/* 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 Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* 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;
ADC_HandleTypeDef hadc2;
DMA_HandleTypeDef hdma_adc1;

TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
DMA_HandleTypeDef hdma_tim1_up;

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_DMA_Init(void);
static void MX_ADC1_Init(void);
static void MX_ADC2_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM2_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_NVIC_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_ADC1_Init();
  MX_ADC2_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_USART1_UART_Init();
  MX_MotorControl_Init();

  /* Initialize interrupts */
  MX_NVIC_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  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};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** 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.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  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_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
  /** Enables the Clock Security System
  */
  HAL_RCC_EnableCSS();
}

/**
  * @brief NVIC Configuration.
  * @retval None
  */
static void MX_NVIC_Init(void)
{
  /* ADC1_2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(ADC1_2_IRQn, 2, 0);
  HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
  /* TIM1_UP_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM1_UP_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(TIM1_UP_IRQn);
  /* TIM1_BRK_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM1_BRK_IRQn, 4, 1);
  HAL_NVIC_EnableIRQ(TIM1_BRK_IRQn);
  /* DMA1_Channel5_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
  /* DMA1_Channel1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
  /* TIM2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM2_IRQn, 3, 0);
  HAL_NVIC_EnableIRQ(TIM2_IRQn);
  /* USART1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(USART1_IRQn, 3, 1);
  HAL_NVIC_EnableIRQ(USART1_IRQn);
}

/**
  * @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_MultiModeTypeDef multimode = {0};
  ADC_InjectionConfTypeDef sConfigInjected = {0};
  ADC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN ADC1_Init 1 */

  /* USER CODE END ADC1_Init 1 */
  /** Common config
  */
  hadc1.Instance = ADC1;
  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
  hadc1.Init.ContinuousConvMode = ENABLE;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc1.Init.DataAlign = ADC_DATAALIGN_LEFT;
  hadc1.Init.NbrOfConversion = 1;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure the ADC multi-mode
  */
  multimode.Mode = ADC_DUALMODE_INJECSIMULT;
  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_5;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1;
  sConfigInjected.InjectedNbrOfConversion = 3;
  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_1CYCLE_5;
  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_CC4;
  sConfigInjected.AutoInjectedConv = DISABLE;
  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
  sConfigInjected.InjectedOffset = 0;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_6;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_2;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_7;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_3;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Regular Channel
  */
  sConfig.Channel = ADC_CHANNEL_3;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC1_Init 2 */

  /* USER CODE END ADC1_Init 2 */

}

/**
  * @brief ADC2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_ADC2_Init(void)
{

  /* USER CODE BEGIN ADC2_Init 0 */

  /* USER CODE END ADC2_Init 0 */

  ADC_InjectionConfTypeDef sConfigInjected = {0};

  /* USER CODE BEGIN ADC2_Init 1 */

  /* USER CODE END ADC2_Init 1 */
  /** Common config
  */
  hadc2.Instance = ADC2;
  hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
  hadc2.Init.ContinuousConvMode = DISABLE;
  hadc2.Init.DiscontinuousConvMode = DISABLE;
  hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc2.Init.DataAlign = ADC_DATAALIGN_LEFT;
  hadc2.Init.NbrOfConversion = 1;
  if (HAL_ADC_Init(&hadc2) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_5;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1;
  sConfigInjected.InjectedNbrOfConversion = 3;
  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_1CYCLE_5;
  sConfigInjected.AutoInjectedConv = DISABLE;
  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
  sConfigInjected.InjectedOffset = 0;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_6;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_2;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_7;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_3;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC2_Init 2 */

  /* USER CODE END ADC2_Init 2 */

}

/**
  * @brief TIM1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM1_Init(void)
{

  /* USER CODE BEGIN TIM1_Init 0 */

  /* USER CODE END TIM1_Init 0 */

  TIM_SlaveConfigTypeDef sSlaveConfig = {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 = ((TIM_CLOCK_DIVIDER) - 1);
  htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
  htim1.Init.Period = ((PWM_PERIOD_CYCLES) / 2);
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV2;
  htim1.Init.RepetitionCounter = (REP_COUNTER);
  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }
  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_TRIGGER;
  sSlaveConfig.InputTrigger = TIM_TS_ITR1;
  if (HAL_TIM_SlaveConfigSynchro(&htim1, &sSlaveConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC4REF;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_SET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM2;
  sConfigOC.Pulse = (((PWM_PERIOD_CYCLES) / 2) - (HTMIN));
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_1;
  sBreakDeadTimeConfig.DeadTime = ((DEAD_TIME_COUNTS) / 2);
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_ENABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
  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);

}

/**
  * @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_HallSensor_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 = M1_HALL_TIM_PERIOD;
  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();
  }
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = M1_HALL_IC_FILTER;
  sConfig.Commutation_Delay = 0;
  if (HAL_TIMEx_HallSensor_Init(&htim2, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC2REF;
  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 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 = 9600;
  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 */

}

/**
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_ENABLE();

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

}

/* 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 */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/