465 lines
10 KiB
C
465 lines
10 KiB
C
/* 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) 2024 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 "main.h"
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#include "stm32f4xx_it.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN TD */
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/* USER CODE END TD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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int it_5ms_falg = 0;
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int it_5ms_cnt = 0;
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int it_10ms_falg = 0;
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int it_10ms_cnt = 0;
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int it_25ms_falg = 0;
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int it_25ms_cnt = 0;
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int it_50ms_falg = 0;
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int it_50ms_cnt = 0;
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int it_100ms_falg = 0;
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int it_100ms_cnt = 0;
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int it_300ms_falg = 0;
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int it_300ms_cnt = 0;
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int it_500ms_falg = 0;
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int it_500ms_cnt = 0;
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int it_1000ms_falg = 0;
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int it_1000ms_cnt = 0;
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/* USER CODE END 0 */
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/* External variables --------------------------------------------------------*/
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/* USER CODE BEGIN EV */
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/* USER CODE END EV */
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/******************************************************************************/
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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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void NMI_Handler(void)
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{
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/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
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/* USER CODE END NonMaskableInt_IRQn 0 */
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/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
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while (1)
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{
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}
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/* USER CODE END NonMaskableInt_IRQn 1 */
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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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void HardFault_Handler(void)
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{
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/* USER CODE BEGIN HardFault_IRQn 0 */
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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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/* 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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void MemManage_Handler(void)
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{
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/* USER CODE BEGIN MemoryManagement_IRQn 0 */
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/* USER CODE END MemoryManagement_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
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/* USER CODE END W1_MemoryManagement_IRQn 0 */
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}
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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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void BusFault_Handler(void)
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{
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/* USER CODE BEGIN BusFault_IRQn 0 */
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/* USER CODE END BusFault_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_BusFault_IRQn 0 */
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/* USER CODE END W1_BusFault_IRQn 0 */
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}
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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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void UsageFault_Handler(void)
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{
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/* USER CODE BEGIN UsageFault_IRQn 0 */
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/* USER CODE END UsageFault_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
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/* USER CODE END W1_UsageFault_IRQn 0 */
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}
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}
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/**
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* @brief This function handles System service call via SWI instruction.
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*/
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void SVC_Handler(void)
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{
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/* USER CODE BEGIN SVCall_IRQn 0 */
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/* USER CODE END SVCall_IRQn 0 */
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/* USER CODE BEGIN SVCall_IRQn 1 */
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/* USER CODE END SVCall_IRQn 1 */
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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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void DebugMon_Handler(void)
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{
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/* USER CODE BEGIN DebugMonitor_IRQn 0 */
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/* USER CODE END DebugMonitor_IRQn 0 */
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/* USER CODE BEGIN DebugMonitor_IRQn 1 */
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/* USER CODE END DebugMonitor_IRQn 1 */
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}
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/**
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* @brief This function handles Pendable request for system service.
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*/
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void PendSV_Handler(void)
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{
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/* USER CODE BEGIN PendSV_IRQn 0 */
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/* USER CODE END PendSV_IRQn 0 */
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/* USER CODE BEGIN PendSV_IRQn 1 */
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/* USER CODE END PendSV_IRQn 1 */
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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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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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/* USER CODE BEGIN SysTick_IRQn 1 */
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/* USER CODE END SysTick_IRQn 1 */
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}
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/******************************************************************************/
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/* STM32F4xx Peripheral Interrupt Handlers */
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/* Add here the Interrupt Handlers for the used peripherals. */
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/* For the available peripheral interrupt handler names, */
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/* please refer to the startup file (startup_stm32f4xx.s). */
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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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void DMA1_Stream3_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
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if(LL_DMA_IsActiveFlag_TC3(DMA1))
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{
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//<2F><><EFBFBD><EFBFBD>Stream3 TC<54>ж<EFBFBD>
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LL_DMA_ClearFlag_TC3(DMA1);
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//<2F>ر<EFBFBD>DMA1 Stream3
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LL_DMA_DisableStream(DMA1,LL_DMA_STREAM_3);
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}
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/* USER CODE END DMA1_Stream3_IRQn 0 */
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/* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
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/* USER CODE END DMA1_Stream3_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 stream6 global interrupt.
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*/
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void DMA1_Stream6_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
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if(LL_DMA_IsActiveFlag_TC6(DMA1))
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{
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LL_DMA_ClearFlag_TC6(DMA1);//<2F><><EFBFBD><EFBFBD>TC<54>ж<EFBFBD>
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LL_DMA_DisableStream(DMA1,LL_DMA_STREAM_6); //<2F>ر<EFBFBD>DMA
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}
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/* USER CODE END DMA1_Stream6_IRQn 0 */
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/* USER CODE BEGIN DMA1_Stream6_IRQn 1 */
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/* USER CODE END DMA1_Stream6_IRQn 1 */
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}
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/**
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* @brief This function handles TIM3 global interrupt.
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*/
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void TIM3_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM3_IRQn 0 */
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if(LL_TIM_IsActiveFlag_UPDATE(TIM3) == SET)
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{
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it_5ms_cnt++;
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if(it_5ms_cnt > 4)
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{
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it_5ms_falg = 1;
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it_5ms_cnt = 0;
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}
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it_10ms_cnt++;
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if(it_10ms_cnt > 9)
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{
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if (laser_handle.state == LASER_READY)
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{
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laser_handle.command_distance_read_req();
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if(laser_handle.distance >= 0)
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{
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InputReg[4] = laser_handle.distance;
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}
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else
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{
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int laser_num = -laser_handle.distance;
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InputReg[4] = (uint16_t)((0xFFFF - laser_num) + 1);
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}
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}
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//it_10ms_falg = 1;
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it_10ms_cnt = 0;
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}
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it_25ms_cnt++;
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if(it_25ms_cnt > 24)
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{
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it_25ms_falg = 1;
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it_25ms_cnt = 0;
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}
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it_50ms_cnt++;
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if(it_50ms_cnt > 49)
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{
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it_50ms_falg = 1;
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it_50ms_cnt = 0;
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}
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it_100ms_cnt++;
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if(it_100ms_cnt > 99)
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{
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it_100ms_cnt = 0;
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if(flow_state == 6)
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{
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mf_read();
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}
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else
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{
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mf_clear();
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}
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}
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it_300ms_cnt++;
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if(it_300ms_cnt > 299)
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{
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it_300ms_falg = 1;
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it_300ms_cnt = 0;
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}
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it_500ms_cnt++;
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if(it_500ms_cnt > 499)
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{
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it_500ms_falg = 1;
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it_500ms_cnt = 0;
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}
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it_1000ms_cnt++;
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if(it_1000ms_cnt > 999)
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{
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it_1000ms_falg = 1;
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it_1000ms_cnt = 0;
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}
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LL_TIM_ClearFlag_UPDATE(TIM3);
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}
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/* USER CODE END TIM3_IRQn 0 */
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/* USER CODE BEGIN TIM3_IRQn 1 */
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/* USER CODE END TIM3_IRQn 1 */
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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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void USART1_IRQHandler(void)
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{
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/* USER CODE BEGIN USART1_IRQn 0 */
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/* USER CODE END USART1_IRQn 0 */
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/* USER CODE BEGIN USART1_IRQn 1 */
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/* USER CODE END USART1_IRQn 1 */
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}
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/**
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* @brief This function handles USART2 global interrupt.
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*/
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void USART2_IRQHandler(void)
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{
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/* USER CODE BEGIN USART2_IRQn 0 */
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laser_rx_cb();
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/* USER CODE END USART2_IRQn 0 */
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/* USER CODE BEGIN USART2_IRQn 1 */
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/* USER CODE END USART2_IRQn 1 */
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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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void USART3_IRQHandler(void)
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{
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/* USER CODE BEGIN USART3_IRQn 0 */
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modbus_callback();
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/* USER CODE END USART3_IRQn 0 */
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/* USER CODE BEGIN USART3_IRQn 1 */
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/* USER CODE END USART3_IRQn 1 */
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}
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/**
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* @brief This function handles TIM7 global interrupt.
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*/
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void TIM7_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM7_IRQn 0 */
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modbus_tim_callback();
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/* USER CODE END TIM7_IRQn 0 */
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/* USER CODE BEGIN TIM7_IRQn 1 */
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/* USER CODE END TIM7_IRQn 1 */
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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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void DMA2_Stream0_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream0_IRQn 0 */
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if(LL_DMA_IsActiveFlag_TC0(DMA2))
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{
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ADC_TC_Flag = 1;
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}
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/* USER CODE END DMA2_Stream0_IRQn 0 */
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/* USER CODE BEGIN DMA2_Stream0_IRQn 1 */
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LL_DMA_ClearFlag_TC0(DMA2);
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if (LL_DMA_IsActiveFlag_TE0(DMA2) != 0)
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{
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LL_DMA_ClearFlag_TE0(DMA2);
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}
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/* USER CODE END DMA2_Stream0_IRQn 1 */
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}
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/**
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* @brief This function handles DMA2 stream1 global interrupt.
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*/
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void DMA2_Stream1_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
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/* USER CODE END DMA2_Stream1_IRQn 0 */
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/* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
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/* USER CODE END DMA2_Stream1_IRQn 1 */
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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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void DMA2_Stream6_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
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if(LL_DMA_IsActiveFlag_TC6(DMA2))
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{
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//<2F><><EFBFBD><EFBFBD>Stream3 TC<54>ж<EFBFBD>
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LL_DMA_ClearFlag_TC6(DMA2);
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//<2F>ر<EFBFBD>DMA1 Stream3
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LL_DMA_DisableStream(DMA2,LL_DMA_STREAM_6);
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}
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/* USER CODE END DMA2_Stream6_IRQn 0 */
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/* USER CODE BEGIN DMA2_Stream6_IRQn 1 */
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/* USER CODE END DMA2_Stream6_IRQn 1 */
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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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void USART6_IRQHandler(void)
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{
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/* USER CODE BEGIN USART6_IRQn 0 */
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mf_rx_cb();
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/* USER CODE END USART6_IRQn 0 */
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/* USER CODE BEGIN USART6_IRQn 1 */
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/* USER CODE END USART6_IRQn 1 */
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}
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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