Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
This commit is contained in:
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/* USER CODE BEGIN Header */
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/**
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***************************************************************************************
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* @file stm32_lpm_if.c
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* @author MCD Application Team
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* @brief Low layer function to enter/exit low power modes (stop, sleep).
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***************************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "stm32_lpm_if.h"
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#include "stm32_lpm.h"
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#include "app_conf.h"
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/* USER CODE BEGIN include */
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/* USER CODE END include */
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/* Exported variables --------------------------------------------------------*/
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const struct UTIL_LPM_Driver_s UTIL_PowerDriver =
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{
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PWR_EnterSleepMode,
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PWR_ExitSleepMode,
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PWR_EnterStopMode,
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PWR_ExitStopMode,
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PWR_EnterOffMode,
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PWR_ExitOffMode,
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};
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/* Private function prototypes -----------------------------------------------*/
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static void Switch_On_HSI(void);
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static void EnterLowPower(void);
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static void ExitLowPower(void);
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/* USER CODE BEGIN Private_Function_Prototypes */
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/* USER CODE END Private_Function_Prototypes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN Private_Typedef */
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/* USER CODE END Private_Typedef */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN Private_Define */
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/* USER CODE END Private_Define */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN Private_Macro */
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/* USER CODE END Private_Macro */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN Private_Variables */
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/* USER CODE END Private_Variables */
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/* Functions Definition ------------------------------------------------------*/
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/**
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* @brief Enters Low Power Off Mode
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* @param none
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* @retval none
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*/
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void PWR_EnterOffMode(void)
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{
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/* USER CODE BEGIN PWR_EnterOffMode_1 */
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/* USER CODE END PWR_EnterOffMode_1 */
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/**
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* The systick should be disabled for the same reason than when the device enters stop mode because
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* at this time, the device may enter either OffMode or StopMode.
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*/
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HAL_SuspendTick();
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EnterLowPower();
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/************************************************************************************
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* ENTER OFF MODE
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***********************************************************************************/
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/*
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* There is no risk to clear all the WUF here because in the current implementation, this API is called
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* in critical section. If an interrupt occurs while in that critical section before that point,
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* the flag is set and will be cleared here but the system will not enter Off Mode
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* because an interrupt is pending in the NVIC. The ISR will be executed when moving out
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* of this critical section
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*/
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LL_PWR_ClearFlag_WU();
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LL_PWR_SetPowerMode(LL_PWR_MODE_STANDBY);
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LL_LPM_EnableDeepSleep(); /**< Set SLEEPDEEP bit of Cortex System Control Register */
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/**
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* This option is used to ensure that store operations are completed
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*/
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#if defined (__CC_ARM) || defined (__ARMCC_VERSION)
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__force_stores();
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#endif
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__WFI();
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/* USER CODE BEGIN PWR_EnterOffMode_2 */
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/* USER CODE END PWR_EnterOffMode_2 */
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return;
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}
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/**
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* @brief Exits Low Power Off Mode
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* @param none
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* @retval none
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*/
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void PWR_ExitOffMode(void)
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{
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/* USER CODE BEGIN PWR_ExitOffMode_1 */
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/* USER CODE END PWR_ExitOffMode_1 */
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HAL_ResumeTick();
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/* USER CODE BEGIN PWR_ExitOffMode_2 */
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/* USER CODE END PWR_ExitOffMode_2 */
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return;
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}
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/**
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* @brief Enters Low Power Stop Mode
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* @note ARM exists the function when waking up
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* @param none
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* @retval none
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*/
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void PWR_EnterStopMode(void)
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{
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/* USER CODE BEGIN PWR_EnterStopMode_1 */
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/* USER CODE END PWR_EnterStopMode_1 */
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/**
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* When HAL_DBGMCU_EnableDBGStopMode() is called to keep the debugger active in Stop Mode,
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* the systick shall be disabled otherwise the cpu may crash when moving out from stop mode
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*
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* When in production, the HAL_DBGMCU_EnableDBGStopMode() is not called so that the device can reach best power consumption
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* However, the systick should be disabled anyway to avoid the case when it is about to expire at the same time the device enters
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* stop mode (this will abort the Stop Mode entry).
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*/
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HAL_SuspendTick();
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/**
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* This function is called from CRITICAL SECTION
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*/
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EnterLowPower();
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/************************************************************************************
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* ENTER STOP MODE
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***********************************************************************************/
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LL_PWR_SetPowerMode(LL_PWR_MODE_STOP2);
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LL_LPM_EnableDeepSleep(); /**< Set SLEEPDEEP bit of Cortex System Control Register */
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/**
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* This option is used to ensure that store operations are completed
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*/
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#if defined (__CC_ARM) || defined (__ARMCC_VERSION)
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__force_stores();
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#endif
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__WFI();
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/* USER CODE BEGIN PWR_EnterStopMode_2 */
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/* USER CODE END PWR_EnterStopMode_2 */
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return;
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}
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/**
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* @brief Exits Low Power Stop Mode
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* @note Enable the pll at 32MHz
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* @param none
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* @retval none
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*/
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void PWR_ExitStopMode(void)
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{
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/* USER CODE BEGIN PWR_ExitStopMode_1 */
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/* USER CODE END PWR_ExitStopMode_1 */
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/**
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* This function is called from CRITICAL SECTION
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*/
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ExitLowPower();
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HAL_ResumeTick();
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/* USER CODE BEGIN PWR_ExitStopMode_2 */
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/* USER CODE END PWR_ExitStopMode_2 */
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return;
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}
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/**
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* @brief Enters Low Power Sleep Mode
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* @note ARM exits the function when waking up
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* @param none
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* @retval none
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*/
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void PWR_EnterSleepMode(void)
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{
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/* USER CODE BEGIN PWR_EnterSleepMode_1 */
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/* USER CODE END PWR_EnterSleepMode_1 */
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HAL_SuspendTick();
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/************************************************************************************
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* ENTER SLEEP MODE
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***********************************************************************************/
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LL_LPM_EnableSleep(); /**< Clear SLEEPDEEP bit of Cortex System Control Register */
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/**
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* This option is used to ensure that store operations are completed
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*/
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#if defined (__CC_ARM) || defined (__ARMCC_VERSION)
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__force_stores();
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#endif
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__WFI();
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/* USER CODE BEGIN PWR_EnterSleepMode_2 */
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/* USER CODE END PWR_EnterSleepMode_2 */
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return;
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}
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/**
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* @brief Exits Low Power Sleep Mode
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* @note ARM exits the function when waking up
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* @param none
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* @retval none
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*/
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void PWR_ExitSleepMode(void)
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{
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/* USER CODE BEGIN PWR_ExitSleepMode_1 */
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/* USER CODE END PWR_ExitSleepMode_1 */
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HAL_ResumeTick();
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/* USER CODE BEGIN PWR_ExitSleepMode_2 */
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/* USER CODE END PWR_ExitSleepMode_2 */
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return;
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}
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/*************************************************************
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*
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* LOCAL FUNCTIONS
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*
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*************************************************************/
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/**
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* @brief Setup the system to enter either stop or off mode
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* @param none
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* @retval none
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*/
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static void EnterLowPower(void)
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{
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/**
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* This function is called from CRITICAL SECTION
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*/
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while(LL_HSEM_1StepLock(HSEM, CFG_HW_RCC_SEMID));
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if (! LL_HSEM_1StepLock(HSEM, CFG_HW_ENTRY_STOP_MODE_SEMID))
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{
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if(LL_PWR_IsActiveFlag_C2DS() || LL_PWR_IsActiveFlag_C2SB())
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{
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/* Release ENTRY_STOP_MODE semaphore */
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LL_HSEM_ReleaseLock(HSEM, CFG_HW_ENTRY_STOP_MODE_SEMID, 0);
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Switch_On_HSI();
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__HAL_FLASH_SET_LATENCY(FLASH_LATENCY_0);
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}
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}
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else
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{
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Switch_On_HSI();
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__HAL_FLASH_SET_LATENCY(FLASH_LATENCY_0);
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}
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/* Release RCC semaphore */
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LL_HSEM_ReleaseLock(HSEM, CFG_HW_RCC_SEMID, 0);
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return;
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}
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/**
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* @brief Restore the system to exit stop mode
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* @param none
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* @retval none
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*/
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static void ExitLowPower(void)
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{
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/* Release ENTRY_STOP_MODE semaphore */
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LL_HSEM_ReleaseLock(HSEM, CFG_HW_ENTRY_STOP_MODE_SEMID, 0);
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while(LL_HSEM_1StepLock(HSEM, CFG_HW_RCC_SEMID));
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if(LL_RCC_GetSysClkSource() == LL_RCC_SYS_CLKSOURCE_STATUS_HSI)
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{
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/* Restore the clock configuration of the application in this user section */
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/* USER CODE BEGIN ExitLowPower_1 */
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/* USER CODE END ExitLowPower_1 */
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}
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else
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{
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/* If the application is not running on HSE restore the clock configuration in this user section */
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/* USER CODE BEGIN ExitLowPower_2 */
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/* USER CODE END ExitLowPower_2 */
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}
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/* Release RCC semaphore */
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LL_HSEM_ReleaseLock(HSEM, CFG_HW_RCC_SEMID, 0);
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return;
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}
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/**
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* @brief Switch the system clock on HSI
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* @param none
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* @retval none
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*/
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static void Switch_On_HSI(void)
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{
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LL_RCC_HSI_Enable();
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while(!LL_RCC_HSI_IsReady());
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LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_HSI);
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LL_RCC_SetSMPSClockSource(LL_RCC_SMPS_CLKSOURCE_HSI);
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while (LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_HSI);
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return;
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}
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/* USER CODE BEGIN Private_Functions */
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/* USER CODE END Private_Functions */
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