/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2026 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 "dma.h"
#include "fatfs.h"
#include "sdio.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "ltc2508_driver.h"
#include "rs485_driver.h"
#include "data_packet.h"
#include "correction.h"
#include "data_storage.h"
#include "system_monitor.h"
#include "performance_monitor.h"
#include <stdio.h>
#include <string.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
// 串口输出控制开关
#define ENABLE_UART_DEBUG_OUTPUT    1
#define DEBUG_OUTPUT_INTERVAL_MS    1000    // 调试输出间隔(毫秒)

// 监控功能宏开关
#define ENABLE_SYSTEM_MONITOR       1       // 系统监控开关
#define ENABLE_PERFORMANCE_MONITOR  1       // 性能监控开关
/* USER CODE END PD */

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

/* USER CODE END PM */

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

/* USER CODE BEGIN PV */
// 外部SPI句柄声明
extern SPI_HandleTypeDef hspi1;
extern SPI_HandleTypeDef hspi2;
extern SPI_HandleTypeDef hspi3;
extern TIM_HandleTypeDef htim2;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3;

// 校正参数
CorrectionParams_t g_correction_params;
// 数据包
DataPacket_t g_data_packet;
CorrectedDataPacket_t g_corrected_packet;
// 数据存储句柄
DataStorageHandle_t g_data_storage;
// 系统状态
static uint32_t g_last_monitor_update = 0;
static uint8_t g_recording_enabled = 0;
static uint32_t g_sample_count = 0;

// 性能监控和调试输出
static uint32_t g_last_debug_output = 0;
static uint8_t g_debug_output_enabled = ENABLE_UART_DEBUG_OUTPUT;
static SystemPerfStats_t g_perf_stats;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
static void StartRecording(void);
static void StopRecording(void);
static void ProcessAdcData(void);

static void DebugOutput_Init(void);
static void DebugOutput_SendString(const char* str);
static void DebugOutput_PrintSystemStats(void);
static void DebugOutput_PrintPerformanceStats(void);
/* USER CODE END PFP */

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

/**
 * @brief  开始数据记录
 * @retval None
 */
static void StartRecording(void)
{
  if (!g_recording_enabled) {
    if (DataStorage_StartRecording(&g_data_storage) == HAL_OK) {
      g_recording_enabled = 1;
#if ENABLE_SYSTEM_MONITOR
      SystemMonitor_SetState(SYSTEM_STATE_RECORDING);
#endif
    } else {
#if ENABLE_SYSTEM_MONITOR
      SystemMonitor_ReportError(SYSTEM_ERROR_STORAGE);
#endif
    }
  }
}

/**
 * @brief  停止数据记录
 * @retval None
 */
static void StopRecording(void)
{
  if (g_recording_enabled) {
    g_recording_enabled = 0;
    DataStorage_StopRecording(&g_data_storage);
#if ENABLE_SYSTEM_MONITOR
    SystemMonitor_SetState(SYSTEM_STATE_IDLE);
#endif
  }
}

/**
 * @brief  处理ADC数据
 * @retval None
 */
static void ProcessAdcData(void)
{
    // 检查ADC数据是否准备就绪
    LTC2508_BufferTypeDef *ready_buffer = NULL;
    if (LTC2508_GetReadyBuffer(&ready_buffer) == LTC2508_OK && ready_buffer != NULL)
    {
#if ENABLE_PERFORMANCE_MONITOR
        PerformanceMonitor_TaskStart(PERF_TASK_ADC_PROCESSING);
#endif
#if ENABLE_SYSTEM_MONITOR
        SystemMonitor_SetState(SYSTEM_STATE_SAMPLING);
#endif
        g_sample_count++;

        // 1. 从双缓冲区获取数据并合并 (高位16位在前)
        int32_t raw_adc[NUM_LTC2508];
        for (uint8_t i = 0; i < NUM_LTC2508; i++) {
            raw_adc[i] = (int32_t)(((uint32_t)ready_buffer->data[i][0] << 16) | ready_buffer->data[i][1]);
        }
#if ENABLE_PERFORMANCE_MONITOR
        PerformanceMonitor_TaskEnd(PERF_TASK_ADC_PROCESSING);
#endif

        // 2. 验证数据有效性
        uint8_t data_valid = 1;
        for (uint8_t i = 0; i < NUM_LTC2508; i++) {
            if (LTC2508_ValidateData(ready_buffer, i) != LTC2508_OK) {
#if ENABLE_SYSTEM_MONITOR
                SystemMonitor_ReportError(SYSTEM_ERROR_ADC);
#endif
                data_valid = 0;
                break; // 如果有任何通道数据无效，跳过整个样本
            }
        }
        
        if (!data_valid) {
            // 释放缓冲区并返回
            LTC2508_ReleaseBuffer(LTC2508_GetCurrentReadBuffer());
#if ENABLE_SYSTEM_MONITOR
            SystemMonitor_SetState(SYSTEM_STATE_IDLE);
#endif
            return;
        }

        // 3. 应用校正算法
        CorrectionResult_t correction_result;
        uint8_t correction_applied = 0;
        
#if ENABLE_PERFORMANCE_MONITOR
        PerformanceMonitor_TaskStart(PERF_TASK_CORRECTION);
#endif
        if (g_correction_params.params_valid &&
            Apply_Correction(raw_adc[0], raw_adc[1], raw_adc[2],
                           &correction_result, &g_correction_params) == HAL_OK) {
#if ENABLE_PERFORMANCE_MONITOR
          PerformanceMonitor_TaskEnd(PERF_TASK_CORRECTION);
#endif
          
          // 4a. 打包校正后的数据
#if ENABLE_PERFORMANCE_MONITOR
          PerformanceMonitor_TaskStart(PERF_TASK_DATA_PACKET);
#endif
          PackCorrectedData(&g_corrected_packet,
                           correction_result.corrected_x,
                           correction_result.corrected_y,
                           correction_result.corrected_z);
#if ENABLE_PERFORMANCE_MONITOR
          PerformanceMonitor_TaskEnd(PERF_TASK_DATA_PACKET);
#endif
          correction_applied = 1;
          
          // 发送校正后的数据包
#if ENABLE_PERFORMANCE_MONITOR
          PerformanceMonitor_TaskStart(PERF_TASK_RS485_TX);
#endif
          if (RS485_SendData((uint8_t*)&g_corrected_packet, sizeof(CorrectedDataPacket_t)) != HAL_OK) {
#if ENABLE_SYSTEM_MONITOR
            SystemMonitor_ReportError(SYSTEM_ERROR_COMMUNICATION);
#endif
          }
#if ENABLE_PERFORMANCE_MONITOR
          PerformanceMonitor_TaskEnd(PERF_TASK_RS485_TX);
#endif
        } else {
#if ENABLE_PERFORMANCE_MONITOR
          PerformanceMonitor_TaskEnd(PERF_TASK_CORRECTION);
#endif
          
          // 4b. 校正失败或未启用，使用原始数据
#if ENABLE_PERFORMANCE_MONITOR
          PerformanceMonitor_TaskStart(PERF_TASK_DATA_PACKET);
#endif
          PackData(&g_data_packet, raw_adc[0], raw_adc[1], raw_adc[2]);
#if ENABLE_PERFORMANCE_MONITOR
          PerformanceMonitor_TaskEnd(PERF_TASK_DATA_PACKET);
#endif
          
          // 发送原始数据包
#if ENABLE_PERFORMANCE_MONITOR
          PerformanceMonitor_TaskStart(PERF_TASK_RS485_TX);
#endif
          if (RS485_SendData((uint8_t*)&g_data_packet, sizeof(DataPacket_t)) != HAL_OK) {
#if ENABLE_SYSTEM_MONITOR
            SystemMonitor_ReportError(SYSTEM_ERROR_COMMUNICATION);
#endif
          }
#if ENABLE_PERFORMANCE_MONITOR
          PerformanceMonitor_TaskEnd(PERF_TASK_RS485_TX);
#endif
        }
        
        // 6. 存储数据到SD卡 (如果启用记录)
        if (g_recording_enabled) {
#if ENABLE_SYSTEM_MONITOR
          SystemMonitor_SetState(SYSTEM_STATE_RECORDING);
#endif
#if ENABLE_PERFORMANCE_MONITOR
          PerformanceMonitor_TaskStart(PERF_TASK_FATFS_WRITE);
#endif
          
          if (correction_applied) {
            // 存储校正后的数据
            if (DataStorage_WriteCorrectedData(&g_data_storage, &correction_result) != HAL_OK) {
#if ENABLE_SYSTEM_MONITOR
              SystemMonitor_ReportError(SYSTEM_ERROR_STORAGE);
#endif
            }
          } else {
            // 存储原始数据
            if (DataStorage_WriteData(&g_data_storage, &g_data_packet) != HAL_OK) {
#if ENABLE_SYSTEM_MONITOR
              SystemMonitor_ReportError(SYSTEM_ERROR_STORAGE);
#endif
            }
          }
#if ENABLE_PERFORMANCE_MONITOR
          PerformanceMonitor_TaskEnd(PERF_TASK_FATFS_WRITE);
#endif
        }
        
        // 7. 释放已处理的缓冲区
        LTC2508_ReleaseBuffer(LTC2508_GetCurrentReadBuffer());
        
#if ENABLE_SYSTEM_MONITOR
        SystemMonitor_SetState(SYSTEM_STATE_IDLE);
#endif
    }
}

/**
 * @brief  初始化调试输出
 * @retval None
 */
static void DebugOutput_Init(void)
{
  // USART3已在MX_USART3_UART_Init()中初始化
  if (g_debug_output_enabled) {
    DebugOutput_SendString("\r\n=== System Debug Output Initialized ===\r\n");
  }
}

/**
 * @brief  通过USART3发送字符串
 * @param  str: 要发送的字符串
 * @retval None
 */
static void DebugOutput_SendString(const char* str)
{
  if (!g_debug_output_enabled || str == NULL) {
    return;
  }
  
  HAL_UART_Transmit(&huart3, (uint8_t*)str, strlen(str), 100);
}

/**
 * @brief  输出系统监控统计信息
 * @retval None
 */
static void DebugOutput_PrintSystemStats(void)
{
#if ENABLE_SYSTEM_MONITOR
  if (!g_debug_output_enabled) {
    return;
  }
  
  char buffer[256];
  SystemMonitorStats_t sys_stats;
  SystemMonitor_GetStats(&sys_stats);
  
  snprintf(buffer, sizeof(buffer),
           "\r\n=== System Monitor Stats ===\r\n"
           "State: %d, Uptime: %lu s\r\n"
           "Total Samples: %lu, Errors: %lu\r\n"
           "Memory Usage: %lu bytes\r\n"
           "CPU Usage: %d%%, Temp: %d°C\r\n",
           sys_stats.current_state,
           sys_stats.uptime_seconds,
           sys_stats.total_samples,
           sys_stats.error_count,
           sys_stats.memory_usage,
           sys_stats.cpu_usage_percent,
           sys_stats.temperature_celsius);
  
  DebugOutput_SendString(buffer);
#endif
}

/**
 * @brief  输出性能监控统计信息
 * @retval None
 */
static void DebugOutput_PrintPerformanceStats(void)
{
#if ENABLE_PERFORMANCE_MONITOR
  if (!g_debug_output_enabled) {
    return;
  }
  
  char buffer[512];
  PerformanceMonitor_GetStats(&g_perf_stats);
  
  snprintf(buffer, sizeof(buffer),
           "\r\n=== Performance Monitor Stats ===\r\n"
           "Total CPU Usage: %lu%%\r\n"
           "Free Heap: %lu bytes (Min: %lu)\r\n"
           "Stack Usage: %lu%%\r\n",
           g_perf_stats.total_cpu_usage_percent,
           g_perf_stats.free_heap_size,
           g_perf_stats.min_free_heap_size,
           g_perf_stats.stack_usage_percent);
  
  DebugOutput_SendString(buffer);
  
  // 输出各任务性能统计
  for (int i = 0; i < PERF_MON_MAX_TASKS; i++) {
    if (g_perf_stats.tasks[i].call_count > 0) {
      snprintf(buffer, sizeof(buffer),
               "Task[%d]: Calls=%lu, Avg=%lu us, Max=%lu us, CPU=%.1f%%\r\n",
               i,
               g_perf_stats.tasks[i].call_count,
               g_perf_stats.tasks[i].avg_time_us,
               g_perf_stats.tasks[i].max_time_us,
               g_perf_stats.tasks[i].cpu_usage_percent);
      DebugOutput_SendString(buffer);
    }
  }
#endif
}

/* 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_DMA_Init();
  MX_SDIO_SD_Init();
  MX_SPI1_Init();
  MX_SPI2_Init();
  MX_SPI3_Init();
  MX_TIM1_Init();
  MX_USART1_UART_Init();
  MX_FATFS_Init();
  MX_USB_DEVICE_Init();
  MX_USART3_UART_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
  // 初始化系统监控
#if ENABLE_SYSTEM_MONITOR
  SystemMonitor_Init();
  SystemMonitor_SetState(SYSTEM_STATE_INIT);
#endif
  
  // 初始化性能监控
#if ENABLE_PERFORMANCE_MONITOR
  PerformanceMonitor_Init();
#endif
  
  // 初始化调试输出
  DebugOutput_Init();
  
  // 初始化LTC2508驱动
  if (LTC2508_Init(&hspi1, &hspi2, &hspi3) != LTC2508_OK) {
#if ENABLE_SYSTEM_MONITOR
    SystemMonitor_ReportError(SYSTEM_ERROR_ADC);
#endif
    Error_Handler();
  }
  
  // 初始化RS485通信
  RS485_Init(&huart1, RS485_DE_RE_PORT, RS485_DE_RE_PIN);
  
  // 初始化校正参数
  Init_CorrectionParams(&g_correction_params);
  Load_CorrectionParams_FromFlash(&g_correction_params);
  
  // 初始化数据存储
  if (DataStorage_Init(&g_data_storage) != HAL_OK) {
#if ENABLE_SYSTEM_MONITOR
    SystemMonitor_ReportError(SYSTEM_ERROR_STORAGE);
#endif
  }
  
  // 开始数据记录
  StartRecording();

  // 系统初始化完成
#if ENABLE_SYSTEM_MONITOR
  SystemMonitor_SetState(SYSTEM_STATE_IDLE);
#endif
  
  // 启动TIM2定时器用于1ms周期的ADC数据处理
  if (HAL_TIM_Base_Start_IT(&htim2) != HAL_OK) {
#if ENABLE_SYSTEM_MONITOR
    SystemMonitor_ReportError(SYSTEM_ERROR_CRITICAL);
#endif
    Error_Handler();
  }
  
  // 触发信号引脚初始化
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_RESET);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    // 系统监控更新 (每100ms更新一次)
    uint32_t current_tick = HAL_GetTick();
    if (current_tick - g_last_monitor_update >= 100) {
#if ENABLE_PERFORMANCE_MONITOR
      PerformanceMonitor_TaskStart(PERF_TASK_SYSTEM_MONITOR);
#endif
#if ENABLE_SYSTEM_MONITOR
      SystemMonitor_Update();
#endif
#if ENABLE_PERFORMANCE_MONITOR
      PerformanceMonitor_Update();
      PerformanceMonitor_TaskEnd(PERF_TASK_SYSTEM_MONITOR);
#endif
      g_last_monitor_update = current_tick;
    }
    
    // ADC数据处理已移至1ms定时器中断中处理

    
    // 处理数据存储后台任务 (轮询方式)
    if (g_recording_enabled) {
      DataStorage_ProcessBackgroundTasks(&g_data_storage);
    }
    
    // 定期输出调试信息 (每1秒输出一次)
    if (g_debug_output_enabled && (current_tick - g_last_debug_output >= DEBUG_OUTPUT_INTERVAL_MS)) {
      DebugOutput_PrintSystemStats();
      DebugOutput_PrintPerformanceStats();
      g_last_debug_output = current_tick;
    }
    
    // ADC采样由PA1外部中断触发，不在主循环中触发
    // 可以在这里添加其他低优先级任务
  }
  
  // 停止数据记录
  StopRecording();

  /* USER CODE END 3 */
}

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

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** 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.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 25;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/**
 * @brief  外部中断回调函数 - ADC数据就绪信号
 * @param  GPIO_Pin: 触发中断的GPIO引脚
 * @retval None
 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
  if (GPIO_Pin == ADC_DRY_Pin) {
    // ADC数据就绪，触发DMA读取
    if (LTC2508_TriggerDmaRead() != LTC2508_OK) {
#if ENABLE_SYSTEM_MONITOR
      SystemMonitor_ReportError(SYSTEM_ERROR_ADC);
#endif
    }
  }
}

/**
 * @brief  SPI DMA传输完成回调函数
 * @param  hspi: SPI句柄指针
 * @retval None
 */
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi)
{
  // 调用LTC2508驱动的DMA完成回调
  LTC2508_DmaComplete_Callback(hspi);
}

void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi)
{
  // 调用LTC2508驱动的DMA完成回调
  LTC2508_DmaComplete_Callback(hspi);
}

/**
 * @brief  SPI错误回调函数
 * @param  hspi: SPI句柄指针
 * @retval None
 */
void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi)
{
  // 调用LTC2508驱动的错误回调
  LTC2508_ErrorCallback(hspi);
#if ENABLE_SYSTEM_MONITOR
  SystemMonitor_ReportError(SYSTEM_ERROR_ADC);
#endif
}

/**
 * @brief  TIM2回调函数 - 1ms定时器中断处理ADC数据
 * @param  htim: TIM句柄指针
 * @retval None
 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
    if (htim->Instance == TIM2) {
        // ADC是4KHz采样率，定时器是1KHz，需要在每次1ms中断中处理多个ADC数据
        // 循环处理所有可用的ADC数据，直到没有新数据为止
        uint8_t processed_count = 0;
        const uint8_t max_process_per_interrupt = 8; // 限制每次中断最多处理的数据量，避免中断时间过长
        
        while (processed_count < max_process_per_interrupt) {
            LTC2508_BufferTypeDef *ready_buffer = NULL;
            if (LTC2508_GetReadyBuffer(&ready_buffer) == LTC2508_OK && ready_buffer != NULL) {
                ProcessAdcData();
                processed_count++;
            } else {
                break; // 没有更多数据可处理
            }
        }
    }
}

/**
 * @brief  UART传输完成回调函数
 * @param  huart: UART句柄指针
 * @retval None
 */
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
{
  if (huart == &huart1) {
    // RS485传输完成回调
    RS485_TxCpltCallback(huart);
  }
}

/* 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 */
  
  // 设置系统状态为错误状态
#if ENABLE_SYSTEM_MONITOR
  SystemMonitor_SetState(SYSTEM_STATE_ERROR);
  SystemMonitor_ReportError(SYSTEM_ERROR_CRITICAL);
#endif
  
  // 停止所有DMA传输
  HAL_SPI_DMAStop(&hspi1);
  HAL_SPI_DMAStop(&hspi2);
  HAL_SPI_DMAStop(&hspi3);
  
  // 停止数据记录
  g_recording_enabled = 0;
  DataStorage_StopRecording(&g_data_storage);
  
  // 禁用中断并进入无限循环
  __disable_irq();
  while (1)
  {
    // 可以在这里添加LED指示或其他错误指示
    HAL_Delay(500);
  }
  /* 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 */