text: /**
    ******************************************************************************
    * File Name          : TIM.c
    * Description        : This file provides code for the configuration
    *                      of the TIM instances.
    ******************************************************************************
    * This notice applies to any and all portions of this file
    * that are not between comment pairs USER CODE BEGIN and
    * USER CODE END. Other portions of this file, whether 
    * inserted by the user or by software development tools
    * are owned by their respective copyright owners.
    *
    * Copyright (c) 2018 STMicroelectronics International N.V. 
    * All rights reserved.
    *
    * Redistribution and use in source and binary forms, with or without 
    * modification, are permitted, provided that the following conditions are met:
    *
    * 1. Redistribution of source code must retain the above copyright notice, 
    *    this list of conditions and the following disclaimer.
    * 2. Redistributions in binary form must reproduce the above copyright notice,
    *    this list of conditions and the following disclaimer in the documentation
    *    and/or other materials provided with the distribution.
    * 3. Neither the name of STMicroelectronics nor the names of other 
    *    contributors to this software may be used to endorse or promote products 
    *    derived from this software without specific written permission.
    * 4. This software, including modifications and/or derivative works of this 
    *    software, must execute solely and exclusively on microcontroller or
    *    microprocessor devices manufactured by or for STMicroelectronics.
    * 5. Redistribution and use of this software other than as permitted under 
    *    this license is void and will automatically terminate your rights under 
    *    this license. 
    *
    * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS" 
    * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT 
    * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A 
    * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
    * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT 
    * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
    * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
    * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, 
    * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 
    * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 
    * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
    * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    *
    ******************************************************************************
    */
  
  /* Includes ------------------------------------------------------------------*/
  #include "tim.h"
  
  #include "gpio.h"
  
  /* USER CODE BEGIN 0 */
  
  /* USER CODE END 0 */
  
  TIM_HandleTypeDef htim1;
  TIM_HandleTypeDef htim2;
  TIM_HandleTypeDef htim3;
  TIM_HandleTypeDef htim4;
  TIM_HandleTypeDef htim5;
  TIM_HandleTypeDef htim8;
  TIM_HandleTypeDef htim13;
  
  /* TIM1 init function */
  void MX_TIM1_Init(void)
  {
    TIM_ClockConfigTypeDef sClockSourceConfig;
    TIM_MasterConfigTypeDef sMasterConfig;
    TIM_OC_InitTypeDef sConfigOC;
    TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
  
    htim1.Instance = TIM1;
    htim1.Init.Prescaler = 0;
    htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
    htim1.Init.Period = TIM_1_8_PERIOD_CLOCKS;
    htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim1.Init.RepetitionCounter = TIM_1_8_RCR;
    if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
    if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    if (HAL_TIM_OC_Init(&htim1) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sConfigOC.OCMode = TIM_OCMODE_PWM2;
    sConfigOC.Pulse = 0;
    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(__FILE__, __LINE__);
    }
  
    if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sConfigOC.OCMode = TIM_OCMODE_TIMING;
    if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
    sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
    sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
    sBreakDeadTimeConfig.DeadTime = TIM_1_8_DEADTIME_CLOCKS;
    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(__FILE__, __LINE__);
    }
  
    HAL_TIM_MspPostInit(&htim1);
  
  }
  /* TIM2 init function */
  void MX_TIM2_Init(void)
  {
    TIM_MasterConfigTypeDef sMasterConfig;
    TIM_OC_InitTypeDef sConfigOC;
  
    htim2.Instance = TIM2;
    htim2.Init.Prescaler = 0;
    htim2.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
    htim2.Init.Period = TIM_APB1_PERIOD_CLOCKS;
    htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sConfigOC.OCMode = TIM_OCMODE_PWM2;
    sConfigOC.Pulse = 0;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sConfigOC.Pulse = TIM_APB1_PERIOD_CLOCKS+1;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    HAL_TIM_MspPostInit(&htim2);
  
  }
  /* TIM3 init function */
  void MX_TIM3_Init(void)
  {
    TIM_Encoder_InitTypeDef sConfig;
    TIM_MasterConfigTypeDef sMasterConfig;
  
    htim3.Instance = TIM3;
    htim3.Init.Prescaler = 0;
    htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim3.Init.Period = 0xffff;
    htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
    sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC1Filter = 4;
    sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC2Filter = 4;
    if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
  }
  /* TIM4 init function */
  void MX_TIM4_Init(void)
  {
    TIM_Encoder_InitTypeDef sConfig;
    TIM_MasterConfigTypeDef sMasterConfig;
  
    htim4.Instance = TIM4;
    htim4.Init.Prescaler = 0;
    htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim4.Init.Period = 0xffff;
    htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
    sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC1Filter = 4;
    sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC2Filter = 4;
    if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
  }
  /* TIM5 init function */
  void MX_TIM5_Init(void)
  {
    TIM_MasterConfigTypeDef sMasterConfig;
    TIM_IC_InitTypeDef sConfigIC;
  
    htim5.Instance = TIM5;
    htim5.Init.Prescaler = 0;
    htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim5.Init.Period = 0xFFFFFFFF;
    htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    if (HAL_TIM_IC_Init(&htim5) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_BOTHEDGE;
    sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
    sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
    sConfigIC.ICFilter = 15;
    if (HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_3) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    if (HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_4) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
  }
  /* TIM8 init function */
  void MX_TIM8_Init(void)
  {
    TIM_MasterConfigTypeDef sMasterConfig;
    TIM_OC_InitTypeDef sConfigOC;
    TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
  
    htim8.Instance = TIM8;
    htim8.Init.Prescaler = 0;
    htim8.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
    htim8.Init.Period = TIM_1_8_PERIOD_CLOCKS;
    htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim8.Init.RepetitionCounter = TIM_1_8_RCR;
    if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sConfigOC.OCMode = TIM_OCMODE_PWM2;
    sConfigOC.Pulse = 0;
    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(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
    sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
    sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
    sBreakDeadTimeConfig.DeadTime = TIM_1_8_DEADTIME_CLOCKS;
    sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
    sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
    sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
    if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
    HAL_TIM_MspPostInit(&htim8);
  
  }
  /* TIM13 init function */
  void MX_TIM13_Init(void)
  {
  
    htim13.Instance = TIM13;
    htim13.Init.Prescaler = 0;
    htim13.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim13.Init.Period = (2 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR+1)) * ((float)TIM_APB1_CLOCK_HZ / (float)TIM_1_8_CLOCK_HZ) - 1;
    htim13.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    if (HAL_TIM_Base_Init(&htim13) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }
  
  }
  
  void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
  {
  
    if(tim_baseHandle->Instance==TIM1)
    {
    /* USER CODE BEGIN TIM1_MspInit 0 */
  
    /* USER CODE END TIM1_MspInit 0 */
      /* TIM1 clock enable */
      __HAL_RCC_TIM1_CLK_ENABLE();
  
      /* TIM1 interrupt Init */
      HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0, 0);
      HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
    /* USER CODE BEGIN TIM1_MspInit 1 */
  
    /* USER CODE END TIM1_MspInit 1 */
    }
    else if(tim_baseHandle->Instance==TIM13)
    {
    /* USER CODE BEGIN TIM13_MspInit 0 */
  
    /* USER CODE END TIM13_MspInit 0 */
      /* TIM13 clock enable */
      __HAL_RCC_TIM13_CLK_ENABLE();
  
      /* TIM13 interrupt Init */
      HAL_NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 0, 0);
      HAL_NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn);
    /* USER CODE BEGIN TIM13_MspInit 1 */
  
    /* USER CODE END TIM13_MspInit 1 */
    }
  }
  
  void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
  {
  
    if(tim_pwmHandle->Instance==TIM2)
    {
    /* USER CODE BEGIN TIM2_MspInit 0 */
  
    /* USER CODE END TIM2_MspInit 0 */
      /* TIM2 clock enable */
      __HAL_RCC_TIM2_CLK_ENABLE();
    /* USER CODE BEGIN TIM2_MspInit 1 */
  
    /* USER CODE END TIM2_MspInit 1 */
    }
    else if(tim_pwmHandle->Instance==TIM8)
    {
    /* USER CODE BEGIN TIM8_MspInit 0 */
  
    /* USER CODE END TIM8_MspInit 0 */
      /* TIM8 clock enable */
      __HAL_RCC_TIM8_CLK_ENABLE();
  
      /* TIM8 interrupt Init */
      HAL_NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 0, 0);
      HAL_NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn);
      HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 0, 0);
      HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
    /* USER CODE BEGIN TIM8_MspInit 1 */
  
    /* USER CODE END TIM8_MspInit 1 */
    }
  }
  
  void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
  {
  
    if(tim_encoderHandle->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 */
    }
    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();
  
    /* USER CODE BEGIN TIM4_MspInit 1 */
  
    /* USER CODE END TIM4_MspInit 1 */
    }
  }
  
  void HAL_TIM_IC_MspInit(TIM_HandleTypeDef* tim_icHandle)
  {
  
    if(tim_icHandle->Instance==TIM5)
    {
    /* USER CODE BEGIN TIM5_MspInit 0 */
  
    /* USER CODE END TIM5_MspInit 0 */
      /* TIM5 clock enable */
      __HAL_RCC_TIM5_CLK_ENABLE();
  
      /* TIM5 interrupt Init */
      HAL_NVIC_SetPriority(TIM5_IRQn, 5, 0);
      HAL_NVIC_EnableIRQ(TIM5_IRQn);
    /* USER CODE BEGIN TIM5_MspInit 1 */
  
    /* USER CODE END TIM5_MspInit 1 */
    }
  }
  void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
  {
  
    GPIO_InitTypeDef GPIO_InitStruct;
    if(timHandle->Instance==TIM1)
    {
    /* USER CODE BEGIN TIM1_MspPostInit 0 */
  
    /* USER CODE END TIM1_MspPostInit 0 */
      /**TIM1 GPIO Configuration    
      PB13     ------> TIM1_CH1N
      PB14     ------> TIM1_CH2N
      PB15     ------> TIM1_CH3N
      PA8     ------> TIM1_CH1
      PA9     ------> TIM1_CH2
      PA10     ------> TIM1_CH3 
      */
      GPIO_InitStruct.Pin = M0_AL_Pin|M0_BL_Pin|M0_CL_Pin;
      GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
      GPIO_InitStruct.Pull = GPIO_NOPULL;
      GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
      GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
      HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  
      GPIO_InitStruct.Pin = M0_AH_Pin|M0_BH_Pin|M0_CH_Pin;
      GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
      GPIO_InitStruct.Pull = GPIO_NOPULL;
      GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
      GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
      HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  
    /* USER CODE BEGIN TIM1_MspPostInit 1 */
  
    /* USER CODE END TIM1_MspPostInit 1 */
    }
    else if(timHandle->Instance==TIM2)
    {
    /* USER CODE BEGIN TIM2_MspPostInit 0 */
  
    /* USER CODE END TIM2_MspPostInit 0 */
    
      /**TIM2 GPIO Configuration    
      PB10     ------> TIM2_CH3
      PB11     ------> TIM2_CH4 
      */
      GPIO_InitStruct.Pin = AUX_L_Pin|AUX_H_Pin;
      GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
      GPIO_InitStruct.Pull = GPIO_NOPULL;
      GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
      GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
      HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  
    /* USER CODE BEGIN TIM2_MspPostInit 1 */
  
    /* USER CODE END TIM2_MspPostInit 1 */
    }
    else if(timHandle->Instance==TIM8)
    {
    /* USER CODE BEGIN TIM8_MspPostInit 0 */
  
    /* USER CODE END TIM8_MspPostInit 0 */
    
      /**TIM8 GPIO Configuration    
      PA7     ------> TIM8_CH1N
      PB0     ------> TIM8_CH2N
      PB1     ------> TIM8_CH3N
      PC6     ------> TIM8_CH1
      PC7     ------> TIM8_CH2
      PC8     ------> TIM8_CH3 
      */
      GPIO_InitStruct.Pin = M1_AL_Pin;
      GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
      GPIO_InitStruct.Pull = GPIO_NOPULL;
      GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
      GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
      HAL_GPIO_Init(M1_AL_GPIO_Port, &GPIO_InitStruct);
  
      GPIO_InitStruct.Pin = M1_BL_Pin|M1_CL_Pin;
      GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
      GPIO_InitStruct.Pull = GPIO_NOPULL;
      GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
      GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
      HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  
      GPIO_InitStruct.Pin = M1_AH_Pin|M1_BH_Pin|M1_CH_Pin;
      GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
      GPIO_InitStruct.Pull = GPIO_NOPULL;
      GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
      GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
      HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
  
    /* USER CODE BEGIN TIM8_MspPostInit 1 */
  
    /* USER CODE END TIM8_MspPostInit 1 */
    }
  
  }
  
  void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
  {
  
    if(tim_baseHandle->Instance==TIM1)
    {
    /* USER CODE BEGIN TIM1_MspDeInit 0 */
  
    /* USER CODE END TIM1_MspDeInit 0 */
      /* Peripheral clock disable */
      __HAL_RCC_TIM1_CLK_DISABLE();
  
      /* TIM1 interrupt Deinit */
      HAL_NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
    /* USER CODE BEGIN TIM1_MspDeInit 1 */
  
    /* USER CODE END TIM1_MspDeInit 1 */
    }
    else if(tim_baseHandle->Instance==TIM13)
    {
    /* USER CODE BEGIN TIM13_MspDeInit 0 */
  
    /* USER CODE END TIM13_MspDeInit 0 */
      /* Peripheral clock disable */
      __HAL_RCC_TIM13_CLK_DISABLE();
  
      /* TIM13 interrupt Deinit */
    /* USER CODE BEGIN TIM13:TIM8_UP_TIM13_IRQn disable */
      /**
      * Uncomment the line below to disable the "TIM8_UP_TIM13_IRQn" interrupt
      * Be aware, disabling shared interrupt may affect other IPs
      */
      /* HAL_NVIC_DisableIRQ(TIM8_UP_TIM13_IRQn); */
    /* USER CODE END TIM13:TIM8_UP_TIM13_IRQn disable */
  
    /* USER CODE BEGIN TIM13_MspDeInit 1 */
  
    /* USER CODE END TIM13_MspDeInit 1 */
    }
  }
  
  void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
  {
  
    if(tim_pwmHandle->Instance==TIM2)
    {
    /* USER CODE BEGIN TIM2_MspDeInit 0 */
  
    /* USER CODE END TIM2_MspDeInit 0 */
      /* Peripheral clock disable */
      __HAL_RCC_TIM2_CLK_DISABLE();
    /* USER CODE BEGIN TIM2_MspDeInit 1 */
  
    /* USER CODE END TIM2_MspDeInit 1 */
    }
    else if(tim_pwmHandle->Instance==TIM8)
    {
    /* USER CODE BEGIN TIM8_MspDeInit 0 */
  
    /* USER CODE END TIM8_MspDeInit 0 */
      /* Peripheral clock disable */
      __HAL_RCC_TIM8_CLK_DISABLE();
  
      /* TIM8 interrupt Deinit */
    /* USER CODE BEGIN TIM8:TIM8_UP_TIM13_IRQn disable */
      /**
      * Uncomment the line below to disable the "TIM8_UP_TIM13_IRQn" interrupt
      * Be aware, disabling shared interrupt may affect other IPs
      */
      /* HAL_NVIC_DisableIRQ(TIM8_UP_TIM13_IRQn); */
    /* USER CODE END TIM8:TIM8_UP_TIM13_IRQn disable */
  
      HAL_NVIC_DisableIRQ(TIM8_TRG_COM_TIM14_IRQn);
    /* USER CODE BEGIN TIM8_MspDeInit 1 */
  
    /* USER CODE END TIM8_MspDeInit 1 */
    }
  }
  
  void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
  {
  
    if(tim_encoderHandle->Instance==TIM3)
    {
    /* USER CODE BEGIN TIM3_MspDeInit 0 */
  
    /* USER CODE END TIM3_MspDeInit 0 */
      /* Peripheral clock disable */
      __HAL_RCC_TIM3_CLK_DISABLE();
    
      /**TIM3 GPIO Configuration    
      PB4     ------> TIM3_CH1
      PB5     ------> TIM3_CH2 
      */
      HAL_GPIO_DeInit(GPIOB, M0_ENC_A_Pin|M0_ENC_B_Pin);
  
    /* USER CODE BEGIN TIM3_MspDeInit 1 */
  
    /* USER CODE END TIM3_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    
      PB6     ------> TIM4_CH1
      PB7     ------> TIM4_CH2 
      */
      HAL_GPIO_DeInit(GPIOB, M1_ENC_A_Pin|M1_ENC_B_Pin);
  
    /* USER CODE BEGIN TIM4_MspDeInit 1 */
  
    /* USER CODE END TIM4_MspDeInit 1 */
    }
  }
  
  void HAL_TIM_IC_MspDeInit(TIM_HandleTypeDef* tim_icHandle)
  {
  
    if(tim_icHandle->Instance==TIM5)
    {
    /* USER CODE BEGIN TIM5_MspDeInit 0 */
  
    /* USER CODE END TIM5_MspDeInit 0 */
      /* Peripheral clock disable */
      __HAL_RCC_TIM5_CLK_DISABLE();
    
      /**TIM5 GPIO Configuration    
      PA2     ------> TIM5_CH3
      PA3     ------> TIM5_CH4 
      */
      HAL_GPIO_DeInit(GPIOA, GPIO_3_Pin|GPIO_4_Pin);
  
      /* TIM5 interrupt Deinit */
      HAL_NVIC_DisableIRQ(TIM5_IRQn);
    /* USER CODE BEGIN TIM5_MspDeInit 1 */
  
    /* USER CODE END TIM5_MspDeInit 1 */
    }
  } 
  
  /* USER CODE BEGIN 1 */
  
  /* USER CODE END 1 */
  
  /**
    * @}
    */
  
  /**
    * @}
    */
  
  /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
  