Initiator

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

//main ex
#include "platform/port.h"
app_t   app;
//end of main ex

#include <stdio.h>
#include <string.h>

#include "decadriver/deca_device_api.h"
#include "decadriver/deca_regs.h"
#include "platform/stdio.h"
#include "platform/deca_spi.h"
#include "platform/port.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* Example application name and version to display. */
#define APP_NAME "SS TWR INIT v1.3\r\n"

/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 1000

/* Default antenna delay values for 64 MHz PRF. See NOTE 2 below. */
#define TX_ANT_DLY 16505
#define RX_ANT_DLY 16505

/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
 * 1 uus = 512 / 499.2 µs and 1 µs = 499.2 * 128 dtu. */
#define UUS_TO_DWT_TIME 65536

/* Delay between frames, in UWB microseconds. See NOTE 1 below. */
#define POLL_TX_TO_RESP_RX_DLY_UUS 140
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 210

/* Speed of light in air, in metres per second. */
#define SPEED_OF_LIGHT 299702547


/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim1;

UART_HandleTypeDef huart2;

/* USER CODE BEGIN PV */
/* Default communication configuration. We use here EVK1000's mode 4. See NOTE 1 below. */
static dwt_config_t config = {
    5,               /* Channel number. */
    DWT_PRF_64M,     /* Pulse repetition frequency. */
    DWT_PLEN_128,    /* Preamble length. Used in TX only. */
    DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
    9,               /* TX preamble code. Used in TX only. */
    9,               /* RX preamble code. Used in RX only. */
    0,               /* 0 to use standard SFD, 1 to use non-standard SFD. */
    DWT_BR_6M8,      /* Data rate. */
    DWT_PHRMODE_STD, /* PHY header mode. */

    (129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};

/* Frames used in the ranging process. See NOTE 3 below. */
static uint8 tx_poll_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0xE0, 0, 0};
static uint8 rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0xE1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
/* Length of the common part of the message (up to and including the function code, see NOTE 3 below). */
#define ALL_MSG_COMMON_LEN 10
/* Indexes to access some of the fields in the frames defined above. */
#define ALL_MSG_SN_IDX 2
#define RESP_MSG_POLL_RX_TS_IDX 10
#define RESP_MSG_RESP_TX_TS_IDX 14
#define RESP_MSG_TS_LEN 4
/* Frame sequence number, incremented after each transmission. */
static uint8 frame_seq_nb = 0;

/* Buffer to store received response message.
 * Its size is adjusted to longest frame that this example code is supposed to handle. */
#define RX_BUF_LEN 20
static uint8 rx_buffer[RX_BUF_LEN];

/* Hold copy of status register state here for reference so that it can be examined at a debug breakpoint. */
static uint32 status_reg = 0;

/* Hold copies of computed time of flight and distance here for reference so that it can be examined at a debug breakpoint. */
static double tof;
static double distance;

/* String used to display measured distance over UART. */
char dist_str[16] = {0};

/* Declaration of static functions. */
static void resp_msg_get_ts(uint8 *ts_field, uint32 *ts);

uint8_t xtaltrim;


/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_TIM1_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART2_UART_Init();
  MX_SPI1_Init();
  MX_TIM1_Init();
  /* USER CODE BEGIN 2 */

  setup_DW1000RSTnIRQ(0);

  stdio_init(&huart2);

  HAL_TIM_Base_Init(&htim1);

  /* Display application name. */
    stdio_write(APP_NAME);
    stdio_write("\033[s"); // Save cursor position

    /* Reset and initialise DW1000.
     * For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
     * performance. */
    reset_DW1000(); /* Target specific drive of RSTn line into DW1000 low for a period. */
    port_set_dw1000_slowrate();
    if (dwt_initialise(DWT_LOADUCODE) == DWT_ERROR)
    {
        stdio_write("INIT FAILED");
        while (1)
        { };
    }
    port_set_dw1000_fastrate();

    /* Configure DW1000. See NOTE 6 below. */
    dwt_configure(&config);

    /* Apply default antenna delay value. See NOTE 2 below. */
    dwt_setrxantennadelay(RX_ANT_DLY);
    dwt_settxantennadelay(TX_ANT_DLY);

    /* Set expected response's delay and timeout. See NOTE 1 and 5 below.
     * As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);

//    xtaltrim = dwt_getxtaltrim();
//    dwt_setxtaltrim(31);


  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {



      /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
             tx_poll_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
             dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);
             dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0); /* Zero offset in TX buffer. */
             dwt_writetxfctrl(sizeof(tx_poll_msg), 0, 1); /* Zero offset in TX buffer, ranging. */

             /* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
              * set by dwt_setrxaftertxdelay() has elapsed. */
             dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);

             /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
             while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_TO | SYS_STATUS_ALL_RX_ERR)))
             { };

             /* Increment frame sequence number after transmission of the poll message (modulo 256). */
             frame_seq_nb++;

             if (status_reg & SYS_STATUS_RXFCG)
             {
                 uint32 frame_len;

                 /* Clear good RX frame event in the DW1000 status register. */
                 dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);

                 /* A frame has been received, read it into the local buffer. */
                 frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;
                 if (frame_len <= RX_BUF_LEN)
                 {
                     dwt_readrxdata(rx_buffer, frame_len, 0);
                 }

                 /* Check that the frame is the expected response from the companion "SS TWR responder" example.
                  * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
                 rx_buffer[ALL_MSG_SN_IDX] = 0;
                 if (memcmp(rx_buffer, rx_resp_msg, ALL_MSG_COMMON_LEN) == 0)
                 {
                     uint32 poll_tx_ts, resp_rx_ts, poll_rx_ts, resp_tx_ts;
                     int32 rtd_init, rtd_resp;
                     float clockOffsetRatio ;

                     /* Retrieve poll transmission and response reception timestamps. See NOTE 9 below. */
                     poll_tx_ts = dwt_readtxtimestamplo32();
                     resp_rx_ts = dwt_readrxtimestamplo32();

                     /* Read carrier integrator value and calculate clock offset ratio. See NOTE 11 below. */
                     clockOffsetRatio = dwt_readcarrierintegrator() * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;

                     /* Get timestamps embedded in response message. */
                     resp_msg_get_ts(&rx_buffer[RESP_MSG_POLL_RX_TS_IDX], &poll_rx_ts);
                     resp_msg_get_ts(&rx_buffer[RESP_MSG_RESP_TX_TS_IDX], &resp_tx_ts);

                     /* Compute time of flight and distance, using clock offset ratio to correct for differing local and remote clock rates */
                     rtd_init = resp_rx_ts - poll_tx_ts;
                     rtd_resp = resp_tx_ts - poll_rx_ts;

                     tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
                     distance = tof * SPEED_OF_LIGHT;

                     /* Display computed distance. */
                     sprintf(dist_str, "DIST: %3.2f m", distance);
                     stdio_write(dist_str);
                     stdio_write("\033[u"); // Restore last cursor position
                 }
             }
             else
             {
                 /* Clear RX error/timeout events in the DW1000 status register. */
                 dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_TO | SYS_STATUS_ALL_RX_ERR);

                 /* Reset RX to properly reinitialise LDE operation. */
                 dwt_rxreset();
             }

             /* Execute a delay between ranging exchanges. */
             Sleep(RNG_DELAY_MS);


    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 10;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART2;
  PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure the main internal regulator output voltage
  */
  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief SPI1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI1_Init(void)
{

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */
  /* SPI1 parameter configuration*/
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial = 7;
  hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
  hspi1.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
  if (HAL_SPI_Init(&hspi1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_Init 2 */

}

/**
  * @brief TIM1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM1_Init(void)
{

  /* USER CODE BEGIN TIM1_Init 0 */

  /* USER CODE END TIM1_Init 0 */

  TIM_SlaveConfigTypeDef sSlaveConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

  /* USER CODE BEGIN TIM1_Init 1 */

  /* USER CODE END TIM1_Init 1 */
  htim1.Instance = TIM1;
  htim1.Init.Prescaler = 0;
  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim1.Init.Period = 65535;
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.RepetitionCounter = 0;
  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_OC_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }
  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_TRIGGER;
  sSlaveConfig.InputTrigger = TIM_TS_ITR0;
  if (HAL_TIM_SlaveConfigSynchro(&htim1, &sSlaveConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_TIMING;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.BreakFilter = 0;
  sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
  sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
  sBreakDeadTimeConfig.Break2Filter = 0;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM1_Init 2 */

  /* USER CODE END TIM1_Init 2 */
  HAL_TIM_MspPostInit(&htim1);

}

/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 115200;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, SMPS_EN_Pin|SMPS_V1_Pin|SMPS_SW_Pin|DW_RESET_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LD4_GPIO_Port, LD4_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(DW_NSS_GPIO_Port, DW_NSS_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin : B1_Pin */
  GPIO_InitStruct.Pin = B1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : SMPS_EN_Pin SMPS_V1_Pin SMPS_SW_Pin DW_NSS_Pin */
  GPIO_InitStruct.Pin = SMPS_EN_Pin|SMPS_V1_Pin|SMPS_SW_Pin|DW_NSS_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : SMPS_PG_Pin */
  GPIO_InitStruct.Pin = SMPS_PG_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(SMPS_PG_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : LD4_Pin */
  GPIO_InitStruct.Pin = LD4_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LD4_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : DW_RESET_Pin */
  GPIO_InitStruct.Pin = DW_RESET_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(DW_RESET_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : DW_IRQn_Pin */
  GPIO_InitStruct.Pin = DW_IRQn_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
  HAL_GPIO_Init(DW_IRQn_GPIO_Port, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);

}

/* USER CODE BEGIN 4 */
static void resp_msg_get_ts(uint8 *ts_field, uint32 *ts)
{
    int i;
    *ts = 0;
    for (i = 0; i < RESP_MSG_TS_LEN; i++)
    {
        *ts += ts_field[i] << (i * 8);
    }
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* 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) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/