wip

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

@@ -20,3 +20,4 @@
 *** SESSION apr 14, 2026 18:12:28.141 ------------------------------------------
 *** SESSION apr 15, 2026 19:12:39.51 -------------------------------------------
 *** SESSION apr 15, 2026 22:47:44.481 ------------------------------------------
+*** SESSION apr 16, 2026 18:23:57.634 ------------------------------------------

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

@@ -1,10 +1,10 @@
-23:06:51 **** Incremental Build of configuration Debug for project AUTOM10 ****
+20:06:33 **** Incremental Build of configuration Debug for project AUTOM10 ****
 make -j12 all 
 arm-none-eabi-size  AUTOM10.elf 
    text	   data	    bss	    dec	    hex	filename
-  53728	    468	   7312	  61508	   f044	AUTOM10.elf
+  53880	    468	   7312	  61660	   f0dc	AUTOM10.elf
 Finished building: default.size.stdout
  
 
-23:06:52 Build Finished. 0 errors, 0 warnings. (took 198ms)
+20:06:33 Build Finished. 0 errors, 0 warnings. (took 189ms)
 

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

@@ -1,63 +1,21 @@
-22:19:19 **** Incremental Build of configuration Debug for project AUTOM10 ****
+20:05:47 **** Incremental Build of configuration Debug for project AUTOM10 ****
-make -j12 all 
-arm-none-eabi-gcc "../Core/Src/main.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/main.d" -MT"Core/Src/main.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/main.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
-  53728	    468	   7312	  61508	   f044	AUTOM10.elf
-Finished building: default.size.stdout
- 
-Finished building: AUTOM10.list
- 
-22:19:22 **** Incremental Build of configuration Debug for project AUTOM10 ****
 make -j12 all 
 arm-none-eabi-size  AUTOM10.elf 
    text	   data	    bss	    dec	    hex	filename
-  53728	    468	   7312	  61508	   f044	AUTOM10.elf
+  53880	    468	   7312	  61660	   f0dc	AUTOM10.elf
 Finished building: default.size.stdout
  
-22:37:00 **** Incremental Build of configuration Debug for project AUTOM10 ****
+20:05:50 **** Incremental Build of configuration Debug for project AUTOM10 ****
 make -j12 all 
 arm-none-eabi-size  AUTOM10.elf 
    text	   data	    bss	    dec	    hex	filename
-  53728	    468	   7312	  61508	   f044	AUTOM10.elf
+  53880	    468	   7312	  61660	   f0dc	AUTOM10.elf
 Finished building: default.size.stdout
  
-22:48:02 **** Incremental Build of configuration Debug for project AUTOM10 ****
+20:06:33 **** Incremental Build of configuration Debug for project AUTOM10 ****
 make -j12 all 
 arm-none-eabi-size  AUTOM10.elf 
    text	   data	    bss	    dec	    hex	filename
-  53728	    468	   7312	  61508	   f044	AUTOM10.elf
+  53880	    468	   7312	  61660	   f0dc	AUTOM10.elf
-Finished building: default.size.stdout
- 
-22:52:44 **** Incremental Build of configuration Debug for project AUTOM10 ****
-make -j12 all 
-arm-none-eabi-size  AUTOM10.elf 
-   text	   data	    bss	    dec	    hex	filename
-  53728	    468	   7312	  61508	   f044	AUTOM10.elf
-Finished building: default.size.stdout
- 
-22:54:54 **** Incremental Build of configuration Debug for project AUTOM10 ****
-make -j12 all 
-arm-none-eabi-size  AUTOM10.elf 
-   text	   data	    bss	    dec	    hex	filename
-  53728	    468	   7312	  61508	   f044	AUTOM10.elf
-Finished building: default.size.stdout
- 
-23:04:01 **** Incremental Build of configuration Debug for project AUTOM10 ****
-make -j12 all 
-arm-none-eabi-size  AUTOM10.elf 
-   text	   data	    bss	    dec	    hex	filename
-  53728	    468	   7312	  61508	   f044	AUTOM10.elf
-Finished building: default.size.stdout
- 
-23:06:51 **** Incremental Build of configuration Debug for project AUTOM10 ****
-make -j12 all 
-arm-none-eabi-size  AUTOM10.elf 
-   text	   data	    bss	    dec	    hex	filename
-  53728	    468	   7312	  61508	   f044	AUTOM10.elf
 Finished building: default.size.stdout
  

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/19/30175530b639001110fcc375db41e224

@@ -0,0 +1,928 @@
+/* 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 */
+
+typedef enum{
+	bzoff,
+	bzmoving,
+}stBuz_st;
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+#define P1START 0x01
+#define P1STOP  0x02
+#define P2START 0x04
+#define P2STOP  0x08
+#define M1 1
+#define M2 2
+#define M3 3
+#define M4 4
+
+/* 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[];
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+
+uint8_t pulsanti=0;
+volatile uint8_t rtP1=200;
+volatile uint8_t rtP2=200;
+volatile uint16_t rtramp[4];
+volatile uint16_t rtCiclo;
+uint16_t m1pwmap;
+uint16_t m1pwmch;
+uint16_t m2pwmap;
+uint16_t m2pwmch;
+uint16_t m3pwmap;
+uint16_t m3pwmch;
+uint16_t m4pwmap;
+uint16_t m4pwmch;
+uint16_t t1ap;
+uint16_t t2ap;
+uint16_t t3ap;
+uint16_t t4ap;
+uint16_t twap;
+uint16_t t1ch;
+uint16_t t2ch;
+uint16_t t3ch;
+uint16_t twch;
+uint16_t tramp;
+
+uint16_t mrampstart[4];
+uint8_t stPulsanti=0;
+omCiclo_st stCiclo=omchiuso;
+omCiclo_st memstCiclo=omchiuso;
+volatile stBuz_st stBuz=bzoff;
+/* 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];
+  uint8_t i;
+
+  if (++c10ms >= 10) {               // 10 ms
+	  c10ms = 0;
+	  if(rtP1)rtP1--;
+	  if(rtP2)rtP2--;
+
+//**** legge i tasti********************************************************************************
+	  inidx++;
+	  inidx&=0x03;
+	  if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
+	  if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)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
+		  for(i=0;i<4;i++){
+			  if(rtramp[i])rtramp[i]--;
+		  }
+//**** gestione buzzer *****************************************************************************
+		  if(stBuz==bzmoving){
+			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else{//bzoff
+			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
+		  }
+//**************************************************************************************************
+		  if (++c1s >= 10) {               // 10 ms
+			  c1s = 0;
+			  if(rtCiclo)rtCiclo--;
+			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+		  }
+	  }
+  }
+}
+
+void managePulsanti(void){
+	if(pulsanti&INP1){
+		if(rtP1==0)stPulsanti|=P1START;
+	}else{
+		if(stPulsanti&P1START)stPulsanti&=(~P1START);
+		else if(rtP1<=190){
+			stPulsanti|=P1STOP;
+		}
+		rtP1=200;
+	}
+	if(pulsanti&INP2){
+		if(rtP2==0)stPulsanti|=P2START;
+	}else{
+		if(stPulsanti&P2START)stPulsanti&=(~P2START);
+		else if(rtP2<=190)stPulsanti|=P2STOP;
+		rtP2=200;
+	}
+}
+
+void manageCiclo(void){
+	switch(stCiclo){
+		case omchiuso:
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura1;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura1:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t1ap;
+				stCiclo=omapertura2;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura2:
+			if(rtCiclo==0){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura3;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura3:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twap;
+				stCiclo=omapertura4;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura4:
+			if(rtCiclo==0){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura5;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura5:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t2ap;
+				stCiclo=omapertura6;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura6:
+			if(rtCiclo==0){
+				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura7;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura7:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t3ap;
+				stCiclo=omapertura8;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura8:
+			if(rtCiclo==0){
+				(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
+				(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura9;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura9:
+			if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
+				rtCiclo=twap;
+				stCiclo=omapertura10;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura10:
+			if(rtCiclo==0){
+				(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura11;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura11:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t4ap;
+				stCiclo=omapertura12;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura12:
+			if(rtCiclo==0){
+				(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura13;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura13:
+			if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twap;
+				stCiclo=omapertura14;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura14:
+			if(rtCiclo==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			stBuz=bzoff;
+			stCiclo=omchiuso;
+			stPulsanti&=(~P1STOP);
+			break;
+		case omaperto:
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura1:
+			if((ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE)){
+				rtCiclo=t1ch;
+				stCiclo=omchiusura2;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura2:
+			if(rtCiclo==0){
+				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
+				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura3;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura3:
+			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
+				rtCiclo=twch;
+				stCiclo=omchiusura4;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura4:
+			if(rtCiclo==0){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura5;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura5:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t2ch;
+				stCiclo=omchiusura6;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura6:
+			if(rtCiclo==0){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura7;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura7:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twch;
+				stCiclo=omchiusura8;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura8:
+			if(rtCiclo==0){
+				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura9;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura9:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t3ch;
+				stCiclo=omchiusura10;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura10:
+			if(rtCiclo==0){
+				(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura11;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura11:
+			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twch;
+				stCiclo=omchiusura12;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura12:
+			if(rtCiclo==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omstopchiusura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			stBuz=bzoff;
+			stCiclo=omaperto;
+			stPulsanti&=(~P1STOP);
+			break;
+	}
+}
+
+/* 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
+  }
+  loadEE();
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  manageCDC();
+	  manageAdc();
+	  managePulsanti();
+	  manageCiclo();
+//	  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_MUL6;
+  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/1d/20ea8a95bc39001110fcc375db41e224

@@ -0,0 +1,943 @@
+/* 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 */
+
+typedef enum{
+	bzoff,
+	bzmoving,
+}stBuz_st;
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+#define P1START 0x01
+#define P1STOP  0x02
+#define P2START 0x04
+#define P2STOP  0x08
+#define M1 1
+#define M2 2
+#define M3 3
+#define M4 4
+
+/* 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[];
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+
+uint8_t pulsanti=0;
+volatile uint8_t rtP1=200;
+volatile uint8_t rtP2=200;
+volatile uint16_t rtramp[4];
+volatile uint16_t rtCiclo;
+uint16_t m1pwmap;
+uint16_t m1pwmch;
+uint16_t m2pwmap;
+uint16_t m2pwmch;
+uint16_t m3pwmap;
+uint16_t m3pwmch;
+uint16_t m4pwmap;
+uint16_t m4pwmch;
+uint16_t t1ap;
+uint16_t t2ap;
+uint16_t t3ap;
+uint16_t t4ap;
+uint16_t twap;
+uint16_t t1ch;
+uint16_t t2ch;
+uint16_t t3ch;
+uint16_t t4ch;
+uint16_t twch;
+uint16_t tramp;
+
+uint16_t mrampstart[4];
+uint8_t stPulsanti=0;
+omCiclo_st stCiclo=omchiuso;
+omCiclo_st memstCiclo=omchiuso;
+volatile stBuz_st stBuz=bzoff;
+/* 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];
+  uint8_t i;
+
+  if (++c10ms >= 10) {               // 10 ms
+	  c10ms = 0;
+	  if(rtP1)rtP1--;
+	  if(rtP2)rtP2--;
+
+//**** legge i tasti********************************************************************************
+	  inidx++;
+	  inidx&=0x03;
+	  if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
+	  if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)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
+		  for(i=0;i<4;i++){
+			  if(rtramp[i])rtramp[i]--;
+		  }
+//**** gestione buzzer *****************************************************************************
+		  if(stBuz==bzmoving){
+			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else{//bzoff
+			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
+		  }
+//**************************************************************************************************
+		  if (++c1s >= 10) {               // 10 ms
+			  c1s = 0;
+			  if(rtCiclo)rtCiclo--;
+			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+		  }
+	  }
+  }
+}
+
+void managePulsanti(void){
+	if(pulsanti&INP1){
+		if(rtP1==0)stPulsanti|=P1START;
+	}else{
+		if(stPulsanti&P1START)stPulsanti&=(~P1START);
+		else if(rtP1<=190){
+			stPulsanti|=P1STOP;
+		}
+		rtP1=200;
+	}
+	if(pulsanti&INP2){
+		if(rtP2==0)stPulsanti|=P2START;
+	}else{
+		if(stPulsanti&P2START)stPulsanti&=(~P2START);
+		else if(rtP2<=190)stPulsanti|=P2STOP;
+		rtP2=200;
+	}
+}
+
+void manageCiclo(void){
+	switch(stCiclo){
+		case omchiuso:
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura1;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura1:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t1ap;
+				stCiclo=omapertura2;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura2:
+			if(rtCiclo==0){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura3;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura3:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twap;
+				stCiclo=omapertura4;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura4:
+			if(rtCiclo==0){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura5;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura5:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t2ap;
+				stCiclo=omapertura6;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura6:
+			if(rtCiclo==0){
+				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura7;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura7:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t3ap;
+				stCiclo=omapertura8;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura8:
+			if(rtCiclo==0){
+				(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
+				(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura9;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura9:
+			if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
+				rtCiclo=twap;
+				stCiclo=omapertura10;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura10:
+			if(rtCiclo==0){
+				(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura11;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura11:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t4ap;
+				stCiclo=omapertura12;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura12:
+			if(rtCiclo==0){
+				(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura13;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura13:
+			if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twap;
+				stCiclo=omapertura14;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura14:
+			if(rtCiclo==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			stBuz=bzoff;
+			stCiclo=omchiuso;
+			stPulsanti&=(~P1STOP);
+			break;
+		case omaperto:
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura1:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t4ch;
+				stCiclo=omchiusura2;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura2:
+			if(rtCiclo==0){
+				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura3;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura3:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t1ch;
+				stCiclo=omchiusura4;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura4:
+			if(rtCiclo==0){
+				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
+				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura5;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura5:
+			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
+				rtCiclo=twch;
+				stCiclo=omchiusura6;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura6:
+			if(rtCiclo==0){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura7;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura7:
+			if((ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE)){
+				rtCiclo=t3ch;
+				stCiclo=omchiusura8;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura8:
+			if(rtCiclo==0){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura9;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura9:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=t2ch;
+				stCiclo=omchiusura10;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura10:
+			if(rtCiclo==0){
+				(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura11;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura11:
+			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twch;
+				stCiclo=omchiusura12;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura12:
+			if(rtCiclo==0){
+				//(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura14;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura13:
+			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twch;
+				stCiclo=omchiusura14;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura14:
+			if(rtCiclo==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omstopchiusura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			stBuz=bzoff;
+			stCiclo=omaperto;
+			stPulsanti&=(~P1STOP);
+			break;
+	}
+}
+
+/* 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
+  }
+  loadEE();
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  manageCDC();
+	  manageAdc();
+	  managePulsanti();
+	  manageCiclo();
+//	  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_MUL6;
+  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/20/a004ff53bd39001110fcc375db41e224

@@ -0,0 +1,378 @@
+#include "eeprom.h"
+
+/*
+ * Record format (4 bytes):
+ *  [0] VirtAddress (uint16_t)
+ *  [2] Data        (uint16_t)
+ *
+ * Page layout:
+ *  [0]  PageStatus (uint16_t)
+ *  [2..] Records...
+ */
+
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t t4ch;
+extern uint16_t twch;
+
+const uint8_t deftab[32]={
+	40,	//m1pwmap
+	60, //m1pwmch
+	70, //m2pwmap
+	70, //m2pwmch
+	40, //m3pwmap
+	40, //m3pwmch
+	40, //m4pwmap
+	40,	//m4pwmch
+	20, //m1rampstart
+	20, //m2rampstart
+	20, //m3rampstart
+	20, //m4rampstart
+	28,	//t1ap
+	5,	//t2ap
+	11,  //t3ap
+	40, //t4ap
+	1,  //twap
+	20,  //t1ch
+	10,  //t2ch
+	30,  //t3ch
+	1,  //t4ch
+	1,  //twch
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	10,  //tramp
+};
+
+typedef struct
+{
+    uint16_t VirtAddress;
+    uint16_t Data;
+} EE_Record_t;
+
+/* Active page base address (runtime selected in EE_Init) */
+static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
+
+/* 32 sequential virtual addresses */
+const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
+{
+    0x0001, 0x0002, 0x0003, 0x0004,
+    0x0005, 0x0006, 0x0007, 0x0008,
+    0x0009, 0x000A, 0x000B, 0x000C,
+    0x000D, 0x000E, 0x000F, 0x0010,
+    0x0011, 0x0012, 0x0013, 0x0014,
+    0x0015, 0x0016, 0x0017, 0x0018,
+    0x0019, 0x001A, 0x001B, 0x001C,
+    0x001D, 0x001E, 0x001F, 0x0020
+};
+/* ========================================================================= */
+
+/* --- Internal helpers ---------------------------------------------------- */
+
+static uint16_t EE_GetPageStatus(uint32_t pageBase)
+{
+    return *(__IO uint16_t *)pageBase;
+}
+
+static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+    HAL_StatusTypeDef status;
+
+    HAL_FLASH_Unlock();
+    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
+    HAL_FLASH_Lock();
+
+    return status;
+}
+
+static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
+{
+    HAL_StatusTypeDef status;
+    FLASH_EraseInitTypeDef EraseInit;
+    uint32_t PageError = 0;
+
+    HAL_FLASH_Unlock();
+
+    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
+    EraseInit.PageAddress = PageAddress;
+    EraseInit.NbPages     = 1;
+
+    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
+
+    HAL_FLASH_Lock();
+    return status;
+}
+
+/* Find first free record address in given page (returns 0 if full) */
+static uint32_t EE_FindFreeAddress(uint32_t pageBase)
+{
+    uint32_t addr = pageBase + 2U;                /* Skip status word */
+    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
+
+    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            /* Empty slot */
+            return addr;
+        }
+        addr += sizeof(EE_Record_t);
+    }
+
+    return 0U; /* No space */
+}
+
+/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
+/* Find latest value of VirtAddress in a specific page (scan forward) */
+static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
+{
+    uint32_t addr     = pageBase + 2U;            // skip status halfword
+    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
+    EE_Status result  = EE_NOT_FOUND;
+    uint16_t lastVal  = 0;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    while (addr <= (pageEnd - sizeof(EE_Record_t)))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            // First empty slot => no more records in this page
+            break;
+        }
+
+        uint16_t value = *(__IO uint16_t *)(addr + 2U);
+
+        if (vaddr == VirtAddress)
+        {
+            lastVal = value;    // keep most recent
+            result  = EE_OK;
+        }
+
+        addr += sizeof(EE_Record_t);  // move 4 bytes forward
+    }
+
+    if (result == EE_OK)
+        *Data = lastVal;
+
+    return result;
+}
+
+
+
+/* Format both pages: erase and set PAGE0 as VALID */
+static EE_Status EE_Format(void)
+{
+    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* PAGE1 will remain erased (status = 0xFFFF) */
+    EE_ActivePageBase = EE_PAGE0_BASE;
+
+    return EE_STATUS_OK;
+}
+
+/* Get the base of the other page */
+static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
+{
+    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
+}
+
+/* Page transfer (garbage collection + new write) */
+static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t oldBase = EE_ActivePageBase;
+    uint32_t newBase = EE_GetOtherPageBase(oldBase);
+    uint32_t addr;
+    uint16_t value;
+    EE_Status st;
+
+    /* Erase new page */
+    if (EE_FlashErasePage(newBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as RECEIVE */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Start writing records just after status */
+    addr = newBase + 2U;
+
+    /* For each known virtual variable */
+    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
+    {
+        uint16_t vaddr = EE_VirtAddrs[i];
+
+        if (vaddr == VirtAddress)
+        {
+            /* Use the new data passed into PageTransfer */
+            value = Data;
+        }
+        else
+        {
+            /* Read latest value from old active page */
+            st = EE_FindInPage(oldBase, vaddr, &value);
+            if (st != EE_STATUS_OK)
+            {
+                /* Variable never written -> skip */
+                continue;
+            }
+        }
+
+        /* Write record to new page */
+        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
+            return EE_STATUS_ERROR;
+        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
+            return EE_STATUS_ERROR;
+
+        addr += sizeof(EE_Record_t);
+        if (addr >= (newBase + EE_PAGE_SIZE))
+            return EE_STATUS_NO_SPACE;
+    }
+
+    /* Erase old page */
+    if (EE_FlashErasePage(oldBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as VALID */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Update active page */
+    EE_ActivePageBase = newBase;
+
+    return EE_STATUS_OK;
+}
+
+/* --- Public API ----------------------------------------------------------- */
+
+/*
+ * Initialize the EEPROM emulation.
+ * - Checks page statuses and chooses the active page.
+ * - If inconsistent or blank, formats pages.
+ * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
+ */
+uint16_t EE_Init(void)
+{
+    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
+    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
+
+    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        /* Fresh device -> format */
+        return (uint16_t)EE_Format();
+    }
+    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE0_BASE;
+        return EE_OK;
+    }
+    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE1_BASE;
+        return EE_OK;
+    }
+    else
+    {
+        /* Any weird or inconsistent state -> reformat */
+        return (uint16_t)EE_Format();
+    }
+}
+
+/*
+ * Read a 16-bit variable by its virtual address.
+ * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
+{
+    EE_Status st;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+/*
+ * Write (append) a 16-bit variable.
+ * - Writes a new record in the active page.
+ * - If the page is full, triggers a page transfer (GC).
+ * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t freeAddr;
+    EE_Status st;
+
+    /* Find free space in active page */
+    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
+    if (freeAddr != 0U)
+    {
+        /* Write new record */
+        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
+            return EE_ERROR;
+        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
+            return EE_ERROR;
+
+        return EE_OK;
+    }
+
+    /* No space -> page transfer */
+    st = EE_PageTransfer(VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(T4CH, &t4ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/26/3095361ab339001110fcc375db41e224

@@ -0,0 +1,376 @@
+#include "eeprom.h"
+
+/*
+ * Record format (4 bytes):
+ *  [0] VirtAddress (uint16_t)
+ *  [2] Data        (uint16_t)
+ *
+ * Page layout:
+ *  [0]  PageStatus (uint16_t)
+ *  [2..] Records...
+ */
+
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t twch;
+
+const uint8_t deftab[32]={
+	40,	//m1pwmap
+	60, //m1pwmch
+	70, //m2pwmap
+	50, //m2pwmch
+	40, //m3pwmap
+	40, //m3pwmch
+	40, //m4pwmap
+	40,	//m4pwmch
+	20, //m1rampstart
+	20, //m2rampstart
+	20, //m3rampstart
+	20, //m4rampstart
+	30,	//t1ap
+	2,	//t2ap
+	8,  //t3ap
+	40, //t4ap
+	1,  //twap
+	30,  //t1ch
+	30,  //t2ch
+	40,  //t3ch
+	1,  //twch
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	10,  //tramp
+};
+
+typedef struct
+{
+    uint16_t VirtAddress;
+    uint16_t Data;
+} EE_Record_t;
+
+/* Active page base address (runtime selected in EE_Init) */
+static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
+
+/* 32 sequential virtual addresses */
+const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
+{
+    0x0001, 0x0002, 0x0003, 0x0004,
+    0x0005, 0x0006, 0x0007, 0x0008,
+    0x0009, 0x000A, 0x000B, 0x000C,
+    0x000D, 0x000E, 0x000F, 0x0010,
+    0x0011, 0x0012, 0x0013, 0x0014,
+    0x0015, 0x0016, 0x0017, 0x0018,
+    0x0019, 0x001A, 0x001B, 0x001C,
+    0x001D, 0x001E, 0x001F, 0x0020
+};
+/* ========================================================================= */
+
+/* --- Internal helpers ---------------------------------------------------- */
+
+static uint16_t EE_GetPageStatus(uint32_t pageBase)
+{
+    return *(__IO uint16_t *)pageBase;
+}
+
+static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+    HAL_StatusTypeDef status;
+
+    HAL_FLASH_Unlock();
+    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
+    HAL_FLASH_Lock();
+
+    return status;
+}
+
+static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
+{
+    HAL_StatusTypeDef status;
+    FLASH_EraseInitTypeDef EraseInit;
+    uint32_t PageError = 0;
+
+    HAL_FLASH_Unlock();
+
+    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
+    EraseInit.PageAddress = PageAddress;
+    EraseInit.NbPages     = 1;
+
+    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
+
+    HAL_FLASH_Lock();
+    return status;
+}
+
+/* Find first free record address in given page (returns 0 if full) */
+static uint32_t EE_FindFreeAddress(uint32_t pageBase)
+{
+    uint32_t addr = pageBase + 2U;                /* Skip status word */
+    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
+
+    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            /* Empty slot */
+            return addr;
+        }
+        addr += sizeof(EE_Record_t);
+    }
+
+    return 0U; /* No space */
+}
+
+/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
+/* Find latest value of VirtAddress in a specific page (scan forward) */
+static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
+{
+    uint32_t addr     = pageBase + 2U;            // skip status halfword
+    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
+    EE_Status result  = EE_NOT_FOUND;
+    uint16_t lastVal  = 0;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    while (addr <= (pageEnd - sizeof(EE_Record_t)))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            // First empty slot => no more records in this page
+            break;
+        }
+
+        uint16_t value = *(__IO uint16_t *)(addr + 2U);
+
+        if (vaddr == VirtAddress)
+        {
+            lastVal = value;    // keep most recent
+            result  = EE_OK;
+        }
+
+        addr += sizeof(EE_Record_t);  // move 4 bytes forward
+    }
+
+    if (result == EE_OK)
+        *Data = lastVal;
+
+    return result;
+}
+
+
+
+/* Format both pages: erase and set PAGE0 as VALID */
+static EE_Status EE_Format(void)
+{
+    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* PAGE1 will remain erased (status = 0xFFFF) */
+    EE_ActivePageBase = EE_PAGE0_BASE;
+
+    return EE_STATUS_OK;
+}
+
+/* Get the base of the other page */
+static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
+{
+    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
+}
+
+/* Page transfer (garbage collection + new write) */
+static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t oldBase = EE_ActivePageBase;
+    uint32_t newBase = EE_GetOtherPageBase(oldBase);
+    uint32_t addr;
+    uint16_t value;
+    EE_Status st;
+
+    /* Erase new page */
+    if (EE_FlashErasePage(newBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as RECEIVE */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Start writing records just after status */
+    addr = newBase + 2U;
+
+    /* For each known virtual variable */
+    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
+    {
+        uint16_t vaddr = EE_VirtAddrs[i];
+
+        if (vaddr == VirtAddress)
+        {
+            /* Use the new data passed into PageTransfer */
+            value = Data;
+        }
+        else
+        {
+            /* Read latest value from old active page */
+            st = EE_FindInPage(oldBase, vaddr, &value);
+            if (st != EE_STATUS_OK)
+            {
+                /* Variable never written -> skip */
+                continue;
+            }
+        }
+
+        /* Write record to new page */
+        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
+            return EE_STATUS_ERROR;
+        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
+            return EE_STATUS_ERROR;
+
+        addr += sizeof(EE_Record_t);
+        if (addr >= (newBase + EE_PAGE_SIZE))
+            return EE_STATUS_NO_SPACE;
+    }
+
+    /* Erase old page */
+    if (EE_FlashErasePage(oldBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as VALID */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Update active page */
+    EE_ActivePageBase = newBase;
+
+    return EE_STATUS_OK;
+}
+
+/* --- Public API ----------------------------------------------------------- */
+
+/*
+ * Initialize the EEPROM emulation.
+ * - Checks page statuses and chooses the active page.
+ * - If inconsistent or blank, formats pages.
+ * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
+ */
+uint16_t EE_Init(void)
+{
+    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
+    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
+
+    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        /* Fresh device -> format */
+        return (uint16_t)EE_Format();
+    }
+    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE0_BASE;
+        return EE_OK;
+    }
+    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE1_BASE;
+        return EE_OK;
+    }
+    else
+    {
+        /* Any weird or inconsistent state -> reformat */
+        return (uint16_t)EE_Format();
+    }
+}
+
+/*
+ * Read a 16-bit variable by its virtual address.
+ * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
+{
+    EE_Status st;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+/*
+ * Write (append) a 16-bit variable.
+ * - Writes a new record in the active page.
+ * - If the page is full, triggers a page transfer (GC).
+ * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t freeAddr;
+    EE_Status st;
+
+    /* Find free space in active page */
+    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
+    if (freeAddr != 0U)
+    {
+        /* Write new record */
+        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
+            return EE_ERROR;
+        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
+            return EE_ERROR;
+
+        return EE_OK;
+    }
+
+    /* No space -> page transfer */
+    st = EE_PageTransfer(VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/36/e0355930b639001110fcc375db41e224

@@ -0,0 +1,376 @@
+#include "eeprom.h"
+
+/*
+ * Record format (4 bytes):
+ *  [0] VirtAddress (uint16_t)
+ *  [2] Data        (uint16_t)
+ *
+ * Page layout:
+ *  [0]  PageStatus (uint16_t)
+ *  [2..] Records...
+ */
+
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t twch;
+
+const uint8_t deftab[32]={
+	40,	//m1pwmap
+	60, //m1pwmch
+	70, //m2pwmap
+	50, //m2pwmch
+	40, //m3pwmap
+	40, //m3pwmch
+	40, //m4pwmap
+	40,	//m4pwmch
+	20, //m1rampstart
+	20, //m2rampstart
+	20, //m3rampstart
+	20, //m4rampstart
+	30,	//t1ap
+	4,	//t2ap
+	8,  //t3ap
+	40, //t4ap
+	1,  //twap
+	30,  //t1ch
+	30,  //t2ch
+	40,  //t3ch
+	1,  //twch
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	10,  //tramp
+};
+
+typedef struct
+{
+    uint16_t VirtAddress;
+    uint16_t Data;
+} EE_Record_t;
+
+/* Active page base address (runtime selected in EE_Init) */
+static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
+
+/* 32 sequential virtual addresses */
+const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
+{
+    0x0001, 0x0002, 0x0003, 0x0004,
+    0x0005, 0x0006, 0x0007, 0x0008,
+    0x0009, 0x000A, 0x000B, 0x000C,
+    0x000D, 0x000E, 0x000F, 0x0010,
+    0x0011, 0x0012, 0x0013, 0x0014,
+    0x0015, 0x0016, 0x0017, 0x0018,
+    0x0019, 0x001A, 0x001B, 0x001C,
+    0x001D, 0x001E, 0x001F, 0x0020
+};
+/* ========================================================================= */
+
+/* --- Internal helpers ---------------------------------------------------- */
+
+static uint16_t EE_GetPageStatus(uint32_t pageBase)
+{
+    return *(__IO uint16_t *)pageBase;
+}
+
+static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+    HAL_StatusTypeDef status;
+
+    HAL_FLASH_Unlock();
+    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
+    HAL_FLASH_Lock();
+
+    return status;
+}
+
+static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
+{
+    HAL_StatusTypeDef status;
+    FLASH_EraseInitTypeDef EraseInit;
+    uint32_t PageError = 0;
+
+    HAL_FLASH_Unlock();
+
+    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
+    EraseInit.PageAddress = PageAddress;
+    EraseInit.NbPages     = 1;
+
+    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
+
+    HAL_FLASH_Lock();
+    return status;
+}
+
+/* Find first free record address in given page (returns 0 if full) */
+static uint32_t EE_FindFreeAddress(uint32_t pageBase)
+{
+    uint32_t addr = pageBase + 2U;                /* Skip status word */
+    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
+
+    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            /* Empty slot */
+            return addr;
+        }
+        addr += sizeof(EE_Record_t);
+    }
+
+    return 0U; /* No space */
+}
+
+/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
+/* Find latest value of VirtAddress in a specific page (scan forward) */
+static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
+{
+    uint32_t addr     = pageBase + 2U;            // skip status halfword
+    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
+    EE_Status result  = EE_NOT_FOUND;
+    uint16_t lastVal  = 0;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    while (addr <= (pageEnd - sizeof(EE_Record_t)))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            // First empty slot => no more records in this page
+            break;
+        }
+
+        uint16_t value = *(__IO uint16_t *)(addr + 2U);
+
+        if (vaddr == VirtAddress)
+        {
+            lastVal = value;    // keep most recent
+            result  = EE_OK;
+        }
+
+        addr += sizeof(EE_Record_t);  // move 4 bytes forward
+    }
+
+    if (result == EE_OK)
+        *Data = lastVal;
+
+    return result;
+}
+
+
+
+/* Format both pages: erase and set PAGE0 as VALID */
+static EE_Status EE_Format(void)
+{
+    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* PAGE1 will remain erased (status = 0xFFFF) */
+    EE_ActivePageBase = EE_PAGE0_BASE;
+
+    return EE_STATUS_OK;
+}
+
+/* Get the base of the other page */
+static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
+{
+    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
+}
+
+/* Page transfer (garbage collection + new write) */
+static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t oldBase = EE_ActivePageBase;
+    uint32_t newBase = EE_GetOtherPageBase(oldBase);
+    uint32_t addr;
+    uint16_t value;
+    EE_Status st;
+
+    /* Erase new page */
+    if (EE_FlashErasePage(newBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as RECEIVE */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Start writing records just after status */
+    addr = newBase + 2U;
+
+    /* For each known virtual variable */
+    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
+    {
+        uint16_t vaddr = EE_VirtAddrs[i];
+
+        if (vaddr == VirtAddress)
+        {
+            /* Use the new data passed into PageTransfer */
+            value = Data;
+        }
+        else
+        {
+            /* Read latest value from old active page */
+            st = EE_FindInPage(oldBase, vaddr, &value);
+            if (st != EE_STATUS_OK)
+            {
+                /* Variable never written -> skip */
+                continue;
+            }
+        }
+
+        /* Write record to new page */
+        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
+            return EE_STATUS_ERROR;
+        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
+            return EE_STATUS_ERROR;
+
+        addr += sizeof(EE_Record_t);
+        if (addr >= (newBase + EE_PAGE_SIZE))
+            return EE_STATUS_NO_SPACE;
+    }
+
+    /* Erase old page */
+    if (EE_FlashErasePage(oldBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as VALID */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Update active page */
+    EE_ActivePageBase = newBase;
+
+    return EE_STATUS_OK;
+}
+
+/* --- Public API ----------------------------------------------------------- */
+
+/*
+ * Initialize the EEPROM emulation.
+ * - Checks page statuses and chooses the active page.
+ * - If inconsistent or blank, formats pages.
+ * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
+ */
+uint16_t EE_Init(void)
+{
+    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
+    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
+
+    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        /* Fresh device -> format */
+        return (uint16_t)EE_Format();
+    }
+    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE0_BASE;
+        return EE_OK;
+    }
+    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE1_BASE;
+        return EE_OK;
+    }
+    else
+    {
+        /* Any weird or inconsistent state -> reformat */
+        return (uint16_t)EE_Format();
+    }
+}
+
+/*
+ * Read a 16-bit variable by its virtual address.
+ * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
+{
+    EE_Status st;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+/*
+ * Write (append) a 16-bit variable.
+ * - Writes a new record in the active page.
+ * - If the page is full, triggers a page transfer (GC).
+ * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t freeAddr;
+    EE_Status st;
+
+    /* Find free space in active page */
+    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
+    if (freeAddr != 0U)
+    {
+        /* Write new record */
+        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
+            return EE_ERROR;
+        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
+            return EE_ERROR;
+
+        return EE_OK;
+    }
+
+    /* No space -> page transfer */
+    st = EE_PageTransfer(VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/3d/4010d84db739001110fcc375db41e224

@@ -0,0 +1,378 @@
+#include "eeprom.h"
+
+/*
+ * Record format (4 bytes):
+ *  [0] VirtAddress (uint16_t)
+ *  [2] Data        (uint16_t)
+ *
+ * Page layout:
+ *  [0]  PageStatus (uint16_t)
+ *  [2..] Records...
+ */
+
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t t4ch;
+extern uint16_t twch;
+
+const uint8_t deftab[32]={
+	40,	//m1pwmap
+	60, //m1pwmch
+	70, //m2pwmap
+	50, //m2pwmch
+	40, //m3pwmap
+	40, //m3pwmch
+	40, //m4pwmap
+	40,	//m4pwmch
+	20, //m1rampstart
+	20, //m2rampstart
+	20, //m3rampstart
+	20, //m4rampstart
+	30,	//t1ap
+	4,	//t2ap
+	10,  //t3ap
+	40, //t4ap
+	1,  //twap
+	30,  //t1ch
+	30,  //t2ch
+	40,  //t3ch
+	1,  //t4ch
+	1,  //twch
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	10,  //tramp
+};
+
+typedef struct
+{
+    uint16_t VirtAddress;
+    uint16_t Data;
+} EE_Record_t;
+
+/* Active page base address (runtime selected in EE_Init) */
+static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
+
+/* 32 sequential virtual addresses */
+const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
+{
+    0x0001, 0x0002, 0x0003, 0x0004,
+    0x0005, 0x0006, 0x0007, 0x0008,
+    0x0009, 0x000A, 0x000B, 0x000C,
+    0x000D, 0x000E, 0x000F, 0x0010,
+    0x0011, 0x0012, 0x0013, 0x0014,
+    0x0015, 0x0016, 0x0017, 0x0018,
+    0x0019, 0x001A, 0x001B, 0x001C,
+    0x001D, 0x001E, 0x001F, 0x0020
+};
+/* ========================================================================= */
+
+/* --- Internal helpers ---------------------------------------------------- */
+
+static uint16_t EE_GetPageStatus(uint32_t pageBase)
+{
+    return *(__IO uint16_t *)pageBase;
+}
+
+static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+    HAL_StatusTypeDef status;
+
+    HAL_FLASH_Unlock();
+    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
+    HAL_FLASH_Lock();
+
+    return status;
+}
+
+static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
+{
+    HAL_StatusTypeDef status;
+    FLASH_EraseInitTypeDef EraseInit;
+    uint32_t PageError = 0;
+
+    HAL_FLASH_Unlock();
+
+    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
+    EraseInit.PageAddress = PageAddress;
+    EraseInit.NbPages     = 1;
+
+    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
+
+    HAL_FLASH_Lock();
+    return status;
+}
+
+/* Find first free record address in given page (returns 0 if full) */
+static uint32_t EE_FindFreeAddress(uint32_t pageBase)
+{
+    uint32_t addr = pageBase + 2U;                /* Skip status word */
+    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
+
+    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            /* Empty slot */
+            return addr;
+        }
+        addr += sizeof(EE_Record_t);
+    }
+
+    return 0U; /* No space */
+}
+
+/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
+/* Find latest value of VirtAddress in a specific page (scan forward) */
+static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
+{
+    uint32_t addr     = pageBase + 2U;            // skip status halfword
+    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
+    EE_Status result  = EE_NOT_FOUND;
+    uint16_t lastVal  = 0;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    while (addr <= (pageEnd - sizeof(EE_Record_t)))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            // First empty slot => no more records in this page
+            break;
+        }
+
+        uint16_t value = *(__IO uint16_t *)(addr + 2U);
+
+        if (vaddr == VirtAddress)
+        {
+            lastVal = value;    // keep most recent
+            result  = EE_OK;
+        }
+
+        addr += sizeof(EE_Record_t);  // move 4 bytes forward
+    }
+
+    if (result == EE_OK)
+        *Data = lastVal;
+
+    return result;
+}
+
+
+
+/* Format both pages: erase and set PAGE0 as VALID */
+static EE_Status EE_Format(void)
+{
+    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* PAGE1 will remain erased (status = 0xFFFF) */
+    EE_ActivePageBase = EE_PAGE0_BASE;
+
+    return EE_STATUS_OK;
+}
+
+/* Get the base of the other page */
+static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
+{
+    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
+}
+
+/* Page transfer (garbage collection + new write) */
+static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t oldBase = EE_ActivePageBase;
+    uint32_t newBase = EE_GetOtherPageBase(oldBase);
+    uint32_t addr;
+    uint16_t value;
+    EE_Status st;
+
+    /* Erase new page */
+    if (EE_FlashErasePage(newBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as RECEIVE */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Start writing records just after status */
+    addr = newBase + 2U;
+
+    /* For each known virtual variable */
+    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
+    {
+        uint16_t vaddr = EE_VirtAddrs[i];
+
+        if (vaddr == VirtAddress)
+        {
+            /* Use the new data passed into PageTransfer */
+            value = Data;
+        }
+        else
+        {
+            /* Read latest value from old active page */
+            st = EE_FindInPage(oldBase, vaddr, &value);
+            if (st != EE_STATUS_OK)
+            {
+                /* Variable never written -> skip */
+                continue;
+            }
+        }
+
+        /* Write record to new page */
+        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
+            return EE_STATUS_ERROR;
+        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
+            return EE_STATUS_ERROR;
+
+        addr += sizeof(EE_Record_t);
+        if (addr >= (newBase + EE_PAGE_SIZE))
+            return EE_STATUS_NO_SPACE;
+    }
+
+    /* Erase old page */
+    if (EE_FlashErasePage(oldBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as VALID */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Update active page */
+    EE_ActivePageBase = newBase;
+
+    return EE_STATUS_OK;
+}
+
+/* --- Public API ----------------------------------------------------------- */
+
+/*
+ * Initialize the EEPROM emulation.
+ * - Checks page statuses and chooses the active page.
+ * - If inconsistent or blank, formats pages.
+ * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
+ */
+uint16_t EE_Init(void)
+{
+    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
+    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
+
+    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        /* Fresh device -> format */
+        return (uint16_t)EE_Format();
+    }
+    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE0_BASE;
+        return EE_OK;
+    }
+    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE1_BASE;
+        return EE_OK;
+    }
+    else
+    {
+        /* Any weird or inconsistent state -> reformat */
+        return (uint16_t)EE_Format();
+    }
+}
+
+/*
+ * Read a 16-bit variable by its virtual address.
+ * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
+{
+    EE_Status st;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+/*
+ * Write (append) a 16-bit variable.
+ * - Writes a new record in the active page.
+ * - If the page is full, triggers a page transfer (GC).
+ * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t freeAddr;
+    EE_Status st;
+
+    /* Find free space in active page */
+    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
+    if (freeAddr != 0U)
+    {
+        /* Write new record */
+        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
+            return EE_ERROR;
+        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
+            return EE_ERROR;
+
+        return EE_OK;
+    }
+
+    /* No space -> page transfer */
+    st = EE_PageTransfer(VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(T4CH, &t4ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/3e/2000b3e2bd39001110fcc375db41e224

@@ -0,0 +1,378 @@
+#include "eeprom.h"
+
+/*
+ * Record format (4 bytes):
+ *  [0] VirtAddress (uint16_t)
+ *  [2] Data        (uint16_t)
+ *
+ * Page layout:
+ *  [0]  PageStatus (uint16_t)
+ *  [2..] Records...
+ */
+
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t t4ch;
+extern uint16_t twch;
+
+const uint8_t deftab[32]={
+	40,	//m1pwmap
+	60, //m1pwmch
+	70, //m2pwmap
+	70, //m2pwmch
+	40, //m3pwmap
+	40, //m3pwmch
+	40, //m4pwmap
+	40,	//m4pwmch
+	20, //m1rampstart
+	20, //m2rampstart
+	20, //m3rampstart
+	20, //m4rampstart
+	28,	//t1ap
+	7,	//t2ap
+	11,  //t3ap
+	40, //t4ap
+	1,  //twap
+	20,  //t1ch
+	10,  //t2ch
+	30,  //t3ch
+	1,  //t4ch
+	1,  //twch
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	10,  //tramp
+};
+
+typedef struct
+{
+    uint16_t VirtAddress;
+    uint16_t Data;
+} EE_Record_t;
+
+/* Active page base address (runtime selected in EE_Init) */
+static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
+
+/* 32 sequential virtual addresses */
+const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
+{
+    0x0001, 0x0002, 0x0003, 0x0004,
+    0x0005, 0x0006, 0x0007, 0x0008,
+    0x0009, 0x000A, 0x000B, 0x000C,
+    0x000D, 0x000E, 0x000F, 0x0010,
+    0x0011, 0x0012, 0x0013, 0x0014,
+    0x0015, 0x0016, 0x0017, 0x0018,
+    0x0019, 0x001A, 0x001B, 0x001C,
+    0x001D, 0x001E, 0x001F, 0x0020
+};
+/* ========================================================================= */
+
+/* --- Internal helpers ---------------------------------------------------- */
+
+static uint16_t EE_GetPageStatus(uint32_t pageBase)
+{
+    return *(__IO uint16_t *)pageBase;
+}
+
+static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+    HAL_StatusTypeDef status;
+
+    HAL_FLASH_Unlock();
+    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
+    HAL_FLASH_Lock();
+
+    return status;
+}
+
+static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
+{
+    HAL_StatusTypeDef status;
+    FLASH_EraseInitTypeDef EraseInit;
+    uint32_t PageError = 0;
+
+    HAL_FLASH_Unlock();
+
+    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
+    EraseInit.PageAddress = PageAddress;
+    EraseInit.NbPages     = 1;
+
+    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
+
+    HAL_FLASH_Lock();
+    return status;
+}
+
+/* Find first free record address in given page (returns 0 if full) */
+static uint32_t EE_FindFreeAddress(uint32_t pageBase)
+{
+    uint32_t addr = pageBase + 2U;                /* Skip status word */
+    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
+
+    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            /* Empty slot */
+            return addr;
+        }
+        addr += sizeof(EE_Record_t);
+    }
+
+    return 0U; /* No space */
+}
+
+/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
+/* Find latest value of VirtAddress in a specific page (scan forward) */
+static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
+{
+    uint32_t addr     = pageBase + 2U;            // skip status halfword
+    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
+    EE_Status result  = EE_NOT_FOUND;
+    uint16_t lastVal  = 0;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    while (addr <= (pageEnd - sizeof(EE_Record_t)))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            // First empty slot => no more records in this page
+            break;
+        }
+
+        uint16_t value = *(__IO uint16_t *)(addr + 2U);
+
+        if (vaddr == VirtAddress)
+        {
+            lastVal = value;    // keep most recent
+            result  = EE_OK;
+        }
+
+        addr += sizeof(EE_Record_t);  // move 4 bytes forward
+    }
+
+    if (result == EE_OK)
+        *Data = lastVal;
+
+    return result;
+}
+
+
+
+/* Format both pages: erase and set PAGE0 as VALID */
+static EE_Status EE_Format(void)
+{
+    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* PAGE1 will remain erased (status = 0xFFFF) */
+    EE_ActivePageBase = EE_PAGE0_BASE;
+
+    return EE_STATUS_OK;
+}
+
+/* Get the base of the other page */
+static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
+{
+    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
+}
+
+/* Page transfer (garbage collection + new write) */
+static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t oldBase = EE_ActivePageBase;
+    uint32_t newBase = EE_GetOtherPageBase(oldBase);
+    uint32_t addr;
+    uint16_t value;
+    EE_Status st;
+
+    /* Erase new page */
+    if (EE_FlashErasePage(newBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as RECEIVE */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Start writing records just after status */
+    addr = newBase + 2U;
+
+    /* For each known virtual variable */
+    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
+    {
+        uint16_t vaddr = EE_VirtAddrs[i];
+
+        if (vaddr == VirtAddress)
+        {
+            /* Use the new data passed into PageTransfer */
+            value = Data;
+        }
+        else
+        {
+            /* Read latest value from old active page */
+            st = EE_FindInPage(oldBase, vaddr, &value);
+            if (st != EE_STATUS_OK)
+            {
+                /* Variable never written -> skip */
+                continue;
+            }
+        }
+
+        /* Write record to new page */
+        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
+            return EE_STATUS_ERROR;
+        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
+            return EE_STATUS_ERROR;
+
+        addr += sizeof(EE_Record_t);
+        if (addr >= (newBase + EE_PAGE_SIZE))
+            return EE_STATUS_NO_SPACE;
+    }
+
+    /* Erase old page */
+    if (EE_FlashErasePage(oldBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as VALID */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Update active page */
+    EE_ActivePageBase = newBase;
+
+    return EE_STATUS_OK;
+}
+
+/* --- Public API ----------------------------------------------------------- */
+
+/*
+ * Initialize the EEPROM emulation.
+ * - Checks page statuses and chooses the active page.
+ * - If inconsistent or blank, formats pages.
+ * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
+ */
+uint16_t EE_Init(void)
+{
+    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
+    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
+
+    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        /* Fresh device -> format */
+        return (uint16_t)EE_Format();
+    }
+    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE0_BASE;
+        return EE_OK;
+    }
+    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE1_BASE;
+        return EE_OK;
+    }
+    else
+    {
+        /* Any weird or inconsistent state -> reformat */
+        return (uint16_t)EE_Format();
+    }
+}
+
+/*
+ * Read a 16-bit variable by its virtual address.
+ * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
+{
+    EE_Status st;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+/*
+ * Write (append) a 16-bit variable.
+ * - Writes a new record in the active page.
+ * - If the page is full, triggers a page transfer (GC).
+ * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t freeAddr;
+    EE_Status st;
+
+    /* Find free space in active page */
+    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
+    if (freeAddr != 0U)
+    {
+        /* Write new record */
+        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
+            return EE_ERROR;
+        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
+            return EE_ERROR;
+
+        return EE_OK;
+    }
+
+    /* No space -> page transfer */
+    st = EE_PageTransfer(VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(T4CH, &t4ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/3e/e0175e30b639001110fcc375db41e224

@@ -0,0 +1,165 @@
+/* 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 */
+typedef enum{
+	omchiuso,
+	omapertura1,
+	omapertura2,
+	omapertura3,
+	omapertura4,
+	omapertura5,
+	omapertura6,
+	omapertura7,
+	omapertura8,
+	omapertura9,
+	omapertura10,
+	omapertura11,
+	omapertura12,
+	omapertura13,
+	omapertura14,
+	omstopapertura,
+	omaperto,
+	omchiusura1,
+	omchiusura2,
+	omchiusura3,
+	omchiusura4,
+	omchiusura5,
+	omchiusura6,
+	omchiusura7,
+	omchiusura8,
+	omchiusura9,
+	omchiusura10,
+	omchiusura11,
+	omchiusura12,
+	omstopchiusura,
+}omCiclo_st;
+/* 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 */
+#define INP1 1
+#define INP2 2
+/* USER CODE END Private defines */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MAIN_H */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/41/307ebcb6bb39001110fcc375db41e224

@@ -0,0 +1,378 @@
+#include "eeprom.h"
+
+/*
+ * Record format (4 bytes):
+ *  [0] VirtAddress (uint16_t)
+ *  [2] Data        (uint16_t)
+ *
+ * Page layout:
+ *  [0]  PageStatus (uint16_t)
+ *  [2..] Records...
+ */
+
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t t4ch;
+extern uint16_t twch;
+
+const uint8_t deftab[32]={
+	40,	//m1pwmap
+	60, //m1pwmch
+	70, //m2pwmap
+	70, //m2pwmch
+	40, //m3pwmap
+	40, //m3pwmch
+	40, //m4pwmap
+	40,	//m4pwmch
+	20, //m1rampstart
+	20, //m2rampstart
+	20, //m3rampstart
+	20, //m4rampstart
+	28,	//t1ap
+	3,	//t2ap
+	10,  //t3ap
+	40, //t4ap
+	1,  //twap
+	20,  //t1ch
+	30,  //t2ch
+	40,  //t3ch
+	1,  //t4ch
+	1,  //twch
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	10,  //tramp
+};
+
+typedef struct
+{
+    uint16_t VirtAddress;
+    uint16_t Data;
+} EE_Record_t;
+
+/* Active page base address (runtime selected in EE_Init) */
+static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
+
+/* 32 sequential virtual addresses */
+const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
+{
+    0x0001, 0x0002, 0x0003, 0x0004,
+    0x0005, 0x0006, 0x0007, 0x0008,
+    0x0009, 0x000A, 0x000B, 0x000C,
+    0x000D, 0x000E, 0x000F, 0x0010,
+    0x0011, 0x0012, 0x0013, 0x0014,
+    0x0015, 0x0016, 0x0017, 0x0018,
+    0x0019, 0x001A, 0x001B, 0x001C,
+    0x001D, 0x001E, 0x001F, 0x0020
+};
+/* ========================================================================= */
+
+/* --- Internal helpers ---------------------------------------------------- */
+
+static uint16_t EE_GetPageStatus(uint32_t pageBase)
+{
+    return *(__IO uint16_t *)pageBase;
+}
+
+static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+    HAL_StatusTypeDef status;
+
+    HAL_FLASH_Unlock();
+    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
+    HAL_FLASH_Lock();
+
+    return status;
+}
+
+static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
+{
+    HAL_StatusTypeDef status;
+    FLASH_EraseInitTypeDef EraseInit;
+    uint32_t PageError = 0;
+
+    HAL_FLASH_Unlock();
+
+    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
+    EraseInit.PageAddress = PageAddress;
+    EraseInit.NbPages     = 1;
+
+    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
+
+    HAL_FLASH_Lock();
+    return status;
+}
+
+/* Find first free record address in given page (returns 0 if full) */
+static uint32_t EE_FindFreeAddress(uint32_t pageBase)
+{
+    uint32_t addr = pageBase + 2U;                /* Skip status word */
+    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
+
+    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            /* Empty slot */
+            return addr;
+        }
+        addr += sizeof(EE_Record_t);
+    }
+
+    return 0U; /* No space */
+}
+
+/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
+/* Find latest value of VirtAddress in a specific page (scan forward) */
+static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
+{
+    uint32_t addr     = pageBase + 2U;            // skip status halfword
+    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
+    EE_Status result  = EE_NOT_FOUND;
+    uint16_t lastVal  = 0;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    while (addr <= (pageEnd - sizeof(EE_Record_t)))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            // First empty slot => no more records in this page
+            break;
+        }
+
+        uint16_t value = *(__IO uint16_t *)(addr + 2U);
+
+        if (vaddr == VirtAddress)
+        {
+            lastVal = value;    // keep most recent
+            result  = EE_OK;
+        }
+
+        addr += sizeof(EE_Record_t);  // move 4 bytes forward
+    }
+
+    if (result == EE_OK)
+        *Data = lastVal;
+
+    return result;
+}
+
+
+
+/* Format both pages: erase and set PAGE0 as VALID */
+static EE_Status EE_Format(void)
+{
+    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* PAGE1 will remain erased (status = 0xFFFF) */
+    EE_ActivePageBase = EE_PAGE0_BASE;
+
+    return EE_STATUS_OK;
+}
+
+/* Get the base of the other page */
+static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
+{
+    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
+}
+
+/* Page transfer (garbage collection + new write) */
+static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t oldBase = EE_ActivePageBase;
+    uint32_t newBase = EE_GetOtherPageBase(oldBase);
+    uint32_t addr;
+    uint16_t value;
+    EE_Status st;
+
+    /* Erase new page */
+    if (EE_FlashErasePage(newBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as RECEIVE */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Start writing records just after status */
+    addr = newBase + 2U;
+
+    /* For each known virtual variable */
+    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
+    {
+        uint16_t vaddr = EE_VirtAddrs[i];
+
+        if (vaddr == VirtAddress)
+        {
+            /* Use the new data passed into PageTransfer */
+            value = Data;
+        }
+        else
+        {
+            /* Read latest value from old active page */
+            st = EE_FindInPage(oldBase, vaddr, &value);
+            if (st != EE_STATUS_OK)
+            {
+                /* Variable never written -> skip */
+                continue;
+            }
+        }
+
+        /* Write record to new page */
+        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
+            return EE_STATUS_ERROR;
+        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
+            return EE_STATUS_ERROR;
+
+        addr += sizeof(EE_Record_t);
+        if (addr >= (newBase + EE_PAGE_SIZE))
+            return EE_STATUS_NO_SPACE;
+    }
+
+    /* Erase old page */
+    if (EE_FlashErasePage(oldBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as VALID */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Update active page */
+    EE_ActivePageBase = newBase;
+
+    return EE_STATUS_OK;
+}
+
+/* --- Public API ----------------------------------------------------------- */
+
+/*
+ * Initialize the EEPROM emulation.
+ * - Checks page statuses and chooses the active page.
+ * - If inconsistent or blank, formats pages.
+ * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
+ */
+uint16_t EE_Init(void)
+{
+    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
+    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
+
+    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        /* Fresh device -> format */
+        return (uint16_t)EE_Format();
+    }
+    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE0_BASE;
+        return EE_OK;
+    }
+    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE1_BASE;
+        return EE_OK;
+    }
+    else
+    {
+        /* Any weird or inconsistent state -> reformat */
+        return (uint16_t)EE_Format();
+    }
+}
+
+/*
+ * Read a 16-bit variable by its virtual address.
+ * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
+{
+    EE_Status st;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+/*
+ * Write (append) a 16-bit variable.
+ * - Writes a new record in the active page.
+ * - If the page is full, triggers a page transfer (GC).
+ * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t freeAddr;
+    EE_Status st;
+
+    /* Find free space in active page */
+    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
+    if (freeAddr != 0U)
+    {
+        /* Write new record */
+        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
+            return EE_ERROR;
+        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
+            return EE_ERROR;
+
+        return EE_OK;
+    }
+
+    /* No space -> page transfer */
+    st = EE_PageTransfer(VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(T4CH, &t4ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/4e/309296d6b239001110fcc375db41e224

@@ -0,0 +1,376 @@
+#include "eeprom.h"
+
+/*
+ * Record format (4 bytes):
+ *  [0] VirtAddress (uint16_t)
+ *  [2] Data        (uint16_t)
+ *
+ * Page layout:
+ *  [0]  PageStatus (uint16_t)
+ *  [2..] Records...
+ */
+
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t twch;
+
+const uint8_t deftab[32]={
+	40,	//m1pwmap
+	60, //m1pwmch
+	50, //m2pwmap
+	50, //m2pwmch
+	40, //m3pwmap
+	40, //m3pwmch
+	40, //m4pwmap
+	40,	//m4pwmch
+	20, //m1rampstart
+	20, //m2rampstart
+	20, //m3rampstart
+	20, //m4rampstart
+	26,	//t1ap
+	2,	//t2ap
+	8,  //t3ap
+	40, //t4ap
+	1,  //twap
+	30,  //t1ch
+	30,  //t2ch
+	40,  //t3ch
+	1,  //twch
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	10,  //tramp
+};
+
+typedef struct
+{
+    uint16_t VirtAddress;
+    uint16_t Data;
+} EE_Record_t;
+
+/* Active page base address (runtime selected in EE_Init) */
+static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
+
+/* 32 sequential virtual addresses */
+const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
+{
+    0x0001, 0x0002, 0x0003, 0x0004,
+    0x0005, 0x0006, 0x0007, 0x0008,
+    0x0009, 0x000A, 0x000B, 0x000C,
+    0x000D, 0x000E, 0x000F, 0x0010,
+    0x0011, 0x0012, 0x0013, 0x0014,
+    0x0015, 0x0016, 0x0017, 0x0018,
+    0x0019, 0x001A, 0x001B, 0x001C,
+    0x001D, 0x001E, 0x001F, 0x0020
+};
+/* ========================================================================= */
+
+/* --- Internal helpers ---------------------------------------------------- */
+
+static uint16_t EE_GetPageStatus(uint32_t pageBase)
+{
+    return *(__IO uint16_t *)pageBase;
+}
+
+static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+    HAL_StatusTypeDef status;
+
+    HAL_FLASH_Unlock();
+    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
+    HAL_FLASH_Lock();
+
+    return status;
+}
+
+static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
+{
+    HAL_StatusTypeDef status;
+    FLASH_EraseInitTypeDef EraseInit;
+    uint32_t PageError = 0;
+
+    HAL_FLASH_Unlock();
+
+    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
+    EraseInit.PageAddress = PageAddress;
+    EraseInit.NbPages     = 1;
+
+    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
+
+    HAL_FLASH_Lock();
+    return status;
+}
+
+/* Find first free record address in given page (returns 0 if full) */
+static uint32_t EE_FindFreeAddress(uint32_t pageBase)
+{
+    uint32_t addr = pageBase + 2U;                /* Skip status word */
+    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
+
+    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            /* Empty slot */
+            return addr;
+        }
+        addr += sizeof(EE_Record_t);
+    }
+
+    return 0U; /* No space */
+}
+
+/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
+/* Find latest value of VirtAddress in a specific page (scan forward) */
+static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
+{
+    uint32_t addr     = pageBase + 2U;            // skip status halfword
+    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
+    EE_Status result  = EE_NOT_FOUND;
+    uint16_t lastVal  = 0;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    while (addr <= (pageEnd - sizeof(EE_Record_t)))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            // First empty slot => no more records in this page
+            break;
+        }
+
+        uint16_t value = *(__IO uint16_t *)(addr + 2U);
+
+        if (vaddr == VirtAddress)
+        {
+            lastVal = value;    // keep most recent
+            result  = EE_OK;
+        }
+
+        addr += sizeof(EE_Record_t);  // move 4 bytes forward
+    }
+
+    if (result == EE_OK)
+        *Data = lastVal;
+
+    return result;
+}
+
+
+
+/* Format both pages: erase and set PAGE0 as VALID */
+static EE_Status EE_Format(void)
+{
+    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* PAGE1 will remain erased (status = 0xFFFF) */
+    EE_ActivePageBase = EE_PAGE0_BASE;
+
+    return EE_STATUS_OK;
+}
+
+/* Get the base of the other page */
+static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
+{
+    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
+}
+
+/* Page transfer (garbage collection + new write) */
+static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t oldBase = EE_ActivePageBase;
+    uint32_t newBase = EE_GetOtherPageBase(oldBase);
+    uint32_t addr;
+    uint16_t value;
+    EE_Status st;
+
+    /* Erase new page */
+    if (EE_FlashErasePage(newBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as RECEIVE */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Start writing records just after status */
+    addr = newBase + 2U;
+
+    /* For each known virtual variable */
+    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
+    {
+        uint16_t vaddr = EE_VirtAddrs[i];
+
+        if (vaddr == VirtAddress)
+        {
+            /* Use the new data passed into PageTransfer */
+            value = Data;
+        }
+        else
+        {
+            /* Read latest value from old active page */
+            st = EE_FindInPage(oldBase, vaddr, &value);
+            if (st != EE_STATUS_OK)
+            {
+                /* Variable never written -> skip */
+                continue;
+            }
+        }
+
+        /* Write record to new page */
+        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
+            return EE_STATUS_ERROR;
+        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
+            return EE_STATUS_ERROR;
+
+        addr += sizeof(EE_Record_t);
+        if (addr >= (newBase + EE_PAGE_SIZE))
+            return EE_STATUS_NO_SPACE;
+    }
+
+    /* Erase old page */
+    if (EE_FlashErasePage(oldBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as VALID */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Update active page */
+    EE_ActivePageBase = newBase;
+
+    return EE_STATUS_OK;
+}
+
+/* --- Public API ----------------------------------------------------------- */
+
+/*
+ * Initialize the EEPROM emulation.
+ * - Checks page statuses and chooses the active page.
+ * - If inconsistent or blank, formats pages.
+ * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
+ */
+uint16_t EE_Init(void)
+{
+    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
+    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
+
+    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        /* Fresh device -> format */
+        return (uint16_t)EE_Format();
+    }
+    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE0_BASE;
+        return EE_OK;
+    }
+    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE1_BASE;
+        return EE_OK;
+    }
+    else
+    {
+        /* Any weird or inconsistent state -> reformat */
+        return (uint16_t)EE_Format();
+    }
+}
+
+/*
+ * Read a 16-bit variable by its virtual address.
+ * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
+{
+    EE_Status st;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+/*
+ * Write (append) a 16-bit variable.
+ * - Writes a new record in the active page.
+ * - If the page is full, triggers a page transfer (GC).
+ * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t freeAddr;
+    EE_Status st;
+
+    /* Find free space in active page */
+    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
+    if (freeAddr != 0U)
+    {
+        /* Write new record */
+        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
+            return EE_ERROR;
+        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
+            return EE_ERROR;
+
+        return EE_OK;
+    }
+
+    /* No space -> page transfer */
+    st = EE_PageTransfer(VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/4f/b0b07c5cb739001110fcc375db41e224

@@ -0,0 +1,942 @@
+/* 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 */
+
+typedef enum{
+	bzoff,
+	bzmoving,
+}stBuz_st;
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+#define P1START 0x01
+#define P1STOP  0x02
+#define P2START 0x04
+#define P2STOP  0x08
+#define M1 1
+#define M2 2
+#define M3 3
+#define M4 4
+
+/* 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[];
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+
+uint8_t pulsanti=0;
+volatile uint8_t rtP1=200;
+volatile uint8_t rtP2=200;
+volatile uint16_t rtramp[4];
+volatile uint16_t rtCiclo;
+uint16_t m1pwmap;
+uint16_t m1pwmch;
+uint16_t m2pwmap;
+uint16_t m2pwmch;
+uint16_t m3pwmap;
+uint16_t m3pwmch;
+uint16_t m4pwmap;
+uint16_t m4pwmch;
+uint16_t t1ap;
+uint16_t t2ap;
+uint16_t t3ap;
+uint16_t t4ap;
+uint16_t twap;
+uint16_t t1ch;
+uint16_t t2ch;
+uint16_t t3ch;
+uint16_t t4ch;
+uint16_t twch;
+uint16_t tramp;
+
+uint16_t mrampstart[4];
+uint8_t stPulsanti=0;
+omCiclo_st stCiclo=omchiuso;
+omCiclo_st memstCiclo=omchiuso;
+volatile stBuz_st stBuz=bzoff;
+/* 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];
+  uint8_t i;
+
+  if (++c10ms >= 10) {               // 10 ms
+	  c10ms = 0;
+	  if(rtP1)rtP1--;
+	  if(rtP2)rtP2--;
+
+//**** legge i tasti********************************************************************************
+	  inidx++;
+	  inidx&=0x03;
+	  if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
+	  if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)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
+		  for(i=0;i<4;i++){
+			  if(rtramp[i])rtramp[i]--;
+		  }
+//**** gestione buzzer *****************************************************************************
+		  if(stBuz==bzmoving){
+			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else{//bzoff
+			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
+		  }
+//**************************************************************************************************
+		  if (++c1s >= 10) {               // 10 ms
+			  c1s = 0;
+			  if(rtCiclo)rtCiclo--;
+			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+		  }
+	  }
+  }
+}
+
+void managePulsanti(void){
+	if(pulsanti&INP1){
+		if(rtP1==0)stPulsanti|=P1START;
+	}else{
+		if(stPulsanti&P1START)stPulsanti&=(~P1START);
+		else if(rtP1<=190){
+			stPulsanti|=P1STOP;
+		}
+		rtP1=200;
+	}
+	if(pulsanti&INP2){
+		if(rtP2==0)stPulsanti|=P2START;
+	}else{
+		if(stPulsanti&P2START)stPulsanti&=(~P2START);
+		else if(rtP2<=190)stPulsanti|=P2STOP;
+		rtP2=200;
+	}
+}
+
+void manageCiclo(void){
+	switch(stCiclo){
+		case omchiuso:
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura1;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura1:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t1ap;
+				stCiclo=omapertura2;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura2:
+			if(rtCiclo==0){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura3;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura3:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twap;
+				stCiclo=omapertura4;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura4:
+			if(rtCiclo==0){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura5;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura5:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t2ap;
+				stCiclo=omapertura6;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura6:
+			if(rtCiclo==0){
+				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura7;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura7:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t3ap;
+				stCiclo=omapertura8;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura8:
+			if(rtCiclo==0){
+				(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
+				(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura9;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura9:
+			if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
+				rtCiclo=twap;
+				stCiclo=omapertura10;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura10:
+			if(rtCiclo==0){
+				(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura11;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura11:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t4ap;
+				stCiclo=omapertura12;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura12:
+			if(rtCiclo==0){
+				(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura13;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura13:
+			if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twap;
+				stCiclo=omapertura14;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura14:
+			if(rtCiclo==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			stBuz=bzoff;
+			stCiclo=omchiuso;
+			stPulsanti&=(~P1STOP);
+			break;
+		case omaperto:
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura1:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t4ch;
+				stCiclo=omchiusura2;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura2:
+			if(rtCiclo==0){
+				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura3;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura3:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,RAMPRUN)==DONE){
+				rtCiclo=t1ch;
+				stCiclo=omchiusura4;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura4:
+			if(rtCiclo==0){
+				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
+				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura5;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura5:
+			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
+				rtCiclo=twch;
+				stCiclo=omchiusura6;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura6:
+			if(rtCiclo==0){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura7;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura7:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t2ch;
+				stCiclo=omchiusura8;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura8:
+			if(rtCiclo==0){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura9;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura9:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twch;
+				stCiclo=omchiusura10;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura10:
+			if(rtCiclo==0){
+				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura11;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura11:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t3ch;
+				stCiclo=omchiusura12;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura12:
+			if(rtCiclo==0){
+				(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura13;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura13:
+			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twch;
+				stCiclo=omchiusura14;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura14:
+			if(rtCiclo==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omstopchiusura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			stBuz=bzoff;
+			stCiclo=omaperto;
+			stPulsanti&=(~P1STOP);
+			break;
+	}
+}
+
+/* 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
+  }
+  loadEE();
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  manageCDC();
+	  manageAdc();
+	  managePulsanti();
+	  manageCiclo();
+//	  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_MUL6;
+  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/50/f07ee718be39001110fcc375db41e224

@@ -0,0 +1,378 @@
+#include "eeprom.h"
+
+/*
+ * Record format (4 bytes):
+ *  [0] VirtAddress (uint16_t)
+ *  [2] Data        (uint16_t)
+ *
+ * Page layout:
+ *  [0]  PageStatus (uint16_t)
+ *  [2..] Records...
+ */
+
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t t4ch;
+extern uint16_t twch;
+
+const uint8_t deftab[32]={
+	40,	//m1pwmap
+	60, //m1pwmch
+	70, //m2pwmap
+	70, //m2pwmch
+	30, //m3pwmap
+	40, //m3pwmch
+	40, //m4pwmap
+	40,	//m4pwmch
+	20, //m1rampstart
+	20, //m2rampstart
+	20, //m3rampstart
+	20, //m4rampstart
+	28,	//t1ap
+	4,	//t2ap
+	10,  //t3ap
+	40, //t4ap
+	1,  //twap
+	20,  //t1ch
+	10,  //t2ch
+	30,  //t3ch
+	1,  //t4ch
+	1,  //twch
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	10,  //tramp
+};
+
+typedef struct
+{
+    uint16_t VirtAddress;
+    uint16_t Data;
+} EE_Record_t;
+
+/* Active page base address (runtime selected in EE_Init) */
+static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
+
+/* 32 sequential virtual addresses */
+const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
+{
+    0x0001, 0x0002, 0x0003, 0x0004,
+    0x0005, 0x0006, 0x0007, 0x0008,
+    0x0009, 0x000A, 0x000B, 0x000C,
+    0x000D, 0x000E, 0x000F, 0x0010,
+    0x0011, 0x0012, 0x0013, 0x0014,
+    0x0015, 0x0016, 0x0017, 0x0018,
+    0x0019, 0x001A, 0x001B, 0x001C,
+    0x001D, 0x001E, 0x001F, 0x0020
+};
+/* ========================================================================= */
+
+/* --- Internal helpers ---------------------------------------------------- */
+
+static uint16_t EE_GetPageStatus(uint32_t pageBase)
+{
+    return *(__IO uint16_t *)pageBase;
+}
+
+static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+    HAL_StatusTypeDef status;
+
+    HAL_FLASH_Unlock();
+    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
+    HAL_FLASH_Lock();
+
+    return status;
+}
+
+static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
+{
+    HAL_StatusTypeDef status;
+    FLASH_EraseInitTypeDef EraseInit;
+    uint32_t PageError = 0;
+
+    HAL_FLASH_Unlock();
+
+    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
+    EraseInit.PageAddress = PageAddress;
+    EraseInit.NbPages     = 1;
+
+    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
+
+    HAL_FLASH_Lock();
+    return status;
+}
+
+/* Find first free record address in given page (returns 0 if full) */
+static uint32_t EE_FindFreeAddress(uint32_t pageBase)
+{
+    uint32_t addr = pageBase + 2U;                /* Skip status word */
+    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
+
+    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            /* Empty slot */
+            return addr;
+        }
+        addr += sizeof(EE_Record_t);
+    }
+
+    return 0U; /* No space */
+}
+
+/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
+/* Find latest value of VirtAddress in a specific page (scan forward) */
+static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
+{
+    uint32_t addr     = pageBase + 2U;            // skip status halfword
+    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
+    EE_Status result  = EE_NOT_FOUND;
+    uint16_t lastVal  = 0;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    while (addr <= (pageEnd - sizeof(EE_Record_t)))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            // First empty slot => no more records in this page
+            break;
+        }
+
+        uint16_t value = *(__IO uint16_t *)(addr + 2U);
+
+        if (vaddr == VirtAddress)
+        {
+            lastVal = value;    // keep most recent
+            result  = EE_OK;
+        }
+
+        addr += sizeof(EE_Record_t);  // move 4 bytes forward
+    }
+
+    if (result == EE_OK)
+        *Data = lastVal;
+
+    return result;
+}
+
+
+
+/* Format both pages: erase and set PAGE0 as VALID */
+static EE_Status EE_Format(void)
+{
+    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* PAGE1 will remain erased (status = 0xFFFF) */
+    EE_ActivePageBase = EE_PAGE0_BASE;
+
+    return EE_STATUS_OK;
+}
+
+/* Get the base of the other page */
+static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
+{
+    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
+}
+
+/* Page transfer (garbage collection + new write) */
+static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t oldBase = EE_ActivePageBase;
+    uint32_t newBase = EE_GetOtherPageBase(oldBase);
+    uint32_t addr;
+    uint16_t value;
+    EE_Status st;
+
+    /* Erase new page */
+    if (EE_FlashErasePage(newBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as RECEIVE */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Start writing records just after status */
+    addr = newBase + 2U;
+
+    /* For each known virtual variable */
+    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
+    {
+        uint16_t vaddr = EE_VirtAddrs[i];
+
+        if (vaddr == VirtAddress)
+        {
+            /* Use the new data passed into PageTransfer */
+            value = Data;
+        }
+        else
+        {
+            /* Read latest value from old active page */
+            st = EE_FindInPage(oldBase, vaddr, &value);
+            if (st != EE_STATUS_OK)
+            {
+                /* Variable never written -> skip */
+                continue;
+            }
+        }
+
+        /* Write record to new page */
+        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
+            return EE_STATUS_ERROR;
+        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
+            return EE_STATUS_ERROR;
+
+        addr += sizeof(EE_Record_t);
+        if (addr >= (newBase + EE_PAGE_SIZE))
+            return EE_STATUS_NO_SPACE;
+    }
+
+    /* Erase old page */
+    if (EE_FlashErasePage(oldBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as VALID */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Update active page */
+    EE_ActivePageBase = newBase;
+
+    return EE_STATUS_OK;
+}
+
+/* --- Public API ----------------------------------------------------------- */
+
+/*
+ * Initialize the EEPROM emulation.
+ * - Checks page statuses and chooses the active page.
+ * - If inconsistent or blank, formats pages.
+ * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
+ */
+uint16_t EE_Init(void)
+{
+    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
+    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
+
+    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        /* Fresh device -> format */
+        return (uint16_t)EE_Format();
+    }
+    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE0_BASE;
+        return EE_OK;
+    }
+    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE1_BASE;
+        return EE_OK;
+    }
+    else
+    {
+        /* Any weird or inconsistent state -> reformat */
+        return (uint16_t)EE_Format();
+    }
+}
+
+/*
+ * Read a 16-bit variable by its virtual address.
+ * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
+{
+    EE_Status st;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+/*
+ * Write (append) a 16-bit variable.
+ * - Writes a new record in the active page.
+ * - If the page is full, triggers a page transfer (GC).
+ * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t freeAddr;
+    EE_Status st;
+
+    /* Find free space in active page */
+    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
+    if (freeAddr != 0U)
+    {
+        /* Write new record */
+        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
+            return EE_ERROR;
+        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
+            return EE_ERROR;
+
+        return EE_OK;
+    }
+
+    /* No space -> page transfer */
+    st = EE_PageTransfer(VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(T4CH, &t4ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/53/a0f444b0bc39001110fcc375db41e224

@@ -0,0 +1,378 @@
+#include "eeprom.h"
+
+/*
+ * Record format (4 bytes):
+ *  [0] VirtAddress (uint16_t)
+ *  [2] Data        (uint16_t)
+ *
+ * Page layout:
+ *  [0]  PageStatus (uint16_t)
+ *  [2..] Records...
+ */
+
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t t4ch;
+extern uint16_t twch;
+
+const uint8_t deftab[32]={
+	40,	//m1pwmap
+	60, //m1pwmch
+	70, //m2pwmap
+	70, //m2pwmch
+	40, //m3pwmap
+	40, //m3pwmch
+	40, //m4pwmap
+	40,	//m4pwmch
+	20, //m1rampstart
+	20, //m2rampstart
+	20, //m3rampstart
+	20, //m4rampstart
+	28,	//t1ap
+	4,	//t2ap
+	10,  //t3ap
+	40, //t4ap
+	1,  //twap
+	20,  //t1ch
+	10,  //t2ch
+	30,  //t3ch
+	1,  //t4ch
+	1,  //twch
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	10,  //tramp
+};
+
+typedef struct
+{
+    uint16_t VirtAddress;
+    uint16_t Data;
+} EE_Record_t;
+
+/* Active page base address (runtime selected in EE_Init) */
+static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
+
+/* 32 sequential virtual addresses */
+const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
+{
+    0x0001, 0x0002, 0x0003, 0x0004,
+    0x0005, 0x0006, 0x0007, 0x0008,
+    0x0009, 0x000A, 0x000B, 0x000C,
+    0x000D, 0x000E, 0x000F, 0x0010,
+    0x0011, 0x0012, 0x0013, 0x0014,
+    0x0015, 0x0016, 0x0017, 0x0018,
+    0x0019, 0x001A, 0x001B, 0x001C,
+    0x001D, 0x001E, 0x001F, 0x0020
+};
+/* ========================================================================= */
+
+/* --- Internal helpers ---------------------------------------------------- */
+
+static uint16_t EE_GetPageStatus(uint32_t pageBase)
+{
+    return *(__IO uint16_t *)pageBase;
+}
+
+static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+    HAL_StatusTypeDef status;
+
+    HAL_FLASH_Unlock();
+    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
+    HAL_FLASH_Lock();
+
+    return status;
+}
+
+static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
+{
+    HAL_StatusTypeDef status;
+    FLASH_EraseInitTypeDef EraseInit;
+    uint32_t PageError = 0;
+
+    HAL_FLASH_Unlock();
+
+    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
+    EraseInit.PageAddress = PageAddress;
+    EraseInit.NbPages     = 1;
+
+    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
+
+    HAL_FLASH_Lock();
+    return status;
+}
+
+/* Find first free record address in given page (returns 0 if full) */
+static uint32_t EE_FindFreeAddress(uint32_t pageBase)
+{
+    uint32_t addr = pageBase + 2U;                /* Skip status word */
+    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
+
+    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            /* Empty slot */
+            return addr;
+        }
+        addr += sizeof(EE_Record_t);
+    }
+
+    return 0U; /* No space */
+}
+
+/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
+/* Find latest value of VirtAddress in a specific page (scan forward) */
+static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
+{
+    uint32_t addr     = pageBase + 2U;            // skip status halfword
+    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
+    EE_Status result  = EE_NOT_FOUND;
+    uint16_t lastVal  = 0;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    while (addr <= (pageEnd - sizeof(EE_Record_t)))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            // First empty slot => no more records in this page
+            break;
+        }
+
+        uint16_t value = *(__IO uint16_t *)(addr + 2U);
+
+        if (vaddr == VirtAddress)
+        {
+            lastVal = value;    // keep most recent
+            result  = EE_OK;
+        }
+
+        addr += sizeof(EE_Record_t);  // move 4 bytes forward
+    }
+
+    if (result == EE_OK)
+        *Data = lastVal;
+
+    return result;
+}
+
+
+
+/* Format both pages: erase and set PAGE0 as VALID */
+static EE_Status EE_Format(void)
+{
+    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* PAGE1 will remain erased (status = 0xFFFF) */
+    EE_ActivePageBase = EE_PAGE0_BASE;
+
+    return EE_STATUS_OK;
+}
+
+/* Get the base of the other page */
+static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
+{
+    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
+}
+
+/* Page transfer (garbage collection + new write) */
+static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t oldBase = EE_ActivePageBase;
+    uint32_t newBase = EE_GetOtherPageBase(oldBase);
+    uint32_t addr;
+    uint16_t value;
+    EE_Status st;
+
+    /* Erase new page */
+    if (EE_FlashErasePage(newBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as RECEIVE */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Start writing records just after status */
+    addr = newBase + 2U;
+
+    /* For each known virtual variable */
+    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
+    {
+        uint16_t vaddr = EE_VirtAddrs[i];
+
+        if (vaddr == VirtAddress)
+        {
+            /* Use the new data passed into PageTransfer */
+            value = Data;
+        }
+        else
+        {
+            /* Read latest value from old active page */
+            st = EE_FindInPage(oldBase, vaddr, &value);
+            if (st != EE_STATUS_OK)
+            {
+                /* Variable never written -> skip */
+                continue;
+            }
+        }
+
+        /* Write record to new page */
+        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
+            return EE_STATUS_ERROR;
+        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
+            return EE_STATUS_ERROR;
+
+        addr += sizeof(EE_Record_t);
+        if (addr >= (newBase + EE_PAGE_SIZE))
+            return EE_STATUS_NO_SPACE;
+    }
+
+    /* Erase old page */
+    if (EE_FlashErasePage(oldBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as VALID */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Update active page */
+    EE_ActivePageBase = newBase;
+
+    return EE_STATUS_OK;
+}
+
+/* --- Public API ----------------------------------------------------------- */
+
+/*
+ * Initialize the EEPROM emulation.
+ * - Checks page statuses and chooses the active page.
+ * - If inconsistent or blank, formats pages.
+ * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
+ */
+uint16_t EE_Init(void)
+{
+    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
+    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
+
+    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        /* Fresh device -> format */
+        return (uint16_t)EE_Format();
+    }
+    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE0_BASE;
+        return EE_OK;
+    }
+    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE1_BASE;
+        return EE_OK;
+    }
+    else
+    {
+        /* Any weird or inconsistent state -> reformat */
+        return (uint16_t)EE_Format();
+    }
+}
+
+/*
+ * Read a 16-bit variable by its virtual address.
+ * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
+{
+    EE_Status st;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+/*
+ * Write (append) a 16-bit variable.
+ * - Writes a new record in the active page.
+ * - If the page is full, triggers a page transfer (GC).
+ * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t freeAddr;
+    EE_Status st;
+
+    /* Find free space in active page */
+    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
+    if (freeAddr != 0U)
+    {
+        /* Write new record */
+        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
+            return EE_ERROR;
+        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
+            return EE_ERROR;
+
+        return EE_OK;
+    }
+
+    /* No space -> page transfer */
+    st = EE_PageTransfer(VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(T4CH, &t4ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/6c/f01db7dcb839001110fcc375db41e224

@@ -0,0 +1,378 @@
+#include "eeprom.h"
+
+/*
+ * Record format (4 bytes):
+ *  [0] VirtAddress (uint16_t)
+ *  [2] Data        (uint16_t)
+ *
+ * Page layout:
+ *  [0]  PageStatus (uint16_t)
+ *  [2..] Records...
+ */
+
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t t4ch;
+extern uint16_t twch;
+
+const uint8_t deftab[32]={
+	40,	//m1pwmap
+	60, //m1pwmch
+	70, //m2pwmap
+	70, //m2pwmch
+	40, //m3pwmap
+	40, //m3pwmch
+	40, //m4pwmap
+	40,	//m4pwmch
+	20, //m1rampstart
+	20, //m2rampstart
+	20, //m3rampstart
+	20, //m4rampstart
+	28,	//t1ap
+	4,	//t2ap
+	10,  //t3ap
+	40, //t4ap
+	1,  //twap
+	25,  //t1ch
+	30,  //t2ch
+	40,  //t3ch
+	1,  //t4ch
+	1,  //twch
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	10,  //tramp
+};
+
+typedef struct
+{
+    uint16_t VirtAddress;
+    uint16_t Data;
+} EE_Record_t;
+
+/* Active page base address (runtime selected in EE_Init) */
+static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
+
+/* 32 sequential virtual addresses */
+const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
+{
+    0x0001, 0x0002, 0x0003, 0x0004,
+    0x0005, 0x0006, 0x0007, 0x0008,
+    0x0009, 0x000A, 0x000B, 0x000C,
+    0x000D, 0x000E, 0x000F, 0x0010,
+    0x0011, 0x0012, 0x0013, 0x0014,
+    0x0015, 0x0016, 0x0017, 0x0018,
+    0x0019, 0x001A, 0x001B, 0x001C,
+    0x001D, 0x001E, 0x001F, 0x0020
+};
+/* ========================================================================= */
+
+/* --- Internal helpers ---------------------------------------------------- */
+
+static uint16_t EE_GetPageStatus(uint32_t pageBase)
+{
+    return *(__IO uint16_t *)pageBase;
+}
+
+static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+    HAL_StatusTypeDef status;
+
+    HAL_FLASH_Unlock();
+    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
+    HAL_FLASH_Lock();
+
+    return status;
+}
+
+static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
+{
+    HAL_StatusTypeDef status;
+    FLASH_EraseInitTypeDef EraseInit;
+    uint32_t PageError = 0;
+
+    HAL_FLASH_Unlock();
+
+    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
+    EraseInit.PageAddress = PageAddress;
+    EraseInit.NbPages     = 1;
+
+    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
+
+    HAL_FLASH_Lock();
+    return status;
+}
+
+/* Find first free record address in given page (returns 0 if full) */
+static uint32_t EE_FindFreeAddress(uint32_t pageBase)
+{
+    uint32_t addr = pageBase + 2U;                /* Skip status word */
+    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
+
+    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            /* Empty slot */
+            return addr;
+        }
+        addr += sizeof(EE_Record_t);
+    }
+
+    return 0U; /* No space */
+}
+
+/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
+/* Find latest value of VirtAddress in a specific page (scan forward) */
+static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
+{
+    uint32_t addr     = pageBase + 2U;            // skip status halfword
+    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
+    EE_Status result  = EE_NOT_FOUND;
+    uint16_t lastVal  = 0;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    while (addr <= (pageEnd - sizeof(EE_Record_t)))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            // First empty slot => no more records in this page
+            break;
+        }
+
+        uint16_t value = *(__IO uint16_t *)(addr + 2U);
+
+        if (vaddr == VirtAddress)
+        {
+            lastVal = value;    // keep most recent
+            result  = EE_OK;
+        }
+
+        addr += sizeof(EE_Record_t);  // move 4 bytes forward
+    }
+
+    if (result == EE_OK)
+        *Data = lastVal;
+
+    return result;
+}
+
+
+
+/* Format both pages: erase and set PAGE0 as VALID */
+static EE_Status EE_Format(void)
+{
+    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* PAGE1 will remain erased (status = 0xFFFF) */
+    EE_ActivePageBase = EE_PAGE0_BASE;
+
+    return EE_STATUS_OK;
+}
+
+/* Get the base of the other page */
+static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
+{
+    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
+}
+
+/* Page transfer (garbage collection + new write) */
+static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t oldBase = EE_ActivePageBase;
+    uint32_t newBase = EE_GetOtherPageBase(oldBase);
+    uint32_t addr;
+    uint16_t value;
+    EE_Status st;
+
+    /* Erase new page */
+    if (EE_FlashErasePage(newBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as RECEIVE */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Start writing records just after status */
+    addr = newBase + 2U;
+
+    /* For each known virtual variable */
+    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
+    {
+        uint16_t vaddr = EE_VirtAddrs[i];
+
+        if (vaddr == VirtAddress)
+        {
+            /* Use the new data passed into PageTransfer */
+            value = Data;
+        }
+        else
+        {
+            /* Read latest value from old active page */
+            st = EE_FindInPage(oldBase, vaddr, &value);
+            if (st != EE_STATUS_OK)
+            {
+                /* Variable never written -> skip */
+                continue;
+            }
+        }
+
+        /* Write record to new page */
+        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
+            return EE_STATUS_ERROR;
+        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
+            return EE_STATUS_ERROR;
+
+        addr += sizeof(EE_Record_t);
+        if (addr >= (newBase + EE_PAGE_SIZE))
+            return EE_STATUS_NO_SPACE;
+    }
+
+    /* Erase old page */
+    if (EE_FlashErasePage(oldBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as VALID */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Update active page */
+    EE_ActivePageBase = newBase;
+
+    return EE_STATUS_OK;
+}
+
+/* --- Public API ----------------------------------------------------------- */
+
+/*
+ * Initialize the EEPROM emulation.
+ * - Checks page statuses and chooses the active page.
+ * - If inconsistent or blank, formats pages.
+ * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
+ */
+uint16_t EE_Init(void)
+{
+    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
+    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
+
+    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        /* Fresh device -> format */
+        return (uint16_t)EE_Format();
+    }
+    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE0_BASE;
+        return EE_OK;
+    }
+    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE1_BASE;
+        return EE_OK;
+    }
+    else
+    {
+        /* Any weird or inconsistent state -> reformat */
+        return (uint16_t)EE_Format();
+    }
+}
+
+/*
+ * Read a 16-bit variable by its virtual address.
+ * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
+{
+    EE_Status st;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+/*
+ * Write (append) a 16-bit variable.
+ * - Writes a new record in the active page.
+ * - If the page is full, triggers a page transfer (GC).
+ * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t freeAddr;
+    EE_Status st;
+
+    /* Find free space in active page */
+    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
+    if (freeAddr != 0U)
+    {
+        /* Write new record */
+        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
+            return EE_ERROR;
+        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
+            return EE_ERROR;
+
+        return EE_OK;
+    }
+
+    /* No space -> page transfer */
+    st = EE_PageTransfer(VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(T4CH, &t4ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/8e/a069ac41b839001110fcc375db41e224

@@ -0,0 +1,378 @@
+#include "eeprom.h"
+
+/*
+ * Record format (4 bytes):
+ *  [0] VirtAddress (uint16_t)
+ *  [2] Data        (uint16_t)
+ *
+ * Page layout:
+ *  [0]  PageStatus (uint16_t)
+ *  [2..] Records...
+ */
+
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t t4ch;
+extern uint16_t twch;
+
+const uint8_t deftab[32]={
+	40,	//m1pwmap
+	60, //m1pwmch
+	70, //m2pwmap
+	50, //m2pwmch
+	40, //m3pwmap
+	40, //m3pwmch
+	40, //m4pwmap
+	40,	//m4pwmch
+	20, //m1rampstart
+	20, //m2rampstart
+	20, //m3rampstart
+	20, //m4rampstart
+	28,	//t1ap
+	4,	//t2ap
+	10,  //t3ap
+	40, //t4ap
+	1,  //twap
+	30,  //t1ch
+	30,  //t2ch
+	40,  //t3ch
+	1,  //t4ch
+	1,  //twch
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	10,  //tramp
+};
+
+typedef struct
+{
+    uint16_t VirtAddress;
+    uint16_t Data;
+} EE_Record_t;
+
+/* Active page base address (runtime selected in EE_Init) */
+static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
+
+/* 32 sequential virtual addresses */
+const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
+{
+    0x0001, 0x0002, 0x0003, 0x0004,
+    0x0005, 0x0006, 0x0007, 0x0008,
+    0x0009, 0x000A, 0x000B, 0x000C,
+    0x000D, 0x000E, 0x000F, 0x0010,
+    0x0011, 0x0012, 0x0013, 0x0014,
+    0x0015, 0x0016, 0x0017, 0x0018,
+    0x0019, 0x001A, 0x001B, 0x001C,
+    0x001D, 0x001E, 0x001F, 0x0020
+};
+/* ========================================================================= */
+
+/* --- Internal helpers ---------------------------------------------------- */
+
+static uint16_t EE_GetPageStatus(uint32_t pageBase)
+{
+    return *(__IO uint16_t *)pageBase;
+}
+
+static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+    HAL_StatusTypeDef status;
+
+    HAL_FLASH_Unlock();
+    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
+    HAL_FLASH_Lock();
+
+    return status;
+}
+
+static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
+{
+    HAL_StatusTypeDef status;
+    FLASH_EraseInitTypeDef EraseInit;
+    uint32_t PageError = 0;
+
+    HAL_FLASH_Unlock();
+
+    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
+    EraseInit.PageAddress = PageAddress;
+    EraseInit.NbPages     = 1;
+
+    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
+
+    HAL_FLASH_Lock();
+    return status;
+}
+
+/* Find first free record address in given page (returns 0 if full) */
+static uint32_t EE_FindFreeAddress(uint32_t pageBase)
+{
+    uint32_t addr = pageBase + 2U;                /* Skip status word */
+    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
+
+    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            /* Empty slot */
+            return addr;
+        }
+        addr += sizeof(EE_Record_t);
+    }
+
+    return 0U; /* No space */
+}
+
+/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
+/* Find latest value of VirtAddress in a specific page (scan forward) */
+static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
+{
+    uint32_t addr     = pageBase + 2U;            // skip status halfword
+    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
+    EE_Status result  = EE_NOT_FOUND;
+    uint16_t lastVal  = 0;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    while (addr <= (pageEnd - sizeof(EE_Record_t)))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            // First empty slot => no more records in this page
+            break;
+        }
+
+        uint16_t value = *(__IO uint16_t *)(addr + 2U);
+
+        if (vaddr == VirtAddress)
+        {
+            lastVal = value;    // keep most recent
+            result  = EE_OK;
+        }
+
+        addr += sizeof(EE_Record_t);  // move 4 bytes forward
+    }
+
+    if (result == EE_OK)
+        *Data = lastVal;
+
+    return result;
+}
+
+
+
+/* Format both pages: erase and set PAGE0 as VALID */
+static EE_Status EE_Format(void)
+{
+    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* PAGE1 will remain erased (status = 0xFFFF) */
+    EE_ActivePageBase = EE_PAGE0_BASE;
+
+    return EE_STATUS_OK;
+}
+
+/* Get the base of the other page */
+static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
+{
+    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
+}
+
+/* Page transfer (garbage collection + new write) */
+static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t oldBase = EE_ActivePageBase;
+    uint32_t newBase = EE_GetOtherPageBase(oldBase);
+    uint32_t addr;
+    uint16_t value;
+    EE_Status st;
+
+    /* Erase new page */
+    if (EE_FlashErasePage(newBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as RECEIVE */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Start writing records just after status */
+    addr = newBase + 2U;
+
+    /* For each known virtual variable */
+    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
+    {
+        uint16_t vaddr = EE_VirtAddrs[i];
+
+        if (vaddr == VirtAddress)
+        {
+            /* Use the new data passed into PageTransfer */
+            value = Data;
+        }
+        else
+        {
+            /* Read latest value from old active page */
+            st = EE_FindInPage(oldBase, vaddr, &value);
+            if (st != EE_STATUS_OK)
+            {
+                /* Variable never written -> skip */
+                continue;
+            }
+        }
+
+        /* Write record to new page */
+        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
+            return EE_STATUS_ERROR;
+        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
+            return EE_STATUS_ERROR;
+
+        addr += sizeof(EE_Record_t);
+        if (addr >= (newBase + EE_PAGE_SIZE))
+            return EE_STATUS_NO_SPACE;
+    }
+
+    /* Erase old page */
+    if (EE_FlashErasePage(oldBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as VALID */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Update active page */
+    EE_ActivePageBase = newBase;
+
+    return EE_STATUS_OK;
+}
+
+/* --- Public API ----------------------------------------------------------- */
+
+/*
+ * Initialize the EEPROM emulation.
+ * - Checks page statuses and chooses the active page.
+ * - If inconsistent or blank, formats pages.
+ * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
+ */
+uint16_t EE_Init(void)
+{
+    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
+    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
+
+    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        /* Fresh device -> format */
+        return (uint16_t)EE_Format();
+    }
+    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE0_BASE;
+        return EE_OK;
+    }
+    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE1_BASE;
+        return EE_OK;
+    }
+    else
+    {
+        /* Any weird or inconsistent state -> reformat */
+        return (uint16_t)EE_Format();
+    }
+}
+
+/*
+ * Read a 16-bit variable by its virtual address.
+ * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
+{
+    EE_Status st;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+/*
+ * Write (append) a 16-bit variable.
+ * - Writes a new record in the active page.
+ * - If the page is full, triggers a page transfer (GC).
+ * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t freeAddr;
+    EE_Status st;
+
+    /* Find free space in active page */
+    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
+    if (freeAddr != 0U)
+    {
+        /* Write new record */
+        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
+            return EE_ERROR;
+        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
+            return EE_ERROR;
+
+        return EE_OK;
+    }
+
+    /* No space -> page transfer */
+    st = EE_PageTransfer(VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(T4CH, &t4ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/91/a0dd0ab4b939001110fcc375db41e224

@@ -0,0 +1,228 @@
+#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;
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+extern const uint8_t deftab[];
+extern omCiclo_st stCiclo;
+extern omCiclo_st memstCiclo;
+extern uint8_t stPulsanti;
+
+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,"info\n");
+				  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 ch4=%05d ch5=%05d ch6=%05d ch7=%05d ch8=%05d",pulsanti,ch4,ch5,ch6,ch7,ch8);
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\nstCiclo=%05d stPulsanti=%05d",stCiclo,stPulsanti);
+				  while (CDC_Transmit_FS(s, 31) == USBD_BUSY);
+				  break;
+			  case 'I':
+				  sprintf((char*)s,"\nID000000");
+				  while (CDC_Transmit_FS(s, 9) == 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++){
+								  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);
+								  }
+							  }
+							  if((i%4)==0){
+								  sprintf((char*)s,"\n");
+								  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 if(rxbuf[1]=='x'){
+						  if(rxidx==2){
+							  for(i=0;i<32;i++){
+								  st=EEW_Write(i,deftab[i]);
+								  if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",i,deftab[i]);
+								  else sprintf((char*)s,"\nee write error %d", st);
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+
+							  }
+						  }else{
+							  sprintf((char*)s,"\n?ex");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else{
+						  sprintf((char*)s,"\n?er|w|d|x");
+						  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/94/50ca74b7be39001110fcc375db41e224

@@ -0,0 +1,378 @@
+#include "eeprom.h"
+
+/*
+ * Record format (4 bytes):
+ *  [0] VirtAddress (uint16_t)
+ *  [2] Data        (uint16_t)
+ *
+ * Page layout:
+ *  [0]  PageStatus (uint16_t)
+ *  [2..] Records...
+ */
+
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t t4ch;
+extern uint16_t twch;
+
+const uint8_t deftab[32]={
+	40,	//m1pwmap
+	60, //m1pwmch
+	70, //m2pwmap
+	70, //m2pwmch
+	30, //m3pwmap
+	40, //m3pwmch
+	40, //m4pwmap
+	40,	//m4pwmch
+	20, //m1rampstart
+	20, //m2rampstart
+	20, //m3rampstart
+	20, //m4rampstart
+	28,	//t1ap
+	4,	//t2ap
+	10,  //t3ap
+	40, //t4ap
+	1,  //twap
+	20,  //t1ch
+	10,  //t2ch
+	30,  //t3ch
+	1,  //t4ch
+	1,  //twch
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	10,  //tramp
+};
+
+typedef struct
+{
+    uint16_t VirtAddress;
+    uint16_t Data;
+} EE_Record_t;
+
+/* Active page base address (runtime selected in EE_Init) */
+static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
+
+/* 32 sequential virtual addresses */
+const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
+{
+    0x0001, 0x0002, 0x0003, 0x0004,
+    0x0005, 0x0006, 0x0007, 0x0008,
+    0x0009, 0x000A, 0x000B, 0x000C,
+    0x000D, 0x000E, 0x000F, 0x0010,
+    0x0011, 0x0012, 0x0013, 0x0014,
+    0x0015, 0x0016, 0x0017, 0x0018,
+    0x0019, 0x001A, 0x001B, 0x001C,
+    0x001D, 0x001E, 0x001F, 0x0020
+};
+/* ========================================================================= */
+
+/* --- Internal helpers ---------------------------------------------------- */
+
+static uint16_t EE_GetPageStatus(uint32_t pageBase)
+{
+    return *(__IO uint16_t *)pageBase;
+}
+
+static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+    HAL_StatusTypeDef status;
+
+    HAL_FLASH_Unlock();
+    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
+    HAL_FLASH_Lock();
+
+    return status;
+}
+
+static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
+{
+    HAL_StatusTypeDef status;
+    FLASH_EraseInitTypeDef EraseInit;
+    uint32_t PageError = 0;
+
+    HAL_FLASH_Unlock();
+
+    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
+    EraseInit.PageAddress = PageAddress;
+    EraseInit.NbPages     = 1;
+
+    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
+
+    HAL_FLASH_Lock();
+    return status;
+}
+
+/* Find first free record address in given page (returns 0 if full) */
+static uint32_t EE_FindFreeAddress(uint32_t pageBase)
+{
+    uint32_t addr = pageBase + 2U;                /* Skip status word */
+    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
+
+    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            /* Empty slot */
+            return addr;
+        }
+        addr += sizeof(EE_Record_t);
+    }
+
+    return 0U; /* No space */
+}
+
+/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
+/* Find latest value of VirtAddress in a specific page (scan forward) */
+static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
+{
+    uint32_t addr     = pageBase + 2U;            // skip status halfword
+    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
+    EE_Status result  = EE_NOT_FOUND;
+    uint16_t lastVal  = 0;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    while (addr <= (pageEnd - sizeof(EE_Record_t)))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            // First empty slot => no more records in this page
+            break;
+        }
+
+        uint16_t value = *(__IO uint16_t *)(addr + 2U);
+
+        if (vaddr == VirtAddress)
+        {
+            lastVal = value;    // keep most recent
+            result  = EE_OK;
+        }
+
+        addr += sizeof(EE_Record_t);  // move 4 bytes forward
+    }
+
+    if (result == EE_OK)
+        *Data = lastVal;
+
+    return result;
+}
+
+
+
+/* Format both pages: erase and set PAGE0 as VALID */
+static EE_Status EE_Format(void)
+{
+    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* PAGE1 will remain erased (status = 0xFFFF) */
+    EE_ActivePageBase = EE_PAGE0_BASE;
+
+    return EE_STATUS_OK;
+}
+
+/* Get the base of the other page */
+static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
+{
+    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
+}
+
+/* Page transfer (garbage collection + new write) */
+static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t oldBase = EE_ActivePageBase;
+    uint32_t newBase = EE_GetOtherPageBase(oldBase);
+    uint32_t addr;
+    uint16_t value;
+    EE_Status st;
+
+    /* Erase new page */
+    if (EE_FlashErasePage(newBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as RECEIVE */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Start writing records just after status */
+    addr = newBase + 2U;
+
+    /* For each known virtual variable */
+    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
+    {
+        uint16_t vaddr = EE_VirtAddrs[i];
+
+        if (vaddr == VirtAddress)
+        {
+            /* Use the new data passed into PageTransfer */
+            value = Data;
+        }
+        else
+        {
+            /* Read latest value from old active page */
+            st = EE_FindInPage(oldBase, vaddr, &value);
+            if (st != EE_STATUS_OK)
+            {
+                /* Variable never written -> skip */
+                continue;
+            }
+        }
+
+        /* Write record to new page */
+        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
+            return EE_STATUS_ERROR;
+        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
+            return EE_STATUS_ERROR;
+
+        addr += sizeof(EE_Record_t);
+        if (addr >= (newBase + EE_PAGE_SIZE))
+            return EE_STATUS_NO_SPACE;
+    }
+
+    /* Erase old page */
+    if (EE_FlashErasePage(oldBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as VALID */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Update active page */
+    EE_ActivePageBase = newBase;
+
+    return EE_STATUS_OK;
+}
+
+/* --- Public API ----------------------------------------------------------- */
+
+/*
+ * Initialize the EEPROM emulation.
+ * - Checks page statuses and chooses the active page.
+ * - If inconsistent or blank, formats pages.
+ * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
+ */
+uint16_t EE_Init(void)
+{
+    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
+    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
+
+    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        /* Fresh device -> format */
+        return (uint16_t)EE_Format();
+    }
+    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE0_BASE;
+        return EE_OK;
+    }
+    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE1_BASE;
+        return EE_OK;
+    }
+    else
+    {
+        /* Any weird or inconsistent state -> reformat */
+        return (uint16_t)EE_Format();
+    }
+}
+
+/*
+ * Read a 16-bit variable by its virtual address.
+ * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
+{
+    EE_Status st;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+/*
+ * Write (append) a 16-bit variable.
+ * - Writes a new record in the active page.
+ * - If the page is full, triggers a page transfer (GC).
+ * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t freeAddr;
+    EE_Status st;
+
+    /* Find free space in active page */
+    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
+    if (freeAddr != 0U)
+    {
+        /* Write new record */
+        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
+            return EE_ERROR;
+        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
+            return EE_ERROR;
+
+        return EE_OK;
+    }
+
+    /* No space -> page transfer */
+    st = EE_PageTransfer(VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(T4CH, &t4ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/a1/c0585b30b639001110fcc375db41e224

@@ -0,0 +1,116 @@
+/*
+ * eeprom.h
+ *
+ *  Created on: Dec 7, 2025
+ *      Author: user
+ */
+
+#ifndef __EEPROM_H
+#define __EEPROM_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "stm32f1xx_hal.h"
+
+/*
+ * Simple EEPROM emulation for STM32F103C8T6 (medium density).
+ * - Uses 2 Flash pages (1 kB each) at the end of Flash.
+ * - Stores variables as 16-bit values identified by 16-bit "virtual addresses".
+ *
+ * You must define the list of virtual addresses in eeprom.c: EE_VirtAddrs[].
+ */
+
+typedef enum
+{
+    EE_STATUS_OK = 0,
+    EE_STATUS_ERROR,
+    EE_STATUS_NOT_FOUND,
+    EE_STATUS_NO_SPACE
+} EE_Status;
+
+/* For compatibility with ST style uint16_t return codes */
+#define EE_OK        ((uint16_t)EE_STATUS_OK)
+#define EE_ERROR     ((uint16_t)EE_STATUS_ERROR)
+#define EE_NOT_FOUND ((uint16_t)EE_STATUS_NOT_FOUND)
+#define EE_NO_SPACE  ((uint16_t)EE_STATUS_NO_SPACE)
+
+/* Flash parameters for STM32F103C8T6 */
+#define EE_FLASH_BASE_ADDR     0x08000000U
+#define EE_PAGE_SIZE           0x400U      /* 1 kB pages */
+
+/*
+ * Here we assume a 64 kB Flash device (STM32F103C8T6):
+ * Flash range: 0x0800 0000 - 0x0800 FFFF
+ * Pages: 0..63 (64 pages)
+ * We use the last 2 pages for EEPROM:
+ *  - Page 62: 0x0800 F800
+ *  - Page 63: 0x0800 FC00
+ */
+#define EE_PAGE0_BASE          (EE_FLASH_BASE_ADDR + (62U * EE_PAGE_SIZE))
+#define EE_PAGE1_BASE          (EE_FLASH_BASE_ADDR + (63U * EE_PAGE_SIZE))
+
+/* Page status markers (stored in the first halfword of each page) */
+#define EE_PAGE_STATUS_ERASED  0xFFFFU
+#define EE_PAGE_STATUS_VALID   0xAAAAU
+#define EE_PAGE_STATUS_RECEIVE 0x5555U
+
+/*
+ * Configure how many virtual variables you have.
+ * Example: bytes, words, and array elements mapped to 16-bit variables.
+ * Set EE_NUM_VIRTUAL_ADDR and define EE_VirtAddrs[] in eeprom.c.
+ */
+/* 32 virtual variables, sequential addresses */
+#define EE_NUM_VIRTUAL_ADDR    32U
+#define EEW_ADDR(i)            (uint16_t)(0x0001 + (i))   // i = 0..31
+
+
+#define M1PWMAP	0	//m1pwmap
+#define M1PWMCH	1	//m1pwmch
+#define M2PWMAP	2	//m2pwmap
+#define M2PWMCH	3	//m2pwmch
+#define M3PWMAP	4	//m3pwmap
+#define M3PWMCH	5	//m3pwmch
+#define M4PWMAP	6	//m4pwmap
+#define M4PWMCH	7	//m4pwmch
+#define M1RAMPSTART 8 //m1rampstart
+#define M2RAMPSTART 9 //m2rampstart
+#define M3RAMPSTART 10 //m3rampstart
+#define M4RAMPSTART 11 //m4rampstart
+#define T1AP 12 //t1ap
+#define T2AP 13 //t2ap
+#define T3AP 14 //t3ap
+#define T4AP 15 //t4ap
+#define TWAP 16 //twap
+#define T1CH 17 //t1ch
+#define T2CH 18 //t2ch
+#define T3CH 19 //t3ch
+#define TWCH 20 //twch
+#define TRAMP 31 //tramp
+
+
+/* Virtual address table (defined in eeprom.c, can be customized) */
+extern const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR];
+
+/* Public API – now using uint16_t like ST examples */
+uint16_t EE_Init(void);
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data);
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
+void loadEE(void);
+/* Pseudo-array accessor EEW[idx] */
+static inline uint16_t EEW_Read(uint8_t idx, uint16_t *value)
+{
+    return EE_ReadVariable(EEW_ADDR(idx), value);
+}
+
+static inline uint16_t EEW_Write(uint8_t idx, uint16_t value)
+{
+    return EE_WriteVariable(EEW_ADDR(idx), value);
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __EEPROM_H */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/d9/7014d64db739001110fcc375db41e224

@@ -0,0 +1,942 @@
+/* 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 */
+
+typedef enum{
+	bzoff,
+	bzmoving,
+}stBuz_st;
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+#define P1START 0x01
+#define P1STOP  0x02
+#define P2START 0x04
+#define P2STOP  0x08
+#define M1 1
+#define M2 2
+#define M3 3
+#define M4 4
+
+/* 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[];
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+
+uint8_t pulsanti=0;
+volatile uint8_t rtP1=200;
+volatile uint8_t rtP2=200;
+volatile uint16_t rtramp[4];
+volatile uint16_t rtCiclo;
+uint16_t m1pwmap;
+uint16_t m1pwmch;
+uint16_t m2pwmap;
+uint16_t m2pwmch;
+uint16_t m3pwmap;
+uint16_t m3pwmch;
+uint16_t m4pwmap;
+uint16_t m4pwmch;
+uint16_t t1ap;
+uint16_t t2ap;
+uint16_t t3ap;
+uint16_t t4ap;
+uint16_t twap;
+uint16_t t1ch;
+uint16_t t2ch;
+uint16_t t3ch;
+uint16_t t4ch;
+uint16_t twch;
+uint16_t tramp;
+
+uint16_t mrampstart[4];
+uint8_t stPulsanti=0;
+omCiclo_st stCiclo=omchiuso;
+omCiclo_st memstCiclo=omchiuso;
+volatile stBuz_st stBuz=bzoff;
+/* 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];
+  uint8_t i;
+
+  if (++c10ms >= 10) {               // 10 ms
+	  c10ms = 0;
+	  if(rtP1)rtP1--;
+	  if(rtP2)rtP2--;
+
+//**** legge i tasti********************************************************************************
+	  inidx++;
+	  inidx&=0x03;
+	  if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
+	  if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)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
+		  for(i=0;i<4;i++){
+			  if(rtramp[i])rtramp[i]--;
+		  }
+//**** gestione buzzer *****************************************************************************
+		  if(stBuz==bzmoving){
+			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else{//bzoff
+			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
+		  }
+//**************************************************************************************************
+		  if (++c1s >= 10) {               // 10 ms
+			  c1s = 0;
+			  if(rtCiclo)rtCiclo--;
+			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+		  }
+	  }
+  }
+}
+
+void managePulsanti(void){
+	if(pulsanti&INP1){
+		if(rtP1==0)stPulsanti|=P1START;
+	}else{
+		if(stPulsanti&P1START)stPulsanti&=(~P1START);
+		else if(rtP1<=190){
+			stPulsanti|=P1STOP;
+		}
+		rtP1=200;
+	}
+	if(pulsanti&INP2){
+		if(rtP2==0)stPulsanti|=P2START;
+	}else{
+		if(stPulsanti&P2START)stPulsanti&=(~P2START);
+		else if(rtP2<=190)stPulsanti|=P2STOP;
+		rtP2=200;
+	}
+}
+
+void manageCiclo(void){
+	switch(stCiclo){
+		case omchiuso:
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura1;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura1:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t1ap;
+				stCiclo=omapertura2;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura2:
+			if(rtCiclo==0){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura3;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura3:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twap;
+				stCiclo=omapertura4;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura4:
+			if(rtCiclo==0){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura5;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura5:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t2ap;
+				stCiclo=omapertura6;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura6:
+			if(rtCiclo==0){
+				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura7;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura7:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t3ap;
+				stCiclo=omapertura8;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura8:
+			if(rtCiclo==0){
+				(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
+				(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura9;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura9:
+			if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
+				rtCiclo=twap;
+				stCiclo=omapertura10;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura10:
+			if(rtCiclo==0){
+				(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura11;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura11:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t4ap;
+				stCiclo=omapertura12;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura12:
+			if(rtCiclo==0){
+				(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura13;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura13:
+			if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twap;
+				stCiclo=omapertura14;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura14:
+			if(rtCiclo==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			stBuz=bzoff;
+			stCiclo=omchiuso;
+			stPulsanti&=(~P1STOP);
+			break;
+		case omaperto:
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura1:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t4ch;
+				stCiclo=omchiusura2;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura2:
+			if(rtCiclo==0){
+				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura3;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura3:
+			if(ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=t1ch;
+				stCiclo=omchiusura4;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura4:
+			if(rtCiclo==0){
+				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
+				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura5;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura5:
+			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
+				rtCiclo=twch;
+				stCiclo=omchiusura6;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura6:
+			if(rtCiclo==0){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura7;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura7:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t2ch;
+				stCiclo=omchiusura8;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura8:
+			if(rtCiclo==0){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura9;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura9:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twch;
+				stCiclo=omchiusura10;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura10:
+			if(rtCiclo==0){
+				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura11;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura11:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t3ch;
+				stCiclo=omchiusura12;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura12:
+			if(rtCiclo==0){
+				(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura13;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura13:
+			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twch;
+				stCiclo=omchiusura14;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura14:
+			if(rtCiclo==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omstopchiusura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			stBuz=bzoff;
+			stCiclo=omaperto;
+			stPulsanti&=(~P1STOP);
+			break;
+	}
+}
+
+/* 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
+  }
+  loadEE();
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  manageCDC();
+	  manageAdc();
+	  managePulsanti();
+	  manageCiclo();
+//	  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_MUL6;
+  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/df/408082ebb839001110fcc375db41e224

@@ -0,0 +1,378 @@
+#include "eeprom.h"
+
+/*
+ * Record format (4 bytes):
+ *  [0] VirtAddress (uint16_t)
+ *  [2] Data        (uint16_t)
+ *
+ * Page layout:
+ *  [0]  PageStatus (uint16_t)
+ *  [2..] Records...
+ */
+
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t t4ch;
+extern uint16_t twch;
+
+const uint8_t deftab[32]={
+	40,	//m1pwmap
+	60, //m1pwmch
+	70, //m2pwmap
+	70, //m2pwmch
+	40, //m3pwmap
+	40, //m3pwmch
+	40, //m4pwmap
+	40,	//m4pwmch
+	20, //m1rampstart
+	20, //m2rampstart
+	20, //m3rampstart
+	20, //m4rampstart
+	28,	//t1ap
+	4,	//t2ap
+	10,  //t3ap
+	40, //t4ap
+	1,  //twap
+	20,  //t1ch
+	30,  //t2ch
+	40,  //t3ch
+	1,  //t4ch
+	1,  //twch
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	10,  //tramp
+};
+
+typedef struct
+{
+    uint16_t VirtAddress;
+    uint16_t Data;
+} EE_Record_t;
+
+/* Active page base address (runtime selected in EE_Init) */
+static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
+
+/* 32 sequential virtual addresses */
+const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
+{
+    0x0001, 0x0002, 0x0003, 0x0004,
+    0x0005, 0x0006, 0x0007, 0x0008,
+    0x0009, 0x000A, 0x000B, 0x000C,
+    0x000D, 0x000E, 0x000F, 0x0010,
+    0x0011, 0x0012, 0x0013, 0x0014,
+    0x0015, 0x0016, 0x0017, 0x0018,
+    0x0019, 0x001A, 0x001B, 0x001C,
+    0x001D, 0x001E, 0x001F, 0x0020
+};
+/* ========================================================================= */
+
+/* --- Internal helpers ---------------------------------------------------- */
+
+static uint16_t EE_GetPageStatus(uint32_t pageBase)
+{
+    return *(__IO uint16_t *)pageBase;
+}
+
+static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+    HAL_StatusTypeDef status;
+
+    HAL_FLASH_Unlock();
+    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
+    HAL_FLASH_Lock();
+
+    return status;
+}
+
+static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
+{
+    HAL_StatusTypeDef status;
+    FLASH_EraseInitTypeDef EraseInit;
+    uint32_t PageError = 0;
+
+    HAL_FLASH_Unlock();
+
+    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
+    EraseInit.PageAddress = PageAddress;
+    EraseInit.NbPages     = 1;
+
+    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
+
+    HAL_FLASH_Lock();
+    return status;
+}
+
+/* Find first free record address in given page (returns 0 if full) */
+static uint32_t EE_FindFreeAddress(uint32_t pageBase)
+{
+    uint32_t addr = pageBase + 2U;                /* Skip status word */
+    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
+
+    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            /* Empty slot */
+            return addr;
+        }
+        addr += sizeof(EE_Record_t);
+    }
+
+    return 0U; /* No space */
+}
+
+/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
+/* Find latest value of VirtAddress in a specific page (scan forward) */
+static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
+{
+    uint32_t addr     = pageBase + 2U;            // skip status halfword
+    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
+    EE_Status result  = EE_NOT_FOUND;
+    uint16_t lastVal  = 0;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    while (addr <= (pageEnd - sizeof(EE_Record_t)))
+    {
+        uint16_t vaddr = *(__IO uint16_t *)addr;
+
+        if (vaddr == 0xFFFFU)
+        {
+            // First empty slot => no more records in this page
+            break;
+        }
+
+        uint16_t value = *(__IO uint16_t *)(addr + 2U);
+
+        if (vaddr == VirtAddress)
+        {
+            lastVal = value;    // keep most recent
+            result  = EE_OK;
+        }
+
+        addr += sizeof(EE_Record_t);  // move 4 bytes forward
+    }
+
+    if (result == EE_OK)
+        *Data = lastVal;
+
+    return result;
+}
+
+
+
+/* Format both pages: erase and set PAGE0 as VALID */
+static EE_Status EE_Format(void)
+{
+    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* PAGE1 will remain erased (status = 0xFFFF) */
+    EE_ActivePageBase = EE_PAGE0_BASE;
+
+    return EE_STATUS_OK;
+}
+
+/* Get the base of the other page */
+static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
+{
+    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
+}
+
+/* Page transfer (garbage collection + new write) */
+static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t oldBase = EE_ActivePageBase;
+    uint32_t newBase = EE_GetOtherPageBase(oldBase);
+    uint32_t addr;
+    uint16_t value;
+    EE_Status st;
+
+    /* Erase new page */
+    if (EE_FlashErasePage(newBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as RECEIVE */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Start writing records just after status */
+    addr = newBase + 2U;
+
+    /* For each known virtual variable */
+    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
+    {
+        uint16_t vaddr = EE_VirtAddrs[i];
+
+        if (vaddr == VirtAddress)
+        {
+            /* Use the new data passed into PageTransfer */
+            value = Data;
+        }
+        else
+        {
+            /* Read latest value from old active page */
+            st = EE_FindInPage(oldBase, vaddr, &value);
+            if (st != EE_STATUS_OK)
+            {
+                /* Variable never written -> skip */
+                continue;
+            }
+        }
+
+        /* Write record to new page */
+        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
+            return EE_STATUS_ERROR;
+        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
+            return EE_STATUS_ERROR;
+
+        addr += sizeof(EE_Record_t);
+        if (addr >= (newBase + EE_PAGE_SIZE))
+            return EE_STATUS_NO_SPACE;
+    }
+
+    /* Erase old page */
+    if (EE_FlashErasePage(oldBase) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Mark new page as VALID */
+    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
+        return EE_STATUS_ERROR;
+
+    /* Update active page */
+    EE_ActivePageBase = newBase;
+
+    return EE_STATUS_OK;
+}
+
+/* --- Public API ----------------------------------------------------------- */
+
+/*
+ * Initialize the EEPROM emulation.
+ * - Checks page statuses and chooses the active page.
+ * - If inconsistent or blank, formats pages.
+ * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
+ */
+uint16_t EE_Init(void)
+{
+    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
+    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
+
+    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        /* Fresh device -> format */
+        return (uint16_t)EE_Format();
+    }
+    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE0_BASE;
+        return EE_OK;
+    }
+    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
+    {
+        EE_ActivePageBase = EE_PAGE1_BASE;
+        return EE_OK;
+    }
+    else
+    {
+        /* Any weird or inconsistent state -> reformat */
+        return (uint16_t)EE_Format();
+    }
+}
+
+/*
+ * Read a 16-bit variable by its virtual address.
+ * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
+ */
+uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
+{
+    EE_Status st;
+
+    if (Data == NULL)
+        return EE_ERROR;
+
+    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+/*
+ * Write (append) a 16-bit variable.
+ * - Writes a new record in the active page.
+ * - If the page is full, triggers a page transfer (GC).
+ * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
+ */
+uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
+{
+    uint32_t freeAddr;
+    EE_Status st;
+
+    /* Find free space in active page */
+    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
+    if (freeAddr != 0U)
+    {
+        /* Write new record */
+        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
+            return EE_ERROR;
+        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
+            return EE_ERROR;
+
+        return EE_OK;
+    }
+
+    /* No space -> page transfer */
+    st = EE_PageTransfer(VirtAddress, Data);
+    return (uint16_t)st;
+}
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(T4CH, &t4ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/e4/80d0bab6bb39001110fcc375db41e224

@@ -0,0 +1,942 @@
+/* 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 */
+
+typedef enum{
+	bzoff,
+	bzmoving,
+}stBuz_st;
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+#define P1START 0x01
+#define P1STOP  0x02
+#define P2START 0x04
+#define P2STOP  0x08
+#define M1 1
+#define M2 2
+#define M3 3
+#define M4 4
+
+/* 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[];
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+
+uint8_t pulsanti=0;
+volatile uint8_t rtP1=200;
+volatile uint8_t rtP2=200;
+volatile uint16_t rtramp[4];
+volatile uint16_t rtCiclo;
+uint16_t m1pwmap;
+uint16_t m1pwmch;
+uint16_t m2pwmap;
+uint16_t m2pwmch;
+uint16_t m3pwmap;
+uint16_t m3pwmch;
+uint16_t m4pwmap;
+uint16_t m4pwmch;
+uint16_t t1ap;
+uint16_t t2ap;
+uint16_t t3ap;
+uint16_t t4ap;
+uint16_t twap;
+uint16_t t1ch;
+uint16_t t2ch;
+uint16_t t3ch;
+uint16_t t4ch;
+uint16_t twch;
+uint16_t tramp;
+
+uint16_t mrampstart[4];
+uint8_t stPulsanti=0;
+omCiclo_st stCiclo=omchiuso;
+omCiclo_st memstCiclo=omchiuso;
+volatile stBuz_st stBuz=bzoff;
+/* 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];
+  uint8_t i;
+
+  if (++c10ms >= 10) {               // 10 ms
+	  c10ms = 0;
+	  if(rtP1)rtP1--;
+	  if(rtP2)rtP2--;
+
+//**** legge i tasti********************************************************************************
+	  inidx++;
+	  inidx&=0x03;
+	  if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
+	  if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)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
+		  for(i=0;i<4;i++){
+			  if(rtramp[i])rtramp[i]--;
+		  }
+//**** gestione buzzer *****************************************************************************
+		  if(stBuz==bzmoving){
+			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else{//bzoff
+			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
+		  }
+//**************************************************************************************************
+		  if (++c1s >= 10) {               // 10 ms
+			  c1s = 0;
+			  if(rtCiclo)rtCiclo--;
+			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+		  }
+	  }
+  }
+}
+
+void managePulsanti(void){
+	if(pulsanti&INP1){
+		if(rtP1==0)stPulsanti|=P1START;
+	}else{
+		if(stPulsanti&P1START)stPulsanti&=(~P1START);
+		else if(rtP1<=190){
+			stPulsanti|=P1STOP;
+		}
+		rtP1=200;
+	}
+	if(pulsanti&INP2){
+		if(rtP2==0)stPulsanti|=P2START;
+	}else{
+		if(stPulsanti&P2START)stPulsanti&=(~P2START);
+		else if(rtP2<=190)stPulsanti|=P2STOP;
+		rtP2=200;
+	}
+}
+
+void manageCiclo(void){
+	switch(stCiclo){
+		case omchiuso:
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura1;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura1:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t1ap;
+				stCiclo=omapertura2;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura2:
+			if(rtCiclo==0){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura3;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura3:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twap;
+				stCiclo=omapertura4;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura4:
+			if(rtCiclo==0){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura5;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura5:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t2ap;
+				stCiclo=omapertura6;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura6:
+			if(rtCiclo==0){
+				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura7;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura7:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t3ap;
+				stCiclo=omapertura8;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura8:
+			if(rtCiclo==0){
+				(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
+				(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura9;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura9:
+			if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
+				rtCiclo=twap;
+				stCiclo=omapertura10;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura10:
+			if(rtCiclo==0){
+				(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura11;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura11:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t4ap;
+				stCiclo=omapertura12;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura12:
+			if(rtCiclo==0){
+				(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura13;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura13:
+			if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twap;
+				stCiclo=omapertura14;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura14:
+			if(rtCiclo==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			stBuz=bzoff;
+			stCiclo=omchiuso;
+			stPulsanti&=(~P1STOP);
+			break;
+		case omaperto:
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura1:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t4ch;
+				stCiclo=omchiusura2;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura2:
+			if(rtCiclo==0){
+				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura3;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura3:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t1ch;
+				stCiclo=omchiusura4;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura4:
+			if(rtCiclo==0){
+				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
+				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura5;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura5:
+			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
+				rtCiclo=twch;
+				stCiclo=omchiusura6;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura6:
+			if(rtCiclo==0){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura7;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura7:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t2ch;
+				stCiclo=omchiusura8;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura8:
+			if(rtCiclo==0){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura9;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura9:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twch;
+				stCiclo=omchiusura10;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura10:
+			if(rtCiclo==0){
+				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura11;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura11:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t3ch;
+				stCiclo=omchiusura12;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura12:
+			if(rtCiclo==0){
+				(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura13;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura13:
+			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twch;
+				stCiclo=omchiusura14;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura14:
+			if(rtCiclo==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omstopchiusura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			stBuz=bzoff;
+			stCiclo=omaperto;
+			stPulsanti&=(~P1STOP);
+			break;
+	}
+}
+
+/* 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
+  }
+  loadEE();
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  manageCDC();
+	  manageAdc();
+	  managePulsanti();
+	  manageCiclo();
+//	  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_MUL6;
+  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/ee/9026f7cfb939001110fcc375db41e224

@@ -0,0 +1,228 @@
+#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;
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+extern const uint8_t deftab[];
+extern omCiclo_st stCiclo;
+extern omCiclo_st memstCiclo;
+extern uint8_t stPulsanti;
+
+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,"info\n");
+				  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 ch4=%05d ch5=%05d ch6=%05d ch7=%05d ch8=%05d",pulsanti,ch4,ch5,ch6,ch7,ch8);
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\nstCiclo=%05d stPulsanti=%05d",stCiclo,stPulsanti);
+				  while (CDC_Transmit_FS(s, 31) == USBD_BUSY);
+				  break;
+			  case 'I':
+				  sprintf((char*)s,"\nID000000");
+				  while (CDC_Transmit_FS(s, 9) == 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++){
+								  st=EEW_Read(i, &val);
+								  if (st == EE_OK){
+									  sprintf((char*)s,"0x%02x=0x%5d ",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);
+								  }
+							  }
+							  if((i%4)==0){
+								  sprintf((char*)s,"\n");
+								  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 if(rxbuf[1]=='x'){
+						  if(rxidx==2){
+							  for(i=0;i<32;i++){
+								  st=EEW_Write(i,deftab[i]);
+								  if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",i,deftab[i]);
+								  else sprintf((char*)s,"\nee write error %d", st);
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+
+							  }
+						  }else{
+							  sprintf((char*)s,"\n?ex");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else{
+						  sprintf((char*)s,"\n?er|w|d|x");
+						  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="rtp2"/>
+			<item key="textPattern" value="t3ch"/>
 			<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="omapertura2"/>
+			<item key="textPattern" value="T3CH"/>
 			<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="stpulsanti"/>
+			<item key="textPattern" value="rtp2"/>
 			<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="omchiuso"/>
+			<item key="textPattern" value="omapertura2"/>
 			<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="omapertura1"/>
+			<item key="textPattern" value="stpulsanti"/>
 			<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="t1ap"/>
+			<item key="textPattern" value="omchiuso"/>
 			<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="P1START"/>
+			<item key="textPattern" value="omapertura1"/>
 			<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="rtciclo--"/>
+			<item key="textPattern" value="t1ap"/>
 			<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="loadee"/>
+			<item key="textPattern" value="P1START"/>
 			<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="SetMot"/>
+			<item key="textPattern" value="rtciclo--"/>
 			<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="rtp1"/>
+			<item key="textPattern" value="loadee"/>
 			<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="buz"/>
+			<item key="textPattern" value="SetMot"/>
 			<item key="scope" value="0"/>
 			<list key="fileNamePatterns">
 				<item value="*"/>

workspace/.metadata/.plugins/org.eclipse.ui.workbench.texteditor/dialog_settings.xml

@@ -3,6 +3,8 @@
 	<item key="hasShownOverlayPopupBefore" value="true"/>
 	<item key="replaceBarOpen" value="false"/>
 	<list key="searchhistory">
+		<item value="t3ap"/>
+		<item value="t2ap"/>
 		<item value="P2STOP"/>
 		<item value="stPulsanti"/>
 		<item value="rtramp"/>

workspace/.metadata/version.ini

@@ -1,3 +1,3 @@
-#Wed Apr 15 22:47:40 CEST 2026
+#Thu Apr 16 18:23:54 CEST 2026
 org.eclipse.core.runtime=2
 org.eclipse.platform=4.33.0.v20240903-0240

workspace/AUTOM10/Core/Inc/main.h

@@ -66,6 +66,8 @@ typedef enum{
 	omchiusura10,
 	omchiusura11,
 	omchiusura12,
+	omchiusura13,
+	omchiusura14,
 	omstopchiusura,
 }omCiclo_st;
 /* USER CODE END ET */

workspace/AUTOM10/Core/Src/cdc_int.c

@@ -177,7 +177,7 @@ void manageCDC(void){
 							  for(i=0;i<32;i++){
 								  st=EEW_Read(i, &val);
 								  if (st == EE_OK){
-									  sprintf((char*)s,"0x%02x=0x%04x ",i,val);
+									  sprintf((char*)s,"\n0x%02x=%5d ",i,val);
 									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
 								  }else{
 									  sprintf((char*)s,"rderr %d ",st);

workspace/AUTOM10/Core/Src/eeprom.c

@@ -27,14 +27,15 @@ extern uint16_t tramp;
 extern uint16_t t1ch;
 extern uint16_t t2ch;
 extern uint16_t t3ch;
+extern uint16_t t4ch;
 extern uint16_t twch;
 
 const uint8_t deftab[32]={
 	40,	//m1pwmap
 	60, //m1pwmch
-	50, //m2pwmap
+	70, //m2pwmap
-	50, //m2pwmch
+	70, //m2pwmch
-	40, //m3pwmap
+	35, //m3pwmap
 	40, //m3pwmch
 	40, //m4pwmap
 	40,	//m4pwmch
@@ -42,14 +43,15 @@ const uint8_t deftab[32]={
 	20, //m2rampstart
 	20, //m3rampstart
 	20, //m4rampstart
-	26,	//t1ap
+	28,	//t1ap
-	2,	//t2ap
+	4,	//t2ap
-	8,  //t3ap
+	10,  //t3ap
 	40, //t4ap
 	1,  //twap
-	30,  //t1ch
+	20,  //t1ch
-	30,  //t2ch
+	10,  //t2ch
-	40,  //t3ch
+	30,  //t3ch
+	1,  //t4ch
 	1,  //twch
 	0,
 	0,
@@ -60,7 +62,6 @@ const uint8_t deftab[32]={
 	0,
 	0,
 	0,
-	0,
 	10,  //tramp
 };
 
@@ -371,6 +372,7 @@ void loadEE(void){
 	EEW_Read(T1CH, &t1ch);
 	EEW_Read(T2CH, &t2ch);
 	EEW_Read(T3CH, &t3ch);
+	EEW_Read(T4CH, &t4ch);
 	EEW_Read(TWCH, &twch);
 	EEW_Read(TRAMP, &tramp);
 }

workspace/AUTOM10/Core/Src/eeprom.h

@@ -86,7 +86,8 @@ typedef enum
 #define T1CH 17 //t1ch
 #define T2CH 18 //t2ch
 #define T3CH 19 //t3ch
-#define TWCH 20 //twch
+#define T4CH 20 //t4ch
+#define TWCH 21 //twch
 #define TRAMP 31 //tramp
 
 

workspace/AUTOM10/Core/Src/main.c

@@ -95,6 +95,7 @@ uint16_t twap;
 uint16_t t1ch;
 uint16_t t2ch;
 uint16_t t3ch;
+uint16_t t4ch;
 uint16_t twch;
 uint16_t tramp;
 
@@ -302,72 +303,72 @@ void manageCiclo(void){
 		case omaperto:
 			if(stPulsanti&P1START){
 				stBuz=bzmoving;
-				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
 				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
 				stCiclo=omchiusura1;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura1:
-			if((ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE)){
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ch;
+				rtCiclo=t4ch;
 				stCiclo=omchiusura2;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura2:
 			if(rtCiclo==0){
-				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
+				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
-				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
 				stCiclo=omchiusura3;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura3:
-			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
+				rtCiclo=t1ch;
 				stCiclo=omchiusura4;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura4:
 			if(rtCiclo==0){
-				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
+				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
 				stCiclo=omchiusura5;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura5:
-			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=t2ch;
+				rtCiclo=twch;
 				stCiclo=omchiusura6;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura6:
 			if(rtCiclo==0){
-				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
 				stCiclo=omchiusura7;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura7:
-			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+			if((ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twch;
+				rtCiclo=t3ch;
 				stCiclo=omchiusura8;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura8:
 			if(rtCiclo==0){
-				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
 				stCiclo=omchiusura9;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura9:
-			if(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=t3ch;
+				rtCiclo=t2ch;
 				stCiclo=omchiusura10;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
@@ -382,11 +383,25 @@ void manageCiclo(void){
 		case omchiusura11:
 			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
 				rtCiclo=twch;
-				stCiclo=omchiusura12;
+				stCiclo=omchiusura14;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura12:
+			if(rtCiclo==0){
+				//(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura14;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura13:
+			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twch;
+				stCiclo=omchiusura14;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura14:
 			if(rtCiclo==0){
 				stBuz=bzoff;
 				stCiclo=omchiuso;

workspace/AUTOM10/Debug/Core/Src/cdc_int.cyclo

@@ -1,4 +1,4 @@
-../Core/Src/eeprom.h:102:24:EEW_Read	1
+../Core/Src/eeprom.h:103:24:EEW_Read	1
-../Core/Src/eeprom.h:107:24:EEW_Write	1
+../Core/Src/eeprom.h:108:24:EEW_Write	1
 ../Core/Src/cdc_int.c:27:6:toHex	17
 ../Core/Src/cdc_int.c:63:6:manageCDC	71

workspace/AUTOM10/Debug/Core/Src/cdc_int.su

@@ -1,4 +1,4 @@
-../Core/Src/eeprom.h:102:24:EEW_Read	16	static
+../Core/Src/eeprom.h:103:24:EEW_Read	16	static
-../Core/Src/eeprom.h:107:24:EEW_Write	16	static
+../Core/Src/eeprom.h:108:24:EEW_Write	16	static
 ../Core/Src/cdc_int.c:27:6:toHex	16	static
 ../Core/Src/cdc_int.c:63:6:manageCDC	184	static

workspace/AUTOM10/Debug/Core/Src/eeprom.cyclo

@@ -1,13 +1,13 @@
-../Core/Src/eeprom.h:102:24:EEW_Read	1
+../Core/Src/eeprom.h:103:24:EEW_Read	1
-../Core/Src/eeprom.c:92:17:EE_GetPageStatus	1
+../Core/Src/eeprom.c:93:17:EE_GetPageStatus	1
-../Core/Src/eeprom.c:97:26:EE_FlashProgramHalfWord	1
+../Core/Src/eeprom.c:98:26:EE_FlashProgramHalfWord	1
-../Core/Src/eeprom.c:108:26:EE_FlashErasePage	1
+../Core/Src/eeprom.c:109:26:EE_FlashErasePage	1
-../Core/Src/eeprom.c:127:17:EE_FindFreeAddress	3
+../Core/Src/eeprom.c:128:17:EE_FindFreeAddress	3
-../Core/Src/eeprom.c:149:18:EE_FindInPage	6
+../Core/Src/eeprom.c:150:18:EE_FindInPage	6
-../Core/Src/eeprom.c:189:18:EE_Format	4
+../Core/Src/eeprom.c:190:18:EE_Format	4
-../Core/Src/eeprom.c:207:17:EE_GetOtherPageBase	2
+../Core/Src/eeprom.c:208:17:EE_GetOtherPageBase	2
-../Core/Src/eeprom.c:213:18:EE_PageTransfer	11
+../Core/Src/eeprom.c:214:18:EE_PageTransfer	11
-../Core/Src/eeprom.c:286:10:EE_Init	7
+../Core/Src/eeprom.c:287:10:EE_Init	7
-../Core/Src/eeprom.c:317:10:EE_ReadVariable	2
+../Core/Src/eeprom.c:318:10:EE_ReadVariable	2
-../Core/Src/eeprom.c:334:10:EE_WriteVariable	4
+../Core/Src/eeprom.c:335:10:EE_WriteVariable	4
-../Core/Src/eeprom.c:357:6:loadEE	1
+../Core/Src/eeprom.c:358:6:loadEE	1

workspace/AUTOM10/Debug/Core/Src/eeprom.su

@@ -1,13 +1,13 @@
-../Core/Src/eeprom.h:102:24:EEW_Read	16	static
+../Core/Src/eeprom.h:103:24:EEW_Read	16	static
-../Core/Src/eeprom.c:92:17:EE_GetPageStatus	16	static
+../Core/Src/eeprom.c:93:17:EE_GetPageStatus	16	static
-../Core/Src/eeprom.c:97:26:EE_FlashProgramHalfWord	32	static
+../Core/Src/eeprom.c:98:26:EE_FlashProgramHalfWord	32	static
-../Core/Src/eeprom.c:108:26:EE_FlashErasePage	40	static
+../Core/Src/eeprom.c:109:26:EE_FlashErasePage	40	static
-../Core/Src/eeprom.c:127:17:EE_FindFreeAddress	32	static
+../Core/Src/eeprom.c:128:17:EE_FindFreeAddress	32	static
-../Core/Src/eeprom.c:149:18:EE_FindInPage	40	static
+../Core/Src/eeprom.c:150:18:EE_FindInPage	40	static
-../Core/Src/eeprom.c:189:18:EE_Format	8	static
+../Core/Src/eeprom.c:190:18:EE_Format	8	static
-../Core/Src/eeprom.c:207:17:EE_GetOtherPageBase	16	static
+../Core/Src/eeprom.c:208:17:EE_GetOtherPageBase	16	static
-../Core/Src/eeprom.c:213:18:EE_PageTransfer	40	static
+../Core/Src/eeprom.c:214:18:EE_PageTransfer	40	static
-../Core/Src/eeprom.c:286:10:EE_Init	16	static
+../Core/Src/eeprom.c:287:10:EE_Init	16	static
-../Core/Src/eeprom.c:317:10:EE_ReadVariable	24	static
+../Core/Src/eeprom.c:318:10:EE_ReadVariable	24	static
-../Core/Src/eeprom.c:334:10:EE_WriteVariable	24	static
+../Core/Src/eeprom.c:335:10:EE_WriteVariable	24	static
-../Core/Src/eeprom.c:357:6:loadEE	8	static
+../Core/Src/eeprom.c:358:6:loadEE	8	static

workspace/AUTOM10/Debug/Core/Src/main.cyclo

@@ -1,12 +1,12 @@
-../Core/Src/main.c:122:6:HAL_SYSTICK_Callback	13
+../Core/Src/main.c:123:6:HAL_SYSTICK_Callback	13
-../Core/Src/main.c:165:6:managePulsanti	9
+../Core/Src/main.c:166:6:managePulsanti	9
-../Core/Src/main.c:184:6:manageCiclo	90
+../Core/Src/main.c:185:6:manageCiclo	96
-../Core/Src/main.c:414:5:main	2
+../Core/Src/main.c:429:5:main	2
-../Core/Src/main.c:497:6:SystemClock_Config	4
+../Core/Src/main.c:512:6:SystemClock_Config	4
-../Core/Src/main.c:545:13:MX_ADC1_Init	7
+../Core/Src/main.c:560:13:MX_ADC1_Init	7
-../Core/Src/main.c:628:13:MX_TIM2_Init	9
+../Core/Src/main.c:643:13:MX_TIM2_Init	9
-../Core/Src/main.c:704:13:MX_TIM4_Init	9
+../Core/Src/main.c:719:13:MX_TIM4_Init	9
-../Core/Src/main.c:778:13:MX_USART1_UART_Init	2
+../Core/Src/main.c:793:13:MX_USART1_UART_Init	2
-../Core/Src/main.c:809:13:MX_DMA_Init	1
+../Core/Src/main.c:824:13:MX_DMA_Init	1
-../Core/Src/main.c:827:13:MX_GPIO_Init	1
+../Core/Src/main.c:842:13:MX_GPIO_Init	1
-../Core/Src/main.c:903:6:Error_Handler	1
+../Core/Src/main.c:918:6:Error_Handler	1

workspace/AUTOM10/Debug/Core/Src/main.su

@@ -1,12 +1,12 @@
-../Core/Src/main.c:122:6:HAL_SYSTICK_Callback	16	static
+../Core/Src/main.c:123:6:HAL_SYSTICK_Callback	16	static
-../Core/Src/main.c:165:6:managePulsanti	4	static
+../Core/Src/main.c:166:6:managePulsanti	4	static
-../Core/Src/main.c:184:6:manageCiclo	16	static
+../Core/Src/main.c:185:6:manageCiclo	16	static
-../Core/Src/main.c:414:5:main	8	static
+../Core/Src/main.c:429:5:main	8	static
-../Core/Src/main.c:497:6:SystemClock_Config	88	static
+../Core/Src/main.c:512:6:SystemClock_Config	88	static
-../Core/Src/main.c:545:13:MX_ADC1_Init	24	static
+../Core/Src/main.c:560:13:MX_ADC1_Init	24	static
-../Core/Src/main.c:628:13:MX_TIM2_Init	64	static
+../Core/Src/main.c:643:13:MX_TIM2_Init	64	static
-../Core/Src/main.c:704:13:MX_TIM4_Init	64	static
+../Core/Src/main.c:719:13:MX_TIM4_Init	64	static
-../Core/Src/main.c:778:13:MX_USART1_UART_Init	8	static
+../Core/Src/main.c:793:13:MX_USART1_UART_Init	8	static
-../Core/Src/main.c:809:13:MX_DMA_Init	16	static
+../Core/Src/main.c:824:13:MX_DMA_Init	16	static
-../Core/Src/main.c:827:13:MX_GPIO_Init	40	static
+../Core/Src/main.c:842:13:MX_GPIO_Init	40	static
-../Core/Src/main.c:903:6:Error_Handler	4	static,ignoring_inline_asm
+../Core/Src/main.c:918:6:Error_Handler	4	static,ignoring_inline_asm