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"
  
  /* Private includes ----------------------------------------------------------*/
  /* USER CODE BEGIN Includes */
  #include "APP.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;
  
  CAN_HandleTypeDef hcan1;
  
  IWDG_HandleTypeDef hiwdg;
  
  UART_HandleTypeDef hlpuart1;
  UART_HandleTypeDef huart1;
  UART_HandleTypeDef huart2;
  UART_HandleTypeDef huart3;
  DMA_HandleTypeDef hdma_lpuart_rx;
  DMA_HandleTypeDef hdma_lpuart_tx;
  DMA_HandleTypeDef hdma_usart1_rx;
  DMA_HandleTypeDef hdma_usart1_tx;
  DMA_HandleTypeDef hdma_usart2_rx;
  DMA_HandleTypeDef hdma_usart3_rx;
  
  RTC_HandleTypeDef hrtc;
  
  SPI_HandleTypeDef hspi1;
  DMA_HandleTypeDef hdma_spi1_rx;
  DMA_HandleTypeDef hdma_spi1_tx;
  
  TIM_HandleTypeDef htim2;
  TIM_HandleTypeDef htim6;
  
  /* 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_CAN1_Init(void);
  static void MX_USART1_UART_Init(void);
  static void MX_TIM6_Init(void);
  static void MX_ADC1_Init(void);
  static void MX_RTC_Init(void);
  static void MX_IWDG_Init(void);
  static void MX_LPUART1_UART_Init(void);
  static void MX_USART2_UART_Init(void);
  static void MX_USART3_UART_Init(void);
  static void MX_SPI1_Init(void);
  static void MX_TIM2_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_CAN1_Init();
    MX_USART1_UART_Init();
    MX_TIM6_Init();
    MX_ADC1_Init();
    MX_RTC_Init();
    MX_IWDG_Init();
    MX_LPUART1_UART_Init();
    MX_USART2_UART_Init();
    MX_USART3_UART_Init();
    MX_SPI1_Init();
    MX_TIM2_Init();
    /* USER CODE BEGIN 2 */
  
    /* USER CODE END 2 */
  
    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
  
    APP_Init();
    APP_Start();
  
    while (1)
    {
      /* USER CODE END WHILE */
  
      /* USER CODE BEGIN 3 */
    }
    /* 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
    */
    if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
    {
      Error_Handler();
    }
  
    /** Initializes the RCC Oscillators according to the specified parameters
    * in the RCC_OscInitTypeDef structure.
    */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.LSIState = RCC_LSI_ON;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLM = 2;
    RCC_OscInitStruct.PLL.PLLN = 25;
    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
    RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
    RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
    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_DIV2;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
  
    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != 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 */
  
    /** Common config
    */
    hadc1.Instance = ADC1;
    hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
    hadc1.Init.Resolution = ADC_RESOLUTION_12B;
    hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
    hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
    hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
    hadc1.Init.LowPowerAutoWait = DISABLE;
    hadc1.Init.ContinuousConvMode = ENABLE;
    hadc1.Init.NbrOfConversion = 6;
    hadc1.Init.DiscontinuousConvMode = DISABLE;
    hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
    hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
    hadc1.Init.DMAContinuousRequests = ENABLE;
    hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
    hadc1.Init.OversamplingMode = DISABLE;
    if (HAL_ADC_Init(&hadc1) != HAL_OK)
    {
      Error_Handler();
    }
  
    /** Configure Regular Channel
    */
    sConfig.Channel = ADC_CHANNEL_6;
    sConfig.Rank = ADC_REGULAR_RANK_1;
    sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
    sConfig.SingleDiff = ADC_SINGLE_ENDED;
    sConfig.OffsetNumber = ADC_OFFSET_NONE;
    sConfig.Offset = 0;
    if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
  
    /** Configure Regular Channel
    */
    sConfig.Channel = ADC_CHANNEL_9;
    sConfig.Rank = ADC_REGULAR_RANK_2;
    if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
  
    /** Configure Regular Channel
    */
    sConfig.Channel = ADC_CHANNEL_10;
    sConfig.Rank = ADC_REGULAR_RANK_3;
    if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
  
    /** Configure Regular Channel
    */
    sConfig.Channel = ADC_CHANNEL_11;
    sConfig.Rank = ADC_REGULAR_RANK_4;
    if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
  
    /** Configure Regular Channel
    */
    sConfig.Channel = ADC_CHANNEL_12;
    sConfig.Rank = ADC_REGULAR_RANK_5;
    if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
  
    /** Configure Regular Channel
    */
    sConfig.Channel = ADC_CHANNEL_16;
    sConfig.Rank = ADC_REGULAR_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 CAN1 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_CAN1_Init(void)
  {
  
    /* USER CODE BEGIN CAN1_Init 0 */
  
    /* USER CODE END CAN1_Init 0 */
  
    /* USER CODE BEGIN CAN1_Init 1 */
  
    /* USER CODE END CAN1_Init 1 */
    hcan1.Instance = CAN1;
    hcan1.Init.Prescaler = 5;
    hcan1.Init.Mode = CAN_MODE_NORMAL;
    hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
    hcan1.Init.TimeSeg1 = CAN_BS1_15TQ;
    hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
    hcan1.Init.TimeTriggeredMode = DISABLE;
    hcan1.Init.AutoBusOff = DISABLE;
    hcan1.Init.AutoWakeUp = DISABLE;
    hcan1.Init.AutoRetransmission = ENABLE;
    hcan1.Init.ReceiveFifoLocked = DISABLE;
    hcan1.Init.TransmitFifoPriority = DISABLE;
    if (HAL_CAN_Init(&hcan1) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN CAN1_Init 2 */
  
    /* USER CODE END CAN1_Init 2 */
  
  }
  
  /**
    * @brief IWDG Initialization Function
    * @param None
    * @retval None
    */
  static void MX_IWDG_Init(void)
  {
  
    /* USER CODE BEGIN IWDG_Init 0 */
  
    /* USER CODE END IWDG_Init 0 */
  
    /* USER CODE BEGIN IWDG_Init 1 */
  
    /* USER CODE END IWDG_Init 1 */
    hiwdg.Instance = IWDG;
    hiwdg.Init.Prescaler = IWDG_PRESCALER_256;
    hiwdg.Init.Window = 4095;
    hiwdg.Init.Reload = 375;
    if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN IWDG_Init 2 */
  
    /* USER CODE END IWDG_Init 2 */
  
  }
  
  /**
    * @brief LPUART1 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_LPUART1_UART_Init(void)
  {
  
    /* USER CODE BEGIN LPUART1_Init 0 */
  
    /* USER CODE END LPUART1_Init 0 */
  
    /* USER CODE BEGIN LPUART1_Init 1 */
  
    /* USER CODE END LPUART1_Init 1 */
    hlpuart1.Instance = LPUART1;
    hlpuart1.Init.BaudRate = 19200;
    hlpuart1.Init.WordLength = UART_WORDLENGTH_8B;
    hlpuart1.Init.StopBits = UART_STOPBITS_1;
    hlpuart1.Init.Parity = UART_PARITY_NONE;
    hlpuart1.Init.Mode = UART_MODE_TX_RX;
    hlpuart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
    hlpuart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
    hlpuart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT;
    hlpuart1.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
    if (HAL_UART_Init(&hlpuart1) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN LPUART1_Init 2 */
  
    /* USER CODE END LPUART1_Init 2 */
  
  }
  
  /**
    * @brief USART1 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_USART1_UART_Init(void)
  {
  
    /* USER CODE BEGIN USART1_Init 0 */
  
    /* USER CODE END USART1_Init 0 */
  
    /* USER CODE BEGIN USART1_Init 1 */
  
    /* USER CODE END USART1_Init 1 */
    huart1.Instance = USART1;
    huart1.Init.BaudRate = 57600;
    huart1.Init.WordLength = UART_WORDLENGTH_8B;
    huart1.Init.StopBits = UART_STOPBITS_1;
    huart1.Init.Parity = UART_PARITY_NONE;
    huart1.Init.Mode = UART_MODE_TX_RX;
    huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
    huart1.Init.OverSampling = UART_OVERSAMPLING_16;
    huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
    huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
    if (HAL_UART_Init(&huart1) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN USART1_Init 2 */
  
    /* USER CODE END USART1_Init 2 */
  
  }
  
  /**
    * @brief USART2 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_USART2_UART_Init(void)
  {
  
    /* USER CODE BEGIN USART2_Init 0 */
  
    /* USER CODE END USART2_Init 0 */
  
    /* USER CODE BEGIN USART2_Init 1 */
  
    /* USER CODE END USART2_Init 1 */
    huart2.Instance = USART2;
    huart2.Init.BaudRate = 9600;
    huart2.Init.WordLength = UART_WORDLENGTH_8B;
    huart2.Init.StopBits = UART_STOPBITS_1;
    huart2.Init.Parity = UART_PARITY_NONE;
    huart2.Init.Mode = UART_MODE_RX;
    huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
    huart2.Init.OverSampling = UART_OVERSAMPLING_16;
    huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
    huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT;
    huart2.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
    if (HAL_UART_Init(&huart2) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN USART2_Init 2 */
  
    /* USER CODE END USART2_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 = 9600;
    huart3.Init.WordLength = UART_WORDLENGTH_8B;
    huart3.Init.StopBits = UART_STOPBITS_1;
    huart3.Init.Parity = UART_PARITY_NONE;
    huart3.Init.Mode = UART_MODE_RX;
    huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
    huart3.Init.OverSampling = UART_OVERSAMPLING_16;
    huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
    huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXOVERRUNDISABLE_INIT;
    huart3.AdvancedInit.OverrunDisable = UART_ADVFEATURE_OVERRUN_DISABLE;
    if (HAL_UART_Init(&huart3) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN USART3_Init 2 */
  
    /* USER CODE END USART3_Init 2 */
  
  }
  
  /**
    * @brief RTC Initialization Function
    * @param None
    * @retval None
    */
  static void MX_RTC_Init(void)
  {
  
    /* USER CODE BEGIN RTC_Init 0 */
  
    /* USER CODE END RTC_Init 0 */
  
    /* USER CODE BEGIN RTC_Init 1 */
  
    /* USER CODE END RTC_Init 1 */
  
    /** Initialize RTC Only
    */
    hrtc.Instance = RTC;
    hrtc.Init.HourFormat = RTC_HOURFORMAT_24;
    hrtc.Init.AsynchPrediv = 124;
    hrtc.Init.SynchPrediv = 1999;
    hrtc.Init.OutPut = RTC_OUTPUT_DISABLE;
    hrtc.Init.OutPutRemap = RTC_OUTPUT_REMAP_NONE;
    hrtc.Init.OutPutPolarity = RTC_OUTPUT_POLARITY_HIGH;
    hrtc.Init.OutPutType = RTC_OUTPUT_TYPE_OPENDRAIN;
    if (HAL_RTC_Init(&hrtc) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN RTC_Init 2 */
  
    /* USER CODE END RTC_Init 2 */
  
  }
  
  /**
    * @brief SPI1 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_SPI1_Init(void)
  {
  
    /* USER CODE BEGIN SPI1_Init 0 */
  
    /* USER CODE END SPI1_Init 0 */
  
    /* USER CODE BEGIN SPI1_Init 1 */
  
    /* USER CODE END SPI1_Init 1 */
    /* SPI1 parameter configuration*/
    hspi1.Instance = SPI1;
    hspi1.Init.Mode = SPI_MODE_MASTER;
    hspi1.Init.Direction = SPI_DIRECTION_2LINES;
    hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
    hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
    hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
    hspi1.Init.NSS = SPI_NSS_SOFT;
    hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
    hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
    hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
    hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
    hspi1.Init.CRCPolynomial = 7;
    hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
    hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
    if (HAL_SPI_Init(&hspi1) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN SPI1_Init 2 */
  
    /* USER CODE END SPI1_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};
    TIM_OC_InitTypeDef sConfigOC = {0};
  
    /* USER CODE BEGIN TIM2_Init 1 */
  
    /* USER CODE END TIM2_Init 1 */
    htim2.Instance = TIM2;
    htim2.Init.Prescaler = 50;
    htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim2.Init.Period = 1000;
    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_3) != HAL_OK)
    {
      Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN TIM2_Init 2 */
  
    /* USER CODE END TIM2_Init 2 */
    HAL_TIM_MspPostInit(&htim2);
  
  }
  
  /**
    * @brief TIM6 Initialization Function
    * @param None
    * @retval None
    */
  static 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 = 4;
    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 */
  
  }
  
  /**
    * Enable DMA controller clock
    */
  static void MX_DMA_Init(void)
  {
  
    /* DMA controller clock enable */
    __HAL_RCC_DMA1_CLK_ENABLE();
    __HAL_RCC_DMA2_CLK_ENABLE();
  
    /* DMA interrupt init */
    /* DMA1_Channel1_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 2, 0);
    HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
    /* DMA1_Channel2_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
    /* DMA1_Channel3_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 4, 0);
    HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
    /* DMA1_Channel4_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 2, 0);
    HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
    /* DMA1_Channel5_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 2, 0);
    HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
    /* DMA1_Channel6_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 4, 0);
    HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
    /* DMA2_Channel4_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(DMA2_Channel4_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(DMA2_Channel4_IRQn);
    /* DMA2_Channel6_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(DMA2_Channel6_IRQn, 2, 0);
    HAL_NVIC_EnableIRQ(DMA2_Channel6_IRQn);
    /* DMA2_Channel7_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(DMA2_Channel7_IRQn, 2, 0);
    HAL_NVIC_EnableIRQ(DMA2_Channel7_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();
    __HAL_RCC_GPIOD_CLK_ENABLE();
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOC, BCKP_ENA_Pin|LATCH_REL_OFF_Pin|OW1_Pin|LED_Life_Pin
                            |LED_R_Pin|LED_G_Pin|SHUNT1_CS_Pin|SHUNT1_RST_Pin, GPIO_PIN_RESET);
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOB, LATCH_REL_ON_Pin|OUT4_Pin|OUT1_Pin|REL3_Pin
                            |REL2_Pin|REL1_Pin|SHUNT2_RST_Pin|BUZZ_Pin, GPIO_PIN_RESET);
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_RESET);
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(SHUNT2_CS_GPIO_Port, SHUNT2_CS_Pin, GPIO_PIN_RESET);
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(CHARGE_ENA_GPIO_Port, CHARGE_ENA_Pin, GPIO_PIN_RESET);
  
    /*Configure GPIO pin : IO1_Pin */
    GPIO_InitStruct.Pin = IO1_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(IO1_GPIO_Port, &GPIO_InitStruct);
  
    /*Configure GPIO pin : BCKP_STATE_Pin */
    GPIO_InitStruct.Pin = BCKP_STATE_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_PULLDOWN;
    HAL_GPIO_Init(BCKP_STATE_GPIO_Port, &GPIO_InitStruct);
  
    /*Configure GPIO pins : BCKP_ENA_Pin LATCH_REL_OFF_Pin LED_Life_Pin LED_R_Pin
                             LED_G_Pin SHUNT1_CS_Pin SHUNT1_RST_Pin */
    GPIO_InitStruct.Pin = BCKP_ENA_Pin|LATCH_REL_OFF_Pin|LED_Life_Pin|LED_R_Pin
                            |LED_G_Pin|SHUNT1_CS_Pin|SHUNT1_RST_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
  
    /*Configure GPIO pins : EL1_Pin EL2_Pin */
    GPIO_InitStruct.Pin = EL1_Pin|EL2_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
  
    /*Configure GPIO pin : EL3_Pin */
    GPIO_InitStruct.Pin = EL3_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(EL3_GPIO_Port, &GPIO_InitStruct);
  
    /*Configure GPIO pin : IO4_Pin */
    GPIO_InitStruct.Pin = IO4_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(IO4_GPIO_Port, &GPIO_InitStruct);
  
    /*Configure GPIO pins : LATCH_REL_ON_Pin OUT4_Pin OUT1_Pin REL3_Pin
                             REL2_Pin REL1_Pin SHUNT2_RST_Pin BUZZ_Pin */
    GPIO_InitStruct.Pin = LATCH_REL_ON_Pin|OUT4_Pin|OUT1_Pin|REL3_Pin
                            |REL2_Pin|REL1_Pin|SHUNT2_RST_Pin|BUZZ_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 : OW1_Pin */
    GPIO_InitStruct.Pin = OW1_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(OW1_GPIO_Port, &GPIO_InitStruct);
  
    /*Configure GPIO pin : LED_B_Pin */
    GPIO_InitStruct.Pin = LED_B_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(LED_B_GPIO_Port, &GPIO_InitStruct);
  
    /*Configure GPIO pin : SHUNT2_CS_Pin */
    GPIO_InitStruct.Pin = SHUNT2_CS_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(SHUNT2_CS_GPIO_Port, &GPIO_InitStruct);
  
    /*Configure GPIO pin : CHARGE_ENA_Pin */
    GPIO_InitStruct.Pin = CHARGE_ENA_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(CHARGE_ENA_GPIO_Port, &GPIO_InitStruct);
  
    /*Configure GPIO pins : IO3_Pin IO2_Pin */
    GPIO_InitStruct.Pin = IO3_Pin|IO2_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  
    /* EXTI interrupt init*/
    HAL_NVIC_SetPriority(EXTI0_IRQn, 6, 0);
    HAL_NVIC_EnableIRQ(EXTI0_IRQn);
  
    HAL_NVIC_SetPriority(EXTI2_IRQn, 6, 0);
    HAL_NVIC_EnableIRQ(EXTI2_IRQn);
  
    HAL_NVIC_SetPriority(EXTI3_IRQn, 6, 0);
    HAL_NVIC_EnableIRQ(EXTI3_IRQn);
  
  }
  
  /* 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 */
  