serdes working
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ca64e3480d
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@ -3,7 +3,10 @@ set(elf_file stm32.elf)
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set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/nanopb/extra)
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find_package(Nanopb REQUIRED)
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nanopb_generate_cpp(TARGET proto simple.proto)
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nanopb_generate_cpp(TARGET proto
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simple.proto
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quaternion.proto
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)
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add_executable(${elf_file}
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app.c
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36
app/app.c
36
app/app.c
@ -2,9 +2,29 @@
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#include <pb_encode.h>
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#include <pb_decode.h>
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#include "simple.pb.h"
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#include "quaternion.pb.h"
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#define SER_BUF_SIZE 128
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uint8_t ser_buffer[SER_BUF_SIZE];
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uint8_t serdes_buffer[SER_BUF_SIZE];
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uint8_t deserialize(uint8_t* buffer, size_t len) {
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bool status = 0;
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SimpleMessage message = SimpleMessage_init_zero;
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Quaternion quat = Quaternion_init_zero;
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pb_istream_t stream = pb_istream_from_buffer(buffer, len);
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status = pb_decode(&stream, Quaternion_fields, &quat);
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if (!status)
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{
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printf("Decoding failed: %s\r\n", PB_GET_ERROR(&stream));
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return 1;
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}
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printf("Quaternion: w: %.2f, x: %.2f, y: %.2f, z: %.2f\r\n", quat.w, quat.x, quat.y, quat.z);
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}
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uint8_t serialize(uint8_t* buffer, size_t* len) {
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size_t message_length = 0;
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@ -28,10 +48,12 @@ uint8_t serialize(uint8_t* buffer, size_t* len) {
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return 0;
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}
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void sendData(sd_callback_t send_data_callback) {
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if (get_dbg_uart() == NULL)
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return;
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size_t ser_len = 0;
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serialize(ser_buffer, &ser_len);
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send_data_callback(ser_buffer, ser_len);
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void commandHandler() {
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}
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void sendData(sd_callback_t send_data_callback) {
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size_t ser_len = 0;
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serialize(serdes_buffer, &ser_len);
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send_data_callback(serdes_buffer, ser_len);
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}
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@ -3,6 +3,7 @@
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#include "bsp.h"
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typedef void (*sd_callback_t)(const uint8_t*, uint16_t);
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void sendData(sd_callback_t);
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void sendData(sd_callback_t);
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uint8_t deserialize(uint8_t* buffer, size_t len);
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#endif
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@ -11,9 +11,12 @@ int main(void)
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while (1)
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{
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lwipProcess();
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sendData(udp_send_data);
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GPIO_ToggleBits(GPIOB, GPIO_Pin_14);
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delay(100);
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if (getLwipStatus()->udp_packet_rdy == PACKET_RDY) {
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getLwipStatus()->udp_packet_rdy = PACKET_NOT_RDY;
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udp_receive_buffer_t* udp_buffer = getUdpReceiveBuffer();
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deserialize(udp_buffer->buf, udp_buffer->len);
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}
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}
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}
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8
app/quaternion.proto
Normal file
8
app/quaternion.proto
Normal file
@ -0,0 +1,8 @@
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syntax = "proto3";
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message Quaternion {
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float w = 1;
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float x = 2;
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float y = 3;
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float z = 4;
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}
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@ -5,7 +5,7 @@
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static USART_TypeDef* dbg_uart = NULL;
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static lwip_status_t lwip_status = {.link_status = LINK_DOWN};
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static lwip_status_t lwip_status = {.link_status = LINK_DOWN, .udp_packet_rdy = PACKET_NOT_RDY};
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USART_TypeDef* get_dbg_uart() {
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return &dbg_uart;
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@ -19,7 +19,9 @@ void register_dbg_uart(USART_TypeDef* uart) {
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dbg_uart = uart;
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}
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void send_uart(const uint8_t* data, uint8_t len) {
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void uart_send_data(const uint8_t* data, uint8_t len) {
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if (get_dbg_uart() == NULL)
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return;
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uint8_t i = 0;
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while(i < len) {
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while (USART_GetFlagStatus(dbg_uart, USART_FLAG_TXE) == RESET);
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@ -13,15 +13,18 @@
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typedef enum {
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LINK_DOWN,
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LINK_UP
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LINK_UP,
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PACKET_RDY,
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PACKET_NOT_RDY
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} status_t;
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typedef struct {
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uint8_t link_status;
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uint8_t udp_packet_rdy;
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} lwip_status_t;
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void boardInit();
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lwip_status_t* getLwipStatus();
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USART_TypeDef* get_dbg_uart();
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void send_uart(const uint8_t*, uint8_t);
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void uart_send_data(const uint8_t*, uint8_t);
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#endif
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@ -8,7 +8,6 @@
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#include "lwip/timeouts.h"
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#include "netif/etharp.h"
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#define UDP_RX_BUFFER_SIZE 128
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void Error_Handler(void);
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@ -24,17 +23,22 @@ uint8_t IP_ADDRESS[4];
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uint8_t NETMASK_ADDRESS[4];
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uint8_t GATEWAY_ADDRESS[4];
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static char udp_receive_buffer[UDP_RX_BUFFER_SIZE];
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static udp_receive_buffer_t udp_receive_buffer = {.len = 0};
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udp_receive_buffer_t* getUdpReceiveBuffer() {
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return &udp_receive_buffer;
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}
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void udp_receive_callback(void *arg, struct udp_pcb *upcb, struct pbuf *p, const ip_addr_t *addr, u16_t port);
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void udp_receive_callback(void *arg, struct udp_pcb *upcb, struct pbuf *p, const ip_addr_t *addr, u16_t port) {
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strncpy(udp_receive_buffer,p->payload,p->len);
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udp_receive_buffer[p->len]=0;
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// printf("Test\r\n");
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printf("%s\r\n", udp_receive_buffer);
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strncpy(udp_receive_buffer.buf,p->payload,p->len);
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udp_receive_buffer.len = p->len;
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udp_receive_buffer.buf[p->len]=0;
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// printf("udp packet\r\n");
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// printf("%s\r\n", udp_receive_buffer.buf);
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getLwipStatus()->udp_packet_rdy = PACKET_RDY;
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pbuf_free(p);
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GPIO_ToggleBits(GPIOD, GPIO_Pin_0);
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}
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void udpServer_init(void)
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@ -52,7 +56,7 @@ void udpServer_init(void)
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if (err == ERR_OK) {
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// printf("UDP bind\r\n");
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}
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IP4_ADDR(&remote_ip, 192, 168, 1, 111);
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IP4_ADDR(&remote_ip, 192, 168, 1, 110);
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// err= udp_connect(upcb, &remote_ip, remote_port);
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if (err == ERR_OK) {
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// printf("UDP connect\r\n");
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@ -3,9 +3,16 @@
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#include "ethernetif.h"
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#define UDP_RX_BUFFER_SIZE 128
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typedef struct {
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size_t len;
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char buf[UDP_RX_BUFFER_SIZE];
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} udp_receive_buffer_t;
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void udpServer_init(void);
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void udp_send_data(const char *data, u16_t len);
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void lwipInit(void);
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void lwipProcess(void);
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udp_receive_buffer_t* getUdpReceiveBuffer();
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#endif
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@ -1,5 +1,6 @@
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#include "stm32f4xx_it.h"
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#include "lwip/ethernetif.h"
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#include "../app/app.h"
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static volatile uint32_t sys_tick = 0;
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@ -26,13 +27,13 @@ void delay(uint32_t delay) {
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void TIM7_IRQHandler()
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{
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TIM_ClearITPendingBit(TIM7, TIM_IT_Update);
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// GPIO_ToggleBits(GPIOB, GPIO_Pin_7);
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if(getLwipStatus()->link_status == LINK_UP) {
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GPIO_ToggleBits(GPIOB, GPIO_Pin_7);
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}
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else {
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GPIO_ResetBits(GPIOB, GPIO_Pin_7);
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}
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// sendData(udp_send_data);
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}
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void USART2_IRQHandler(void)
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