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restructuring
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F0:F030,F042,F072/3steppersLB/hardware.h
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/*
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* This file is part of the 3steppers project.
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* Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#ifndef __HARDWARE_H__
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#define __HARDWARE_H__
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#include <stm32f0.h>
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// PCLK frequency
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#ifndef PCLK
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#define PCLK (48000000)
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#endif
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// motors' timer PSC = PCLK/Tfreq - 1, Tfreq=16MHz
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#define MOTORTIM_PSC (2)
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// minimal ARR value - 99 for 5000 steps per second @ 32 microsteps/step
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#define MOTORTIM_ARRMIN (99)
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// default CAN bus speed in kbaud
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#define DEFAULT_CAN_SPEED (250)
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#define CONCAT(a,b) a ## b
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#define STR_HELPER(s) #s
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#define STR(s) STR_HELPER(s)
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/** Pinout:
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---- Motors' encoders ---------------
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PA0 Enc2a (motor2 encoder) - TIM2CH1/2 [AF2]
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PA1 Enc2b [AF2]
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PA8 Enc1a (motor1 encoder) - TIM1CH1/2 [AF2]
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PA9 Enc1b [AF2]
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PB4 Enc3a (motor3 encoder) - TIM3CH1/2 [AF1]
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PB5 Enc3b [AF1]
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---- Motors' clocks + PWM -----------
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PA2 CLK1 (motor1 clock) - TIM15CH1 [AF0]
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PA4 CLK2 (motor2 clock) - TIM14CH1 [AF4]
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PA6 CLK3 (motor3 clock) - TIM16CH1 [AF5]
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PA7 PWM (opendrain PWM, up to 12V) - TIM17CH1 [AF5]
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---- GPIO out (push-pull) -----------
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PB0 ~EN1 (motor1 not enable)
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PB1 DIR1 (motor1 direction)
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PB2 ~EN2 (motor2 not enable)
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PB3 Buzzer (external buzzer or other non-inductive opendrain load up to 12V)
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PB10 DIR2 (motor2 direction)
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PB11 ~EN3 (motor3 not enable)
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PB12 DIR3 (motor3 direction)
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PB13 Ext0 (3 external outputs: 5V, up to 20mA)
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PB14 Ext1
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PB15 Ext2
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PF0 Relay (10A 250VAC, 10A 30VDC)
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---- GPIO in -----------------------
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PA10 BTN1 (user button 1) - pullup
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PA13 BTN2 (user button 2) - pullup
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PA14 BTN3 (user button 3) - pullup
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PA15 BTN4 (user button 4) - pullup
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PC13 ESW1 (motor1 zero limit switch) - pulldown
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PC14 ESW2 (motor2 zero limit switch) - pulldown
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PC15 ESW3 (motor3 zero limit switch) - pulldown
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---- ADC ----------------------------
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PA3 ADC1 (ADC1 in, 0-3.3V) [ADC3]
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PA5 ADC2 (ADC2 in, 0-3.3V) [ADC5]
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---- USB ----------------------------
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PA11 USBDM
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PA12 USBDP
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---- I2C ----------------------------
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PB6 I2C SCL (external I2C bus, have internal pullups of 4.7kOhm to +3.3V) - I2C1 [AF1]
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PB7 I2C SDA [AF1]
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---- CAN ----------------------------
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PB8 CAN Rx (external CAN bus, with local galvanic isolation) [AF4]
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PB9 CAN Tx [AF4]
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COMMON setup:
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PORT FN AFR[1]idx
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PA0 AF2
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PA1 AF2
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PA2 AF0
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PA3 AI
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PA4 AF4
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PA5 AI
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PA6 AF5
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PA7 AF5
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PA8 AF2 0
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PA9 AF2 1
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PA10 PU
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PA11 USB
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PA12 USB
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PA13 PU
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PA14 PU
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PA15 PU
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PB0 PP
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PB1 PP
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PB2 PP
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PB3 PP
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PB4 AF1
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PB5 AF1
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PB6 AF1
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PB7 AF1
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PB8 CAN
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PB9 CAN
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PB10 PP
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PB11 PP
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PB12 PP
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PB13 PP
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PB14 PP
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PB15 PP
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PC13 PD
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PC14 PD
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PC15 PD
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PF0 PP
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**/
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// buzzer
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#define BUZZERport (GPIOB)
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#define BUZZERpin (1<<3)
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// relay
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#define RELAYport (GPIOF)
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#define RELAYpin (1<<0)
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// ON(RELAY), OFF(BUZZER) etc
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#define ON(x) do{pin_set(CONCAT(x, port), CONCAT(x, pin));}while(0)
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#define OFF(x) do{pin_clear(CONCAT(x, port), CONCAT(x, pin));}while(0)
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#define TGL(x) do{pin_toggle(CONCAT(x, port), CONCAT(x, pin));}while(0)
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#define CHK(x) (pin_read(CONCAT(x, port), CONCAT(x, pin)))
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// max value of PWM
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#define PWMMAX (255)
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// max index of PWM channels
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#define PWMCHMAX (0)
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#define PWMset(val) do{TIM17->CCR1 = val;}while(0)
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#define PWMget() (TIM17->CCR1)
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// extpins amount
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#define EXTNO (3)
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extern volatile GPIO_TypeDef *EXTports[EXTNO];
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extern const uint32_t EXTpins[EXTNO];
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#define EXT_SET(x) do{ pin_set(EXTports[x], EXTpins[x]); }while(0)
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#define EXT_CLEAR(x) do{ pin_clear(EXTports[x], EXTpins[x]); }while(0)
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#define EXT_TOGGLE(x) do{ pin_toggle(EXTports[x], EXTpins[x]); }while(0)
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#define EXT_CHK(x) (pin_read(EXTports[x], EXTpins[x]))
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// Buttons amount
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#define BTNSNO (4)
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// Buttons ports & pins
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extern volatile GPIO_TypeDef *BTNports[BTNSNO];
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extern const uint32_t BTNpins[BTNSNO];
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// state 1 - pressed, 0 - released (pin active is zero)
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#define BTN_state(x) ((BTNports[x]->IDR & BTNpins[x]) ? 0 : 1)
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// Limit switches
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#define ESWNO (3)
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// ESW ports & pins
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extern volatile GPIO_TypeDef *ESWports[ESWNO];
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extern const uint32_t ESWpins[ESWNO];
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// motors
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#define MOTORSNO (3)
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extern volatile GPIO_TypeDef *ENports[MOTORSNO];
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extern const uint32_t ENpins[MOTORSNO];
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#define MOTOR_EN(x) do{ pin_clear(ENports[x], ENpins[x]); }while(0)
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#define MOTOR_DIS(x) do{ pin_set(ENports[x], ENpins[x]); }while(0)
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extern volatile GPIO_TypeDef *DIRports[MOTORSNO];
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extern const uint32_t DIRpins[MOTORSNO];
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#define MOTOR_CW(x) do{ pin_set(DIRports[x], DIRpins[x]); }while(0)
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#define MOTOR_CCW(x) do{ pin_clear(DIRports[x], DIRpins[x]); }while(0)
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// interval of velocity checking (10ms)
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#define MOTCHKINTERVAL (10)
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// maximal ticks of encoder per step
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#define MAXENCTICKSPERSTEP (100)
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// amount of full steps per revolution
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#define STEPSPERREV (200)
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extern volatile uint32_t Tms;
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// timers of motors
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extern volatile TIM_TypeDef *mottimers[];
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// timers for encoders
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extern volatile TIM_TypeDef *enctimers[];
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uint8_t ESW_state(uint8_t x);
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void gpio_setup();
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void iwdg_setup();
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void timers_setup();
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void pause_ms(uint32_t pause);
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void Jump2Boot();
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uint8_t MSB(uint16_t val);
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#endif // __HARDWARE_H__
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