mirror of
https://gitee.com/dlmu-cone/bf_original_balance_chassis
synced 2026-07-24 19:47:44 +08:00
添加了ist8310磁力计的支持,同时修复了gpio初始化先于exti的bug
This commit is contained in:
NeoZng
@@ -34,7 +34,6 @@
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "robot.h"
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#include "oled.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@@ -115,6 +114,7 @@ int main(void)
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MX_I2C3_Init();
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/* USER CODE BEGIN 2 */
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RobotInit();
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/* USER CODE END 2 */
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/* Call init function for freertos objects (in freertos.c) */
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@@ -1,20 +1,20 @@
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file stm32f4xx_it.c
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* @brief Interrupt Service Routines.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2023 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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******************************************************************************
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* @file stm32f4xx_it.c
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* @brief Interrupt Service Routines.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2023 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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@@ -87,8 +87,8 @@ extern UART_HandleTypeDef huart6;
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/* Cortex-M4 Processor Interruption and Exception Handlers */
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/******************************************************************************/
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/**
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* @brief This function handles Non maskable interrupt.
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*/
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* @brief This function handles Non maskable interrupt.
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*/
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void NMI_Handler(void)
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{
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/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
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@@ -102,25 +102,26 @@ void NMI_Handler(void)
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}
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/**
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* @brief This function handles Hard fault interrupt.
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*/
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* @brief This function handles Hard fault interrupt.
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*/
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void HardFault_Handler(void)
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{
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/* USER CODE BEGIN HardFault_IRQn 0 */
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// 发生hardfault,点击step over会自动跳转回出错的指令,方便调试
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asm("bx lr");
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/* USER CODE END HardFault_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_HardFault_IRQn 0 */
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// 发生hardfault,点击step over会自动跳转回出错的指令,方便调试
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asm("bx lr");
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/* USER CODE BEGIN W1_HardFault_IRQn 0 */
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/* USER CODE END W1_HardFault_IRQn 0 */
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}
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}
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/**
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* @brief This function handles Memory management fault.
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*/
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* @brief This function handles Memory management fault.
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*/
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void MemManage_Handler(void)
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{
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/* USER CODE BEGIN MemoryManagement_IRQn 0 */
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@@ -134,8 +135,8 @@ void MemManage_Handler(void)
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}
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/**
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* @brief This function handles Pre-fetch fault, memory access fault.
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*/
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* @brief This function handles Pre-fetch fault, memory access fault.
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*/
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void BusFault_Handler(void)
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{
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/* USER CODE BEGIN BusFault_IRQn 0 */
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@@ -149,8 +150,8 @@ void BusFault_Handler(void)
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}
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/**
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* @brief This function handles Undefined instruction or illegal state.
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*/
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* @brief This function handles Undefined instruction or illegal state.
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*/
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void UsageFault_Handler(void)
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{
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/* USER CODE BEGIN UsageFault_IRQn 0 */
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@@ -164,8 +165,8 @@ void UsageFault_Handler(void)
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}
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/**
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* @brief This function handles Debug monitor.
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*/
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* @brief This function handles Debug monitor.
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*/
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void DebugMon_Handler(void)
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{
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/* USER CODE BEGIN DebugMonitor_IRQn 0 */
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@@ -177,20 +178,20 @@ void DebugMon_Handler(void)
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}
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/**
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* @brief This function handles System tick timer.
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*/
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* @brief This function handles System tick timer.
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*/
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void SysTick_Handler(void)
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{
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/* USER CODE BEGIN SysTick_IRQn 0 */
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/* USER CODE END SysTick_IRQn 0 */
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HAL_IncTick();
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#if (INCLUDE_xTaskGetSchedulerState == 1 )
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#if (INCLUDE_xTaskGetSchedulerState == 1)
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
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{
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#endif /* INCLUDE_xTaskGetSchedulerState */
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xPortSysTickHandler();
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#if (INCLUDE_xTaskGetSchedulerState == 1 )
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xPortSysTickHandler();
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#if (INCLUDE_xTaskGetSchedulerState == 1)
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}
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#endif /* INCLUDE_xTaskGetSchedulerState */
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/* USER CODE BEGIN SysTick_IRQn 1 */
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@@ -206,8 +207,8 @@ void SysTick_Handler(void)
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/******************************************************************************/
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/**
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* @brief This function handles EXTI line3 interrupt.
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*/
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* @brief This function handles EXTI line3 interrupt.
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*/
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void EXTI3_IRQHandler(void)
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{
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/* USER CODE BEGIN EXTI3_IRQn 0 */
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@@ -220,8 +221,8 @@ void EXTI3_IRQHandler(void)
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}
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/**
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* @brief This function handles EXTI line4 interrupt.
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*/
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* @brief This function handles EXTI line4 interrupt.
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*/
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void EXTI4_IRQHandler(void)
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{
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/* USER CODE BEGIN EXTI4_IRQn 0 */
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@@ -234,8 +235,8 @@ void EXTI4_IRQHandler(void)
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}
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/**
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* @brief This function handles DMA1 stream1 global interrupt.
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*/
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* @brief This function handles DMA1 stream1 global interrupt.
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*/
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void DMA1_Stream1_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
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@@ -248,8 +249,8 @@ void DMA1_Stream1_IRQHandler(void)
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}
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/**
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* @brief This function handles DMA1 stream2 global interrupt.
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*/
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* @brief This function handles DMA1 stream2 global interrupt.
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*/
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void DMA1_Stream2_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
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@@ -262,8 +263,8 @@ void DMA1_Stream2_IRQHandler(void)
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}
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/**
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* @brief This function handles DMA1 stream3 global interrupt.
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*/
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* @brief This function handles DMA1 stream3 global interrupt.
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*/
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void DMA1_Stream3_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
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@@ -276,8 +277,8 @@ void DMA1_Stream3_IRQHandler(void)
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}
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/**
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* @brief This function handles DMA1 stream4 global interrupt.
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*/
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* @brief This function handles DMA1 stream4 global interrupt.
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*/
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void DMA1_Stream4_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
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@@ -290,8 +291,8 @@ void DMA1_Stream4_IRQHandler(void)
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}
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/**
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* @brief This function handles CAN1 RX0 interrupts.
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*/
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* @brief This function handles CAN1 RX0 interrupts.
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*/
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void CAN1_RX0_IRQHandler(void)
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{
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/* USER CODE BEGIN CAN1_RX0_IRQn 0 */
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@@ -304,8 +305,8 @@ void CAN1_RX0_IRQHandler(void)
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}
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/**
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* @brief This function handles CAN1 RX1 interrupt.
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*/
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* @brief This function handles CAN1 RX1 interrupt.
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*/
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void CAN1_RX1_IRQHandler(void)
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{
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/* USER CODE BEGIN CAN1_RX1_IRQn 0 */
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@@ -318,8 +319,8 @@ void CAN1_RX1_IRQHandler(void)
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}
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/**
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* @brief This function handles I2C2 event interrupt.
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*/
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* @brief This function handles I2C2 event interrupt.
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*/
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void I2C2_EV_IRQHandler(void)
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{
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/* USER CODE BEGIN I2C2_EV_IRQn 0 */
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@@ -332,8 +333,8 @@ void I2C2_EV_IRQHandler(void)
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}
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/**
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* @brief This function handles I2C2 error interrupt.
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*/
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* @brief This function handles I2C2 error interrupt.
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*/
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void I2C2_ER_IRQHandler(void)
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{
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/* USER CODE BEGIN I2C2_ER_IRQn 0 */
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@@ -346,8 +347,8 @@ void I2C2_ER_IRQHandler(void)
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}
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/**
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* @brief This function handles SPI1 global interrupt.
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*/
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* @brief This function handles SPI1 global interrupt.
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*/
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void SPI1_IRQHandler(void)
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{
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/* USER CODE BEGIN SPI1_IRQn 0 */
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@@ -360,8 +361,8 @@ void SPI1_IRQHandler(void)
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}
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/**
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* @brief This function handles SPI2 global interrupt.
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*/
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* @brief This function handles SPI2 global interrupt.
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*/
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void SPI2_IRQHandler(void)
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{
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/* USER CODE BEGIN SPI2_IRQn 0 */
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@@ -374,8 +375,8 @@ void SPI2_IRQHandler(void)
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}
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/**
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* @brief This function handles USART1 global interrupt.
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*/
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* @brief This function handles USART1 global interrupt.
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*/
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void USART1_IRQHandler(void)
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{
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/* USER CODE BEGIN USART1_IRQn 0 */
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@@ -388,8 +389,8 @@ void USART1_IRQHandler(void)
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}
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/**
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* @brief This function handles USART3 global interrupt.
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*/
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* @brief This function handles USART3 global interrupt.
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*/
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void USART3_IRQHandler(void)
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{
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/* USER CODE BEGIN USART3_IRQn 0 */
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@@ -402,8 +403,8 @@ void USART3_IRQHandler(void)
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}
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/**
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* @brief This function handles DMA1 stream7 global interrupt.
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*/
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* @brief This function handles DMA1 stream7 global interrupt.
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*/
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void DMA1_Stream7_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
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@@ -416,8 +417,8 @@ void DMA1_Stream7_IRQHandler(void)
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}
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/**
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* @brief This function handles DMA2 stream0 global interrupt.
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*/
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* @brief This function handles DMA2 stream0 global interrupt.
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*/
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void DMA2_Stream0_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream0_IRQn 0 */
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@@ -430,8 +431,8 @@ void DMA2_Stream0_IRQHandler(void)
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}
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/**
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* @brief This function handles DMA2 stream2 global interrupt.
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*/
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* @brief This function handles DMA2 stream2 global interrupt.
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*/
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void DMA2_Stream2_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
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@@ -444,8 +445,8 @@ void DMA2_Stream2_IRQHandler(void)
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}
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/**
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* @brief This function handles DMA2 stream3 global interrupt.
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*/
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* @brief This function handles DMA2 stream3 global interrupt.
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*/
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void DMA2_Stream3_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream3_IRQn 0 */
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@@ -458,8 +459,8 @@ void DMA2_Stream3_IRQHandler(void)
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}
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/**
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* @brief This function handles DMA2 stream4 global interrupt.
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*/
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* @brief This function handles DMA2 stream4 global interrupt.
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*/
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void DMA2_Stream4_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream4_IRQn 0 */
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@@ -472,8 +473,8 @@ void DMA2_Stream4_IRQHandler(void)
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}
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/**
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* @brief This function handles CAN2 RX0 interrupts.
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*/
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* @brief This function handles CAN2 RX0 interrupts.
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*/
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void CAN2_RX0_IRQHandler(void)
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{
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/* USER CODE BEGIN CAN2_RX0_IRQn 0 */
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@@ -486,8 +487,8 @@ void CAN2_RX0_IRQHandler(void)
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}
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/**
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* @brief This function handles CAN2 RX1 interrupt.
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*/
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* @brief This function handles CAN2 RX1 interrupt.
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*/
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void CAN2_RX1_IRQHandler(void)
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{
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/* USER CODE BEGIN CAN2_RX1_IRQn 0 */
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@@ -500,8 +501,8 @@ void CAN2_RX1_IRQHandler(void)
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}
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/**
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* @brief This function handles USB On The Go FS global interrupt.
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*/
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* @brief This function handles USB On The Go FS global interrupt.
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*/
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void OTG_FS_IRQHandler(void)
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{
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/* USER CODE BEGIN OTG_FS_IRQn 0 */
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@@ -514,8 +515,8 @@ void OTG_FS_IRQHandler(void)
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}
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/**
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* @brief This function handles DMA2 stream5 global interrupt.
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*/
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* @brief This function handles DMA2 stream5 global interrupt.
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*/
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void DMA2_Stream5_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream5_IRQn 0 */
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@@ -528,8 +529,8 @@ void DMA2_Stream5_IRQHandler(void)
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}
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/**
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* @brief This function handles DMA2 stream6 global interrupt.
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*/
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* @brief This function handles DMA2 stream6 global interrupt.
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*/
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void DMA2_Stream6_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
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@@ -542,8 +543,8 @@ void DMA2_Stream6_IRQHandler(void)
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}
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/**
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* @brief This function handles DMA2 stream7 global interrupt.
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*/
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* @brief This function handles DMA2 stream7 global interrupt.
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*/
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void DMA2_Stream7_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream7_IRQn 0 */
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@@ -556,8 +557,8 @@ void DMA2_Stream7_IRQHandler(void)
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}
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/**
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* @brief This function handles USART6 global interrupt.
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*/
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* @brief This function handles USART6 global interrupt.
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*/
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void USART6_IRQHandler(void)
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{
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/* USER CODE BEGIN USART6_IRQn 0 */
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@@ -570,8 +571,8 @@ void USART6_IRQHandler(void)
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}
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/**
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* @brief This function handles I2C3 event interrupt.
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*/
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* @brief This function handles I2C3 event interrupt.
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*/
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void I2C3_EV_IRQHandler(void)
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{
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/* USER CODE BEGIN I2C3_EV_IRQn 0 */
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@@ -584,8 +585,8 @@ void I2C3_EV_IRQHandler(void)
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}
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/**
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* @brief This function handles I2C3 error interrupt.
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*/
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* @brief This function handles I2C3 error interrupt.
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*/
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void I2C3_ER_IRQHandler(void)
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{
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/* USER CODE BEGIN I2C3_ER_IRQn 0 */
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