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EtherCAT
EtherCAT slave based on SOES
soes.cpp@9:33673e05639f, 2014-12-12 (annotated)
- Committer:
- vsluiter
- Date:
- Fri Dec 12 11:28:20 2014 +0000
- Revision:
- 9:33673e05639f
- Parent:
- 8:09dcef3ed467
- Child:
- 10:4e9069e5d698
Added GRF;
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 | 1:5e22bf1a3817 | 42 | |
vsluiter | 1:5e22bf1a3817 | 43 | /* Private typedef -----------------------------------------------------------*/ |
vsluiter | 1:5e22bf1a3817 | 44 | /* Private define ------------------------------------------------------------*/ |
vsluiter | 1:5e22bf1a3817 | 45 | #define wd_reset 1000 |
vsluiter | 1:5e22bf1a3817 | 46 | |
vsluiter | 5:6d75f432a41f | 47 | #define BALANCE_WIDTH 0.435 |
vsluiter | 5:6d75f432a41f | 48 | #define BALANCE_HEIGHT 0.24 |
vsluiter | 1:5e22bf1a3817 | 49 | /* Private macro -------------------------------------------------------------*/ |
vsluiter | 1:5e22bf1a3817 | 50 | /* Private variables ---------------------------------------------------------*/ |
vsluiter | 1:5e22bf1a3817 | 51 | _ESCvar ESCvar; |
vsluiter | 1:5e22bf1a3817 | 52 | uint8 APPstate; |
vsluiter | 1:5e22bf1a3817 | 53 | _MBX MBX[MBXBUFFERS]; |
vsluiter | 1:5e22bf1a3817 | 54 | _MBXcontrol MBXcontrol[MBXBUFFERS]; |
vsluiter | 1:5e22bf1a3817 | 55 | uint8 MBXrun=0; |
vsluiter | 1:5e22bf1a3817 | 56 | uint16 SM2_sml,SM3_sml; |
vsluiter | 1:5e22bf1a3817 | 57 | _Rbuffer Rb; |
vsluiter | 1:5e22bf1a3817 | 58 | _Wbuffer Wb; |
vsluiter | 5:6d75f432a41f | 59 | //_Ebuffer Eb; //EEprom |
vsluiter | 1:5e22bf1a3817 | 60 | uint8 TXPDOsize,RXPDOsize; |
vsluiter | 1:5e22bf1a3817 | 61 | uint16 wd_ok = 1, wd_cnt = wd_reset; |
vsluiter | 5:6d75f432a41f | 62 | volatile uint8 correct_offset; |
vsluiter | 5:6d75f432a41f | 63 | float FrontRight_offset; |
vsluiter | 5:6d75f432a41f | 64 | float FrontLeft_offset; |
vsluiter | 5:6d75f432a41f | 65 | float BackLeft_offset; |
vsluiter | 5:6d75f432a41f | 66 | float BackRight_offset; |
vsluiter | 5:6d75f432a41f | 67 | float rawFrontLeft; |
vsluiter | 5:6d75f432a41f | 68 | float rawFrontRight; |
vsluiter | 5:6d75f432a41f | 69 | float rawBackLeft; |
vsluiter | 5:6d75f432a41f | 70 | float rawBackRight; |
vsluiter | 9:33673e05639f | 71 | float grf; |
vsluiter | 5:6d75f432a41f | 72 | //volatile uint8 diginput; |
vsluiter | 1:5e22bf1a3817 | 73 | |
vsluiter | 2:3dd1240eb938 | 74 | //Serial shoe_serial(SHOE_SERIAL_TX,SHOE_SERIAL_RX); |
vsluiter | 1:5e22bf1a3817 | 75 | DigitalOut led(LED_PIN); |
vsluiter | 1:5e22bf1a3817 | 76 | DigitalOut et1100_ss(ET1100_SS); |
vsluiter | 1:5e22bf1a3817 | 77 | DigitalIn et1100_miso(ET1100_MISO); |
vsluiter | 1:5e22bf1a3817 | 78 | SPI et1100_spi(ET1100_MOSI,ET1100_MISO,ET1100_SCK); |
vsluiter | 5:6d75f432a41f | 79 | AnalogIn adcFrontLeft(ADC_FL); |
vsluiter | 5:6d75f432a41f | 80 | AnalogIn adcFrontRight(ADC_FR); |
vsluiter | 5:6d75f432a41f | 81 | AnalogIn adcBackLeft(ADC_BL); |
vsluiter | 5:6d75f432a41f | 82 | AnalogIn adcBackRight(ADC_BR); |
vsluiter | 1:5e22bf1a3817 | 83 | |
vsluiter | 1:5e22bf1a3817 | 84 | /* Private function prototypes -----------------------------------------------*/ |
vsluiter | 1:5e22bf1a3817 | 85 | /* Private functions ---------------------------------------------------------*/ |
vsluiter | 1:5e22bf1a3817 | 86 | |
vsluiter | 1:5e22bf1a3817 | 87 | /** void ESC_objecthandler(uint16 index, uint8 subindex) |
vsluiter | 1:5e22bf1a3817 | 88 | \brief Object handler, declared from esc.h, as extern function |
vsluiter | 1:5e22bf1a3817 | 89 | \param index |
vsluiter | 1:5e22bf1a3817 | 90 | \param subindex |
vsluiter | 1:5e22bf1a3817 | 91 | */ |
vsluiter | 1:5e22bf1a3817 | 92 | void ESC_objecthandler(uint16 index, uint8 subindex); |
vsluiter | 1:5e22bf1a3817 | 93 | void TXPDO_update(void); |
vsluiter | 1:5e22bf1a3817 | 94 | void RXPDO_update(void); |
vsluiter | 1:5e22bf1a3817 | 95 | void DIG_process(void); |
vsluiter | 5:6d75f432a41f | 96 | void sample(void); |
vsluiter | 1:5e22bf1a3817 | 97 | |
vsluiter | 1:5e22bf1a3817 | 98 | void ESC_objecthandler(uint16 index, uint8 subindex) |
vsluiter | 1:5e22bf1a3817 | 99 | { |
vsluiter | 1:5e22bf1a3817 | 100 | uint8 dummy8; |
vsluiter | 1:5e22bf1a3817 | 101 | uint16 dummy16; |
vsluiter | 1:5e22bf1a3817 | 102 | switch (index) |
vsluiter | 1:5e22bf1a3817 | 103 | { |
vsluiter | 1:5e22bf1a3817 | 104 | case 0x8000: |
vsluiter | 1:5e22bf1a3817 | 105 | switch (subindex) |
vsluiter | 1:5e22bf1a3817 | 106 | { |
vsluiter | 1:5e22bf1a3817 | 107 | case 0x01: |
vsluiter | 5:6d75f432a41f | 108 | dummy8 = 0;//Eb.setting8;//Write value to EEPROM; eeprom_write_byte(&eedat.setting8, Wb.setting8); |
vsluiter | 1:5e22bf1a3817 | 109 | break; |
vsluiter | 1:5e22bf1a3817 | 110 | case 0x02: |
vsluiter | 5:6d75f432a41f | 111 | dummy16 = 0;//Eb.setting16;//Write value to EEPROM; eeprom_write_word(&eedat.setting16, Wb.setting16); |
vsluiter | 1:5e22bf1a3817 | 112 | break; |
vsluiter | 1:5e22bf1a3817 | 113 | } |
vsluiter | 1:5e22bf1a3817 | 114 | break; |
vsluiter | 1:5e22bf1a3817 | 115 | } |
vsluiter | 1:5e22bf1a3817 | 116 | } |
vsluiter | 1:5e22bf1a3817 | 117 | |
vsluiter | 1:5e22bf1a3817 | 118 | void TXPDO_update(void) |
vsluiter | 1:5e22bf1a3817 | 119 | { |
vsluiter | 1:5e22bf1a3817 | 120 | ESC_write(SM3_sma, &Rb, TXPDOsize, &ESCvar.ALevent); |
vsluiter | 1:5e22bf1a3817 | 121 | } |
vsluiter | 1:5e22bf1a3817 | 122 | |
vsluiter | 1:5e22bf1a3817 | 123 | void RXPDO_update(void) |
vsluiter | 1:5e22bf1a3817 | 124 | { |
vsluiter | 1:5e22bf1a3817 | 125 | ESC_read(SM2_sma, &Wb, RXPDOsize, &ESCvar.ALevent); |
vsluiter | 1:5e22bf1a3817 | 126 | } |
vsluiter | 1:5e22bf1a3817 | 127 | |
vsluiter | 1:5e22bf1a3817 | 128 | void APP_safeoutput(void) |
vsluiter | 1:5e22bf1a3817 | 129 | { |
vsluiter | 1:5e22bf1a3817 | 130 | asm("nop"); |
vsluiter | 1:5e22bf1a3817 | 131 | //Wb.dout = 0; |
vsluiter | 1:5e22bf1a3817 | 132 | //DOUTPORT = (Wb.dout >> 4) & 0xf0; |
vsluiter | 1:5e22bf1a3817 | 133 | } |
vsluiter | 1:5e22bf1a3817 | 134 | |
vsluiter | 1:5e22bf1a3817 | 135 | void DIG_process(void) |
vsluiter | 1:5e22bf1a3817 | 136 | { |
vsluiter | 1:5e22bf1a3817 | 137 | if (APPstate & APPSTATE_OUTPUT) //output enabled |
vsluiter | 1:5e22bf1a3817 | 138 | { |
vsluiter | 1:5e22bf1a3817 | 139 | if (ESCvar.ALevent & ESCREG_ALEVENT_SM2) // SM2 trigger ? |
vsluiter | 1:5e22bf1a3817 | 140 | { |
vsluiter | 1:5e22bf1a3817 | 141 | ESCvar.ALevent &= ~ESCREG_ALEVENT_SM2; |
vsluiter | 8:09dcef3ed467 | 142 | RXPDO_update(); |
vsluiter | 1:5e22bf1a3817 | 143 | // dummy output point |
vsluiter | 5:6d75f432a41f | 144 | correct_offset = Wb.correct_offset; |
vsluiter | 5:6d75f432a41f | 145 | if(correct_offset & 0x01) { |
vsluiter | 8:09dcef3ed467 | 146 | // led.write(1); |
vsluiter | 8:09dcef3ed467 | 147 | FrontLeft_offset = rawFrontLeft; |
vsluiter | 8:09dcef3ed467 | 148 | FrontRight_offset = rawFrontRight; |
vsluiter | 8:09dcef3ed467 | 149 | BackLeft_offset = rawBackLeft; |
vsluiter | 8:09dcef3ed467 | 150 | BackRight_offset = rawBackRight; |
vsluiter | 8:09dcef3ed467 | 151 | } |
vsluiter | 8:09dcef3ed467 | 152 | // else |
vsluiter | 8:09dcef3ed467 | 153 | // led.write(0); |
vsluiter | 1:5e22bf1a3817 | 154 | wd_cnt = wd_reset; |
vsluiter | 1:5e22bf1a3817 | 155 | } |
vsluiter | 1:5e22bf1a3817 | 156 | |
vsluiter | 5:6d75f432a41f | 157 | if (!wd_cnt) { |
vsluiter | 1:5e22bf1a3817 | 158 | ESC_stopoutput(); |
vsluiter | 1:5e22bf1a3817 | 159 | // watchdog, invalid outputs |
vsluiter | 1:5e22bf1a3817 | 160 | ESC_ALerror(ALERR_WATCHDOG); |
vsluiter | 1:5e22bf1a3817 | 161 | // goto safe-op with error bit set |
vsluiter | 1:5e22bf1a3817 | 162 | ESC_ALstatus(ESCsafeop | ESCerror); |
vsluiter | 1:5e22bf1a3817 | 163 | } |
vsluiter | 1:5e22bf1a3817 | 164 | } |
vsluiter | 1:5e22bf1a3817 | 165 | else |
vsluiter | 1:5e22bf1a3817 | 166 | { |
vsluiter | 1:5e22bf1a3817 | 167 | //wd_ok = 1; |
vsluiter | 1:5e22bf1a3817 | 168 | wd_cnt = wd_reset; |
vsluiter | 1:5e22bf1a3817 | 169 | } |
vsluiter | 1:5e22bf1a3817 | 170 | if (APPstate) //input or output enabled |
vsluiter | 5:6d75f432a41f | 171 | { |
vsluiter | 5:6d75f432a41f | 172 | float fl,fr,br,bl,copx,copy; |
vsluiter | 1:5e22bf1a3817 | 173 | Rb.timestamp = ESCvar.Time; |
vsluiter | 1:5e22bf1a3817 | 174 | //just some dummy data to test |
vsluiter | 4:bb72df6dce33 | 175 | //Rb.counter++; |
vsluiter | 4:bb72df6dce33 | 176 | //Rb.diginput = diginput; |
vsluiter | 4:bb72df6dce33 | 177 | //Rb.analog[0] = 1; |
vsluiter | 4:bb72df6dce33 | 178 | //Rb.analog[1] = 2; |
vsluiter | 5:6d75f432a41f | 179 | fr = rawFrontRight - FrontRight_offset; |
vsluiter | 5:6d75f432a41f | 180 | fl = rawFrontLeft - FrontLeft_offset; |
vsluiter | 5:6d75f432a41f | 181 | br = rawBackRight - BackRight_offset; |
vsluiter | 5:6d75f432a41f | 182 | bl = rawBackLeft - BackLeft_offset; |
vsluiter | 5:6d75f432a41f | 183 | copx = ((fl+bl)-(fr+br))*BALANCE_WIDTH; |
vsluiter | 5:6d75f432a41f | 184 | copy = ((fr+fl)-(br+bl))*BALANCE_HEIGHT; |
vsluiter | 9:33673e05639f | 185 | grf = (fl+fr+br+bl)*(3.3*(1<<4)*(1./11.0)); |
vsluiter | 5:6d75f432a41f | 186 | Rb.CoPx = copx; |
vsluiter | 5:6d75f432a41f | 187 | Rb.CoPy = copy; |
vsluiter | 9:33673e05639f | 188 | Rb.grf = grf; |
vsluiter | 5:6d75f432a41f | 189 | Rb.FrontRight = rawFrontRight; |
vsluiter | 5:6d75f432a41f | 190 | Rb.FrontLeft = rawFrontLeft; |
vsluiter | 5:6d75f432a41f | 191 | Rb.BackRight = rawBackRight; |
vsluiter | 5:6d75f432a41f | 192 | Rb.BackLeft = rawBackLeft; |
vsluiter | 1:5e22bf1a3817 | 193 | |
vsluiter | 1:5e22bf1a3817 | 194 | TXPDO_update(); |
vsluiter | 5:6d75f432a41f | 195 | } |
vsluiter | 1:5e22bf1a3817 | 196 | } |
vsluiter | 1:5e22bf1a3817 | 197 | |
vsluiter | 5:6d75f432a41f | 198 | void sample(void) |
vsluiter | 5:6d75f432a41f | 199 | { |
vsluiter | 5:6d75f432a41f | 200 | rawFrontLeft = adcFrontLeft; |
vsluiter | 5:6d75f432a41f | 201 | rawFrontRight = adcFrontRight; |
vsluiter | 5:6d75f432a41f | 202 | rawBackLeft = adcBackLeft; |
vsluiter | 5:6d75f432a41f | 203 | rawBackRight = adcBackRight; |
vsluiter | 5:6d75f432a41f | 204 | |
vsluiter | 5:6d75f432a41f | 205 | } |
vsluiter | 1:5e22bf1a3817 | 206 | int main(void) |
vsluiter | 1:5e22bf1a3817 | 207 | { |
vsluiter | 1:5e22bf1a3817 | 208 | /*!< At this stage the microcontroller clock setting is already configured, |
vsluiter | 1:5e22bf1a3817 | 209 | this is done through SystemInit() function which is called from startup |
vsluiter | 1:5e22bf1a3817 | 210 | file (startup_stm32f0xx.s) before to branch to application main. |
vsluiter | 1:5e22bf1a3817 | 211 | To reconfigure the default setting of SystemInit() function, refer to |
vsluiter | 1:5e22bf1a3817 | 212 | system_stm32f0xx.c file |
vsluiter | 1:5e22bf1a3817 | 213 | */ |
vsluiter | 5:6d75f432a41f | 214 | Ticker adc_sampler; |
vsluiter | 1:5e22bf1a3817 | 215 | cpuinit(); |
vsluiter | 5:6d75f432a41f | 216 | adc_sampler.attach(sample,0.001); |
vsluiter | 1:5e22bf1a3817 | 217 | TXPDOsize = sizeTXPDO(); |
vsluiter | 1:5e22bf1a3817 | 218 | RXPDOsize = sizeRXPDO(); |
vsluiter | 1:5e22bf1a3817 | 219 | wait_ms(200); |
vsluiter | 1:5e22bf1a3817 | 220 | /*initialize configuration*/ |
vsluiter | 5:6d75f432a41f | 221 | //Eb.setting16 = 0xABCD; |
vsluiter | 5:6d75f432a41f | 222 | //Eb.setting8 = 111; |
vsluiter | 1:5e22bf1a3817 | 223 | // wait until ESC is started up |
vsluiter | 1:5e22bf1a3817 | 224 | while ((ESCvar.DLstatus & 0x0001) == 0) |
vsluiter | 1:5e22bf1a3817 | 225 | ESC_read(ESCREG_DLSTATUS, &ESCvar.DLstatus, sizeof(ESCvar.DLstatus), &ESCvar.ALevent); |
vsluiter | 1:5e22bf1a3817 | 226 | |
vsluiter | 1:5e22bf1a3817 | 227 | // reset ESC to init state |
vsluiter | 1:5e22bf1a3817 | 228 | ESC_ALstatus(ESCinit); |
vsluiter | 1:5e22bf1a3817 | 229 | ESC_ALerror(ALERR_NONE); |
vsluiter | 1:5e22bf1a3817 | 230 | ESC_stopmbx(); |
vsluiter | 1:5e22bf1a3817 | 231 | ESC_stopinput(); |
vsluiter | 1:5e22bf1a3817 | 232 | ESC_stopoutput(); |
vsluiter | 1:5e22bf1a3817 | 233 | |
vsluiter | 1:5e22bf1a3817 | 234 | // application run loop |
vsluiter | 1:5e22bf1a3817 | 235 | while (1) |
vsluiter | 1:5e22bf1a3817 | 236 | { |
vsluiter | 1:5e22bf1a3817 | 237 | ESC_read(ESCREG_LOCALTIME, &ESCvar.Time, sizeof(ESCvar.Time), &ESCvar.ALevent); |
vsluiter | 1:5e22bf1a3817 | 238 | ESC_ALevent(); |
vsluiter | 1:5e22bf1a3817 | 239 | ESC_state(); |
vsluiter | 1:5e22bf1a3817 | 240 | if (ESC_mbxprocess()) |
vsluiter | 1:5e22bf1a3817 | 241 | { |
vsluiter | 1:5e22bf1a3817 | 242 | ESC_coeprocess(); |
vsluiter | 1:5e22bf1a3817 | 243 | ESC_xoeprocess(); |
vsluiter | 1:5e22bf1a3817 | 244 | } |
vsluiter | 1:5e22bf1a3817 | 245 | DIG_process(); |
vsluiter | 1:5e22bf1a3817 | 246 | } |
vsluiter | 1:5e22bf1a3817 | 247 | } |
vsluiter | 1:5e22bf1a3817 | 248 | |
vsluiter | 1:5e22bf1a3817 | 249 | /** void ESC_objecthandler(uint16 index, uint8 subindex) |
vsluiter | 1:5e22bf1a3817 | 250 | \brief Object handler, declared from esc.h, as extern function |
vsluiter | 1:5e22bf1a3817 | 251 | \param index |
vsluiter | 1:5e22bf1a3817 | 252 | \param subindex |
vsluiter | 1:5e22bf1a3817 | 253 | */ |
vsluiter | 1:5e22bf1a3817 | 254 | |
vsluiter | 1:5e22bf1a3817 | 255 | |
vsluiter | 1:5e22bf1a3817 | 256 | #ifdef USE_FULL_ASSERT |
vsluiter | 1:5e22bf1a3817 | 257 | |
vsluiter | 1:5e22bf1a3817 | 258 | /** |
vsluiter | 1:5e22bf1a3817 | 259 | * @brief Reports the name of the source file and the source line number |
vsluiter | 1:5e22bf1a3817 | 260 | * where the assert_param error has occurred. |
vsluiter | 1:5e22bf1a3817 | 261 | * @param file: pointer to the source file name |
vsluiter | 1:5e22bf1a3817 | 262 | * @param line: assert_param error line source number |
vsluiter | 1:5e22bf1a3817 | 263 | * @retval None |
vsluiter | 1:5e22bf1a3817 | 264 | */ |
vsluiter | 1:5e22bf1a3817 | 265 | void assert_failed(uint8_t* file, uint32_t line) |
vsluiter | 1:5e22bf1a3817 | 266 | { |
vsluiter | 1:5e22bf1a3817 | 267 | /* User can add his own implementation to report the file name and line number, |
vsluiter | 1:5e22bf1a3817 | 268 | ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ |
vsluiter | 1:5e22bf1a3817 | 269 | |
vsluiter | 1:5e22bf1a3817 | 270 | /* Infinite loop */ |
vsluiter | 1:5e22bf1a3817 | 271 | while (1) |
vsluiter | 1:5e22bf1a3817 | 272 | { |
vsluiter | 1:5e22bf1a3817 | 273 | } |
vsluiter | 1:5e22bf1a3817 | 274 | } |
vsluiter | 1:5e22bf1a3817 | 275 | #endif |
vsluiter | 1:5e22bf1a3817 | 276 | |
vsluiter | 1:5e22bf1a3817 | 277 | /** |
vsluiter | 1:5e22bf1a3817 | 278 | * @} |
vsluiter | 1:5e22bf1a3817 | 279 | */ |
vsluiter | 1:5e22bf1a3817 | 280 | |
vsluiter | 1:5e22bf1a3817 | 281 | /** |
vsluiter | 1:5e22bf1a3817 | 282 | * @} |
vsluiter | 1:5e22bf1a3817 | 283 | */ |
vsluiter | 1:5e22bf1a3817 | 284 | |
vsluiter | 1:5e22bf1a3817 | 285 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
vsluiter | 1:5e22bf1a3817 | 286 |