wip

workspace/.metadata/.plugins/org.eclipse.cdt.core/.log

@@ -10,3 +10,4 @@
 *** 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 ------------------------------------------

workspace/.metadata/.plugins/org.eclipse.cdt.ui/AUTOM10.build.log

@@ -1,10 +1,10 @@
-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)
 

workspace/.metadata/.plugins/org.eclipse.cdt.ui/global-build.log

@@ -1,21 +1,21 @@
-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
  

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/1e/b00bcf2f47d400101723d5a9c522ee3b

@@ -0,0 +1,620 @@
+/* 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 */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/1e/d0319af1c5d200101320a8c687ef41a7

@@ -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
-    }
-
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/25/70eee27847d400101723d5a9c522ee3b

@@ -0,0 +1,619 @@
+/* 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 */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/37/40c463a5c3d200101320a8c687ef41a7

@@ -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?");
-			  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
-    }
-  }
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/39/1080791047d400101723d5a9c522ee3b

@@ -0,0 +1,631 @@
+/* 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 */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/40/10e51a5f47d400101723d5a9c522ee3b

@@ -0,0 +1,619 @@
+/* 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 */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/43/50e4c39e47d400101723d5a9c522ee3b

@@ -0,0 +1,620 @@
+/* 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 */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/47/700cf0f247d400101723d5a9c522ee3b

@@ -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);
+
+#endif /* INC_ADC_H_ */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/4b/e0b6432a48d400101723d5a9c522ee3b

@@ -0,0 +1,620 @@
+/* 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 */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/4f/f08b564346d400101723d5a9c522ee3b

@@ -0,0 +1,617 @@
+/* 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 */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/52/30eb6e5347d400101723d5a9c522ee3b

@@ -0,0 +1,16 @@
+/*
+ * 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_ */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/73/80f084d73ed400101723d5a9c522ee3b

@@ -0,0 +1,198 @@
+#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
+    }
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/77/c053d5ed48d400101723d5a9c522ee3b

@@ -0,0 +1,199 @@
+#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
+    }
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/7b/c01bb27fc3d200101320a8c687ef41a7

@@ -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
-    }
-  }
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/8c/b0ac4f1a40d400101723d5a9c522ee3b

@@ -0,0 +1,563 @@
+/* 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 */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/8d/505d22b036d400101723d5a9c522ee3b

@@ -0,0 +1,133 @@
+/* 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 */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/8e/30d2a88648d400101723d5a9c522ee3b

@@ -0,0 +1,623 @@
+/* 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 */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/8e/e01dd67dc5d200101320a8c687ef41a7

@@ -1,34 +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,"\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
-    }
-
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/91/20fa801047d400101723d5a9c522ee3b

@@ -0,0 +1,13 @@
+/*
+ * adc.h
+ *
+ *  Created on: Dec 8, 2025
+ *      Author: user
+ */
+
+#ifndef INC_ADC_H_
+#define INC_ADC_H_
+
+
+
+#endif /* INC_ADC_H_ */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/9a/80027d1047d400101723d5a9c522ee3b

@@ -0,0 +1,8 @@
+/*
+ * adc.c
+ *
+ *  Created on: Dec 8, 2025
+ *      Author: user
+ */
+
+

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/9f/302d1db036d400101723d5a9c522ee3b

@@ -0,0 +1,553 @@
+/* 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 */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/ad/a040a3cb3ed400101723d5a9c522ee3b

@@ -0,0 +1,198 @@
+#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
+    }
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/c7/5003d32f47d400101723d5a9c522ee3b

@@ -0,0 +1,13 @@
+/*
+ * adc.h
+ *
+ *  Created on: Dec 8, 2025
+ *      Author: user
+ */
+
+#ifndef INC_ADC_H_
+#define INC_ADC_H_
+
+void manageAdc(void);
+
+#endif /* INC_ADC_H_ */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/d1/d032203446d400101723d5a9c522ee3b

@@ -0,0 +1,619 @@
+/* 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 */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/d3/50c3d3ad3fd400101723d5a9c522ee3b

@@ -0,0 +1,199 @@
+#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
+    }
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/d6/00056c5347d400101723d5a9c522ee3b

@@ -0,0 +1,25 @@
+/*
+ * 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){
+
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/dc/800ea20dc5d200101320a8c687ef41a7

@@ -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,"\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
-    }
-
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/e1/e061af8648d400101723d5a9c522ee3b

@@ -0,0 +1,60 @@
+/*
+ * 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
+    }
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/ed/6038e57847d400101723d5a9c522ee3b

@@ -0,0 +1,25 @@
+/*
+ * 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){
+
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/f2/008aecf247d400101723d5a9c522ee3b

@@ -0,0 +1,38 @@
+/*
+ * 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;
+    }
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/f4/f0b8aa3037d400101723d5a9c522ee3b

@@ -0,0 +1,561 @@
+/* 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 */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/fd/f09aaf3037d400101723d5a9c522ee3b

@@ -0,0 +1,197 @@
+#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
+    }
+
+}

workspace/.metadata/.plugins/org.eclipse.search/dialog_settings.xml

@@ -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="*"/>

workspace/.metadata/version.ini

@@ -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