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 "myLibrary.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;
  
  SPI_HandleTypeDef hspi2;
  
  TIM_HandleTypeDef htim2;
  TIM_HandleTypeDef htim3;
  TIM_HandleTypeDef htim4;
  
  UART_HandleTypeDef huart1;
  
  /* USER CODE BEGIN PV */
  
  /* USER CODE END PV */
  
  /* Private function prototypes -----------------------------------------------*/
  void SystemClock_Config(void);
  static void MX_GPIO_Init(void);
  static void MX_ADC1_Init(void);
  static void MX_TIM2_Init(void);
  static void MX_TIM3_Init(void);
  static void MX_USART1_UART_Init(void);
  static void MX_TIM4_Init(void);
  static void MX_SPI2_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_ADC1_Init();
    MX_TIM2_Init();
    MX_TIM3_Init();
    MX_USART1_UART_Init();
    MX_TIM4_Init();
    MX_SPI2_Init();
    /* USER CODE BEGIN 2 */
    HAL_TIM_Base_Start_IT(&htim2);//1s
    HAL_TIM_Base_Start_IT(&htim3);//20ms -> 50Hz
    HAL_TIM_PWM_Start_IT(&htim3, Steering_PWM_Channel);
    HAL_TIM_PWM_Start_IT(&htim3, Motor_PWM_Channel);
    __HAL_TIM_SET_COMPARE(&htim3, Steering_PWM_Channel, 255);
    __HAL_TIM_SET_COMPARE(&htim3, Motor_PWM_Channel, 0);
    HAL_ADC_Start_IT(&hadc1);
  	ssd1306_Init();
  	ssd1306_Fill(Black);
  	ssd1306_SetCursor(0, 0);
  	ssd1306_WriteString("   STM32", Font_11x18, White);
  	ssd1306_SetCursor(0, 20);
  	ssd1306_WriteString("  ESP8266", Font_11x18, White);
  	ssd1306_SetCursor(0, 40);
  	ssd1306_WriteString("  Booting", Font_11x18, White);
  	ssd1306_UpdateScreen();
  	__HAL_UART_ENABLE_IT(&huart1, UART_IT_RXNE);
  	ESP_Server_Init();
  	HAL_GPIO_WritePin(Steering_B_GPIO_Port, Steering_B_Pin, 0);
  	HAL_GPIO_WritePin(Steering_A_GPIO_Port, Steering_A_Pin, 0);
    /* USER CODE END 2 */
  
    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1)
    {
      /* USER CODE END WHILE */
  
      /* USER CODE BEGIN 3 */
  	if(oneSecondFlag)
  	{
  		oneSecondFlag = 0;
  		measureDistances();
  		calculateBattery();
  		updateScreen();
  	}
  
  	if(messageHandlerFlag)
  	{
  	  messageHandlerFlag = 0;
  	  netTimeout = 0;
  	  messageHandler();
  	}
    }
    /* 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_SCALE1);
    /** 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 = 12;
    RCC_OscInitStruct.PLL.PLLN = 96;
    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
    RCC_OscInitStruct.PLL.PLLQ = 4;
    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 */
    /** 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 = ENABLE;
    hadc1.Init.DiscontinuousConvMode = DISABLE;
    hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
    hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T3_CC1;
    hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
    hadc1.Init.NbrOfConversion = 1;
    hadc1.Init.DMAContinuousRequests = DISABLE;
    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_8;
    sConfig.Rank = 1;
    sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
    if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN ADC1_Init 2 */
  
    /* USER CODE END ADC1_Init 2 */
  
  }
  
  /**
    * @brief SPI2 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_SPI2_Init(void)
  {
  
    /* USER CODE BEGIN SPI2_Init 0 */
  
    /* USER CODE END SPI2_Init 0 */
  
    /* USER CODE BEGIN SPI2_Init 1 */
  
    /* USER CODE END SPI2_Init 1 */
    /* SPI2 parameter configuration*/
    hspi2.Instance = SPI2;
    hspi2.Init.Mode = SPI_MODE_MASTER;
    hspi2.Init.Direction = SPI_DIRECTION_2LINES;
    hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
    hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
    hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
    hspi2.Init.NSS = SPI_NSS_SOFT;
    hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
    hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
    hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
    hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
    hspi2.Init.CRCPolynomial = 10;
    if (HAL_SPI_Init(&hspi2) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN SPI2_Init 2 */
  
    /* USER CODE END SPI2_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 = 10000;
    htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim2.Init.Period = 9999;
    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_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 */
  
  }
  
  /**
    * @brief TIM3 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_TIM3_Init(void)
  {
  
    /* USER CODE BEGIN TIM3_Init 0 */
  
    /* USER CODE END TIM3_Init 0 */
  
    TIM_ClockConfigTypeDef sClockSourceConfig = {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 = 7812;
    htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim3.Init.Period = 255;
    htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
    {
      Error_Handler();
    }
    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
    if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
    {
      Error_Handler();
    }
    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();
    }
    /* USER CODE BEGIN TIM3_Init 2 */
  
    /* USER CODE END TIM3_Init 2 */
    HAL_TIM_MspPostInit(&htim3);
  
  }
  
  /**
    * @brief TIM4 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_TIM4_Init(void)
  {
  
    /* USER CODE BEGIN TIM4_Init 0 */
  
    /* USER CODE END TIM4_Init 0 */
  
    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};
  
    /* USER CODE BEGIN TIM4_Init 1 */
  
    /* USER CODE END TIM4_Init 1 */
    htim4.Instance = TIM4;
    htim4.Init.Prescaler = 100;
    htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim4.Init.Period = 57;
    htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
    {
      Error_Handler();
    }
    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
    if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != 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 */
  
  }
  
  /**
    * @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 = 115200;
    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;
    if (HAL_UART_Init(&huart1) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN USART1_Init 2 */
  
    /* USER CODE END USART1_Init 2 */
  
  }
  
  /**
    * @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_SET);
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOA, Trigger0_Pin|Trigger1_Pin|Trigger2_Pin|Trigger3_Pin
                            |OLED_RESET_Pin|Steering_B_Pin, GPIO_PIN_RESET);
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOB, Trigger4_Pin|OLED_DC_Pin|Steering_A_Pin|Motor_B_Pin
                            |Motor_A_Pin|LIGHTS_Pin, GPIO_PIN_RESET);
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(OLED_CS_GPIO_Port, OLED_CS_Pin, GPIO_PIN_SET);
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOA, ESP_Reset_Pin|ESP_ENABLE_Pin, GPIO_PIN_SET);
  
    /*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 : Trigger0_Pin Trigger1_Pin Trigger2_Pin Trigger3_Pin
                             OLED_RESET_Pin ESP_Reset_Pin ESP_ENABLE_Pin Steering_B_Pin */
    GPIO_InitStruct.Pin = Trigger0_Pin|Trigger1_Pin|Trigger2_Pin|Trigger3_Pin
                            |OLED_RESET_Pin|ESP_Reset_Pin|ESP_ENABLE_Pin|Steering_B_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  
    /*Configure GPIO pins : Echo0_Pin Echo1_Pin Echo2_Pin Echo3_Pin */
    GPIO_InitStruct.Pin = Echo0_Pin|Echo1_Pin|Echo2_Pin|Echo3_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  
    /*Configure GPIO pins : Trigger4_Pin OLED_DC_Pin OLED_CS_Pin Steering_A_Pin
                             Motor_B_Pin Motor_A_Pin */
    GPIO_InitStruct.Pin = Trigger4_Pin|OLED_DC_Pin|OLED_CS_Pin|Steering_A_Pin
                            |Motor_B_Pin|Motor_A_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  
    /*Configure GPIO pin : Echo4_Pin */
    GPIO_InitStruct.Pin = Echo4_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(Echo4_GPIO_Port, &GPIO_InitStruct);
  
    /*Configure GPIO pin : LIGHTS_Pin */
    GPIO_InitStruct.Pin = LIGHTS_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(LIGHTS_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 */
  
  