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  1. /**
  2. ******************************************************************************
  3. * File Name : main.c
  4. * Description : Main program body
  5. ******************************************************************************
  6. *
  7. * COPYRIGHT(c) 2017 STMicroelectronics
  8. *
  9. * Redistribution and use in source and binary forms, with or without modification,
  10. * are permitted provided that the following conditions are met:
  11. * 1. Redistributions of source code must retain the above copyright notice,
  12. * this list of conditions and the following disclaimer.
  13. * 2. Redistributions in binary form must reproduce the above copyright notice,
  14. * this list of conditions and the following disclaimer in the documentation
  15. * and/or other materials provided with the distribution.
  16. * 3. Neither the name of STMicroelectronics nor the names of its contributors
  17. * may be used to endorse or promote products derived from this software
  18. * without specific prior written permission.
  19. *
  20. * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  21. * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  22. * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  23. * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  24. * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  25. * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  26. * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  27. * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  28. * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  29. * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  30. *
  31. ******************************************************************************
  32. */
  33. /* Includes ------------------------------------------------------------------*/
  34. #include "stm32xxx_hal.h"
  35.  
  36. /* USER CODE BEGIN Includes */
  37. #include "main.h"
  38. #include "vl53l1_api.h"
  39. #include "X-NUCLEO-53L1A1.h"
  40. /* USER CODE END Includes */
  41. /* Private variables ---------------------------------------------------------*/
  42. /* USER CODE BEGIN PV */
  43. /* Private variables ---------------------------------------------------------*/
  44. I2C_HandleTypeDef hi2c1;
  45. UART_HandleTypeDef huart2;
  46. VL53L1_Dev_t devCenter;
  47. VL53L1_Dev_t devLeft;
  48. VL53L1_Dev_t devRight;
  49. VL53L1_DEV Dev = &devCenter;
  50. uint32_t status;
  51. volatile int IntCount;
  52. #define isAutonomousExample 1 /* Allow to select either autonomous ranging or fast ranging example */
  53. #define isInterrupt 0 /* If isInterrupt = 1 then device working in interrupt mode, else device working in polling mode */
  54. uint32_t tabResults [3];
  55. /* USER CODE END PV */
  56.  
  57. /* Private function prototypes -----------------------------------------------*/
  58. /* USER CODE BEGIN PFP */
  59. /* Private function prototypes -----------------------------------------------*/
  60. void SystemClock_Config(void);
  61. void Error_Handler(void);
  62. static void MX_GPIO_Init(void);
  63. static void MX_USART2_UART_Init(void);
  64. static void MX_I2C1_Init(void);
  65. void AutonomousLowPowerRangingTest(void); /* see Autonomous ranging example implementation in USER CODE BEGIN 4 section */
  66. /* USER CODE END PFP */
  67.  
  68. /* USER CODE BEGIN 0 */
  69. #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
  70.  
  71. PUTCHAR_PROTOTYPE
  72. {
  73. HAL_UART_Transmit(&huart2, (uint8_t*)&ch, 1, 0xFFFF);
  74. return ch;
  75. }
  76.  
  77. void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
  78. {
  79. if (GPIO_Pin==VL53L1X_INT_Pin)
  80. {
  81. IntCount++;
  82. }
  83. }
  84.  
  85. /* USER CODE END 0 */
  86.  
  87. int main(void)
  88. {
  89. /* USER CODE BEGIN 1 */
  90.  
  91. uint16_t wordData;
  92. uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
  93. static VL53L1_RangingMeasurementData_t RangingData;
  94. uint8_t newI2C = 0x52;
  95.  
  96. /* MCU Configuration----------------------------------------------------------*/
  97.  
  98. /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  99. HAL_Init();
  100.  
  101. /* Configure the system clock */
  102. SystemClock_Config();
  103.  
  104. /* Initialize all configured peripherals */
  105. MX_GPIO_Init();
  106.  
  107. MX_USART2_UART_Init();
  108.  
  109. MX_I2C1_Init();
  110.  
  111. XNUCLEO53L1A1_Init();
  112.  
  113. /* USER CODE END 1 */
  114.  
  115. /* USER CODE BEGIN 2 */
  116.  
  117. /* An example here below shows how to manage multi-sensor operation.
  118. In this example the sensors range sequentially. Several sensors range simultanously is also possible */
  119.  
  120. /* Reset the 3 ToF sensors on the expansion board */
  121. for (ToFSensor=0;ToFSensor<3;ToFSensor++){
  122. status = XNUCLEO53L1A1_ResetId(ToFSensor, 0);
  123. }
  124.  
  125. /* Bring the sensors out of the reset stage one by one and set the new I2C address */
  126. for (ToFSensor=0;ToFSensor<3;ToFSensor++){
  127. switch(ToFSensor){
  128. case 0:
  129. Dev=&devLeft;
  130. break;
  131. case 1:
  132. Dev=&devCenter;
  133. break;
  134. case 2:
  135. Dev=&devRight;
  136. break;
  137. }
  138. status = XNUCLEO53L1A1_ResetId(ToFSensor, 1);
  139. Dev->comms_speed_khz = 400;
  140. Dev->I2cHandle = &hi2c1;
  141. Dev->comms_type = 1;
  142. Dev->I2cDevAddr=0x52; /* default ToF sensor I2C address*/
  143. VL53L1_RdWord(Dev, 0x010F, &wordData);
  144. printf("VL53L1X: %02X\n\r", wordData);
  145. newI2C = Dev->I2cDevAddr + (ToFSensor+1)*2;
  146. status = VL53L1_SetDeviceAddress(Dev, newI2C);
  147. Dev->I2cDevAddr=newI2C;
  148. VL53L1_RdWord(Dev, 0x010F, &wordData);
  149. printf("VL53L1X: %02X\n\r", wordData);
  150. /* Device Initialization and setting */
  151. status = VL53L1_WaitDeviceBooted(Dev);
  152. status = VL53L1_DataInit(Dev);
  153. status = VL53L1_StaticInit(Dev);
  154. status = VL53L1_SetDistanceMode(Dev, VL53L1_DISTANCEMODE_LONG);
  155. status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(Dev, 50000);
  156. status = VL53L1_SetInterMeasurementPeriodMilliSeconds(Dev, 100);
  157. }
  158. /* Sequential ranging loop */
  159. while(1){
  160. for (ToFSensor=0;ToFSensor<3;ToFSensor++){
  161. switch(ToFSensor){
  162. case 0:
  163. Dev=&devLeft;
  164. break;
  165. case 1:
  166. Dev=&devCenter;
  167. break;
  168. case 2:
  169. Dev=&devRight;
  170. break;
  171. }
  172. status = VL53L1_StartMeasurement(Dev);
  173. status = VL53L1_WaitMeasurementDataReady(Dev);
  174. if(!status)
  175. {
  176. status = VL53L1_GetRangingMeasurementData(Dev, &RangingData);
  177.  
  178. }
  179. tabResults[ToFSensor] = RangingData.RangeMilliMeter;
  180. status = VL53L1_ClearInterruptAndStartMeasurement(Dev);
  181. }
  182. printf("%u\t%u\t%u\n", tabResults[0], tabResults[1], tabResults[2]);
  183. }
  184. /* USER CODE END 2 */
  185.  
  186. /* Infinite loop */
  187. /* USER CODE BEGIN WHILE */
  188. /* USER CODE END 3 */
  189.  
  190. }
  191.  
  192. /** System Clock Configuration
  193. */
  194. #ifdef STM32F401xE
  195.  
  196. void SystemClock_Config(void)
  197. {
  198.  
  199. RCC_OscInitTypeDef RCC_OscInitStruct;
  200. RCC_ClkInitTypeDef RCC_ClkInitStruct;
  201.  
  202. /**Configure the main internal regulator output voltage
  203. */
  204. __HAL_RCC_PWR_CLK_ENABLE();
  205.  
  206. __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
  207.  
  208. /**Initializes the CPU, AHB and APB busses clocks
  209. */
  210. RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  211. RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  212. RCC_OscInitStruct.HSICalibrationValue = 16;
  213. RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  214. RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  215. RCC_OscInitStruct.PLL.PLLM = 16;
  216. RCC_OscInitStruct.PLL.PLLN = 336;
  217. RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
  218. RCC_OscInitStruct.PLL.PLLQ = 7;
  219. if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  220. {
  221. Error_Handler();
  222. }
  223.  
  224. /**Initializes the CPU, AHB and APB busses clocks
  225. */
  226. RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
  227. |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  228. RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  229. RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  230. RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  231. RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  232.  
  233. if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  234. {
  235. Error_Handler();
  236. }
  237.  
  238. /**Configure the Systick interrupt time
  239. */
  240. HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
  241.  
  242. /**Configure the Systick
  243. */
  244. HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
  245.  
  246. /* SysTick_IRQn interrupt configuration */
  247. HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
  248. }
  249. #endif
  250.  
  251. #ifdef STM32L476xx
  252. void SystemClock_Config(void)
  253. {
  254.  
  255. RCC_OscInitTypeDef RCC_OscInitStruct;
  256. RCC_ClkInitTypeDef RCC_ClkInitStruct;
  257. RCC_PeriphCLKInitTypeDef PeriphClkInit;
  258.  
  259. /**Initializes the CPU, AHB and APB busses clocks
  260. */
  261. RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  262. RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  263. RCC_OscInitStruct.HSICalibrationValue = 16;
  264. RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  265. RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  266. RCC_OscInitStruct.PLL.PLLM = 1;
  267. RCC_OscInitStruct.PLL.PLLN = 10;
  268. RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
  269. RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  270. RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  271. if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  272. {
  273. Error_Handler();
  274. }
  275.  
  276. /**Initializes the CPU, AHB and APB busses clocks
  277. */
  278. RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
  279. |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  280. RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  281. RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  282. RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  283. RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  284.  
  285. if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  286. {
  287. Error_Handler();
  288. }
  289.  
  290. PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART2|RCC_PERIPHCLK_I2C1;
  291. PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
  292. PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_PCLK1;
  293. if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  294. {
  295. Error_Handler();
  296. }
  297.  
  298. /**Configure the main internal regulator output voltage
  299. */
  300. if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
  301. {
  302. Error_Handler();
  303. }
  304.  
  305. /**Configure the Systick interrupt time
  306. */
  307. HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
  308.  
  309. /**Configure the Systick
  310. */
  311. HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
  312.  
  313. /* SysTick_IRQn interrupt configuration */
  314. HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
  315. }
  316. #endif
  317. #ifdef STM32F401xE
  318.  
  319. /* I2C1 init function */
  320. static void MX_I2C1_Init(void)
  321. {
  322.  
  323. hi2c1.Instance = I2C1;
  324. hi2c1.Init.ClockSpeed = 100000;
  325. hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
  326. hi2c1.Init.OwnAddress1 = 0;
  327. hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  328. hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  329. hi2c1.Init.OwnAddress2 = 0;
  330. hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  331. hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  332. if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  333. {
  334. Error_Handler();
  335. }
  336.  
  337. }
  338. #endif
  339. #ifdef STM32L476xx
  340. /* I2C1 init function */
  341. static void MX_I2C1_Init(void)
  342. {
  343.  
  344. hi2c1.Instance = I2C1;
  345. hi2c1.Init.Timing = 0x10909CEC;
  346. hi2c1.Init.OwnAddress1 = 0;
  347. hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  348. hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  349. hi2c1.Init.OwnAddress2 = 0;
  350. hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
  351. hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  352. hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  353. if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  354. {
  355. Error_Handler();
  356. }
  357.  
  358. /**Configure Analogue filter
  359. */
  360. if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
  361. {
  362. Error_Handler();
  363. }
  364.  
  365. /**Configure Digital filter
  366. */
  367. if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
  368. {
  369. Error_Handler();
  370. }
  371.  
  372. }
  373. #endif
  374. /* USART2 init function */
  375. static void MX_USART2_UART_Init(void)
  376. {
  377.  
  378. huart2.Instance = USART2;
  379. huart2.Init.BaudRate = 115200;
  380. huart2.Init.WordLength = UART_WORDLENGTH_8B;
  381. huart2.Init.StopBits = UART_STOPBITS_1;
  382. huart2.Init.Parity = UART_PARITY_NONE;
  383. huart2.Init.Mode = UART_MODE_TX_RX;
  384. huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  385. huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  386. if (HAL_UART_Init(&huart2) != HAL_OK)
  387. {
  388. Error_Handler();
  389. }
  390.  
  391. }
  392.  
  393. /** Configure pins as
  394. * Analog
  395. * Input
  396. * Output
  397. * EVENT_OUT
  398. * EXTI
  399. */
  400. static void MX_GPIO_Init(void)
  401. {
  402.  
  403. GPIO_InitTypeDef GPIO_InitStruct;
  404.  
  405. /* GPIO Ports Clock Enable */
  406. __HAL_RCC_GPIOC_CLK_ENABLE();
  407. __HAL_RCC_GPIOH_CLK_ENABLE();
  408. __HAL_RCC_GPIOA_CLK_ENABLE();
  409. __HAL_RCC_GPIOB_CLK_ENABLE();
  410.  
  411. /*Configure GPIO pin Output Level */
  412. HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
  413.  
  414. /*Configure GPIO pin : B1_Pin */
  415. GPIO_InitStruct.Pin = B1_Pin;
  416. GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  417. GPIO_InitStruct.Pull = GPIO_NOPULL;
  418. HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
  419.  
  420. /*Configure GPIO pin : VL53L1X_INT_Pin */
  421. GPIO_InitStruct.Pin = VL53L1X_INT_Pin;
  422. GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  423. GPIO_InitStruct.Pull = GPIO_PULLUP;
  424. HAL_GPIO_Init(VL53L1X_INT_GPIO_Port, &GPIO_InitStruct);
  425.  
  426. /*Configure GPIO pin : LD2_Pin */
  427. GPIO_InitStruct.Pin = LD2_Pin;
  428. GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  429. GPIO_InitStruct.Pull = GPIO_NOPULL;
  430. GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  431. HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);
  432.  
  433. /* EXTI interrupt init*/
  434. HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
  435. HAL_NVIC_EnableIRQ(EXTI4_IRQn);
  436.  
  437. }
  438.  
  439. /* USER CODE BEGIN 4 */
  440.  
  441. /* Autonomous ranging loop*/
  442. void AutonomousLowPowerRangingTest(void)
  443. {
  444. static VL53L1_RangingMeasurementData_t RangingData;
  445. status = VL53L1_WaitDeviceBooted(Dev);
  446. status = VL53L1_DataInit(Dev);
  447. status = VL53L1_StaticInit(Dev);
  448. status = VL53L1_SetDistanceMode(Dev, VL53L1_DISTANCEMODE_LONG);
  449. status = VL53L1_SetMeasurementTimingBudgetMicroSeconds(Dev, 50000);
  450. status = VL53L1_SetInterMeasurementPeriodMilliSeconds(Dev, 500);
  451. status = VL53L1_StartMeasurement(Dev);
  452.  
  453. if(status){
  454. printf("VL53L1_StartMeasurement failed \n");
  455. while(1);
  456. }
  457. if (isInterrupt){
  458. do // interrupt mode
  459. {
  460. __WFI();
  461. if(IntCount !=0 ){
  462. IntCount=0;
  463. status = VL53L1_GetRangingMeasurementData(Dev, &RangingData);
  464. if(status==0){
  465. printf("%d,%d,%.2f,%.2f\n", RangingData.RangeStatus,RangingData.RangeMilliMeter,
  466. RangingData.SignalRateRtnMegaCps/65536.0,RangingData.AmbientRateRtnMegaCps/65336.0);
  467. }
  468. status = VL53L1_ClearInterruptAndStartMeasurement(Dev);
  469. }
  470. }
  471. while(1);
  472. }
  473. else{
  474. do // polling mode
  475. {
  476. status = VL53L1_WaitMeasurementDataReady(Dev);
  477. if(!status)
  478. {
  479. status = VL53L1_GetRangingMeasurementData(Dev, &RangingData);
  480. if(status==0){
  481. printf("%d,%d,%.2f,%.2f\n", RangingData.RangeStatus,RangingData.RangeMilliMeter,
  482. (RangingData.SignalRateRtnMegaCps/65536.0),RangingData.AmbientRateRtnMegaCps/65336.0);
  483. }
  484. status = VL53L1_ClearInterruptAndStartMeasurement(Dev);
  485. }
  486. }
  487. while (1);
  488. }
  489. // return status;
  490. }
  491.  
  492. /* USER CODE END 4 */
  493.  
  494. /**
  495. * @brief This function is executed in case of error occurrence.
  496. * @param None
  497. * @retval None
  498. */
  499. void Error_Handler(void)
  500. {
  501. /* USER CODE BEGIN Error_Handler */
  502. /* User can add his own implementation to report the HAL error return state */
  503. while(1)
  504. {
  505. }
  506. /* USER CODE END Error_Handler */
  507. }
  508.  
  509. #ifdef USE_FULL_ASSERT
  510.  
  511. /**
  512. * @brief Reports the name of the source file and the source line number
  513. * where the assert_param error has occurred.
  514. * @param file: pointer to the source file name
  515. * @param line: assert_param error line source number
  516. * @retval None
  517. */
  518. void assert_failed(uint8_t* file, uint32_t line)
  519. {
  520. /* USER CODE BEGIN 6 */
  521. /* User can add his own implementation to report the file name and line number,
  522. ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  523. /* USER CODE END 6 */
  524.  
  525. }
  526.  
  527. #endif
  528.  
  529. /**
  530. * @}
  531. */
  532.  
  533. /**
  534. * @}
  535. */
  536.  
  537. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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