2025b_fasttrack_source/Core/Src/main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "usb_device.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "ImC/imc_api.h"
#include "ImC/imc_kernel.h"
#include "benchmarks/benchmark_driver.h"
#if (imcUSE_IMC_EXTENSION)
#include "ImC/imc_extension.h"
#endif
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
typedef StaticTask_t osStaticThreadDef_t;
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define FRAM_MEM_SIZE						(0x100000) // 1 MiB = 2 * 512 * 1024 bytes
#define MRAM_MEM_SIZE						(0x800000) // 8 MiB = 2 * 4 * 1024 * 1024 bytes

#define MEM_TYPE_MRAM						(1)
#define MEM_TYPE_FRAM						(2)
#define MEM_SIZE_HALF						(3)
#define MEM_SIZE_FULL						(4)

#define MEM_TEST_TYPE						MEM_TYPE_MRAM
#define MEM_TEST_SIZE						MEM_SIZE_HALF
#define MEM_TEST_ADDR						(0x68000000U)

#if !defined(MEM_TEST_TYPE)
#error "Choose the memory type for test!"
#endif

#if !defined(MEM_TEST_SIZE)
#error "Choose the memory size for test!"
#endif

#if (MEM_TEST_TYPE == MEM_TYPE_MRAM)
	#if (MEM_TEST_SIZE == MEM_SIZE_FULL)
		#define MEMORY_SIZE					MRAM_MEM_SIZE
	#elif (MEM_TEST_SIZE == MEM_SIZE_HALF)
		#define MEMORY_SIZE					(MRAM_MEM_SIZE / 2)
	#else
		#error "Invalid memory size"
	#endif
#elif (MEM_TEST_TYPE == MEM_TYPE_FRAM)
	#if (MEM_TEST_SIZE == MEM_SIZE_FULL)
		#define MEMORY_SIZE					FRAM_MEM_SIZE
	#elif (MEM_TEST_SIZE == MEM_SIZE_HALF)
		#define MEMORY_SIZE					(FRAM_MEM_SIZE / 2)
	#else
		#error "Invalid memory size"
	#endif
#else
	#error "Invalid memory type"
#endif
/* USER CODE END PD */

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

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef ADC_HANDLER_SBC;
ADC_HandleTypeDef hadc2;

FDCAN_HandleTypeDef hfdcan1;

I2C_HandleTypeDef hi2c1;
I2C_HandleTypeDef hi2c3;

SPI_HandleTypeDef hspi1;
SPI_HandleTypeDef hspi2;

TIM_HandleTypeDef htim7;

UART_HandleTypeDef huart4;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;

SRAM_HandleTypeDef hsram1;
SRAM_HandleTypeDef hsram2;
SRAM_HandleTypeDef hsram3;
SRAM_HandleTypeDef hsram4;

/* Definitions for taskSnap */
osThreadId_t taskSnapHandle;
uint32_t taskSnapBuffer[ imcSTACK_SIZE ];
osStaticThreadDef_t taskSnapControlBlock;
const osThreadAttr_t taskSnap_attributes = {
  .name = "taskSnap",
  .stack_mem = &taskSnapBuffer[0],
  .stack_size = sizeof(taskSnapBuffer),
  .cb_mem = &taskSnapControlBlock,
  .cb_size = sizeof(taskSnapControlBlock),
  .priority = (osPriority_t) osPriorityRealtime,
};

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void PeriphCommonClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_ADC1_Init(void);
static void MX_FDCAN1_Init(void);
static void MX_FMC_Init(void);
static void MX_I2C1_Init(void);
static void MX_I2C3_Init(void);
static void MX_SPI1_Init(void);
static void MX_SPI2_Init(void);
static void MX_TIM7_Init(void);
static void MX_UART4_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_USART3_UART_Init(void);
static void MX_ICACHE_Init(void);
static void MX_GTZC_Init(void);
static void MX_ADC2_Init(void);
void taskEPSRunner(void *argument);
void taskSnapRunner(void *argument);
void taskAIRunner(void *argument);
void taskImcTest(void *argument);

static void MPU_RegionConfig(void);

/* USER CODE BEGIN PFP */
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
#ifdef __cplusplus
extern "C" int _write(int32_t file, uint8_t *ptr, int32_t len) {
#else
int _write(int32_t file, uint8_t *ptr, int32_t len) {
#endif
    if( HAL_UART_Transmit(&UART_HANDLER_SBC, ptr, len, len) == HAL_OK ) return len;
    else return 0;
}

void vApplicationStackOverflowHook(TaskHandle_t* pxTask , char* pcTaskName ) {

  __disable_irq();
  //todo: Indicate Overflow with LEDs
  printf("stack overflow at %s\r\n", pcTaskName);
  for(;;) ;
}

int32_t hal_uart_ifx_send(sc03mpd_ifx_t* ifx, uint8_t* buf, uint16_t len);
int32_t hal_uart_ifx_recv(sc03mpd_ifx_t* ifx, uint8_t* buf, uint16_t len);

int32_t hal_uart_ifx_send(sc03mpd_ifx_t* ifx, uint8_t* buf, uint16_t len)
{
	return (HAL_UART_Transmit((UART_HandleTypeDef*)ifx->context, buf, len, 100) == HAL_OK)? len : -1;
}

int32_t hal_uart_ifx_recv(sc03mpd_ifx_t* ifx, uint8_t* buf, uint16_t len)
{
	return (HAL_UARTEx_ReceiveToIdle((UART_HandleTypeDef*)ifx->context, buf, len, &len, 500) == HAL_OK)? len : -1;

}

/* 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();

/* Configure the peripherals common clocks */
  PeriphCommonClock_Config();
  /* GTZC initialisation */
  MX_GTZC_Init();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_ADC1_Init();
  MX_FDCAN1_Init();
  MX_FMC_Init();
  MX_I2C1_Init();
  MX_I2C3_Init();
  MX_SPI1_Init();
  MX_SPI2_Init();
  MX_TIM7_Init();
  MX_UART4_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  MX_USART3_UART_Init();
  MX_ICACHE_Init();
  MX_USB_Device_Init();
  MX_ADC2_Init();
  /* USER CODE BEGIN 2 */

  #if (imcUSE_IMC_KERNEL == 1)
    HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED);
    imcInit();
    MPU_RegionConfig();
#endif

  // printf("\r\n\r\n\r\n");
  // printf("**************************\r\n");
  // printf("** TEST APP INFORMATION **\r\n");
  // printf(" - SBC M33 freeRTOS, truztzone, ADC test\r\n");
  // printf(" - 2023.10.20. 10:00\r\n");
  // printf("**************************\r\n");
  // printf("\r\n\r\n\r\n");
  // /* after SBC boot-up, sbc power gpio pin should be ON */
  // imc_sbc_power_on();	// delay(param) should be 0ms
  // printf("+");

  /* USER CODE END 2 */

  /* Init scheduler */
  osKernelInitialize();

  /* creation of taskSnap */
  #if (imcUSE_IMC_KERNEL == 1)
    #if (imcUSE_IMC_EXTENSION)
    taskSnapHandle = imcOsThreadNew(vBenchmarkDriver, imcBENCH_NAME, &taskSnap_attributes);
    #else
    // taskSnapHandle = imcOsThreadNew(taskEPSRunner, NULL, &taskSnap_attributes);
    taskSnapHandle = imcOsThreadNew(vConv2d, NULL, &taskSnap_attributes);
    #endif
  #else
  taskSnapHandle = osThreadNew(vBenchmarkDriver, imcBENCH_NAME, &taskSnap_attributes);
  #endif

  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* 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};

  /** Configure the main internal regulator output voltage
  */
  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure LSE Drive Capability
  */
  HAL_PWR_EnableBkUpAccess();
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE|RCC_OSCILLATORTYPE_LSE
                              |RCC_OSCILLATORTYPE_MSI;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.LSEState = RCC_LSE_ON;
  RCC_OscInitStruct.MSIState = RCC_MSI_ON;
  RCC_OscInitStruct.MSICalibrationValue = RCC_MSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_6;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 16;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV4;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV4;
  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_DIV2;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Enable MSI Auto calibration
  */
  HAL_RCCEx_EnableMSIPLLMode();
}

/**
  * @brief Peripherals Common Clock Configuration
  * @retval None
  */
void PeriphCommonClock_Config(void)
{
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Initializes the common periph clock
  */
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB|RCC_PERIPHCLK_ADC;
  PeriphClkInit.AdcClockSelection = RCC_ADCCLKSOURCE_PLLSAI1;
  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLLSAI1;
  PeriphClkInit.PLLSAI1.PLLSAI1Source = RCC_PLLSAI1SOURCE_MSI;
  PeriphClkInit.PLLSAI1.PLLSAI1M = 1;
  PeriphClkInit.PLLSAI1.PLLSAI1N = 24;
  PeriphClkInit.PLLSAI1.PLLSAI1P = RCC_PLLP_DIV7;
  PeriphClkInit.PLLSAI1.PLLSAI1Q = RCC_PLLQ_DIV2;
  PeriphClkInit.PLLSAI1.PLLSAI1R = RCC_PLLR_DIV2;
  PeriphClkInit.PLLSAI1.PLLSAI1ClockOut = RCC_PLLSAI1_48M2CLK|RCC_PLLSAI1_ADC1CLK;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief ADC1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_ADC1_Init(void)
{

  /* USER CODE BEGIN ADC1_Init 0 */

  /* USER CODE END ADC1_Init 0 */

  ADC_MultiModeTypeDef multimode = {0};
  ADC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN ADC1_Init 1 */

  /* USER CODE END ADC1_Init 1 */

  /** Common config
  */
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc1.Init.LowPowerAutoWait = DISABLE;
  hadc1.Init.ContinuousConvMode = DISABLE;
  hadc1.Init.NbrOfConversion = 1;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc1.Init.DMAContinuousRequests = DISABLE;
  hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc1.Init.OversamplingMode = DISABLE;
  // hadc1.Init.OversamplingMode = ENABLE;
  // hadc1.Init.Oversampling.Ratio = ADC_OVERSAMPLING_RATIO_16;
  // hadc1.Init.Oversampling.RightBitShift = ADC_RIGHTBITSHIFT_NONE;
  // hadc1.Init.Oversampling.TriggeredMode = ADC_TRIGGEREDMODE_SINGLE_TRIGGER;
  // hadc1.Init.Oversampling.OversamplingStopReset = ADC_REGOVERSAMPLING_CONTINUED_MODE;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure the ADC multi-mode
  */
  multimode.Mode = ADC_MODE_INDEPENDENT;
  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
  */
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
  // sConfig.SamplingTime = ADC_SAMPLETIME_6CYCLES_5;
  // sConfig.SamplingTime = ADC_SAMPLETIME_24CYCLES_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC1_Init 2 */

  /* USER CODE END ADC1_Init 2 */

}

/**
  * @brief ADC2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_ADC2_Init(void)
{

  /* USER CODE BEGIN ADC2_Init 0 */

  /* USER CODE END ADC2_Init 0 */

  ADC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN ADC2_Init 1 */

  /* USER CODE END ADC2_Init 1 */

  /** Common config
  */
  hadc2.Instance = ADC2;
  hadc2.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
  hadc2.Init.Resolution = ADC_RESOLUTION_12B;
  hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc2.Init.ScanConvMode = ADC_SCAN_DISABLE;
  hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc2.Init.LowPowerAutoWait = DISABLE;
  hadc2.Init.ContinuousConvMode = DISABLE;
  hadc2.Init.NbrOfConversion = 1;
  hadc2.Init.DiscontinuousConvMode = DISABLE;
  hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc2.Init.DMAContinuousRequests = DISABLE;
  hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc2.Init.OversamplingMode = DISABLE;
  if (HAL_ADC_Init(&hadc2) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
  */
  sConfig.Channel = ADC_CHANNEL_2;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC2_Init 2 */

  /* USER CODE END ADC2_Init 2 */

}

/**
  * @brief FDCAN1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_FDCAN1_Init(void)
{

  /* USER CODE BEGIN FDCAN1_Init 0 */

  /* USER CODE END FDCAN1_Init 0 */

  /* USER CODE BEGIN FDCAN1_Init 1 */

  /* USER CODE END FDCAN1_Init 1 */
  hfdcan1.Instance = FDCAN1;
  hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
  hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan1.Init.AutoRetransmission = DISABLE;
  hfdcan1.Init.TransmitPause = DISABLE;
  hfdcan1.Init.ProtocolException = DISABLE;
  hfdcan1.Init.NominalPrescaler = 16;
  hfdcan1.Init.NominalSyncJumpWidth = 1;
  hfdcan1.Init.NominalTimeSeg1 = 2;
  hfdcan1.Init.NominalTimeSeg2 = 2;
  hfdcan1.Init.DataPrescaler = 1;
  hfdcan1.Init.DataSyncJumpWidth = 1;
  hfdcan1.Init.DataTimeSeg1 = 1;
  hfdcan1.Init.DataTimeSeg2 = 1;
  hfdcan1.Init.StdFiltersNbr = 0;
  hfdcan1.Init.ExtFiltersNbr = 0;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN FDCAN1_Init 2 */

  /* USER CODE END FDCAN1_Init 2 */

}

/**
  * @brief GTZC Initialization Function
  * @param None
  * @retval None
  */
static void MX_GTZC_Init(void)
{

  /* USER CODE BEGIN GTZC_Init 0 */

  /* USER CODE END GTZC_Init 0 */

  /* USER CODE BEGIN GTZC_Init 1 */

  /* USER CODE END GTZC_Init 1 */
  /* USER CODE BEGIN GTZC_Init 2 */

  /* USER CODE END GTZC_Init 2 */

}

/**
  * @brief I2C1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_I2C1_Init(void)
{

  /* USER CODE BEGIN I2C1_Init 0 */

  /* USER CODE END I2C1_Init 0 */

  /* USER CODE BEGIN I2C1_Init 1 */

  /* USER CODE END I2C1_Init 1 */
  hi2c1.Instance = I2C1;
  hi2c1.Init.Timing = 0x00707CBB;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Analogue filter
  */
  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Digital filter
  */
  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C1_Init 2 */

  /* USER CODE END I2C1_Init 2 */

}

/**
  * @brief I2C3 Initialization Function
  * @param None
  * @retval None
  */
static void MX_I2C3_Init(void)
{

  /* USER CODE BEGIN I2C3_Init 0 */

  /* USER CODE END I2C3_Init 0 */

  /* USER CODE BEGIN I2C3_Init 1 */

  /* USER CODE END I2C3_Init 1 */
  hi2c3.Instance = I2C3;
  hi2c3.Init.Timing = 0x00707CBB;
  hi2c3.Init.OwnAddress1 = 0;
  hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c3.Init.OwnAddress2 = 0;
  hi2c3.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
  hi2c3.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c3.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c3) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Analogue filter
  */
  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c3, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Digital filter
  */
  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c3, 0) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C3_Init 2 */

  /* USER CODE END I2C3_Init 2 */

}

/**
  * @brief ICACHE Initialization Function
  * @param None
  * @retval None
  */
static void MX_ICACHE_Init(void)
{

  /* USER CODE BEGIN ICACHE_Init 0 */

  /* USER CODE END ICACHE_Init 0 */

  /* USER CODE BEGIN ICACHE_Init 1 */

  /* USER CODE END ICACHE_Init 1 */

  /** Enable instruction cache in 1-way (direct mapped cache)
  */
  if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_ICACHE_Enable() != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ICACHE_Init 2 */

  /* USER CODE END ICACHE_Init 2 */

}

/**
  * @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_4BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi1.Init.NSS = SPI_NSS_HARD_OUTPUT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
  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 SPI2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI2_Init(void)
{

  /* USER CODE BEGIN SPI2_Init 0 */

  /* USER CODE END SPI2_Init 0 */

  /* USER CODE BEGIN SPI2_Init 1 */

  /* USER CODE END SPI2_Init 1 */
  /* SPI2 parameter configuration*/
  hspi2.Instance = SPI2;
  hspi2.Init.Mode = SPI_MODE_MASTER;
  hspi2.Init.Direction = SPI_DIRECTION_2LINES;
  hspi2.Init.DataSize = SPI_DATASIZE_4BIT;
  hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi2.Init.NSS = SPI_NSS_HARD_OUTPUT;
  hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
  hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi2.Init.CRCPolynomial = 7;
  hspi2.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
  hspi2.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
  if (HAL_SPI_Init(&hspi2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI2_Init 2 */

  /* USER CODE END SPI2_Init 2 */

}

/**
  * @brief TIM7 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM7_Init(void)
{

  /* USER CODE BEGIN TIM7_Init 0 */

  /* USER CODE END TIM7_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM7_Init 1 */

  /* USER CODE END TIM7_Init 1 */
  htim7.Instance = TIM7;
  htim7.Init.Prescaler = 0;
  htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim7.Init.Period = 65535;
  htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim7) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM7_Init 2 */

  /* USER CODE END TIM7_Init 2 */

}

/**
  * @brief UART4 Initialization Function
  * @param None
  * @retval None
  */
static void MX_UART4_Init(void)
{

  /* USER CODE BEGIN UART4_Init 0 */

  /* USER CODE END UART4_Init 0 */

  /* USER CODE BEGIN UART4_Init 1 */

  /* USER CODE END UART4_Init 1 */
  huart4.Instance = UART4;
  huart4.Init.BaudRate = 115200;
  huart4.Init.WordLength = UART_WORDLENGTH_8B;
  huart4.Init.StopBits = UART_STOPBITS_1;
  huart4.Init.Parity = UART_PARITY_NONE;
  huart4.Init.Mode = UART_MODE_TX_RX;
  huart4.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart4.Init.OverSampling = UART_OVERSAMPLING_16;
  huart4.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart4.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  huart4.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart4) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetTxFifoThreshold(&huart4, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetRxFifoThreshold(&huart4, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_DisableFifoMode(&huart4) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN UART4_Init 2 */

  /* USER CODE END UART4_Init 2 */

}

/**
  * @brief USART1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART1_UART_Init(void)
{

  /* USER CODE BEGIN USART1_Init 0 */

  /* USER CODE END USART1_Init 0 */

  /* USER CODE BEGIN USART1_Init 1 */

  /* USER CODE END USART1_Init 1 */
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 115200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_Init 2 */

}

/**
  * @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.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_DisableFifoMode(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * @brief USART3 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART3_UART_Init(void)
{

  /* USER CODE BEGIN USART3_Init 0 */

  /* USER CODE END USART3_Init 0 */

  /* USER CODE BEGIN USART3_Init 1 */
/*
 * use below code if code is re-generated by .ioc modification
#if CAM_CHANGE_BAUDRATE
  UART_HANDLER_CAM.Init.BaudRate = 38400;
#else
  UART_HANDLER_CAM.Init.BaudRate = 115200;
#endif
*/
  /* USER CODE END USART3_Init 1 */
  huart3.Instance = USART3;
  huart3.Init.BaudRate = 115200;
  huart3.Init.WordLength = UART_WORDLENGTH_8B;
  huart3.Init.StopBits = UART_STOPBITS_1;
  huart3.Init.Parity = UART_PARITY_NONE;
  huart3.Init.Mode = UART_MODE_TX_RX;
  huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart3.Init.OverSampling = UART_OVERSAMPLING_16;
  huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart3.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart3) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetTxFifoThreshold(&huart3, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetRxFifoThreshold(&huart3, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART3_Init 2 */

  /* USER CODE END USART3_Init 2 */

}

/* FMC initialization function */
static void MX_FMC_Init(void)
{

  /* USER CODE BEGIN FMC_Init 0 */

  /* USER CODE END FMC_Init 0 */

  FMC_NORSRAM_TimingTypeDef Timing = {0};
  FMC_NORSRAM_TimingTypeDef ExtTiming = {0};

  /* USER CODE BEGIN FMC_Init 1 */

  /* USER CODE END FMC_Init 1 */

  /** Perform the SRAM1 memory initialization sequence
  */
  hsram1.Instance = FMC_NORSRAM_DEVICE;
  hsram1.Extended = FMC_NORSRAM_EXTENDED_DEVICE;
  /* hsram1.Init */
  hsram1.Init.NSBank = FMC_NORSRAM_BANK1;
  hsram1.Init.DataAddressMux = FMC_DATA_ADDRESS_MUX_DISABLE;
  hsram1.Init.MemoryType = FMC_MEMORY_TYPE_SRAM;
  hsram1.Init.MemoryDataWidth = FMC_NORSRAM_MEM_BUS_WIDTH_16;
  hsram1.Init.BurstAccessMode = FMC_BURST_ACCESS_MODE_DISABLE;
  hsram1.Init.WaitSignalPolarity = FMC_WAIT_SIGNAL_POLARITY_LOW;
  hsram1.Init.WaitSignalActive = FMC_WAIT_TIMING_BEFORE_WS;
  hsram1.Init.WriteOperation = FMC_WRITE_OPERATION_ENABLE;
  hsram1.Init.WaitSignal = FMC_WAIT_SIGNAL_DISABLE;
  hsram1.Init.ExtendedMode = FMC_EXTENDED_MODE_DISABLE;
  hsram1.Init.AsynchronousWait = FMC_ASYNCHRONOUS_WAIT_DISABLE;
  hsram1.Init.WriteBurst = FMC_WRITE_BURST_DISABLE;
  hsram1.Init.ContinuousClock = FMC_CONTINUOUS_CLOCK_SYNC_ONLY;
  hsram1.Init.WriteFifo = FMC_WRITE_FIFO_ENABLE;
  hsram1.Init.NBLSetupTime = 0;
  hsram1.Init.PageSize = FMC_PAGE_SIZE_NONE;
  hsram1.Init.MaxChipSelectPulse = DISABLE;
  // /* Timing */
  // Timing.AddressSetupTime = 15;
  // Timing.AddressHoldTime = 15;
  // Timing.DataSetupTime = 30;
  // Timing.DataHoldTime = 0;
  // Timing.BusTurnAroundDuration = 2;
  // Timing.CLKDivision = 16;
  // Timing.DataLatency = 17;
  // Timing.AccessMode = FMC_ACCESS_MODE_A;
  /* ExtTiming */

  // if (HAL_SRAM_Init(&hsram1, &Timing, NULL) != HAL_OK)
  // {
  //   Error_Handler( );
  // }

  /** Perform the SRAM2 memory initialization sequence
  */
  hsram2.Instance = FMC_NORSRAM_DEVICE;
  hsram2.Extended = FMC_NORSRAM_EXTENDED_DEVICE;
  /* hsram2.Init */
  hsram2.Init.NSBank = FMC_NORSRAM_BANK2;
  hsram2.Init.DataAddressMux = FMC_DATA_ADDRESS_MUX_DISABLE;
  hsram2.Init.MemoryType = FMC_MEMORY_TYPE_SRAM;
  hsram2.Init.MemoryDataWidth = FMC_NORSRAM_MEM_BUS_WIDTH_16;
  hsram2.Init.BurstAccessMode = FMC_BURST_ACCESS_MODE_DISABLE;
  hsram2.Init.WaitSignalPolarity = FMC_WAIT_SIGNAL_POLARITY_LOW;
  hsram2.Init.WaitSignalActive = FMC_WAIT_TIMING_BEFORE_WS;
  hsram2.Init.WriteOperation = FMC_WRITE_OPERATION_ENABLE;
  hsram2.Init.WaitSignal = FMC_WAIT_SIGNAL_DISABLE;
  // hsram2.Init.ExtendedMode = FMC_EXTENDED_MODE_DISABLE;
  hsram2.Init.ExtendedMode = FMC_EXTENDED_MODE_ENABLE;
  hsram2.Init.AsynchronousWait = FMC_ASYNCHRONOUS_WAIT_DISABLE;
  hsram2.Init.WriteBurst = FMC_WRITE_BURST_DISABLE;
  hsram2.Init.ContinuousClock = FMC_CONTINUOUS_CLOCK_SYNC_ONLY;
  // hsram2.Init.WriteFifo = FMC_WRITE_FIFO_ENABLE;
  hsram2.Init.WriteFifo = FMC_WRITE_FIFO_DISABLE;
  hsram2.Init.NBLSetupTime = 0;
  hsram2.Init.PageSize = FMC_PAGE_SIZE_NONE;
  hsram2.Init.MaxChipSelectPulse = DISABLE;
  /* Timing */
  // Timing.AddressSetupTime = 15;
  // Timing.AddressHoldTime = 15;
  // Timing.DataSetupTime = 30;
  // Timing.DataHoldTime = 0;
  // Timing.BusTurnAroundDuration = 2;
  // Timing.CLKDivision = 16;
  // Timing.DataLatency = 17;
  // Timing.AccessMode = FMC_ACCESS_MODE_A;
  Timing.AddressSetupTime = 6;
  Timing.AddressHoldTime = 11;
  Timing.DataSetupTime = 3;
  Timing.DataHoldTime = 3;
  Timing.BusTurnAroundDuration = 1;
  Timing.CLKDivision = 16;
  Timing.DataLatency = 17;
  Timing.AccessMode = FMC_ACCESS_MODE_A;
  /* ExtTiming */
  ExtTiming.AddressSetupTime = 3;
  ExtTiming.AddressHoldTime = 11;
  ExtTiming.DataSetupTime = 3;
  ExtTiming.BusTurnAroundDuration = 2;
  ExtTiming.CLKDivision = 16;
  ExtTiming.DataLatency = 17;
  ExtTiming.AccessMode = FMC_ACCESS_MODE_A;

  // if (HAL_SRAM_Init(&hsram2, &Timing, NULL) != HAL_OK)
  // if (HAL_SRAM_Init(&hsram1, &Timing, &ExtTiming) != HAL_OK)
  // {
  //   Error_Handler( );
  // }
  if (HAL_SRAM_Init(&hsram2, &Timing, &ExtTiming) != HAL_OK)
  {
    Error_Handler( );
  }

  /** Perform the SRAM3 memory initialization sequence
  */
  hsram3.Instance = FMC_NORSRAM_DEVICE;
  hsram3.Extended = FMC_NORSRAM_EXTENDED_DEVICE;
  /* hsram3.Init */
  hsram3.Init.NSBank = FMC_NORSRAM_BANK3;
  hsram3.Init.DataAddressMux = FMC_DATA_ADDRESS_MUX_DISABLE;
  hsram3.Init.MemoryType = FMC_MEMORY_TYPE_PSRAM;
  hsram3.Init.MemoryDataWidth = FMC_NORSRAM_MEM_BUS_WIDTH_16;
  hsram3.Init.BurstAccessMode = FMC_BURST_ACCESS_MODE_DISABLE;
  hsram3.Init.WaitSignalPolarity = FMC_WAIT_SIGNAL_POLARITY_LOW;
  hsram3.Init.WaitSignalActive = FMC_WAIT_TIMING_BEFORE_WS;
  hsram3.Init.WriteOperation = FMC_WRITE_OPERATION_ENABLE;
  hsram3.Init.WaitSignal = FMC_WAIT_SIGNAL_DISABLE;
  hsram3.Init.ExtendedMode = FMC_EXTENDED_MODE_DISABLE;
  // hsram3.Init.ExtendedMode = FMC_EXTENDED_MODE_ENABLE;
  hsram3.Init.AsynchronousWait = FMC_ASYNCHRONOUS_WAIT_DISABLE;
  hsram3.Init.WriteBurst = FMC_WRITE_BURST_DISABLE;
  hsram3.Init.ContinuousClock = FMC_CONTINUOUS_CLOCK_SYNC_ONLY;
  // hsram3.Init.WriteFifo = FMC_WRITE_FIFO_ENABLE;
  hsram3.Init.WriteFifo = FMC_WRITE_FIFO_DISABLE;
  hsram3.Init.NBLSetupTime = 0;
  hsram3.Init.PageSize = FMC_PAGE_SIZE_NONE;
  hsram3.Init.MaxChipSelectPulse = DISABLE;
  /* Timing */
  Timing.AddressSetupTime = 15;
  Timing.AddressHoldTime = 15;
  Timing.DataSetupTime = 10;
  Timing.DataHoldTime = 3;
  Timing.BusTurnAroundDuration = 15;
  Timing.CLKDivision = 16;
  Timing.DataLatency = 17;
  Timing.AccessMode = FMC_ACCESS_MODE_A;
  /* ExtTiming */
  ExtTiming.AddressSetupTime = 15;
  ExtTiming.AddressHoldTime = 15;
  ExtTiming.DataSetupTime = 30;
  ExtTiming.DataHoldTime = 0;
  ExtTiming.BusTurnAroundDuration = 2;
  ExtTiming.CLKDivision = 16;
  ExtTiming.DataLatency = 17;
  ExtTiming.AccessMode = FMC_ACCESS_MODE_A;

  if (HAL_SRAM_Init(&hsram3, &Timing, &ExtTiming) != HAL_OK)
  {
    Error_Handler( );
  }

  /** Perform the SRAM4 memory initialization sequence
  */
  hsram4.Instance = FMC_NORSRAM_DEVICE;
  hsram4.Extended = FMC_NORSRAM_EXTENDED_DEVICE;
  /* hsram4.Init */
  hsram4.Init.NSBank = FMC_NORSRAM_BANK4;
  hsram4.Init.DataAddressMux = FMC_DATA_ADDRESS_MUX_DISABLE;
  hsram4.Init.MemoryType = FMC_MEMORY_TYPE_SRAM;
  hsram4.Init.MemoryDataWidth = FMC_NORSRAM_MEM_BUS_WIDTH_16;
  hsram4.Init.BurstAccessMode = FMC_BURST_ACCESS_MODE_DISABLE;
  hsram4.Init.WaitSignalPolarity = FMC_WAIT_SIGNAL_POLARITY_LOW;
  hsram4.Init.WaitSignalActive = FMC_WAIT_TIMING_BEFORE_WS;
  hsram4.Init.WriteOperation = FMC_WRITE_OPERATION_DISABLE;
  hsram4.Init.WaitSignal = FMC_WAIT_SIGNAL_DISABLE;
  hsram4.Init.ExtendedMode = FMC_EXTENDED_MODE_DISABLE;
  hsram4.Init.AsynchronousWait = FMC_ASYNCHRONOUS_WAIT_DISABLE;
  hsram4.Init.WriteBurst = FMC_WRITE_BURST_DISABLE;
  hsram4.Init.ContinuousClock = FMC_CONTINUOUS_CLOCK_SYNC_ONLY;
  hsram4.Init.WriteFifo = FMC_WRITE_FIFO_ENABLE;
  hsram4.Init.NBLSetupTime = 0;
  hsram4.Init.PageSize = FMC_PAGE_SIZE_NONE;
  hsram4.Init.MaxChipSelectPulse = DISABLE;
  /* Timing */
  Timing.AddressSetupTime = 15;
  Timing.AddressHoldTime = 15;
  Timing.DataSetupTime = 255;
  Timing.DataHoldTime = 0;
  Timing.BusTurnAroundDuration = 15;
  Timing.CLKDivision = 16;
  Timing.DataLatency = 17;
  Timing.AccessMode = FMC_ACCESS_MODE_A;
  /* ExtTiming */

  // if (HAL_SRAM_Init(&hsram4, &Timing, NULL) != HAL_OK)
  // {
  //   Error_Handler( );
  // }

  /* USER CODE BEGIN FMC_Init 2 */

  /* USER CODE END FMC_Init 2 */
}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOE_CLK_ENABLE();
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOG_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  HAL_PWREx_EnableVddIO2();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13|GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOF, GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_11, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOG, GPIO_PIN_6|GPIO_PIN_11|GPIO_PIN_15, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_3, GPIO_PIN_RESET);

  /*Configure GPIO pins : PC13 PC6 */
  GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_6;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pins : PF6 PF7 PF11 */
  GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_11;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);

  /*Configure GPIO pins : PF8 PF9 PF10 */
  GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);

  /*Configure GPIO pin : PB2 */
  GPIO_InitStruct.Pin = GPIO_PIN_2;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : PG6 PG15 */
  GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);

  /*Configure GPIO pin : PC7 */
  GPIO_InitStruct.Pin = GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pin : PA8 */
  GPIO_InitStruct.Pin = GPIO_PIN_8;
  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 : PD2 */
  GPIO_InitStruct.Pin = GPIO_PIN_2;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF12_SDMMC1;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

  /*Configure GPIO pin : PD3 */
  GPIO_InitStruct.Pin = GPIO_PIN_3;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

  /*Configure GPIO pin : PG11 */
  GPIO_InitStruct.Pin = GPIO_PIN_11;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

void MPU_RegionConfig(void)
{
  MPU_Region_InitTypeDef MPU_InitStruct;
  /* Disable MPU */
  HAL_MPU_Disable();
  /* Configure RAM region as Region N°0, 8kB of size and R/W region */
  MPU_InitStruct.Enable = MPU_REGION_ENABLE;
  MPU_InitStruct.Number = MPU_REGION_NUMBER0;
  MPU_InitStruct.BaseAddress = 0x68000000;
  MPU_InitStruct.LimitAddress = 0x68100000;
  MPU_InitStruct.AccessPermission = MPU_REGION_ALL_RW;

  // MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
  // MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
  MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
  // MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
  MPU_InitStruct.AttributesIndex = MPU_ATTRIBUTES_NUMBER5;

  MPU_InitStruct.Number = MPU_REGION_NUMBER0;
  // MPU_InitStruct.SubRegionDisable = 0x00;
  MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE;
  HAL_MPU_ConfigRegion(&MPU_InitStruct);
  /* Enable MPU */
  HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/* USER CODE BEGIN Header_taskEPSRunner */
/**
  * @brief  Function implementing the taskEPS thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_taskEPSRunner */
void taskEPSRunner(void *argument)
{
  /* USER CODE BEGIN 5 */
#if (EPS_CAP_VOLT_ADC)
	int capacitor_voltage0 = 0;
	//int capacitor_voltage1 = 0;

	/* Infinite loop */
	for(;;)
	{
		capacitor_voltage0 = measure_voltage(ADC_HANDLER_SBC, EPS_CAP_ID_SBC);
		//capacitor_voltage1 = measure_voltage(ADC_HANDLER_CAM, EPS_CAP_ID_CAM);

		//printf("\t\t\t\t\t\t[EPS] CAP VOLT: %d.%03d, %d.%03d\r\n", capacitor_voltage0/1000, capacitor_voltage0%1000, capacitor_voltage1/1000, capacitor_voltage1%1000);
		printf("\t\t\t\t\t\t[EPS] CAP VOLT: %d.%03d\r\n", capacitor_voltage0/1000, capacitor_voltage0%1000);

		// if (capacitor_voltage0 < EPS_CAP_VOLT_LOW_THRESHOLD_SBC)
		// {
		// 	printf("[EPS] CAP#%d < %dmV (TODO JIT CHECKPOINT)\r\n", EPS_CAP_ID_SBC, EPS_CAP_VOLT_LOW_THRESHOLD_SBC);
		// 	// TODO: JIT CHECKPOINT
		// 	imc_sbc_power_off();
		// }

		osDelay(DELAY_AFTER_WORK);
	}
#endif

#if (EPS_CAP_VOLT_GPIO)
	/* energy_level: 1~7, and SBC power off when the level is 1 */
	uint8_t	energy_level_prev	= 8;
	uint8_t	energy_level_curr	= 8;

	/* Infinite loop */
	for(;;)
	{
		energy_level_curr = imc_get_energy_level();

		if (energy_level_curr != energy_level_prev)
		{
			printf("[EPS] E Level: %d\r\n",
					energy_level_curr);

			if (energy_level_curr <= EPS_SBC_OFF_LEVEL)
			{
				imc_sbc_power_off();
			}

			energy_level_prev = energy_level_curr;
		}

		osDelay(DELAY_AFTER_WORK);
	}
#endif
  /* USER CODE END 5 */
}

/* USER CODE BEGIN Header_taskSnapRunner */
/**
* @brief Function implementing the taskSnap thread.
* @param argument: Not used
* @retval None
*/
extern uint16_t ilen;
/* USER CODE END Header_taskSnapRunner */
void taskSnapRunner(void *argument)
{
  /* USER CODE BEGIN taskSnapRunner */
  uint32_t trial = 1;
	sc03mpd_ifx_t ifx = {
		.context = (void*)&UART_HANDLER_CAM,
		.sendif  = hal_uart_ifx_send,
		.recvif  = hal_uart_ifx_recv,
	};

	uint8_t error_count = 0;

  /* Infinite loop */
	while (1)
	{
		printf ("\r\n\r\n\r\n#%ld\r\n\r\n", trial);
		trial++;

//		osSemaphoreWait(empty, osWaitForever);

#if EPS_CAP_VOLT_ADC
		SC03MPD_ASSERT(imc_sc03mpd_cap_check (ADC_HANDLER_CAM), "[CAM] FAILED CAP volt", ERROR)
#endif

		/*
		 * 2022. 11. 10. TEST for EPS-SBC-CAM; SBC controls CAM ON/OFF; KETI EPS does NOT wait 2.5s for CAM init.
		 */
		imc_cam_power_on();

		// (M33) moved from imc_sc03mpd_init
		printf("[CAM] wait %dms for boot-up\r\n", DELAY_AFTER_POWERUP);
		osDelay (DELAY_AFTER_POWERUP);
		MX_USART3_UART_Init();
		// (M33) moved from imc_sc03mpd_init

		SC03MPD_ASSERT(imc_sc03mpd_init(&ifx), "[CAM] FAILED init", ERROR)

		/* execute once when change CAM default baudrate */
#if CAM_CHANGE_BAUDRATE
		sc03mpd_set_baud(&ifx, SC03MPD_BDR_115200, 1);	// default: SC03MPD_BDR_38400
		printf ("[CAM] OK change default baudrate");
		while (1)
		{
			osDelay(1);
		}
#endif

#if 0
		/* image capture and download when GPIO pin 1 UP */
		/* wait for GPIO pin 1 UP */
		osEvent event = osMessageGet(queueSnapReqHandle, osWaitForever);
		if (event.status != osEventMessage)
		  continue;

		printf("[CAM] frame capture requested (%lu)\r\n", event.value.v);
#endif

		/*
		 * 2022. 8. 25. fix logical seq. error under V0706 protocol; stop -> read length -> read data -> resume
		 * 2022. 8. 26. simply combine three functions; asked by kylee
		 */
		SC03MPD_ASSERT(imc_sc03mpd_capture(&ifx), "[CAM] FAILED capture", ERROR)

		/*
		 * 2022. 11. 10. TEST for EPS-SBC-CAM
		 */
		imc_cam_power_off();

    imcREQUEST_CHECKPOINT();

		// error_count reset
		error_count = 0;

		/* DO SOMETHING */
#if 0
		if (decodeMyImage((uint8_t*)IMG_RAM_ADDR, ilen, 0, 0, 0, NULL, 1) != DEC_ENON)
			goto ERROR;


//		osSemaphoreRelease(full);
#else
		printf ("[SBC] wait %dms for DO SOMETHING\r\n", DELAY_DO_SOMETHING);
		osDelay(DELAY_DO_SOMETHING);
#endif

		continue;

ERROR:
		/*
		 * 2022. 7. 20. failure --> UART stuck continuously; works only after HW reset
		 * 2022. 8. 25. add USART3 init. and reset fn.; download or capture failure --> normal
		 * 2022. 8. 25. after SC03MPD power off/on, works well after few failures
		 * 2022. 11. 11. start of this while loop, CAM init is called
		 * 2023. 10. 20. add error_count for handling successive errors
		 */
		error_count++;

		printf("[CAM] ERROR HANDLING; CAM OFF > %dms delay > CAM ON\r\n", DELAY_BEFORE_ERR_HANDLING);
		imc_cam_power_off();
//		osSemaphoreRelease(empty);

		osDelay(DELAY_BEFORE_ERR_HANDLING);	//imc_sbc_power_off();

		// ERROR 3 times -> SBC reboot
		if (error_count >= CAM_ERROR_COUNT_MAX) {
			error_count = 0;

			printf("[CAM] %d ERRORs continue and SBC OFF\r\n", CAM_ERROR_COUNT_MAX);
			imc_sbc_power_off();

			osDelay(DELAY_DO_SOMETHING);
		}

		continue;
	}
#if 0
EXIT:
	osDelay(1000);
	osThreadTerminate(NULL);
#endif
  /* USER CODE END taskSnapRunner */
}

/* USER CODE BEGIN Header_taskAIRunner */
/**
* @brief Function implementing the taskAI thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_taskAIRunner */
void taskAIRunner(void *argument)
{
  /* USER CODE BEGIN taskAIRunner */
  /* Infinite loop */
	for(;;)
	{
	  osDelay(DELAY_AFTER_WORK);
	}
  /* USER CODE END taskAIRunner */
}

void taskImcTest(void *argument) {
  int i = 0;
  while(1) {
    osDelay(1000);
    printf("i=%d\r\n", i++);
    imcREQUEST_CHECKPOINT();
  }
}

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM2 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM2) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @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 */