/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2023 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"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "ft_logo_grad.h"
#include "ft_logo_orange.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_ltdc.h"
#include <stdint.h>

/* USER CODE END Includes */

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

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

LTDC_HandleTypeDef hltdc;

UART_HandleTypeDef huart3;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MPU_Config(void);
static void MX_GPIO_Init(void);
static void MX_LTDC_Init(void);
static void MX_USART3_UART_Init(void);
static void MX_USB_OTG_HS_USB_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void DISP_WriteData(uint8_t *data, size_t data_len) {
  for (size_t byte = 0; byte < data_len; byte++) {
    for (size_t bit = 0; bit < 8; bit++) {
      GPIO_PinState state =
          ((data[byte] >> (7 - bit)) & 1) ? GPIO_PIN_SET : GPIO_PIN_RESET;
      HAL_GPIO_WritePin(SPI1_SCL_GPIO_Port, SPI1_SCL_Pin, GPIO_PIN_RESET);
      HAL_GPIO_WritePin(SPI1_SDA_GPIO_Port, SPI1_SDA_Pin, state);
      HAL_Delay(1);
      HAL_GPIO_WritePin(SPI1_SCL_GPIO_Port, SPI1_SCL_Pin, GPIO_PIN_SET);
      HAL_Delay(1);
    }
  }
}

void DISP_WriteReg(uint8_t addr, uint8_t *data, size_t data_len) {
  HAL_GPIO_WritePin(SPI1_CSX_GPIO_Port, SPI1_CSX_Pin, GPIO_PIN_RESET);
  HAL_GPIO_WritePin(SPI1_DCX_GPIO_Port, SPI1_DCX_Pin, GPIO_PIN_RESET);
  HAL_Delay(1);

  DISP_WriteData(&addr, 1);
  HAL_GPIO_WritePin(SPI1_DCX_GPIO_Port, SPI1_DCX_Pin, GPIO_PIN_SET);
  HAL_Delay(1);

  if (data_len > 0) {
    DISP_WriteData(data, data_len);
  }
  HAL_GPIO_WritePin(SPI1_CSX_GPIO_Port, SPI1_CSX_Pin, GPIO_PIN_SET);
}

void DISP_Init() {
  // B9h: Enable extended commands
  uint8_t data0[] = {0xFF, 0x83, 0x57};
  DISP_WriteReg(0xB9, data0, sizeof(data0));
  // B1h: Set power control
  uint8_t data1[] = {0x00, 0x16, 0x1C, 0x1C, 0xC3, 0x5C};
  DISP_WriteReg(0xB1, data1, sizeof(data1));
  // B3h: Set RGB interface
  // Disable SDO pin
  // Write directly to display (not internal GRAM)
  // Data read on rising edge of DCLK
  // HSYNC & VSYNC Activ low
  // DE Active high
  // Horizontal back porch 5
  // Vertical back porch 2
  uint8_t data2[] = {0x53, 0x00, 0x05, 0x02};
  DISP_WriteReg(0xB3, data2, sizeof(data2));
  // SET cyc
  uint8_t data3[] = {0x32, 0x40, 0x00, 0x2A, 0x2A, 0x0D, 0x78};
  DISP_WriteReg(0xB4, data3, sizeof(data3));
  // VCOMDC
  uint8_t data4[] = {0x3C};
  DISP_WriteReg(0xB6, data4, sizeof(data4));
  // SET STBA
  uint8_t data5[] = {0x70, 0x50, 0x01, 0x3C, 0xC8, 0x08};
  DISP_WriteReg(0xC0, data5, sizeof(data5));
  // SET panel
  uint8_t data6[] = {0x0B};
  DISP_WriteReg(0xCC, data6, sizeof(data6));
  // VCOMDC
  uint8_t data7[] = {0x40};
  DISP_WriteReg(0xB6, data7, sizeof(data7));
  // Gamma
  uint8_t data8[] = {0x02, 0x0A, 0x10, 0x1A, 0x22, 0x34, 0x41, 0x4A, 0x4D,
                     0x44, 0x3A, 0x23, 0x19, 0x08, 0x09, 0x03, 0x02, 0x0A,
                     0x10, 0x1A, 0x22, 0x34, 0x41, 0x4A, 0x4D, 0x44, 0x3A,
                     0x23, 0x19, 0x08, 0x09, 0x03, 0x00, 0x01};
  DISP_WriteReg(0xE0, data8, sizeof(data8));
  // Display cycle register
  uint8_t data9[] = {0x00};
  DISP_WriteReg(0xB4, data9, sizeof(data9));
  // SET BGP
  uint8_t data10[] = {0x03, 0x03, 0x03};
  DISP_WriteReg(0xB5, data10, sizeof(data10));
  // ?
  uint8_t data11[] = {0xB0, 0x22, 0x3B};
  DISP_WriteReg(0xB6, data11, sizeof(data11));
  // COLMOD
  uint8_t data12[] = {0x66};
  DISP_WriteReg(0x3A, data12, sizeof(data12));
  // Sleep out
  DISP_WriteReg(0x11, NULL, 0);
  // Normal display mode
  DISP_WriteReg(0x13, NULL, 0);
  // Display on
  DISP_WriteReg(0x29, NULL, 0);
}
/* USER CODE END 0 */

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

  /* USER CODE END 1 */

  /* MPU Configuration--------------------------------------------------------*/
  MPU_Config();

  /* 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_LTDC_Init();
  MX_USART3_UART_Init();
  MX_USB_OTG_HS_USB_Init();
  /* USER CODE BEGIN 2 */
  HAL_GPIO_WritePin(SPI1_CSX_GPIO_Port, SPI1_CSX_Pin, GPIO_PIN_SET);
  HAL_GPIO_WritePin(SPI1_SCL_GPIO_Port, SPI1_SCL_Pin, GPIO_PIN_SET);
  HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_RESET);
  HAL_Delay(150);
  HAL_GPIO_WritePin(DISP_RESET_GPIO_Port, DISP_RESET_Pin, GPIO_PIN_SET);
  HAL_Delay(150);
  DISP_Init();
  HAL_Delay(500);
  // if (HAL_LTDC_Reload(&hltdc, LTDC_RELOAD_IMMEDIATE) != HAL_OK) {
  //   Error_Handler();
  // }
  /* USER CODE END 2 */

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

    /* USER CODE BEGIN 3 */
    GPIO_PinState led =
        ((HAL_GetTick() / 500) % 2 == 0) ? GPIO_PIN_SET : GPIO_PIN_RESET;
    HAL_GPIO_WritePin(LD1_GPIO_Port, LD1_Pin, led);
  }
  /* USER CODE END 3 */
}

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

  /*AXI clock gating */
  RCC->CKGAENR = 0xFFFFFFFF;

  /** Supply configuration update enable
   */
  HAL_PWREx_ConfigSupply(PWR_DIRECT_SMPS_SUPPLY);

  /** Configure the main internal regulator output voltage
   */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);

  while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {
  }

  /** Macro to configure the PLL clock source
   */
  __HAL_RCC_PLL_PLLSOURCE_CONFIG(RCC_PLLSOURCE_HSE);

  /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
  RCC_OscInitStruct.OscillatorType =
      RCC_OSCILLATORTYPE_HSI48 | RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_BYPASS;
  RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 24;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  RCC_OscInitStruct.PLL.PLLR = 2;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
  RCC_OscInitStruct.PLL.PLLFRACN = 0;
  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_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
    Error_Handler();
  }
}

/**
 * @brief LTDC Initialization Function
 * @param None
 * @retval None
 */
static void MX_LTDC_Init(void) {

  /* USER CODE BEGIN LTDC_Init 0 */

  /* USER CODE END LTDC_Init 0 */

  LTDC_LayerCfgTypeDef pLayerCfg = {0};

  /* USER CODE BEGIN LTDC_Init 1 */

  /* USER CODE END LTDC_Init 1 */
  hltdc.Instance = LTDC;
  hltdc.Init.HSPolarity = LTDC_HSPOLARITY_AL;
  hltdc.Init.VSPolarity = LTDC_VSPOLARITY_AL;
  hltdc.Init.DEPolarity = LTDC_DEPOLARITY_AL;
  hltdc.Init.PCPolarity = LTDC_PCPOLARITY_IPC;
  hltdc.Init.HorizontalSync = 4;
  hltdc.Init.VerticalSync = 1;
  hltdc.Init.AccumulatedHBP = 9;
  hltdc.Init.AccumulatedVBP = 3;
  hltdc.Init.AccumulatedActiveW = 329;
  hltdc.Init.AccumulatedActiveH = 483;
  hltdc.Init.TotalWidth = 334;
  hltdc.Init.TotalHeigh = 485;
  hltdc.Init.Backcolor.Blue = 0;
  hltdc.Init.Backcolor.Green = 255;
  hltdc.Init.Backcolor.Red = 255;
  if (HAL_LTDC_Init(&hltdc) != HAL_OK) {
    Error_Handler();
  }
  pLayerCfg.WindowX0 = 0;
  pLayerCfg.WindowX1 = 320;
  pLayerCfg.WindowY0 = 0;
  pLayerCfg.WindowY1 = 480;
  pLayerCfg.PixelFormat = LTDC_PIXEL_FORMAT_RGB888;
  pLayerCfg.Alpha = 255;
  pLayerCfg.Alpha0 = 0;
  pLayerCfg.BlendingFactor1 = LTDC_BLENDING_FACTOR1_CA;
  pLayerCfg.BlendingFactor2 = LTDC_BLENDING_FACTOR2_CA;
  pLayerCfg.FBStartAdress = (uint32_t)&image_data_ft_logo_orange;
  pLayerCfg.ImageWidth = 320;
  pLayerCfg.ImageHeight = 480;
  pLayerCfg.Backcolor.Blue = 0;
  pLayerCfg.Backcolor.Green = 0;
  pLayerCfg.Backcolor.Red = 0;
  if (HAL_LTDC_ConfigLayer(&hltdc, &pLayerCfg, 0) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN LTDC_Init 2 */

  /* USER CODE END LTDC_Init 2 */
}

/**
 * @brief USART3 Initialization Function
 * @param None
 * @retval None
 */
static void MX_USART3_UART_Init(void) {

  /* USER CODE BEGIN USART3_Init 0 */

  /* USER CODE END USART3_Init 0 */

  /* USER CODE BEGIN USART3_Init 1 */

  /* USER CODE END USART3_Init 1 */
  huart3.Instance = USART3;
  huart3.Init.BaudRate = 115200;
  huart3.Init.WordLength = UART_WORDLENGTH_8B;
  huart3.Init.StopBits = UART_STOPBITS_1;
  huart3.Init.Parity = UART_PARITY_NONE;
  huart3.Init.Mode = UART_MODE_TX_RX;
  huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart3.Init.OverSampling = UART_OVERSAMPLING_16;
  huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart3.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart3) != HAL_OK) {
    Error_Handler();
  }
  if (HAL_UARTEx_SetTxFifoThreshold(&huart3, UART_TXFIFO_THRESHOLD_1_8) !=
      HAL_OK) {
    Error_Handler();
  }
  if (HAL_UARTEx_SetRxFifoThreshold(&huart3, UART_RXFIFO_THRESHOLD_1_8) !=
      HAL_OK) {
    Error_Handler();
  }
  if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK) {
    Error_Handler();
  }
  /* USER CODE BEGIN USART3_Init 2 */

  /* USER CODE END USART3_Init 2 */
}

/**
 * @brief USB_OTG_HS Initialization Function
 * @param None
 * @retval None
 */
static void MX_USB_OTG_HS_USB_Init(void) {

  /* USER CODE BEGIN USB_OTG_HS_Init 0 */

  /* USER CODE END USB_OTG_HS_Init 0 */

  /* USER CODE BEGIN USB_OTG_HS_Init 1 */

  /* USER CODE END USB_OTG_HS_Init 1 */
  /* USER CODE BEGIN USB_OTG_HS_Init 2 */

  /* USER CODE END USB_OTG_HS_Init 2 */
}

/**
 * @brief GPIO Initialization Function
 * @param None
 * @retval None
 */
static void MX_GPIO_Init(void) {
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOE_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOG_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOF, DISP_RESET_Pin | USB_FS_PWR_EN_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(SPI1_SDA_GPIO_Port, SPI1_SDA_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, LD1_Pin | LD3_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOG, SPI1_CSX_Pin | SPI1_SCL_Pin | SPI1_DCX_Pin,
                    GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : B1_Pin */
  GPIO_InitStruct.Pin = B1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : DISP_RESET_Pin USB_FS_PWR_EN_Pin */
  GPIO_InitStruct.Pin = DISP_RESET_Pin | USB_FS_PWR_EN_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);

  /*Configure GPIO pin : SPI1_SDA_Pin */
  GPIO_InitStruct.Pin = SPI1_SDA_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(SPI1_SDA_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : LD1_Pin LD3_Pin */
  GPIO_InitStruct.Pin = LD1_Pin | LD3_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pin : USB_FS_OVCR_Pin */
  GPIO_InitStruct.Pin = USB_FS_OVCR_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(USB_FS_OVCR_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : USB_FS_VBUS_Pin */
  GPIO_InitStruct.Pin = USB_FS_VBUS_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(USB_FS_VBUS_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : USB_FS_ID_Pin */
  GPIO_InitStruct.Pin = USB_FS_ID_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF10_OTG1_HS;
  HAL_GPIO_Init(USB_FS_ID_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : USB_FS_N_Pin USB_FS_P_Pin */
  GPIO_InitStruct.Pin = USB_FS_N_Pin | USB_FS_P_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : SPI1_CSX_Pin SPI1_SCL_Pin SPI1_DCX_Pin */
  GPIO_InitStruct.Pin = SPI1_CSX_Pin | SPI1_SCL_Pin | SPI1_DCX_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);

  /*Configure GPIO pin : LD2_Pin */
  GPIO_InitStruct.Pin = LD2_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/* MPU Configuration */

void MPU_Config(void) {
  MPU_Region_InitTypeDef MPU_InitStruct = {0};

  /* Disables the MPU */
  HAL_MPU_Disable();

  /** Initializes and configures the Region and the memory to be protected
   */
  MPU_InitStruct.Enable = MPU_REGION_ENABLE;
  MPU_InitStruct.Number = MPU_REGION_NUMBER0;
  MPU_InitStruct.BaseAddress = 0x0;
  MPU_InitStruct.Size = MPU_REGION_SIZE_4GB;
  MPU_InitStruct.SubRegionDisable = 0x87;
  MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
  MPU_InitStruct.AccessPermission = MPU_REGION_NO_ACCESS;
  MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE;
  MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
  MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
  MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;

  HAL_MPU_ConfigRegion(&MPU_InitStruct);
  /* Enables the MPU */
  HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
}

/**
 * @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 */