* @brief Provides a tick value in millisecond. * @note This function is declared as __weak to be overwritten in case of other * implementat

\brief Data Synchronization Barrier \details Acts as a special kind of Data Memory Barrier. It completes when all explicit memory acces

* @brief Enables or disables the TIM Capture Compare Channel x. * @param TIMx to select the TIM peripheral * @param Channel specifies the TIM C

* @brief Start the DMA Transfer with interrupt enabled. * @param hdma pointer to a DMA_HandleTypeDef structure that contains *

* @brief Aborts the DMA Transfer in Interrupt mode. * @param hdma pointer to a DMA_HandleTypeDef structure that contains * the

\brief Instruction Synchronization Barrier \details Instruction Synchronization Barrier flushes the pipeline in the processor, so that

* @brief Wait for a FLASH operation to complete. * @param Timeout maximum flash operationtimeout * @retval HAL Status */

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* @brief Enables or disables the TIM Capture Compare Channel xN. * @param TIMx to select the TIM peripheral * @param Channel specifies the TIM

* @brief Aborts the DMA Transfer. * @param hdma pointer to a DMA_HandleTypeDef structure that contains * the configuration inf

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\brief Set Interrupt Priority The function sets the priority of an interrupt. \note The priority cannot be set for every core interrupt.

* @brief SPI error callback. * @param hspi pointer to a SPI_HandleTypeDef structure that contains * the configuration information

* @brief This function is executed in case of error occurrence. * @retval None */

Norm

Norm

* @brief Handle SPI Communication Timeout. * @param hspi pointer to a SPI_HandleTypeDef structure that contains * the configuration

Transpose

Transpose

* @brief Handle the check of the RXTX or TX transaction complete. * @param hspi SPI handle * @param Timeout Timeout duration * @param Tickst

* @brief Time Base configuration * @param TIMx TIM peripheral * @param Structure TIM Base configuration structure * @retval None */

* @brief Reset interrupt callbacks to the legacy weak callbacks. * @param htim pointer to a TIM_HandleTypeDef structure that contains *

* @brief Returns the PCLK2 frequency * @note Each time PCLK2 changes, this function must be called to update the * right PCLK2 value. O

* @brief Initializes the GPIOx peripheral according to the specified parameters in the GPIO_Init. * @param GPIOx where x can be (A..K) to select t

* @brief Input Capture callback in non-blocking mode * @param htim TIM IC handle * @retval None */

* @brief PWM Pulse finished callback in non-blocking mode * @param htim TIM handle * @retval None */

* @brief UART error callbacks. * @param huart Pointer to a UART_HandleTypeDef structure that contains * the configuration inform

* @brief This function handles UART Communication Timeout. * @param huart Pointer to a UART_HandleTypeDef structure that contains *

* @brief Error ADC callback. * @note In case of error due to overrun when using ADC with DMA transfer * (HAL ADC handle paramater "Err

* @brief Return the DMA error code * @param hdma pointer to a DMA_HandleTypeDef structure that contains * the configuration inform

* @brief FLASH end of operation interrupt callback * @param ReturnValue The value saved in this parameter depends on the ongoing procedure *

* @brief This function configures the source of the time base. * The time source is configured to have 1ms time base with a dedicated *

* @brief Output Compare callback in non-blocking mode * @param htim TIM OC handle * @retval None */

* @brief UART MSP Init. * @param huart Pointer to a UART_HandleTypeDef structure that contains * the configuration information f

T_k^k-1: homogeneous transformation matrix of link k param[in] q: joint variable vector param[in] kminus: joint number k, input k-1 param[out] T_k^k-1

T_k^k-1: homogeneous transformation matrix of link k param[in] q: joint variable vector param[in] kminus: joint number k, input k-1 param[out] T_k^k-1

* @brief Configures the TIMx External Trigger (ETR). * @param TIMx to select the TIM peripheral * @param TIM_ExtTRGPrescaler The external Trigg

* @brief Selects the Input Trigger source * @param TIMx to select the TIM peripheral * @param InputTriggerSource The Input Trigger source. *

* @brief Timer Output Compare 2 configuration * @param TIMx to select the TIM peripheral * @param OC_Config The ouput configuration structure

* @brief Configures the UART peripheral. * @param huart Pointer to a UART_HandleTypeDef structure that contains * the configurat

* @brief Clips Q31 to Q15 values. */

* @brief Erase the specified FLASH memory sector * @param Sector FLASH sector to erase * The value of this parameter depend on device us

* @brief Flush the instruction and data caches * @retval None */

* @brief Regular conversion complete callback in non blocking mode * @param hadc pointer to a ADC_HandleTypeDef structure that contains *

* @brief SPI Abort Complete callback. * @param hspi SPI handle. * @retval None */

* @brief Rx Transfer completed callback. * @param hspi pointer to a SPI_HandleTypeDef structure that contains * the configuration

* @brief Initializes the TIM PWM channels according to the specified * parameters in the TIM_OC_InitTypeDef. * @param htim TIM PWM hand

* @brief Starts the PWM signal generation. * @param htim TIM handle * @param Channel TIM Channels to be enabled * This parameter can

* @brief UART Abort Complete callback. * @param huart UART handle. * @retval None */

* @brief UART Abort Receive Complete callback. * @param huart UART handle. * @retval None */

* @brief UART Abort Complete callback. * @param huart UART handle. * @retval None */

* @brief Handle the check of the RX transaction complete. * @param hspi pointer to a SPI_HandleTypeDef structure that contains * t

* @brief Timer Output Compare 1 configuration * @param TIMx to select the TIM peripheral * @param OC_Config The ouput configuration structure

* @brief Configure the Polarity and Filter for TI1. * @param TIMx to select the TIM peripheral. * @param TIM_ICPolarity The Input Polarity. *

* @brief Configure the TI1 as Input. * @param TIMx to select the TIM peripheral. * @param TIM_ICPolarity The Input Polarity. * This

* @brief End ongoing Rx transfer on UART peripheral (following error detection or Reception completion). * @param huart UART handle. * @retval N

* @brief C custom defined QADD for M3 and M0 processors */

* @brief C custom defined QSUB for M3 and M0 processors */

* @brief Clips Q63 to Q31 values. */

Memcopy with strictly ordered memory access, e.g. for register targets. * \param dst Destination data is copied to. * \param src Source data is copied

Clear and disable the given MPU region of the given MPU. * \param mpu Pointer to MPU to be used. * \param rnr Region number to be cleared. */

Load the given number of MPU regions from a table to the given MPU. * \param mpu Pointer to the MPU registers to be used. * \param rnr First region nu

Set the memory attribute encoding to the given MPU. * \param mpu Pointer to the MPU to be configured. * \param idx The attribute index to be set [0-7]

Configure the given MPU region of the given MPU. * \param mpu Pointer to MPU to be used. * \param rnr Region number to be configured. * \param rbar Va

* @brief Returns the DMA Stream base address depending on stream number * @param hdma pointer to a DMA_HandleTypeDef structure that contains

* @brief Set the DMA Transfer parameter. * @param hdma pointer to a DMA_HandleTypeDef structure that contains * the co

* @brief Sets the DMA Transfer parameter. * @param hdma pointer to a DMA_HandleTypeDef structure that contains * the c

* @brief Full erase of FLASH memory sectors * @param VoltageRange The device voltage range which defines the erase parallelism. * Th

* @brief Disable the read/write protection (PCROP) of the desired * sectors of Bank 1 and/or Bank 2. * @note This function can be use

* @brief Enable the read/write protection (PCROP) of the desired * sectors of Bank 1 and/or Bank 2. * @note This function can be used

* @brief Program byte (8-bit) at a specified address. * @note This function must be used when the device voltage range is from * 1.8V t

* @brief Program a double word (64-bit) at a specified address. * @note This function must be used when the device voltage range is from *

* @brief Program a half-word (16-bit) at a specified address. * @note This function must be used when the device voltage range is from *

* @brief Program word (32-bit) at a specified address. * @note This function must be used when the device voltage range is from * 2.7V

* @brief Set the specific FLASH error flag. * @retval None */

* @brief Regular conversion half DMA transfer callback in non blocking mode * @param hadc pointer to a ADC_HandleTypeDef structure that contains

* @brief De-initializes the GPIOx peripheral registers to their default reset values. * @param GPIOx where x can be (A..K) to select the GPIO peri

* @brief Sets the priority of an interrupt. * @param IRQn External interrupt number. * This parameter can be an enumerator of IRQn_Type

* @brief Returns the HCLK frequency * @note Each time HCLK changes, this function must be called to update the * right HCLK value. Othe

* @brief Returns the PCLK1 frequency * @note Each time PCLK1 changes, this function must be called to update the * right PCLK1 value. O

* @brief Tx Transfer completed callback. * @param hspi pointer to a SPI_HandleTypeDef structure that contains * the configuration

* @brief Tx and Rx Transfer completed callback. * @param hspi pointer to a SPI_HandleTypeDef structure that contains * the configu

* @brief Hall commutation changed callback in non-blocking mode * @param htim TIM handle * @retval None */

* @brief Period elapsed callback in non-blocking mode * @param htim TIM handle * @retval None */

* @brief Hall Trigger detection callback in non-blocking mode * @param htim TIM handle * @retval None */

* @brief Rx Transfer completed callbacks. * @param huart Pointer to a UART_HandleTypeDef structure that contains * the configura

* @brief Tx Transfer completed callbacks. * @param huart Pointer to a UART_HandleTypeDef structure that contains * the configura

\brief Get Priority Grouping The function reads the priority grouping field from the NVIC Interrupt Controller. \return Priori

* @brief Handle the end of the TX transaction. * @param hspi pointer to a SPI_HandleTypeDef structure that contains * the configur

* @brief Timer Output Compare 3 configuration * @param TIMx to select the TIM peripheral * @param OC_Config The ouput configuration structure

* @brief Timer Output Compare 4 configuration * @param TIMx to select the TIM peripheral * @param OC_Config The ouput configuration structure

* @brief Slave Timer configuration function * @param htim TIM handle * @param sSlaveConfig Slave timer configuration * @retval None */

* @brief Configure the Polarity and Filter for TI2. * @param TIMx to select the TIM peripheral. * @param TIM_ICPolarity The Input Polarity. *