text: /**
    ******************************************************************************
    * @file    tim.c
    * @brief   This file provides code for the configuration
    *          of the TIM instances.
    ******************************************************************************
    * @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
    *
    ******************************************************************************
    */
  
  /* Includes ------------------------------------------------------------------*/
  #include "tim.h"
  
  /* USER CODE BEGIN 0 */
  
  /* USER CODE END 0 */
  
  TIM_HandleTypeDef htim2;
  TIM_HandleTypeDef htim3;
  
  /* TIM2 init function */
  void MX_TIM2_Init(void)
  {
    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};
    TIM_OC_InitTypeDef sConfigOC = {0};
  
    htim2.Instance = TIM2;
    htim2.Init.Prescaler = 3200-1;
    htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim2.Init.Period = 100-1;
    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();
    }
    if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
    {
      Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &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(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
    {
      Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
    {
      Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
    {
      Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
    {
      Error_Handler();
    }
    HAL_TIM_MspPostInit(&htim2);
  
  }
  /* TIM3 init function */
  void MX_TIM3_Init(void)
  {
    TIM_MasterConfigTypeDef sMasterConfig = {0};
    TIM_OC_InitTypeDef sConfigOC = {0};
  
    htim3.Instance = TIM3;
    htim3.Init.Prescaler = 32-1;
    htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim3.Init.Period = 10000-1;
    htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
    {
      Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
    {
      Error_Handler();
    }
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 5000;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
    {
      Error_Handler();
    }
    HAL_TIM_MspPostInit(&htim3);
  
  }
  
  void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
  {
  
    if(tim_baseHandle->Instance==TIM2)
    {
    /* USER CODE BEGIN TIM2_MspInit 0 */
  
    /* USER CODE END TIM2_MspInit 0 */
      /* TIM2 clock enable */
      __HAL_RCC_TIM2_CLK_ENABLE();
  
      /* TIM2 interrupt Init */
      HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
      HAL_NVIC_EnableIRQ(TIM2_IRQn);
    /* USER CODE BEGIN TIM2_MspInit 1 */
  
    /* USER CODE END TIM2_MspInit 1 */
    }
  }
  
  void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
  {
  
    if(tim_pwmHandle->Instance==TIM3)
    {
    /* USER CODE BEGIN TIM3_MspInit 0 */
  
    /* USER CODE END TIM3_MspInit 0 */
      /* TIM3 clock enable */
      __HAL_RCC_TIM3_CLK_ENABLE();
  
      /* TIM3 interrupt Init */
      HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
      HAL_NVIC_EnableIRQ(TIM3_IRQn);
    /* USER CODE BEGIN TIM3_MspInit 1 */
  
    /* USER CODE END TIM3_MspInit 1 */
    }
  }
  void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
  {
  
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    if(timHandle->Instance==TIM2)
    {
    /* USER CODE BEGIN TIM2_MspPostInit 0 */
  
    /* USER CODE END TIM2_MspPostInit 0 */
      __HAL_RCC_GPIOA_CLK_ENABLE();
      /**TIM2 GPIO Configuration
      PA0-WKUP     ------> TIM2_CH1
      PA1     ------> TIM2_CH2
      PA2     ------> TIM2_CH3
      PA3     ------> TIM2_CH4
      */
      GPIO_InitStruct.Pin = EN1_Pin|EN2_Pin|EN3_Pin|EN4_Pin;
      GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
      GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
      HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  
    /* USER CODE BEGIN TIM2_MspPostInit 1 */
  
    /* USER CODE END TIM2_MspPostInit 1 */
    }
    else if(timHandle->Instance==TIM3)
    {
    /* USER CODE BEGIN TIM3_MspPostInit 0 */
  
    /* USER CODE END TIM3_MspPostInit 0 */
  
      __HAL_RCC_GPIOA_CLK_ENABLE();
      /**TIM3 GPIO Configuration
      PA7     ------> TIM3_CH2
      */
      GPIO_InitStruct.Pin = Gripper_Pin;
      GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
      GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
      HAL_GPIO_Init(Gripper_GPIO_Port, &GPIO_InitStruct);
  
    /* USER CODE BEGIN TIM3_MspPostInit 1 */
  
    /* USER CODE END TIM3_MspPostInit 1 */
    }
  
  }
  
  void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
  {
  
    if(tim_baseHandle->Instance==TIM2)
    {
    /* USER CODE BEGIN TIM2_MspDeInit 0 */
  
    /* USER CODE END TIM2_MspDeInit 0 */
      /* Peripheral clock disable */
      __HAL_RCC_TIM2_CLK_DISABLE();
  
      /* TIM2 interrupt Deinit */
      HAL_NVIC_DisableIRQ(TIM2_IRQn);
    /* USER CODE BEGIN TIM2_MspDeInit 1 */
  
    /* USER CODE END TIM2_MspDeInit 1 */
    }
  }
  
  void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
  {
  
    if(tim_pwmHandle->Instance==TIM3)
    {
    /* USER CODE BEGIN TIM3_MspDeInit 0 */
  
    /* USER CODE END TIM3_MspDeInit 0 */
      /* Peripheral clock disable */
      __HAL_RCC_TIM3_CLK_DISABLE();
  
      /* TIM3 interrupt Deinit */
      HAL_NVIC_DisableIRQ(TIM3_IRQn);
    /* USER CODE BEGIN TIM3_MspDeInit 1 */
  
    /* USER CODE END TIM3_MspDeInit 1 */
    }
  }
  
  /* USER CODE BEGIN 1 */
  
  /* USER CODE END 1 */
  
  /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
  