diff options
Diffstat (limited to 'GameLogic/stm32/main.c')
| -rw-r--r-- | GameLogic/stm32/main.c | 558 |
1 files changed, 558 insertions, 0 deletions
diff --git a/GameLogic/stm32/main.c b/GameLogic/stm32/main.c new file mode 100644 index 0000000..666992f --- /dev/null +++ b/GameLogic/stm32/main.c @@ -0,0 +1,558 @@ +/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file : main.c
+ * @brief : Main program body
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2023 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include <stdbool.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 ---------------------------------------------------------*/
+SPI_HandleTypeDef hspi1;
+
+TIM_HandleTypeDef htim3;
+
+/* USER CODE BEGIN PV */
+
+static int8_t buttonDPAD[] = {0,0,0,0}; //1left 2right 3down 4up
+
+struct playerData{
+ uint16_t posX;
+ uint16_t posY;
+ uint8_t radius;
+ uint8_t rotation; //45 degrees steps 0 == right 2 == down 4 == left 6 == up
+ uint8_t directionX; //direction where its looking at in case no input;
+ int8_t speed; //10 default L/R MODifier
+ bool inAir;
+
+};
+
+struct playerData player1;
+
+uint8_t tileMap[30][40] =
+ {
+ {1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 },
+ {1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 ,1,1,1,1,1,1,1,1,1,1 }
+
+
+
+ };
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_SPI1_Init(void);
+static void MX_TIM3_Init(void);
+/* USER CODE BEGIN PFP */
+void buttonRead();
+void playerMovement();
+void sendData(uint8_t, uint16_t);
+/* 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_SPI1_Init();
+ MX_TIM3_Init();
+ /* USER CODE BEGIN 2 */
+ // correct byte for led control
+ uint16_t pos_x; //0b0000 0001 0011 0110
+ uint16_t pos_y;
+
+ uint8_t left = 0;
+ uint8_t right = 0;
+ uint8_t up = 0;
+ uint8_t down = 0;
+
+
+
+ uint8_t pos_x_bit[2];
+ uint8_t pos_y_bit[2];
+ uint8_t data_send[3];
+
+ int tileX;
+ int tileY;
+// struct playerData player1;
+ //int buttons[] = {GPIO_PIN_4,GPIO_PIN_5,GPIO_PIN_6,GPIO_PIN_8}; // 1 left // 2 right // 3 up // 4 down
+
+/// init struct
+ player1.posX = 31000; //0b0000 0001 0011 0110
+ player1.posY = 21000;
+ player1.radius = 8;
+ player1.speed = 1;
+ player1.directionX = 1;
+ player1.rotation = 8;
+ player1.inAir = false;
+ /* USER CODE END 2 */
+
+ /* Infinite loop */
+ /* USER CODE BEGIN WHILE */
+ while (1)
+ {
+
+
+
+
+ buttonRead();
+ playerMovement();
+
+
+ // send data via SPI //adjust map size
+ pos_x = player1.posX / 100;
+ pos_y = player1.posY / 100;
+
+ sendData(0b01000000,pos_x);
+ sendData(0b00000000,pos_y);
+
+
+ /* 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};
+
+ /** 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_ON;
+ RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+ RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
+ 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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
+ RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+ RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
+
+ if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
+ {
+ Error_Handler();
+ }
+}
+
+/**
+ * @brief SPI1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_SPI1_Init(void)
+{
+
+ /* USER CODE BEGIN SPI1_Init 0 */
+
+ /* USER CODE END SPI1_Init 0 */
+
+ /* USER CODE BEGIN SPI1_Init 1 */
+
+ /* USER CODE END SPI1_Init 1 */
+ /* SPI1 parameter configuration*/
+ hspi1.Instance = SPI1;
+ hspi1.Init.Mode = SPI_MODE_MASTER;
+ hspi1.Init.Direction = SPI_DIRECTION_1LINE;
+ hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
+ hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
+ hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
+ hspi1.Init.NSS = SPI_NSS_SOFT;
+ hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
+ hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
+ hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
+ hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+ hspi1.Init.CRCPolynomial = 7;
+ hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
+ hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
+ if (HAL_SPI_Init(&hspi1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN SPI1_Init 2 */
+
+ /* USER CODE END SPI1_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};
+
+ /* USER CODE BEGIN TIM3_Init 1 */
+
+ /* USER CODE END TIM3_Init 1 */
+ htim3.Instance = TIM3;
+ htim3.Init.Prescaler = 7999;
+ 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();
+ }
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN TIM3_Init 2 */
+
+ /* USER CODE END TIM3_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_GPIOA_CLK_ENABLE();
+ __HAL_RCC_GPIOB_CLK_ENABLE();
+
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_SET);
+
+ /*Configure GPIO pin : PA9 */
+ GPIO_InitStruct.Pin = GPIO_PIN_9;
+ 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 pins : PB4 PB5 PB6 PB8 */
+ GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_8;
+ GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+ GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+}
+
+/* USER CODE BEGIN 4 */
+void sendData(uint8_t address, uint16_t data)
+{
+ uint8_t bitData[3];
+ bitData[2] = data & 0xff;
+ bitData[1] = (data >> 8);
+ bitData[0] = address; // first byte is address
+
+
+
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);
+ HAL_SPI_Transmit(&hspi1, bitData, 3, 100); //2*8 bit data
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_SET);
+
+}
+
+
+/*
+#define GPIO_PIN_0 ((uint16_t)0x0001U) Pin 0 selected
+#define GPIO_PIN_1 ((uint16_t)0x0002U) Pin 1 selected
+#define GPIO_PIN_2 ((uint16_t)0x0004U) Pin 2 selected
+#define GPIO_PIN_3 ((uint16_t)0x0008U) Pin 3 selected
+#define GPIO_PIN_4 ((uint16_t)0x0010U) Pin 4 selected
+#define GPIO_PIN_5 ((uint16_t)0x0020U) Pin 5 selected
+#define GPIO_PIN_6 ((uint16_t)0x0040U) Pin 6 selected
+#define GPIO_PIN_7 ((uint16_t)0x0080U) Pin 7 selected
+#define GPIO_PIN_8 ((uint16_t)0x0100U) Pin 8 selected
+#define GPIO_PIN_9 ((uint16_t)0x0200U) Pin 9 selected
+#define GPIO_PIN_10 ((uint16_t)0x0400U) Pin 10 selected
+#define GPIO_PIN_11 ((uint16_t)0x0800U) Pin 11 selected
+#define GPIO_PIN_12 ((uint16_t)0x1000U) Pin 12 selected
+#define GPIO_PIN_13 ((uint16_t)0x2000U) Pin 13 selected
+#define GPIO_PIN_14 ((uint16_t)0x4000U) Pin 14 selected
+#define GPIO_PIN_15 ((uint16_t)0x8000U) Pin 15 selected
+#define GPIO_PIN_All ((uint16_t)0xFFFFU) All pins selected
+*/
+
+void buttonRead()
+{
+ //int buttons[] = {GPIO_PIN_4,GPIO_PIN_5,GPIO_PIN_6,GPIO_PIN_8}; // 1 left // 2 right // 3 down // 4 up 8-6-4-5
+ uint16_t buttons[] = {0x0100U,0x0040U,0x0010U,0x0020U}; // 1 left // 2 right // 3 down // 4 up
+
+ for(int i = 0; i < 4; i++)
+ {
+ if(HAL_GPIO_ReadPin(GPIOB, buttons[i]) == 1)
+ {
+ if((i+2) % 2 == 0)
+ {
+ buttonDPAD[i] = 1;
+ }
+ else
+ {
+ buttonDPAD[i] = -1;
+ }
+ }
+ else
+ {
+ buttonDPAD[i] = 0;
+ }
+ }
+}
+
+void playerMovement()
+{
+
+ int8_t directionX = 0; // -1 = L || 1 == R
+ int8_t directionY = 0; // -1 = D || 1 == U
+
+ uint8_t i,j;
+ uint8_t rotation = 0; // 0-7
+ //temp var for testing
+
+
+
+ // direction calc
+ directionX = buttonDPAD[0] + buttonDPAD[1];
+ directionY = buttonDPAD[2] + buttonDPAD[3];
+
+ //rotation calc
+ for(i = -1; i < 2;i++)
+ {
+ for(j = -1; j < 2; j++)
+ {
+ if(directionX == i)
+ {
+ if(directionY == j)
+ {
+ if(i != 0 && j != 0) //dont update when player idle
+ {
+ player1.rotation = rotation;
+ }
+ }
+ }
+ rotation++;
+ }
+ }
+ //direction calc
+ if(directionX != 0) //update direction if player is not idle
+ {
+ player1.directionX = directionX;
+ }
+ //collision map x-axis
+
+ //tile calc including radius and direction for background coliision
+
+ uint16_t tileColX;
+ uint16_t tileColY = ( player1.posY / 100) / 16; ;
+
+ // remaining space between grid and exact
+ uint8_t modTileX;
+ uint8_t modTileY;
+
+
+
+ if(player1.inAir == false && directionX != 0)
+ {
+ if(directionX == 1)
+ {
+ tileColX = ( ( player1.posX / 100) + player1.radius ) / 20;
+ modTileX = ( player1.posX + ( 100 * player1.radius ) ) % 2000;
+ }
+ else if(directionX == -1)
+ {
+ tileColX = ( ( player1.posX / 100) - player1.radius ) / 20;
+ modTileX = ( player1.posX - ( 100 * player1.radius ) ) % 2000;
+ }
+
+ if(tileMap[tileColY][tileColX + directionX] != 1)
+ {
+ player1.posX = player1.posX + (directionX * player1.speed); // NEW x set
+ }
+
+ else if(tileMap[tileColY][tileColX + directionX] == 1)
+ {
+ if(modTileX < player1.speed)
+ {
+ player1.posX = player1.posX + (directionX * modTileX); // NEW x set
+ }
+ else
+ {
+ player1.posX = player1.posX + (directionX * player1.speed); // NEW x set
+ }
+ }
+
+ }
+ else //if in air different all borders have to be checked
+ {
+
+ }
+
+ //collision map floor (y-axis) (falling)
+ // if falling no jump press (implement)
+ /*
+ tileColY = (( player1.posY / 100) + player1.radius) / 16; //bottom of player box
+ modTileY = 1;
+ if(tileMap[tileColY+1][tileColX] != 1) //rework after jumping
+ {
+ player1.posY = player1.posY + 5 ;// NEW y set //makew var gravity
+ //playerStat = falling; //for later use of graphics/sound
+ }
+ */
+ //else if(tileMap[])
+
+
+
+
+
+}
+/* USER CODE END 4 */
+
+/**
+ * @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 */
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