wip

appunti.txt

@@ -15,3 +15,5 @@ alimentazione sauro passo5.08 4 poli
 fusibile 30 A lamellare
 + rxe050
 buzzer filato 24V
+
+controllare codice connettore usb e footprint F1

workspace/.metadata/.plugins/com.st.stm32cube.ide.mcu.livewatch/params.dat

@@ -0,0 +1 @@
+NUMBER_FORMAT=0

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

@@ -3,3 +3,8 @@
 *** SESSION nov 13, 2025 22:51:20.214 ------------------------------------------
 *** SESSION nov 15, 2025 23:00:52.719 ------------------------------------------
 *** SESSION nov 16, 2025 13:21:44.787 ------------------------------------------
+*** SESSION dic 03, 2025 21:34:32.142 ------------------------------------------
+*** SESSION dic 05, 2025 12:42:18.868 ------------------------------------------
+*** SESSION dic 06, 2025 15:55:43.678 ------------------------------------------
+*** SESSION dic 06, 2025 16:57:32.486 ------------------------------------------
+*** SESSION dic 06, 2025 22:49:40.40 -------------------------------------------

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

@@ -1,10 +1,10 @@
-13:28:21 **** Build of configuration Debug for project AUTOM10 ****
+23:30:07 **** Incremental Build of configuration Debug for project AUTOM10 ****
 make -j12 all 
 arm-none-eabi-size  AUTOM10.elf 
    text	   data	    bss	    dec	    hex	filename
-  39680	    460	   7044	  47184	   b850	AUTOM10.elf
+  42072	    460	   7148	  49680	   c210	AUTOM10.elf
 Finished building: default.size.stdout
  
 
-13:28:23 Build Finished. 0 errors, 0 warnings. (took 2s.123ms)
+23:30:08 Build Finished. 0 errors, 0 warnings. (took 340ms)
 

workspace/.metadata/.plugins/org.eclipse.cdt.ui/dialog_settings.xml

@@ -1,7 +1,36 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <section name="Workbench">
+	<item key="LastUsedHeaderTemplate" value="Default C header template"/>
+	<item key="LastUsedSourceTemplate" value="Default C source template"/>
 	<section name="completion_proposal_size">
 	</section>
 	<section name="org.eclipse.cdt.ui.text.hover.CMacroExpansionExploration">
 	</section>
+	<section name="PDOMSearchPage">
+		<item key="caseSensitive" value="false"/>
+		<item key="searchFlags" value="227191"/>
+		<list key="previousPatterns">
+			<item value="led3"/>
+			<item value="led2"/>
+			<item value="EXP3"/>
+			<item value="exp3"/>
+		</list>
+	</section>
+	<section name="NewSourceFileCreationWizard.dialogBounds">
+		<item key="DIALOG_X_ORIGIN" value="619"/>
+		<item key="DIALOG_Y_ORIGIN" value="259"/>
+		<item key="DIALOG_WIDTH" value="700"/>
+		<item key="DIALOG_HEIGHT" value="480"/>
+		<item key="DIALOG_FONT_NAME" value="1|Segoe UI|9.0|0|WINDOWS|1|-15|0|0|0|400|0|0|0|1|0|0|0|0|Segoe UI"/>
+	</section>
+	<section name="CResourceRenameRefactoringInputPage">
+		<item key="updateReferences" value="true"/>
+	</section>
+	<section name="NewHeaderFileCreationWizard.dialogBounds">
+		<item key="DIALOG_X_ORIGIN" value="619"/>
+		<item key="DIALOG_Y_ORIGIN" value="259"/>
+		<item key="DIALOG_WIDTH" value="700"/>
+		<item key="DIALOG_HEIGHT" value="480"/>
+		<item key="DIALOG_FONT_NAME" value="1|Segoe UI|9.0|0|WINDOWS|1|-15|0|0|0|400|0|0|0|1|0|0|0|0|Segoe UI"/>
+	</section>
 </section>

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

@@ -1,7 +1,21 @@
-13:28:21 **** Build of configuration Debug for project AUTOM10 ****
+23:29:57 **** 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
+  42072	    460	   7148	  49680	   c210	AUTOM10.elf
+Finished building: default.size.stdout
+ 
+Finished building: AUTOM10.list
+ 
+23:30:07 **** Incremental Build of configuration Debug for project AUTOM10 ****
 make -j12 all 
 arm-none-eabi-size  AUTOM10.elf 
    text	   data	    bss	    dec	    hex	filename
-  39680	    460	   7044	  47184	   b850	AUTOM10.elf
+  42072	    460	   7148	  49680	   c210	AUTOM10.elf
 Finished building: default.size.stdout
  

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

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

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/23/60691f19e8d200101320a8c687ef41a7

@@ -0,0 +1,35 @@
+/*
+ * pwm.h
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+#ifndef INC_PWM_H_
+#define INC_PWM_H_
+#include <stdbool.h>
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel);;
+void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel);
+void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
+void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
+
+#define timMot1 &htim2
+#define FWMot1 TIM_CHANNEL_1
+#define BWMot1 TIM_CHANNEL_2
+
+#define timMot2 &htim2
+#define FWMot2 TIM_CHANNEL_3
+#define BWMot2 TIM_CHANNEL_4
+
+#define timMot3 &htim4
+#define FWMot3 TIM_CHANNEL_1
+#define BWMot3 TIM_CHANNEL_2
+
+#define timMot4 &htim4
+#define FWMot4 TIM_CHANNEL_3
+#define BWMot4 TIM_CHANNEL_4
+
+#define FW 0
+#define BW 1
+
+#endif /* INC_PWM_H_ */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/2c/407f2e52c3d200101320a8c687ef41a7

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

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/2d/8032933bc8d200101320a8c687ef41a7

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

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/2e/7054c5dbedd200101686edb1a63cbb79

@@ -0,0 +1,94 @@
+#include <string.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+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;
+
+	if (CDC_Available()) {
+	  int rx = CDC_ReadByte();
+	  if (rx < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=rx;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((rx==0x0d)||(rx==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  __HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
+				  sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  break;
+			  case 'm':
+				  if(rxidx==8){
+					  if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
+						  mot=rxbuf[1]-='0';
+						  if(rxbuf[2]=='f'){
+							  dir=FW;
+						  }else if(rxbuf[2]=='b'){
+							  dir=BW;
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
+							  break;
+						  }
+						  if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
+							  dm=rxbuf[3]-='0';
+							  m=rxbuf[4]-='0';
+							  c=rxbuf[5]-='0';
+							  d=rxbuf[6]-='0';
+							  u=rxbuf[7]-='0';
+							  val=dm;
+							  val*=10;
+							  val+=m;
+							  val*=10;
+							  val+=c;
+							  val*=10;
+							  val+=d;
+							  val*=10;
+							  val+=u;
+							  SetMot(mot,dir,val);
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+						  }
+
+					  }else{
+						  sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
+						  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
+					  while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
+				  }
+				  break;
+			  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/2f/70b5e551ced200101320a8c687ef41a7

@@ -0,0 +1,48 @@
+#include <string.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  __HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
+				  sprintf((char*)s,"\n0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  break;
+			  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/3/c01105d8e5d200101320a8c687ef41a7

@@ -0,0 +1,35 @@
+/*
+ * pwm.h
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+#ifndef INC_PWM_H_
+#define INC_PWM_H_
+#include <stdbool.h>
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel);;
+void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel);
+void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
+void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
+
+#define timMot1 &htim2
+#define FWMot1 TIM_CHANNEL_1
+#define BWMot1 TIM_CHANNEL_2
+
+#define timMot2 &htim2
+#define FWMot2 TIM_CHANNEL_3
+#define BWMot2 TIM_CHANNEL_4
+
+#define timMot3 &htim4
+#define FWMot3 TIM_CHANNEL_1
+#define BWMot3 TIM_CHANNEL_2
+
+#define timMot4 &htim4
+#define FWMot4 TIM_CHANNEL_3
+#define BWMot4 TIM_CHANNEL_4
+
+#define FW 0
+@define BW 1
+
+#endif /* INC_PWM_H_ */

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

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

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/3f/80815bcce8d200101320a8c687ef41a7

@@ -0,0 +1,36 @@
+/*
+ * pwm.h
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+#ifndef INC_PWM_H_
+#define INC_PWM_H_
+#include <stdbool.h>
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel);;
+void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel);
+void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
+void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
+void SetMot(TIM_HandleTypeDef *htim,uint8_t dir,uint16_t pwmval);
+
+#define timMot1 &htim2
+#define FWMot1 TIM_CHANNEL_1
+#define BWMot1 TIM_CHANNEL_2
+
+#define timMot2 &htim2
+#define FWMot2 TIM_CHANNEL_3
+#define BWMot2 TIM_CHANNEL_4
+
+#define timMot3 &htim4
+#define FWMot3 TIM_CHANNEL_1
+#define BWMot3 TIM_CHANNEL_2
+
+#define timMot4 &htim4
+#define FWMot4 TIM_CHANNEL_3
+#define BWMot4 TIM_CHANNEL_4
+
+#define FW 0
+#define BW 1
+
+#endif /* INC_PWM_H_ */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/41/f0b4d494efd200101686edb1a63cbb79

@@ -0,0 +1,137 @@
+/*
+ * pwm.c
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
+{
+    HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
+
+    return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
+}
+
+void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
+	HAL_TIM_PWM_Stop(htim, Channel);
+}
+
+void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+	HAL_TIM_PWM_Start(htim, Channel);
+}
+
+void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+}
+
+void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
+	TIM_HandleTypeDef *htim;
+	switch(mot){
+	case 1:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot1,FWMot1);
+				HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot1, FWMot1)){
+				SetMotPwm(timMot1,FWMot1,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
+				StartMot(timMot1,FWMot1,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot1,BWMot1);
+				HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot1, BWMot1)){
+				SetMotPwm(timMot1,BWMot1,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
+				StartMot(timMot1,BWMot1,pwmval);
+
+			}
+		}
+		break;
+	case 2:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot2,FWMot2);
+				HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot2, FWMot2)){
+				SetMotPwm(timMot2,FWMot2,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
+				StartMot(timMot2,FWMot2,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot2,BWMot2);
+				HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot2, BWMot2)){
+				SetMotPwm(timMot2,BWMot2,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
+				StartMot(timMot2,BWMot2,pwmval);
+			}
+		}
+		break;
+	case 3:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot3,FWMot3);
+				HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot3, FWMot3)){
+				SetMotPwm(timMot3,FWMot3,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
+				StartMot(timMot3,FWMot3,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot3,BWMot3);
+				HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot3, BWMot3)){
+				SetMotPwm(timMot3,BWMot3,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
+				StartMot(timMot3,BWMot3,pwmval);
+			}
+		}
+		break;
+	case 4:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot4,FWMot4);
+				HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot4, FWMot4)){
+				SetMotPwm(timMot4,FWMot4,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
+				StartMot(timMot4,FWMot4,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot4,BWMot4);
+				HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot4, BWMot4)){
+				SetMotPwm(timMot4,BWMot4,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
+				StartMot(timMot4,BWMot4,pwmval);
+			}
+		}
+		break;
+	default:
+		break;
+	}
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/42/d05a3c74c8d200101320a8c687ef41a7

@@ -0,0 +1,13 @@
+/*
+ * pwm.h
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+#ifndef INC_PWM_H_
+#define INC_PWM_H_
+
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel);
+
+#endif /* INC_PWM_H_ */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/48/707bfc16bed200101320a8c687ef41a7

@@ -0,0 +1,22 @@
+
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+
+void manageCDC(void){
+	  if (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
+    }
+
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/4d/20ccc362c3d200101320a8c687ef41a7

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

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/4f/b0c6b2d5ccd200101320a8c687ef41a7

@@ -0,0 +1,45 @@
+#include <string.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS((char*)s, strlen(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/5/008a3d96bed200101320a8c687ef41a7

@@ -0,0 +1,644 @@
+
+/* 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"
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+
+TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_TIM3_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_TIM1_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+
+	  static uint8_t c100ms = 0;
+	  static uint8_t c1s = 0;
+	  if (++c10ms >= 10) {               // 10 ms
+		  c10ms = 0;
+		  if (++c100ms >= 10) {               // 10 ms
+			  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+			  if (++c1s >= 10) {               // 10 ms
+				  c1s = 0;
+				  HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
+			  }
+		  }
+	  }
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_TIM3_Init();
+  MX_ADC1_Init();
+  MX_TIM1_Init();
+
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
+  /* USER CODE BEGIN 2 */
+
+
+	CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  void manageCDC(void);
+	  while (CDC_Available()) {
+	//	  int c = CDC_ReadByte();
+      //if (c < 0) break;
+
+//		  uint8_t out = (uint8_t)c;
+//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+//		  unsigned char s[100];
+//		  sprintf((char*)s,"\nc=%03d",c);
+//		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
+//        // tiny spin or yield
+//      }
+    }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 1;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 0;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 17999;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 2400;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 5500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_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 TIM3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 0;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 17999;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 9000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 10000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 11000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 12000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  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 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(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : PC13 */
+  GPIO_InitStruct.Pin = GPIO_PIN_13;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOC, &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/5/40d0fb01e1d200101320a8c687ef41a7

@@ -0,0 +1,22 @@
+/*
+ * pwm.c
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
+{
+    HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
+
+    return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/54/00f93d4abed200101320a8c687ef41a7

@@ -0,0 +1,632 @@
+
+/* 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"
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+
+TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_TIM3_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_TIM1_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+
+	  static uint8_t c100ms = 0;
+	  static uint8_t c1s = 0;
+	  if (++c10ms >= 10) {               // 10 ms
+		  c10ms = 0;
+		  if (++c100ms >= 10) {               // 10 ms
+			  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+			  if (++c1s >= 10) {               // 10 ms
+				  c1s = 0;
+				  HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
+			  }
+		  }
+	  }
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_TIM3_Init();
+  MX_ADC1_Init();
+  MX_TIM1_Init();
+
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
+  /* USER CODE BEGIN 2 */
+
+
+	CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  void manageCDC(void);
+    }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 1;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 0;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 17999;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 2400;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 5500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_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 TIM3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 0;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 17999;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 9000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 10000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 11000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 12000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  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 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(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : PC13 */
+  GPIO_InitStruct.Pin = GPIO_PIN_13;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOC, &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/59/c0f68c01bed200101320a8c687ef41a7

@@ -0,0 +1,5 @@
+
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/5b/901872f3e5d200101320a8c687ef41a7

@@ -0,0 +1,76 @@
+#include <string.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	uint8_t mot,s,dm,m,c,d,u;
+
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  __HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
+				  sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  break;
+			  case 'm':
+				  if(rxidx==8){
+					  if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
+						  mot=rxbuf[1]-='0';
+						  if(rxbuf[2]=='f'){
+							  s=FW;
+						  }else if(rxbuf[2]=='b'){
+							  s=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[1]<='9')){
+						  }
+
+
+					  }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;
+			  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/5f/50928401bed200101320a8c687ef41a7

@@ -0,0 +1,643 @@
+
+/* 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"
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+
+TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_TIM3_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_TIM1_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+
+	  static uint8_t c100ms = 0;
+	  static uint8_t c1s = 0;
+	  if (++c10ms >= 10) {               // 10 ms
+		  c10ms = 0;
+		  if (++c100ms >= 10) {               // 10 ms
+			  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+			  if (++c1s >= 10) {               // 10 ms
+				  c1s = 0;
+				  HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
+			  }
+		  }
+	  }
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_TIM3_Init();
+  MX_ADC1_Init();
+  MX_TIM1_Init();
+
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
+  /* USER CODE BEGIN 2 */
+
+
+	CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  while (CDC_Available()) {
+		  int c = CDC_ReadByte();
+      //if (c < 0) break;
+
+//		  uint8_t out = (uint8_t)c;
+//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+		  unsigned char s[100];
+		  sprintf((char*)s,"\nc=%03d",c);
+		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
+        // tiny spin or yield
+      }
+    }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 1;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 0;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 17999;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 2400;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 5500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_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 TIM3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 0;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 17999;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 9000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 10000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 11000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 12000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  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 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(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : PC13 */
+  GPIO_InitStruct.Pin = GPIO_PIN_13;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOC, &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/6/b0a87393cbd200101320a8c687ef41a7

@@ -0,0 +1,37 @@
+
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "pwm.h"
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  break;
+			  default:
+				  sprintf((char*)s,"\n?");
+				  while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
+				  break;
+			  }
+		  }
+		  rxidx=0;
+	  }else rxidx++;
+      // tiny spin or yield
+    }
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/6/d073bc3ac3d200101320a8c687ef41a7

@@ -0,0 +1,22 @@
+
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+
+void manageCDC(void){
+	  if (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
+    }
+	  }
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/62/c050b2c2cdd200101320a8c687ef41a7

@@ -0,0 +1,45 @@
+#include <string.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  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/69/3059c0d8ead200101320a8c687ef41a7

@@ -0,0 +1,104 @@
+/*
+ * pwm.c
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
+{
+    HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
+
+    return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
+}
+
+void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
+	HAL_TIM_PWM_Stop(htim, Channel);
+}
+
+void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+	HAL_TIM_PWM_Start(htim, Channel);
+}
+
+void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+}
+
+void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
+	TIM_HandleTypeDef *htim;
+	switch(mot){
+	case 1:
+		if(dir==FW){
+			if(IsPwmRunning(timMot1, FWMot1)){
+				SetMotPwm(timMot1,FWMot1,pwmval);
+			}else{
+				StartMot(timMot1,FWMot1,pwmval);
+			}
+		}else{
+			if(IsPwmRunning(timMot1, BWMot1)){
+				SetMotPwm(timMot1,BWMot1,pwmval);
+			}else{
+				StartMot(timMot1,BWMot1,pwmval);
+			}
+		}
+		break;
+	case 2:
+		if(dir==FW){
+			if(IsPwmRunning(timMot2, FWMot2)){
+				SetMotPwm(timMot2,FWMot2,pwmval);
+			}else{
+				StartMot(timMot2,FWMot2,pwmval);
+			}
+		}else{
+			if(IsPwmRunning(timMot2, BWMot2)){
+				SetMotPwm(timMot2,BWMot2,pwmval);
+			}else{
+				StartMot(timMot2,BWMot2,pwmval);
+			}
+		}
+		break;
+	case 3:
+		if(dir==FW){
+			if(IsPwmRunning(timMot3, FWMot3)){
+				SetMotPwm(timMot3,FWMot3,pwmval);
+			}else{
+				StartMot(timMot3,FWMot3,pwmval);
+			}
+		}else{
+			if(IsPwmRunning(timMot3, BWMot3)){
+				SetMotPwm(timMot3,BWMot3,pwmval);
+			}else{
+				StartMot(timMot3,BWMot3,pwmval);
+			}
+		}
+		break;
+	case 4:
+		if(dir==FW){
+			if(IsPwmRunning(timMot4, FWMot4)){
+				SetMotPwm(timMot4,FWMot4,pwmval);
+			}else{
+				StartMot(timMot4,FWMot4,pwmval);
+			}
+		}else{
+			if(IsPwmRunning(timMot4, BWMot4)){
+				SetMotPwm(timMot4,BWMot4,pwmval);
+			}else{
+				StartMot(timMot4,BWMot4,pwmval);
+			}
+		}
+		break;
+	default:
+		break;
+	}
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/69/b0052d9fefd200101686edb1a63cbb79

@@ -0,0 +1,138 @@
+/*
+ * pwm.c
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+
+#include "stm32f1xx_hal.h"
+#include "main.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
+{
+    HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
+
+    return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
+}
+
+void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
+	HAL_TIM_PWM_Stop(htim, Channel);
+}
+
+void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+	HAL_TIM_PWM_Start(htim, Channel);
+}
+
+void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+}
+
+void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
+	TIM_HandleTypeDef *htim;
+	switch(mot){
+	case 1:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot1,FWMot1);
+				HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot1, FWMot1)){
+				SetMotPwm(timMot1,FWMot1,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
+				StartMot(timMot1,FWMot1,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot1,BWMot1);
+				HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot1, BWMot1)){
+				SetMotPwm(timMot1,BWMot1,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
+				StartMot(timMot1,BWMot1,pwmval);
+
+			}
+		}
+		break;
+	case 2:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot2,FWMot2);
+				HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot2, FWMot2)){
+				SetMotPwm(timMot2,FWMot2,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
+				StartMot(timMot2,FWMot2,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot2,BWMot2);
+				HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot2, BWMot2)){
+				SetMotPwm(timMot2,BWMot2,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
+				StartMot(timMot2,BWMot2,pwmval);
+			}
+		}
+		break;
+	case 3:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot3,FWMot3);
+				HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot3, FWMot3)){
+				SetMotPwm(timMot3,FWMot3,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
+				StartMot(timMot3,FWMot3,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot3,BWMot3);
+				HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot3, BWMot3)){
+				SetMotPwm(timMot3,BWMot3,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
+				StartMot(timMot3,BWMot3,pwmval);
+			}
+		}
+		break;
+	case 4:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot4,FWMot4);
+				HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot4, FWMot4)){
+				SetMotPwm(timMot4,FWMot4,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
+				StartMot(timMot4,FWMot4,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot4,BWMot4);
+				HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot4, BWMot4)){
+				SetMotPwm(timMot4,BWMot4,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
+				StartMot(timMot4,BWMot4,pwmval);
+			}
+		}
+		break;
+	default:
+		break;
+	}
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/6b/3038f901e1d200101320a8c687ef41a7

@@ -0,0 +1,644 @@
+
+/* 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"
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+
+TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_TIM3_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_TIM1_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+
+	  static uint8_t c100ms = 0;
+	  static uint8_t c1s = 0;
+	  if (++c10ms >= 10) {               // 10 ms
+		  c10ms = 0;
+		  if (++c100ms >= 10) {               // 10 ms
+			  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+			  if (++c1s >= 10) {               // 10 ms
+				  c1s = 0;
+				  HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
+			  }
+		  }
+	  }
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_TIM3_Init();
+  MX_ADC1_Init();
+  MX_TIM1_Init();
+
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
+  /* USER CODE BEGIN 2 */
+
+
+	CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  manageCDC();
+//	  while (CDC_Available()) {
+	//	  int c = CDC_ReadByte();
+      //if (c < 0) break;
+
+//		  uint8_t out = (uint8_t)c;
+//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+//		  unsigned char s[100];
+//		  sprintf((char*)s,"\nc=%03d",c);
+//		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
+//        // tiny spin or yield
+//      }
+ //   }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 1;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 0;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 17999;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 2400;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 5500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_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 TIM3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 0;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 17999;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 9000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 10000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 11000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 12000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  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 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(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : PC13 */
+  GPIO_InitStruct.Pin = GPIO_PIN_13;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOC, &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/6e/00b49a0ceed200101686edb1a63cbb79

@@ -0,0 +1,94 @@
+#include <string.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+//extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+//extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+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;
+
+	if (CDC_Available()) {
+	  int rx = CDC_ReadByte();
+	  if (rx < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=rx;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((rx==0x0d)||(rx==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  __HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
+				  sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  break;
+			  case 'm':
+				  if(rxidx==8){
+					  if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
+						  mot=rxbuf[1]-='0';
+						  if(rxbuf[2]=='f'){
+							  dir=FW;
+						  }else if(rxbuf[2]=='b'){
+							  dir=BW;
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
+							  break;
+						  }
+						  if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
+							  dm=rxbuf[3]-='0';
+							  m=rxbuf[4]-='0';
+							  c=rxbuf[5]-='0';
+							  d=rxbuf[6]-='0';
+							  u=rxbuf[7]-='0';
+							  val=dm;
+							  val*=10;
+							  val+=m;
+							  val*=10;
+							  val+=c;
+							  val*=10;
+							  val+=d;
+							  val*=10;
+							  val+=u;
+							  SetMot(mot,dir,val);
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+						  }
+
+					  }else{
+						  sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
+						  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
+					  while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
+				  }
+				  break;
+			  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/6e/102c20cbccd200101320a8c687ef41a7

@@ -0,0 +1,45 @@
+#include <string.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen(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/75/b0aaf8b5bdd200101320a8c687ef41a7

@@ -0,0 +1,2 @@
+
+#include "cdc_int.h"

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/77/50a00602ced200101320a8c687ef41a7

@@ -0,0 +1,48 @@
+#include <string.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  __HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
+				  sprintf((char*)s,"\n0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x",__HAL_TIM_GET_COMPARE(timMot1,FWMot1),__HAL_TIM_GET_COMPARE(timMot1,BWMot1),__HAL_TIM_GET_COMPARE(timMot2,FWMot2),__HAL_TIM_GET_COMPARE(timMot2,BWMot2),__HAL_TIM_GET_COMPARE(timMot3,FWMot3),__HAL_TIM_GET_COMPARE(timMot3,BWMot3),__HAL_TIM_GET_COMPARE(timMot4,FWMot4),__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  break;
+			  default:
+				  sprintf((char*)s,"\n?");
+				  while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
+				  break;
+			  }
+		  }
+		  rxidx=0;
+	  }else rxidx++;
+      // tiny spin or yield
+    }
+
+}

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

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

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/7e/60a89c3bc8d200101320a8c687ef41a7

@@ -0,0 +1,13 @@
+/*
+ * pwm.h
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+#ifndef INC_PWM_H_
+#define INC_PWM_H_
+
+
+
+#endif /* INC_PWM_H_ */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/7e/7097cb5ee5d200101320a8c687ef41a7

@@ -0,0 +1,30 @@
+/*
+ * pwm.h
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+#ifndef INC_PWM_H_
+#define INC_PWM_H_
+#include <stdbool.h>
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel);;
+void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel);
+
+#define timMot1 &htim2
+#define FWMot1 TIM_CHANNEL_1
+#define BWMot1 TIM_CHANNEL_2
+
+#define timMot2 &htim2
+#define FWMot2 TIM_CHANNEL_3
+#define BWMot2 TIM_CHANNEL_4
+
+#define timMot3 &htim4
+#define FWMot3 TIM_CHANNEL_1
+#define BWMot3 TIM_CHANNEL_2
+
+#define timMot4 &htim4
+#define FWMot4 TIM_CHANNEL_3
+#define BWMot4 TIM_CHANNEL_4
+
+#endif /* INC_PWM_H_ */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/8/d0f35788bed200101320a8c687ef41a7

@@ -0,0 +1,644 @@
+
+/* 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"
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+
+TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_TIM3_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_TIM1_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+
+	  static uint8_t c100ms = 0;
+	  static uint8_t c1s = 0;
+	  if (++c10ms >= 10) {               // 10 ms
+		  c10ms = 0;
+		  if (++c100ms >= 10) {               // 10 ms
+			  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+			  if (++c1s >= 10) {               // 10 ms
+				  c1s = 0;
+				  HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
+			  }
+		  }
+	  }
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_TIM3_Init();
+  MX_ADC1_Init();
+  MX_TIM1_Init();
+
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
+  /* USER CODE BEGIN 2 */
+
+
+	CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  void manageCDC(void);
+	  while (CDC_Available()) {
+		  int c = CDC_ReadByte();
+      //if (c < 0) break;
+
+//		  uint8_t out = (uint8_t)c;
+//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+//		  unsigned char s[100];
+//		  sprintf((char*)s,"\nc=%03d",c);
+//		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
+//        // tiny spin or yield
+//      }
+    }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 1;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 0;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 17999;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 2400;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 5500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_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 TIM3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 0;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 17999;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 9000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 10000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 11000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 12000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  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 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(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : PC13 */
+  GPIO_InitStruct.Pin = GPIO_PIN_13;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOC, &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/83/e0aff618e1d200101320a8c687ef41a7

@@ -0,0 +1,650 @@
+
+/* 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"
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+
+TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_TIM3_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_TIM1_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+
+	  static uint8_t c100ms = 0;
+	  static uint8_t c1s = 0;
+	  if (++c10ms >= 10) {               // 10 ms
+		  c10ms = 0;
+		  if (++c100ms >= 10) {               // 10 ms
+			  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+			  if (++c1s >= 10) {               // 10 ms
+				  c1s = 0;
+				  HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
+			  }
+		  }
+	  }
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_TIM3_Init();
+  MX_ADC1_Init();
+  MX_TIM1_Init();
+
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
+//  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+//  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
+//  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
+//  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
+  /* USER CODE BEGIN 2 */
+  StopMot(timMot1,FWMot1);
+  StopMot(timMot1,BWMot1);
+  StopMot(timMot2,FWMot2);
+  StopMot(timMot2,BWMot2);
+  StopMot(timMot3,FWMot3);
+  StopMot(timMot3,BWMot3);
+  StopMot(timMot4,FWMot4);
+  StopMot(timMot4,BWMot4);
+	CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  manageCDC();
+//	  while (CDC_Available()) {
+	//	  int c = CDC_ReadByte();
+      //if (c < 0) break;
+
+//		  uint8_t out = (uint8_t)c;
+//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+//		  unsigned char s[100];
+//		  sprintf((char*)s,"\nc=%03d",c);
+//		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
+//        // tiny spin or yield
+//      }
+ //   }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 1;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 0;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 17999;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 2400;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 5500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_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 TIM3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 0;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 17999;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 9000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 10000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 11000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 12000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  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 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(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : PC13 */
+  GPIO_InitStruct.Pin = GPIO_PIN_13;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOC, &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/88/8028bdbcccd200101320a8c687ef41a7

@@ -0,0 +1,45 @@
+
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen(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/8e/e01dd67dc5d200101320a8c687ef41a7

@@ -0,0 +1,34 @@
+
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  rxidx++;
+	  if((c==0x0d)||(c==0x0a)){
+		  switch(rxbuf[0]){
+		  case 'i':
+			  sprintf((char*)s,"\ninfo");
+			  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+			  break;
+		  default:
+			  sprintf((char*)s,"\n?");
+			  while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
+			  break;
+		  }
+		  rxidx=0;
+	  }
+      // tiny spin or yield
+    }
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/9/b0d1a08bc8d200101320a8c687ef41a7

@@ -0,0 +1,16 @@
+/*
+ * pwm.c
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+
+#include "stm32f1xx_hal.h"
+
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
+{
+    HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
+
+    return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/9a/c0bf3f7bbed200101320a8c687ef41a7

@@ -0,0 +1,644 @@
+
+/* 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"
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+
+TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_TIM3_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_TIM1_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+
+	  static uint8_t c100ms = 0;
+	  static uint8_t c1s = 0;
+	  if (++c10ms >= 10) {               // 10 ms
+		  c10ms = 0;
+		  if (++c100ms >= 10) {               // 10 ms
+			  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+			  if (++c1s >= 10) {               // 10 ms
+				  c1s = 0;
+				  HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
+			  }
+		  }
+	  }
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_TIM3_Init();
+  MX_ADC1_Init();
+  MX_TIM1_Init();
+
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
+  /* USER CODE BEGIN 2 */
+
+
+	CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  void manageCDC(void);
+	  while (CDC_Available()) {
+		  int c = CDC_ReadByte();
+      //if (c < 0) break;
+
+//		  uint8_t out = (uint8_t)c;
+//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+		  unsigned char s[100];
+		  sprintf((char*)s,"\nc=%03d",c);
+		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
+        // tiny spin or yield
+      }
+    }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 1;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 0;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 17999;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 2400;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 5500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_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 TIM3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 0;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 17999;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 9000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 10000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 11000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 12000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  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 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(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : PC13 */
+  GPIO_InitStruct.Pin = GPIO_PIN_13;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOC, &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/9f/b0a2c081bed200101320a8c687ef41a7

@@ -0,0 +1,644 @@
+
+/* 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"
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+
+TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_TIM3_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_TIM1_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+
+	  static uint8_t c100ms = 0;
+	  static uint8_t c1s = 0;
+	  if (++c10ms >= 10) {               // 10 ms
+		  c10ms = 0;
+		  if (++c100ms >= 10) {               // 10 ms
+			  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+			  if (++c1s >= 10) {               // 10 ms
+				  c1s = 0;
+				  HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
+			  }
+		  }
+	  }
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_TIM3_Init();
+  MX_ADC1_Init();
+  MX_TIM1_Init();
+
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
+  /* USER CODE BEGIN 2 */
+
+
+	CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  void manageCDC(void);
+	  while (CDC_Available()) {
+		  int c = CDC_ReadByte();
+      //if (c < 0) break;
+
+//		  uint8_t out = (uint8_t)c;
+//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+		  unsigned char s[100];
+		  sprintf((char*)s,"\nc=%03d",c);
+//		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
+//        // tiny spin or yield
+//      }
+    }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 1;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 0;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 17999;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 2400;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 5500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_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 TIM3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 0;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 17999;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 9000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 10000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 11000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 12000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  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 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(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : PC13 */
+  GPIO_InitStruct.Pin = GPIO_PIN_13;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOC, &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/a5/c078c75ee5d200101320a8c687ef41a7

@@ -0,0 +1,48 @@
+#include <string.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  __HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
+				  sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  break;
+			  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/a7/a0bc7248c3d200101320a8c687ef41a7

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

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/af/607415b1ccd200101320a8c687ef41a7

@@ -0,0 +1,44 @@
+
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  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/b9/10c41919e8d200101320a8c687ef41a7

@@ -0,0 +1,78 @@
+#include <string.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+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;
+
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  __HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
+				  sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  break;
+			  case 'm':
+				  if(rxidx==8){
+					  if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
+						  mot=rxbuf[1]-='0';
+						  if(rxbuf[2]=='f'){
+							  dir=FW;
+						  }else if(rxbuf[2]=='b'){
+							  dir=BW;
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
+							  break;
+						  }
+						  if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
+						  }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;
+			  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/ba/c024beb8e8d200101320a8c687ef41a7

@@ -0,0 +1,60 @@
+/*
+ * pwm.c
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
+{
+    HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
+
+    return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
+}
+
+void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
+	HAL_TIM_PWM_Stop(htim, Channel);
+}
+
+void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+	HAL_TIM_PWM_Start(htim, Channel);
+}
+
+void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+}
+
+void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
+	TIM_HandleTypeDef *htim;
+	switch(mot){
+	case 1:
+		if(dir==FW){
+			if(IsPwmRunning(timMot1, FWMot1)){
+			else{
+
+			}
+		}else{
+
+		}
+		break;
+	case 2:
+		break;
+	case 3:
+		break;
+	case 4:
+		break;
+	default:
+		break;
+	}
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/c3/f0ece506e9d200101320a8c687ef41a7

@@ -0,0 +1,94 @@
+#include <string.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+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;
+
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  __HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
+				  sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  break;
+			  case 'm':
+				  if(rxidx==8){
+					  if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
+						  mot=rxbuf[1]-='0';
+						  if(rxbuf[2]=='f'){
+							  dir=FW;
+						  }else if(rxbuf[2]=='b'){
+							  dir=BW;
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
+							  break;
+						  }
+						  if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
+							  dm=rxbuf[3]-='0';
+							  m=rxbuf[4]-='0';
+							  c=rxbuf[5]-='0';
+							  d=rxbuf[6]-='0';
+							  u=rxbuf[7]-='0';
+							  val=dm;
+							  val*=10;
+							  val+=m;
+							  val*=10;
+							  val+=c;
+							  val*=10;
+							  val+=d;
+							  val*=10;
+							  val+=u;
+							  SetMot(mot,dir,val);
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+						  }
+
+					  }else{
+						  sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
+						  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
+					  while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
+				  }
+				  break;
+			  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/c6/40ed30e8cbd200101320a8c687ef41a7

@@ -0,0 +1,17 @@
+/*
+ * pwm.c
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
+{
+    HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
+
+    return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/c7/f025993bc8d200101320a8c687ef41a7

@@ -0,0 +1,8 @@
+/*
+ * pwm.c
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/cb/80bf551fccd200101320a8c687ef41a7

@@ -0,0 +1,39 @@
+
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  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/cc/f0be426ce6d200101320a8c687ef41a7

@@ -0,0 +1,76 @@
+#include <string.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+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;
+
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  __HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
+				  sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  break;
+			  case 'm':
+				  if(rxidx==8){
+					  if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
+						  mot=rxbuf[1]-='0';
+						  if(rxbuf[2]=='f'){
+							  dir=FW;
+						  }else if(rxbuf[2]=='b'){
+							  dir=BW;
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
+							  break;
+						  }
+						  if((rxbuf[3]>='0')&&(rxbuf[1]<='9')){
+						  }
+
+
+					  }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;
+			  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/d0/b04bc6a7cbd200101320a8c687ef41a7

@@ -0,0 +1,38 @@
+
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "pwm.h"
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  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/d3/00c1accde5d200101320a8c687ef41a7

@@ -0,0 +1,78 @@
+#include <string.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	uint8_t mot,s,dm,m,c,d,u;
+
+	if (CDC_Available()) {
+	  int c = CDC_ReadByte();
+	  if (c < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+	  rxbuf[rxidx]=c;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((c==0x0d)||(c==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"\ninfo");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  __HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
+				  sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  break;
+			  case 'm':
+				  if(rxidx==8){
+					  if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
+						  mot=rxbuf[1]-='0';
+						  if(rxbuf[2]=='f'){
+							  s=FW;
+						  }else if(rxbuf[2]=='b'){
+							  s=BW;
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
+							  break;
+						  }
+						  if((rxbuf[3]>='0')&&(rxbuf[1]<='9')){
+						  }
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
+						  }
+					  }else{
+						  sprintf((char*)s,"\n?mnsvvvvv 1>=m<=8");//m nmotore senso valore
+						  while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
+					  while (CDC_Transmit_FS(s, 10) == 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/d3/20f3fd01e1d200101320a8c687ef41a7

@@ -0,0 +1,29 @@
+/*
+ * pwm.h
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+#ifndef INC_PWM_H_
+#define INC_PWM_H_
+#include <stdbool.h>
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel);
+
+#define timMot1 &htim2
+#define FWMot1 TIM_CHANNEL_1
+#define BWMot1 TIM_CHANNEL_2
+
+#define timMot2 &htim2
+#define FWMot2 TIM_CHANNEL_3
+#define BWMot2 TIM_CHANNEL_4
+
+#define timMot3 &htim4
+#define FWMot3 TIM_CHANNEL_1
+#define BWMot3 TIM_CHANNEL_2
+
+#define timMot4 &htim4
+#define FWMot4 TIM_CHANNEL_3
+#define BWMot4 TIM_CHANNEL_4
+
+#endif /* INC_PWM_H_ */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/d7/c0c1de6cefd200101686edb1a63cbb79

@@ -0,0 +1,120 @@
+/*
+ * pwm.c
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
+{
+    HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
+
+    return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
+}
+
+void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
+	HAL_TIM_PWM_Stop(htim, Channel);
+}
+
+void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+	HAL_TIM_PWM_Start(htim, Channel);
+}
+
+void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+}
+
+void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
+	TIM_HandleTypeDef *htim;
+	switch(mot){
+	case 1:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot1,FWMot1);
+			}else if(IsPwmRunning(timMot1, FWMot1)){
+				SetMotPwm(timMot1,FWMot1,pwmval);
+			}else{
+				StartMot(timMot1,FWMot1,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot1,BWMot1);
+			}else if(IsPwmRunning(timMot1, BWMot1)){
+				SetMotPwm(timMot1,BWMot1,pwmval);
+			}else{
+				StartMot(timMot1,BWMot1,pwmval);
+			}
+		}
+		break;
+	case 2:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot2,FWMot2);
+			}else if(IsPwmRunning(timMot2, FWMot2)){
+				SetMotPwm(timMot2,FWMot2,pwmval);
+			}else{
+				StartMot(timMot2,FWMot2,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot2,BWMot2);
+			}else if(IsPwmRunning(timMot2, BWMot2)){
+				SetMotPwm(timMot2,BWMot2,pwmval);
+			}else{
+				StartMot(timMot2,BWMot2,pwmval);
+			}
+		}
+		break;
+	case 3:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot3,FWMot3);
+			}else if(IsPwmRunning(timMot3, FWMot3)){
+				SetMotPwm(timMot3,FWMot3,pwmval);
+			}else{
+				StartMot(timMot3,FWMot3,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot3,BWMot3);
+			}else if(IsPwmRunning(timMot3, BWMot3)){
+				SetMotPwm(timMot3,BWMot3,pwmval);
+			}else{
+				StartMot(timMot3,BWMot3,pwmval);
+			}
+		}
+		break;
+	case 4:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot4,FWMot4);
+			}else if(IsPwmRunning(timMot4, FWMot4)){
+				SetMotPwm(timMot4,FWMot4,pwmval);
+			}else{
+				StartMot(timMot4,FWMot4,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot4,BWMot4);
+			}else if(IsPwmRunning(timMot4, BWMot4)){
+				SetMotPwm(timMot4,BWMot4,pwmval);
+			}else{
+				StartMot(timMot4,BWMot4,pwmval);
+			}
+		}
+		break;
+	default:
+		break;
+	}
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/da/80a00e7ac3d200101320a8c687ef41a7

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

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

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

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/df/a09bc95ee5d200101320a8c687ef41a7

@@ -0,0 +1,26 @@
+/*
+ * pwm.c
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
+{
+    HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
+
+    return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
+}
+
+void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
+	HAL_TIM_PWM_Stop(htim, Channel);
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/e3/f0898801bed200101320a8c687ef41a7

@@ -0,0 +1,13 @@
+/*
+ * cdc_int.h
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+#ifndef INC_CDC_INT_H_
+#define INC_CDC_INT_H_
+
+
+
+#endif /* INC_CDC_INT_H_ */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/e6/9031970ceed200101686edb1a63cbb79

@@ -0,0 +1,551 @@
+/* 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 "pwm.h"
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim4;
+
+UART_HandleTypeDef huart1;
+
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_USART1_UART_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+
+	  static uint8_t c100ms = 0;
+	  static uint8_t c1s = 0;
+	  if (++c10ms >= 10) {               // 10 ms
+		  c10ms = 0;
+		  if (++c100ms >= 10) {               // 10 ms
+			  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+			  if (++c1s >= 10) {               // 10 ms
+				  c1s = 0;
+				  HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
+			  }
+		  }
+	  }
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_ADC1_Init();
+  MX_USART1_UART_Init();
+  /* USER CODE BEGIN 2 */
+  StopMot(timMot1,FWMot1);
+  StopMot(timMot1,BWMot1);
+  StopMot(timMot2,FWMot2);
+  StopMot(timMot2,BWMot2);
+  StopMot(timMot3,FWMot3);
+  StopMot(timMot3,BWMot3);
+  StopMot(timMot4,FWMot4);
+  StopMot(timMot4,BWMot4);
+	CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  manageCDC();
+//	  while (CDC_Available()) {
+	//	  int c = CDC_ReadByte();
+      //if (c < 0) break;
+
+//		  uint8_t out = (uint8_t)c;
+//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+//		  unsigned char s[100];
+//		  sprintf((char*)s,"\nc=%03d",c);
+//		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
+//        // tiny spin or yield
+//      }
+ //   }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 1;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM2_Init 1 */
+
+  /* USER CODE END TIM2_Init 1 */
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 0;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 17999;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 1000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 2000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 3000;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 4000;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM2_Init 2 */
+
+  /* USER CODE END TIM2_Init 2 */
+  HAL_TIM_MspPostInit(&htim2);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM4_Init 1 */
+
+  /* USER CODE END TIM4_Init 1 */
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 0;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 17999;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 5000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 7000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 8000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM4_Init 2 */
+
+  /* USER CODE END TIM4_Init 2 */
+  HAL_TIM_MspPostInit(&htim4);
+
+}
+
+/**
+  * @brief USART1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART1_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART1_Init 0 */
+
+  /* USER CODE END USART1_Init 0 */
+
+  /* USER CODE BEGIN USART1_Init 1 */
+
+  /* USER CODE END USART1_Init 1 */
+  huart1.Instance = USART1;
+  huart1.Init.BaudRate = 115200;
+  huart1.Init.WordLength = UART_WORDLENGTH_8B;
+  huart1.Init.StopBits = UART_STOPBITS_1;
+  huart1.Init.Parity = UART_PARITY_NONE;
+  huart1.Init.Mode = UART_MODE_TX_RX;
+  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART1_Init 2 */
+
+  /* USER CODE END USART1_Init 2 */
+
+}
+
+/**
+  * @brief GPIO Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_GPIO_Init(void)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  /* USER CODE BEGIN MX_GPIO_Init_1 */
+
+  /* USER CODE END MX_GPIO_Init_1 */
+
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOB, 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 pin : INH1_Pin */
+  GPIO_InitStruct.Pin = INH1_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  HAL_GPIO_Init(INH1_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : INH2_Pin INH3_Pin INH4_Pin EXP1_Pin
+                           EXP2_Pin EXP3_Pin */
+  GPIO_InitStruct.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/f8/f0d63e62bed200101320a8c687ef41a7

@@ -0,0 +1,644 @@
+
+/* 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"
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+
+TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_TIM3_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_TIM1_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+
+	  static uint8_t c100ms = 0;
+	  static uint8_t c1s = 0;
+	  if (++c10ms >= 10) {               // 10 ms
+		  c10ms = 0;
+		  if (++c100ms >= 10) {               // 10 ms
+			  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+			  if (++c1s >= 10) {               // 10 ms
+				  c1s = 0;
+				  HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
+			  }
+		  }
+	  }
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_TIM3_Init();
+  MX_ADC1_Init();
+  MX_TIM1_Init();
+
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
+//  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
+  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
+  /* USER CODE BEGIN 2 */
+
+
+	CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  void manageCDC(void);
+//	  while (CDC_Available()) {
+//		  int c = CDC_ReadByte();
+//      //if (c < 0) break;
+//
+////		  uint8_t out = (uint8_t)c;
+////		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
+//
+//		  unsigned char s[100];
+//		  sprintf((char*)s,"\nc=%03d",c);
+//		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
+//        // tiny spin or yield
+//      }
+//    }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+//  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 1;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 0;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 17999;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 2400;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 5500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6500;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_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 TIM3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 0;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 17999;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 9000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 10000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 11000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 12000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  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 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(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : PC13 */
+  GPIO_InitStruct.Pin = GPIO_PIN_13;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOC, &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/fa/b0197693cbd200101320a8c687ef41a7

@@ -0,0 +1,13 @@
+/*
+ * pwm.h
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+#ifndef INC_PWM_H_
+#define INC_PWM_H_
+#include <stdbool.h>
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel);
+
+#endif /* INC_PWM_H_ */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/fb/701f1d19e8d200101320a8c687ef41a7

@@ -0,0 +1,35 @@
+/*
+ * pwm.c
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+
+#include "stm32f1xx_hal.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
+{
+    HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
+
+    return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
+}
+
+void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
+	HAL_TIM_PWM_Stop(htim, Channel);
+}
+
+void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+	HAL_TIM_PWM_Start(htim, Channel);
+}
+
+void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+}