dos2unix1.0

10 files changed, 1866 insertions, 1866 deletions

diff --git a/inc/actuators.h b/inc/actuators.h
index c507330..3283fbd 100644
--- a/inc/actuators.h
+++ b/inc/actuators.h
@@ -1,70 +1,70 @@
-/******************************************************************************

- *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *

- *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *

- *	SPDX-License-Identifier:	GPL-2.0-only			      *

- ******************************************************************************/

-

-/**

- *	@file		actuators.h

- *	@author		Colomar Andrés, Alejandro

- *	@author		García Pedroche, Francisco Javier

- *	@copyright	GPL-2.0-only

- *	@date		2018/dec/26

- *	@brief		Actuators

- */

-

-

-/******************************************************************************

- ******* include guard ********************************************************

- ******************************************************************************/

-# ifndef		ACTUATORS_H

-	# define	ACTUATORS_H

-

-

-/******************************************************************************

- ******* headers **************************************************************

- ******************************************************************************/

-/* Standard C ----------------------------------------------------------------*/

-/* Drivers -------------------------------------------------------------------*/

-/* libalx --------------------------------------------------------------------*/

-/* STM32L4 modules -----------------------------------------------------------*/

-

-

-/******************************************************************************

- ******* macros ***************************************************************

- ******************************************************************************/

-	# define	REFRESH_FREQ	(50u)

-

-

-/******************************************************************************

- ******* enums ****************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* structs **************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* variables ************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* functions ************************************************************

- ******************************************************************************/

-int	proc_actuators_init	(void);

-int	proc_actuators_1	(void);

-int	proc_actuators_2	(void);

-

-

-/******************************************************************************

- ******* include guard ********************************************************

- ******************************************************************************/

-# endif			/* actuators.h */

-

-

-/******************************************************************************

- ******* end of file **********************************************************

- ******************************************************************************/

+/******************************************************************************
+ *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *
+ *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *
+ *	SPDX-License-Identifier:	GPL-2.0-only			      *
+ ******************************************************************************/
+
+/**
+ *	@file		actuators.h
+ *	@author		Colomar Andrés, Alejandro
+ *	@author		García Pedroche, Francisco Javier
+ *	@copyright	GPL-2.0-only
+ *	@date		2018/dec/26
+ *	@brief		Actuators
+ */
+
+
+/******************************************************************************
+ ******* include guard ********************************************************
+ ******************************************************************************/
+# ifndef		ACTUATORS_H
+	# define	ACTUATORS_H
+
+
+/******************************************************************************
+ ******* headers **************************************************************
+ ******************************************************************************/
+/* Standard C ----------------------------------------------------------------*/
+/* Drivers -------------------------------------------------------------------*/
+/* libalx --------------------------------------------------------------------*/
+/* STM32L4 modules -----------------------------------------------------------*/
+
+
+/******************************************************************************
+ ******* macros ***************************************************************
+ ******************************************************************************/
+	# define	REFRESH_FREQ	(50u)
+
+
+/******************************************************************************
+ ******* enums ****************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* structs **************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* variables ************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* functions ************************************************************
+ ******************************************************************************/
+int	proc_actuators_init	(void);
+int	proc_actuators_1	(void);
+int	proc_actuators_2	(void);
+
+
+/******************************************************************************
+ ******* include guard ********************************************************
+ ******************************************************************************/
+# endif			/* actuators.h */
+
+
+/******************************************************************************
+ ******* end of file **********************************************************
+ ******************************************************************************/
diff --git a/inc/ctrl.h b/inc/ctrl.h
index 6bbad56..80bd956 100644
--- a/inc/ctrl.h
+++ b/inc/ctrl.h
@@ -1,70 +1,70 @@
-/******************************************************************************

- *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *

- *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *

- *	SPDX-License-Identifier:	GPL-2.0-only			      *

- ******************************************************************************/

-

-/**

- *	@file		ctrl.h

- *	@author		Colomar Andrés, Alejandro

- *	@author		García Pedroche, Francisco Javier

- *	@copyright	GPL-2.0-only

- *	@date		2018/dec/26

- *	@brief		Control

- */

-

-

-/******************************************************************************

- ******* include guard ********************************************************

- ******************************************************************************/

-# ifndef		CTRL_H

-	# define	CTRL_H

-

-

-/******************************************************************************

- ******* headers **************************************************************

- ******************************************************************************/

-/* Standard C ----------------------------------------------------------------*/

-/* Drivers -------------------------------------------------------------------*/

-/* libalx --------------------------------------------------------------------*/

-/* STM32L4 modules -----------------------------------------------------------*/

-

-

-/******************************************************************************

- ******* macros ***************************************************************

- ******************************************************************************/

-	# define	REFRESH_FREQ	(50u)

-

-

-/******************************************************************************

- ******* enums ****************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* structs **************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* variables ************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* functions ************************************************************

- ******************************************************************************/

-int	proc_ctrl_init	(void);

-int	proc_ctrl_1	(void);

-int	proc_ctrl_2	(void);

-

-

-/******************************************************************************

- ******* include guard ********************************************************

- ******************************************************************************/

-# endif			/* ctrl.h */

-

-

-/******************************************************************************

- ******* end of file **********************************************************

- ******************************************************************************/

+/******************************************************************************
+ *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *
+ *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *
+ *	SPDX-License-Identifier:	GPL-2.0-only			      *
+ ******************************************************************************/
+
+/**
+ *	@file		ctrl.h
+ *	@author		Colomar Andrés, Alejandro
+ *	@author		García Pedroche, Francisco Javier
+ *	@copyright	GPL-2.0-only
+ *	@date		2018/dec/26
+ *	@brief		Control
+ */
+
+
+/******************************************************************************
+ ******* include guard ********************************************************
+ ******************************************************************************/
+# ifndef		CTRL_H
+	# define	CTRL_H
+
+
+/******************************************************************************
+ ******* headers **************************************************************
+ ******************************************************************************/
+/* Standard C ----------------------------------------------------------------*/
+/* Drivers -------------------------------------------------------------------*/
+/* libalx --------------------------------------------------------------------*/
+/* STM32L4 modules -----------------------------------------------------------*/
+
+
+/******************************************************************************
+ ******* macros ***************************************************************
+ ******************************************************************************/
+	# define	REFRESH_FREQ	(50u)
+
+
+/******************************************************************************
+ ******* enums ****************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* structs **************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* variables ************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* functions ************************************************************
+ ******************************************************************************/
+int	proc_ctrl_init	(void);
+int	proc_ctrl_1	(void);
+int	proc_ctrl_2	(void);
+
+
+/******************************************************************************
+ ******* include guard ********************************************************
+ ******************************************************************************/
+# endif			/* ctrl.h */
+
+
+/******************************************************************************
+ ******* end of file **********************************************************
+ ******************************************************************************/
diff --git a/src/actuators.c b/src/actuators.c
index e4f8efa..d4c7e1d 100644
--- a/src/actuators.c
+++ b/src/actuators.c
@@ -1,240 +1,240 @@
-/******************************************************************************

- *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *

- *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *

- *	SPDX-License-Identifier:	GPL-2.0-only			      *

- ******************************************************************************/

-

-/**

- *	@file		actuators.c

- *	@author		Colomar Andrés, Alejandro

- *	@author		García Pedroche, Francisco Javier

- *	@copyright	GPL-2.0-only

- *	@date		2018/dec/26

- *	@brief		Actuators

- *		Set the actuators of the plane to the position received by CAN

- */

-

-

-/******************************************************************************

- ******* headers **************************************************************

- ******************************************************************************/

-/* Standard C ----------------------------------------------------------------*/

-	#include <stdbool.h>

-	#include <stddef.h>

-	#include <stdint.h>

-/* Drivers -------------------------------------------------------------------*/

-	#include "stm32l4xx_hal.h"

-/* libalx --------------------------------------------------------------------*/

-	#include "libalx/alx_math.h"

-/* STM32L4 modules -----------------------------------------------------------*/

-	#include "can.h"

-	#include "delay.h"

-	#include "errors.h"

-	#include "led.h"

-	#include "servo.h"

-	#include "tim.h"

-/* Project -------------------------------------------------------------------*/

-	#include "actuators.h"

-

-

-/******************************************************************************

- ******* macros ***************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* enums ****************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* structs **************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* variables ************************************************************

- ******************************************************************************/

-/* Volatile ------------------------------------------------------------------*/

-/* Global --------------------------------------------------------------------*/

-/* Static --------------------------------------------------------------------*/

-static	float	pitch;

-static	float	roll;

-static	float	yaw;

-

-

-/******************************************************************************

- ******* static functions (prototypes) ****************************************

- ******************************************************************************/

-static	int	modules_init		(void);

-#if 0

-static	int	proc_init		(void);

-#endif

-static	int	proc_ref_read		(void *data);

-static	int	proc_actuators_set	(void *data);

-

-

-/******************************************************************************

- ******* global functions *****************************************************

- ******************************************************************************/

-	/**

-	 * @brief	Initialize actuators process

-	 * @return	Error

-	 * @note	Sets global variable 'prj_error'

-	 */

-int	proc_actuators_init	(void)

-{

-	if (modules_init()) {

-		return	ERROR_NOK;

-	}

-

-#if 0

-	if (proc_init()) {

-		return	ERROR_NOK;

-	}

-#endif

-

-	return	ERROR_OK;

-}

-

-	/**

-	 * @brief	Run actuators process (based on timer interrupts)

-	 * @return	Error

-	 * @note	Sets global variable 'prj_error'

-	 */

-int	proc_actuators_1	(void)

-{

-	while (true) {

-		__WFE();

-		if (tim_tim3_interrupt) {

-			if (tim_callback_exe()) {

-				prj_error_handle();

-				return	ERROR_NOK;

-			}

-			tim_tim3_interrupt	= false;

-		}

-	}

-

-	return	ERROR_OK;

-}

-

-	/**

-	 * @brief	Run actuators process (based on delays)

-	 * @return	Error

-	 * @note	Sets global variable 'prj_error'

-	 */

-int	proc_actuators_2	(void)

-{

-	delay_us(1000u);

-

-	while (true) {

-		delay_us(20000u);

-

-		if (!proc_ref_read(NULL)) {

-			if (proc_actuators_set(NULL)) {

-				return	ERROR_NOK;

-			}

-		}

-	}

-

-	return	ERROR_OK;

-}

-

-

-/******************************************************************************

- ******* static functions (definitions) ***************************************

- ******************************************************************************/

-static	int	modules_init		(void)

-{

-#if 0

-	if (tim_tim3_init(REFRESH_FREQ)) {

-		return	ERROR_NOK;

-	}

-#endif

-	if (delay_us_init()) {

-		return	ERROR_NOK;

-	}

-	if (can_init()) {

-		return	ERROR_NOK;

-	}

-	if (servo_init()) {

-		return	ERROR_NOK;

-	}

-

-	return	ERROR_OK;

-}

-

-#if 0

-static	int	proc_init		(void)

-{

-	if (tim_callback_push(&proc_ref_read, NULL)) {

-		return	ERROR_NOK;

-	}

-	if (tim_callback_push(&proc_actuators_set, NULL)) {

-		return	ERROR_NOK;

-	}

-

-	return	ERROR_OK;

-}

-#endif

-

-static	int	proc_ref_read		(void *data)

-{

-	int8_t	plane_pos [CAN_DATA_LEN];

-

-	(void)data;

-

-	if (can_msg_read((uint8_t *)plane_pos)) {

-		return	ERROR_NOK;

-	}

-

-	pitch	= plane_pos[0];

-	roll	= plane_pos[1];

-	yaw	= plane_pos[2];

-

-	return	ERROR_OK;

-}

-

-static	int	proc_actuators_set	(void *data)

-{

-	float	tmp;

-

-	(void)data;

-

-	tmp	= alx_scale_linear_f(pitch, -40, 40, -90, 90);

-	if (servo_position_set(SERVO_S1, tmp)) {

-		return	ERROR_NOK;

-	}

-

-	tmp	= alx_scale_linear_f(roll, -35, 35, -90, -20);

-	if (servo_position_set(SERVO_S2, tmp)) {

-		return	ERROR_NOK;

-	}

-

-	if (yaw > 0) {

-		if (servo_position_set(SERVO_S3, 90)) {

-			return	ERROR_NOK;

-		}

-

-		tmp	= alx_scale_linear_f(yaw, 0, 10, -90, 90);

-		if (servo_position_set(SERVO_S4, tmp)) {

-			return	ERROR_NOK;

-		}

-	} else {

-		tmp	= alx_scale_linear_f(yaw, -10, 0, -90, 90);

-		if (servo_position_set(SERVO_S3, tmp)) {

-			return	ERROR_NOK;

-		}

-

-		if (servo_position_set(SERVO_S4, -90)) {

-			return	ERROR_NOK;

-		}

-	}

-

-	return	ERROR_OK;

-}

-

-

-/******************************************************************************

- ******* end of file **********************************************************

- ******************************************************************************/

+/******************************************************************************
+ *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *
+ *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *
+ *	SPDX-License-Identifier:	GPL-2.0-only			      *
+ ******************************************************************************/
+
+/**
+ *	@file		actuators.c
+ *	@author		Colomar Andrés, Alejandro
+ *	@author		García Pedroche, Francisco Javier
+ *	@copyright	GPL-2.0-only
+ *	@date		2018/dec/26
+ *	@brief		Actuators
+ *		Set the actuators of the plane to the position received by CAN
+ */
+
+
+/******************************************************************************
+ ******* headers **************************************************************
+ ******************************************************************************/
+/* Standard C ----------------------------------------------------------------*/
+	#include <stdbool.h>
+	#include <stddef.h>
+	#include <stdint.h>
+/* Drivers -------------------------------------------------------------------*/
+	#include "stm32l4xx_hal.h"
+/* libalx --------------------------------------------------------------------*/
+	#include "libalx/alx_math.h"
+/* STM32L4 modules -----------------------------------------------------------*/
+	#include "can.h"
+	#include "delay.h"
+	#include "errors.h"
+	#include "led.h"
+	#include "servo.h"
+	#include "tim.h"
+/* Project -------------------------------------------------------------------*/
+	#include "actuators.h"
+
+
+/******************************************************************************
+ ******* macros ***************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* enums ****************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* structs **************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* variables ************************************************************
+ ******************************************************************************/
+/* Volatile ------------------------------------------------------------------*/
+/* Global --------------------------------------------------------------------*/
+/* Static --------------------------------------------------------------------*/
+static	float	pitch;
+static	float	roll;
+static	float	yaw;
+
+
+/******************************************************************************
+ ******* static functions (prototypes) ****************************************
+ ******************************************************************************/
+static	int	modules_init		(void);
+#if 0
+static	int	proc_init		(void);
+#endif
+static	int	proc_ref_read		(void *data);
+static	int	proc_actuators_set	(void *data);
+
+
+/******************************************************************************
+ ******* global functions *****************************************************
+ ******************************************************************************/
+	/**
+	 * @brief	Initialize actuators process
+	 * @return	Error
+	 * @note	Sets global variable 'prj_error'
+	 */
+int	proc_actuators_init	(void)
+{
+	if (modules_init()) {
+		return	ERROR_NOK;
+	}
+
+#if 0
+	if (proc_init()) {
+		return	ERROR_NOK;
+	}
+#endif
+
+	return	ERROR_OK;
+}
+
+	/**
+	 * @brief	Run actuators process (based on timer interrupts)
+	 * @return	Error
+	 * @note	Sets global variable 'prj_error'
+	 */
+int	proc_actuators_1	(void)
+{
+	while (true) {
+		__WFE();
+		if (tim_tim3_interrupt) {
+			if (tim_callback_exe()) {
+				prj_error_handle();
+				return	ERROR_NOK;
+			}
+			tim_tim3_interrupt	= false;
+		}
+	}
+
+	return	ERROR_OK;
+}
+
+	/**
+	 * @brief	Run actuators process (based on delays)
+	 * @return	Error
+	 * @note	Sets global variable 'prj_error'
+	 */
+int	proc_actuators_2	(void)
+{
+	delay_us(1000u);
+
+	while (true) {
+		delay_us(20000u);
+
+		if (!proc_ref_read(NULL)) {
+			if (proc_actuators_set(NULL)) {
+				return	ERROR_NOK;
+			}
+		}
+	}
+
+	return	ERROR_OK;
+}
+
+
+/******************************************************************************
+ ******* static functions (definitions) ***************************************
+ ******************************************************************************/
+static	int	modules_init		(void)
+{
+#if 0
+	if (tim_tim3_init(REFRESH_FREQ)) {
+		return	ERROR_NOK;
+	}
+#endif
+	if (delay_us_init()) {
+		return	ERROR_NOK;
+	}
+	if (can_init()) {
+		return	ERROR_NOK;
+	}
+	if (servo_init()) {
+		return	ERROR_NOK;
+	}
+
+	return	ERROR_OK;
+}
+
+#if 0
+static	int	proc_init		(void)
+{
+	if (tim_callback_push(&proc_ref_read, NULL)) {
+		return	ERROR_NOK;
+	}
+	if (tim_callback_push(&proc_actuators_set, NULL)) {
+		return	ERROR_NOK;
+	}
+
+	return	ERROR_OK;
+}
+#endif
+
+static	int	proc_ref_read		(void *data)
+{
+	int8_t	plane_pos [CAN_DATA_LEN];
+
+	(void)data;
+
+	if (can_msg_read((uint8_t *)plane_pos)) {
+		return	ERROR_NOK;
+	}
+
+	pitch	= plane_pos[0];
+	roll	= plane_pos[1];
+	yaw	= plane_pos[2];
+
+	return	ERROR_OK;
+}
+
+static	int	proc_actuators_set	(void *data)
+{
+	float	tmp;
+
+	(void)data;
+
+	tmp	= alx_scale_linear_f(pitch, -40, 40, -90, 90);
+	if (servo_position_set(SERVO_S1, tmp)) {
+		return	ERROR_NOK;
+	}
+
+	tmp	= alx_scale_linear_f(roll, -35, 35, -90, -20);
+	if (servo_position_set(SERVO_S2, tmp)) {
+		return	ERROR_NOK;
+	}
+
+	if (yaw > 0) {
+		if (servo_position_set(SERVO_S3, 90)) {
+			return	ERROR_NOK;
+		}
+
+		tmp	= alx_scale_linear_f(yaw, 0, 10, -90, 90);
+		if (servo_position_set(SERVO_S4, tmp)) {
+			return	ERROR_NOK;
+		}
+	} else {
+		tmp	= alx_scale_linear_f(yaw, -10, 0, -90, 90);
+		if (servo_position_set(SERVO_S3, tmp)) {
+			return	ERROR_NOK;
+		}
+
+		if (servo_position_set(SERVO_S4, -90)) {
+			return	ERROR_NOK;
+		}
+	}
+
+	return	ERROR_OK;
+}
+
+
+/******************************************************************************
+ ******* end of file **********************************************************
+ ******************************************************************************/
diff --git a/src/ctrl.c b/src/ctrl.c
index 8492bde..522c844 100644
--- a/src/ctrl.c
+++ b/src/ctrl.c
@@ -1,269 +1,269 @@
-/******************************************************************************

- *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *

- *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *

- *	SPDX-License-Identifier:	GPL-2.0-only			      *

- ******************************************************************************/

-

-/**

- *	@file		ctrl.c

- *	@author		Colomar Andrés, Alejandro

- *	@author		García Pedroche, Francisco Javier

- *	@copyright	GPL-2.0-only

- *	@date		2018/dec/26

- *	@brief		Control

- *		Read values from the nunchuk, and set from them

- *			- pitch

- *			- roll

- *			- yaw

- *		Send those 3 values through CAN

- */

-

-

-/******************************************************************************

- ******* headers **************************************************************

- ******************************************************************************/

-/* Standard C ----------------------------------------------------------------*/

-	#include <stdbool.h>

-	#include <stddef.h>

-	#include <stdint.h>

-/* Drivers -------------------------------------------------------------------*/

-	#include "stm32l4xx_hal.h"

-/* libalx --------------------------------------------------------------------*/

-	#include "libalx/alx_math.h"

-/* STM32L4 modules -----------------------------------------------------------*/

-	#include "can.h"

-	#include "delay.h"

-	#include "errors.h"

-	#include "led.h"

-	#include "nunchuk.h"

-	#include "tim.h"

-/* Project -------------------------------------------------------------------*/

-	#include "ctrl.h"

-

-

-/******************************************************************************

- ******* macros ***************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* enums ****************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* structs **************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* variables ************************************************************

- ******************************************************************************/

-/* Global --------------------------------------------------------------------*/

-/* Static --------------------------------------------------------------------*/

-static	float	pitch;

-static	float	roll;

-static	float	yaw;

-static	bool	level;

-

-

-/******************************************************************************

- ******* static functions (prototypes) ****************************************

- ******************************************************************************/

-static	int	modules_init		(void);

-#if 0

-static	int	proc_init		(void);

-#endif

-static	int	proc_ctrl_read		(void *data);

-static	int	proc_ctrl_report	(void *data);

-

-

-/******************************************************************************

- ******* global functions *****************************************************

- ******************************************************************************/

-	/**

-	 * @brief	Initialize controller process

-	 * @return	Error

-	 * @note	Sets global variable 'prj_error'

-	 */

-int	proc_ctrl_init	(void)

-{

-	if (modules_init()) {

-		return	ERROR_NOK;

-	}

-

-#if 0

-	if (proc_init()) {

-		return	ERROR_NOK;

-	}

-#endif

-

-	level	= true;

-

-	return	ERROR_OK;

-}

-

-	/**

-	 * @brief	Run controller process (based on timer interrupts)

-	 * @return	Error

-	 * @note	Sets global variable 'prj_error'

-	 */

-int	proc_ctrl_1		(void)

-{

-	while (true) {

-		__WFE();

-		if (tim_tim3_interrupt) {

-			if (tim_callback_exe()) {

-				prj_error_handle();

-				return	ERROR_NOK;

-			}

-			tim_tim3_interrupt	= false;

-		}

-	}

-

-	return	ERROR_OK;

-}

-

-	/**

-	 * @brief	Run controller process (based on delays)

-	 * @return	Error

-	 * @note	Sets global variable 'prj_error'

-	 */

-int	proc_ctrl_2		(void)

-{

-	delay_us(1000u);

-

-	while (true) {

-		delay_us(20000u);

-

-		if (proc_ctrl_read(NULL)) {

-			prj_error_handle();

-			return	ERROR_NOK;

-		}

-

-		if (proc_ctrl_report(NULL)) {

-			prj_error_handle();

-			return	ERROR_NOK;

-		}

-	}

-

-	return	ERROR_OK;

-}

-

-

-/******************************************************************************

- ******* static functions (definitions) ***************************************

- ******************************************************************************/

-static	int	modules_init		(void)

-{

-#if 0

-	if (tim_tim3_init(REFRESH_FREQ)) {

-		return	ERROR_NOK;

-	}

-#endif

-	led_init();

-	if (delay_us_init()) {

-		return	ERROR_NOK;

-	}

-	if (can_init()) {

-		return	ERROR_NOK;

-	}

-

-	if (nunchuk_init()) {

-		return	ERROR_NOK;

-	}

-

-	return	ERROR_OK;

-}

-

-#if 0

-static	int	proc_init		(void)

-{

-	if (tim_callback_push(&proc_ctrl_read, NULL)) {

-		return	ERROR_NOK;

-	}

-	if (tim_callback_push(&proc_ctrl_report, NULL)) {

-		return	ERROR_NOK;

-	}

-

-	return	ERROR_OK;

-}

-#endif

-

-static	int	proc_ctrl_read		(void *data)

-{

-	Nunchuk_Data_s	nunchuk;

-	float		tmp;

-

-	(void)data;

-

-	if (nunchuk_read(&nunchuk)) {

-		return	ERROR_NOK;

-	}

-

-	tmp	= nunchuk.jst.y;

-	pitch	= -alx_scale_linear_f(tmp, 0, UINT8_MAX, -40, 40);

-

-	tmp	= nunchuk.jst.x;

-	roll	= alx_scale_linear_f(tmp, 0, UINT8_MAX, -35, 35);

-

-	tmp	= nunchuk.acc.x8;

-	yaw	= alx_scale_linear_f(tmp, 30, 150, -10, 10);

-

-	level	= nunchuk.btn_c;

-

-	return	ERROR_OK;

-}

-

-static	int	proc_ctrl_report	(void *data)

-{

-	int8_t	plane_pos [CAN_DATA_LEN];

-	int	i;

-

-	(void)data;

-

-	for (i = 3; i < CAN_DATA_LEN; i++) {

-		plane_pos[i]	= 0;

-	}

-

-	if (level) {

-		plane_pos[0]	= 0;

-		plane_pos[1]	= 0;

-		plane_pos[2]	= 0;

-	} else {

-		if (pitch > INT8_MAX) {

-			plane_pos[0]	= INT8_MAX;

-		} else if (pitch < INT8_MIN) {

-			plane_pos[0]	= INT8_MIN;

-		} else {

-			plane_pos[0]	= (int8_t)pitch;

-		}

-

-		if (roll > INT8_MAX) {

-			plane_pos[1]	= INT8_MAX;

-		} else if (roll < INT8_MIN) {

-			plane_pos[1]	= INT8_MIN;

-		} else {

-			plane_pos[1]	= (int8_t)roll;

-		}

-

-		if (yaw > INT8_MAX) {

-			plane_pos[2]	= INT8_MAX;

-		} else if (yaw < INT8_MIN) {

-			plane_pos[2]	= INT8_MIN;

-		} else {

-			plane_pos[2]	= (int8_t)yaw;

-		}

-	}

-

-	if (can_msg_write((uint8_t *)plane_pos)) {

-		return	ERROR_NOK;

-	}

-

-	return	ERROR_OK;

-}

-

-

-/******************************************************************************

- ******* end of file **********************************************************

- ******************************************************************************/

+/******************************************************************************
+ *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *
+ *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *
+ *	SPDX-License-Identifier:	GPL-2.0-only			      *
+ ******************************************************************************/
+
+/**
+ *	@file		ctrl.c
+ *	@author		Colomar Andrés, Alejandro
+ *	@author		García Pedroche, Francisco Javier
+ *	@copyright	GPL-2.0-only
+ *	@date		2018/dec/26
+ *	@brief		Control
+ *		Read values from the nunchuk, and set from them
+ *			- pitch
+ *			- roll
+ *			- yaw
+ *		Send those 3 values through CAN
+ */
+
+
+/******************************************************************************
+ ******* headers **************************************************************
+ ******************************************************************************/
+/* Standard C ----------------------------------------------------------------*/
+	#include <stdbool.h>
+	#include <stddef.h>
+	#include <stdint.h>
+/* Drivers -------------------------------------------------------------------*/
+	#include "stm32l4xx_hal.h"
+/* libalx --------------------------------------------------------------------*/
+	#include "libalx/alx_math.h"
+/* STM32L4 modules -----------------------------------------------------------*/
+	#include "can.h"
+	#include "delay.h"
+	#include "errors.h"
+	#include "led.h"
+	#include "nunchuk.h"
+	#include "tim.h"
+/* Project -------------------------------------------------------------------*/
+	#include "ctrl.h"
+
+
+/******************************************************************************
+ ******* macros ***************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* enums ****************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* structs **************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* variables ************************************************************
+ ******************************************************************************/
+/* Global --------------------------------------------------------------------*/
+/* Static --------------------------------------------------------------------*/
+static	float	pitch;
+static	float	roll;
+static	float	yaw;
+static	bool	level;
+
+
+/******************************************************************************
+ ******* static functions (prototypes) ****************************************
+ ******************************************************************************/
+static	int	modules_init		(void);
+#if 0
+static	int	proc_init		(void);
+#endif
+static	int	proc_ctrl_read		(void *data);
+static	int	proc_ctrl_report	(void *data);
+
+
+/******************************************************************************
+ ******* global functions *****************************************************
+ ******************************************************************************/
+	/**
+	 * @brief	Initialize controller process
+	 * @return	Error
+	 * @note	Sets global variable 'prj_error'
+	 */
+int	proc_ctrl_init	(void)
+{
+	if (modules_init()) {
+		return	ERROR_NOK;
+	}
+
+#if 0
+	if (proc_init()) {
+		return	ERROR_NOK;
+	}
+#endif
+
+	level	= true;
+
+	return	ERROR_OK;
+}
+
+	/**
+	 * @brief	Run controller process (based on timer interrupts)
+	 * @return	Error
+	 * @note	Sets global variable 'prj_error'
+	 */
+int	proc_ctrl_1		(void)
+{
+	while (true) {
+		__WFE();
+		if (tim_tim3_interrupt) {
+			if (tim_callback_exe()) {
+				prj_error_handle();
+				return	ERROR_NOK;
+			}
+			tim_tim3_interrupt	= false;
+		}
+	}
+
+	return	ERROR_OK;
+}
+
+	/**
+	 * @brief	Run controller process (based on delays)
+	 * @return	Error
+	 * @note	Sets global variable 'prj_error'
+	 */
+int	proc_ctrl_2		(void)
+{
+	delay_us(1000u);
+
+	while (true) {
+		delay_us(20000u);
+
+		if (proc_ctrl_read(NULL)) {
+			prj_error_handle();
+			return	ERROR_NOK;
+		}
+
+		if (proc_ctrl_report(NULL)) {
+			prj_error_handle();
+			return	ERROR_NOK;
+		}
+	}
+
+	return	ERROR_OK;
+}
+
+
+/******************************************************************************
+ ******* static functions (definitions) ***************************************
+ ******************************************************************************/
+static	int	modules_init		(void)
+{
+#if 0
+	if (tim_tim3_init(REFRESH_FREQ)) {
+		return	ERROR_NOK;
+	}
+#endif
+	led_init();
+	if (delay_us_init()) {
+		return	ERROR_NOK;
+	}
+	if (can_init()) {
+		return	ERROR_NOK;
+	}
+
+	if (nunchuk_init()) {
+		return	ERROR_NOK;
+	}
+
+	return	ERROR_OK;
+}
+
+#if 0
+static	int	proc_init		(void)
+{
+	if (tim_callback_push(&proc_ctrl_read, NULL)) {
+		return	ERROR_NOK;
+	}
+	if (tim_callback_push(&proc_ctrl_report, NULL)) {
+		return	ERROR_NOK;
+	}
+
+	return	ERROR_OK;
+}
+#endif
+
+static	int	proc_ctrl_read		(void *data)
+{
+	Nunchuk_Data_s	nunchuk;
+	float		tmp;
+
+	(void)data;
+
+	if (nunchuk_read(&nunchuk)) {
+		return	ERROR_NOK;
+	}
+
+	tmp	= nunchuk.jst.y;
+	pitch	= -alx_scale_linear_f(tmp, 0, UINT8_MAX, -40, 40);
+
+	tmp	= nunchuk.jst.x;
+	roll	= alx_scale_linear_f(tmp, 0, UINT8_MAX, -35, 35);
+
+	tmp	= nunchuk.acc.x8;
+	yaw	= alx_scale_linear_f(tmp, 30, 150, -10, 10);
+
+	level	= nunchuk.btn_c;
+
+	return	ERROR_OK;
+}
+
+static	int	proc_ctrl_report	(void *data)
+{
+	int8_t	plane_pos [CAN_DATA_LEN];
+	int	i;
+
+	(void)data;
+
+	for (i = 3; i < CAN_DATA_LEN; i++) {
+		plane_pos[i]	= 0;
+	}
+
+	if (level) {
+		plane_pos[0]	= 0;
+		plane_pos[1]	= 0;
+		plane_pos[2]	= 0;
+	} else {
+		if (pitch > INT8_MAX) {
+			plane_pos[0]	= INT8_MAX;
+		} else if (pitch < INT8_MIN) {
+			plane_pos[0]	= INT8_MIN;
+		} else {
+			plane_pos[0]	= (int8_t)pitch;
+		}
+
+		if (roll > INT8_MAX) {
+			plane_pos[1]	= INT8_MAX;
+		} else if (roll < INT8_MIN) {
+			plane_pos[1]	= INT8_MIN;
+		} else {
+			plane_pos[1]	= (int8_t)roll;
+		}
+
+		if (yaw > INT8_MAX) {
+			plane_pos[2]	= INT8_MAX;
+		} else if (yaw < INT8_MIN) {
+			plane_pos[2]	= INT8_MIN;
+		} else {
+			plane_pos[2]	= (int8_t)yaw;
+		}
+	}
+
+	if (can_msg_write((uint8_t *)plane_pos)) {
+		return	ERROR_NOK;
+	}
+
+	return	ERROR_OK;
+}
+
+
+/******************************************************************************
+ ******* end of file **********************************************************
+ ******************************************************************************/
diff --git a/src/main.c b/src/main.c
index 6b0bc8a..0afb75b 100644
--- a/src/main.c
+++ b/src/main.c
@@ -1,184 +1,184 @@
-/******************************************************************************

- *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *

- *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *

- *	Copyright (C) 2018	Junquera Carrero, Santiago		      *

- *	SPDX-License-Identifier:	GPL-2.0-only			      *

- ******************************************************************************/

-

-/**

- *	@file		main.c

- *	@author		Colomar Andrés, Alejandro

- *	@author		García Pedroche, Francisco Javier

- *	@author		Junquera Carrero, Santiago

- *	@copyright	GPL-2.0-only

- *	@date		2018/dec/15

- *	@brief		Main

- */

-

-

-/******************************************************************************

- ******* headers **************************************************************

- ******************************************************************************/

-/* Standard C ----------------------------------------------------------------*/

-	#include <stdbool.h>

-	#include <stdnoreturn.h>

-

-/* Drivers -------------------------------------------------------------------*/

-	#include "stm32l4xx_hal.h"

-

-/* libalx --------------------------------------------------------------------*/

-/* STM32L4 modules -----------------------------------------------------------*/

-	#include "can.h"

-	#include "clk.h"

-	#include "delay.h"

-	#include "display.h"

-	#include "errors.h"

-	#include "led.h"

-	#include "nunchuk.h"

-	#include "servo.h"

-	#include "tim.h"

-

-	#include "can_test.h"

-	#include "display_test.h"

-	#include "led_test.h"

-	#include "nunchuk_test.h"

-	#include "servo_test.h"

-	#include "tim_test.h"

-

-/* project -------------------------------------------------------------------*/

-	#include "ctrl.h"

-	#include "actuators.h"

-

-

-/******************************************************************************

- ******* macros ***************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* enums ****************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* structs **************************************************************

- ******************************************************************************/

-

-

-/******************************************************************************

- ******* variables ************************************************************

- ******************************************************************************/

-/* Global --------------------------------------------------------------------*/

-/* Static --------------------------------------------------------------------*/

-

-

-/******************************************************************************

- ******* static functions (prototypes) ****************************************

- ******************************************************************************/

-static	int		test		(void);

-static	noreturn void	stuck_forever	(bool led);

-

-

-/******************************************************************************

- ******* main *****************************************************************

- ******************************************************************************/

-noreturn int	main	(void)

-{

-	HAL_Init();

-	sysclk_config();

-	prj_error	= 0;

-

-#if 0

-	if (test()) {

-		stuck_forever(true);

-	}

-#else

-	(void)&test;

-

- #if 1

-	if (proc_actuators_init()) {

-		stuck_forever(true);

-	}

- #elif 1

-	if (proc_ctrl_init()) {

-		stuck_forever(true);

-	}

- #endif

-

- #if 1

-	if (proc_actuators_2()) {

-		stuck_forever(true);

-	}

- #elif 1

-	if (proc_ctrl_2()) {

-		stuck_forever(true);

-	}

- #endif

-

-#endif

-

-	stuck_forever(true);

-}

-

-

-/******************************************************************************

- ******* static functions (definitions) ***************************************

- ******************************************************************************/

-static	noreturn void	stuck_forever	(bool led)

-{

-	if (led) {

-		led_set();

-	} else {

-		led_reset();

-	}

-

-	while (true) {

-		__WFI();

-		__NOP();

-	}

-}

-

-static	int		test		(void)

-{

-#if 0

-	if (led_test()) {

-		return	ERROR_NOK;

-	}

-#endif

-#if 0

-	can_r_test();

-#endif

-#if 0

-	can_w_test();

-#endif

-#if 0

-	if (servo_test_2()) {

-		return	ERROR_NOK;

-	}

-#endif

-#if 0

-	if (display_test()) {

-		return	ERROR_NOK;

-	}

-#endif

-#if 0

-	if (nunchuk_test_2()) {

-		return	ERROR_NOK;

-	}

-#endif

-#if 0

-	if (tim_test()) {

-		return	ERROR_NOK;

-	}

-#endif

-#if 0

-	prj_error_handle();

-#endif

-

-	return	ERROR_OK;

-}

-

-

-/******************************************************************************

- ******* end of file **********************************************************

- ******************************************************************************/

+/******************************************************************************
+ *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *
+ *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *
+ *	Copyright (C) 2018	Junquera Carrero, Santiago		      *
+ *	SPDX-License-Identifier:	GPL-2.0-only			      *
+ ******************************************************************************/
+
+/**
+ *	@file		main.c
+ *	@author		Colomar Andrés, Alejandro
+ *	@author		García Pedroche, Francisco Javier
+ *	@author		Junquera Carrero, Santiago
+ *	@copyright	GPL-2.0-only
+ *	@date		2018/dec/15
+ *	@brief		Main
+ */
+
+
+/******************************************************************************
+ ******* headers **************************************************************
+ ******************************************************************************/
+/* Standard C ----------------------------------------------------------------*/
+	#include <stdbool.h>
+	#include <stdnoreturn.h>
+
+/* Drivers -------------------------------------------------------------------*/
+	#include "stm32l4xx_hal.h"
+
+/* libalx --------------------------------------------------------------------*/
+/* STM32L4 modules -----------------------------------------------------------*/
+	#include "can.h"
+	#include "clk.h"
+	#include "delay.h"
+	#include "display.h"
+	#include "errors.h"
+	#include "led.h"
+	#include "nunchuk.h"
+	#include "servo.h"
+	#include "tim.h"
+
+	#include "can_test.h"
+	#include "display_test.h"
+	#include "led_test.h"
+	#include "nunchuk_test.h"
+	#include "servo_test.h"
+	#include "tim_test.h"
+
+/* project -------------------------------------------------------------------*/
+	#include "ctrl.h"
+	#include "actuators.h"
+
+
+/******************************************************************************
+ ******* macros ***************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* enums ****************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* structs **************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* variables ************************************************************
+ ******************************************************************************/
+/* Global --------------------------------------------------------------------*/
+/* Static --------------------------------------------------------------------*/
+
+
+/******************************************************************************
+ ******* static functions (prototypes) ****************************************
+ ******************************************************************************/
+static	int		test		(void);
+static	noreturn void	stuck_forever	(bool led);
+
+
+/******************************************************************************
+ ******* main *****************************************************************
+ ******************************************************************************/
+noreturn int	main	(void)
+{
+	HAL_Init();
+	sysclk_config();
+	prj_error	= 0;
+
+#if 0
+	if (test()) {
+		stuck_forever(true);
+	}
+#else
+	(void)&test;
+
+ #if 01
+	if (proc_actuators_init()) {
+		stuck_forever(true);
+	}
+ #elif 1
+	if (proc_ctrl_init()) {
+		stuck_forever(true);
+	}
+ #endif
+
+ #if 01
+	if (proc_actuators_2()) {
+		stuck_forever(true);
+	}
+ #elif 1
+	if (proc_ctrl_2()) {
+		stuck_forever(true);
+	}
+ #endif
+
+#endif
+
+	stuck_forever(true);
+}
+
+
+/******************************************************************************
+ ******* static functions (definitions) ***************************************
+ ******************************************************************************/
+static	noreturn void	stuck_forever	(bool led)
+{
+	if (led) {
+		led_set();
+	} else {
+		led_reset();
+	}
+
+	while (true) {
+		__WFI();
+		__NOP();
+	}
+}
+
+static	int		test		(void)
+{
+#if 0
+	if (led_test()) {
+		return	ERROR_NOK;
+	}
+#endif
+#if 0
+	can_r_test();
+#endif
+#if 0
+	can_w_test();
+#endif
+#if 0
+	if (servo_test_2()) {
+		return	ERROR_NOK;
+	}
+#endif
+#if 0
+	if (display_test()) {
+		return	ERROR_NOK;
+	}
+#endif
+#if 0
+	if (nunchuk_test_2()) {
+		return	ERROR_NOK;
+	}
+#endif
+#if 0
+	if (tim_test()) {
+		return	ERROR_NOK;
+	}
+#endif
+#if 0
+	prj_error_handle();
+#endif
+
+	return	ERROR_OK;
+}
+
+
+/******************************************************************************
+ ******* end of file **********************************************************
+ ******************************************************************************/
diff --git a/src/startup_stm32l476xx.s b/src/startup_stm32l476xx.s
index b93d40a..f353700 100644
--- a/src/startup_stm32l476xx.s
+++ b/src/startup_stm32l476xx.s
@@ -1,524 +1,524 @@
-/**

-  ******************************************************************************

-  * @file      startup_stm32l476xx.s

-  * @author    MCD Application Team

-  * @brief     STM32L476xx devices vector table GCC toolchain.

-  *            This module performs:

-  *                - Set the initial SP

-  *                - Set the initial PC == Reset_Handler,

-  *                - Set the vector table entries with the exceptions ISR address,

-  *                - Configure the clock system  

-  *                - Branches to main in the C library (which eventually

-  *                  calls main()).

-  *            After Reset the Cortex-M4 processor is in Thread mode,

-  *            priority is Privileged, and the Stack is set to Main.

-  ******************************************************************************

-  * @attention

-  *

-  * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>

-  *

-  * Redistribution and use in source and binary forms, with or without modification,

-  * are permitted provided that the following conditions are met:

-  *   1. Redistributions of source code must retain the above copyright notice,

-  *      this list of conditions and the following disclaimer.

-  *   2. Redistributions in binary form must reproduce the above copyright notice,

-  *      this list of conditions and the following disclaimer in the documentation

-  *      and/or other materials provided with the distribution.

-  *   3. Neither the name of STMicroelectronics nor the names of its contributors

-  *      may be used to endorse or promote products derived from this software

-  *      without specific prior written permission.

-  *

-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE

-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL

-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR

-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,

-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

-  *

-  ******************************************************************************

-  */

-

-  .syntax unified

-	.cpu cortex-m4

-	.fpu softvfp

-	.thumb

-

-.global	g_pfnVectors

-.global	Default_Handler

-

-/* start address for the initialization values of the .data section.

-defined in linker script */

-.word	_sidata

-/* start address for the .data section. defined in linker script */

-.word	_sdata

-/* end address for the .data section. defined in linker script */

-.word	_edata

-/* start address for the .bss section. defined in linker script */

-.word	_sbss

-/* end address for the .bss section. defined in linker script */

-.word	_ebss

-

-.equ  BootRAM,        0xF1E0F85F

-/**

- * @brief  This is the code that gets called when the processor first

- *          starts execution following a reset event. Only the absolutely

- *          necessary set is performed, after which the application

- *          supplied main() routine is called.

- * @param  None

- * @retval : None

-*/

-

-    .section	.text.Reset_Handler

-	.weak	Reset_Handler

-	.type	Reset_Handler, %function

-Reset_Handler:

-  ldr   sp, =_estack    /* Atollic update: set stack pointer */

-

-/* Copy the data segment initializers from flash to SRAM */

-  movs	r1, #0

-  b	LoopCopyDataInit

-

-CopyDataInit:

-	ldr	r3, =_sidata

-	ldr	r3, [r3, r1]

-	str	r3, [r0, r1]

-	adds	r1, r1, #4

-

-LoopCopyDataInit:

-	ldr	r0, =_sdata

-	ldr	r3, =_edata

-	adds	r2, r0, r1

-	cmp	r2, r3

-	bcc	CopyDataInit

-	ldr	r2, =_sbss

-	b	LoopFillZerobss

-/* Zero fill the bss segment. */

-FillZerobss:

-	movs	r3, #0

-	str	r3, [r2], #4

-

-LoopFillZerobss:

-	ldr	r3, = _ebss

-	cmp	r2, r3

-	bcc	FillZerobss

-

-/* Call the clock system intitialization function.*/

-    bl  SystemInit

-/* Call static constructors */

-    bl __libc_init_array

-/* Call the application's entry point.*/

-	bl	main

-

-LoopForever:

-    b LoopForever

-    

-.size	Reset_Handler, .-Reset_Handler

-

-/**

- * @brief  This is the code that gets called when the processor receives an

- *         unexpected interrupt.  This simply enters an infinite loop, preserving

- *         the system state for examination by a debugger.

- *

- * @param  None

- * @retval : None

-*/

-    .section	.text.Default_Handler,"ax",%progbits

-Default_Handler:

-Infinite_Loop:

-	b	Infinite_Loop

-	.size	Default_Handler, .-Default_Handler

-/******************************************************************************

-*

-* The minimal vector table for a Cortex-M4.  Note that the proper constructs

-* must be placed on this to ensure that it ends up at physical address

-* 0x0000.0000.

-*

-******************************************************************************/

- 	.section	.isr_vector,"a",%progbits

-	.type	g_pfnVectors, %object

-	.size	g_pfnVectors, .-g_pfnVectors

-

-

-g_pfnVectors:

-	.word	_estack

-	.word	Reset_Handler

-	.word	NMI_Handler

-	.word	HardFault_Handler

-	.word	MemManage_Handler

-	.word	BusFault_Handler

-	.word	UsageFault_Handler

-	.word	0

-	.word	0

-	.word	0

-	.word	0

-	.word	SVC_Handler

-	.word	DebugMon_Handler

-	.word	0

-	.word	PendSV_Handler

-	.word	SysTick_Handler

-	.word	WWDG_IRQHandler

-	.word	PVD_PVM_IRQHandler

-	.word	TAMP_STAMP_IRQHandler

-	.word	RTC_WKUP_IRQHandler

-	.word	FLASH_IRQHandler

-	.word	RCC_IRQHandler

-	.word	EXTI0_IRQHandler

-	.word	EXTI1_IRQHandler

-	.word	EXTI2_IRQHandler

-	.word	EXTI3_IRQHandler

-	.word	EXTI4_IRQHandler

-	.word	DMA1_Channel1_IRQHandler

-	.word	DMA1_Channel2_IRQHandler

-	.word	DMA1_Channel3_IRQHandler

-	.word	DMA1_Channel4_IRQHandler

-	.word	DMA1_Channel5_IRQHandler

-	.word	DMA1_Channel6_IRQHandler

-	.word	DMA1_Channel7_IRQHandler

-	.word	ADC1_2_IRQHandler

-	.word	CAN1_TX_IRQHandler

-	.word	CAN1_RX0_IRQHandler

-	.word	CAN1_RX1_IRQHandler

-	.word	CAN1_SCE_IRQHandler

-	.word	EXTI9_5_IRQHandler

-	.word	TIM1_BRK_TIM15_IRQHandler

-	.word	TIM1_UP_TIM16_IRQHandler

-	.word	TIM1_TRG_COM_TIM17_IRQHandler

-	.word	TIM1_CC_IRQHandler

-	.word	TIM2_IRQHandler

-	.word	TIM3_IRQHandler

-	.word	TIM4_IRQHandler

-	.word	I2C1_EV_IRQHandler

-	.word	I2C1_ER_IRQHandler

-	.word	I2C2_EV_IRQHandler

-	.word	I2C2_ER_IRQHandler

-	.word	SPI1_IRQHandler

-	.word	SPI2_IRQHandler

-	.word	USART1_IRQHandler

-	.word	USART2_IRQHandler

-	.word	USART3_IRQHandler

-	.word	EXTI15_10_IRQHandler

-	.word	RTC_Alarm_IRQHandler

-	.word	DFSDM1_FLT3_IRQHandler

-	.word	TIM8_BRK_IRQHandler

-	.word	TIM8_UP_IRQHandler

-	.word	TIM8_TRG_COM_IRQHandler

-	.word	TIM8_CC_IRQHandler

-	.word	ADC3_IRQHandler

-	.word	FMC_IRQHandler

-	.word	SDMMC1_IRQHandler

-	.word	TIM5_IRQHandler

-	.word	SPI3_IRQHandler

-	.word	UART4_IRQHandler

-	.word	UART5_IRQHandler

-	.word	TIM6_DAC_IRQHandler

-	.word	TIM7_IRQHandler

-	.word	DMA2_Channel1_IRQHandler

-	.word	DMA2_Channel2_IRQHandler

-	.word	DMA2_Channel3_IRQHandler

-	.word	DMA2_Channel4_IRQHandler

-	.word	DMA2_Channel5_IRQHandler

-	.word	DFSDM1_FLT0_IRQHandler

-	.word	DFSDM1_FLT1_IRQHandler

-	.word	DFSDM1_FLT2_IRQHandler

-	.word	COMP_IRQHandler

-	.word	LPTIM1_IRQHandler

-	.word	LPTIM2_IRQHandler

-	.word	OTG_FS_IRQHandler

-	.word	DMA2_Channel6_IRQHandler

-	.word	DMA2_Channel7_IRQHandler

-	.word	LPUART1_IRQHandler

-	.word	QUADSPI_IRQHandler

-	.word	I2C3_EV_IRQHandler

-	.word	I2C3_ER_IRQHandler

-	.word	SAI1_IRQHandler

-	.word	SAI2_IRQHandler

-	.word	SWPMI1_IRQHandler

-	.word	TSC_IRQHandler

-	.word	LCD_IRQHandler

-	.word 0

-	.word	RNG_IRQHandler

-	.word	FPU_IRQHandler

-

-

-/*******************************************************************************

-*

-* Provide weak aliases for each Exception handler to the Default_Handler.

-* As they are weak aliases, any function with the same name will override

-* this definition.

-*

-*******************************************************************************/

-

-  .weak	NMI_Handler

-	.thumb_set NMI_Handler,Default_Handler

-

-  .weak	HardFault_Handler

-	.thumb_set HardFault_Handler,Default_Handler

-

-  .weak	MemManage_Handler

-	.thumb_set MemManage_Handler,Default_Handler

-

-  .weak	BusFault_Handler

-	.thumb_set BusFault_Handler,Default_Handler

-

-	.weak	UsageFault_Handler

-	.thumb_set UsageFault_Handler,Default_Handler

-

-	.weak	SVC_Handler

-	.thumb_set SVC_Handler,Default_Handler

-

-	.weak	DebugMon_Handler

-	.thumb_set DebugMon_Handler,Default_Handler

-

-	.weak	PendSV_Handler

-	.thumb_set PendSV_Handler,Default_Handler

-

-	.weak	SysTick_Handler

-	.thumb_set SysTick_Handler,Default_Handler

-

-	.weak	WWDG_IRQHandler

-	.thumb_set WWDG_IRQHandler,Default_Handler

-

-	.weak	PVD_PVM_IRQHandler

-	.thumb_set PVD_PVM_IRQHandler,Default_Handler

-

-	.weak	TAMP_STAMP_IRQHandler

-	.thumb_set TAMP_STAMP_IRQHandler,Default_Handler

-

-	.weak	RTC_WKUP_IRQHandler

-	.thumb_set RTC_WKUP_IRQHandler,Default_Handler

-

-	.weak	FLASH_IRQHandler

-	.thumb_set FLASH_IRQHandler,Default_Handler

-

-	.weak	RCC_IRQHandler

-	.thumb_set RCC_IRQHandler,Default_Handler

-

-	.weak	EXTI0_IRQHandler

-	.thumb_set EXTI0_IRQHandler,Default_Handler

-

-	.weak	EXTI1_IRQHandler

-	.thumb_set EXTI1_IRQHandler,Default_Handler

-

-	.weak	EXTI2_IRQHandler

-	.thumb_set EXTI2_IRQHandler,Default_Handler

-

-	.weak	EXTI3_IRQHandler

-	.thumb_set EXTI3_IRQHandler,Default_Handler

-

-	.weak	EXTI4_IRQHandler

-	.thumb_set EXTI4_IRQHandler,Default_Handler

-

-	.weak	DMA1_Channel1_IRQHandler

-	.thumb_set DMA1_Channel1_IRQHandler,Default_Handler

-

-	.weak	DMA1_Channel2_IRQHandler

-	.thumb_set DMA1_Channel2_IRQHandler,Default_Handler

-

-	.weak	DMA1_Channel3_IRQHandler

-	.thumb_set DMA1_Channel3_IRQHandler,Default_Handler

-

-	.weak	DMA1_Channel4_IRQHandler

-	.thumb_set DMA1_Channel4_IRQHandler,Default_Handler

-

-	.weak	DMA1_Channel5_IRQHandler

-	.thumb_set DMA1_Channel5_IRQHandler,Default_Handler

-

-	.weak	DMA1_Channel6_IRQHandler

-	.thumb_set DMA1_Channel6_IRQHandler,Default_Handler

-

-	.weak	DMA1_Channel7_IRQHandler

-	.thumb_set DMA1_Channel7_IRQHandler,Default_Handler

-

-	.weak	ADC1_2_IRQHandler

-	.thumb_set ADC1_2_IRQHandler,Default_Handler

-

-	.weak	CAN1_TX_IRQHandler

-	.thumb_set CAN1_TX_IRQHandler,Default_Handler

-

-	.weak	CAN1_RX0_IRQHandler

-	.thumb_set CAN1_RX0_IRQHandler,Default_Handler

-

-	.weak	CAN1_RX1_IRQHandler

-	.thumb_set CAN1_RX1_IRQHandler,Default_Handler

-

-	.weak	CAN1_SCE_IRQHandler

-	.thumb_set CAN1_SCE_IRQHandler,Default_Handler

-

-	.weak	EXTI9_5_IRQHandler

-	.thumb_set EXTI9_5_IRQHandler,Default_Handler

-

-	.weak	TIM1_BRK_TIM15_IRQHandler

-	.thumb_set TIM1_BRK_TIM15_IRQHandler,Default_Handler

-

-	.weak	TIM1_UP_TIM16_IRQHandler

-	.thumb_set TIM1_UP_TIM16_IRQHandler,Default_Handler

-

-	.weak	TIM1_TRG_COM_TIM17_IRQHandler

-	.thumb_set TIM1_TRG_COM_TIM17_IRQHandler,Default_Handler

-

-	.weak	TIM1_CC_IRQHandler

-	.thumb_set TIM1_CC_IRQHandler,Default_Handler

-

-	.weak	TIM2_IRQHandler

-	.thumb_set TIM2_IRQHandler,Default_Handler

-

-	.weak	TIM3_IRQHandler

-	.thumb_set TIM3_IRQHandler,Default_Handler

-

-	.weak	TIM4_IRQHandler

-	.thumb_set TIM4_IRQHandler,Default_Handler

-

-	.weak	I2C1_EV_IRQHandler

-	.thumb_set I2C1_EV_IRQHandler,Default_Handler

-

-	.weak	I2C1_ER_IRQHandler

-	.thumb_set I2C1_ER_IRQHandler,Default_Handler

-

-	.weak	I2C2_EV_IRQHandler

-	.thumb_set I2C2_EV_IRQHandler,Default_Handler

-

-	.weak	I2C2_ER_IRQHandler

-	.thumb_set I2C2_ER_IRQHandler,Default_Handler

-

-	.weak	SPI1_IRQHandler

-	.thumb_set SPI1_IRQHandler,Default_Handler

-

-	.weak	SPI2_IRQHandler

-	.thumb_set SPI2_IRQHandler,Default_Handler

-

-	.weak	USART1_IRQHandler

-	.thumb_set USART1_IRQHandler,Default_Handler

-

-	.weak	USART2_IRQHandler

-	.thumb_set USART2_IRQHandler,Default_Handler

-

-	.weak	USART3_IRQHandler

-	.thumb_set USART3_IRQHandler,Default_Handler

-

-	.weak	EXTI15_10_IRQHandler

-	.thumb_set EXTI15_10_IRQHandler,Default_Handler

-

-	.weak	RTC_Alarm_IRQHandler

-	.thumb_set RTC_Alarm_IRQHandler,Default_Handler

-

-	.weak	DFSDM1_FLT3_IRQHandler

-	.thumb_set DFSDM1_FLT3_IRQHandler,Default_Handler

-

-	.weak	TIM8_BRK_IRQHandler

-	.thumb_set TIM8_BRK_IRQHandler,Default_Handler

-

-	.weak	TIM8_UP_IRQHandler

-	.thumb_set TIM8_UP_IRQHandler,Default_Handler

-

-	.weak	TIM8_TRG_COM_IRQHandler

-	.thumb_set TIM8_TRG_COM_IRQHandler,Default_Handler

-

-	.weak	TIM8_CC_IRQHandler

-	.thumb_set TIM8_CC_IRQHandler,Default_Handler

-

-	.weak	ADC3_IRQHandler

-	.thumb_set ADC3_IRQHandler,Default_Handler

-

-	.weak	FMC_IRQHandler

-	.thumb_set FMC_IRQHandler,Default_Handler

-

-	.weak	SDMMC1_IRQHandler

-	.thumb_set SDMMC1_IRQHandler,Default_Handler

-

-	.weak	TIM5_IRQHandler

-	.thumb_set TIM5_IRQHandler,Default_Handler

-

-	.weak	SPI3_IRQHandler

-	.thumb_set SPI3_IRQHandler,Default_Handler

-

-	.weak	UART4_IRQHandler

-	.thumb_set UART4_IRQHandler,Default_Handler

-

-	.weak	UART5_IRQHandler

-	.thumb_set UART5_IRQHandler,Default_Handler

-

-	.weak	TIM6_DAC_IRQHandler

-	.thumb_set TIM6_DAC_IRQHandler,Default_Handler

-

-	.weak	TIM7_IRQHandler

-	.thumb_set TIM7_IRQHandler,Default_Handler

-

-	.weak	DMA2_Channel1_IRQHandler

-	.thumb_set DMA2_Channel1_IRQHandler,Default_Handler

-

-	.weak	DMA2_Channel2_IRQHandler

-	.thumb_set DMA2_Channel2_IRQHandler,Default_Handler

-

-	.weak	DMA2_Channel3_IRQHandler

-	.thumb_set DMA2_Channel3_IRQHandler,Default_Handler

-

-	.weak	DMA2_Channel4_IRQHandler

-	.thumb_set DMA2_Channel4_IRQHandler,Default_Handler

-

-	.weak	DMA2_Channel5_IRQHandler

-	.thumb_set DMA2_Channel5_IRQHandler,Default_Handler

-

-	.weak	DFSDM1_FLT0_IRQHandler

-	.thumb_set DFSDM1_FLT0_IRQHandler,Default_Handler	

-	

-	.weak	DFSDM1_FLT1_IRQHandler

-	.thumb_set DFSDM1_FLT1_IRQHandler,Default_Handler	

-	

-	.weak	DFSDM1_FLT2_IRQHandler

-	.thumb_set DFSDM1_FLT2_IRQHandler,Default_Handler	

-	

-	.weak	COMP_IRQHandler

-	.thumb_set COMP_IRQHandler,Default_Handler

-	

-	.weak	LPTIM1_IRQHandler

-	.thumb_set LPTIM1_IRQHandler,Default_Handler

-	

-	.weak	LPTIM2_IRQHandler

-	.thumb_set LPTIM2_IRQHandler,Default_Handler	

-	

-	.weak	OTG_FS_IRQHandler

-	.thumb_set OTG_FS_IRQHandler,Default_Handler	

-	

-	.weak	DMA2_Channel6_IRQHandler

-	.thumb_set DMA2_Channel6_IRQHandler,Default_Handler	

-	

-	.weak	DMA2_Channel7_IRQHandler

-	.thumb_set DMA2_Channel7_IRQHandler,Default_Handler	

-	

-	.weak	LPUART1_IRQHandler

-	.thumb_set LPUART1_IRQHandler,Default_Handler	

-	

-	.weak	QUADSPI_IRQHandler

-	.thumb_set QUADSPI_IRQHandler,Default_Handler	

-	

-	.weak	I2C3_EV_IRQHandler

-	.thumb_set I2C3_EV_IRQHandler,Default_Handler	

-	

-	.weak	I2C3_ER_IRQHandler

-	.thumb_set I2C3_ER_IRQHandler,Default_Handler	

-	

-	.weak	SAI1_IRQHandler

-	.thumb_set SAI1_IRQHandler,Default_Handler

-	

-	.weak	SAI2_IRQHandler

-	.thumb_set SAI2_IRQHandler,Default_Handler

-	

-	.weak	SWPMI1_IRQHandler

-	.thumb_set SWPMI1_IRQHandler,Default_Handler

-	

-	.weak	TSC_IRQHandler

-	.thumb_set TSC_IRQHandler,Default_Handler

-	

-	.weak	LCD_IRQHandler

-	.thumb_set LCD_IRQHandler,Default_Handler

-	

-	.weak	RNG_IRQHandler

-	.thumb_set RNG_IRQHandler,Default_Handler

-	

-	.weak	FPU_IRQHandler

-	.thumb_set FPU_IRQHandler,Default_Handler

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

+/**
+  ******************************************************************************
+  * @file      startup_stm32l476xx.s
+  * @author    MCD Application Team
+  * @brief     STM32L476xx devices vector table GCC toolchain.
+  *            This module performs:
+  *                - Set the initial SP
+  *                - Set the initial PC == Reset_Handler,
+  *                - Set the vector table entries with the exceptions ISR address,
+  *                - Configure the clock system  
+  *                - Branches to main in the C library (which eventually
+  *                  calls main()).
+  *            After Reset the Cortex-M4 processor is in Thread mode,
+  *            priority is Privileged, and the Stack is set to Main.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+  .syntax unified
+	.cpu cortex-m4
+	.fpu softvfp
+	.thumb
+
+.global	g_pfnVectors
+.global	Default_Handler
+
+/* start address for the initialization values of the .data section.
+defined in linker script */
+.word	_sidata
+/* start address for the .data section. defined in linker script */
+.word	_sdata
+/* end address for the .data section. defined in linker script */
+.word	_edata
+/* start address for the .bss section. defined in linker script */
+.word	_sbss
+/* end address for the .bss section. defined in linker script */
+.word	_ebss
+
+.equ  BootRAM,        0xF1E0F85F
+/**
+ * @brief  This is the code that gets called when the processor first
+ *          starts execution following a reset event. Only the absolutely
+ *          necessary set is performed, after which the application
+ *          supplied main() routine is called.
+ * @param  None
+ * @retval : None
+*/
+
+    .section	.text.Reset_Handler
+	.weak	Reset_Handler
+	.type	Reset_Handler, %function
+Reset_Handler:
+  ldr   sp, =_estack    /* Atollic update: set stack pointer */
+
+/* Copy the data segment initializers from flash to SRAM */
+  movs	r1, #0
+  b	LoopCopyDataInit
+
+CopyDataInit:
+	ldr	r3, =_sidata
+	ldr	r3, [r3, r1]
+	str	r3, [r0, r1]
+	adds	r1, r1, #4
+
+LoopCopyDataInit:
+	ldr	r0, =_sdata
+	ldr	r3, =_edata
+	adds	r2, r0, r1
+	cmp	r2, r3
+	bcc	CopyDataInit
+	ldr	r2, =_sbss
+	b	LoopFillZerobss
+/* Zero fill the bss segment. */
+FillZerobss:
+	movs	r3, #0
+	str	r3, [r2], #4
+
+LoopFillZerobss:
+	ldr	r3, = _ebss
+	cmp	r2, r3
+	bcc	FillZerobss
+
+/* Call the clock system intitialization function.*/
+    bl  SystemInit
+/* Call static constructors */
+    bl __libc_init_array
+/* Call the application's entry point.*/
+	bl	main
+
+LoopForever:
+    b LoopForever
+    
+.size	Reset_Handler, .-Reset_Handler
+
+/**
+ * @brief  This is the code that gets called when the processor receives an
+ *         unexpected interrupt.  This simply enters an infinite loop, preserving
+ *         the system state for examination by a debugger.
+ *
+ * @param  None
+ * @retval : None
+*/
+    .section	.text.Default_Handler,"ax",%progbits
+Default_Handler:
+Infinite_Loop:
+	b	Infinite_Loop
+	.size	Default_Handler, .-Default_Handler
+/******************************************************************************
+*
+* The minimal vector table for a Cortex-M4.  Note that the proper constructs
+* must be placed on this to ensure that it ends up at physical address
+* 0x0000.0000.
+*
+******************************************************************************/
+ 	.section	.isr_vector,"a",%progbits
+	.type	g_pfnVectors, %object
+	.size	g_pfnVectors, .-g_pfnVectors
+
+
+g_pfnVectors:
+	.word	_estack
+	.word	Reset_Handler
+	.word	NMI_Handler
+	.word	HardFault_Handler
+	.word	MemManage_Handler
+	.word	BusFault_Handler
+	.word	UsageFault_Handler
+	.word	0
+	.word	0
+	.word	0
+	.word	0
+	.word	SVC_Handler
+	.word	DebugMon_Handler
+	.word	0
+	.word	PendSV_Handler
+	.word	SysTick_Handler
+	.word	WWDG_IRQHandler
+	.word	PVD_PVM_IRQHandler
+	.word	TAMP_STAMP_IRQHandler
+	.word	RTC_WKUP_IRQHandler
+	.word	FLASH_IRQHandler
+	.word	RCC_IRQHandler
+	.word	EXTI0_IRQHandler
+	.word	EXTI1_IRQHandler
+	.word	EXTI2_IRQHandler
+	.word	EXTI3_IRQHandler
+	.word	EXTI4_IRQHandler
+	.word	DMA1_Channel1_IRQHandler
+	.word	DMA1_Channel2_IRQHandler
+	.word	DMA1_Channel3_IRQHandler
+	.word	DMA1_Channel4_IRQHandler
+	.word	DMA1_Channel5_IRQHandler
+	.word	DMA1_Channel6_IRQHandler
+	.word	DMA1_Channel7_IRQHandler
+	.word	ADC1_2_IRQHandler
+	.word	CAN1_TX_IRQHandler
+	.word	CAN1_RX0_IRQHandler
+	.word	CAN1_RX1_IRQHandler
+	.word	CAN1_SCE_IRQHandler
+	.word	EXTI9_5_IRQHandler
+	.word	TIM1_BRK_TIM15_IRQHandler
+	.word	TIM1_UP_TIM16_IRQHandler
+	.word	TIM1_TRG_COM_TIM17_IRQHandler
+	.word	TIM1_CC_IRQHandler
+	.word	TIM2_IRQHandler
+	.word	TIM3_IRQHandler
+	.word	TIM4_IRQHandler
+	.word	I2C1_EV_IRQHandler
+	.word	I2C1_ER_IRQHandler
+	.word	I2C2_EV_IRQHandler
+	.word	I2C2_ER_IRQHandler
+	.word	SPI1_IRQHandler
+	.word	SPI2_IRQHandler
+	.word	USART1_IRQHandler
+	.word	USART2_IRQHandler
+	.word	USART3_IRQHandler
+	.word	EXTI15_10_IRQHandler
+	.word	RTC_Alarm_IRQHandler
+	.word	DFSDM1_FLT3_IRQHandler
+	.word	TIM8_BRK_IRQHandler
+	.word	TIM8_UP_IRQHandler
+	.word	TIM8_TRG_COM_IRQHandler
+	.word	TIM8_CC_IRQHandler
+	.word	ADC3_IRQHandler
+	.word	FMC_IRQHandler
+	.word	SDMMC1_IRQHandler
+	.word	TIM5_IRQHandler
+	.word	SPI3_IRQHandler
+	.word	UART4_IRQHandler
+	.word	UART5_IRQHandler
+	.word	TIM6_DAC_IRQHandler
+	.word	TIM7_IRQHandler
+	.word	DMA2_Channel1_IRQHandler
+	.word	DMA2_Channel2_IRQHandler
+	.word	DMA2_Channel3_IRQHandler
+	.word	DMA2_Channel4_IRQHandler
+	.word	DMA2_Channel5_IRQHandler
+	.word	DFSDM1_FLT0_IRQHandler
+	.word	DFSDM1_FLT1_IRQHandler
+	.word	DFSDM1_FLT2_IRQHandler
+	.word	COMP_IRQHandler
+	.word	LPTIM1_IRQHandler
+	.word	LPTIM2_IRQHandler
+	.word	OTG_FS_IRQHandler
+	.word	DMA2_Channel6_IRQHandler
+	.word	DMA2_Channel7_IRQHandler
+	.word	LPUART1_IRQHandler
+	.word	QUADSPI_IRQHandler
+	.word	I2C3_EV_IRQHandler
+	.word	I2C3_ER_IRQHandler
+	.word	SAI1_IRQHandler
+	.word	SAI2_IRQHandler
+	.word	SWPMI1_IRQHandler
+	.word	TSC_IRQHandler
+	.word	LCD_IRQHandler
+	.word 0
+	.word	RNG_IRQHandler
+	.word	FPU_IRQHandler
+
+
+/*******************************************************************************
+*
+* Provide weak aliases for each Exception handler to the Default_Handler.
+* As they are weak aliases, any function with the same name will override
+* this definition.
+*
+*******************************************************************************/
+
+  .weak	NMI_Handler
+	.thumb_set NMI_Handler,Default_Handler
+
+  .weak	HardFault_Handler
+	.thumb_set HardFault_Handler,Default_Handler
+
+  .weak	MemManage_Handler
+	.thumb_set MemManage_Handler,Default_Handler
+
+  .weak	BusFault_Handler
+	.thumb_set BusFault_Handler,Default_Handler
+
+	.weak	UsageFault_Handler
+	.thumb_set UsageFault_Handler,Default_Handler
+
+	.weak	SVC_Handler
+	.thumb_set SVC_Handler,Default_Handler
+
+	.weak	DebugMon_Handler
+	.thumb_set DebugMon_Handler,Default_Handler
+
+	.weak	PendSV_Handler
+	.thumb_set PendSV_Handler,Default_Handler
+
+	.weak	SysTick_Handler
+	.thumb_set SysTick_Handler,Default_Handler
+
+	.weak	WWDG_IRQHandler
+	.thumb_set WWDG_IRQHandler,Default_Handler
+
+	.weak	PVD_PVM_IRQHandler
+	.thumb_set PVD_PVM_IRQHandler,Default_Handler
+
+	.weak	TAMP_STAMP_IRQHandler
+	.thumb_set TAMP_STAMP_IRQHandler,Default_Handler
+
+	.weak	RTC_WKUP_IRQHandler
+	.thumb_set RTC_WKUP_IRQHandler,Default_Handler
+
+	.weak	FLASH_IRQHandler
+	.thumb_set FLASH_IRQHandler,Default_Handler
+
+	.weak	RCC_IRQHandler
+	.thumb_set RCC_IRQHandler,Default_Handler
+
+	.weak	EXTI0_IRQHandler
+	.thumb_set EXTI0_IRQHandler,Default_Handler
+
+	.weak	EXTI1_IRQHandler
+	.thumb_set EXTI1_IRQHandler,Default_Handler
+
+	.weak	EXTI2_IRQHandler
+	.thumb_set EXTI2_IRQHandler,Default_Handler
+
+	.weak	EXTI3_IRQHandler
+	.thumb_set EXTI3_IRQHandler,Default_Handler
+
+	.weak	EXTI4_IRQHandler
+	.thumb_set EXTI4_IRQHandler,Default_Handler
+
+	.weak	DMA1_Channel1_IRQHandler
+	.thumb_set DMA1_Channel1_IRQHandler,Default_Handler
+
+	.weak	DMA1_Channel2_IRQHandler
+	.thumb_set DMA1_Channel2_IRQHandler,Default_Handler
+
+	.weak	DMA1_Channel3_IRQHandler
+	.thumb_set DMA1_Channel3_IRQHandler,Default_Handler
+
+	.weak	DMA1_Channel4_IRQHandler
+	.thumb_set DMA1_Channel4_IRQHandler,Default_Handler
+
+	.weak	DMA1_Channel5_IRQHandler
+	.thumb_set DMA1_Channel5_IRQHandler,Default_Handler
+
+	.weak	DMA1_Channel6_IRQHandler
+	.thumb_set DMA1_Channel6_IRQHandler,Default_Handler
+
+	.weak	DMA1_Channel7_IRQHandler
+	.thumb_set DMA1_Channel7_IRQHandler,Default_Handler
+
+	.weak	ADC1_2_IRQHandler
+	.thumb_set ADC1_2_IRQHandler,Default_Handler
+
+	.weak	CAN1_TX_IRQHandler
+	.thumb_set CAN1_TX_IRQHandler,Default_Handler
+
+	.weak	CAN1_RX0_IRQHandler
+	.thumb_set CAN1_RX0_IRQHandler,Default_Handler
+
+	.weak	CAN1_RX1_IRQHandler
+	.thumb_set CAN1_RX1_IRQHandler,Default_Handler
+
+	.weak	CAN1_SCE_IRQHandler
+	.thumb_set CAN1_SCE_IRQHandler,Default_Handler
+
+	.weak	EXTI9_5_IRQHandler
+	.thumb_set EXTI9_5_IRQHandler,Default_Handler
+
+	.weak	TIM1_BRK_TIM15_IRQHandler
+	.thumb_set TIM1_BRK_TIM15_IRQHandler,Default_Handler
+
+	.weak	TIM1_UP_TIM16_IRQHandler
+	.thumb_set TIM1_UP_TIM16_IRQHandler,Default_Handler
+
+	.weak	TIM1_TRG_COM_TIM17_IRQHandler
+	.thumb_set TIM1_TRG_COM_TIM17_IRQHandler,Default_Handler
+
+	.weak	TIM1_CC_IRQHandler
+	.thumb_set TIM1_CC_IRQHandler,Default_Handler
+
+	.weak	TIM2_IRQHandler
+	.thumb_set TIM2_IRQHandler,Default_Handler
+
+	.weak	TIM3_IRQHandler
+	.thumb_set TIM3_IRQHandler,Default_Handler
+
+	.weak	TIM4_IRQHandler
+	.thumb_set TIM4_IRQHandler,Default_Handler
+
+	.weak	I2C1_EV_IRQHandler
+	.thumb_set I2C1_EV_IRQHandler,Default_Handler
+
+	.weak	I2C1_ER_IRQHandler
+	.thumb_set I2C1_ER_IRQHandler,Default_Handler
+
+	.weak	I2C2_EV_IRQHandler
+	.thumb_set I2C2_EV_IRQHandler,Default_Handler
+
+	.weak	I2C2_ER_IRQHandler
+	.thumb_set I2C2_ER_IRQHandler,Default_Handler
+
+	.weak	SPI1_IRQHandler
+	.thumb_set SPI1_IRQHandler,Default_Handler
+
+	.weak	SPI2_IRQHandler
+	.thumb_set SPI2_IRQHandler,Default_Handler
+
+	.weak	USART1_IRQHandler
+	.thumb_set USART1_IRQHandler,Default_Handler
+
+	.weak	USART2_IRQHandler
+	.thumb_set USART2_IRQHandler,Default_Handler
+
+	.weak	USART3_IRQHandler
+	.thumb_set USART3_IRQHandler,Default_Handler
+
+	.weak	EXTI15_10_IRQHandler
+	.thumb_set EXTI15_10_IRQHandler,Default_Handler
+
+	.weak	RTC_Alarm_IRQHandler
+	.thumb_set RTC_Alarm_IRQHandler,Default_Handler
+
+	.weak	DFSDM1_FLT3_IRQHandler
+	.thumb_set DFSDM1_FLT3_IRQHandler,Default_Handler
+
+	.weak	TIM8_BRK_IRQHandler
+	.thumb_set TIM8_BRK_IRQHandler,Default_Handler
+
+	.weak	TIM8_UP_IRQHandler
+	.thumb_set TIM8_UP_IRQHandler,Default_Handler
+
+	.weak	TIM8_TRG_COM_IRQHandler
+	.thumb_set TIM8_TRG_COM_IRQHandler,Default_Handler
+
+	.weak	TIM8_CC_IRQHandler
+	.thumb_set TIM8_CC_IRQHandler,Default_Handler
+
+	.weak	ADC3_IRQHandler
+	.thumb_set ADC3_IRQHandler,Default_Handler
+
+	.weak	FMC_IRQHandler
+	.thumb_set FMC_IRQHandler,Default_Handler
+
+	.weak	SDMMC1_IRQHandler
+	.thumb_set SDMMC1_IRQHandler,Default_Handler
+
+	.weak	TIM5_IRQHandler
+	.thumb_set TIM5_IRQHandler,Default_Handler
+
+	.weak	SPI3_IRQHandler
+	.thumb_set SPI3_IRQHandler,Default_Handler
+
+	.weak	UART4_IRQHandler
+	.thumb_set UART4_IRQHandler,Default_Handler
+
+	.weak	UART5_IRQHandler
+	.thumb_set UART5_IRQHandler,Default_Handler
+
+	.weak	TIM6_DAC_IRQHandler
+	.thumb_set TIM6_DAC_IRQHandler,Default_Handler
+
+	.weak	TIM7_IRQHandler
+	.thumb_set TIM7_IRQHandler,Default_Handler
+
+	.weak	DMA2_Channel1_IRQHandler
+	.thumb_set DMA2_Channel1_IRQHandler,Default_Handler
+
+	.weak	DMA2_Channel2_IRQHandler
+	.thumb_set DMA2_Channel2_IRQHandler,Default_Handler
+
+	.weak	DMA2_Channel3_IRQHandler
+	.thumb_set DMA2_Channel3_IRQHandler,Default_Handler
+
+	.weak	DMA2_Channel4_IRQHandler
+	.thumb_set DMA2_Channel4_IRQHandler,Default_Handler
+
+	.weak	DMA2_Channel5_IRQHandler
+	.thumb_set DMA2_Channel5_IRQHandler,Default_Handler
+
+	.weak	DFSDM1_FLT0_IRQHandler
+	.thumb_set DFSDM1_FLT0_IRQHandler,Default_Handler	
+	
+	.weak	DFSDM1_FLT1_IRQHandler
+	.thumb_set DFSDM1_FLT1_IRQHandler,Default_Handler	
+	
+	.weak	DFSDM1_FLT2_IRQHandler
+	.thumb_set DFSDM1_FLT2_IRQHandler,Default_Handler	
+	
+	.weak	COMP_IRQHandler
+	.thumb_set COMP_IRQHandler,Default_Handler
+	
+	.weak	LPTIM1_IRQHandler
+	.thumb_set LPTIM1_IRQHandler,Default_Handler
+	
+	.weak	LPTIM2_IRQHandler
+	.thumb_set LPTIM2_IRQHandler,Default_Handler	
+	
+	.weak	OTG_FS_IRQHandler
+	.thumb_set OTG_FS_IRQHandler,Default_Handler	
+	
+	.weak	DMA2_Channel6_IRQHandler
+	.thumb_set DMA2_Channel6_IRQHandler,Default_Handler	
+	
+	.weak	DMA2_Channel7_IRQHandler
+	.thumb_set DMA2_Channel7_IRQHandler,Default_Handler	
+	
+	.weak	LPUART1_IRQHandler
+	.thumb_set LPUART1_IRQHandler,Default_Handler	
+	
+	.weak	QUADSPI_IRQHandler
+	.thumb_set QUADSPI_IRQHandler,Default_Handler	
+	
+	.weak	I2C3_EV_IRQHandler
+	.thumb_set I2C3_EV_IRQHandler,Default_Handler	
+	
+	.weak	I2C3_ER_IRQHandler
+	.thumb_set I2C3_ER_IRQHandler,Default_Handler	
+	
+	.weak	SAI1_IRQHandler
+	.thumb_set SAI1_IRQHandler,Default_Handler
+	
+	.weak	SAI2_IRQHandler
+	.thumb_set SAI2_IRQHandler,Default_Handler
+	
+	.weak	SWPMI1_IRQHandler
+	.thumb_set SWPMI1_IRQHandler,Default_Handler
+	
+	.weak	TSC_IRQHandler
+	.thumb_set TSC_IRQHandler,Default_Handler
+	
+	.weak	LCD_IRQHandler
+	.thumb_set LCD_IRQHandler,Default_Handler
+	
+	.weak	RNG_IRQHandler
+	.thumb_set RNG_IRQHandler,Default_Handler
+	
+	.weak	FPU_IRQHandler
+	.thumb_set FPU_IRQHandler,Default_Handler
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/src/stm32l4xx_it.c b/src/stm32l4xx_it.c
index 31477a0..6aade74 100644
--- a/src/stm32l4xx_it.c
+++ b/src/stm32l4xx_it.c
@@ -1,146 +1,146 @@
-/**

-  ******************************************************************************

-  * @file    Templates/Src/stm32l4xx_it.c 

-  * @author  MCD Application Team

-  * @version V1.8.0

-  * @date    21-April-2017

-  * @brief   Main Interrupt Service Routines.

-  *          This file provides template for all exceptions handler and 

-  *          peripherals interrupt service routine.

-  ******************************************************************************

-  * @attention

-  *

-  * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>

-  *

-  * Redistribution and use in source and binary forms, with or without modification,

-  * are permitted provided that the following conditions are met:

-  *   1. Redistributions of source code must retain the above copyright notice,

-  *      this list of conditions and the following disclaimer.

-  *   2. Redistributions in binary form must reproduce the above copyright notice,

-  *      this list of conditions and the following disclaimer in the documentation

-  *      and/or other materials provided with the distribution.

-  *   3. Neither the name of STMicroelectronics nor the names of its contributors

-  *      may be used to endorse or promote products derived from this software

-  *      without specific prior written permission.

-  *

-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE

-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL

-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR

-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,

-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

-  *

-  ******************************************************************************

-  */

-

-/* Includes ------------------------------------------------------------------*/

-#include <stdbool.h>

-#include "stm32l4xx_hal.h"

-

-/******************************************************************************/

-/*            Cortex-M4 Processor Exceptions Handlers                         */

-/******************************************************************************/

-

-/**

-  * @brief   This function handles NMI exception.

-  * @param  None

-  * @retval None

-  */

-void	NMI_Handler		(void)

-{

-}

-

-/**

-  * @brief  This function handles Hard Fault exception.

-  * @param  None

-  * @retval None

-  */

-void	HardFault_Handler	(void)

-{

-	/* Go to infinite loop when Hard Fault exception occurs */

-	while (true)

-	{

-	}

-}

-

-/**

-  * @brief  This function handles Memory Manage exception.

-  * @param  None

-  * @retval None

-  */

-void	MemManage_Handler	(void)

-{

-	/* Go to infinite loop when Memory Manage exception occurs */

-	while (true)

-	{

-	}

-}

-

-/**

-  * @brief  This function handles Bus Fault exception.

-  * @param  None

-  * @retval None

-  */

-void	BusFault_Handler	(void)

-{

-	/* Go to infinite loop when Bus Fault exception occurs */

-	while (true)

-	{

-	}

-}

-

-/**

-  * @brief  This function handles Usage Fault exception.

-  * @param  None

-  * @retval None

-  */

-void	UsageFault_Handler	(void)

-{

-	/* Go to infinite loop when Usage Fault exception occurs */

-	while (true)

-	{

-	}

-}

-

-/**

-  * @brief  This function handles SVCall exception.

-  * @param  None

-  * @retval None

-  */

-void	SVC_Handler		(void)

-{

-}

-

-/**

-  * @brief  This function handles Debug Monitor exception.

-  * @param  None

-  * @retval None

-  */

-void	DebugMon_Handler	(void)

-{

-}

-

-/**

-  * @brief  This function handles PendSVC exception.

-  * @param  None

-  * @retval None

-  */

-void	PendSV_Handler		(void)

-{

-}

-

-/**

-  * @brief  This function handles SysTick Handler.

-  * @param  None

-  * @retval None

-  */

-void	SysTick_Handler		(void)

-{

-	HAL_IncTick();

-}

-

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

+/**
+  ******************************************************************************
+  * @file    Templates/Src/stm32l4xx_it.c 
+  * @author  MCD Application Team
+  * @version V1.8.0
+  * @date    21-April-2017
+  * @brief   Main Interrupt Service Routines.
+  *          This file provides template for all exceptions handler and 
+  *          peripherals interrupt service routine.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdbool.h>
+#include "stm32l4xx_hal.h"
+
+/******************************************************************************/
+/*            Cortex-M4 Processor Exceptions Handlers                         */
+/******************************************************************************/
+
+/**
+  * @brief   This function handles NMI exception.
+  * @param  None
+  * @retval None
+  */
+void	NMI_Handler		(void)
+{
+}
+
+/**
+  * @brief  This function handles Hard Fault exception.
+  * @param  None
+  * @retval None
+  */
+void	HardFault_Handler	(void)
+{
+	/* Go to infinite loop when Hard Fault exception occurs */
+	while (true)
+	{
+	}
+}
+
+/**
+  * @brief  This function handles Memory Manage exception.
+  * @param  None
+  * @retval None
+  */
+void	MemManage_Handler	(void)
+{
+	/* Go to infinite loop when Memory Manage exception occurs */
+	while (true)
+	{
+	}
+}
+
+/**
+  * @brief  This function handles Bus Fault exception.
+  * @param  None
+  * @retval None
+  */
+void	BusFault_Handler	(void)
+{
+	/* Go to infinite loop when Bus Fault exception occurs */
+	while (true)
+	{
+	}
+}
+
+/**
+  * @brief  This function handles Usage Fault exception.
+  * @param  None
+  * @retval None
+  */
+void	UsageFault_Handler	(void)
+{
+	/* Go to infinite loop when Usage Fault exception occurs */
+	while (true)
+	{
+	}
+}
+
+/**
+  * @brief  This function handles SVCall exception.
+  * @param  None
+  * @retval None
+  */
+void	SVC_Handler		(void)
+{
+}
+
+/**
+  * @brief  This function handles Debug Monitor exception.
+  * @param  None
+  * @retval None
+  */
+void	DebugMon_Handler	(void)
+{
+}
+
+/**
+  * @brief  This function handles PendSVC exception.
+  * @param  None
+  * @retval None
+  */
+void	PendSV_Handler		(void)
+{
+}
+
+/**
+  * @brief  This function handles SysTick Handler.
+  * @param  None
+  * @retval None
+  */
+void	SysTick_Handler		(void)
+{
+	HAL_IncTick();
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/src/system_stm32l4xx.c b/src/system_stm32l4xx.c
index d09954f..a207999 100644
--- a/src/system_stm32l4xx.c
+++ b/src/system_stm32l4xx.c
@@ -1,363 +1,363 @@
-/**

-  ******************************************************************************

-  * @file    system_stm32l4xx.c

-  * @author  MCD Application Team

-  * @brief   CMSIS Cortex-M4 Device Peripheral Access Layer System Source File

-  *

-  *   This file provides two functions and one global variable to be called from

-  *   user application:

-  *      - SystemInit(): This function is called at startup just after reset and

-  *                      before branch to main program. This call is made inside

-  *                      the "startup_stm32l4xx.s" file.

-  *

-  *      - SystemCoreClock variable: Contains the core clock (HCLK), it can be used

-  *                                  by the user application to setup the SysTick

-  *                                  timer or configure other parameters.

-  *

-  *      - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must

-  *                                 be called whenever the core clock is changed

-  *                                 during program execution.

-  *

-  *   After each device reset the MSI (4 MHz) is used as system clock source.

-  *   Then SystemInit() function is called, in "startup_stm32l4xx.s" file, to

-  *   configure the system clock before to branch to main program.

-  *

-  *   This file configures the system clock as follows:

-  *=============================================================================

-  *-----------------------------------------------------------------------------

-  *        System Clock source                    | MSI

-  *-----------------------------------------------------------------------------

-  *        SYSCLK(Hz)                             | 4000000

-  *-----------------------------------------------------------------------------

-  *        HCLK(Hz)                               | 4000000

-  *-----------------------------------------------------------------------------

-  *        AHB Prescaler                          | 1

-  *-----------------------------------------------------------------------------

-  *        APB1 Prescaler                         | 1

-  *-----------------------------------------------------------------------------

-  *        APB2 Prescaler                         | 1

-  *-----------------------------------------------------------------------------

-  *        PLL_M                                  | 1

-  *-----------------------------------------------------------------------------

-  *        PLL_N                                  | 8

-  *-----------------------------------------------------------------------------

-  *        PLL_P                                  | 7

-  *-----------------------------------------------------------------------------

-  *        PLL_Q                                  | 2

-  *-----------------------------------------------------------------------------

-  *        PLL_R                                  | 2

-  *-----------------------------------------------------------------------------

-  *        PLLSAI1_P                              | NA

-  *-----------------------------------------------------------------------------

-  *        PLLSAI1_Q                              | NA

-  *-----------------------------------------------------------------------------

-  *        PLLSAI1_R                              | NA

-  *-----------------------------------------------------------------------------

-  *        PLLSAI2_P                              | NA

-  *-----------------------------------------------------------------------------

-  *        PLLSAI2_Q                              | NA

-  *-----------------------------------------------------------------------------

-  *        PLLSAI2_R                              | NA

-  *-----------------------------------------------------------------------------

-  *        Require 48MHz for USB OTG FS,          | Disabled

-  *        SDIO and RNG clock                     |

-  *-----------------------------------------------------------------------------

-  *=============================================================================

-  ******************************************************************************

-  * @attention

-  *

-  * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>

-  *

-  * Redistribution and use in source and binary forms, with or without modification,

-  * are permitted provided that the following conditions are met:

-  *   1. Redistributions of source code must retain the above copyright notice,

-  *      this list of conditions and the following disclaimer.

-  *   2. Redistributions in binary form must reproduce the above copyright notice,

-  *      this list of conditions and the following disclaimer in the documentation

-  *      and/or other materials provided with the distribution.

-  *   3. Neither the name of STMicroelectronics nor the names of its contributors

-  *      may be used to endorse or promote products derived from this software

-  *      without specific prior written permission.

-  *

-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE

-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL

-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR

-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,

-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

-  *

-  ******************************************************************************

-  */

-

-/** @addtogroup CMSIS

-  * @{

-  */

-

-/** @addtogroup stm32l4xx_system

-  * @{

-  */

-

-/** @addtogroup STM32L4xx_System_Private_Includes

-  * @{

-  */

-

-#include "stm32l4xx.h"

-

-#if !defined	(HSE_VALUE)

-  # define	HSE_VALUE	(8000000U)  /*!< Value of the External oscillator in Hz */

-#endif /* HSE_VALUE */

-

-#if !defined	(MSI_VALUE)

-  # define	MSI_VALUE	(4000000U)  /*!< Value of the Internal oscillator in Hz*/

-#endif /* MSI_VALUE */

-

-#if !defined	(HSI_VALUE)

-  # define	HSI_VALUE	(16000000U) /*!< Value of the Internal oscillator in Hz*/

-#endif /* HSI_VALUE */

-

-/**

-  * @}

-  */

-

-/** @addtogroup STM32L4xx_System_Private_TypesDefinitions

-  * @{

-  */

-

-/**

-  * @}

-  */

-

-/** @addtogroup STM32L4xx_System_Private_Defines

-  * @{

-  */

-

-/************************* Miscellaneous Configuration ************************/

-/*!< Uncomment the following line if you need to relocate your vector Table in

-     Internal SRAM. */

-/* #define VECT_TAB_SRAM */

-# define	VECT_TAB_OFFSET		(0x00) /*!< Vector Table base offset field.

-                                   This value must be a multiple of 0x200. */

-/******************************************************************************/

-/**

-  * @}

-  */

-

-/** @addtogroup STM32L4xx_System_Private_Macros

-  * @{

-  */

-

-/**

-  * @}

-  */

-

-/** @addtogroup STM32L4xx_System_Private_Variables

-  * @{

-  */

-  /* The SystemCoreClock variable is updated in three ways:

-      1) by calling CMSIS function SystemCoreClockUpdate()

-      2) by calling HAL API function HAL_RCC_GetHCLKFreq()

-      3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency

-         Note: If you use this function to configure the system clock; then there

-               is no need to call the 2 first functions listed above, since SystemCoreClock

-               variable is updated automatically.

-  */

-	uint32_t	SystemCoreClock		= 4000000U;

-

-	const uint8_t	AHBPrescTable [16]	= {

-				0U, 0U, 0U, 0U, 0U, 0U, 0U, 0U,

-				1U, 2U, 3U, 4U, 6U, 7U, 8U, 9U

-			};

-	const uint8_t	APBPrescTable [8]	=  {

-				0U, 0U, 0U, 0U, 1U, 2U, 3U, 4U

-			};

-	const uint32_t	MSIRangeTable [12]	= {

-				  100000U,   200000U,   400000U,   800000U,

-				 1000000U,  2000000U,  4000000U,  8000000U,

-				16000000U, 24000000U, 32000000U, 48000000U

-			};

-/**

-  * @}

-  */

-

-/** @addtogroup STM32L4xx_System_Private_FunctionPrototypes

-  * @{

-  */

-

-/**

-  * @}

-  */

-

-/** @addtogroup STM32L4xx_System_Private_Functions

-  * @{

-  */

-

-/**

-  * @brief  Setup the microcontroller system.

-  * @param  None

-  * @retval None

-  */

-

-void SystemInit(void)

-{

-	/* FPU settings ------------------------------------------------------------*/

-  #if (__FPU_PRESENT == 1)  &&  (__FPU_USED == 1)

-	SCB->CPACR	|= ((3UL << 10*2)|(3UL << 11*2));  /* set CP10 and CP11 Full Access */

-  #endif

-

-	/* Reset the RCC clock configuration to the default reset state ------------*/

-	/* Set MSION bit */

-	RCC->CR		|= RCC_CR_MSION;

-

-	/* Reset CFGR register */

-	RCC->CFGR	= 0x00000000U;

-

-	/* Reset HSEON, CSSON , HSION, and PLLON bits */

-	RCC->CR		&= 0xEAF6FFFFU;

-

-	/* Reset PLLCFGR register */

-	RCC->PLLCFGR	= 0x00001000U;

-

-	/* Reset HSEBYP bit */

-	RCC->CR		&= 0xFFFBFFFFU;

-

-	/* Disable all interrupts */

-	RCC->CIER	= 0x00000000U;

-

-	/* Configure the Vector Table location add offset address ------------------*/

-  #ifdef VECT_TAB_SRAM

-	SCB->VTOR	= SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */

-  #else

-	SCB->VTOR	= FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */

-  #endif

-}

-

-/**

-  * @brief  Update SystemCoreClock variable according to Clock Register Values.

-  *         The SystemCoreClock variable contains the core clock (HCLK), it can

-  *         be used by the user application to setup the SysTick timer or configure

-  *         other parameters.

-  *

-  * @note   Each time the core clock (HCLK) changes, this function must be called

-  *         to update SystemCoreClock variable value. Otherwise, any configuration

-  *         based on this variable will be incorrect.

-  *

-  * @note   - The system frequency computed by this function is not the real

-  *           frequency in the chip. It is calculated based on the predefined

-  *           constant and the selected clock source:

-  *

-  *           - If SYSCLK source is MSI, SystemCoreClock will contain the MSI_VALUE(*)

-  *

-  *           - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(**)

-  *

-  *           - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(***)

-  *

-  *           - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(***)

-  *             or HSI_VALUE(*) or MSI_VALUE(*) multiplied/divided by the PLL factors.

-  *

-  *         (*) MSI_VALUE is a constant defined in stm32l4xx_hal.h file (default value

-  *             4 MHz) but the real value may vary depending on the variations

-  *             in voltage and temperature.

-  *

-  *         (**) HSI_VALUE is a constant defined in stm32l4xx_hal.h file (default value

-  *              16 MHz) but the real value may vary depending on the variations

-  *              in voltage and temperature.

-  *

-  *         (***) HSE_VALUE is a constant defined in stm32l4xx_hal.h file (default value

-  *              8 MHz), user has to ensure that HSE_VALUE is same as the real

-  *              frequency of the crystal used. Otherwise, this function may

-  *              have wrong result.

-  *

-  *         - The result of this function could be not correct when using fractional

-  *           value for HSE crystal.

-  *

-  * @param  None

-  * @retval None

-  */

-void SystemCoreClockUpdate(void)

-{

-	uint32_t	tmp		= 0u;

-	uint32_t	msirange	= 0u;

-	uint32_t	pllvco		= 0u;

-	uint32_t	pllr		= 2u;

-	uint32_t	pllsource	= 0u;

-	uint32_t	pllm		= 2u;

-

-	/* Get MSI Range frequency--------------------------------------------------*/

-	if ((RCC->CR & RCC_CR_MSIRGSEL)  ==  RESET) {

-		/* MSISRANGE from RCC_CSR applies */

-		msirange	= (RCC->CSR & RCC_CSR_MSISRANGE) >> 8u;

-	} else {

-		/* MSIRANGE from RCC_CR applies */

-		msirange	= (RCC->CR & RCC_CR_MSIRANGE) >> 4u;

-	}

-	/*MSI frequency range in HZ*/

-	msirange	= MSIRangeTable[msirange];

-

-	/* Get SYSCLK source -------------------------------------------------------*/

-	switch (RCC->CFGR & RCC_CFGR_SWS) {

-	case 0x00:  /* MSI used as system clock source */

-		SystemCoreClock	= msirange;

-		break;

-

-	case 0x04:  /* HSI used as system clock source */

-		SystemCoreClock	= HSI_VALUE;

-		break;

-

-	case 0x08:  /* HSE used as system clock source */

-		SystemCoreClock	= HSE_VALUE;

-		break;

-

-	case 0x0C:  /* PLL used as system clock  source */

-		/* PLL_VCO = (HSE_VALUE or HSI_VALUE or MSI_VALUE/ PLLM) * PLLN

-		 * SYSCLK = PLL_VCO / PLLR

-		 */

-		pllsource	= (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC);

-		pllm		= ((RCC->PLLCFGR & RCC_PLLCFGR_PLLM) >> 4U) + 1U;

-

-		switch (pllsource) {

-		case 0x02:  /* HSI used as PLL clock source */

-			pllvco = (HSI_VALUE / pllm);

-			break;

-

-		case 0x03:  /* HSE used as PLL clock source */

-			pllvco = (HSE_VALUE / pllm);

-			break;

-

-		default:    /* MSI used as PLL clock source */

-			pllvco = (msirange / pllm);

-			break;

-		}

-		pllvco		= pllvco * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 8U);

-		pllr		= (((RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> 25U) + 1U) * 2U;

-		SystemCoreClock	= pllvco / pllr;

-		break;

-

-	default:

-		SystemCoreClock	= msirange;

-		break;

-	}

-	/* Compute HCLK clock frequency --------------------------------------------*/

-	/* Get HCLK prescaler */

-	tmp	= AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4U)];

-	/* HCLK clock frequency */

-	SystemCoreClock	>>= tmp;

-}

-

-

-/**

-  * @}

-  */

-

-/**

-  * @}

-  */

-

-/**

-  * @}

-  */

-

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

+/**
+  ******************************************************************************
+  * @file    system_stm32l4xx.c
+  * @author  MCD Application Team
+  * @brief   CMSIS Cortex-M4 Device Peripheral Access Layer System Source File
+  *
+  *   This file provides two functions and one global variable to be called from
+  *   user application:
+  *      - SystemInit(): This function is called at startup just after reset and
+  *                      before branch to main program. This call is made inside
+  *                      the "startup_stm32l4xx.s" file.
+  *
+  *      - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
+  *                                  by the user application to setup the SysTick
+  *                                  timer or configure other parameters.
+  *
+  *      - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
+  *                                 be called whenever the core clock is changed
+  *                                 during program execution.
+  *
+  *   After each device reset the MSI (4 MHz) is used as system clock source.
+  *   Then SystemInit() function is called, in "startup_stm32l4xx.s" file, to
+  *   configure the system clock before to branch to main program.
+  *
+  *   This file configures the system clock as follows:
+  *=============================================================================
+  *-----------------------------------------------------------------------------
+  *        System Clock source                    | MSI
+  *-----------------------------------------------------------------------------
+  *        SYSCLK(Hz)                             | 4000000
+  *-----------------------------------------------------------------------------
+  *        HCLK(Hz)                               | 4000000
+  *-----------------------------------------------------------------------------
+  *        AHB Prescaler                          | 1
+  *-----------------------------------------------------------------------------
+  *        APB1 Prescaler                         | 1
+  *-----------------------------------------------------------------------------
+  *        APB2 Prescaler                         | 1
+  *-----------------------------------------------------------------------------
+  *        PLL_M                                  | 1
+  *-----------------------------------------------------------------------------
+  *        PLL_N                                  | 8
+  *-----------------------------------------------------------------------------
+  *        PLL_P                                  | 7
+  *-----------------------------------------------------------------------------
+  *        PLL_Q                                  | 2
+  *-----------------------------------------------------------------------------
+  *        PLL_R                                  | 2
+  *-----------------------------------------------------------------------------
+  *        PLLSAI1_P                              | NA
+  *-----------------------------------------------------------------------------
+  *        PLLSAI1_Q                              | NA
+  *-----------------------------------------------------------------------------
+  *        PLLSAI1_R                              | NA
+  *-----------------------------------------------------------------------------
+  *        PLLSAI2_P                              | NA
+  *-----------------------------------------------------------------------------
+  *        PLLSAI2_Q                              | NA
+  *-----------------------------------------------------------------------------
+  *        PLLSAI2_R                              | NA
+  *-----------------------------------------------------------------------------
+  *        Require 48MHz for USB OTG FS,          | Disabled
+  *        SDIO and RNG clock                     |
+  *-----------------------------------------------------------------------------
+  *=============================================================================
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/** @addtogroup CMSIS
+  * @{
+  */
+
+/** @addtogroup stm32l4xx_system
+  * @{
+  */
+
+/** @addtogroup STM32L4xx_System_Private_Includes
+  * @{
+  */
+
+#include "stm32l4xx.h"
+
+#if !defined	(HSE_VALUE)
+  # define	HSE_VALUE	(8000000U)  /*!< Value of the External oscillator in Hz */
+#endif /* HSE_VALUE */
+
+#if !defined	(MSI_VALUE)
+  # define	MSI_VALUE	(4000000U)  /*!< Value of the Internal oscillator in Hz*/
+#endif /* MSI_VALUE */
+
+#if !defined	(HSI_VALUE)
+  # define	HSI_VALUE	(16000000U) /*!< Value of the Internal oscillator in Hz*/
+#endif /* HSI_VALUE */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32L4xx_System_Private_TypesDefinitions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32L4xx_System_Private_Defines
+  * @{
+  */
+
+/************************* Miscellaneous Configuration ************************/
+/*!< Uncomment the following line if you need to relocate your vector Table in
+     Internal SRAM. */
+/* #define VECT_TAB_SRAM */
+# define	VECT_TAB_OFFSET		(0x00) /*!< Vector Table base offset field.
+                                   This value must be a multiple of 0x200. */
+/******************************************************************************/
+/**
+  * @}
+  */
+
+/** @addtogroup STM32L4xx_System_Private_Macros
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32L4xx_System_Private_Variables
+  * @{
+  */
+  /* The SystemCoreClock variable is updated in three ways:
+      1) by calling CMSIS function SystemCoreClockUpdate()
+      2) by calling HAL API function HAL_RCC_GetHCLKFreq()
+      3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
+         Note: If you use this function to configure the system clock; then there
+               is no need to call the 2 first functions listed above, since SystemCoreClock
+               variable is updated automatically.
+  */
+	uint32_t	SystemCoreClock		= 4000000U;
+
+	const uint8_t	AHBPrescTable [16]	= {
+				0U, 0U, 0U, 0U, 0U, 0U, 0U, 0U,
+				1U, 2U, 3U, 4U, 6U, 7U, 8U, 9U
+			};
+	const uint8_t	APBPrescTable [8]	=  {
+				0U, 0U, 0U, 0U, 1U, 2U, 3U, 4U
+			};
+	const uint32_t	MSIRangeTable [12]	= {
+				  100000U,   200000U,   400000U,   800000U,
+				 1000000U,  2000000U,  4000000U,  8000000U,
+				16000000U, 24000000U, 32000000U, 48000000U
+			};
+/**
+  * @}
+  */
+
+/** @addtogroup STM32L4xx_System_Private_FunctionPrototypes
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32L4xx_System_Private_Functions
+  * @{
+  */
+
+/**
+  * @brief  Setup the microcontroller system.
+  * @param  None
+  * @retval None
+  */
+
+void SystemInit(void)
+{
+	/* FPU settings ------------------------------------------------------------*/
+  #if (__FPU_PRESENT == 1)  &&  (__FPU_USED == 1)
+	SCB->CPACR	|= ((3UL << 10*2)|(3UL << 11*2));  /* set CP10 and CP11 Full Access */
+  #endif
+
+	/* Reset the RCC clock configuration to the default reset state ------------*/
+	/* Set MSION bit */
+	RCC->CR		|= RCC_CR_MSION;
+
+	/* Reset CFGR register */
+	RCC->CFGR	= 0x00000000U;
+
+	/* Reset HSEON, CSSON , HSION, and PLLON bits */
+	RCC->CR		&= 0xEAF6FFFFU;
+
+	/* Reset PLLCFGR register */
+	RCC->PLLCFGR	= 0x00001000U;
+
+	/* Reset HSEBYP bit */
+	RCC->CR		&= 0xFFFBFFFFU;
+
+	/* Disable all interrupts */
+	RCC->CIER	= 0x00000000U;
+
+	/* Configure the Vector Table location add offset address ------------------*/
+  #ifdef VECT_TAB_SRAM
+	SCB->VTOR	= SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
+  #else
+	SCB->VTOR	= FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */
+  #endif
+}
+
+/**
+  * @brief  Update SystemCoreClock variable according to Clock Register Values.
+  *         The SystemCoreClock variable contains the core clock (HCLK), it can
+  *         be used by the user application to setup the SysTick timer or configure
+  *         other parameters.
+  *
+  * @note   Each time the core clock (HCLK) changes, this function must be called
+  *         to update SystemCoreClock variable value. Otherwise, any configuration
+  *         based on this variable will be incorrect.
+  *
+  * @note   - The system frequency computed by this function is not the real
+  *           frequency in the chip. It is calculated based on the predefined
+  *           constant and the selected clock source:
+  *
+  *           - If SYSCLK source is MSI, SystemCoreClock will contain the MSI_VALUE(*)
+  *
+  *           - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(**)
+  *
+  *           - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(***)
+  *
+  *           - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(***)
+  *             or HSI_VALUE(*) or MSI_VALUE(*) multiplied/divided by the PLL factors.
+  *
+  *         (*) MSI_VALUE is a constant defined in stm32l4xx_hal.h file (default value
+  *             4 MHz) but the real value may vary depending on the variations
+  *             in voltage and temperature.
+  *
+  *         (**) HSI_VALUE is a constant defined in stm32l4xx_hal.h file (default value
+  *              16 MHz) but the real value may vary depending on the variations
+  *              in voltage and temperature.
+  *
+  *         (***) HSE_VALUE is a constant defined in stm32l4xx_hal.h file (default value
+  *              8 MHz), user has to ensure that HSE_VALUE is same as the real
+  *              frequency of the crystal used. Otherwise, this function may
+  *              have wrong result.
+  *
+  *         - The result of this function could be not correct when using fractional
+  *           value for HSE crystal.
+  *
+  * @param  None
+  * @retval None
+  */
+void SystemCoreClockUpdate(void)
+{
+	uint32_t	tmp		= 0u;
+	uint32_t	msirange	= 0u;
+	uint32_t	pllvco		= 0u;
+	uint32_t	pllr		= 2u;
+	uint32_t	pllsource	= 0u;
+	uint32_t	pllm		= 2u;
+
+	/* Get MSI Range frequency--------------------------------------------------*/
+	if ((RCC->CR & RCC_CR_MSIRGSEL)  ==  RESET) {
+		/* MSISRANGE from RCC_CSR applies */
+		msirange	= (RCC->CSR & RCC_CSR_MSISRANGE) >> 8u;
+	} else {
+		/* MSIRANGE from RCC_CR applies */
+		msirange	= (RCC->CR & RCC_CR_MSIRANGE) >> 4u;
+	}
+	/*MSI frequency range in HZ*/
+	msirange	= MSIRangeTable[msirange];
+
+	/* Get SYSCLK source -------------------------------------------------------*/
+	switch (RCC->CFGR & RCC_CFGR_SWS) {
+	case 0x00:  /* MSI used as system clock source */
+		SystemCoreClock	= msirange;
+		break;
+
+	case 0x04:  /* HSI used as system clock source */
+		SystemCoreClock	= HSI_VALUE;
+		break;
+
+	case 0x08:  /* HSE used as system clock source */
+		SystemCoreClock	= HSE_VALUE;
+		break;
+
+	case 0x0C:  /* PLL used as system clock  source */
+		/* PLL_VCO = (HSE_VALUE or HSI_VALUE or MSI_VALUE/ PLLM) * PLLN
+		 * SYSCLK = PLL_VCO / PLLR
+		 */
+		pllsource	= (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC);
+		pllm		= ((RCC->PLLCFGR & RCC_PLLCFGR_PLLM) >> 4U) + 1U;
+
+		switch (pllsource) {
+		case 0x02:  /* HSI used as PLL clock source */
+			pllvco = (HSI_VALUE / pllm);
+			break;
+
+		case 0x03:  /* HSE used as PLL clock source */
+			pllvco = (HSE_VALUE / pllm);
+			break;
+
+		default:    /* MSI used as PLL clock source */
+			pllvco = (msirange / pllm);
+			break;
+		}
+		pllvco		= pllvco * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 8U);
+		pllr		= (((RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> 25U) + 1U) * 2U;
+		SystemCoreClock	= pllvco / pllr;
+		break;
+
+	default:
+		SystemCoreClock	= msirange;
+		break;
+	}
+	/* Compute HCLK clock frequency --------------------------------------------*/
+	/* Get HCLK prescaler */
+	tmp	= AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4U)];
+	/* HCLK clock frequency */
+	SystemCoreClock	>>= tmp;
+}
+
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/stm32l4-drivers b/stm32l4-drivers
-Subproject 108fd492d21998a3c5dcbd9037352509a353220
+Subproject 4ce59057c85bbac81fa44f956bfc392fcb6f120
diff --git a/stm32l4-modules b/stm32l4-modules
-Subproject 098db59a417dbe7c226b9c58d369475d48a8cfc
+Subproject f061888de747ef36615a396200b32d5a72ccdc3