FeatherHAB/wsprhab Changeset - ddd34459834e

Changeset - ddd34459834e

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Ethan Zonca - 10 years ago 2016-03-31 21:20:26
ez@ethanzonca.com

Add GPS code

5 files changed with 69 insertions and 148 deletions:

inc/gps.h

inc/usart.h

src/gps.c

src/main.c

src/usart.c

0 comments (0 inline, 0 general)

inc/gps.h

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@@ @@ -21,48 +21,52 @@ @@
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #ifndef GPS_H_
 #define GPS_H_
 #include <stdint.h>
 // Hardware config
 #define GPS_USART USART1
+/*#define GPS_USART USART1
 #define GPS_IRQ NVIC_USART1_IRQ
 #define GPS_TX_PIN GPIO_PIN_6
 #define GPS_RX_PIN GPIO_PIN_7
 #define GPS_RXTX_PORT GPIOB
 #define GPS_TX_PORT GPIOB
 #define GPS_TX_PIN GPIO6
 #define GPS_TX_AF GPIO_AF0
 #define GPS_ONOFF_PORT GPIOF
 #define GPS_ONOFF_PIN GPIO_PIN_1
 #define GPS_RX_PORT GPIOB
 #define GPS_RX_PIN GPIO7
 #define GPS_RX_AF GPIO_AF0
 #define GPS_ONOFF_PORT GPIOA
 #define GPS_ONOFF_PIN GPIO1
 #define GPS_ONOFF GPS_ONOFF_PORT, GPS_ONOFF_PIN
+*/
 // Messages (REMOVEME?)
 #define GGA_MESSAGE
 #define RMC_MESSAGE
 #define UKN_MESSAGE
 void gps_poweron(void);
 void gps_poweroff(void);
 void gps_init(void);
 void gps_sendubx(uint8_t* data, uint8_t size);
 char* get_longitudeTrimmed(void);
 char* get_longitudeLSBs(void);
 char* get_latitudeTrimmed(void);
 char* get_latitudeLSBs(void);
 char* get_timestamp(void);
 char* get_gpsaltitude(void);
 char* get_speedKnots(void);
 char* get_course(void);
 char* get_hdop(void);
 char* get_sv(void);
 char* get_dayofmonth(void);
 uint8_t gps_hasfix(void);
-void gps_process(void);
+void parse_gps_transmission(void);
 void XORbyteWithChecksum(uint8_t byte);
 #endif /* GPS_H_ */

inc/usart.h

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 #ifndef __usart_H
 #define __usart_H
 #include "stm32f0xx_hal.h"
 extern UART_HandleTypeDef huart1;
 void MX_USART1_UART_Init(void);
 void uart_init(void);
 UART_HandleTypeDef* uart_gethandle(void);
 #endif

src/gps.c

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 // TODO: Transition to using https://github.com/cuspaceflight/joey-m/blob/master/firmware/gps.c requesting UBX data
 #include "stm32f0xx_hal.h"
 #include <string.h>
 #include "config.h"
 #include "usart.h"
 #include "gps.h"
 /*
 void serial0_sendString(const char* string) {
 	while(*string != 0x00)
+	{
 		usart_send_blocking(USART1, *string);
 		string++;
+	}
+}
 */
 // Circular buffer for incoming data
 uint8_t nmeaBuffer[NMEABUFFER_SIZE];
 // Location of parser in the buffer
 uint8_t nmeaBufferParsePosition = 0;
 // Location of receive byte interrupt in the buffer
 volatile uint16_t nmeaBufferDataPosition = 0;
 // holds the byte ALREADY PARSED. includes starting character
 int bytesReceived = 0;
@@ @@ -35,31 +27,31 @@ int skipBytes = 0; @@
 //used to index data arrays during data collection
 int numBytes = 0;
 //variables to store data from transmission
 //least significant digit is stored at location 0 of arrays
 char tramsmissionType[7];
 void gps_poweron(void)
+{
     // NOTE: pchannel
-    HAL_GPIO_WritePin(GPS_ONOFF, 0);
+    gpio_clear(GPS_ONOFF);
+}
 void gps_poweroff(void)
+{
     // NOTE: pchannel
-    HAL_GPIO_WritePin(GPS_ONOFF, 1);
+    gpio_set(GPS_ONOFF);
+}
 char timestamp[12];	//hhmmss.ss
 char* get_timestamp()
+{
 	return timestamp;
+}
 char latitude[14];	//lllll.lla
 char latitudeTmpTRIM[8];
 char latitudeTmpLSB[4];
 char* get_latitudeTrimmed()
@@ @@ -102,27 +94,27 @@ char* get_sv() @@
 char hdop[6];		//xx.x
 char* get_hdop()
+{
 	return hdop;
+}
 char altitude[10];	//xxxxxx.x
 char* get_gpsaltitude()
+{
 	return altitude;
+}
 //char wgs84Height[8];	//sxxx.x
 //char lastUpdated[8];	//blank - included for testing
 //char stationID[8];	//blank - included for testing
 char wgs84Height[8];	//sxxx.x
 char lastUpdated[8];	//blank - included for testing
 char stationID[8];	//blank - included for testing
 char checksum[3];	//xx
 char knots[8];		//xxx.xx
 char* get_speedKnots()
+{
 	return knots;
+}
 char course[8];		//xxx.x
 char* get_course()
+{
 	return course;
@@ @@ -171,155 +163,89 @@ enum decodeState { @@
 	RMC_LATITUDE,
 	RMC_LONGITUDE,
 	RMC_KNOTS,
 	RMC_COURSE,
 	RMC_DATE,
 	RMC_MAG_VARIATION,
 }decodeState;
 void usart1_isr(void)
+{
 //	uint8_t recv = usart_recv(GPS_USART);
 //    HAL_UART_Receive(huart1, uint8_t *pData, uint16_t Size, uint32_t Timeout);
 	uint8_t recv = usart_recv(GPS_USART);
 	//ECHO debug: usart_send_blocking(GPS_USART, recv);
-//	nmeaBuffer[nmeaBufferDataPosition % NMEABUFFER_SIZE] = recv;
 	nmeaBuffer[nmeaBufferDataPosition % NMEABUFFER_SIZE] = recv;
 	nmeaBufferDataPosition = (nmeaBufferDataPosition + 1) % NMEABUFFER_SIZE;
+}
 UART_HandleTypeDef huart1;
 DMA_HandleTypeDef hdma_usart1_rx;
 DMA_HandleTypeDef hdma_usart1_tx;
 void gps_init()
+{
     uart_init();
     timestamp[0] = 0x00;
     latitude[0] = 0x00;
     longitude[0] = 0x00;
     numSatellites[0] = 0x00;
     hdop[0] = 0x00;
     knots[0] = 0x00;
     course[0] = 0x00;
     dayofmonth[0] = 0x00;
     // Initialize GPS pins
     __GPIOF_CLK_ENABLE();
     GPIO_InitTypeDef GPIO_InitStruct;
     GPIO_InitStruct.Pin = GPS_ONOFF_PIN;
     GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
     HAL_GPIO_Init(GPS_ONOFF_PORT, &GPIO_InitStruct);
     __USART1_CLK_ENABLE();
     GPIO_InitStruct.Pin = GPS_TX_PIN|GPS_RX_PIN;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_PULLUP;
     GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF0_USART1;
     HAL_GPIO_Init(GPS_RXTX_PORT, &GPIO_InitStruct);
 /*
     hdma_usart1_rx.Instance = DMA1_Channel3;
     hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
     hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
     hdma_usart1_rx.Init.MemInc = DMA_MINC_DISABLE;
     hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
     hdma_usart1_rx.Init.Mode = DMA_CIRCULAR;
     hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
     HAL_DMA_Init(&hdma_usart1_rx);
     __HAL_LINKDMA(huart,hdmarx,hdma_usart1_rx);
     hdma_usart1_tx.Instance = DMA1_Channel2;
     hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
     hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
     hdma_usart1_tx.Init.MemInc = DMA_MINC_DISABLE;
     hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
     hdma_usart1_tx.Init.Mode = DMA_NORMAL;
     hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
     HAL_DMA_Init(&hdma_usart1_tx);
     __HAL_LINKDMA(huart,hdmatx,hdma_usart1_tx);
 */
 //    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
 //    HAL_NVIC_EnableIRQ(USART1_IRQn);
     huart1.Instance = USART1;
     huart1.Init.BaudRate = 9600;
     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_ONEBIT_SAMPLING_DISABLED ;
     huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
     HAL_UART_Init(&huart1);
     gps_poweron();
     HAL_Delay(100); // Make sure GPS is awake and alive
     // Disable GLONASS mode
     uint8_t disable_glonass[20] = {0xB5, 0x62, 0x06, 0x3E, 0x0C, 0x00, 0x00, 0x00, 0x20, 0x01, 0x06, 0x08, 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01, 0x8F, 0xB2};
     gps_sendubx(disable_glonass, 20);
     // Enable power saving
     uint8_t enable_powersave[10] = {0xB5, 0x62, 0x06, 0x11, 0x02, 0x00, 0x08, 0x01, 0x22, 0x92};
     gps_sendubx(enable_powersave, 10);
     // Set dynamic model 6 (<1g airborne platform)
     uint8_t airborne_model[] = { 0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC };
     gps_sendubx(airborne_model, sizeof(airborne_model)/sizeof(uint8_t));
+}
 void gps_sendubx(uint8_t* dat, uint8_t size)
+{
     HAL_UART_Transmit(&huart1, dat, size, 100);
     uint8_t sendctr;
     for(sendctr = 0; sendctr < size; sendctr++)
+    {
         usart_send(GPS_USART, dat[sendctr]);
+    }
+}
 // Could inline if program space available
 static void setParserState(uint8_t state)
+{
 	decodeState = state;
 	// If resetting, clear vars
 	if(state == INITIALIZE)
+	{
 		calculatedChecksum = 0;
+	}
 	// Every time we change state, we have parsed a byte
 	nmeaBufferParsePosition = (nmeaBufferParsePosition + 1) % NMEABUFFER_SIZE;
+}
 //// MKa GPS transmission parser START
-void gps_process(void){
+void parse_gps_transmission(void){
 	// Pull byte off of the buffer
 	char byte;
 	while(nmeaBufferDataPosition != nmeaBufferParsePosition)
+	{
 		byte = nmeaBuffer[nmeaBufferParsePosition];
 		if(decodeState == INITIALIZE) //start of transmission sentence
+		{
 			if(byte == '$')
+			{
@@ @@ -521,66 +447,66 @@ void gps_process(void){ @@
+		}
 		//WGS84 Height
 		else if (decodeState == GGA_WGS84)
+		{
 			if (byte == ',' && skipBytes == 0) //discard this byte
+			{
 				skipBytes = 1;
 				setParserState(GGA_WGS84);
+			}
 			else if(byte == ',') //end of this data type
+			{
-				//wgs84Height[numBytes] = 0x00;
 				wgs84Height[numBytes] = 0x00;
 				setParserState(GGA_LAST_UPDATE);
 				skipBytes = 0; //prep for next phase of parse
 				numBytes = 0;
+			}
 			else //store data
+			{
-				//wgs84Height[numBytes] = byte; //adjust number of bytes to fit array
 				wgs84Height[numBytes] = byte; //adjust number of bytes to fit array
 				numBytes++;
 				setParserState(GGA_WGS84);
+			}
+		}
 		//last GGA DGPS update
 		else if (decodeState == GGA_LAST_UPDATE)
+		{
 			if (byte == ',') //end of this data type
+			{
-				//lastUpdated[numBytes] = 0x00;
 				lastUpdated[numBytes] = 0x00;
 				setParserState(GGA_STATION_ID);
 				numBytes = 0; //prep for next phase of parse
+			}
 			else //store data - this should be blank
+			{
-				//lastUpdated[numBytes] = byte; //adjust number of bytes to fit array
 				lastUpdated[numBytes] = byte; //adjust number of bytes to fit array
 				numBytes++;
 				setParserState(GGA_LAST_UPDATE);
+			}
+		}
 		//GGA DGPS station ID
 		else if (decodeState == GGA_STATION_ID)
+		{
 			if (byte == ',' || byte == '*') //end of this data type
+			{
-				//stationID[numBytes] = 0x00;
 				stationID[numBytes] = 0x00;
 				setParserState(GPS_CHECKSUM);
 				numBytes = 0; //prep for next phase of parse
+			}
 			else //store data - this should be blank
+			{
-				//stationID[numBytes] = byte; //adjust number of bytes to fit array
 				stationID[numBytes] = byte; //adjust number of bytes to fit array
 				numBytes++;
 				setParserState(GGA_STATION_ID);
+			}
+		}
 		///parses GGA transmissions END
 		/// $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh
 		///parses RMC transmissions
 		//time
 		// emz: commented setter, GMC time better?
 		else if(decodeState == RMC_TIME)
+		{

src/main.c

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@@ @@ -79,48 +79,47 @@ void encode_wspr(void) @@
 TIM_HandleTypeDef htim1;
 int main(void)
+{
     HAL_Init();
     sysclk_init();
     gpio_init();
     dma_init();
     adc_init();
     i2c_init();
     gps_init();
     // Disable ICs
     HAL_GPIO_WritePin(OSC_NOTEN, 1);
     HAL_GPIO_WritePin(TCXO_EN, 0);
     // Start timer for WSPR
     __TIM1_CLK_ENABLE();
     htim1.Instance = TIM1;
     htim1.Init.Prescaler = 512; // gives 64uS ticks from 8MHz ahbclk
     htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
     htim1.Init.Period = ctc; // Count up to this value (how many 64uS ticks per symbol)
     htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
     htim1.Init.RepetitionCounter = 0;
     HAL_TIM_Base_Init(&htim1);
     HAL_TIM_Base_Start_IT(&htim1);
     HAL_NVIC_SetPriority(TIM1_BRK_UP_TRG_COM_IRQn, 0, 0);
     HAL_NVIC_EnableIRQ(TIM1_BRK_UP_TRG_COM_IRQn);
     HAL_Delay(100);
 //    MX_USART1_UART_Init();
     jtencode_init();
     //gps_init();
     uint32_t led_timer = HAL_GetTick();
     uint32_t last_gps  = HAL_GetTick();
     uint32_t last_wspr  = 0xfffff; // start immediately.
     HAL_GPIO_TogglePin(LED_BLUE);
     HAL_Delay(100);
     HAL_GPIO_TogglePin(LED_BLUE);
     HAL_Delay(100);
     HAL_GPIO_TogglePin(LED_BLUE);
@@ @@ -130,58 +129,57 @@ int main(void) @@
     while (1)
+    {
         if(HAL_GetTick() - last_wspr > 120000)
+        {
             encode_wspr();
             last_wspr = HAL_GetTick();
+        }
         if(HAL_GetTick() - led_timer > 100)
+        {
             HAL_GPIO_TogglePin(LED_BLUE);
+//            HAL_GPIO_TogglePin(LED_BLUE);
             led_timer = HAL_GetTick();
+        }
         if(HAL_GetTick() - last_gps > 3000)
+        {
 //            gps_process();
             last_gps = HAL_GetTick();
+        }
         enter_sleep();
+    }
+}
 void enter_sleep(void)
+{
     //HAL_SuspendTick();
     HAL_TIM_Base_Stop_IT(&htim1);
     HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
     HAL_TIM_Base_Start_IT(&htim1);
     //HAL_ResumeTick();
+}
 void enter_deepsleep(void)
+{
     // Request to enter STOP mode with regulator in low power mode
     HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
     // After wake-up from STOP reconfigure the PLL
     sysclk_init();
+}
 // Initialize system clocks
 void sysclk_init(void)
+{
     RCC_OscInitTypeDef RCC_OscInitStruct;
     RCC_ClkInitTypeDef RCC_ClkInitStruct;
     RCC_PeriphCLKInitTypeDef PeriphClkInit;
     RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_HSI14;
     RCC_OscInitStruct.HSIState = RCC_HSI_ON;
     RCC_OscInitStruct.HSI14State = RCC_HSI14_ON;
     RCC_OscInitStruct.HSICalibrationValue = 16;
     RCC_OscInitStruct.HSI14CalibrationValue = 16;

src/usart.c

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 #include "stm32f0xx_hal.h"
 #include "usart.h"
+#include "config.h"
 #include "gpio.h"
 #include "dma.h"
 /* USER CODE BEGIN 0 */
 /* USER CODE END 0 */
 //UART_HandleTypeDef huart1;
 //DMA_HandleTypeDef hdma_usart1_rx;
 //DMA_HandleTypeDef hdma_usart1_tx;
 /* USART1 init function */
 /*
 void MX_USART1_UART_Init(void)
+{
 UART_HandleTypeDef huart1;
 DMA_HandleTypeDef hdma_usart1_rx;
 DMA_HandleTypeDef hdma_usart1_tx;
   huart1.Instance = USART1;
   huart1.Init.BaudRate = 9600;
   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_ONEBIT_SAMPLING_DISABLED ;
   huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
   HAL_UART_Init(&huart1);
+}
 */
 /*
 void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 void uart_init(void)
+{
   GPIO_InitTypeDef GPIO_InitStruct;
   if(huart->Instance==USART1)
+  {
     __USART1_CLK_ENABLE();
     GPIO_InitTypeDef GPIO_InitStruct;
     // Init gpio pins for uart
     GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_PULLUP;
     GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF0_USART1;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
     // Init UART periph
     huart1.Instance = USART1;
     huart1.Init.BaudRate = GPS_BAUDRATE;
     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_ONEBIT_SAMPLING_DISABLED ;
     huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
     HAL_UART_Init(&huart1);
  /* // Init UART DMA
     hdma_usart1_rx.Instance = DMA1_Channel3;
     hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
     hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
     hdma_usart1_rx.Init.MemInc = DMA_MINC_DISABLE;
     hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
     hdma_usart1_rx.Init.Mode = DMA_CIRCULAR;
     hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
     HAL_DMA_Init(&hdma_usart1_rx);
     __HAL_LINKDMA(huart,hdmarx,hdma_usart1_rx);
     hdma_usart1_tx.Instance = DMA1_Channel2;
     hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
     hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
     hdma_usart1_tx.Init.MemInc = DMA_MINC_DISABLE;
     hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
     hdma_usart1_tx.Init.Mode = DMA_NORMAL;
     hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
     HAL_DMA_Init(&hdma_usart1_tx);
     __HAL_LINKDMA(huart,hdmatx,hdma_usart1_tx);
+*/
     HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
     HAL_NVIC_EnableIRQ(USART1_IRQn);
+  }
+}
 */
 UART_HandleTypeDef* uart_gethandle(void)
+{
     return &huart1;
+}

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