dumber/software/dumber3/Core/Src/main.c

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
 * All rights reserved.</center></h2>
 *
 * This software component is licensed by ST under BSD 3-Clause license,
 * the "License"; You may not use this file except in compliance with the
 * License. You may obtain a copy of the License at:
 *                        opensource.org/licenses/BSD-3-Clause
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "moteurs.h"
#include "leds.h"
#include "xbee.h"
#include "batterie.h"
#include "messages.h"

/* USER CODE END Includes */

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

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

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

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc;

LPTIM_HandleTypeDef hlptim1;

UART_HandleTypeDef hlpuart1;
DMA_HandleTypeDef hdma_lpuart1_tx;

TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim21;

/* Definitions for defaultTask */
//osThreadId_t defaultTaskHandle;
//const osThreadAttr_t defaultTask_attributes = {
//		.name = "defaultTask",
//		.stack_size = 128 * 4,
//		.priority = (osPriority_t) osPriorityNormal,
//};
/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_ADC_Init(void);
static void MX_LPUART1_UART_Init(void);
static void MX_TIM2_Init(void);
static void MX_TIM3_Init(void);
static void MX_TIM21_Init(void);
static void MX_DMA_Init(void);
static void MX_LPTIM1_Init(void);
void StartDefaultTask(void *argument);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{
	/* USER CODE BEGIN 1 */

	/* 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_ADC_Init();
	MX_LPUART1_UART_Init();
	MX_TIM2_Init();
	MX_TIM3_Init();
	MX_TIM21_Init();
	MX_DMA_Init();
	MX_LPTIM1_Init();
	/* USER CODE BEGIN 2 */
	/* Init des messages box */
	MESSAGE_Init();

	LEDS_Init();
	XBEE_Init();
	//BATTERIE_Init();
	//MOTEURS_Init();
	SEQUENCEUR_Init();

	/*MOTEURS_Init();
      MOTEURS_Test();*/
	/* USER CODE END 2 */

	/* Init scheduler */
	osKernelInitialize();

	/* USER CODE BEGIN RTOS_MUTEX */
	/* add mutexes, ... */
	/* USER CODE END RTOS_MUTEX */

	/* USER CODE BEGIN RTOS_SEMAPHORES */
	/* add semaphores, ... */
	/* USER CODE END RTOS_SEMAPHORES */

	/* USER CODE BEGIN RTOS_TIMERS */
	/* start timers, add new ones, ... */
	/* USER CODE END RTOS_TIMERS */

	/* USER CODE BEGIN RTOS_QUEUES */
	/* add queues, ... */
	/* USER CODE END RTOS_QUEUES */

	/* Create the thread(s) */
	/* creation of defaultTask */
	//defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

	/* USER CODE BEGIN RTOS_THREADS */
	/* add threads, ... */

	/* USER CODE END RTOS_THREADS */

	/* USER CODE BEGIN RTOS_EVENTS */
	/* add events, ... */
	/* USER CODE END RTOS_EVENTS */

	/* Start scheduler */
	osKernelStart();

	/* We should never get here as control is now taken by the scheduler */
	/* Infinite loop */
	/* USER CODE BEGIN WHILE */
	while (1)
	{
		/* USER CODE END WHILE */

		/* 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};
	RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

	/** Configure the main internal regulator output voltage
	 */
	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
	/** 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_DIV4;
	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_PLLMUL_3;
	RCC_OscInitStruct.PLL.PLLDIV = RCC_PLLDIV_2;
	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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
	{
		Error_Handler();
	}
	PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_LPUART1|RCC_PERIPHCLK_LPTIM1;
	PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_PCLK1;
	PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_PCLK;

	if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
	{
		Error_Handler();
	}
}

/**
 * @brief ADC Initialization Function
 * @param None
 * @retval None
 */
static void MX_ADC_Init(void)
{

	/* USER CODE BEGIN ADC_Init 0 */

	/* USER CODE END ADC_Init 0 */

	ADC_ChannelConfTypeDef sConfig = {0};

	/* USER CODE BEGIN ADC_Init 1 */

	/* USER CODE END ADC_Init 1 */
	/** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
	 */
	hadc.Instance = ADC1;
	hadc.Init.OversamplingMode = DISABLE;
	hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV1;
	hadc.Init.Resolution = ADC_RESOLUTION_8B;
	hadc.Init.SamplingTime = ADC_SAMPLETIME_160CYCLES_5;
	hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
	hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
	hadc.Init.ContinuousConvMode = DISABLE;
	hadc.Init.DiscontinuousConvMode = DISABLE;
	hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
	hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
	hadc.Init.DMAContinuousRequests = DISABLE;
	hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
	hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
	hadc.Init.LowPowerAutoWait = DISABLE;
	hadc.Init.LowPowerFrequencyMode = DISABLE;
	hadc.Init.LowPowerAutoPowerOff = DISABLE;
	if (HAL_ADC_Init(&hadc) != HAL_OK)
	{
		Error_Handler();
	}
	/** Configure for the selected ADC regular channel to be converted.
	 */
	sConfig.Channel = ADC_CHANNEL_0;
	sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
	if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN ADC_Init 2 */

	/* USER CODE END ADC_Init 2 */

}

/**
 * @brief LPTIM1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_LPTIM1_Init(void)
{

	/* USER CODE BEGIN LPTIM1_Init 0 */

	/* USER CODE END LPTIM1_Init 0 */

	/* USER CODE BEGIN LPTIM1_Init 1 */

	/* USER CODE END LPTIM1_Init 1 */
	hlptim1.Instance = LPTIM1;
	hlptim1.Init.Clock.Source = LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC;
	hlptim1.Init.Clock.Prescaler = LPTIM_PRESCALER_DIV1;
	hlptim1.Init.Trigger.Source = LPTIM_TRIGSOURCE_SOFTWARE;
	hlptim1.Init.OutputPolarity = LPTIM_OUTPUTPOLARITY_HIGH;
	hlptim1.Init.UpdateMode = LPTIM_UPDATE_IMMEDIATE;
	hlptim1.Init.CounterSource = LPTIM_COUNTERSOURCE_INTERNAL;
	if (HAL_LPTIM_Init(&hlptim1) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN LPTIM1_Init 2 */

	/* USER CODE END LPTIM1_Init 2 */

}

/**
 * @brief LPUART1 Initialization Function
 * @param None
 * @retval None
 */
static void MX_LPUART1_UART_Init(void)
{

	/* USER CODE BEGIN LPUART1_Init 0 */

	/* USER CODE END LPUART1_Init 0 */

	/* USER CODE BEGIN LPUART1_Init 1 */

	/* USER CODE END LPUART1_Init 1 */
	hlpuart1.Instance = LPUART1;
	hlpuart1.Init.BaudRate = 9600;
	hlpuart1.Init.WordLength = UART_WORDLENGTH_8B;
	hlpuart1.Init.StopBits = UART_STOPBITS_1;
	hlpuart1.Init.Parity = UART_PARITY_NONE;
	hlpuart1.Init.Mode = UART_MODE_TX_RX;
	hlpuart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
	hlpuart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
	hlpuart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
	if (HAL_UART_Init(&hlpuart1) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN LPUART1_Init 2 */

	/* USER CODE END LPUART1_Init 2 */

}

/**
 * @brief TIM2 Initialization Function
 * @param None
 * @retval None
 */
static void MX_TIM2_Init(void)
{

	/* USER CODE BEGIN TIM2_Init 0 */

	/* USER CODE END TIM2_Init 0 */

	TIM_Encoder_InitTypeDef sConfig = {0};
	TIM_MasterConfigTypeDef sMasterConfig = {0};

	/* USER CODE BEGIN TIM2_Init 1 */

	/* USER CODE END TIM2_Init 1 */
	htim2.Instance = TIM2;
	htim2.Init.Prescaler = 0;
	htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
	htim2.Init.Period = 65535;
	htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
	htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
	sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
	sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
	sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
	sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
	sConfig.IC1Filter = 0;
	sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
	sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
	sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
	sConfig.IC2Filter = 0;
	if (HAL_TIM_Encoder_Init(&htim2, &sConfig) != HAL_OK)
	{
		Error_Handler();
	}
	sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
	if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN TIM2_Init 2 */

	/* USER CODE END TIM2_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 = 0;
	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_1) != HAL_OK)
	{
		Error_Handler();
	}
	if (HAL_TIMEx_RemapConfig(&htim3, TIM3_TI1_GPIO) != HAL_OK)
	{
		Error_Handler();
	}
	if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
	{
		Error_Handler();
	}
	if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
	{
		Error_Handler();
	}
	if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN TIM3_Init 2 */

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

}

/**
 * @brief TIM21 Initialization Function
 * @param None
 * @retval None
 */
static void MX_TIM21_Init(void)
{

	/* USER CODE BEGIN TIM21_Init 0 */

	/* USER CODE END TIM21_Init 0 */

	TIM_Encoder_InitTypeDef sConfig = {0};
	TIM_MasterConfigTypeDef sMasterConfig = {0};

	/* USER CODE BEGIN TIM21_Init 1 */

	/* USER CODE END TIM21_Init 1 */
	htim21.Instance = TIM21;
	htim21.Init.Prescaler = 0;
	htim21.Init.CounterMode = TIM_COUNTERMODE_UP;
	htim21.Init.Period = 65535;
	htim21.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
	htim21.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
	sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
	sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
	sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
	sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
	sConfig.IC1Filter = 0;
	sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
	sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
	sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
	sConfig.IC2Filter = 0;
	if (HAL_TIM_Encoder_Init(&htim21, &sConfig) != HAL_OK)
	{
		Error_Handler();
	}
	sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
	if (HAL_TIMEx_MasterConfigSynchronization(&htim21, &sMasterConfig) != HAL_OK)
	{
		Error_Handler();
	}
	/* USER CODE BEGIN TIM21_Init 2 */

	/* USER CODE END TIM21_Init 2 */

}

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

	/* DMA controller clock enable */
	__HAL_RCC_DMA1_CLK_ENABLE();

	/* DMA interrupt init */
	/* DMA1_Channel2_3_IRQn interrupt configuration */
	HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 3, 0);
	HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);

}

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

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

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(GPIOB, LED_ROUGE_Pin|LED_ORANGE_Pin|LED_VERTE_Pin|SHUTDOWN_5V_Pin, GPIO_PIN_RESET);

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(GPIOB, SHUTDOWN_ENCODERS_Pin|SHUTDOWN_Pin, GPIO_PIN_SET);

	/*Configure GPIO pin Output Level */
	HAL_GPIO_WritePin(XBEE_RESET_GPIO_Port, XBEE_RESET_Pin, GPIO_PIN_RESET);

	/*Configure GPIO pins : LED_ROUGE_Pin LED_ORANGE_Pin LED_VERTE_Pin */
	GPIO_InitStruct.Pin = LED_ROUGE_Pin|LED_ORANGE_Pin|LED_VERTE_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

	/*Configure GPIO pins : SHUTDOWN_ENCODERS_Pin SHUTDOWN_5V_Pin */
	GPIO_InitStruct.Pin = SHUTDOWN_ENCODERS_Pin|SHUTDOWN_5V_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

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

	/*Configure GPIO pin : BUTTON_SENSE_Pin */
	GPIO_InitStruct.Pin = BUTTON_SENSE_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(BUTTON_SENSE_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pin : USB_SENSE_Pin */
	GPIO_InitStruct.Pin = USB_SENSE_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(USB_SENSE_GPIO_Port, &GPIO_InitStruct);

	/*Configure GPIO pins : CHARGER_ST2_Pin CHARGER_ST1_Pin */
	GPIO_InitStruct.Pin = CHARGER_ST2_Pin|CHARGER_ST1_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

	/*Configure GPIO pin : SHUTDOWN_Pin */
	GPIO_InitStruct.Pin = SHUTDOWN_Pin;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
	GPIO_InitStruct.Pull = GPIO_NOPULL;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(SHUTDOWN_GPIO_Port, &GPIO_InitStruct);

	/* EXTI interrupt init*/
	HAL_NVIC_SetPriority(EXTI2_3_IRQn, 3, 0);
	HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);

	HAL_NVIC_SetPriority(EXTI4_15_IRQn, 3, 0);
	HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);

}

/* USER CODE BEGIN 4 */
TickType_t msToTicks(TickType_t ms) {
	TickType_t tmp = ms;

	if (ms<(1000/configTICK_RATE_HZ))
		tmp = 1;
	else {
		tmp = ms/(1000/configTICK_RATE_HZ);

		if (ms % (1000/configTICK_RATE_HZ)) // if the delay is not true multiple of tick rate, increase by one (delay longer)
			tmp ++;
	}
	return tmp;
}
/* USER CODE END 4 */

/* USER CODE BEGIN Header_StartDefaultTask */
/**
 * @brief  Function implementing the defaultTask thread.
 * @param  argument: Not used
 * @retval None
 */
/* USER CODE END Header_StartDefaultTask */
//void StartDefaultTask(void *argument)
//{
//	/* USER CODE BEGIN 5 */
//	LEDS_State state = leds_off;
//
//	/* Infinite loop */
//	for(;;)
//	{
//		state++;
//		MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, SEQUENCEUR_Mailbox, (void*)&state);
//
//		if (state>leds_erreur)
//			state = leds_off;
//
//		vTaskDelay(pdMS_TO_TICKS(5000));
//	}
//	/* USER CODE END 5 */
//}

/**
 * @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 */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/