پروژه ICM20789 با میکروکنترلر STM32F303

typedef enum  interface
{
 NOT_SPI = 0,
 IS_SPI
}ICM20789_Interface;

typedef enum accel_fs_sel
{
FULL_SCALE_2g = 0,
FULL_SCALE_4g    ,
FULL_SCALE_8g    ,
FULL_SCALE_16g
}ICM20789_Accel_Fs_Sel;

typedef enum Accel_Scale_Factor
{
SCALE_FACTOR_16384_LSB_g  = 16384,
SCALE_FACTOR_8192_LSB_g   = 8192 ,
SCALE_FACTOR_4096_LSB_g   = 4096 ,
SCALE_FACTOR_2048_LSB_g   = 2048 ,
}ICM20789_Accel_Scale_Factor;

typedef enum gyro_fs_sel
{
 FS_250_DPS ,
 FS_500_DPS ,
 FS_1000_DPS,
 FS_2000_DPS
}ICM20789_Gyro_Fs_Sel;

typedef enum Gyro_Scale_Factor
{
SCALE_FACTOR_131_LSB_DPS    = 131
SCALE_FACTOR_65p5_LSB_DPS   = 65,
SCALE_FACTOR_32p8_LSB_DPS   = 32,
SCALE_FACTOR_16p4_LSB_DPS   = 16
}ICM20789_Gyro_Scale_Factor;

typedef enum FIFO_Size
{
_512_BYTE = 0 ,
_1_KBYTE  = 1 ,
_2_KBYTE  = 2 ,
_4_KBYTE  = 3 ,
}ICM20789_FIFO_Size ;

typedef enum FIFO_Config
{
STREAM_TO_FIFO      ,
STOP_ON_FULL_FIFO_SNAPSHOT = 1
}ICM20789_FIFO_MODE ;

typedef enum Ability
{
Disable = 0,
Enable
}ICM20789_Ability;

typedef enum Power_Mode
{
ICM20789_LOW_NOISE   = 0,
ICM20789_LOW_POWER   = 1,
ICM20789_SLEEP_OFF   = 2
} ICM20789_Power_Mode;

typedef enum
{
 GYRO_AVERAGE_1_SAMPLES_FILTER  = 0 ,
 GYRO_AVERAGE_2_SAMPLES_FILTER  = 1 ,
 GYRO_AVERAGE_4_SAMPLES_FILTER  = 2 ,
 GYRO_AVERAGE_8_SAMPLES_FILTER  = 3 ,
 GYRO_AVERAGE_16_SAMPLES_FILTER = 4 ,
 GYRO_AVERAGE_32_SAMPLES_FILTER = 5	,
 GYRO_AVERAGE_64_SAMPLES_FILTER = 6	,
 GYRO_AVERAGE_128_SAMPLES_FILTER= 7
} ICM20789_GYRO_Averaging_Filter;

typedef enum ACCEL_Averaging_Filter
{
 ACCEL_AVERAGE_4_SAMPLES_FILTER    = 0 ,
 ACCEL_AVERAGE_8_SAMPLES_FILTER    = 1 ,
 ACCEL_AVERAGE_16_SAMPLES_FILTER   = 2 ,
 ACCEL_AVERAGE_32_SAMPLES_FILTER   = 3
} ICM20789_ACCEL_Averaging_Filter;

typedef enum Preparation
{
IS_NOT_Ready = 0,
IS_Ready
}ICM20789_Preparation;

typedef enum Reset_Status
{
DONE = 0,
FAILED
}ICM20789_Reset_Status;

typedef enum FIFO_Ability
{
FIFO_DISABLE = 0,
FIFO_ENABLE
} ICM20789_FIFO_Ability;

typedef enum Get_DATA
{
FROM_REGISTER = 0,
FROM_FIFO
} ICM20789_Get_DATA;

typedef enum DMP_LP
{
DMP_LOW_POWER = 0,
NOT_DMP_LOW_POWER
} ICM20789_DMP_LP;

typedef enum Sleep
{
ICM20789_AWAKE   = 0,
ICM20789_SLEEP
}ICM20789_Sleep ;

typedef enum Clock_Source
{
INTERNAL_20MHZ_OSCILLATOR = 0,
AUTO_SELECT               = 1,
CLOCK_STOP                = 7
}ICM20789_Clock_Source ;

typedef enum Sensor
{
SENSOR_ENABLE   = 0 ,
SENSOR_DISABLE  = 7
}ICM20789_Sensor ;

typedef enum int_level
{
ACTIVE_HIGH = 0,
ACTIVE_LOW
} ICM20789_INT_Level;

typedef enum latch_type
{
_50_US = 0,
HELD_STATUS_CLEAR
} ICM20789_Latch_Type;

typedef enum int_type
{
PUSH_PULL = 0,
OPEN_DRAIN
}ICM20789_INT_Type;

typedef enum FIFO_Overflow
{
FIFO_IS_NOT_OVERFLOW = 0,
FIFO_IS_OVERFLOW     = 1
} ICM20789_FIFO_Overflow;

typedef enum sample_rate
{
_1_KHz   = 1000,
_4_KHz   = 4000,
_8_KHz   = 8000,
_32_KHz  = 32000
}ICM20789_Sample_Rate ;typedef enum sample_rate
{
_1_KHz   = 1000,
_4_KHz   = 4000,
_8_KHz   = 8000,
_32_KHz  = 32000
}ICM20789_Sample_Rate ;

typedef enum FCHOICEB
{
ENABLE_DLPF_FCHOICEB = 0,
BYPASS_DLPF_FCHOICEB = 1,
}ICM20789_FCHOICEB;

typedef enum Gyro_DLPF_CFG
{
ICM20789_GYRO_TEMP_DLPF_250     = 0,
ICM20789_GYRO_TEMP_DLPF_176	    = 1,
ICM20789_GYRO_TEMP_DLPF_92	    = 2,
ICM20789_GYRO_TEMP_DLPF_41	    = 3,
ICM20789_GYRO_TEMP_DLPF_20	    = 4,
ICM20789_GYRO_TEMP_DLPF_10	    = 5,
ICM20789_GYRO_TEMP_DLPF_5		= 6,
ICM20789_GYRO_TEMP_DLPF_3281	= 7
}ICM20789_GYRO_DLPF ;

typedef enum Accel_DLPF_CFG
{
	ICM20789_ACCEL_DLPF_218	   = 1,
	ICM20789_ACCEL_DLPF_99	   = 2,
	ICM20789_ACCEL_DLPF_45	   = 3,
	ICM20789_ACCEL_DLPF_21	   = 4,
	ICM20789_ACCEL_DLPF_10	   = 5,
	ICM20789_ACCEL_DLPF_5	   = 6,
	ICM20789_ACCEL_DLPF_420    = 7
}ICM20789_ACCEL_DLPF ;

/********************************************************
 *Declare Read&Write ICM20789 Register Values Functions *
 ********************************************************/
extern	uint8_t	GB_ICM20789_Read_Reg_Data ( uint8_t regAddr,uint8_t* data);
extern	uint8_t GB_ICM20789_Read_Reg_Bits (uint8_t regAddr,uint8_t start_bit, uint8_t len, uint8_t* data);
extern	uint8_t GB_ICM20789_Burst_Read(uint8_t regAddr,uint8_t *data, uint16_t byteQuantity);
extern	uint8_t GB_ICM20789_Write_Reg_Data(uint8_t regAddr, uint8_t data);
extern	uint8_t	GB_ICM20789_Write_Reg_Bits(uint8_t regAddr, uint8_t start_bit, uint8_t len, uint8_t data);
extern	uint8_t GB_ICM20789_Burst_Write		( uint8_t regAddr,uint8_t *data, 	uint16_t byteQuantity);
/********************************************************
 *       Declare ICM20789 Configuration Functions       *
 ********************************************************/
extern void GB_ICM20789_Soft_Reset ( GebraBit_ICM20789 * ICM20789 );
extern void GB_ICM20789_Who_am_I(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_DMP(GebraBit_ICM20789* ICM20789 ,ICM20789_Ability dmp,ICM20789_DMP_LP dmp_lp);
extern void GB_ICM20789_DMP_Reset(GebraBit_ICM20789* ICM20789 ,ICM20789_Ability rst);
extern void GB_ICM20789_DMP_Interrupt(ICM20789_Ability interrupt);
extern void GB_ICM20789_Sleep_Awake (GebraBit_ICM20789 * ICM20789, ICM20789_Sleep  working  ) ;
extern void GB_ICM20789_ACCEL_Power_Mode(GebraBit_ICM20789* ICM20789 ,ICM20789_Power_Mode pmode);
extern void GB_ICM20789_GYRO_Power_Mode(GebraBit_ICM20789* ICM20789 ,ICM20789_Power_Mode pmode);
extern void GB_ICM20789_Set_Clock_Source(GebraBit_ICM20789 * ICM20789 , ICM20789_CLK clk) ;
extern void GB_ICM20789_Temperature(GebraBit_ICM20789* ICM20789 ,ICM20789_Ability temp);
extern void GB_ICM20789_Accelerometer(GebraBit_ICM20789 * ICM20789 , ICM20789_Sensor accel);
extern void GB_ICM20789_Gyroscope(GebraBit_ICM20789 * ICM20789 , ICM20789_Sensor gyro) ;
extern void GB_ICM20789_Set_INT_Pin(GebraBit_ICM20789 * ICM20789 , ICM20789_INT_Level level ,ICM20789_INT_Type type , ICM20789_Latch_Type latch );
extern ICM20789_Preparation GB_ICM20789_Check_Data_Preparation(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_GYRO_Full_Scale ( GebraBit_ICM20789 * ICM20789 , ICM20789_Gyro_Fs_Sel fs ) ;
extern void GB_ICM20789_GYRO_Low_Pass_Filter  (GebraBit_ICM20789 * ICM20789 ,  ICM20789_FCHOICEB bypass ) ;
extern void GB_ICM20789_GYRO_TEMP_Low_Pass_Filter_Value  (GebraBit_ICM20789 * ICM20789 , ICM20789_GYRO_TEMP_DLPF dlpf );
extern void GB_ICM20789_GYRO_LP_Averaging_Filter  (GebraBit_ICM20789 * ICM20789 , ICM20789_GYRO_Averaging_Filter avg );
extern void GB_ICM20789_GYRO_Output_Sample_Rate (GebraBit_ICM20789 * ICM20789 , uint16_t rate_hz);
extern void GB_ICM20789_ACCEL_Full_Scale ( GebraBit_ICM20789 * ICM20789 , ICM20789_Accel_Fs_Sel fs );
extern void GB_ICM20789_ACCEL_Low_Pass_Filter  (GebraBit_ICM20789 * ICM20789 ,  ICM20789_FCHOICEB bypass );
extern void GB_ICM20789_ACCEL_Low_Pass_Filter_Value  (GebraBit_ICM20789 * ICM20789 , ICM20789_ACCEL_DLPF dlpf );
extern void GB_ICM20789_ACCEL_LP_Averaging_Filter  (GebraBit_ICM20789 * ICM20789 , ICM20789_ACCEL_Averaging_Filter avg );
extern void GB_ICM20789_Output_Sample_Rate (GebraBit_ICM20789 * ICM20789 , uint16_t rate_hz);
extern void GB_ICM20789_FIFO_Overflow_Interrupt_Pin(GebraBit_ICM20789 * ICM20789 , ICM20789_Ability data_ovf_int);
extern void GB_ICM20789_Data_Ready_Interrupt_Pin(GebraBit_ICM20789 * ICM20789 , ICM20789_Ability data_ready_int);
/********************************************************
 *          Declare ICM20789 FIFO Functions             *
 ********************************************************/
extern void GB_ICM20789_Access_Serial_Interface_To_FIFO(GebraBit_ICM20789 * ICM20789 , ICM20789_Ability interface_access_fifo);
extern ICM20789_FIFO_Overflow GB_ICM20789_Check_FIFO_Overflow(GebraBit_ICM20789 * ICM20789) ;
extern void GB_ICM20789_Write_ACCEL_FIFO(GebraBit_ICM20789 * ICM20789 , ICM20789_Ability accel_fifo ) ;
extern void GB_ICM20789_Write_GYRO_FIFO(GebraBit_ICM20789 * ICM20789 , ICM20789_Ability gyro_fifo ) ;
extern void GB_ICM20789_Write_TEMP_FIFO(GebraBit_ICM20789 * ICM20789 , ICM20789_Ability temp_fifo );
extern void GB_ICM20789_FIFO_Size(GebraBit_ICM20789 * ICM20789 , ICM20789_FIFO_Size fifo_size );
extern void GB_ICM20789_FIFO_Mode(GebraBit_ICM20789 * ICM20789 , ICM20789_FIFO_Mode fifo_mode );
extern void GB_ICM20789_FIFO_Reset(void) ;
extern void GB_ICM20789_GET_FIFO_Count (GebraBit_ICM20789 * ICM20789 ) ;
extern void GB_ICM20789_Read_FIFO(GebraBit_ICM20789 * ICM20789 , uint16_t qty);
extern void GB_ICM20789_Get_ACCEL_GYRO_TEMP_From_FIFO(GebraBit_ICM20789 * ICM20789);
/********************************************************
 *          Declare ICM20789 DATA Functions             *
 ********************************************************/
extern void GB_ICM20789_Get_Temp_Register_Raw_Data(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_Temp_Valid_Data(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_GYRO_X_Register_Raw_DATA(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_GYRO_Y_Register_Raw_DATA(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_GYRO_Z_Register_Raw_DATA(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_GYRO_DATA_X_Valid_Data(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_GYRO_DATA_Y_Valid_Data(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_GYRO_DATA_Z_Valid_Data(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_ACCEL_X_Register_Raw_DATA(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_ACCEL_Y_Register_Raw_DATA(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_ACCEL_Z_Register_Raw_DATA(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_ACCEL_DATA_X_Valid_Data(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_ACCEL_DATA_Y_Valid_Data(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_ACCEL_DATA_Z_Valid_Data(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_Temperature(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_XYZ_GYROSCOPE(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_XYZ_ACCELERATION(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_ACCEL_GYRO_TEMP_From_Registers(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20649_FIFO_Data_Partition_ACCEL_GYRO_XYZ_TEMP(GebraBit_ICM20789 * ICM20789);
extern void GB_ICM20789_Get_Data(GebraBit_ICM20789 * ICM20789 , ICM20789_Get_DATA get_data);
/********************************************************
 *          Declare ICM20789 HIGH LEVEL Functions       *
 ********************************************************/
extern void GB_ICM20789_FIFO_Configuration ( GebraBit_ICM20789 * ICM20789 , ICM20789_FIFO_Ability fifo );
extern void GB_ICM20789_Set_Power_Management(GebraBit_ICM20789 * ICM20789 , ICM20789_Power_Mode pmode) ;
extern void GB_ICM20789_initialize( GebraBit_ICM20789 * ICM20789 );
extern void GB_ICM20789_Configuration(GebraBit_ICM20789 * ICM20789, ICM20789_FIFO_Ability fifo);

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
GebraBit_ICM20789 ICM20789_Module;
/* USER CODE END PTD */

GB_ICM20789_initialize( &ICM20789_Module );
GB_ICM20789_Configuration(&ICM20789_Module ,FIFO_ENABLE);
//GB_ICM20789_Configuration(&ICM20789_Module , FIFO_DISABLE );

GB_ICM20789_Get_Data( &ICM20789_Module , FROM_FIFO );
//GB_ICM20789_Get_Data(  &ICM20789_Module , FROM_REGISTER  );

/* USER CODE BEGIN Header */
/*
 * ________________________________________________________________________________________________________
 * Copyright (c) 2020 GebraBit Inc. All rights reserved.
 *
 * This software, related documentation and any modifications thereto (collectively “Software”) is subject
 * to GebraBit and its licensors' intellectual property rights under U.S. and international copyright
 * and other intellectual property rights laws.
 *
 * GebraBit and its licensors retain all intellectual property and proprietary rights in and to the Software
 * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
 * from GebraBit is strictly prohibited.

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
 * NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT IN
 * NO EVENT SHALL GebraBit BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES,
 * OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
 * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
 * OF THE SOFTWARE.
 * ________________________________________________________________________________________________________
 */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
	* @Author       	: Mehrdad Zeinali
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
//#include "i2c.h"
#include "spi.h"
#include "gpio.h"
#include "GebraBit_ICM20789.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
GebraBit_ICM20789 ICM20789_Module;
/* USER CODE END PTD */

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

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

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

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

/* USER CODE END 0 */

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

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

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

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

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

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  //MX_I2C1_Init();
  MX_SPI1_Init();
	GB_ICM20789_initialize( &ICM20789_Module );
	GB_ICM20789_Configuration(&ICM20789_Module ,FIFO_ENABLE );
	//GB_ICM20789_Configuration(&ICM20789_Module , FIFO_DISABLE );
  /* USER CODE END 2 */
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

    /* USER CODE END WHILE */
    /* USER CODE BEGIN 3 */
		//GB_ICM20789_Get_Data(  &ICM20948_Module , FROM_REGISTER  );
		GB_ICM20789_Get_Data(  &ICM20789_Module , FROM_FIFO  );

  }
  /* USER CODE END 3 */
}

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

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C1;
  PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_SYSCLK;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

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

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */