text: /* USER CODE BEGIN Header */
  /**
    ******************************************************************************
    * @file           : main.c
    * @brief          : Main program body
    ******************************************************************************
    * @attention
    *
    * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
    * All rights reserved.</center></h2>
    *
    * This software component is licensed by ST under BSD 3-Clause license,
    * the "License"; You may not use this file except in compliance with the
    * License. You may obtain a copy of the License at:
    *                        opensource.org/licenses/BSD-3-Clause
    *
    ******************************************************************************
    */
  /* USER CODE END Header */
  /* Includes ------------------------------------------------------------------*/
  #include "main.h"
  #include "usb_device.h"
  
  /* Private includes ----------------------------------------------------------*/
  /* USER CODE BEGIN Includes */
  #include "DCBoard.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 ---------------------------------------------------------*/
  ADC_HandleTypeDef hadc1;
  DMA_HandleTypeDef hdma_adc1;
  
  I2C_HandleTypeDef hi2c1;
  
  TIM_HandleTypeDef htim2;
  TIM_HandleTypeDef htim5;
  
  /* USER CODE BEGIN PV */
  /* USER CODE END PV */
  
  /* Private function prototypes -----------------------------------------------*/
  void SystemClock_Config(void);
  static void MX_GPIO_Init(void);
  static void MX_DMA_Init(void);
  static void MX_ADC1_Init(void);
  static void MX_I2C1_Init(void);
  static void MX_TIM2_Init(void);
  static void MX_TIM5_Init(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_DMA_Init();
    MX_ADC1_Init();
    MX_USB_DEVICE_Init();
    MX_I2C1_Init();
    MX_TIM2_Init();
    MX_TIM5_Init();
    /* USER CODE BEGIN 2 */
    DCBoardInit(&hadc1, &hi2c1);
    HAL_TIM_Base_Start_IT(&htim2);
    HAL_TIM_Base_Start_IT(&htim5);
  
    // Turn on PWM on channels with default always off
    HAL_TIM_PWM_Start(&htim5,TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim5,TIM_CHANNEL_2);
    HAL_TIM_PWM_Start(&htim5,TIM_CHANNEL_3);
    HAL_TIM_PWM_Start(&htim5,TIM_CHANNEL_4);
  
    /* USER CODE END 2 */
  
    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1)
    {
      /* USER CODE END WHILE */
  
      /* USER CODE BEGIN 3 */
        DCBoardLoop();
    }
    /* 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_SCALE2);
    /** 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 = 8;
    RCC_OscInitStruct.PLL.PLLN = 72;
    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
    RCC_OscInitStruct.PLL.PLLQ = 3;
    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_HSE;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  
    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
    {
      Error_Handler();
    }
  }
  
  /**
    * @brief ADC1 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_ADC1_Init(void)
  {
  
    /* USER CODE BEGIN ADC1_Init 0 */
  
    /* USER CODE END ADC1_Init 0 */
  
    ADC_ChannelConfTypeDef sConfig = {0};
  
    /* USER CODE BEGIN ADC1_Init 1 */
  
    /* USER CODE END ADC1_Init 1 */
    /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
    */
    hadc1.Instance = ADC1;
    hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
    hadc1.Init.Resolution = ADC_RESOLUTION_12B;
    hadc1.Init.ScanConvMode = ENABLE;
    hadc1.Init.ContinuousConvMode = DISABLE;
    hadc1.Init.DiscontinuousConvMode = DISABLE;
    hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
    hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T2_TRGO;
    hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
    hadc1.Init.NbrOfConversion = 6;
    hadc1.Init.DMAContinuousRequests = ENABLE;
    hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
    if (HAL_ADC_Init(&hadc1) != HAL_OK)
    {
      Error_Handler();
    }
    /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
    */
    sConfig.Channel = ADC_CHANNEL_4;
    sConfig.Rank = 1;
    sConfig.SamplingTime = ADC_SAMPLETIME_144CYCLES;
    if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
    /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
    */
    sConfig.Channel = ADC_CHANNEL_5;
    sConfig.Rank = 2;
    if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
    /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
    */
    sConfig.Channel = ADC_CHANNEL_6;
    sConfig.Rank = 3;
    if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
    /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
    */
    sConfig.Channel = ADC_CHANNEL_7;
    sConfig.Rank = 4;
    if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
    /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
    */
    sConfig.Channel = ADC_CHANNEL_8;
    sConfig.Rank = 5;
    if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
    /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
    */
    sConfig.Channel = ADC_CHANNEL_9;
    sConfig.Rank = 6;
    if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN ADC1_Init 2 */
  
    /* USER CODE END ADC1_Init 2 */
  
  }
  
  /**
    * @brief I2C1 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_I2C1_Init(void)
  {
  
    /* USER CODE BEGIN I2C1_Init 0 */
  
    /* USER CODE END I2C1_Init 0 */
  
    /* USER CODE BEGIN I2C1_Init 1 */
  
    /* USER CODE END I2C1_Init 1 */
    hi2c1.Instance = I2C1;
    hi2c1.Init.ClockSpeed = 100000;
    hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
    hi2c1.Init.OwnAddress1 = 0;
    hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
    hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
    hi2c1.Init.OwnAddress2 = 0;
    hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
    hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
    if (HAL_I2C_Init(&hi2c1) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN I2C1_Init 2 */
  
    /* USER CODE END I2C1_Init 2 */
  
  }
  
  /**
    * @brief TIM2 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_TIM2_Init(void)
  {
  
    /* USER CODE BEGIN TIM2_Init 0 */
  
    /* USER CODE END TIM2_Init 0 */
  
    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};
  
    /* USER CODE BEGIN TIM2_Init 1 */
  
    /* USER CODE END TIM2_Init 1 */
    htim2.Instance = TIM2;
    htim2.Init.Prescaler = 399;
    htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim2.Init.Period = 9;
    htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
    {
      Error_Handler();
    }
    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
    if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
    {
      Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN TIM2_Init 2 */
  
    /* USER CODE END TIM2_Init 2 */
  
  }
  
  /**
    * @brief TIM5 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_TIM5_Init(void)
  {
  
    /* USER CODE BEGIN TIM5_Init 0 */
  
    /* USER CODE END TIM5_Init 0 */
  
    TIM_MasterConfigTypeDef sMasterConfig = {0};
    TIM_OC_InitTypeDef sConfigOC = {0};
  
    /* USER CODE BEGIN TIM5_Init 1 */
  
    /* USER CODE END TIM5_Init 1 */
    htim5.Instance = TIM5;
    htim5.Init.Prescaler = 15;
    htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim5.Init.Period = 999;
    htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    if (HAL_TIM_PWM_Init(&htim5) != HAL_OK)
    {
      Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
    {
      Error_Handler();
    }
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 0;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
    {
      Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
    {
      Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
    {
      Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN TIM5_Init 2 */
  
    /* USER CODE END TIM5_Init 2 */
    HAL_TIM_MspPostInit(&htim5);
  
  }
  
  /**
    * Enable DMA controller clock
    */
  static void MX_DMA_Init(void)
  {
  
    /* DMA controller clock enable */
    __HAL_RCC_DMA2_CLK_ENABLE();
  
    /* DMA interrupt init */
    /* DMA2_Stream0_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn);
  
  }
  
  /**
    * @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_GPIOH_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOB, CounterClkWise_Pin|ClkWise_Pin, GPIO_PIN_RESET);
  
    /*Configure GPIO pin : LED_Pin */
    GPIO_InitStruct.Pin = LED_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
  
    /*Configure GPIO pins : Emerg_Off_Pin Btn_2_Pin Btn_3_Pin Btn_4_Pin
                             Btn_5_Pin Btn_6_Pin */
    GPIO_InitStruct.Pin = Emerg_Off_Pin|Btn_2_Pin|Btn_3_Pin|Btn_4_Pin
                            |Btn_5_Pin|Btn_6_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  
    /*Configure GPIO pins : CounterClkWise_Pin ClkWise_Pin */
    GPIO_InitStruct.Pin = CounterClkWise_Pin|ClkWise_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 : Btn_1_Pin */
    GPIO_InitStruct.Pin = Btn_1_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    HAL_GPIO_Init(Btn_1_GPIO_Port, &GPIO_InitStruct);
  
  }
  
  /* 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 */
  
  /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
  