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 htim1;
  TIM_HandleTypeDef htim2;
  TIM_HandleTypeDef htim3;
  TIM_HandleTypeDef htim4;
  TIM_HandleTypeDef htim6;
  
  /* TIM1 init function */
  void MX_TIM1_Init(void)
  {
  
    /* USER CODE BEGIN TIM1_Init 0 */
  
    /* USER CODE END TIM1_Init 0 */
  
    TIM_MasterConfigTypeDef sMasterConfig = {0};
    TIM_OC_InitTypeDef sConfigOC = {0};
    TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
  
    /* USER CODE BEGIN TIM1_Init 1 */
  
    /* USER CODE END TIM1_Init 1 */
    htim1.Instance = TIM1;
    htim1.Init.Prescaler = 1440-1;
    htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim1.Init.Period = 1000-1;
    htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim1.Init.RepetitionCounter = 0;
    htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
    {
      Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
    {
      Error_Handler();
    }
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 75;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
    sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
    if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
    {
      Error_Handler();
    }
    sConfigOC.Pulse = 0;
    if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
    {
      Error_Handler();
    }
    sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
    sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
    sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
    sBreakDeadTimeConfig.DeadTime = 0;
    sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
    sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
    sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
    if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN TIM1_Init 2 */
  
    /* USER CODE END TIM1_Init 2 */
    HAL_TIM_MspPostInit(&htim1);
  
  }
  /* TIM2 init function */
  void MX_TIM2_Init(void)
  {
  
    /* USER CODE BEGIN TIM2_Init 0 */
  
    /* USER CODE END TIM2_Init 0 */
  
    TIM_Encoder_InitTypeDef sConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};
  
    /* USER CODE BEGIN TIM2_Init 1 */
  
    /* USER CODE END TIM2_Init 1 */
    htim2.Instance = TIM2;
    htim2.Init.Prescaler = 0;
    htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim2.Init.Period = 65535;
    htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
    sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC1Filter = 0;
    sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC2Filter = 0;
    if (HAL_TIM_Encoder_Init(&htim2, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN TIM2_Init 2 */
  
    /* USER CODE END TIM2_Init 2 */
  
  }
  /* TIM3 init function */
  void MX_TIM3_Init(void)
  {
  
    /* USER CODE BEGIN TIM3_Init 0 */
  
    /* USER CODE END TIM3_Init 0 */
  
    TIM_MasterConfigTypeDef sMasterConfig = {0};
    TIM_OC_InitTypeDef sConfigOC = {0};
  
    /* USER CODE BEGIN TIM3_Init 1 */
  
    /* USER CODE END TIM3_Init 1 */
    htim3.Instance = TIM3;
    htim3.Init.Prescaler = 0;
    htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim3.Init.Period = 7200-1;
    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 = 0;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
    {
      Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
    {
      Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
    {
      Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN TIM3_Init 2 */
  
    /* USER CODE END TIM3_Init 2 */
    HAL_TIM_MspPostInit(&htim3);
  
  }
  /* TIM4 init function */
  void MX_TIM4_Init(void)
  {
  
    /* USER CODE BEGIN TIM4_Init 0 */
  
    /* USER CODE END TIM4_Init 0 */
  
    TIM_Encoder_InitTypeDef sConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};
  
    /* USER CODE BEGIN TIM4_Init 1 */
  
    /* USER CODE END TIM4_Init 1 */
    htim4.Instance = TIM4;
    htim4.Init.Prescaler = 0;
    htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim4.Init.Period = 65535;
    htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
    sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC1Filter = 0;
    sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC2Filter = 0;
    if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN TIM4_Init 2 */
  
    /* USER CODE END TIM4_Init 2 */
  
  }
  /* TIM6 init function */
  void MX_TIM6_Init(void)
  {
  
    /* USER CODE BEGIN TIM6_Init 0 */
  
    /* USER CODE END TIM6_Init 0 */
  
    TIM_MasterConfigTypeDef sMasterConfig = {0};
  
    /* USER CODE BEGIN TIM6_Init 1 */
  
    /* USER CODE END TIM6_Init 1 */
    htim6.Instance = TIM6;
    htim6.Init.Prescaler = 72;
    htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim6.Init.Period = 1000;
    htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
    {
      Error_Handler();
    }
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN TIM6_Init 2 */
  
    /* USER CODE END TIM6_Init 2 */
  
  }
  
  void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
  {
  
    if(tim_pwmHandle->Instance==TIM1)
    {
    /* USER CODE BEGIN TIM1_MspInit 0 */
  
    /* USER CODE END TIM1_MspInit 0 */
      /* TIM1 clock enable */
      __HAL_RCC_TIM1_CLK_ENABLE();
    /* USER CODE BEGIN TIM1_MspInit 1 */
  
    /* USER CODE END TIM1_MspInit 1 */
    }
    else 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();
    /* USER CODE BEGIN TIM3_MspInit 1 */
  
    /* USER CODE END TIM3_MspInit 1 */
    }
  }
  
  void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
  {
  
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    if(tim_encoderHandle->Instance==TIM2)
    {
    /* USER CODE BEGIN TIM2_MspInit 0 */
  
    /* USER CODE END TIM2_MspInit 0 */
      /* TIM2 clock enable */
      __HAL_RCC_TIM2_CLK_ENABLE();
  
      __HAL_RCC_GPIOA_CLK_ENABLE();
      __HAL_RCC_GPIOB_CLK_ENABLE();
      /**TIM2 GPIO Configuration
      PA15     ------> TIM2_CH1
      PB3     ------> TIM2_CH2
      */
      GPIO_InitStruct.Pin = GPIO_PIN_15;
      GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
      GPIO_InitStruct.Pull = GPIO_NOPULL;
      HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  
      GPIO_InitStruct.Pin = GPIO_PIN_3;
      GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
      GPIO_InitStruct.Pull = GPIO_NOPULL;
      HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  
      __HAL_AFIO_REMAP_TIM2_PARTIAL_1();
  
    /* USER CODE BEGIN TIM2_MspInit 1 */
  
    /* USER CODE END TIM2_MspInit 1 */
    }
    else if(tim_encoderHandle->Instance==TIM4)
    {
    /* USER CODE BEGIN TIM4_MspInit 0 */
  
    /* USER CODE END TIM4_MspInit 0 */
      /* TIM4 clock enable */
      __HAL_RCC_TIM4_CLK_ENABLE();
  
      __HAL_RCC_GPIOD_CLK_ENABLE();
      /**TIM4 GPIO Configuration
      PD12     ------> TIM4_CH1
      PD13     ------> TIM4_CH2
      */
      GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
      GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
      GPIO_InitStruct.Pull = GPIO_NOPULL;
      HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
  
      __HAL_AFIO_REMAP_TIM4_ENABLE();
  
    /* USER CODE BEGIN TIM4_MspInit 1 */
  
    /* USER CODE END TIM4_MspInit 1 */
    }
  }
  
  void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
  {
  
    if(tim_baseHandle->Instance==TIM6)
    {
    /* USER CODE BEGIN TIM6_MspInit 0 */
  
    /* USER CODE END TIM6_MspInit 0 */
      /* TIM6 clock enable */
      __HAL_RCC_TIM6_CLK_ENABLE();
  
      /* TIM6 interrupt Init */
      HAL_NVIC_SetPriority(TIM6_IRQn, 1, 0);
      HAL_NVIC_EnableIRQ(TIM6_IRQn);
    /* USER CODE BEGIN TIM6_MspInit 1 */
  
    /* USER CODE END TIM6_MspInit 1 */
    }
  }
  void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
  {
  
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    if(timHandle->Instance==TIM1)
    {
    /* USER CODE BEGIN TIM1_MspPostInit 0 */
  
    /* USER CODE END TIM1_MspPostInit 0 */
      __HAL_RCC_GPIOE_CLK_ENABLE();
      /**TIM1 GPIO Configuration
      PE9     ------> TIM1_CH1
      PE11     ------> TIM1_CH2
      */
      GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11;
      GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
      GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
      HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
  
      __HAL_AFIO_REMAP_TIM1_ENABLE();
  
    /* USER CODE BEGIN TIM1_MspPostInit 1 */
  
    /* USER CODE END TIM1_MspPostInit 1 */
    }
    else if(timHandle->Instance==TIM3)
    {
    /* USER CODE BEGIN TIM3_MspPostInit 0 */
  
    /* USER CODE END TIM3_MspPostInit 0 */
  
      __HAL_RCC_GPIOC_CLK_ENABLE();
      /**TIM3 GPIO Configuration
      PC6     ------> TIM3_CH1
      PC7     ------> TIM3_CH2
      PC8     ------> TIM3_CH3
      PC9     ------> TIM3_CH4
      */
      GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9;
      GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
      GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
      HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
  
      __HAL_AFIO_REMAP_TIM3_ENABLE();
  
    /* USER CODE BEGIN TIM3_MspPostInit 1 */
  
    /* USER CODE END TIM3_MspPostInit 1 */
    }
  
  }
  
  void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
  {
  
    if(tim_pwmHandle->Instance==TIM1)
    {
    /* USER CODE BEGIN TIM1_MspDeInit 0 */
  
    /* USER CODE END TIM1_MspDeInit 0 */
      /* Peripheral clock disable */
      __HAL_RCC_TIM1_CLK_DISABLE();
    /* USER CODE BEGIN TIM1_MspDeInit 1 */
  
    /* USER CODE END TIM1_MspDeInit 1 */
    }
    else 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();
    /* USER CODE BEGIN TIM3_MspDeInit 1 */
  
    /* USER CODE END TIM3_MspDeInit 1 */
    }
  }
  
  void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
  {
  
    if(tim_encoderHandle->Instance==TIM2)
    {
    /* USER CODE BEGIN TIM2_MspDeInit 0 */
  
    /* USER CODE END TIM2_MspDeInit 0 */
      /* Peripheral clock disable */
      __HAL_RCC_TIM2_CLK_DISABLE();
  
      /**TIM2 GPIO Configuration
      PA15     ------> TIM2_CH1
      PB3     ------> TIM2_CH2
      */
      HAL_GPIO_DeInit(GPIOA, GPIO_PIN_15);
  
      HAL_GPIO_DeInit(GPIOB, GPIO_PIN_3);
  
    /* USER CODE BEGIN TIM2_MspDeInit 1 */
  
    /* USER CODE END TIM2_MspDeInit 1 */
    }
    else if(tim_encoderHandle->Instance==TIM4)
    {
    /* USER CODE BEGIN TIM4_MspDeInit 0 */
  
    /* USER CODE END TIM4_MspDeInit 0 */
      /* Peripheral clock disable */
      __HAL_RCC_TIM4_CLK_DISABLE();
  
      /**TIM4 GPIO Configuration
      PD12     ------> TIM4_CH1
      PD13     ------> TIM4_CH2
      */
      HAL_GPIO_DeInit(GPIOD, GPIO_PIN_12|GPIO_PIN_13);
  
    /* USER CODE BEGIN TIM4_MspDeInit 1 */
  
    /* USER CODE END TIM4_MspDeInit 1 */
    }
  }
  
  void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
  {
  
    if(tim_baseHandle->Instance==TIM6)
    {
    /* USER CODE BEGIN TIM6_MspDeInit 0 */
  
    /* USER CODE END TIM6_MspDeInit 0 */
      /* Peripheral clock disable */
      __HAL_RCC_TIM6_CLK_DISABLE();
  
      /* TIM6 interrupt Deinit */
      HAL_NVIC_DisableIRQ(TIM6_IRQn);
    /* USER CODE BEGIN TIM6_MspDeInit 1 */
  
    /* USER CODE END TIM6_MspDeInit 1 */
    }
  }
  
  /* USER CODE BEGIN 1 */
  
  /* USER CODE END 1 */
  
  /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
  