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andrea
2025-12-08 16:43:26 +01:00
parent 3db6a38a2b
commit 43a9a9d480
117 changed files with 76544 additions and 44501 deletions
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*** SESSION dic 06, 2025 22:49:40.40 -------------------------------------------
*** SESSION dic 07, 2025 19:18:34.790 ------------------------------------------
*** SESSION dic 08, 2025 11:52:34.203 ------------------------------------------
*** SESSION dic 08, 2025 13:49:44.543 ------------------------------------------

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13:11:54 **** Incremental Build of configuration Debug for project AUTOM10 ****
16:16:58 **** Incremental Build of configuration Debug for project AUTOM10 ****
make -j12 all
arm-none-eabi-size AUTOM10.elf
text data bss dec hex filename
45800 464 7184 53448 d0c8 AUTOM10.elf
48728 464 7248 56440 dc78 AUTOM10.elf
Finished building: default.size.stdout
13:11:54 Build Finished. 0 errors, 0 warnings. (took 188ms)
16:16:58 Build Finished. 0 errors, 0 warnings. (took 242ms)

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13:11:50 **** Incremental Build of configuration Debug for project AUTOM10 ****
16:16:54 **** Incremental Build of configuration Debug for project AUTOM10 ****
make -j12 all
arm-none-eabi-gcc "../Core/Src/eeprom.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/eeprom.d" -MT"Core/Src/eeprom.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/eeprom.o"
arm-none-eabi-gcc "../Core/Src/cdc_int.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/cdc_int.d" -MT"Core/Src/cdc_int.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/cdc_int.o"
arm-none-eabi-gcc -o "AUTOM10.elf" @"objects.list" -mcpu=cortex-m3 -T"C:\progetti\AUTOM\workspace\AUTOM10\STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="AUTOM10.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group
Finished building target: AUTOM10.elf
arm-none-eabi-size AUTOM10.elf
arm-none-eabi-objdump -h -S AUTOM10.elf > "AUTOM10.list"
text data bss dec hex filename
45800 464 7184 53448 d0c8 AUTOM10.elf
48728 464 7248 56440 dc78 AUTOM10.elf
Finished building: default.size.stdout
Finished building: AUTOM10.list
13:11:54 **** Incremental Build of configuration Debug for project AUTOM10 ****
16:16:58 **** Incremental Build of configuration Debug for project AUTOM10 ****
make -j12 all
arm-none-eabi-size AUTOM10.elf
text data bss dec hex filename
45800 464 7184 53448 d0c8 AUTOM10.elf
48728 464 7248 56440 dc78 AUTOM10.elf
Finished building: default.size.stdout

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
#define ADC_NUM_CHANNELS 5 // CH4..CH8
#define ADC_AVG_WINDOW 5 // 5 * 10ms = 50ms averaging window
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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.ScanConvMode = ADC_SCAN_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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};
TIM_OC_InitTypeDef sConfigOC = {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 = 17999;
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();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_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 pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* 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 */

36
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@@ -1,36 +0,0 @@
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
if (CDC_Available()) {
int c = CDC_ReadByte();
if (c < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=c;
if((c==0x0d)||(c==0x0a)){
if(rxidx){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
}
rxidx=0;
}else rxidx++;
// tiny spin or yield
}
}

619
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
extern volatile uint16_t adc_dma_buf[];
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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.ScanConvMode = ADC_SCAN_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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};
TIM_OC_InitTypeDef sConfigOC = {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 = 17999;
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();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_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 pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* 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 */

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#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
if (CDC_Available()) {
int c = CDC_ReadByte();
if (c < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=c;
rxidx++;
if((c==0x0d)||(c==0x0a)){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
break;
}
}
// tiny spin or yield
}
}
}

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
#define ADC_NUM_CHANNELS 5 // CH4..CH8
#define ADC_AVG_WINDOW 5 // 5 * 10ms = 50ms averaging window
/* Filled by ADC+DMA: latest raw value of each channel */
volatile uint16_t adc_dma_buf[ADC_NUM_CHANNELS];
/* Smoothed value (50ms average with settings above) */
volatile uint16_t adc_avg[ADC_NUM_CHANNELS];
/* Internal accumulators used only in the timer ISR */
static uint32_t adc_sum[ADC_NUM_CHANNELS];
static uint8_t adc_sum_count = 0;
/* Optional flag to tell main loop that a new averaged set is ready */
volatile uint8_t adc_avg_ready = 0;
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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.ScanConvMode = ADC_SCAN_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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};
TIM_OC_InitTypeDef sConfigOC = {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 = 17999;
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();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_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 pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* 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 */

619
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
extern volatile uint16_t adc_dma_buf[
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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.ScanConvMode = ADC_SCAN_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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};
TIM_OC_InitTypeDef sConfigOC = {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 = 17999;
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();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_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 pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* 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 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
extern volatile uint16_t adc_dma_buf[];
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
managAdc();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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.ScanConvMode = ADC_SCAN_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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};
TIM_OC_InitTypeDef sConfigOC = {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 = 17999;
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();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_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 pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* 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 */

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/*
* adc.h
*
* Created on: Dec 8, 2025
* Author: user
*/
#ifndef INC_ADC_H_
#define INC_ADC_H_
#include "stm32f1xx_hal.h"
#define ADC_NUM_CHANNELS 5 // CH4..CH8
#define ADC_AVG_WINDOW 5 // 5 * 10ms = 50ms averaging window
void manageAdc(void);
#endif /* INC_ADC_H_ */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
extern volatile uint16_t adc_dma_buf[];
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
manageAdc();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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.ScanConvMode = ADC_SCAN_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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};
TIM_OC_InitTypeDef sConfigOC = {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 = 17999;
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();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_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 pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* 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 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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.ScanConvMode = ADC_SCAN_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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};
TIM_OC_InitTypeDef sConfigOC = {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 = 17999;
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();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_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 pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* 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 */

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/*
* adc.h
*
* Created on: Dec 8, 2025
* Author: user
*/
#ifndef INC_ADC_H_
#define INC_ADC_H_
#define ADC_NUM_CHANNELS 5 // CH4..CH8
#define ADC_AVG_WINDOW 5 // 5 * 10ms = 50ms averaging window
void manageAdc(void);
#endif /* INC_ADC_H_ */

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#include <string.h>
#include <stdbool.h>
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "stm32f1xx_hal.h"
#include "eeprom.h"
#include "pwm.h"
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern const uint16_t EE_VirtAddrs[];
extern uint8_t pulsanti;
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
if((c1>='0')&&(c1<='9')){
c1-='0';
}else if((c1>='a')&&(c1<='f')){
c1=(c1-'a')+10;
}else return false;
if((c2>='0')&&(c2<='9')){
c2-='0';
}else if((c2>='a')&&(c2<='f')){
c2=(c2-'a')+10;
}else return false;
if((c3>='0')&&(c3<='9')){
c3-='0';
}else if((c3>='a')&&(c3<='f')){
c3=(c3-'a')+10;
}else return false;
if((c4>='0')&&(c4<='9')){
c4-='0';
}else if((c4>='a')&&(c4<='f')){
c4=(c4-'a')+10;
}else return false;
*retval=c1;
*retval*=16;
*retval+=c2;
*retval*=16;
*retval+=c3;
*retval*=16;
*retval+=c4;
return true;
}
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
uint8_t mot,dir,dm,m,c,d,u;
uint16_t val;
uint16_t st;
uint16_t eeadd;
uint8_t i;
if (CDC_Available()) {
int rx = CDC_ReadByte();
if (rx < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=rx;
while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
if((rx==0x0d)||(rx==0x0a)){
if(rxidx){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
sprintf((char*)s,"\nP=0x%x ",pulsanti);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY); break;
case 'm':
if(rxidx==8){
if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
mot=rxbuf[1]-='0';
if(rxbuf[2]=='f'){
dir=FW;
}else if(rxbuf[2]=='b'){
dir=BW;
}else{
sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
break;
}
if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
dm=rxbuf[3]-='0';
m=rxbuf[4]-='0';
c=rxbuf[5]-='0';
d=rxbuf[6]-='0';
u=rxbuf[7]-='0';
val=dm;
val*=10;
val+=m;
val*=10;
val+=c;
val*=10;
val+=d;
val*=10;
val+=u;
SetMot(mot,dir,val);
}else{
sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
}
break;
case 'e':
if(rxidx>1){
if(rxbuf[1]=='r'){
if(rxidx==4){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
st=EEW_Read(eeadd, &val);
if (st == EE_OK){
sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"\nee read error %d",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa hex values");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else if(rxbuf[1]=='w'){
if(rxidx==8){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
st=EEW_Write(eeadd, val);
if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
else sprintf((char*)s,"\nee write error %d", st);
}else sprintf((char*)s,"\n?ewaavvvv hex values");
}else sprintf((char*)s,"\n?ewaa hex values");
}else sprintf((char*)s,"\n?ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else if(rxbuf[1]=='d'){
if(rxidx==2){
for(i=0;i<32;i++){
if((i%4)==0){
sprintf((char*)s,"\n");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
st=EEW_Read(i, &val);
if (st == EE_OK){
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"rderr %d ",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}
}else{
sprintf((char*)s,"\n?ed");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?er|w|d");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa | ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
}
rxidx=0;
}else rxidx++;
// tiny spin or yield
}
}

199
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#include <string.h>
#include <stdbool.h>
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "stm32f1xx_hal.h"
#include "eeprom.h"
#include "pwm.h"
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern const uint16_t EE_VirtAddrs[];
extern uint8_t pulsanti;
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
if((c1>='0')&&(c1<='9')){
c1-='0';
}else if((c1>='a')&&(c1<='f')){
c1=(c1-'a')+10;
}else return false;
if((c2>='0')&&(c2<='9')){
c2-='0';
}else if((c2>='a')&&(c2<='f')){
c2=(c2-'a')+10;
}else return false;
if((c3>='0')&&(c3<='9')){
c3-='0';
}else if((c3>='a')&&(c3<='f')){
c3=(c3-'a')+10;
}else return false;
if((c4>='0')&&(c4<='9')){
c4-='0';
}else if((c4>='a')&&(c4<='f')){
c4=(c4-'a')+10;
}else return false;
*retval=c1;
*retval*=16;
*retval+=c2;
*retval*=16;
*retval+=c3;
*retval*=16;
*retval+=c4;
return true;
}
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
uint8_t mot,dir,dm,m,c,d,u;
uint16_t val;
uint16_t st;
uint16_t eeadd;
uint8_t i;
if (CDC_Available()) {
int rx = CDC_ReadByte();
if (rx < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=rx;
while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
if((rx==0x0d)||(rx==0x0a)){
if(rxidx){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
sprintf((char*)s,"\nP=0x%x %d %d",pulsanti,HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin),HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
break;
case 'm':
if(rxidx==8){
if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
mot=rxbuf[1]-='0';
if(rxbuf[2]=='f'){
dir=FW;
}else if(rxbuf[2]=='b'){
dir=BW;
}else{
sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
break;
}
if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
dm=rxbuf[3]-='0';
m=rxbuf[4]-='0';
c=rxbuf[5]-='0';
d=rxbuf[6]-='0';
u=rxbuf[7]-='0';
val=dm;
val*=10;
val+=m;
val*=10;
val+=c;
val*=10;
val+=d;
val*=10;
val+=u;
SetMot(mot,dir,val);
}else{
sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
}
break;
case 'e':
if(rxidx>1){
if(rxbuf[1]=='r'){
if(rxidx==4){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
st=EEW_Read(eeadd, &val);
if (st == EE_OK){
sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"\nee read error %d",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa hex values");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else if(rxbuf[1]=='w'){
if(rxidx==8){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
st=EEW_Write(eeadd, val);
if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
else sprintf((char*)s,"\nee write error %d", st);
}else sprintf((char*)s,"\n?ewaavvvv hex values");
}else sprintf((char*)s,"\n?ewaa hex values");
}else sprintf((char*)s,"\n?ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else if(rxbuf[1]=='d'){
if(rxidx==2){
for(i=0;i<32;i++){
if((i%4)==0){
sprintf((char*)s,"\n");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
st=EEW_Read(i, &val);
if (st == EE_OK){
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"rderr %d ",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}
}else{
sprintf((char*)s,"\n?ed");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?er|w|d");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa | ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
}
rxidx=0;
}else rxidx++;
// tiny spin or yield
}
}

33
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/7b/c01bb27fc3d200101320a8c687ef41a7
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@@ -1,33 +0,0 @@
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
if (CDC_Available()) {
int c = CDC_ReadByte();
if (c < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=c;
rxidx++;
if((c==0x0d)||(c==0x0a)){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\n?",c);
while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
break;
}
}
// tiny spin or yield
}
}
}

563
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/8c/b0ac4f1a40d400101723d5a9c522ee3b Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
uint8_t pulsanti=0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if (++c100ms >= 10) { // 10 ms
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
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 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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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};
TIM_OC_InitTypeDef sConfigOC = {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 = 17999;
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();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_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 pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* 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 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.h
* @brief : Header for main.c file.
* This file contains the common defines of the application.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define LED2_Pin GPIO_PIN_13
#define LED2_GPIO_Port GPIOC
#define P1_Pin GPIO_PIN_14
#define P1_GPIO_Port GPIOC
#define P2_Pin GPIO_PIN_15
#define P2_GPIO_Port GPIOC
#define IN1_Pin GPIO_PIN_0
#define IN1_GPIO_Port GPIOA
#define IN2_Pin GPIO_PIN_1
#define IN2_GPIO_Port GPIOA
#define IN3_Pin GPIO_PIN_2
#define IN3_GPIO_Port GPIOA
#define IN4_Pin GPIO_PIN_3
#define IN4_GPIO_Port GPIOA
#define AIN1_Pin GPIO_PIN_4
#define AIN1_GPIO_Port GPIOA
#define AIN2_Pin GPIO_PIN_5
#define AIN2_GPIO_Port GPIOA
#define AIN3_Pin GPIO_PIN_6
#define AIN3_GPIO_Port GPIOA
#define AIN4_Pin GPIO_PIN_7
#define AIN4_GPIO_Port GPIOA
#define ANEM_Pin GPIO_PIN_0
#define ANEM_GPIO_Port GPIOB
#define INH1_Pin GPIO_PIN_1
#define INH1_GPIO_Port GPIOB
#define INH2_Pin GPIO_PIN_2
#define INH2_GPIO_Port GPIOB
#define INH3_Pin GPIO_PIN_10
#define INH3_GPIO_Port GPIOB
#define INH4_Pin GPIO_PIN_11
#define INH4_GPIO_Port GPIOB
#define CH1_Pin GPIO_PIN_12
#define CH1_GPIO_Port GPIOB
#define CH2_Pin GPIO_PIN_13
#define CH2_GPIO_Port GPIOB
#define CH3_Pin GPIO_PIN_14
#define CH3_GPIO_Port GPIOB
#define CH4_Pin GPIO_PIN_15
#define CH4_GPIO_Port GPIOB
#define BUZ_Pin GPIO_PIN_8
#define BUZ_GPIO_Port GPIOA
#define SWIO_Pin GPIO_PIN_13
#define SWIO_GPIO_Port GPIOA
#define SWCLK_Pin GPIO_PIN_14
#define SWCLK_GPIO_Port GPIOA
#define LED1_Pin GPIO_PIN_15
#define LED1_GPIO_Port GPIOA
#define EXP1_Pin GPIO_PIN_3
#define EXP1_GPIO_Port GPIOB
#define EXP2_Pin GPIO_PIN_4
#define EXP2_GPIO_Port GPIOB
#define EXP3_Pin GPIO_PIN_5
#define EXP3_GPIO_Port GPIOB
#define IN5_Pin GPIO_PIN_6
#define IN5_GPIO_Port GPIOB
#define IN6_Pin GPIO_PIN_7
#define IN6_GPIO_Port GPIOB
#define IN7_Pin GPIO_PIN_8
#define IN7_GPIO_Port GPIOB
#define IN8_Pin GPIO_PIN_9
#define IN8_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
#ifdef __cplusplus
}
#endif
#endif /* __MAIN_H */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
extern volatile uint16_t adc_dma_buf[];
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
//**** legge i tasti********************************************************************************
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
//**** legge adc ***********************************************************************************
readAdc();
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
manageAdc();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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.ScanConvMode = ADC_SCAN_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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};
TIM_OC_InitTypeDef sConfigOC = {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 = 17999;
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();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_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 pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* 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 */

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#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
if (CDC_Available()) {
int c = CDC_ReadByte();
if (c < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=c;
rxidx++;
if((c==0x0d)||(c==0x0a)){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
rxidx=0;
}
// tiny spin or yield
}
}

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/*
* adc.h
*
* Created on: Dec 8, 2025
* Author: user
*/
#ifndef INC_ADC_H_
#define INC_ADC_H_
#endif /* INC_ADC_H_ */

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/*
* adc.c
*
* Created on: Dec 8, 2025
* Author: user
*/

0
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
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 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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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};
TIM_OC_InitTypeDef sConfigOC = {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 = 17999;
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();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_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 pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* 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 */

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#include <string.h>
#include <stdbool.h>
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "stm32f1xx_hal.h"
#include "eeprom.h"
#include "pwm.h"
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern const uint16_t EE_VirtAddrs[];
extern uint8_t pulsanti;
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
if((c1>='0')&&(c1<='9')){
c1-='0';
}else if((c1>='a')&&(c1<='f')){
c1=(c1-'a')+10;
}else return false;
if((c2>='0')&&(c2<='9')){
c2-='0';
}else if((c2>='a')&&(c2<='f')){
c2=(c2-'a')+10;
}else return false;
if((c3>='0')&&(c3<='9')){
c3-='0';
}else if((c3>='a')&&(c3<='f')){
c3=(c3-'a')+10;
}else return false;
if((c4>='0')&&(c4<='9')){
c4-='0';
}else if((c4>='a')&&(c4<='f')){
c4=(c4-'a')+10;
}else return false;
*retval=c1;
*retval*=16;
*retval+=c2;
*retval*=16;
*retval+=c3;
*retval*=16;
*retval+=c4;
return true;
}
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
uint8_t mot,dir,dm,m,c,d,u;
uint16_t val;
uint16_t st;
uint16_t eeadd;
uint8_t i;
if (CDC_Available()) {
int rx = CDC_ReadByte();
if (rx < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=rx;
while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
if((rx==0x0d)||(rx==0x0a)){
if(rxidx){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
__HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
break;
case 'm':
if(rxidx==8){
if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
mot=rxbuf[1]-='0';
if(rxbuf[2]=='f'){
dir=FW;
}else if(rxbuf[2]=='b'){
dir=BW;
}else{
sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
break;
}
if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
dm=rxbuf[3]-='0';
m=rxbuf[4]-='0';
c=rxbuf[5]-='0';
d=rxbuf[6]-='0';
u=rxbuf[7]-='0';
val=dm;
val*=10;
val+=m;
val*=10;
val+=c;
val*=10;
val+=d;
val*=10;
val+=u;
SetMot(mot,dir,val);
}else{
sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
}
break;
case 'e':
if(rxidx>1){
if(rxbuf[1]=='r'){
if(rxidx==4){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
st=EEW_Read(eeadd, &val);
if (st == EE_OK){
sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"\nee read error %d",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa hex values");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else if(rxbuf[1]=='w'){
if(rxidx==8){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
st=EEW_Write(eeadd, val);
if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
else sprintf((char*)s,"\nee write error %d", st);
}else sprintf((char*)s,"\n?ewaavvvv hex values");
}else sprintf((char*)s,"\n?ewaa hex values");
}else sprintf((char*)s,"\n?ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else if(rxbuf[1]=='d'){
if(rxidx==2){
for(i=0;i<32;i++){
if((i%4)==0){
sprintf((char*)s,"\n");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
st=EEW_Read(i, &val);
if (st == EE_OK){
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"rderr %d ",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}
}else{
sprintf((char*)s,"\n?ed");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?er|w|d");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa | ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
}
rxidx=0;
}else rxidx++;
// tiny spin or yield
}
}

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/*
* adc.h
*
* Created on: Dec 8, 2025
* Author: user
*/
#ifndef INC_ADC_H_
#define INC_ADC_H_
void manageAdc(void);
#endif /* INC_ADC_H_ */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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.ScanConvMode = ADC_SCAN_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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};
TIM_OC_InitTypeDef sConfigOC = {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 = 17999;
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();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_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 pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* 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 */

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#include <string.h>
#include <stdbool.h>
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "stm32f1xx_hal.h"
#include "eeprom.h"
#include "pwm.h"
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern const uint16_t EE_VirtAddrs[];
extern uint8_t pulsanti;
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
if((c1>='0')&&(c1<='9')){
c1-='0';
}else if((c1>='a')&&(c1<='f')){
c1=(c1-'a')+10;
}else return false;
if((c2>='0')&&(c2<='9')){
c2-='0';
}else if((c2>='a')&&(c2<='f')){
c2=(c2-'a')+10;
}else return false;
if((c3>='0')&&(c3<='9')){
c3-='0';
}else if((c3>='a')&&(c3<='f')){
c3=(c3-'a')+10;
}else return false;
if((c4>='0')&&(c4<='9')){
c4-='0';
}else if((c4>='a')&&(c4<='f')){
c4=(c4-'a')+10;
}else return false;
*retval=c1;
*retval*=16;
*retval+=c2;
*retval*=16;
*retval+=c3;
*retval*=16;
*retval+=c4;
return true;
}
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
uint8_t mot,dir,dm,m,c,d,u;
uint16_t val;
uint16_t st;
uint16_t eeadd;
uint8_t i;
if (CDC_Available()) {
int rx = CDC_ReadByte();
if (rx < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=rx;
while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
if((rx==0x0d)||(rx==0x0a)){
if(rxidx){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
sprintf((char*)s,"\nP=0x%x ",pulsanti);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
break;
case 'm':
if(rxidx==8){
if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
mot=rxbuf[1]-='0';
if(rxbuf[2]=='f'){
dir=FW;
}else if(rxbuf[2]=='b'){
dir=BW;
}else{
sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
break;
}
if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
dm=rxbuf[3]-='0';
m=rxbuf[4]-='0';
c=rxbuf[5]-='0';
d=rxbuf[6]-='0';
u=rxbuf[7]-='0';
val=dm;
val*=10;
val+=m;
val*=10;
val+=c;
val*=10;
val+=d;
val*=10;
val+=u;
SetMot(mot,dir,val);
}else{
sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
}
break;
case 'e':
if(rxidx>1){
if(rxbuf[1]=='r'){
if(rxidx==4){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
st=EEW_Read(eeadd, &val);
if (st == EE_OK){
sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"\nee read error %d",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa hex values");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else if(rxbuf[1]=='w'){
if(rxidx==8){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
st=EEW_Write(eeadd, val);
if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
else sprintf((char*)s,"\nee write error %d", st);
}else sprintf((char*)s,"\n?ewaavvvv hex values");
}else sprintf((char*)s,"\n?ewaa hex values");
}else sprintf((char*)s,"\n?ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else if(rxbuf[1]=='d'){
if(rxidx==2){
for(i=0;i<32;i++){
if((i%4)==0){
sprintf((char*)s,"\n");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
st=EEW_Read(i, &val);
if (st == EE_OK){
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"rderr %d ",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}
}else{
sprintf((char*)s,"\n?ed");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?er|w|d");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa | ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
}
rxidx=0;
}else rxidx++;
// tiny spin or yield
}
}

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/*
* adc.c
*
* Created on: Dec 8, 2025
* Author: user
*/
/* Filled by ADC+DMA: latest raw value of each channel */
volatile uint16_t adc_dma_buf[ADC_NUM_CHANNELS];
/* Smoothed value (50ms average with settings above) */
volatile uint16_t adc_avg[ADC_NUM_CHANNELS];
/* Internal accumulators used only in the timer ISR */
static uint32_t adc_sum[ADC_NUM_CHANNELS];
static uint8_t adc_sum_count = 0;
/* Optional flag to tell main loop that a new averaged set is ready */
volatile uint8_t adc_avg_ready = 0;
void manageAdc(void){
}

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#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
if (CDC_Available()) {
int c = CDC_ReadByte();
if (c < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=c;
rxidx++;
if((c==0x0d)||(c==0x0a)){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 6) == USBD_BUSY);
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 6) == USBD_BUSY);
break;
}
}
// tiny spin or yield
}
}

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/*
* adc.c
*
* Created on: Dec 8, 2025
* Author: user
*/
#include "adc.h"
/* Filled by ADC+DMA: latest raw value of each channel */
volatile uint16_t adc_dma_buf[ADC_NUM_CHANNELS];
/* Smoothed value (50ms average with settings above) */
volatile uint16_t adc_avg[ADC_NUM_CHANNELS];
/* Internal accumulators used only in the timer ISR */
static uint32_t adc_sum[ADC_NUM_CHANNELS];
static uint8_t adc_sum_count = 0;
/* Optional flag to tell main loop that a new averaged set is ready */
volatile uint8_t adc_avg_ready = 0;
void manageAdc(void){
if (adc_avg_ready)
{
adc_avg_ready = 0;
// Read averaged channels (example mapping)
uint16_t ch4 = adc_avg[0];
uint16_t ch5 = adc_avg[1];
uint16_t ch6 = adc_avg[2];
uint16_t ch7 = adc_avg[3];
uint16_t ch8 = adc_avg[4];
// Use them (convert to volts, control, etc.)
// float v4 = (3.3f * ch4) / 4095.0f;
}
}
void readAdc(void){
for (uint8_t i = 0; i < ADC_NUM_CHANNELS; i++)
{
adc_sum[i] += adc_dma_buf[i];
}
adc_sum_count++;
/* When we collected ADC_AVG_WINDOW samples → compute average */
if (adc_sum_count >= ADC_AVG_WINDOW)
{
for (uint8_t i = 0; i < ADC_NUM_CHANNELS; i++)
{
adc_avg[i] = (uint16_t)(adc_sum[i] / ADC_AVG_WINDOW);
adc_sum[i] = 0;
}
adc_sum_count = 0;
adc_avg_ready = 1; // tell main loop new data is ready
}
}

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/*
* adc.c
*
* Created on: Dec 8, 2025
* Author: user
*/
#include "adc.h"
/* Filled by ADC+DMA: latest raw value of each channel */
volatile uint16_t adc_dma_buf[ADC_NUM_CHANNELS];
/* Smoothed value (50ms average with settings above) */
volatile uint16_t adc_avg[ADC_NUM_CHANNELS];
/* Internal accumulators used only in the timer ISR */
static uint32_t adc_sum[ADC_NUM_CHANNELS];
static uint8_t adc_sum_count = 0;
/* Optional flag to tell main loop that a new averaged set is ready */
volatile uint8_t adc_avg_ready = 0;
void manageAdc(void){
}

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/*
* adc.c
*
* Created on: Dec 8, 2025
* Author: user
*/
#include "adc.h"
/* Filled by ADC+DMA: latest raw value of each channel */
volatile uint16_t adc_dma_buf[ADC_NUM_CHANNELS];
/* Smoothed value (50ms average with settings above) */
volatile uint16_t adc_avg[ADC_NUM_CHANNELS];
/* Internal accumulators used only in the timer ISR */
static uint32_t adc_sum[ADC_NUM_CHANNELS];
static uint8_t adc_sum_count = 0;
/* Optional flag to tell main loop that a new averaged set is ready */
volatile uint8_t adc_avg_ready = 0;
void manageAdc(void){
if (adc_avg_ready)
{
adc_avg_ready = 0;
// Read averaged channels (example mapping)
uint16_t ch4 = adc_avg[0];
uint16_t ch5 = adc_avg[1];
uint16_t ch6 = adc_avg[2];
uint16_t ch7 = adc_avg[3];
uint16_t ch8 = adc_avg[4];
// Use them (convert to volts, control, etc.)
// float v4 = (3.3f * ch4) / 4095.0f;
}
}

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
uint8_t pulsanti=0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if (++c100ms >= 10) { // 10 ms
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != 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.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
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 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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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};
TIM_OC_InitTypeDef sConfigOC = {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 = 17999;
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();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_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 pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* 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 */

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#include <string.h>
#include <stdbool.h>
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "stm32f1xx_hal.h"
#include "eeprom.h"
#include "pwm.h"
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern const uint16_t EE_VirtAddrs[];
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
if((c1>='0')&&(c1<='9')){
c1-='0';
}else if((c1>='a')&&(c1<='f')){
c1=(c1-'a')+10;
}else return false;
if((c2>='0')&&(c2<='9')){
c2-='0';
}else if((c2>='a')&&(c2<='f')){
c2=(c2-'a')+10;
}else return false;
if((c3>='0')&&(c3<='9')){
c3-='0';
}else if((c3>='a')&&(c3<='f')){
c3=(c3-'a')+10;
}else return false;
if((c4>='0')&&(c4<='9')){
c4-='0';
}else if((c4>='a')&&(c4<='f')){
c4=(c4-'a')+10;
}else return false;
*retval=c1;
*retval*=16;
*retval+=c2;
*retval*=16;
*retval+=c3;
*retval*=16;
*retval+=c4;
return true;
}
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
uint8_t mot,dir,dm,m,c,d,u;
uint16_t val;
uint16_t st;
uint16_t eeadd;
uint8_t i;
if (CDC_Available()) {
int rx = CDC_ReadByte();
if (rx < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=rx;
while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
if((rx==0x0d)||(rx==0x0a)){
if(rxidx){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
__HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
break;
case 'm':
if(rxidx==8){
if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
mot=rxbuf[1]-='0';
if(rxbuf[2]=='f'){
dir=FW;
}else if(rxbuf[2]=='b'){
dir=BW;
}else{
sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
break;
}
if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
dm=rxbuf[3]-='0';
m=rxbuf[4]-='0';
c=rxbuf[5]-='0';
d=rxbuf[6]-='0';
u=rxbuf[7]-='0';
val=dm;
val*=10;
val+=m;
val*=10;
val+=c;
val*=10;
val+=d;
val*=10;
val+=u;
SetMot(mot,dir,val);
}else{
sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
}
break;
case 'e':
if(rxidx>1){
if(rxbuf[1]=='r'){
if(rxidx==4){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
st=EEW_Read(eeadd, &val);
if (st == EE_OK){
sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"\nee read error %d",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa hex values");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else if(rxbuf[1]=='w'){
if(rxidx==8){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
st=EEW_Write(eeadd, val);
if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
else sprintf((char*)s,"\nee write error %d", st);
}else sprintf((char*)s,"\n?ewaavvvv hex values");
}else sprintf((char*)s,"\n?ewaa hex values");
}else sprintf((char*)s,"\n?ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else if(rxbuf[1]=='d'){
if(rxidx==2){
for(i=0;i<32;i++){
if((i%4)==0){
sprintf((char*)s,"\n");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
st=EEW_Read(i, &val);
if (st == EE_OK){
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"rderr %d ",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}
}else{
sprintf((char*)s,"\n?ed");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?er|w|d");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa | ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
}
rxidx=0;
}else rxidx++;
// tiny spin or yield
}
}

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@@ -38,7 +38,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="EE_VirtAddrse"/>
<item key="textPattern" value="HAL_ADC_PollForConversion"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -53,7 +53,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="ee_init"/>
<item key="textPattern" value="P2_Pin"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -65,7 +65,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="tohex"/>
<item key="textPattern" value="p2"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -77,7 +77,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="EE_ReadVariable"/>
<item key="textPattern" value="EE_VirtAddrse"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -89,7 +89,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="inh2"/>
<item key="textPattern" value="ee_init"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -101,7 +101,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="INH1_GPIO_Port"/>
<item key="textPattern" value="tohex"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -113,7 +113,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="INH1"/>
<item key="textPattern" value="EE_ReadVariable"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -125,7 +125,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="INH1_Pin"/>
<item key="textPattern" value="inh2"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -137,7 +137,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="Led2"/>
<item key="textPattern" value="INH1_GPIO_Port"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -149,7 +149,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="htim3"/>
<item key="textPattern" value="INH1"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -161,7 +161,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="led2"/>
<item key="textPattern" value="INH1_Pin"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -173,7 +173,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="HAL_GPIO_TogglePin"/>
<item key="textPattern" value="Led2"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>

2
workspace/.metadata/version.ini
View File

@@ -1,3 +1,3 @@
#Mon Dec 08 11:52:31 CET 2025
#Mon Dec 08 13:49:41 CET 2025
org.eclipse.core.runtime=2
org.eclipse.platform=4.33.0.v20240903-0240

51
workspace/AUTOM10/AUTOM10.ioc
View File

@@ -1,28 +1,54 @@
#MicroXplorer Configuration settings - do not modify
ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_4
ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,master
ADC1.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_5
ADC1.Channel-2\#ChannelRegularConversion=ADC_CHANNEL_6
ADC1.Channel-3\#ChannelRegularConversion=ADC_CHANNEL_7
ADC1.Channel-4\#ChannelRegularConversion=ADC_CHANNEL_8
ADC1.ContinuousConvMode=ENABLE
ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,master,NbrOfConversion,Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,Rank-2\#ChannelRegularConversion,Channel-2\#ChannelRegularConversion,SamplingTime-2\#ChannelRegularConversion,Rank-3\#ChannelRegularConversion,Channel-3\#ChannelRegularConversion,SamplingTime-3\#ChannelRegularConversion,Rank-4\#ChannelRegularConversion,Channel-4\#ChannelRegularConversion,SamplingTime-4\#ChannelRegularConversion,ContinuousConvMode
ADC1.NbrOfConversion=5
ADC1.NbrOfConversionFlag=1
ADC1.Rank-0\#ChannelRegularConversion=1
ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_1CYCLE_5
ADC1.Rank-1\#ChannelRegularConversion=2
ADC1.Rank-2\#ChannelRegularConversion=3
ADC1.Rank-3\#ChannelRegularConversion=4
ADC1.Rank-4\#ChannelRegularConversion=5
ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_28CYCLES_5
ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_28CYCLES_5
ADC1.SamplingTime-2\#ChannelRegularConversion=ADC_SAMPLETIME_28CYCLES_5
ADC1.SamplingTime-3\#ChannelRegularConversion=ADC_SAMPLETIME_28CYCLES_5
ADC1.SamplingTime-4\#ChannelRegularConversion=ADC_SAMPLETIME_28CYCLES_5
ADC1.master=1
CAD.formats=
CAD.pinconfig=
CAD.provider=
Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.ADC1.0.Instance=DMA1_Channel1
Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
Dma.ADC1.0.MemInc=DMA_MINC_ENABLE
Dma.ADC1.0.Mode=DMA_CIRCULAR
Dma.ADC1.0.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
Dma.ADC1.0.PeriphInc=DMA_PINC_DISABLE
Dma.ADC1.0.Priority=DMA_PRIORITY_LOW
Dma.ADC1.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
Dma.Request0=ADC1
Dma.RequestsNb=1
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
Mcu.CPN=STM32F103C8T6
Mcu.Family=STM32F1
Mcu.IP0=ADC1
Mcu.IP1=NVIC
Mcu.IP2=RCC
Mcu.IP3=SYS
Mcu.IP4=TIM2
Mcu.IP5=TIM4
Mcu.IP6=USART1
Mcu.IP7=USB
Mcu.IP8=USB_DEVICE
Mcu.IPNb=9
Mcu.IP1=DMA
Mcu.IP2=NVIC
Mcu.IP3=RCC
Mcu.IP4=SYS
Mcu.IP5=TIM2
Mcu.IP6=TIM4
Mcu.IP7=USART1
Mcu.IP8=USB
Mcu.IP9=USB_DEVICE
Mcu.IPNb=10
Mcu.Name=STM32F103C(8-B)Tx
Mcu.Package=LQFP48
Mcu.Pin0=PC13-TAMPER-RTC
@@ -73,6 +99,7 @@ Mcu.UserName=STM32F103C8Tx
MxCube.Version=6.15.0
MxDb.Version=DB.6.0.150
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.DMA1_Channel1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -260,7 +287,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,4-MX_TIM2_Init-TIM2-false-HAL-true,5-MX_TIM4_Init-TIM4-false-HAL-true,6-MX_ADC1_Init-ADC1-false-HAL-true,7-MX_USART1_UART_Init-USART1-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM4_Init-TIM4-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_USART1_UART_Init-USART1-false-HAL-true
RCC.ADCFreqValue=12000000
RCC.ADCPresc=RCC_ADCPCLK2_DIV6
RCC.AHBFreq_Value=72000000

16
workspace/AUTOM10/Core/Inc/adc.h Normal file
View File

@@ -0,0 +1,16 @@
/*
* adc.h
*
* Created on: Dec 8, 2025
* Author: user
*/
#ifndef INC_ADC_H_
#define INC_ADC_H_
#include "stm32f1xx_hal.h"
#define ADC_NUM_CHANNELS 5 // CH4..CH8
#define ADC_AVG_WINDOW 5 // 5 * 10ms = 50ms averaging window
void manageAdc(void);
void readAdc(void);
#endif /* INC_ADC_H_ */

3
workspace/AUTOM10/Core/Inc/main.h
View File

@@ -123,7 +123,8 @@ void Error_Handler(void);
#define IN8_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */
#define INP1 1
#define INP2 2
/* USER CODE END Private defines */
#ifdef __cplusplus

2
workspace/AUTOM10/Core/Inc/stm32f1xx_hal_conf.h
View File

@@ -42,7 +42,7 @@
/*#define HAL_CORTEX_MODULE_ENABLED */
/*#define HAL_CRC_MODULE_ENABLED */
/*#define HAL_DAC_MODULE_ENABLED */
/*#define HAL_DMA_MODULE_ENABLED */
#define HAL_DMA_MODULE_ENABLED
/*#define HAL_ETH_MODULE_ENABLED */
/*#define HAL_FLASH_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED

1
workspace/AUTOM10/Core/Inc/stm32f1xx_it.h
View File

@@ -55,6 +55,7 @@ void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void DMA1_Channel1_IRQHandler(void);
void USB_LP_CAN1_RX0_IRQHandler(void);
/* USER CODE BEGIN EFP */

66
workspace/AUTOM10/Core/Src/adc.c Normal file
View File

@@ -0,0 +1,66 @@
/*
* adc.c
*
* Created on: Dec 8, 2025
* Author: user
*/
#include "adc.h"
/* Filled by ADC+DMA: latest raw value of each channel */
volatile uint16_t adc_dma_buf[ADC_NUM_CHANNELS];
/* Smoothed value (50ms average with settings above) */
volatile uint16_t adc_avg[ADC_NUM_CHANNELS];
/* Internal accumulators used only in the timer ISR */
static uint32_t adc_sum[ADC_NUM_CHANNELS];
static uint8_t adc_sum_count = 0;
/* Optional flag to tell main loop that a new averaged set is ready */
volatile uint8_t adc_avg_ready = 0;
uint16_t ch4 ;
uint16_t ch5 ;
uint16_t ch6 ;
uint16_t ch7 ;
uint16_t ch8 ;
void manageAdc(void){
if (adc_avg_ready)
{
adc_avg_ready = 0;
// Read averaged channels (example mapping)
ch4 = adc_avg[0];
ch5 = adc_avg[1];
ch6 = adc_avg[2];
ch7 = adc_avg[3];
ch8 = adc_avg[4];
// Use them (convert to volts, control, etc.)
// float v4 = (3.3f * ch4) / 4095.0f;
}
}
void readAdc(void){
for (uint8_t i = 0; i < ADC_NUM_CHANNELS; i++)
{
adc_sum[i] += adc_dma_buf[i];
}
adc_sum_count++;
/* When we collected ADC_AVG_WINDOW samples → compute average */
if (adc_sum_count >= ADC_AVG_WINDOW)
{
for (uint8_t i = 0; i < ADC_NUM_CHANNELS; i++)
{
adc_avg[i] = (uint16_t)(adc_sum[i] / ADC_AVG_WINDOW);
adc_sum[i] = 0;
}
adc_sum_count = 0;
adc_avg_ready = 1; // tell main loop new data is ready
}
}

9
workspace/AUTOM10/Core/Src/cdc_int.c
View File

@@ -13,6 +13,12 @@ extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern const uint16_t EE_VirtAddrs[];
extern uint8_t pulsanti;
extern uint16_t ch4 ;
extern uint16_t ch5 ;
extern uint16_t ch6 ;
extern uint16_t ch7 ;
extern uint16_t ch8 ;
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
if((c1>='0')&&(c1<='9')){
@@ -75,9 +81,10 @@ void manageCDC(void){
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
__HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
sprintf((char*)s,"\nP=0x%x ch4=%05d ch5=%05d ch6=%05d ch7=%05d ch8=%05d",pulsanti,ch4,ch5,ch6,ch7,ch8);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
break;
case 'm':
if(rxidx==8){

111
workspace/AUTOM10/Core/Src/main.c
View File

@@ -26,6 +26,7 @@
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -45,6 +46,7 @@
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
DMA_HandleTypeDef hdma_adc1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
@@ -52,15 +54,21 @@ TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
extern volatile uint16_t adc_dma_buf[];
extern uint16_t ch4 ;
extern uint16_t ch5 ;
extern uint16_t ch6 ;
extern uint16_t ch7 ;
extern uint16_t ch8 ;
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
@@ -73,19 +81,31 @@ static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
//**** legge i tasti********************************************************************************
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
//**** legge adc ***********************************************************************************
readAdc();
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* USER CODE END 0 */
@@ -119,12 +139,14 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
@@ -144,6 +166,7 @@ int main(void)
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
manageAdc();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
@@ -235,12 +258,12 @@ static void MX_ADC1_Init(void)
/** Common config
*/
hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
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_RIGHT;
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
@@ -250,7 +273,43 @@ static void MX_ADC1_Init(void)
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
@@ -444,6 +503,22 @@ static void MX_USART1_UART_Init(void)
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None

20
workspace/AUTOM10/Core/Src/stm32f1xx_hal_msp.c
View File

@@ -23,6 +23,7 @@
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern DMA_HandleTypeDef hdma_adc1;
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
@@ -117,6 +118,23 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(ANEM_GPIO_Port, &GPIO_InitStruct);
/* ADC1 DMA Init */
/* ADC1 Init */
hdma_adc1.Instance = DMA1_Channel1;
hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc1.Init.Mode = DMA_CIRCULAR;
hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(hadc,DMA_Handle,hdma_adc1);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
@@ -152,6 +170,8 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
HAL_GPIO_DeInit(ANEM_GPIO_Port, ANEM_Pin);
/* ADC1 DMA DeInit */
HAL_DMA_DeInit(hadc->DMA_Handle);
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */

15
workspace/AUTOM10/Core/Src/stm32f1xx_it.c
View File

@@ -56,6 +56,7 @@
/* External variables --------------------------------------------------------*/
extern PCD_HandleTypeDef hpcd_USB_FS;
extern DMA_HandleTypeDef hdma_adc1;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@@ -198,6 +199,20 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32f1xx.s). */
/******************************************************************************/
/**
* @brief This function handles DMA1 channel1 global interrupt.
*/
void DMA1_Channel1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
/* USER CODE END DMA1_Channel1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_adc1);
/* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
/* USER CODE END DMA1_Channel1_IRQn 1 */
}
/**
* @brief This function handles USB low priority or CAN RX0 interrupts.
*/

BIN
workspace/AUTOM10/Debug/AUTOM10.elf
View File

Binary file not shown.

40161
workspace/AUTOM10/Debug/AUTOM10.list
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File diff suppressed because it is too large Load Diff

2408
workspace/AUTOM10/Debug/AUTOM10.map
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File diff suppressed because it is too large Load Diff

2
workspace/AUTOM10/Debug/Core/Src/adc.cyclo Normal file
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@@ -0,0 +1,2 @@
../Core/Src/adc.c:28:6:manageAdc 2
../Core/Src/adc.c:46:6:readAdc 4

62
workspace/AUTOM10/Debug/Core/Src/adc.d Normal file
View File

@@ -0,0 +1,62 @@
Core/Src/adc.o: ../Core/Src/adc.c ../Core/Inc/adc.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h \
../Core/Inc/stm32f1xx_hal_conf.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h \
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h \
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h \
../Drivers/CMSIS/Include/core_cm3.h \
../Drivers/CMSIS/Include/cmsis_version.h \
../Drivers/CMSIS/Include/cmsis_compiler.h \
../Drivers/CMSIS/Include/cmsis_gcc.h \
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_usb.h \
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd_ex.h
../Core/Inc/adc.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h:
../Core/Inc/stm32f1xx_hal_conf.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h:
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h:
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h:
../Drivers/CMSIS/Include/core_cm3.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_usb.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd_ex.h:

BIN
workspace/AUTOM10/Debug/Core/Src/adc.o Normal file
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2
workspace/AUTOM10/Debug/Core/Src/adc.su Normal file
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@@ -0,0 +1,2 @@
../Core/Src/adc.c:28:6:manageAdc 4 static
../Core/Src/adc.c:46:6:readAdc 16 static

4
workspace/AUTOM10/Debug/Core/Src/cdc_int.cyclo
View File

@@ -1,4 +1,4 @@
../Core/Src/eeprom.h:77:24:EEW_Read 1
../Core/Src/eeprom.h:82:24:EEW_Write 1
../Core/Src/cdc_int.c:17:6:toHex 17
../Core/Src/cdc_int.c:53:6:manageCDC 60
../Core/Src/cdc_int.c:23:6:toHex 17
../Core/Src/cdc_int.c:59:6:manageCDC 61

BIN
workspace/AUTOM10/Debug/Core/Src/cdc_int.o
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4
workspace/AUTOM10/Debug/Core/Src/cdc_int.su
View File

@@ -1,4 +1,4 @@
../Core/Src/eeprom.h:77:24:EEW_Read 16 static
../Core/Src/eeprom.h:82:24:EEW_Write 16 static
../Core/Src/cdc_int.c:17:6:toHex 16 static
../Core/Src/cdc_int.c:53:6:manageCDC 184 static
../Core/Src/cdc_int.c:23:6:toHex 16 static
../Core/Src/cdc_int.c:59:6:manageCDC 184 static

BIN
workspace/AUTOM10/Debug/Core/Src/eeprom.o
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19
workspace/AUTOM10/Debug/Core/Src/main.cyclo
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@@ -1,9 +1,10 @@
../Core/Src/main.c:74:6:HAL_SYSTICK_Callback 4
../Core/Src/main.c:97:5:main 3
../Core/Src/main.c:174:6:SystemClock_Config 4
../Core/Src/main.c:222:13:MX_ADC1_Init 3
../Core/Src/main.c:269:13:MX_TIM2_Init 9
../Core/Src/main.c:345:13:MX_TIM4_Init 9
../Core/Src/main.c:419:13:MX_USART1_UART_Init 2
../Core/Src/main.c:452:13:MX_GPIO_Init 1
../Core/Src/main.c:528:6:Error_Handler 1
../Core/Src/main.c:82:6:HAL_SYSTICK_Callback 6
../Core/Src/main.c:117:5:main 3
../Core/Src/main.c:197:6:SystemClock_Config 4
../Core/Src/main.c:245:13:MX_ADC1_Init 7
../Core/Src/main.c:328:13:MX_TIM2_Init 9
../Core/Src/main.c:404:13:MX_TIM4_Init 9
../Core/Src/main.c:478:13:MX_USART1_UART_Init 2
../Core/Src/main.c:509:13:MX_DMA_Init 1
../Core/Src/main.c:527:13:MX_GPIO_Init 1
../Core/Src/main.c:603:6:Error_Handler 1

4
workspace/AUTOM10/Debug/Core/Src/main.d
View File

@@ -38,7 +38,8 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_core.h \
../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ioreq.h \
../Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_ctlreq.h \
../Core/Inc/cdc_int.h ../Core/Src/eeprom.h ../Core/Inc/pwm.h
../Core/Inc/cdc_int.h ../Core/Src/eeprom.h ../Core/Inc/pwm.h \
../Core/Inc/adc.h
../Core/Inc/main.h:
../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h:
../Core/Inc/stm32f1xx_hal_conf.h:
@@ -83,3 +84,4 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
../Core/Inc/cdc_int.h:
../Core/Src/eeprom.h:
../Core/Inc/pwm.h:
../Core/Inc/adc.h:

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workspace/AUTOM10/Debug/Core/Src/main.o
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19
workspace/AUTOM10/Debug/Core/Src/main.su
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@@ -1,9 +1,10 @@
../Core/Src/main.c:74:6:HAL_SYSTICK_Callback 8 static
../Core/Src/main.c:97:5:main 8 static
../Core/Src/main.c:174:6:SystemClock_Config 88 static
../Core/Src/main.c:222:13:MX_ADC1_Init 24 static
../Core/Src/main.c:269:13:MX_TIM2_Init 64 static
../Core/Src/main.c:345:13:MX_TIM4_Init 64 static
../Core/Src/main.c:419:13:MX_USART1_UART_Init 8 static
../Core/Src/main.c:452:13:MX_GPIO_Init 40 static
../Core/Src/main.c:528:6:Error_Handler 4 static,ignoring_inline_asm
../Core/Src/main.c:82:6:HAL_SYSTICK_Callback 8 static
../Core/Src/main.c:117:5:main 8 static
../Core/Src/main.c:197:6:SystemClock_Config 88 static
../Core/Src/main.c:245:13:MX_ADC1_Init 24 static
../Core/Src/main.c:328:13:MX_TIM2_Init 64 static
../Core/Src/main.c:404:13:MX_TIM4_Init 64 static
../Core/Src/main.c:478:13:MX_USART1_UART_Init 8 static
../Core/Src/main.c:509:13:MX_DMA_Init 16 static
../Core/Src/main.c:527:13:MX_GPIO_Init 40 static
../Core/Src/main.c:603:6:Error_Handler 4 static,ignoring_inline_asm

BIN
workspace/AUTOM10/Debug/Core/Src/pwm.o
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16
workspace/AUTOM10/Debug/Core/Src/stm32f1xx_hal_msp.cyclo
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@@ -1,8 +1,8 @@
../Core/Src/stm32f1xx_hal_msp.c:65:6:HAL_MspInit 1
../Core/Src/stm32f1xx_hal_msp.c:92:6:HAL_ADC_MspInit 2
../Core/Src/stm32f1xx_hal_msp.c:134:6:HAL_ADC_MspDeInit 2
../Core/Src/stm32f1xx_hal_msp.c:168:6:HAL_TIM_Base_MspInit 3
../Core/Src/stm32f1xx_hal_msp.c:195:6:HAL_TIM_MspPostInit 3
../Core/Src/stm32f1xx_hal_msp.c:249:6:HAL_TIM_Base_MspDeInit 3
../Core/Src/stm32f1xx_hal_msp.c:282:6:HAL_UART_MspInit 2
../Core/Src/stm32f1xx_hal_msp.c:322:6:HAL_UART_MspDeInit 2
../Core/Src/stm32f1xx_hal_msp.c:66:6:HAL_MspInit 1
../Core/Src/stm32f1xx_hal_msp.c:93:6:HAL_ADC_MspInit 3
../Core/Src/stm32f1xx_hal_msp.c:152:6:HAL_ADC_MspDeInit 2
../Core/Src/stm32f1xx_hal_msp.c:188:6:HAL_TIM_Base_MspInit 3
../Core/Src/stm32f1xx_hal_msp.c:215:6:HAL_TIM_MspPostInit 3
../Core/Src/stm32f1xx_hal_msp.c:269:6:HAL_TIM_Base_MspDeInit 3
../Core/Src/stm32f1xx_hal_msp.c:302:6:HAL_UART_MspInit 2
../Core/Src/stm32f1xx_hal_msp.c:342:6:HAL_UART_MspDeInit 2

BIN
workspace/AUTOM10/Debug/Core/Src/stm32f1xx_hal_msp.o
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16
workspace/AUTOM10/Debug/Core/Src/stm32f1xx_hal_msp.su
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@@ -1,8 +1,8 @@
../Core/Src/stm32f1xx_hal_msp.c:65:6:HAL_MspInit 24 static
../Core/Src/stm32f1xx_hal_msp.c:92:6:HAL_ADC_MspInit 48 static
../Core/Src/stm32f1xx_hal_msp.c:134:6:HAL_ADC_MspDeInit 16 static
../Core/Src/stm32f1xx_hal_msp.c:168:6:HAL_TIM_Base_MspInit 24 static
../Core/Src/stm32f1xx_hal_msp.c:195:6:HAL_TIM_MspPostInit 40 static
../Core/Src/stm32f1xx_hal_msp.c:249:6:HAL_TIM_Base_MspDeInit 16 static
../Core/Src/stm32f1xx_hal_msp.c:282:6:HAL_UART_MspInit 40 static
../Core/Src/stm32f1xx_hal_msp.c:322:6:HAL_UART_MspDeInit 16 static
../Core/Src/stm32f1xx_hal_msp.c:66:6:HAL_MspInit 24 static
../Core/Src/stm32f1xx_hal_msp.c:93:6:HAL_ADC_MspInit 48 static
../Core/Src/stm32f1xx_hal_msp.c:152:6:HAL_ADC_MspDeInit 16 static
../Core/Src/stm32f1xx_hal_msp.c:188:6:HAL_TIM_Base_MspInit 24 static
../Core/Src/stm32f1xx_hal_msp.c:215:6:HAL_TIM_MspPostInit 40 static
../Core/Src/stm32f1xx_hal_msp.c:269:6:HAL_TIM_Base_MspDeInit 16 static
../Core/Src/stm32f1xx_hal_msp.c:302:6:HAL_UART_MspInit 40 static
../Core/Src/stm32f1xx_hal_msp.c:342:6:HAL_UART_MspDeInit 16 static

21
workspace/AUTOM10/Debug/Core/Src/stm32f1xx_it.cyclo
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@@ -1,10 +1,11 @@
../Core/Src/stm32f1xx_it.c:69:6:NMI_Handler 1
../Core/Src/stm32f1xx_it.c:84:6:HardFault_Handler 1
../Core/Src/stm32f1xx_it.c:99:6:MemManage_Handler 1
../Core/Src/stm32f1xx_it.c:114:6:BusFault_Handler 1
../Core/Src/stm32f1xx_it.c:129:6:UsageFault_Handler 1
../Core/Src/stm32f1xx_it.c:144:6:SVC_Handler 1
../Core/Src/stm32f1xx_it.c:157:6:DebugMon_Handler 1
../Core/Src/stm32f1xx_it.c:170:6:PendSV_Handler 1
../Core/Src/stm32f1xx_it.c:183:6:SysTick_Handler 1
../Core/Src/stm32f1xx_it.c:204:6:USB_LP_CAN1_RX0_IRQHandler 1
../Core/Src/stm32f1xx_it.c:70:6:NMI_Handler 1
../Core/Src/stm32f1xx_it.c:85:6:HardFault_Handler 1
../Core/Src/stm32f1xx_it.c:100:6:MemManage_Handler 1
../Core/Src/stm32f1xx_it.c:115:6:BusFault_Handler 1
../Core/Src/stm32f1xx_it.c:130:6:UsageFault_Handler 1
../Core/Src/stm32f1xx_it.c:145:6:SVC_Handler 1
../Core/Src/stm32f1xx_it.c:158:6:DebugMon_Handler 1
../Core/Src/stm32f1xx_it.c:171:6:PendSV_Handler 1
../Core/Src/stm32f1xx_it.c:184:6:SysTick_Handler 1
../Core/Src/stm32f1xx_it.c:205:6:DMA1_Channel1_IRQHandler 1
../Core/Src/stm32f1xx_it.c:219:6:USB_LP_CAN1_RX0_IRQHandler 1

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21
workspace/AUTOM10/Debug/Core/Src/stm32f1xx_it.su
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@@ -1,10 +1,11 @@
../Core/Src/stm32f1xx_it.c:69:6:NMI_Handler 4 static
../Core/Src/stm32f1xx_it.c:84:6:HardFault_Handler 4 static
../Core/Src/stm32f1xx_it.c:99:6:MemManage_Handler 4 static
../Core/Src/stm32f1xx_it.c:114:6:BusFault_Handler 4 static
../Core/Src/stm32f1xx_it.c:129:6:UsageFault_Handler 4 static
../Core/Src/stm32f1xx_it.c:144:6:SVC_Handler 4 static
../Core/Src/stm32f1xx_it.c:157:6:DebugMon_Handler 4 static
../Core/Src/stm32f1xx_it.c:170:6:PendSV_Handler 4 static
../Core/Src/stm32f1xx_it.c:183:6:SysTick_Handler 8 static
../Core/Src/stm32f1xx_it.c:204:6:USB_LP_CAN1_RX0_IRQHandler 8 static
../Core/Src/stm32f1xx_it.c:70:6:NMI_Handler 4 static
../Core/Src/stm32f1xx_it.c:85:6:HardFault_Handler 4 static
../Core/Src/stm32f1xx_it.c:100:6:MemManage_Handler 4 static
../Core/Src/stm32f1xx_it.c:115:6:BusFault_Handler 4 static
../Core/Src/stm32f1xx_it.c:130:6:UsageFault_Handler 4 static
../Core/Src/stm32f1xx_it.c:145:6:SVC_Handler 4 static
../Core/Src/stm32f1xx_it.c:158:6:DebugMon_Handler 4 static
../Core/Src/stm32f1xx_it.c:171:6:PendSV_Handler 4 static
../Core/Src/stm32f1xx_it.c:184:6:SysTick_Handler 8 static
../Core/Src/stm32f1xx_it.c:205:6:DMA1_Channel1_IRQHandler 8 static
../Core/Src/stm32f1xx_it.c:219:6:USB_LP_CAN1_RX0_IRQHandler 8 static

5
workspace/AUTOM10/Debug/Core/Src/subdir.mk
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@@ -5,6 +5,7 @@
# Add inputs and outputs from these tool invocations to the build variables
C_SRCS += \
../Core/Src/adc.c \
../Core/Src/cdc_int.c \
../Core/Src/eeprom.c \
../Core/Src/main.c \
@@ -16,6 +17,7 @@ C_SRCS += \
../Core/Src/system_stm32f1xx.c
OBJS += \
./Core/Src/adc.o \
./Core/Src/cdc_int.o \
./Core/Src/eeprom.o \
./Core/Src/main.o \
@@ -27,6 +29,7 @@ OBJS += \
./Core/Src/system_stm32f1xx.o
C_DEPS += \
./Core/Src/adc.d \
./Core/Src/cdc_int.d \
./Core/Src/eeprom.d \
./Core/Src/main.d \
@@ -45,7 +48,7 @@ Core/Src/%.o Core/Src/%.su Core/Src/%.cyclo: ../Core/Src/%.c Core/Src/subdir.mk
clean: clean-Core-2f-Src
clean-Core-2f-Src:
-$(RM) ./Core/Src/cdc_int.cyclo ./Core/Src/cdc_int.d ./Core/Src/cdc_int.o ./Core/Src/cdc_int.su ./Core/Src/eeprom.cyclo ./Core/Src/eeprom.d ./Core/Src/eeprom.o ./Core/Src/eeprom.su ./Core/Src/main.cyclo ./Core/Src/main.d ./Core/Src/main.o ./Core/Src/main.su ./Core/Src/pwm.cyclo ./Core/Src/pwm.d ./Core/Src/pwm.o ./Core/Src/pwm.su ./Core/Src/stm32f1xx_hal_msp.cyclo ./Core/Src/stm32f1xx_hal_msp.d ./Core/Src/stm32f1xx_hal_msp.o ./Core/Src/stm32f1xx_hal_msp.su ./Core/Src/stm32f1xx_it.cyclo ./Core/Src/stm32f1xx_it.d ./Core/Src/stm32f1xx_it.o ./Core/Src/stm32f1xx_it.su ./Core/Src/syscalls.cyclo ./Core/Src/syscalls.d ./Core/Src/syscalls.o ./Core/Src/syscalls.su ./Core/Src/sysmem.cyclo ./Core/Src/sysmem.d ./Core/Src/sysmem.o ./Core/Src/sysmem.su ./Core/Src/system_stm32f1xx.cyclo ./Core/Src/system_stm32f1xx.d ./Core/Src/system_stm32f1xx.o ./Core/Src/system_stm32f1xx.su
-$(RM) ./Core/Src/adc.cyclo ./Core/Src/adc.d ./Core/Src/adc.o ./Core/Src/adc.su ./Core/Src/cdc_int.cyclo ./Core/Src/cdc_int.d ./Core/Src/cdc_int.o ./Core/Src/cdc_int.su ./Core/Src/eeprom.cyclo ./Core/Src/eeprom.d ./Core/Src/eeprom.o ./Core/Src/eeprom.su ./Core/Src/main.cyclo ./Core/Src/main.d ./Core/Src/main.o ./Core/Src/main.su ./Core/Src/pwm.cyclo ./Core/Src/pwm.d ./Core/Src/pwm.o ./Core/Src/pwm.su ./Core/Src/stm32f1xx_hal_msp.cyclo ./Core/Src/stm32f1xx_hal_msp.d ./Core/Src/stm32f1xx_hal_msp.o ./Core/Src/stm32f1xx_hal_msp.su ./Core/Src/stm32f1xx_it.cyclo ./Core/Src/stm32f1xx_it.d ./Core/Src/stm32f1xx_it.o ./Core/Src/stm32f1xx_it.su ./Core/Src/syscalls.cyclo ./Core/Src/syscalls.d ./Core/Src/syscalls.o ./Core/Src/syscalls.su ./Core/Src/sysmem.cyclo ./Core/Src/sysmem.d ./Core/Src/sysmem.o ./Core/Src/sysmem.su ./Core/Src/system_stm32f1xx.cyclo ./Core/Src/system_stm32f1xx.d ./Core/Src/system_stm32f1xx.o ./Core/Src/system_stm32f1xx.su
.PHONY: clean-Core-2f-Src

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