/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
 * All rights reserved.</center></h2>
 *
 * This software component is licensed by ST under Ultimate Liberty license
 * SLA0044, the "License"; You may not use this file except in compliance with
 * the License. You may obtain a copy of the License at:
 *                             www.st.com/SLA0044
 *
 ******************************************************************************
 */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "usb_device.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <string.h>
#include <stdarg.h>
#include <math.h>
#include "ili9341.h"
#include "ili9341_touch.h"
#include "fonts.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 ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;

RTC_HandleTypeDef hrtc;

SPI_HandleTypeDef hspi2;

TIM_HandleTypeDef htim2;

UART_HandleTypeDef huart2;

osThreadId defaultTaskHandle;
osThreadId myTask02Handle;
/* USER CODE BEGIN PV */
RTC_TimeTypeDef sTime = {0};
RTC_DateTypeDef DateToUpdate = {0};
char time_str[64] = {0,};
int32_t radius = 79, x_center = 210, y_center = 130;
int32_t encoder = 0, encoder_prev = 0;
int32_t capture = 0, capture_prev = 0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_SPI2_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_TIM2_Init(void);
static void MX_RTC_Init(void);
void StartDefaultTask(void const * argument);
void StartTask02(void const * 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_I2C1_Init();
  MX_SPI2_Init();
  MX_USART2_UART_Init();
  MX_TIM2_Init();
  MX_RTC_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* 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) */
  /* definition and creation of defaultTask */
  osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
  defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);

  /* definition and creation of myTask02 */
  osThreadDef(myTask02, StartTask02, osPriorityNormal, 0, 128);
  myTask02Handle = osThreadCreate(osThread(myTask02), NULL);

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

  /* 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};

  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.LSIState = RCC_LSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses 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_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_RTC|RCC_PERIPHCLK_USB;
  PeriphClkInit.RTCClockSelection = RCC_RTCCLKSOURCE_LSI;
  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief I2C1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_I2C1_Init(void)
{

  /* USER CODE BEGIN I2C1_Init 0 */

  /* USER CODE END I2C1_Init 0 */

  /* USER CODE BEGIN I2C1_Init 1 */

  /* USER CODE END I2C1_Init 1 */
  hi2c1.Instance = I2C1;
  hi2c1.Init.ClockSpeed = 100000;
  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C1_Init 2 */

  /* USER CODE END I2C1_Init 2 */

}

/**
  * @brief RTC Initialization Function
  * @param None
  * @retval None
  */
static void MX_RTC_Init(void)
{

  /* USER CODE BEGIN RTC_Init 0 */

  /* USER CODE END RTC_Init 0 */

  RTC_TimeTypeDef sTime = {0};
  RTC_DateTypeDef DateToUpdate = {0};

  /* USER CODE BEGIN RTC_Init 1 */

  /* USER CODE END RTC_Init 1 */
  /** Initialize RTC Only 
  */
  hrtc.Instance = RTC;
  hrtc.Init.AsynchPrediv = RTC_AUTO_1_SECOND;
  hrtc.Init.OutPut = RTC_OUTPUTSOURCE_ALARM;
  if (HAL_RTC_Init(&hrtc) != HAL_OK)
  {
    Error_Handler();
  }

  /* USER CODE BEGIN Check_RTC_BKUP */
    
  /* USER CODE END Check_RTC_BKUP */

  /** Initialize RTC and set the Time and Date 
  */
  sTime.Hours = 14;
  sTime.Minutes = 54;
  sTime.Seconds = 0;

  if (HAL_RTC_SetTime(&hrtc, &sTime, RTC_FORMAT_BIN) != HAL_OK)
  {
    Error_Handler();
  }
  DateToUpdate.WeekDay = RTC_WEEKDAY_MONDAY;
  DateToUpdate.Month = RTC_MONTH_JANUARY;
  DateToUpdate.Date = 1;
  DateToUpdate.Year = 0;

  if (HAL_RTC_SetDate(&hrtc, &DateToUpdate, RTC_FORMAT_BIN) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN RTC_Init 2 */

  /* USER CODE END RTC_Init 2 */

}

/**
  * @brief SPI2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI2_Init(void)
{

  /* USER CODE BEGIN SPI2_Init 0 */

  /* USER CODE END SPI2_Init 0 */

  /* USER CODE BEGIN SPI2_Init 1 */

  /* USER CODE END SPI2_Init 1 */
  /* SPI2 parameter configuration*/
  hspi2.Instance = SPI2;
  hspi2.Init.Mode = SPI_MODE_MASTER;
  hspi2.Init.Direction = SPI_DIRECTION_2LINES;
  hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi2.Init.NSS = SPI_NSS_SOFT;
  hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
  hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi2.Init.CRCPolynomial = 10;
  if (HAL_SPI_Init(&hspi2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI2_Init 2 */

  /* USER CODE END SPI2_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_TI12;
  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 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 = 115200;
  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;
  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};

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

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);

  /*Configure GPIO pin : PA4 */
  GPIO_InitStruct.Pin = GPIO_PIN_4;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PA5 PA6 PA7 */
  GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
  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);

}

/* USER CODE BEGIN 4 */
void initDisplay() {
	ILI9341_Unselect();
	ILI9341_TouchUnselect();
	ILI9341_Init();
}

void UART_Printf(const char* fmt, ...) {
	char buff[256];
	va_list args;
	va_start(args, fmt);
	vsnprintf(buff, sizeof(buff), fmt, args);
	HAL_UART_Transmit(&huart2, (uint8_t*) buff, strlen(buff),
	HAL_MAX_DELAY);
	va_end(args);
}

void drawLineCircle (int32_t centreX, int32_t centreY, int32_t diameter, uint16_t color)
{
	int32_t dxOuter, dyOuter, dxi, dyi;
	for (float i = 0; i <360; i = i + 22.5) {
	  dxOuter = diameter * cos((i-90)*M_PI/180.0);
	  dyOuter = diameter * sin((i-90)*M_PI/180.0);
	  dxi = dxOuter * 0.98;
	  dyi = dyOuter * 0.98;
	  ILI9341_writeLine(dxi+centreX,dyi+centreY,dxOuter+centreX,dyOuter+centreY,color);
}
}

void drawStatic (void)
{
	ILI9341_FillScreen(ILI9341_BLACK);
	ILI9341_WriteString(0, 0, "ANTENNA ROTATOR", Font_11x18, ILI9341_RED, ILI9341_BLACK);
	ILI9341_WriteString(30, 18, "CONTROLLER", Font_11x18, ILI9341_RED, ILI9341_BLACK);
	ILI9341_WriteString(5, 80, "Cur pos:", Font_11x18, ILI9341_RED, ILI9341_BLACK);
	ILI9341_WriteString(55, 100, "O", Font_7x10, ILI9341_RED, ILI9341_BLACK);
	ILI9341_WriteString(5, 126, "Set pos:", Font_11x18, ILI9341_RED, ILI9341_BLACK);
	ILI9341_WriteString(55, 145, "O", Font_7x10, ILI9341_RED, ILI9341_BLACK);
	ILI9341_WriteString(x_center+radius+7, y_center-5, "90", Font_7x10, ILI9341_GREEN, ILI9341_BLACK);
	ILI9341_WriteString(x_center-radius-28, y_center-5, "270", Font_7x10, ILI9341_GREEN, ILI9341_BLACK);
	ILI9341_WriteString(x_center-10, y_center+radius+7, "180", Font_7x10, ILI9341_GREEN, ILI9341_BLACK);
	ILI9341_WriteString(x_center-3, y_center-radius-17, "0", Font_7x10, ILI9341_GREEN, ILI9341_BLACK);
}

void drawDirection (int32_t angle, int32_t x, int32_t y, uint16_t color) {
	if((angle < 22.5)  || (angle > 337.5 )) ILI9341_WriteString(x,y,"North     ",Font_16x26,color, ILI9341_BLACK);
	if((angle > 22.5)  && (angle < 67.5 )) ILI9341_WriteString(x,y,"North-East",Font_16x26,color, ILI9341_BLACK);
	if((angle > 67.5)  && (angle < 112.5 )) ILI9341_WriteString(x,y,"East      ",Font_16x26,color, ILI9341_BLACK);
	if((angle > 112.5) && (angle < 157.5 )) ILI9341_WriteString(x,y,"South-East",Font_16x26,color, ILI9341_BLACK);
	if((angle > 157.5) && (angle < 202.5 )) ILI9341_WriteString(x,y,"South     ",Font_16x26,color, ILI9341_BLACK);
	if((angle > 202.5) && (angle < 247.5 )) ILI9341_WriteString(x,y,"South-West",Font_16x26,color, ILI9341_BLACK);
	if((angle > 247.5) && (angle < 292.5 )) ILI9341_WriteString(x,y,"West      ",Font_16x26,color, ILI9341_BLACK);
	if((angle > 292.5) && (angle < 337.5 )) ILI9341_WriteString(x,y,"North-West",Font_16x26,color, ILI9341_BLACK);
}

void GetTime (void)
{
	HAL_RTC_GetTime(&hrtc, &sTime, RTC_FORMAT_BIN);
	snprintf(time_str, 63, "%02d:%02d:%02d", sTime.Hours, sTime.Minutes, sTime.Seconds);
}

void GetEncoder (void)
{
	capture = TIM2->CNT / 4;
	if (capture > 8000) { capture -= 65535 / 4; }
	if (capture != capture_prev) {
	encoder_prev = encoder;	}
	else { encoder_prev = 10000; }
	encoder += capture - capture_prev;
	encoder = (encoder + 360) % 360;
	if (encoder == 0) {	TIM2->CNT = 0; }
	if (encoder > 360) {TIM2->CNT = 0; }
	capture_prev = capture;
}

/* 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 const * argument)
{
  /* init code for USB_DEVICE */
  MX_USB_DEVICE_Init();

  /* USER CODE BEGIN 5 */
	/* Infinite loop */
	for (;;) {
		osDelay(1);
	}
  /* USER CODE END 5 */ 
}

/* USER CODE BEGIN Header_StartTask02 */
/**
 * @brief Function implementing the myTask02 thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_StartTask02 */
void StartTask02(void const * argument)
{
  /* USER CODE BEGIN StartTask02 */
	char buf[25];

	initDisplay();
	hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
	HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL);
	drawStatic();

	/* Infinite loop */
	for (;;) {
        GetTime();
		GetEncoder();

		if (HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_4) == 0) {

		}

		sprintf(buf, "%03ld", encoder);
		drawDirection(encoder,0,210, ILI9341_CYAN);
		ILI9341_WriteString(5, 100, buf, Font_16x26, ILI9341_RED, ILI9341_BLACK);
		ILI9341_WriteString(5, 145, buf, Font_16x26, ILI9341_RED, ILI9341_BLACK);
		ILI9341_WriteString(229, 0, time_str, Font_11x18, ILI9341_GREEN, ILI9341_BLACK);
		ILI9341_DrawArrow(x_center, y_center, x_center+radius*cos((encoder/180.0*M_PI)-(90/180.0*M_PI)), y_center+radius*sin((encoder/180.0*M_PI)-(90/180.0 * M_PI)), 0.23, ILI9341_RED);
		ILI9341_drawCircle(x_center, y_center, radius, ILI9341_RED);
		drawLineCircle(x_center,y_center,radius,ILI9341_YELLOW);
		if (encoder_prev != 10000) {
			ILI9341_DrawArrow(x_center, y_center, x_center+radius*cos((encoder_prev/180.0*M_PI)-(90/180.0*M_PI)), y_center+radius*sin((encoder_prev/180.0*M_PI)-(90/180.0 * M_PI)), 0.23, ILI9341_BLACK);
			ILI9341_DrawArrow(x_center, y_center, x_center+radius*cos((encoder/180.0*M_PI)-(90/180.0*M_PI)), y_center+radius*sin((encoder/180.0*M_PI)-(90/180.0 * M_PI)), 0.23, ILI9341_RED);
		}
		osDelay(1);

	}
  /* USER CODE END StartTask02 */
}

/**
  * @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 */

  /* 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,
     tex: 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****/