ESCvar.DLstatus & 0x0001) == 0) |
vsluiter | 1:5e22bf1a3817 | 210 | ESC_read(ESCREG_DLSTATUS, &ESCvar.DLstatus, sizeof(ESCvar.DLstatus), &ESCvar.ALevent); |
vsluiter | 1:5e22bf1a3817 | 211 | |
vsluiter | 1:5e22bf1a3817 | 212 | // reset ESC to init state |
vsluiter | 1:5e22bf1a3817 | 213 | ESC_ALstatus(ESCinit); |
vsluiter | 1:5e22bf1a3817 | 214 | ESC_ALerror(ALERR_NONE); |
vsluiter | 1:5e22bf1a3817 | 215 | ESC_stopmbx(); |
vsluiter | 1:5e22bf1a3817 | 216 | ESC_stopinput(); |
vsluiter | 1:5e22bf1a3817 | 217 | ESC_stopoutput(); |
vsluiter | 1:5e22bf1a3817 | 218 | |
vsluiter | 1:5e22bf1a3817 | 219 | // application run loop |
vsluiter | 1:5e22bf1a3817 | 220 | while (1) |
vsluiter | 1:5e22bf1a3817 | 221 | { |
vsluiter | 1:5e22bf1a3817 | 222 | ESC_read(ESCREG_LOCALTIME, &ESCvar.Time, sizeof(ESCvar.Time), &ESCvar.ALevent); |
vsluiter | 1:5e22bf1a3817 | 223 | ESC_ALevent(); |
vsluiter | 1:5e22bf1a3817 | 224 | ESC_state(); |
vsluiter | 1:5e22bf1a3817 | 225 | if (ESC_mbxprocess()) |
vsluiter | 1:5e22bf1a3817 | 226 | { |
vsluiter | 1:5e22bf1a3817 | 227 | ESC_coeprocess(); |
vsluiter | 1:5e22bf1a3817 | 228 | ESC_xoeprocess(); |
vsluiter | 1:5e22bf1a3817 | 229 | } |
vsluiter | 1:5e22bf1a3817 | 230 | DIG_process(); |
vsluiter | 1:5e22bf1a3817 | 231 | } |
vsluiter | 1:5e22bf1a3817 | 232 | } |
vsluiter | 1:5e22bf1a3817 | 233 | |
vsluiter | 1:5e22bf1a3817 | 234 | /** void ESC_objecthandler(uint16 index, uint8 subindex) |
vsluiter | 1:5e22bf1a3817 | 235 | \brief Object handler, declared from esc.h, as extern function |
vsluiter | 1:5e22bf1a3817 | 236 | \param index |
vsluiter | 1:5e22bf1a3817 | 237 | \param subindex |
vsluiter | 1:5e22bf1a3817 | 238 | */ |
vsluiter | 1:5e22bf1a3817 | 239 | |
vsluiter | 1:5e22bf1a3817 | 240 | |
vsluiter | 1:5e22bf1a3817 | 241 | #ifdef USE_FULL_ASSERT |
vsluiter | 1:5e22bf1a3817 | 242 | |
vsluiter | 1:5e22bf1a3817 | 243 | /** |
vsluiter | 1:5e22bf1a3817 | 244 | * @brief Reports the name of the source file and the source line number |
vsluiter | 1:5e22bf1a3817 | 245 | * where the assert_param error has occurred. |
vsluiter | 1:5e22bf1a3817 | 246 | * @param file: pointer to the source file name |
vsluiter | 1:5e22bf1a3817 | 247 | * @param line: assert_param error line source number |
vsluiter | 1:5e22bf1a3817 | 248 | * @retval None |
vsluiter | 1:5e22bf1a3817 | 249 | */ |
vsluiter | 1:5e22bf1a3817 | 250 | void assert_failed(uint8_t* file, uint32_t line) |
vsluiter | 1:5e22bf1a3817 | 251 | { |
vsluiter | 1:5e22bf1a3817 | 252 | /* User can add his own implementation to report the file name and line number, |
vsluiter | 1:5e22bf1a3817 | 253 | ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ |
vsluiter | 1:5e22bf1a3817 | 254 | |
vsluiter | 1:5e22bf1a3817 | 255 | /* Infinite loop */ |
vsluiter | 1:5e22bf1a3817 | 256 | while (1) |
vsluiter | 1:5e22bf1a3817 | 257 | { |
vsluiter | 1:5e22bf1a3817 | 258 | } |
vsluiter | 1:5e22bf1a3817 | 259 | } |
vsluiter | 1:5e22bf1a3817 | 260 | #endif |
vsluiter | 1:5e22bf1a3817 | 261 | |
vsluiter | 1:5e22bf1a3817 | 262 | /** |
vsluiter | 1:5e22bf1a3817 | 263 | * @} |
vsluiter | 1:5e22bf1a3817 | 264 | */ |
vsluiter | 1:5e22bf1a3817 | 265 | |
vsluiter | 1:5e22bf1a3817 | 266 | /** |
vsluiter | 1:5e22bf1a3817 | 267 | * @} |
vsluiter | 1:5e22bf1a3817 | 268 | */ |
vsluiter | 1:5e22bf1a3817 | 269 | |
vsluiter | 1:5e22bf1a3817 | 270 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
vsluiter | 1:5e22bf1a3817 | 271 |