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/******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
* File Name : main.c
* Author : MCD Application Team
* Version : V2.0.1
* Date : 06/13/2008
* Description : Main program body
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_lib.h"
#include "main.h"
#include "CAN\can.h"
#define ADC1_DR_Address ((u32)0x4001244C)
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
static vu32 TimingDelay = 0;
volatile struct {
unsigned Key : 1;
unsigned CalSpeed : 1;
unsigned Sec : 1;
unsigned Fault : 1;
}Flags;
unsigned int DesiredSpeed=500;
unsigned int ActualSpeed;
unsigned int pwm=500;
unsigned int T3Count;
unsigned int ActualSpeed5[3];
vu16 ADC_DMABUF;
unsigned int AveActualSpeed;
unsigned char AveNum;
unsigned char j;
float kp=0.50,ki=0.08,kd=0.0;
//float ABC[3]={0.8,0.08,0.0};
int ek=0,ek1=0,ek2=0;
float duk;
int du;
int ekSpeed=0;
unsigned char LED_Code[16]={0x5f,0x44,0x9d,0xd5,0xc6,0xd3,0xdb,0x45,0xdf,0xd7,0xcf,0xda,0x1b,0xdc,0x9b,0x8b};
int LED_Dis;
u16 motor_statue=0;
extern u16 My_PWM;
extern bool Direction;
extern CanRxMsg tmp_CanRxMessage;
extern CanTxMsg tmp_TxMessage;
int state,state1,state2,state3,counter1,counter2,counter3,speed_1,aim_speed,check_run,speed_code;
short ADC_ConvertedValue[5]={0,0,0,0,0};
u8 *Row0[10]={"Set Speed:"};
u8 *Row1[10]={"Now Speed:"};
u8 *Clear[16]={" "};
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
ErrorStatus HSEStartUpStatus;
/* Private function prototypes -----------------------------------------------*/
void RCC_Configuration(void);
void GPIO_Configuration(void);
void NVIC_Configuration(void);
void CalculateDC(int u,int y);
void TIM3_Configuration1(void);
void TIM2_Configuration1(void);
void TIM4_Configuration1(void);
void SysTick_Configuration(void);
void DMA_Configuration1(void);
void ADC_Configuration1(void);
int pid(int nonce,int aim);
/* Private functions ---------------------------------------------------------*/
/*******************************************************************************
* Function Name : main
* Description : Main program.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
int main(void)
{
#ifdef DEBUG
debug();
#endif
int i,j,k;
/* System Clocks Configuration */
RCC_Configuration();
/* NVIC configuration */
NVIC_Configuration();
CAN_Config();
DMA_Configuration1();
ADC_Configuration1();
TIM3_Configuration1();
TIM2_Configuration1();
TIM4_Configuration1();
GPIO_Configuration();
SysTick_Configuration();
SysTick_CounterCmd(SysTick_Counter_Enable);
/* Configure the systick */
//SysTick_Config();
/* Configure the GPIO ports */
GPIO_SetBits(GPIOC, GPIO_Pin_11);
//DisplayNumber(5,0,325);
aim_speed=2000;
//My_PWM=100;
//EXTI_GenerateSWInterrupt(EXTI_Line1);
//for(i=0;i<500;i++);
//EXTI_GenerateSWInterrupt(EXTI_Line1);
//for(i=0;i<500;i++);
//EXTI_GenerateSWInterrupt(EXTI_Line1);
while (1)
{
//motor_statue=0;
//Direction=FALSE;
LED_Dis=speed_1;
if(speed_code!=((GPIO_ReadInputData(GPIOE)>>1)&0x07))
{
speed_code=(GPIO_ReadInputData(GPIOE)>>1)&0x07;
tmp_TxMessage.StdId = 0x0f;
tmp_TxMessage.RTR = CAN_RTR_DATA;
tmp_TxMessage.IDE = CAN_ID_STD;
tmp_TxMessage.DLC = 8;
tmp_TxMessage.Data[0] = speed_code;
CAN_Send_Message(&tmp_TxMessage);
//aim_speed=speed_code*1000;
}
if(state1>5)
{
if(check_run<3&&aim_speed>300)
{ GPIO_ResetBits(GPIOC, GPIO_Pin_11);
for(i=0;i<5000;i++);
My_PWM=200;
GPIO_SetBits(GPIOC, GPIO_Pin_11);
EXTI_GenerateSWInterrupt(EXTI_Line0);
for(i=0;i<500;i++);
EXTI_GenerateSWInterrupt(EXTI_Line1);
for(i=0;i<500;i++);
EXTI_GenerateSWInterrupt(EXTI_Line2);
}
state1=0;
check_run=0;
}
for(i=0;i<100000;i++);
My_PWM+=pid(speed_1,aim_speed)/((speed_1/My_PWM)+1);
if(My_PWM<0)
My_PWM=0;
if(My_PWM>5000)
My_PWM=5000;
/*
if((speed_1-aim_speed)<3)
{
My_PWM+=10;
}
if((aim_speed-speed_1)<3)
{
My_PWM-=10;
}
for(j=10;j<90;j++)
{
for(k=0;k<5;k++)
for(i=0;i<50000;i++);
My_PWM=j*10;
}
for(k=0;k<100;k++)
for(i=0;i<50000;i++);
for(j=90;j>10;j--)
{
for(k=0;k<5;k++)
for(i=0;i<50000;i++);
My_PWM=j*10;
}
Direction=TRUE;
for(k=0;k<50;k++)
for(i=0;i<50000;i++);
My_PWM=100;
EXTI_GenerateSWInterrupt(EXTI_Line1);
for(i=0;i<500;i++);
EXTI_GenerateSWInterrupt(EXTI_Line1);
for(i=0;i<500;i++);
EXTI_GenerateSWInterrupt(EXTI_Line1);
for(j=10;j<90;j++)
{
for(k=0;k<5;k++)
for(i=0;i<50000;i++);
My_PWM=j*10;
}
for(k=0;k<100;k++)
for(i=0;i<50000;i++);
for(j=90;j>10;j--)
{
for(k=0;k<5;k++)
for(i=0;i<50000;i++);
My_PWM=j*10;
} */
}
}
int pid(int nonce,int aim)
{
static int ek_2=0;
static int ek_1=0;
static int ek=0;
// int ec;
int uk;
ek=aim-nonce;
// ec=ek/T;
uk=kp*(ek-ek_1+ki*ek+kd*(ek-2*ek_1+ek_2));
ek_2=ek_1;
ek_1=ek;
return (uk);
}
/*******************************************************************************
* Function Name : RCC_Configuration
* Description : Configures the different system clocks.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void RCC_Configuration(void)
{
ErrorStatus HSEStartUpStatus;
// RCC system reset(for debug purpose)
RCC_DeInit();
// Enable HSE
RCC_HSEConfig(RCC_HSE_ON);
// Wait till HSE is ready
HSEStartUpStatus = RCC_WaitForHSEStartUp();
if(HSEStartUpStatus == SUCCESS)
{
// Enable Prefetch Buffer
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
// Flash 2 wait state
FLASH_SetLatency(FLASH_Latency_2);
// HCLK = SYSCLK
RCC_HCLKConfig(RCC_SYSCLK_Div1);
// PCLK2 = HCLK
RCC_PCLK2Config(RCC_HCLK_Div1);
// PCLK1 = HCLK/2
RCC_PCLK1Config(RCC_HCLK_Div2);
// PLLCLK = 8MHz * 9 = 72 MHz
RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
// Enable PLL
RCC_PLLCmd(ENABLE);
// Wait till PLL is ready
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
{
}
// Select PLL as system clock source
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
// Wait till PLL is used as system clock source
while(RCC_GetSYSCLKSource() != 0x08)
{
}
}
else
{
// If HSE fails to start-up, the application will have wrong clock configuration.
// User can add here some code to deal with this error
// Go to infinite loop
while (1)
{
}
}
#ifdef _GPIOA
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
#endif
#ifdef _GPIOB
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
#endif
#ifdef _GPIOC
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
#endif
#ifdef _GPIOD
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD, ENABLE);
#endif
#ifdef _GPIOE
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE, ENABLE);
#endif
#ifdef _GPIOF
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOF, ENABLE);
#endif
#ifdef _GPIOG
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOG, ENABLE);
#endif
#ifdef _AFIO
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
#endif
#ifdef _CAN
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE);
#endif
#ifdef _USART1
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
#endif
#ifdef _SPI1
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);
#endif
#ifdef _FSMC
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_FSMC, ENABLE);
#endif
#ifdef _USART2
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
#endif
#ifdef _PWR
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
#endif
#ifdef _BKP
RCC_APB1PeriphClockCmd(RCC_APB1Periph_BKP, ENABLE);
#endif
#ifdef _TIM2
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
#endif
#ifdef _DMA1
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
#endif
#ifdef _ADC1
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
#endif
}
/*******************************************************************************
* Function Name : GPIO_Configuration
* Description : Configures the different GPIO ports.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/*PE4￡¬PE5￡¬PE6ÎaLED*/
GPIO_InitStructure.GPIO_Pin =GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOE, &GPIO_InitStructure);
/*PD8-PD15 ÎaêyÂë1ü¶ÎÑ¡*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8| GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11| GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14| GPIO_Pin_15;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/*PB12-PB15 ÎaêyÂë1üÎ»Ñ¡*/
GPIO_InitStructure.GPIO_Pin =GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOE, &GPIO_InitStructure);
/*PE2,PE3ÎaêäèëéÏà- °′¼ü */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2|GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOE, &GPIO_InitStructure);
/* ÅäÖÃHall½ó¿úIO */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/*»ô¶ûDÅoÅÏßÖD¶ÏÅäÖÃ*/
GPIO_EXTILineConfig(GPIO_PortSourceGPIOD,GPIO_PinSource0);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOD,GPIO_PinSource1);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOD,GPIO_PinSource2);
EXTI_InitStructure.EXTI_Line = EXTI_Line0|EXTI_Line1|EXTI_Line2;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/*PC4,PC5,PC6 ÎaéÏ°ëÇÅ±Û PC11ÎaÇy¶ˉê1Äü*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4| GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/*PC7,PC8,PC9 ÎaÏÂ°ëÇÅ±Û￡¬¸′óÃÎaPWMêä3ö*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3,ENABLE);
//GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
}
//±Õ»·¼ÆËã×ó3ìDò
void CalculateDC(int u,int y)
{
ek=u-y;
if(ek>1||ek<-1)
{
duk=kp*(ek-ek1)+ki*ek+kd*(ek+ek2-ek1*2);
du=(int)duk;
if(duk>1)duk=1;
if(duk<-1)duk=-1;
if(du>10)du=10;
if(du<-5)du=-5;
pwm+=du;
if(pwm<60)
{
pwm=60;
}
if(pwm>0x7FE)
{
//pwm=2398;
pwm=0x7FE;
}
//TIM1->CCR1 = pwm;
//TIM1->CCR2 = pwm;
//TIM1->CCR3 = pwm;
ek2=ek1;
ek1=ek;
}
}
/*******************************************************************************
* Function Name : NVIC_Configuration
* Description : Configure the nested vectored interrupt controller.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
#ifdef VECT_TAB_RAM
/* Set the Vector Table base location at 0x20000000 */
NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
#else /* VECT_TAB_FLASH */
/* Set the Vector Table base location at 0x08000000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
#endif
/* Configure one bit for preemption priority */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
/* Enable the EXTI9_5 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN_RX0_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 4;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//NVIC_InitStructure.NVIC_IRQChannel = EXTI3_IRQChannel;
//NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
//NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//NVIC_Init(&NVIC_InitStructure);
/* Configure and enable ADC interrupt */
//NVIC_InitStructure.NVIC_IRQChannel = ADC1_2_IRQChannel;
//NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
//NVIC_InitStructure.NVIC_IRQChannelSubPriority = 4;
//NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//NVIC_Init(&NVIC_InitStructure);
//Step3.ê1ÄüTIM1μÄêä3ö±è½ÏÆ￥ÅäÖD¶Ï
//NVIC_InitStructure.NVIC_IRQChannel = TIM3_CC_IRQChannel;
//NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
//NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
//NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//NVIC_Init(&NVIC_InitStructure);
}
#ifdef DEBUG
/*******************************************************************************
* Function Name : assert_failed
* Description : Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* Input : - file: pointer to the source file name
* - line: assert_param error line source number
* Output : None
* Return : None
*******************************************************************************/
void assert_failed(u8* file, u32 line)
{
/* 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) */
/* Infinite loop */
while (1)
{
}
}
#endif
/*******************************************************************************
* Function Name : SysTick_Config
* Description : Configure a SysTick Base time to 10 ms.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void SysTick_Configuration(void)
{
/* Select AHB clock(HCLK) as SysTick clock source */
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
/* Set SysTick Priority to 3 */
NVIC_SystemHandlerPriorityConfig(SystemHandler_SysTick, 5, 0);
/* SysTick interrupt each 1ms with HCLK equal to 72MHz */
SysTick_SetReload(900000);
/* Enable the SysTick Interrupt */
SysTick_ITConfig(ENABLE);
}
/*******************************************************************************
* Function Name : Delay
* Description : Inserts a delay time.
* Input : nCount: specifies the delay time length (time base 10 ms).
* Output : None
* Return : None
*******************************************************************************/
void Delay(u32 nCount)
{
TimingDelay = nCount;
/* Enable the SysTick Counter */
//SysTick_CounterCmd(SysTick_Counter_Enable);
while(TimingDelay != 0)
{
}
/* Disable the SysTick Counter */
//SysTick_CounterCmd(SysTick_Counter_Disable);
/* Clear the SysTick Counter */
SysTick_CounterCmd(SysTick_Counter_Clear);
}
/*******************************************************************************
* Function Name : Decrement_TimingDelay
* Description : Decrements the TimingDelay variable.
* Input : None
* Output : TimingDelay
* Return : None
*******************************************************************************/
void Decrement_TimingDelay(void)
{
if (TimingDelay != 0x00)
{
TimingDelay--;
}
}
/******************* (C) COPYRIGHT 2008 STMicroelectronics *****END OF FILE****/

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