wip

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

@@ -29,3 +29,5 @@
 *** SESSION apr 28, 2026 22:13:13.508 ------------------------------------------
 *** SESSION apr 29, 2026 20:10:49.962 ------------------------------------------
 *** SESSION mag 01, 2026 12:15:55.973 ------------------------------------------
+*** SESSION mag 04, 2026 23:04:27.645 ------------------------------------------
+*** SESSION mag 05, 2026 22:49:18.92 -------------------------------------------

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

@@ -1,17 +1,10 @@
-13:01:40 **** Incremental Build of configuration Debug for project AUTOM10 ****
+18:23:06 **** Incremental Build of configuration Debug for project AUTOM10 ****
 make -j12 all 
-arm-none-eabi-gcc "../Core/Src/eeprom.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/eeprom.d" -MT"Core/Src/eeprom.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/eeprom.o"
-arm-none-eabi-gcc -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
-  59100	    468	   7360	  66928	  10570	AUTOM10.elf
+  60624	    476	   7360	  68460	  10b6c	AUTOM10.elf
 Finished building: default.size.stdout
  
-Finished building: AUTOM10.list
- 
 
-13:01:40 Build Finished. 0 errors, 0 warnings. (took 816ms)
+18:23:06 Build Finished. 0 errors, 0 warnings. (took 201ms)
 

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

@@ -1,14 +1,21 @@
-13:01:40 **** Incremental Build of configuration Debug for project AUTOM10 ****
+18:22:58 **** Incremental Build of configuration Debug for project AUTOM10 ****
 make -j12 all 
-arm-none-eabi-gcc "../Core/Src/eeprom.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/eeprom.d" -MT"Core/Src/eeprom.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/eeprom.o"
+arm-none-eabi-gcc "../Core/Src/mot.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/mot.d" -MT"Core/Src/mot.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/mot.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
-  59100	    468	   7360	  66928	  10570	AUTOM10.elf
+  60624	    476	   7360	  68460	  10b6c	AUTOM10.elf
 Finished building: default.size.stdout
  
 Finished building: AUTOM10.list
  
+18:23:06 **** Incremental Build of configuration Debug for project AUTOM10 ****
+make -j12 all 
+arm-none-eabi-size  AUTOM10.elf 
+   text	   data	    bss	    dec	    hex	filename
+  60624	    476	   7360	  68460	  10b6c	AUTOM10.elf
+Finished building: default.size.stdout
+ 

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/1/6000393bff47001113e9e1acf606c4d0

@@ -1,5 +1,7 @@
+#include <stdio.h>
+#include <string.h>
 #include "eeprom.h"
-
+extern UART_HandleTypeDef huart1;
 /*
  * Record format (4 bytes):
  *  [0] VirtAddress (uint16_t)
@@ -18,10 +20,10 @@ extern uint16_t m3pwmap;
 extern uint16_t m3pwmch;
 extern uint16_t m4pwmap;
 extern uint16_t m4pwmch;
-extern uint16_t t1ap;
+extern uint16_t m1TimeoutMan;
-extern uint16_t t2ap;
+extern uint16_t m2TimeoutMan;
-extern uint16_t t3ap;
+extern uint16_t m3TimeoutMan;
-extern uint16_t t4ap;
+extern uint16_t m4TimeoutMan;
 extern uint16_t twap;
 extern uint16_t tramp;
 extern uint16_t t1ch;
@@ -36,7 +38,25 @@ extern uint16_t m2pwmMan;
 extern uint16_t m3pwmMan;
 extern uint16_t m4pwmMan;
 
-const uint8_t deftab[32]={
+
+extern uint16_t apM1start;
+extern uint16_t apM1stop;
+extern uint16_t apM2start;
+extern uint16_t apM2stop;
+extern uint16_t apM3start;
+extern uint16_t apM3stop;
+extern uint16_t apM4start;
+extern uint16_t apM4stop;
+extern uint16_t chM1start;
+extern uint16_t chM1stop;
+extern uint16_t chM2start;
+extern uint16_t chM2stop;
+extern uint16_t chM3start;
+extern uint16_t chM3stop;
+extern uint16_t chM4start;
+extern uint16_t chM4stop;
+
+const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
 	40,	//m1pwmap
 	60, //m1pwmch
 	70, //m2pwmap
@@ -49,10 +69,10 @@ const uint8_t deftab[32]={
 	20, //m2rampstart
 	20, //m3rampstart
 	20, //m4rampstart
-	28,	//t1ap
+	230,//m1timeoutman
-	4,	//t2ap
+	100,//m2timeoutman
-	10,  //t3ap
+	130,//m3timeoutman
-	40, //t4ap
+	300,//m4timeoutman
 	1,  //twap
 	27,  //t1ch
 	10,  //t2ch
@@ -69,22 +89,22 @@ const uint8_t deftab[32]={
 	40,	 //m4pwmMan
 	50,  //trampman
 	10,  //tramp
-	40,
+	310,   //apM1start;
-	60,
+	450,   //apM1stop;
-	70,
+	30,   //apM2start;
-	70,
+	310,  //apM2stop;
-	35,
+	350,   //apM3start;
-	40,
+	450,   //apM3stop;
-	40,
+	450,   //apM4start;
-	40,
+	850,   //apM4stop;
-	20,
+	10,   //chM1start;
-	20,
+	280,   //chM1stop;
-	20,
+	280,   //chM2start;
-	20,
+	580,   //chM2stop;
-	28,
+	20,   //chM3start;
-	4,
+	280,   //chM3stop;
-	10,
+	280,   //chM4start;
-	40,
+	680,   //chM4stop;
 	1,
 	27,
 	10,
@@ -403,6 +423,7 @@ uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
 }
 
 void loadEE(void){
+	char s [200];
 	EEW_Read(M1PWMAP, &m1pwmap);
 	EEW_Read(M1PWMCH, &m1pwmch);
 	EEW_Read(M2PWMAP, &m2pwmap);
@@ -411,16 +432,11 @@ void loadEE(void){
 	EEW_Read(M3PWMCH, &m3pwmch);
 	EEW_Read(M4PWMAP, &m4pwmap);
 	EEW_Read(M4PWMCH, &m4pwmch);
-	EEW_Read(T1AP, &t1ap);
+	EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
-	EEW_Read(T2AP, &t2ap);
+	EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
-	EEW_Read(T3AP, &t3ap);
+	EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
-	EEW_Read(T4AP, &t4ap);
+	EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
-	EEW_Read(TWAP, &twap);
+
-	EEW_Read(T1CH, &t1ch);
-	EEW_Read(T2CH, &t2ch);
-	EEW_Read(T3CH, &t3ch);
-	EEW_Read(T4CH, &t4ch);
-	EEW_Read(TWCH, &twch);
 	EEW_Read(TRAMP1, &tramp1);
 	EEW_Read(M1PWMMAN, &m1pwmMan);
 	EEW_Read(M2PWMMAN, &m2pwmMan);
@@ -428,4 +444,34 @@ void loadEE(void){
 	EEW_Read(M4PWMMAN, &m4pwmMan);
 	EEW_Read(TRAMPMAN, &trampman);
 	EEW_Read(TRAMP, &tramp);
+
+	EEW_Read(APM1START,&apM1start);
+	EEW_Read(APM1STOP ,&apM1stop);
+	EEW_Read(APM2START,&apM2start);
+	EEW_Read(APM2STOP ,&apM2stop);
+	EEW_Read(APM3START,&apM3start);
+	EEW_Read(APM3STOP ,&apM3stop);
+	EEW_Read(APM4START,&apM4start);
+	EEW_Read(APM4STOP ,&apM4stop);
+	EEW_Read(CHM1START,&chM1start);
+	EEW_Read(CHM1STOP ,&chM1stop);
+	EEW_Read(CHM2START,&chM2start);
+	EEW_Read(CHM2STOP ,&chM2stop);
+	EEW_Read(CHM3START,&chM3start);
+	EEW_Read(CHM3STOP ,&chM3stop);
+	EEW_Read(CHM4START,&chM4start);
+	EEW_Read(CHM4STOP ,&chM4stop);
+
+	sprintf((char*)s,"LoadEE\n");
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3TimeoutMan,m4TimeoutMan);
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+
+
 }

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/19/007d73536f4500111843adf714d33ab7

@@ -1,189 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file           : main.h
-  * @brief          : Header for main.c file.
-  *                   This file contains the common defines of the application.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2025 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __MAIN_H
-#define __MAIN_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f1xx_hal.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-/* Exported types ------------------------------------------------------------*/
-/* USER CODE BEGIN ET */
-typedef enum{
-	omchiuso,
-	omM1fw1,
-	omM1fw2,
-	omM1bw1,
-	omM1bw2,
-	omM2fw1,
-	omM2fw2,
-	omM2bw1,
-	omM2bw2,
-	omM3fw1,
-	omM3fw2,
-	omM3bw1,
-	omM3bw2,
-	omM4fw1,
-	omM4fw2,
-	omM4bw1,
-	omM4bw2,
-	omStopMan,
-	omapertura0,
-	omapertura1,
-	omapertura2,
-	omapertura3,
-	omapertura4,
-	omapertura5,
-	omapertura6,
-	omapertura7,
-	omapertura8,
-	omapertura9,
-	omapertura10,
-	omapertura11,
-	omapertura12,
-	omapertura13,
-	omapertura14,
-	omstopapertura,
-	omaperto,
-	omchiusura1,
-	omchiusura2,
-	omchiusura3,
-	omchiusura4,
-	omchiusura5,
-	omchiusura6,
-	omchiusura7,
-	omchiusura8,
-	omchiusura9,
-	omchiusura10,
-	omchiusura11,
-	omchiusura12,
-	omchiusura13,
-	omchiusura14,
-	omstopchiusura,
-}omCiclo_st;
-/* USER CODE END ET */
-
-/* Exported constants --------------------------------------------------------*/
-/* USER CODE BEGIN EC */
-
-/* USER CODE END EC */
-
-/* Exported macro ------------------------------------------------------------*/
-/* USER CODE BEGIN EM */
-
-/* USER CODE END EM */
-
-void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
-
-/* Exported functions prototypes ---------------------------------------------*/
-void Error_Handler(void);
-
-/* USER CODE BEGIN EFP */
-
-/* USER CODE END EFP */
-
-/* Private defines -----------------------------------------------------------*/
-#define LED2_Pin GPIO_PIN_13
-#define LED2_GPIO_Port GPIOC
-#define P1_Pin GPIO_PIN_14
-#define P1_GPIO_Port GPIOC
-#define P2_Pin GPIO_PIN_15
-#define P2_GPIO_Port GPIOC
-#define IN1_Pin GPIO_PIN_0
-#define IN1_GPIO_Port GPIOA
-#define IN2_Pin GPIO_PIN_1
-#define IN2_GPIO_Port GPIOA
-#define IN3_Pin GPIO_PIN_2
-#define IN3_GPIO_Port GPIOA
-#define IN4_Pin GPIO_PIN_3
-#define IN4_GPIO_Port GPIOA
-#define AIN1_Pin GPIO_PIN_4
-#define AIN1_GPIO_Port GPIOA
-#define AIN2_Pin GPIO_PIN_5
-#define AIN2_GPIO_Port GPIOA
-#define AIN3_Pin GPIO_PIN_6
-#define AIN3_GPIO_Port GPIOA
-#define AIN4_Pin GPIO_PIN_7
-#define AIN4_GPIO_Port GPIOA
-#define ANEM_Pin GPIO_PIN_0
-#define ANEM_GPIO_Port GPIOB
-#define INH1_Pin GPIO_PIN_1
-#define INH1_GPIO_Port GPIOB
-#define INH2_Pin GPIO_PIN_2
-#define INH2_GPIO_Port GPIOB
-#define INH3_Pin GPIO_PIN_10
-#define INH3_GPIO_Port GPIOB
-#define INH4_Pin GPIO_PIN_11
-#define INH4_GPIO_Port GPIOB
-#define CH1_Pin GPIO_PIN_12
-#define CH1_GPIO_Port GPIOB
-#define CH2_Pin GPIO_PIN_13
-#define CH2_GPIO_Port GPIOB
-#define CH3_Pin GPIO_PIN_14
-#define CH3_GPIO_Port GPIOB
-#define CH4_Pin GPIO_PIN_15
-#define CH4_GPIO_Port GPIOB
-#define BUZ_Pin GPIO_PIN_8
-#define BUZ_GPIO_Port GPIOA
-#define SWIO_Pin GPIO_PIN_13
-#define SWIO_GPIO_Port GPIOA
-#define SWCLK_Pin GPIO_PIN_14
-#define SWCLK_GPIO_Port GPIOA
-#define LED1_Pin GPIO_PIN_15
-#define LED1_GPIO_Port GPIOA
-#define EXP1_Pin GPIO_PIN_3
-#define EXP1_GPIO_Port GPIOB
-#define EXP2_Pin GPIO_PIN_4
-#define EXP2_GPIO_Port GPIOB
-#define EXP3_Pin GPIO_PIN_5
-#define EXP3_GPIO_Port GPIOB
-#define IN5_Pin GPIO_PIN_6
-#define IN5_GPIO_Port GPIOB
-#define IN6_Pin GPIO_PIN_7
-#define IN6_GPIO_Port GPIOB
-#define IN7_Pin GPIO_PIN_8
-#define IN7_GPIO_Port GPIOB
-#define IN8_Pin GPIO_PIN_9
-#define IN8_GPIO_Port GPIOB
-
-/* USER CODE BEGIN Private defines */
-#define INP1 1
-#define INP2 2
-#define INCH1 4
-#define INCH2 8
-#define INCH3 16
-#define INCH4 32
-/* USER CODE END Private defines */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MAIN_H */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/1f/e0881eec0048001113e9e1acf606c4d0

@@ -0,0 +1,229 @@
+#include <string.h>
+#include <stdbool.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "eeprom.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+extern const uint16_t EE_VirtAddrs[];
+extern uint8_t pulsanti;
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+extern const uint8_t deftab[];
+extern omCiclo_st stCiclo;
+extern omCiclo_st memstCiclo;
+extern uint8_t stPulsanti;
+
+bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
+	if((c1>='0')&&(c1<='9')){
+		c1-='0';
+	}else if((c1>='a')&&(c1<='f')){
+		c1=(c1-'a')+10;
+	}else return false;
+
+	if((c2>='0')&&(c2<='9')){
+		c2-='0';
+	}else if((c2>='a')&&(c2<='f')){
+		c2=(c2-'a')+10;
+	}else return false;
+
+	if((c3>='0')&&(c3<='9')){
+		c3-='0';
+	}else if((c3>='a')&&(c3<='f')){
+		c3=(c3-'a')+10;
+	}else return false;
+
+	if((c4>='0')&&(c4<='9')){
+		c4-='0';
+	}else if((c4>='a')&&(c4<='f')){
+		c4=(c4-'a')+10;
+	}else return false;
+
+	*retval=c1;
+	*retval*=16;
+	*retval+=c2;
+	*retval*=16;
+	*retval+=c3;
+	*retval*=16;
+	*retval+=c4;
+	return true;
+
+}
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	uint8_t mot,dir,dm,m,c,d,u;
+	uint16_t val;
+	uint16_t st;
+	uint16_t eeadd;
+	uint8_t i;
+
+	if (CDC_Available()) {
+	  int rx = CDC_ReadByte();
+	  if (rx < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+	  rxbuf[rxidx]=rx;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((rx==0x0d)||(rx==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"info\n");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\nP=0x%x ch4=%05d ch5=%05d ch6=%05d ch7=%05d ch8=%05d",pulsanti,ch4,ch5,ch6,ch7,ch8);
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\nstCiclo=%05d stPulsanti=%05d",stCiclo,stPulsanti);
+				  while (CDC_Transmit_FS(s, 31) == USBD_BUSY);
+				  break;
+			  case 'I':
+				  sprintf((char*)s,"\nID000000");
+				  while (CDC_Transmit_FS(s, 9) == USBD_BUSY);
+				  break;
+			  case 'm':
+				  if(rxidx==8){
+					  if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
+						  mot=rxbuf[1]-='0';
+						  if(rxbuf[2]=='f'){
+							  dir=FW;
+						  }else if(rxbuf[2]=='b'){
+							  dir=BW;
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
+							  break;
+						  }
+						  if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
+							  dm=rxbuf[3]-='0';
+							  m=rxbuf[4]-='0';
+							  c=rxbuf[5]-='0';
+							  d=rxbuf[6]-='0';
+							  u=rxbuf[7]-='0';
+							  val=dm;
+							  val*=10;
+							  val+=m;
+							  val*=10;
+							  val+=c;
+							  val*=10;
+							  val+=d;
+							  val*=10;
+							  val+=u;
+							  SetMot(mot,dir,val);
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+						  }
+
+					  }else{
+						  sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
+						  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
+					  while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
+				  }
+				  break;
+			  case 'e':
+				  if(rxidx>1){
+					  if(rxbuf[1]=='r'){
+						  if(rxidx==4){
+							  if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
+								  st=EEW_Read(eeadd, &val);
+								  if (st == EE_OK){
+									  sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }else{
+									  sprintf((char*)s,"\nee read error %d",st);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }
+							  }else{
+								  sprintf((char*)s,"\n?eraa hex values");
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+							  }
+						  }else{
+							  sprintf((char*)s,"\n?eraa");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else if(rxbuf[1]=='w'){
+						  if(rxidx==8){
+							  if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
+								  if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
+									  st=EEW_Write(eeadd, val);
+									  if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
+									  else sprintf((char*)s,"\nee write error %d", st);
+								  }else sprintf((char*)s,"\n?ewaavvvv hex values");
+							  }else sprintf((char*)s,"\n?ewaa hex values");
+						  }else sprintf((char*)s,"\n?ewaavvvv");
+						  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+					  }else if(rxbuf[1]=='d'){
+						  if(rxidx==2){
+							  for(i=0;i<32;i++){
+								  st=EEW_Read(i, &val);
+								  if (st == EE_OK){
+									  sprintf((char*)s,"\n0x%02x=%5d ",i,val);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }else{
+									  sprintf((char*)s,"rderr %d ",st);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }
+							  }
+							  if((i%4)==0){
+								  sprintf((char*)s,"\n");
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+							  }
+						  }else{
+							  sprintf((char*)s,"\n?ed");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else if(rxbuf[1]=='x'){
+						  if(rxidx==2){
+							  for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
+								  st=EEW_Write(i,deftab[i]);
+								  if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",i,deftab[i]);
+								  else sprintf((char*)s,"\nee write error %d", st);
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+
+							  }
+							  loadEE();
+						  }else{
+							  sprintf((char*)s,"\n?ex");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else{
+						  sprintf((char*)s,"\n?er|w|d|x");
+						  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?eraa | ewaavvvv");
+					  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  }
+				  break;
+			  default:
+				  sprintf((char*)s,"\n?");
+				  while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
+				  break;
+			  }
+		  }
+		  rxidx=0;
+	  }else rxidx++;
+      // tiny spin or yield
+    }
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/23/60d2371e494500111843adf714d33ab7

@@ -1,124 +0,0 @@
-/*
- * eeprom.h
- *
- *  Created on: Dec 7, 2025
- *      Author: user
- */
-
-#ifndef __EEPROM_H
-#define __EEPROM_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "stm32f1xx_hal.h"
-
-/*
- * Simple EEPROM emulation for STM32F103C8T6 (medium density).
- * - Uses 2 Flash pages (1 kB each) at the end of Flash.
- * - Stores variables as 16-bit values identified by 16-bit "virtual addresses".
- *
- * You must define the list of virtual addresses in eeprom.c: EE_VirtAddrs[].
- */
-
-typedef enum
-{
-    EE_STATUS_OK = 0,
-    EE_STATUS_ERROR,
-    EE_STATUS_NOT_FOUND,
-    EE_STATUS_NO_SPACE
-} EE_Status;
-
-/* For compatibility with ST style uint16_t return codes */
-#define EE_OK        ((uint16_t)EE_STATUS_OK)
-#define EE_ERROR     ((uint16_t)EE_STATUS_ERROR)
-#define EE_NOT_FOUND ((uint16_t)EE_STATUS_NOT_FOUND)
-#define EE_NO_SPACE  ((uint16_t)EE_STATUS_NO_SPACE)
-
-/* Flash parameters for STM32F103C8T6 */
-#define EE_FLASH_BASE_ADDR     0x08000000U
-#define EE_PAGE_SIZE           0x400U      /* 1 kB pages */
-
-/*
- * Here we assume a 64 kB Flash device (STM32F103C8T6):
- * Flash range: 0x0800 0000 - 0x0800 FFFF
- * Pages: 0..63 (64 pages)
- * We use the last 2 pages for EEPROM:
- *  - Page 62: 0x0800 F800
- *  - Page 63: 0x0800 FC00
- */
-#define EE_PAGE0_BASE          (EE_FLASH_BASE_ADDR + (62U * EE_PAGE_SIZE))
-#define EE_PAGE1_BASE          (EE_FLASH_BASE_ADDR + (63U * EE_PAGE_SIZE))
-
-/* Page status markers (stored in the first halfword of each page) */
-#define EE_PAGE_STATUS_ERASED  0xFFFFU
-#define EE_PAGE_STATUS_VALID   0xAAAAU
-#define EE_PAGE_STATUS_RECEIVE 0x5555U
-
-/*
- * Configure how many virtual variables you have.
- * Example: bytes, words, and array elements mapped to 16-bit variables.
- * Set EE_NUM_VIRTUAL_ADDR and define EE_VirtAddrs[] in eeprom.c.
- */
-/* 32 virtual variables, sequential addresses */
-#define EE_NUM_VIRTUAL_ADDR    64U
-#define EEW_ADDR(i)            ((uint16_t)(0x0001U + (uint16_t)(i)))   // i = 0..63
-
-
-#define M1PWMAP	0	//m1pwmap
-#define M1PWMCH	1	//m1pwmch
-#define M2PWMAP	2	//m2pwmap
-#define M2PWMCH	3	//m2pwmch
-#define M3PWMAP	4	//m3pwmap
-#define M3PWMCH	5	//m3pwmch
-#define M4PWMAP	6	//m4pwmap
-#define M4PWMCH	7	//m4pwmch
-#define M1RAMPSTART 8 //m1rampstart
-#define M2RAMPSTART 9 //m2rampstart
-#define M3RAMPSTART 10 //m3rampstart
-#define M4RAMPSTART 11 //m4rampstart
-#define T1AP 12 //t1ap
-#define T2AP 13 //t2ap
-#define T3AP 14 //t3ap
-#define T4AP 15 //t4ap
-#define TWAP 16 //twap
-#define T1CH 17 //t1ch
-#define T2CH 18 //t2ch
-#define T3CH 19 //t3ch
-#define T4CH 20 //t4ch
-#define TWCH 21 //twch
-
-#define TRAMP1   25  //tramp1
-#define M1PWMMAN 26 //m1pwmMan
-#define M2PWMMAN 27 //m2pwmMan
-#define M3PWMMAN 28 //m3pwmMan
-#define M4PWMMAN 29 //m4pwmMan
-#define TRAMPMAN 30 //trampman
-#define TRAMP 31 //tramp
-
-
-/* Virtual address table (defined in eeprom.c, can be customized) */
-extern const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR];
-
-/* Public API – now using uint16_t like ST examples */
-uint16_t EE_Init(void);
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data);
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
-void loadEE(void);
-/* Pseudo-array accessor EEW[idx] */
-static inline uint16_t EEW_Read(uint8_t idx, uint16_t *value)
-{
-    return EE_ReadVariable(EEW_ADDR(idx), value);
-}
-
-static inline uint16_t EEW_Write(uint8_t idx, uint16_t value)
-{
-    return EE_WriteVariable(EEW_ADDR(idx), value);
-}
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __EEPROM_H */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/29/d00bf983c548001117c8b81d4e0ec712

@@ -28,6 +28,7 @@
 #include "pwm.h"
 #include "adc.h"
 #include "debug.h"
+#include "mot.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -36,28 +37,15 @@
 typedef enum{
 	bzoff,
 	bzmoving,
+	bzwarning,
 }stBuz_st;
+
+
 /* USER CODE END PTD */
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
-#define P1START 0x01
-#define P1STOP  0x02
-#define P2START 0x04
-#define P2STOP  0x08
-#define M1FW  0x10
-#define M1BW  0x20
-#define M2FW  0x40
-#define M2BW  0x80
-#define M3FW  0x100
-#define M3BW  0x200
-#define M4FW  0x400
-#define M4BW  0x800
 
-#define M1 1
-#define M2 2
-#define M3 3
-#define M4 4
 
 /* USER CODE END PD */
 
@@ -103,18 +91,37 @@ uint16_t t2ap;
 uint16_t t3ap;
 uint16_t t4ap;
 uint16_t twap;
-uint16_t t1ch;
+uint16_t m1TimeoutMan;
-uint16_t t2ch;
+uint16_t m2TimeoutMan;
-uint16_t t3ch;
+uint16_t m3TimeoutMan;
-uint16_t t4ch;
+uint16_t m4TimeoutMan;
 uint16_t twch;
 uint16_t tramp;
+uint16_t tramp1;
 uint16_t trampman;
 uint16_t m1pwmMan;
 uint16_t m2pwmMan;
 uint16_t m3pwmMan;
 uint16_t m4pwmMan;
 
+uint16_t apM1start;
+uint16_t apM1stop;
+uint16_t apM2start;
+uint16_t apM2stop;
+uint16_t apM3start;
+uint16_t apM3stop;
+uint16_t apM4start;
+uint16_t apM4stop;
+uint16_t chM1start;
+uint16_t chM1stop;
+uint16_t chM2start;
+uint16_t chM2stop;
+uint16_t chM3start;
+uint16_t chM3stop;
+uint16_t chM4start;
+uint16_t chM4stop;
+
+
 uint16_t mrampstart[4];
 uint16_t stPulsanti=0;
 omCiclo_st stCiclo=omchiuso;
@@ -168,17 +175,20 @@ void HAL_SYSTICK_Callback(void){
 		  for(i=0;i<4;i++){
 			  if(rtramp[i])rtramp[i]--;
 		  }
+		  if(rtCiclo<0xffff)rtCiclo++;
+
 //**** gestione buzzer *****************************************************************************
 		  if(stBuz==bzmoving){
 			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else if(stBuz==bzwarning){
+			  if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
 		  }else{//bzoff
 			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
 		  }
 //**************************************************************************************************
-		  if (++c1s >= 10) {               // 10 ms
+		  if (++c1s >= 10) {               // 1 s
 			  c1s = 0;
-			  if(rtCiclo)rtCiclo--;
+			  //HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
-			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
 		  }
 	  }
   }
@@ -187,10 +197,16 @@ void HAL_SYSTICK_Callback(void){
 void managePulsanti(void){
 	if(pulsanti&INP1){
 		if(rtP1==0)stPulsanti|=P1START;
+		else{
+			if(rtP1&8)HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+		}
 	}else{
-		if(stPulsanti&P1START)stPulsanti&=(~P1START);
+		if(stPulsanti&P1START){
-		else if(rtP1<=190){
+			stPulsanti&=(~P1START);
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
+		}else if(rtP1<=190){
 			stPulsanti|=P1STOP;
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
 		}
 		rtP1=200;
 	}
@@ -201,10 +217,11 @@ void managePulsanti(void){
 		else if(rtP2<=190)stPulsanti|=P2STOP;
 		rtP2=200;
 	}
+	stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
 	if(stPulsanti==0){
-		switch((pulsanti>>2)&0x03){
+		switch(pulsanti&0x3c){
 			case 0x00:
-				rtTLC=10;
+				rtTLC=100;
 				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
 				break;
 			case 0x08://tlc1
@@ -226,7 +243,7 @@ void managePulsanti(void){
 				if(rtTLC==0)stPulsanti|=M4BW;
 				break;
 			default:
-				rtTLC=10;
+				rtTLC=100;
 				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
 				break;
 		}
@@ -234,13 +251,141 @@ void managePulsanti(void){
 }
 
 void manageCiclo(void){
+	motMov_st m1,m2,m3,m4;
 	switch(stCiclo){
 		case omchiuso:
 			if(stPulsanti&P1START){
-				stBuz=bzmoving;
+				stBuz=bzwarning;
-				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				rtCiclo=0;
-				stCiclo=omapertura1;
+				stCiclo=omapertura0;
+				(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
 			}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omM1fw1:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1fw2;
+			break;
+		case omM1fw2:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM1bw1:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1bw2;
+			break;
+		case omM1bw2:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2fw1:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2fw2;
+			break;
+		case omM2fw2:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2bw1:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2bw2;
+			break;
+		case omM2bw2:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3fw1:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3fw2;
+			break;
+		case omM3fw2:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3bw1:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3bw2;
+			break;
+		case omM3bw2:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4fw1:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4fw2;
+			break;
+		case omM4fw2:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4bw1:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4bw2;
+			break;
+		case omM4bw2:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omStopMan:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M1,BW,0);
+			SetMotPerc(M2,BW,0);
+			SetMotPerc(M3,BW,0);
+			SetMotPerc(M4,BW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
+			break;
+		case omapertura0:
+			if(rtCiclo>=30){//doppo 3 secondi
+				stBuz=bzmoving;
+				m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
+				if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
+					stBuz=bzoff;
+					stCiclo=omaperto;
+				}
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+				stPulsanti&=(~P1STOP);
+			}
+			break;
+		case omaperto:
+			rtCiclo=0;
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+				(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			else if(stPulsanti&M1FW){
 				stBuz=bzmoving;
 				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
@@ -275,298 +420,16 @@ void manageCiclo(void){
 				stCiclo=omM4bw1;
 			}
 			break;
-		case omM1fw1:
-			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM1fw2;
-			break;
-		case omM1fw2:
-			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM1bw1:
-			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM1bw2;
-			break;
-		case omM1bw2:
-			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM2fw1:
-			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM2fw2;
-			break;
-		case omM2fw2:
-			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM2bw1:
-			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM2bw2;
-			break;
-		case omM2bw2:
-			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM3fw1:
-			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM3fw2;
-			break;
-		case omM3fw2:
-			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM3bw1:
-			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM3bw2;
-			break;
-		case omM3bw2:
-			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM4fw1:
-			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM4fw2;
-			break;
-		case omM4fw2:
-			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM4bw1:
-			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM4bw2;
-			break;
-		case omM4bw2:
-			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omStopMan:
-			SetMotPerc(M1,FW,0);
-			SetMotPerc(M2,FW,0);
-			SetMotPerc(M3,FW,0);
-			SetMotPerc(M4,FW,0);
-			if(pulsanti==0){
-				stBuz=bzoff;
-				stCiclo=omAperto;
-			}
-			break;
-		case omapertura1:
-			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ap;
-				stCiclo=omapertura2;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura2:
-			if(rtCiclo==0){
-				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura3:
-			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura4:
-			if(rtCiclo==0){
-				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura5:
-			if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ap;
-				stCiclo=omapertura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura6:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura7:
-			if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t3ap;
-				stCiclo=omapertura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura8:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
-				(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura9:
-			if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twap;
-				stCiclo=omapertura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura11:
-			if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t4ap;
-				stCiclo=omapertura12;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura12:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura13;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura13:
-			if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				stCiclo=omaperto;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omstopapertura:
-			SetMotPerc(M1,FW,0);
-			SetMotPerc(M2,FW,0);
-			SetMotPerc(M3,FW,0);
-			SetMotPerc(M4,FW,0);
-			if(pulsanti==0){
-				stBuz=bzoff;
-				stCiclo=omchiuso;
-				stPulsanti&=(~P1STOP);
-			}
-			break;
-		case omaperto:
-			if(stPulsanti&P1START){
-				stBuz=bzmoving;
-				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura1;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
 		case omchiusura1:
-			if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+			if(rtCiclo>=10){//doppo 1 secondi
-				rtCiclo=t4ch;
+				if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
-				stCiclo=omchiusura2;
+					stBuz=bzoff;
-			}
+					stCiclo=omchiuso;
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+				}
-			break;
-		case omchiusura2:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura3:
-			if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ch;
-				stCiclo=omchiusura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura4:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
-				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura5:
-			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twch;
-				stCiclo=omchiusura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura6:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
-				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura7:
-			if((ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE)){
-				rtCiclo=t3ch;
-				stCiclo=omchiusura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura8:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura9:
-			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ch;
-				stCiclo=omchiusura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura11:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura12:
-			if(rtCiclo==0){
-				//(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura13:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				stCiclo=omchiuso;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
+
 		case omstopchiusura:
 			SetMotPerc(M1,FW,0);
 			SetMotPerc(M2,FW,0);

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/2c/00248459c748001117c8b81d4e0ec712

@@ -28,6 +28,7 @@
 #include "pwm.h"
 #include "adc.h"
 #include "debug.h"
+#include "mot.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -36,28 +37,15 @@
 typedef enum{
 	bzoff,
 	bzmoving,
+	bzwarning,
 }stBuz_st;
+
+
 /* USER CODE END PTD */
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
-#define P1START 0x01
-#define P1STOP  0x02
-#define P2START 0x04
-#define P2STOP  0x08
-#define M1FW  0x10
-#define M1BW  0x20
-#define M2FW  0x40
-#define M2BW  0x80
-#define M3FW  0x100
-#define M3BW  0x200
-#define M4FW  0x400
-#define M4BW  0x800
 
-#define M1 1
-#define M2 2
-#define M3 3
-#define M4 4
 
 /* USER CODE END PD */
 
@@ -103,18 +91,37 @@ uint16_t t2ap;
 uint16_t t3ap;
 uint16_t t4ap;
 uint16_t twap;
-uint16_t t1ch;
+uint16_t m1TimeoutMan;
-uint16_t t2ch;
+uint16_t m2TimeoutMan;
-uint16_t t3ch;
+uint16_t m3TimeoutMan;
-uint16_t t4ch;
+uint16_t m4TimeoutMan;
 uint16_t twch;
 uint16_t tramp;
+uint16_t tramp1;
 uint16_t trampman;
 uint16_t m1pwmMan;
 uint16_t m2pwmMan;
 uint16_t m3pwmMan;
 uint16_t m4pwmMan;
 
+uint16_t apM1start;
+uint16_t apM1stop;
+uint16_t apM2start;
+uint16_t apM2stop;
+uint16_t apM3start;
+uint16_t apM3stop;
+uint16_t apM4start;
+uint16_t apM4stop;
+uint16_t chM1start;
+uint16_t chM1stop;
+uint16_t chM2start;
+uint16_t chM2stop;
+uint16_t chM3start;
+uint16_t chM3stop;
+uint16_t chM4start;
+uint16_t chM4stop;
+
+
 uint16_t mrampstart[4];
 uint16_t stPulsanti=0;
 omCiclo_st stCiclo=omchiuso;
@@ -168,17 +175,20 @@ void HAL_SYSTICK_Callback(void){
 		  for(i=0;i<4;i++){
 			  if(rtramp[i])rtramp[i]--;
 		  }
+		  if(rtCiclo<0xffff)rtCiclo++;
+
 //**** gestione buzzer *****************************************************************************
 		  if(stBuz==bzmoving){
 			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else if(stBuz==bzwarning){
+			  if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
 		  }else{//bzoff
 			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
 		  }
 //**************************************************************************************************
-		  if (++c1s >= 10) {               // 10 ms
+		  if (++c1s >= 10) {               // 1 s
 			  c1s = 0;
-			  if(rtCiclo)rtCiclo--;
+			  //HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
-			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
 		  }
 	  }
   }
@@ -187,10 +197,16 @@ void HAL_SYSTICK_Callback(void){
 void managePulsanti(void){
 	if(pulsanti&INP1){
 		if(rtP1==0)stPulsanti|=P1START;
+		else{
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_SET);
+		}
 	}else{
-		if(stPulsanti&P1START)stPulsanti&=(~P1START);
+		if(stPulsanti&P1START){
-		else if(rtP1<=190){
+			stPulsanti&=(~P1START);
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
+		}else if(rtP1<=190){
 			stPulsanti|=P1STOP;
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
 		}
 		rtP1=200;
 	}
@@ -201,10 +217,11 @@ void managePulsanti(void){
 		else if(rtP2<=190)stPulsanti|=P2STOP;
 		rtP2=200;
 	}
+	stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
 	if(stPulsanti==0){
-		switch((pulsanti>>2)&0x03){
+		switch(pulsanti&0x3c){
 			case 0x00:
-				rtTLC=10;
+				rtTLC=100;
 				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
 				break;
 			case 0x08://tlc1
@@ -226,7 +243,7 @@ void managePulsanti(void){
 				if(rtTLC==0)stPulsanti|=M4BW;
 				break;
 			default:
-				rtTLC=10;
+				rtTLC=100;
 				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
 				break;
 		}
@@ -234,13 +251,141 @@ void managePulsanti(void){
 }
 
 void manageCiclo(void){
+	motMov_st m1,m2,m3,m4;
 	switch(stCiclo){
 		case omchiuso:
 			if(stPulsanti&P1START){
-				stBuz=bzmoving;
+				stBuz=bzwarning;
-				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				rtCiclo=0;
-				stCiclo=omapertura1;
+				stCiclo=omapertura0;
+				(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
 			}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omM1fw1:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1fw2;
+			break;
+		case omM1fw2:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM1bw1:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1bw2;
+			break;
+		case omM1bw2:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2fw1:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2fw2;
+			break;
+		case omM2fw2:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2bw1:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2bw2;
+			break;
+		case omM2bw2:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3fw1:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3fw2;
+			break;
+		case omM3fw2:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3bw1:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3bw2;
+			break;
+		case omM3bw2:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4fw1:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4fw2;
+			break;
+		case omM4fw2:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4bw1:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4bw2;
+			break;
+		case omM4bw2:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omStopMan:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M1,BW,0);
+			SetMotPerc(M2,BW,0);
+			SetMotPerc(M3,BW,0);
+			SetMotPerc(M4,BW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
+			break;
+		case omapertura0:
+			if(rtCiclo>=30){//doppo 3 secondi
+				stBuz=bzmoving;
+				m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
+				if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
+					stBuz=bzoff;
+					stCiclo=omaperto;
+				}
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+				stPulsanti&=(~P1STOP);
+			}
+			break;
+		case omaperto:
+			rtCiclo=0;
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+				(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			else if(stPulsanti&M1FW){
 				stBuz=bzmoving;
 				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
@@ -275,298 +420,16 @@ void manageCiclo(void){
 				stCiclo=omM4bw1;
 			}
 			break;
-		case omM1fw1:
-			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM1fw2;
-			break;
-		case omM1fw2:
-			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM1bw1:
-			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM1bw2;
-			break;
-		case omM1bw2:
-			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM2fw1:
-			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM2fw2;
-			break;
-		case omM2fw2:
-			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM2bw1:
-			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM2bw2;
-			break;
-		case omM2bw2:
-			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM3fw1:
-			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM3fw2;
-			break;
-		case omM3fw2:
-			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM3bw1:
-			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM3bw2;
-			break;
-		case omM3bw2:
-			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM4fw1:
-			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM4fw2;
-			break;
-		case omM4fw2:
-			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM4bw1:
-			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM4bw2;
-			break;
-		case omM4bw2:
-			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omStopMan:
-			SetMotPerc(M1,FW,0);
-			SetMotPerc(M2,FW,0);
-			SetMotPerc(M3,FW,0);
-			SetMotPerc(M4,FW,0);
-			if(pulsanti==0){
-				stBuz=bzoff;
-				stCiclo=omaperto;
-			}
-			break;
-		case omapertura1:
-			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ap;
-				stCiclo=omapertura2;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura2:
-			if(rtCiclo==0){
-				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura3:
-			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura4:
-			if(rtCiclo==0){
-				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura5:
-			if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ap;
-				stCiclo=omapertura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura6:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura7:
-			if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t3ap;
-				stCiclo=omapertura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura8:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
-				(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura9:
-			if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twap;
-				stCiclo=omapertura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura11:
-			if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t4ap;
-				stCiclo=omapertura12;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura12:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura13;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura13:
-			if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				stCiclo=omaperto;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omstopapertura:
-			SetMotPerc(M1,FW,0);
-			SetMotPerc(M2,FW,0);
-			SetMotPerc(M3,FW,0);
-			SetMotPerc(M4,FW,0);
-			if(pulsanti==0){
-				stBuz=bzoff;
-				stCiclo=omchiuso;
-				stPulsanti&=(~P1STOP);
-			}
-			break;
-		case omaperto:
-			if(stPulsanti&P1START){
-				stBuz=bzmoving;
-				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura1;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
 		case omchiusura1:
-			if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+			if(rtCiclo>=10){//doppo 1 secondi
-				rtCiclo=t4ch;
+				if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
-				stCiclo=omchiusura2;
+					stBuz=bzoff;
-			}
+					stCiclo=omchiuso;
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+				}
-			break;
-		case omchiusura2:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura3:
-			if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ch;
-				stCiclo=omchiusura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura4:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
-				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura5:
-			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twch;
-				stCiclo=omchiusura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura6:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
-				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura7:
-			if((ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE)){
-				rtCiclo=t3ch;
-				stCiclo=omchiusura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura8:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura9:
-			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ch;
-				stCiclo=omchiusura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura11:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura12:
-			if(rtCiclo==0){
-				//(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura13:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				stCiclo=omchiuso;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
+
 		case omstopchiusura:
 			SetMotPerc(M1,FW,0);
 			SetMotPerc(M2,FW,0);

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/2e/804f11470148001113e9e1acf606c4d0

@@ -0,0 +1,229 @@
+#include <string.h>
+#include <stdbool.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "eeprom.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+extern const uint16_t EE_VirtAddrs[];
+extern uint8_t pulsanti;
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+extern const uint8_t deftab[];
+extern omCiclo_st stCiclo;
+extern omCiclo_st memstCiclo;
+extern uint8_t stPulsanti;
+
+bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
+	if((c1>='0')&&(c1<='9')){
+		c1-='0';
+	}else if((c1>='a')&&(c1<='f')){
+		c1=(c1-'a')+10;
+	}else return false;
+
+	if((c2>='0')&&(c2<='9')){
+		c2-='0';
+	}else if((c2>='a')&&(c2<='f')){
+		c2=(c2-'a')+10;
+	}else return false;
+
+	if((c3>='0')&&(c3<='9')){
+		c3-='0';
+	}else if((c3>='a')&&(c3<='f')){
+		c3=(c3-'a')+10;
+	}else return false;
+
+	if((c4>='0')&&(c4<='9')){
+		c4-='0';
+	}else if((c4>='a')&&(c4<='f')){
+		c4=(c4-'a')+10;
+	}else return false;
+
+	*retval=c1;
+	*retval*=16;
+	*retval+=c2;
+	*retval*=16;
+	*retval+=c3;
+	*retval*=16;
+	*retval+=c4;
+	return true;
+
+}
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	uint8_t mot,dir,dm,m,c,d,u;
+	uint16_t val;
+	uint16_t st;
+	uint16_t eeadd;
+	uint8_t i;
+
+	if (CDC_Available()) {
+	  int rx = CDC_ReadByte();
+	  if (rx < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+	  rxbuf[rxidx]=rx;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((rx==0x0d)||(rx==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"info\n");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\nP=0x%x ch4=%05d ch5=%05d ch6=%05d ch7=%05d ch8=%05d",pulsanti,ch4,ch5,ch6,ch7,ch8);
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\nstCiclo=%05d stPulsanti=%05d",stCiclo,stPulsanti);
+				  while (CDC_Transmit_FS(s, 31) == USBD_BUSY);
+				  break;
+			  case 'I':
+				  sprintf((char*)s,"\nID000000");
+				  while (CDC_Transmit_FS(s, 9) == USBD_BUSY);
+				  break;
+			  case 'm':
+				  if(rxidx==8){
+					  if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
+						  mot=rxbuf[1]-='0';
+						  if(rxbuf[2]=='f'){
+							  dir=FW;
+						  }else if(rxbuf[2]=='b'){
+							  dir=BW;
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
+							  break;
+						  }
+						  if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
+							  dm=rxbuf[3]-='0';
+							  m=rxbuf[4]-='0';
+							  c=rxbuf[5]-='0';
+							  d=rxbuf[6]-='0';
+							  u=rxbuf[7]-='0';
+							  val=dm;
+							  val*=10;
+							  val+=m;
+							  val*=10;
+							  val+=c;
+							  val*=10;
+							  val+=d;
+							  val*=10;
+							  val+=u;
+							  SetMot(mot,dir,val);
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+						  }
+
+					  }else{
+						  sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
+						  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
+					  while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
+				  }
+				  break;
+			  case 'e':
+				  if(rxidx>1){
+					  if(rxbuf[1]=='r'){
+						  if(rxidx==4){
+							  if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
+								  st=EEW_Read(eeadd, &val);
+								  if (st == EE_OK){
+									  sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }else{
+									  sprintf((char*)s,"\nee read error %d",st);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }
+							  }else{
+								  sprintf((char*)s,"\n?eraa hex values");
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+							  }
+						  }else{
+							  sprintf((char*)s,"\n?eraa");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else if(rxbuf[1]=='w'){
+						  if(rxidx==8){
+							  if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
+								  if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
+									  st=EEW_Write(eeadd, val);
+									  if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
+									  else sprintf((char*)s,"\nee write error %d", st);
+								  }else sprintf((char*)s,"\n?ewaavvvv hex values");
+							  }else sprintf((char*)s,"\n?ewaa hex values");
+						  }else sprintf((char*)s,"\n?ewaavvvv");
+						  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+					  }else if(rxbuf[1]=='d'){
+						  if(rxidx==2){
+							  for(i=0;i<32;i++){
+								  st=EEW_Read(i, &val);
+								  if (st == EE_OK){
+									  sprintf((char*)s,"\n0x%02x=%5d ",i,val);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }else{
+									  sprintf((char*)s,"rderr %d ",st);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }
+							  }
+							  if((i%4)==0){
+								  sprintf((char*)s,"\n");
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+							  }
+						  }else{
+							  sprintf((char*)s,"\n?ed");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else if(rxbuf[1]=='x'){
+						  if(rxidx==2){
+							  for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
+								  st=EEW_Write(i,deftab[i]);
+								  if (st == EE_OK)sprintf((char*)s,"\ndone %d=%d",i,deftab[i]);
+								  else sprintf((char*)s,"\nee write error %d", st);
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+
+							  }
+							  loadEE();
+						  }else{
+							  sprintf((char*)s,"\n?ex");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else{
+						  sprintf((char*)s,"\n?er|w|d|x");
+						  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?eraa | ewaavvvv");
+					  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  }
+				  break;
+			  default:
+				  sprintf((char*)s,"\n?");
+				  while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
+				  break;
+			  }
+		  }
+		  rxidx=0;
+	  }else rxidx++;
+      // tiny spin or yield
+    }
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/32/6074302f694200111f799b956365eeb8

@@ -1,179 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file           : main.h
-  * @brief          : Header for main.c file.
-  *                   This file contains the common defines of the application.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2025 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __MAIN_H
-#define __MAIN_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f1xx_hal.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-/* Exported types ------------------------------------------------------------*/
-/* USER CODE BEGIN ET */
-typedef enum{
-	omchiuso,
-	omM1fw1,
-	omM1bw1,
-	omM2fw1,
-	omM2bw1,
-	omM3fw1,
-	omM3bw1,
-	omM4fw1,
-	omM4bw1,
-	omapertura1,
-	omapertura2,
-	omapertura3,
-	omapertura4,
-	omapertura5,
-	omapertura6,
-	omapertura7,
-	omapertura8,
-	omapertura9,
-	omapertura10,
-	omapertura11,
-	omapertura12,
-	omapertura13,
-	omapertura14,
-	omstopapertura,
-	omaperto,
-	omchiusura1,
-	omchiusura2,
-	omchiusura3,
-	omchiusura4,
-	omchiusura5,
-	omchiusura6,
-	omchiusura7,
-	omchiusura8,
-	omchiusura9,
-	omchiusura10,
-	omchiusura11,
-	omchiusura12,
-	omchiusura13,
-	omchiusura14,
-	omstopchiusura,
-}omCiclo_st;
-/* USER CODE END ET */
-
-/* Exported constants --------------------------------------------------------*/
-/* USER CODE BEGIN EC */
-
-/* USER CODE END EC */
-
-/* Exported macro ------------------------------------------------------------*/
-/* USER CODE BEGIN EM */
-
-/* USER CODE END EM */
-
-void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
-
-/* Exported functions prototypes ---------------------------------------------*/
-void Error_Handler(void);
-
-/* USER CODE BEGIN EFP */
-
-/* USER CODE END EFP */
-
-/* Private defines -----------------------------------------------------------*/
-#define LED2_Pin GPIO_PIN_13
-#define LED2_GPIO_Port GPIOC
-#define P1_Pin GPIO_PIN_14
-#define P1_GPIO_Port GPIOC
-#define P2_Pin GPIO_PIN_15
-#define P2_GPIO_Port GPIOC
-#define IN1_Pin GPIO_PIN_0
-#define IN1_GPIO_Port GPIOA
-#define IN2_Pin GPIO_PIN_1
-#define IN2_GPIO_Port GPIOA
-#define IN3_Pin GPIO_PIN_2
-#define IN3_GPIO_Port GPIOA
-#define IN4_Pin GPIO_PIN_3
-#define IN4_GPIO_Port GPIOA
-#define AIN1_Pin GPIO_PIN_4
-#define AIN1_GPIO_Port GPIOA
-#define AIN2_Pin GPIO_PIN_5
-#define AIN2_GPIO_Port GPIOA
-#define AIN3_Pin GPIO_PIN_6
-#define AIN3_GPIO_Port GPIOA
-#define AIN4_Pin GPIO_PIN_7
-#define AIN4_GPIO_Port GPIOA
-#define ANEM_Pin GPIO_PIN_0
-#define ANEM_GPIO_Port GPIOB
-#define INH1_Pin GPIO_PIN_1
-#define INH1_GPIO_Port GPIOB
-#define INH2_Pin GPIO_PIN_2
-#define INH2_GPIO_Port GPIOB
-#define INH3_Pin GPIO_PIN_10
-#define INH3_GPIO_Port GPIOB
-#define INH4_Pin GPIO_PIN_11
-#define INH4_GPIO_Port GPIOB
-#define CH1_Pin GPIO_PIN_12
-#define CH1_GPIO_Port GPIOB
-#define CH2_Pin GPIO_PIN_13
-#define CH2_GPIO_Port GPIOB
-#define CH3_Pin GPIO_PIN_14
-#define CH3_GPIO_Port GPIOB
-#define CH4_Pin GPIO_PIN_15
-#define CH4_GPIO_Port GPIOB
-#define BUZ_Pin GPIO_PIN_8
-#define BUZ_GPIO_Port GPIOA
-#define SWIO_Pin GPIO_PIN_13
-#define SWIO_GPIO_Port GPIOA
-#define SWCLK_Pin GPIO_PIN_14
-#define SWCLK_GPIO_Port GPIOA
-#define LED1_Pin GPIO_PIN_15
-#define LED1_GPIO_Port GPIOA
-#define EXP1_Pin GPIO_PIN_3
-#define EXP1_GPIO_Port GPIOB
-#define EXP2_Pin GPIO_PIN_4
-#define EXP2_GPIO_Port GPIOB
-#define EXP3_Pin GPIO_PIN_5
-#define EXP3_GPIO_Port GPIOB
-#define IN5_Pin GPIO_PIN_6
-#define IN5_GPIO_Port GPIOB
-#define IN6_Pin GPIO_PIN_7
-#define IN6_GPIO_Port GPIOB
-#define IN7_Pin GPIO_PIN_8
-#define IN7_GPIO_Port GPIOB
-#define IN8_Pin GPIO_PIN_9
-#define IN8_GPIO_Port GPIOB
-
-/* USER CODE BEGIN Private defines */
-#define INP1 1
-#define INP2 2
-#define INCH1 4
-#define INCH2 8
-#define INCH3 16
-#define INCH4 32
-/* USER CODE END Private defines */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MAIN_H */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/42/b0be063d0348001113e9e1acf606c4d0

@@ -0,0 +1,344 @@
+/*
+ * mot.c
+ *
+ *  Created on: May 2, 2026
+ *      Author: user
+ */
+#include <stdio.h>
+#include <string.h>
+#include "main.h"
+#include "mot.h"
+#include "pwm.h"
+
+extern uint16_t apM1start;
+extern uint16_t apM1stop;
+extern uint16_t apM2start;
+extern uint16_t apM2stop;
+extern uint16_t apM3start;
+extern uint16_t apM3stop;
+extern uint16_t apM4start;
+extern uint16_t apM4stop;
+extern uint16_t chM1start;
+extern uint16_t chM1stop;
+extern uint16_t chM2start;
+extern uint16_t chM2stop;
+extern uint16_t chM3start;
+extern uint16_t chM3stop;
+extern uint16_t chM4start;
+extern uint16_t chM4stop;
+extern volatile uint16_t rtCiclo;
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t mrampstart[4];
+extern uint16_t tramp;
+
+extern UART_HandleTypeDef huart1;
+
+motMov_st m1ap(void){
+	static motMov_st m1st=motWaiting;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=m1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ap=%d",m1st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=apM1start){
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM1stop){
+				(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ap(void){
+	static motMov_st m2st;
+	if(rtCiclo<apM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=apM2start){
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM2stop){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ap(void){
+	static motMov_st m3st;
+	if(rtCiclo<apM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=apM3start){
+				(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM3stop){
+				(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ap(void){
+	static motMov_st m4st;
+	if(rtCiclo<apM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=apM4start){
+				(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM4stop){
+				(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}
+
+motMov_st m1ch(void){
+	static motMov_st m1st;
+	if(rtCiclo<chM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=chM1start){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM1stop){
+				(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ch(void){
+	static motMov_st m2st;
+	if(rtCiclo<chM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=chM2start){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM2stop){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ch(void){
+	static motMov_st m3st;
+	if(rtCiclo<chM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=chM3start){
+				(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM3stop){
+				(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ch(void){
+	static motMov_st m4st;
+	if(rtCiclo<chM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=chM4start){
+				(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM4stop){
+				(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/45/b08b79ee2543001119eefd2c7986ed92

@@ -1,390 +0,0 @@
-#include "eeprom.h"
-
-/*
- * Record format (4 bytes):
- *  [0] VirtAddress (uint16_t)
- *  [2] Data        (uint16_t)
- *
- * Page layout:
- *  [0]  PageStatus (uint16_t)
- *  [2..] Records...
- */
-
-extern uint16_t m1pwmap;
-extern uint16_t m1pwmch;
-extern uint16_t m2pwmap;
-extern uint16_t m2pwmch;
-extern uint16_t m3pwmap;
-extern uint16_t m3pwmch;
-extern uint16_t m4pwmap;
-extern uint16_t m4pwmch;
-extern uint16_t t1ap;
-extern uint16_t t2ap;
-extern uint16_t t3ap;
-extern uint16_t t4ap;
-extern uint16_t twap;
-extern uint16_t tramp;
-extern uint16_t t1ch;
-extern uint16_t t2ch;
-extern uint16_t t3ch;
-extern uint16_t t4ch;
-extern uint16_t twch;
-extern uint16_t tramp1;
-extern uint16_t trampman;
-extern uint16_t m1pwmMan;
-extern uint16_t m2pwmMan;
-extern uint16_t m3pwmMan;
-extern uint16_t m4pwmMan;
-
-const uint8_t deftab[32]={
-	40,	//m1pwmap
-	60, //m1pwmch
-	70, //m2pwmap
-	70, //m2pwmch
-	35, //m3pwmap
-	40, //m3pwmch
-	40, //m4pwmap
-	40,	//m4pwmch
-	20, //m1rampstart
-	20, //m2rampstart
-	20, //m3rampstart
-	20, //m4rampstart
-	26,	//t1ap
-	4,	//t2ap
-	10,  //t3ap
-	40, //t4ap
-	1,  //twap
-	26,  //t1ch
-	10,  //t2ch
-	30,  //t3ch
-	1,  //t4ch
-	1,  //twch
-	0,
-	0,
-	0,
-	100, //tramp1
-	60,  //m1pwmMan
-	70,  //m2pwmMan
-	40,	 //m3pwmMan
-	40,	 //m4pwmMan
-	50,  //trampman
-	10,  //tramp
-};
-
-typedef struct
-{
-    uint16_t VirtAddress;
-    uint16_t Data;
-} EE_Record_t;
-
-/* Active page base address (runtime selected in EE_Init) */
-static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
-
-/* 32 sequential virtual addresses */
-const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
-{
-    0x0001, 0x0002, 0x0003, 0x0004,
-    0x0005, 0x0006, 0x0007, 0x0008,
-    0x0009, 0x000A, 0x000B, 0x000C,
-    0x000D, 0x000E, 0x000F, 0x0010,
-    0x0011, 0x0012, 0x0013, 0x0014,
-    0x0015, 0x0016, 0x0017, 0x0018,
-    0x0019, 0x001A, 0x001B, 0x001C,
-    0x001D, 0x001E, 0x001F, 0x0020
-};
-/* ========================================================================= */
-
-/* --- Internal helpers ---------------------------------------------------- */
-
-static uint16_t EE_GetPageStatus(uint32_t pageBase)
-{
-    return *(__IO uint16_t *)pageBase;
-}
-
-static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
-{
-    HAL_StatusTypeDef status;
-
-    HAL_FLASH_Unlock();
-    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
-    HAL_FLASH_Lock();
-
-    return status;
-}
-
-static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
-{
-    HAL_StatusTypeDef status;
-    FLASH_EraseInitTypeDef EraseInit;
-    uint32_t PageError = 0;
-
-    HAL_FLASH_Unlock();
-
-    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
-    EraseInit.PageAddress = PageAddress;
-    EraseInit.NbPages     = 1;
-
-    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
-
-    HAL_FLASH_Lock();
-    return status;
-}
-
-/* Find first free record address in given page (returns 0 if full) */
-static uint32_t EE_FindFreeAddress(uint32_t pageBase)
-{
-    uint32_t addr = pageBase + 2U;                /* Skip status word */
-    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
-
-    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            /* Empty slot */
-            return addr;
-        }
-        addr += sizeof(EE_Record_t);
-    }
-
-    return 0U; /* No space */
-}
-
-/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
-/* Find latest value of VirtAddress in a specific page (scan forward) */
-static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
-{
-    uint32_t addr     = pageBase + 2U;            // skip status halfword
-    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
-    EE_Status result  = EE_NOT_FOUND;
-    uint16_t lastVal  = 0;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    while (addr <= (pageEnd - sizeof(EE_Record_t)))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            // First empty slot => no more records in this page
-            break;
-        }
-
-        uint16_t value = *(__IO uint16_t *)(addr + 2U);
-
-        if (vaddr == VirtAddress)
-        {
-            lastVal = value;    // keep most recent
-            result  = EE_OK;
-        }
-
-        addr += sizeof(EE_Record_t);  // move 4 bytes forward
-    }
-
-    if (result == EE_OK)
-        *Data = lastVal;
-
-    return result;
-}
-
-
-
-/* Format both pages: erase and set PAGE0 as VALID */
-static EE_Status EE_Format(void)
-{
-    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* PAGE1 will remain erased (status = 0xFFFF) */
-    EE_ActivePageBase = EE_PAGE0_BASE;
-
-    return EE_STATUS_OK;
-}
-
-/* Get the base of the other page */
-static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
-{
-    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
-}
-
-/* Page transfer (garbage collection + new write) */
-static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t oldBase = EE_ActivePageBase;
-    uint32_t newBase = EE_GetOtherPageBase(oldBase);
-    uint32_t addr;
-    uint16_t value;
-    EE_Status st;
-
-    /* Erase new page */
-    if (EE_FlashErasePage(newBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as RECEIVE */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Start writing records just after status */
-    addr = newBase + 2U;
-
-    /* For each known virtual variable */
-    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
-    {
-        uint16_t vaddr = EE_VirtAddrs[i];
-
-        if (vaddr == VirtAddress)
-        {
-            /* Use the new data passed into PageTransfer */
-            value = Data;
-        }
-        else
-        {
-            /* Read latest value from old active page */
-            st = EE_FindInPage(oldBase, vaddr, &value);
-            if (st != EE_STATUS_OK)
-            {
-                /* Variable never written -> skip */
-                continue;
-            }
-        }
-
-        /* Write record to new page */
-        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
-            return EE_STATUS_ERROR;
-        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
-            return EE_STATUS_ERROR;
-
-        addr += sizeof(EE_Record_t);
-        if (addr >= (newBase + EE_PAGE_SIZE))
-            return EE_STATUS_NO_SPACE;
-    }
-
-    /* Erase old page */
-    if (EE_FlashErasePage(oldBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as VALID */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Update active page */
-    EE_ActivePageBase = newBase;
-
-    return EE_STATUS_OK;
-}
-
-/* --- Public API ----------------------------------------------------------- */
-
-/*
- * Initialize the EEPROM emulation.
- * - Checks page statuses and chooses the active page.
- * - If inconsistent or blank, formats pages.
- * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
- */
-uint16_t EE_Init(void)
-{
-    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
-    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
-
-    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        /* Fresh device -> format */
-        return (uint16_t)EE_Format();
-    }
-    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE0_BASE;
-        return EE_OK;
-    }
-    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE1_BASE;
-        return EE_OK;
-    }
-    else
-    {
-        /* Any weird or inconsistent state -> reformat */
-        return (uint16_t)EE_Format();
-    }
-}
-
-/*
- * Read a 16-bit variable by its virtual address.
- * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
- */
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
-{
-    EE_Status st;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-/*
- * Write (append) a 16-bit variable.
- * - Writes a new record in the active page.
- * - If the page is full, triggers a page transfer (GC).
- * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
- */
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t freeAddr;
-    EE_Status st;
-
-    /* Find free space in active page */
-    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
-    if (freeAddr != 0U)
-    {
-        /* Write new record */
-        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
-            return EE_ERROR;
-        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
-            return EE_ERROR;
-
-        return EE_OK;
-    }
-
-    /* No space -> page transfer */
-    st = EE_PageTransfer(VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-void loadEE(void){
-	EEW_Read(M1PWMAP, &m1pwmap);
-	EEW_Read(M1PWMCH, &m1pwmch);
-	EEW_Read(M2PWMAP, &m2pwmap);
-	EEW_Read(M2PWMCH, &m2pwmch);
-	EEW_Read(M3PWMAP, &m3pwmap);
-	EEW_Read(M3PWMCH, &m3pwmch);
-	EEW_Read(M4PWMAP, &m4pwmap);
-	EEW_Read(M4PWMCH, &m4pwmch);
-	EEW_Read(T1AP, &t1ap);
-	EEW_Read(T2AP, &t2ap);
-	EEW_Read(T3AP, &t3ap);
-	EEW_Read(T4AP, &t4ap);
-	EEW_Read(TWAP, &twap);
-	EEW_Read(T1CH, &t1ch);
-	EEW_Read(T2CH, &t2ch);
-	EEW_Read(T3CH, &t3ch);
-	EEW_Read(T4CH, &t4ch);
-	EEW_Read(TWCH, &twch);
-	EEW_Read(TRAMP1, &tramp1);
-	EEW_Read(M1PWMMAN, &m1pwmMan);
-	EEW_Read(M2PWMMAN, &m2pwmMan);
-	EEW_Read(M3PWMMAN, &m3pwmMan);
-	EEW_Read(M4PWMMAN, &m4pwmMan);
-	EEW_Read(TRAMPMAN, &trampman);
-	EEW_Read(TRAMP, &tramp);
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/47/70dd25440348001113e9e1acf606c4d0

@@ -0,0 +1,396 @@
+/*
+ * mot.c
+ *
+ *  Created on: May 2, 2026
+ *      Author: user
+ */
+#include <stdio.h>
+#include <string.h>
+#include "main.h"
+#include "mot.h"
+#include "pwm.h"
+
+extern uint16_t apM1start;
+extern uint16_t apM1stop;
+extern uint16_t apM2start;
+extern uint16_t apM2stop;
+extern uint16_t apM3start;
+extern uint16_t apM3stop;
+extern uint16_t apM4start;
+extern uint16_t apM4stop;
+extern uint16_t chM1start;
+extern uint16_t chM1stop;
+extern uint16_t chM2start;
+extern uint16_t chM2stop;
+extern uint16_t chM3start;
+extern uint16_t chM3stop;
+extern uint16_t chM4start;
+extern uint16_t chM4stop;
+extern volatile uint16_t rtCiclo;
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t mrampstart[4];
+extern uint16_t tramp;
+
+extern UART_HandleTypeDef huart1;
+
+motMov_st m1ap(void){
+	static motMov_st m1st=motWaiting;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=m1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ap=%d",m1st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=apM1start){
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM1stop){
+				(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ap(void){
+	static motMov_st m2st;
+	static motMov_st memm2st=motStop;
+	char s[100];
+	if(memm2st!=m2st){
+		memm2st=m2st;
+		sprintf(s,"\nm2ap=%d",m2st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=apM2start){
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM2stop){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ap(void){
+	static motMov_st m3st;
+	static motMov_st memm3st=motStop;
+	char s[100];
+	if(memm3st!=m3st){
+		memm3st=m3st;
+		sprintf(s,"\nm3ap=%d",m3st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=apM3start){
+				(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM3stop){
+				(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ap(void){
+	static motMov_st m4st;
+	static motMov_st memm4st=motStop;
+	char s[100];
+	if(memm4st!=m4st){
+		memm14st=m4st;
+		sprintf(s,"\nm4ap=%d",m4st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=apM4start){
+				(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM4stop){
+				(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}
+
+motMov_st m1ch(void){
+	static motMov_st m1st;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=m1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ch=%d",m1st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<chM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=chM1start){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM1stop){
+				(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ch(void){
+	static motMov_st m2st;
+	static motMov_st memm2st=motStop;
+	char s[100];
+	if(memm2st!=m2st){
+		memm2st=m2st;
+		sprintf(s,"\nm2ch=%d",m2st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+
+	if(rtCiclo<chM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=chM2start){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM2stop){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ch(void){
+	static motMov_st m3st;
+	static motMov_st memm3st=motStop;
+	char s[100];
+	if(memm3st!=m3st){
+		memm3st=m3st;
+		sprintf(s,"\nm3ch=%d",m3st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+
+	if(rtCiclo<chM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=chM3start){
+				(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM3stop){
+				(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ch(void){
+	static motMov_st m4st;
+	static motMov_st memm4st=motStop;
+	char s[100];
+	if(memm4st!=m4st){
+		memm4st=m4st;
+		sprintf(s,"\nm4ch=%d",m4st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+
+	if(rtCiclo<chM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=chM4start){
+				(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM4stop){
+				(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/4e/0007397e664200111f799b956365eeb8

@@ -1,955 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file           : main.c
-  * @brief          : Main program body
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2025 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-#include "usb_device.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-#include "usbd_cdc_if.h"
-#include "cdc_int.h"
-#include "eeprom.h"
-#include "pwm.h"
-#include "adc.h"
-#include "debug.h"
-/* USER CODE END Includes */
-
-/* Private typedef -----------------------------------------------------------*/
-/* USER CODE BEGIN PTD */
-
-typedef enum{
-	bzoff,
-	bzmoving,
-}stBuz_st;
-/* USER CODE END PTD */
-
-/* Private define ------------------------------------------------------------*/
-/* USER CODE BEGIN PD */
-#define P1START 0x01
-#define P1STOP  0x02
-#define P2START 0x04
-#define P2STOP  0x08
-
-#define M1 1
-#define M2 2
-#define M3 3
-#define M4 4
-
-/* USER CODE END PD */
-
-/* Private macro -------------------------------------------------------------*/
-/* USER CODE BEGIN PM */
-
-/* USER CODE END PM */
-
-/* Private variables ---------------------------------------------------------*/
-ADC_HandleTypeDef hadc1;
-DMA_HandleTypeDef hdma_adc1;
-
-TIM_HandleTypeDef htim2;
-TIM_HandleTypeDef htim4;
-
-UART_HandleTypeDef huart1;
-
-/* USER CODE BEGIN PV */
-
-extern volatile uint16_t adc_dma_buf[];
-extern uint16_t ch4 ;
-extern uint16_t ch5 ;
-extern uint16_t ch6 ;
-extern uint16_t ch7 ;
-extern uint16_t ch8 ;
-
-uint8_t pulsanti=0;
-volatile uint8_t rtP1=200;
-volatile uint8_t rtP2=200;
-volatile uint16_t rtramp[4];
-volatile uint16_t rtCiclo;
-uint16_t m1pwmap;
-uint16_t m1pwmch;
-uint16_t m2pwmap;
-uint16_t m2pwmch;
-uint16_t m3pwmap;
-uint16_t m3pwmch;
-uint16_t m4pwmap;
-uint16_t m4pwmch;
-uint16_t t1ap;
-uint16_t t2ap;
-uint16_t t3ap;
-uint16_t t4ap;
-uint16_t twap;
-uint16_t t1ch;
-uint16_t t2ch;
-uint16_t t3ch;
-uint16_t t4ch;
-uint16_t twch;
-uint16_t tramp;
-
-uint16_t mrampstart[4];
-uint16_t stPulsanti=0;
-omCiclo_st stCiclo=omchiuso;
-omCiclo_st memstCiclo=omchiuso;
-volatile stBuz_st stBuz=bzoff;
-/* USER CODE END PV */
-
-/* Private function prototypes -----------------------------------------------*/
-void SystemClock_Config(void);
-static void MX_GPIO_Init(void);
-static void MX_DMA_Init(void);
-static void MX_TIM2_Init(void);
-static void MX_TIM4_Init(void);
-static void MX_ADC1_Init(void);
-static void MX_USART1_UART_Init(void);
-/* USER CODE BEGIN PFP */
-
-/* USER CODE END PFP */
-
-/* Private user code ---------------------------------------------------------*/
-/* USER CODE BEGIN 0 */
-void HAL_SYSTICK_Callback(void){
-  static unsigned char c10ms = 0;
-  static uint8_t c100ms = 0;
-  static uint8_t c1s = 0;
-  static uint8_t inidx=0;
-  static uint8_t inbuf[4];
-  uint8_t i;
-
-  if (++c10ms >= 10) {               // 10 ms
-	  c10ms = 0;
-	  if(rtP1)rtP1--;
-	  if(rtP2)rtP2--;
-
-//**** legge i tasti********************************************************************************
-	  inidx++;
-	  inidx&=0x03;
-	  if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
-	  if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
-	  if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
-	  if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
-	  if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
-	  if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
-
-	  pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
-	  pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
-//**** legge adc ***********************************************************************************
-	  readAdc();
-	  if (++c100ms >= 10) {               // 10 ms
-		  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
-		  for(i=0;i<4;i++){
-			  if(rtramp[i])rtramp[i]--;
-		  }
-//**** gestione buzzer *****************************************************************************
-		  if(stBuz==bzmoving){
-			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
-		  }else{//bzoff
-			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
-		  }
-//**************************************************************************************************
-		  if (++c1s >= 10) {               // 10 ms
-			  c1s = 0;
-			  if(rtCiclo)rtCiclo--;
-			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
-		  }
-	  }
-  }
-}
-
-void managePulsanti(void){
-	if(pulsanti&INP1){
-		if(rtP1==0)stPulsanti|=P1START;
-	}else{
-		if(stPulsanti&P1START)stPulsanti&=(~P1START);
-		else if(rtP1<=190){
-			stPulsanti|=P1STOP;
-		}
-		rtP1=200;
-	}
-	if(pulsanti&INP2){
-		if(rtP2==0)stPulsanti|=P2START;
-	}else{
-		if(stPulsanti&P2START)stPulsanti&=(~P2START);
-		else if(rtP2<=190)stPulsanti|=P2STOP;
-		rtP2=200;
-	}
-}
-
-void manageCiclo(void){
-	switch(stCiclo){
-		case omchiuso:
-			if(stPulsanti&P1START){
-				stBuz=bzmoving;
-				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura1;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura1:
-			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ap;
-				stCiclo=omapertura2;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura2:
-			if(rtCiclo==0){
-				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura3:
-			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura4:
-			if(rtCiclo==0){
-				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura5:
-			if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ap;
-				stCiclo=omapertura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura6:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura7:
-			if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t3ap;
-				stCiclo=omapertura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura8:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
-				(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura9:
-			if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twap;
-				stCiclo=omapertura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura11:
-			if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t4ap;
-				stCiclo=omapertura12;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura12:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura13;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura13:
-			if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				stCiclo=omaperto;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omstopapertura:
-			SetMotPerc(M1,FW,0);
-			SetMotPerc(M2,FW,0);
-			SetMotPerc(M3,FW,0);
-			SetMotPerc(M4,FW,0);
-			if(pulsanti==0){
-				stBuz=bzoff;
-				stCiclo=omchiuso;
-				stPulsanti&=(~P1STOP);
-			}
-			break;
-		case omaperto:
-			if(stPulsanti&P1START){
-				stBuz=bzmoving;
-				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura1;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura1:
-			if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
-				rtCiclo=t4ch;
-				stCiclo=omchiusura2;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura2:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura3:
-			if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ch;
-				stCiclo=omchiusura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura4:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
-				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura5:
-			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twch;
-				stCiclo=omchiusura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura6:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
-				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura7:
-			if((ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE)){
-				rtCiclo=t3ch;
-				stCiclo=omchiusura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura8:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura9:
-			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ch;
-				stCiclo=omchiusura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura11:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura12:
-			if(rtCiclo==0){
-				//(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura13:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				stCiclo=omchiuso;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omstopchiusura:
-			SetMotPerc(M1,FW,0);
-			SetMotPerc(M2,FW,0);
-			SetMotPerc(M3,FW,0);
-			SetMotPerc(M4,FW,0);
-			if(pulsanti==0){
-				stBuz=bzoff;
-				stCiclo=omaperto;
-				stPulsanti&=(~P1STOP);
-			}
-			break;
-	}
-}
-
-/* USER CODE END 0 */
-
-/**
-  * @brief  The application entry point.
-  * @retval int
-  */
-int main(void)
-{
-
-  /* USER CODE BEGIN 1 */
-
-  /* USER CODE END 1 */
-
-  /* MCU Configuration--------------------------------------------------------*/
-
-  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-  HAL_Init();
-
-  /* USER CODE BEGIN Init */
-
-  /* USER CODE END Init */
-
-  /* Configure the system clock */
-  SystemClock_Config();
-
-  /* USER CODE BEGIN SysInit */
-
-  /* USER CODE END SysInit */
-
-  /* Initialize all configured peripherals */
-  MX_GPIO_Init();
-  MX_DMA_Init();
-  MX_USB_DEVICE_Init();
-  MX_TIM2_Init();
-  MX_TIM4_Init();
-  MX_ADC1_Init();
-  MX_USART1_UART_Init();
-  /* USER CODE BEGIN 2 */
-  HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
-  StopMot(timMot1,FWMot1);
-  StopMot(timMot1,BWMot1);
-  StopMot(timMot2,FWMot2);
-  StopMot(timMot2,BWMot2);
-  StopMot(timMot3,FWMot3);
-  StopMot(timMot3,BWMot3);
-  StopMot(timMot4,FWMot4);
-  StopMot(timMot4,BWMot4);
-  //CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
-  //while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
-  if (EE_Init() != EE_OK){
-      for(;;);//errore eeprom
-  }
-  loadEE();
-  /* USER CODE END 2 */
-
-  /* Infinite loop */
-  /* USER CODE BEGIN WHILE */
-  while (1){
-	  manageCDC();
-	  manageAdc();
-	  managePulsanti();
-	  manageCiclo();
-	  debug();
-//	  while (CDC_Available()) {
-	//	  int c = CDC_ReadByte();
-      //if (c < 0) break;
-
-//		  uint8_t out = (uint8_t)c;
-//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
-
-//		  unsigned char s[100];
-//		  sprintf((char*)s,"\nc=%03d",c);
-//		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
-//        // tiny spin or yield
-//      }
- //   }
-
-	    //HAL_Delay(1000);
-	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
-    /* USER CODE END WHILE */
-
-    /* USER CODE BEGIN 3 */
-  }
-  /* USER CODE END 3 */
-}
-
-/**
-  * @brief System Clock Configuration
-  * @retval None
-  */
-void SystemClock_Config(void)
-{
-  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
-  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
-  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
-
-  /** Initializes the RCC Oscillators according to the specified parameters
-  * in the RCC_OscInitTypeDef structure.
-  */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
-  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
-  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
-  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
-  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
-  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
-  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
-  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Initializes the CPU, AHB and APB buses clocks
-  */
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
-                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
-  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
-  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
-  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
-  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
-
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
-  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
-  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
-  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
-  {
-    Error_Handler();
-  }
-}
-
-/**
-  * @brief ADC1 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_ADC1_Init(void)
-{
-
-  /* USER CODE BEGIN ADC1_Init 0 */
-
-  /* USER CODE END ADC1_Init 0 */
-
-  ADC_ChannelConfTypeDef sConfig = {0};
-
-  /* USER CODE BEGIN ADC1_Init 1 */
-
-  /* USER CODE END ADC1_Init 1 */
-
-  /** Common config
-  */
-  hadc1.Instance = ADC1;
-  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
-  hadc1.Init.ContinuousConvMode = ENABLE;
-  hadc1.Init.DiscontinuousConvMode = DISABLE;
-  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
-  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
-  hadc1.Init.NbrOfConversion = 5;
-  if (HAL_ADC_Init(&hadc1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Regular Channel
-  */
-  sConfig.Channel = ADC_CHANNEL_4;
-  sConfig.Rank = ADC_REGULAR_RANK_1;
-  sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Regular Channel
-  */
-  sConfig.Channel = ADC_CHANNEL_5;
-  sConfig.Rank = ADC_REGULAR_RANK_2;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Regular Channel
-  */
-  sConfig.Channel = ADC_CHANNEL_6;
-  sConfig.Rank = ADC_REGULAR_RANK_3;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Regular Channel
-  */
-  sConfig.Channel = ADC_CHANNEL_7;
-  sConfig.Rank = ADC_REGULAR_RANK_4;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Regular Channel
-  */
-  sConfig.Channel = ADC_CHANNEL_8;
-  sConfig.Rank = ADC_REGULAR_RANK_5;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN ADC1_Init 2 */
-
-  /* USER CODE END ADC1_Init 2 */
-
-}
-
-/**
-  * @brief TIM2 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM2_Init(void)
-{
-
-  /* USER CODE BEGIN TIM2_Init 0 */
-
-  /* USER CODE END TIM2_Init 0 */
-
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
-
-  /* USER CODE BEGIN TIM2_Init 1 */
-
-  /* USER CODE END TIM2_Init 1 */
-  htim2.Instance = TIM2;
-  htim2.Init.Prescaler = 0;
-  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim2.Init.Period = 17999;
-  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 1000;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.Pulse = 2000;
-  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.Pulse = 3000;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.Pulse = 4000;
-  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM2_Init 2 */
-
-  /* USER CODE END TIM2_Init 2 */
-  HAL_TIM_MspPostInit(&htim2);
-
-}
-
-/**
-  * @brief TIM4 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM4_Init(void)
-{
-
-  /* USER CODE BEGIN TIM4_Init 0 */
-
-  /* USER CODE END TIM4_Init 0 */
-
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
-
-  /* USER CODE BEGIN TIM4_Init 1 */
-
-  /* USER CODE END TIM4_Init 1 */
-  htim4.Instance = TIM4;
-  htim4.Init.Prescaler = 0;
-  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim4.Init.Period = 17999;
-  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 5000;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.Pulse = 6000;
-  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.Pulse = 7000;
-  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.Pulse = 8000;
-  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM4_Init 2 */
-
-  /* USER CODE END TIM4_Init 2 */
-  HAL_TIM_MspPostInit(&htim4);
-
-}
-
-/**
-  * @brief USART1 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_USART1_UART_Init(void)
-{
-
-  /* USER CODE BEGIN USART1_Init 0 */
-
-  /* USER CODE END USART1_Init 0 */
-
-  /* USER CODE BEGIN USART1_Init 1 */
-
-  /* USER CODE END USART1_Init 1 */
-  huart1.Instance = USART1;
-  huart1.Init.BaudRate = 115200;
-  huart1.Init.WordLength = UART_WORDLENGTH_8B;
-  huart1.Init.StopBits = UART_STOPBITS_1;
-  huart1.Init.Parity = UART_PARITY_NONE;
-  huart1.Init.Mode = UART_MODE_TX_RX;
-  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
-  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
-  if (HAL_UART_Init(&huart1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN USART1_Init 2 */
-
-  /* USER CODE END USART1_Init 2 */
-
-}
-
-/**
-  * Enable DMA controller clock
-  */
-static void MX_DMA_Init(void)
-{
-
-  /* DMA controller clock enable */
-  __HAL_RCC_DMA1_CLK_ENABLE();
-
-  /* DMA interrupt init */
-  /* DMA1_Channel1_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
-  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
-
-}
-
-/**
-  * @brief GPIO Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_GPIO_Init(void)
-{
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
-  /* USER CODE BEGIN MX_GPIO_Init_1 */
-
-  /* USER CODE END MX_GPIO_Init_1 */
-
-  /* GPIO Ports Clock Enable */
-  __HAL_RCC_GPIOC_CLK_ENABLE();
-  __HAL_RCC_GPIOD_CLK_ENABLE();
-  __HAL_RCC_GPIOA_CLK_ENABLE();
-  __HAL_RCC_GPIOB_CLK_ENABLE();
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
-                          |EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
-
-  /*Configure GPIO pin : LED2_Pin */
-  GPIO_InitStruct.Pin = LED2_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : P1_Pin P2_Pin */
-  GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
-  /*Configure GPIO pin : AIN1_Pin */
-  GPIO_InitStruct.Pin = AIN1_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-  HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
-                           EXP1_Pin EXP2_Pin EXP3_Pin */
-  GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
-                          |EXP1_Pin|EXP2_Pin|EXP3_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
-  GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : BUZ_Pin LED1_Pin */
-  GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN MX_GPIO_Init_2 */
-
-  /* USER CODE END MX_GPIO_Init_2 */
-}
-
-/* USER CODE BEGIN 4 */
-
-/* USER CODE END 4 */
-
-/**
-  * @brief  This function is executed in case of error occurrence.
-  * @retval None
-  */
-void Error_Handler(void)
-{
-  /* USER CODE BEGIN Error_Handler_Debug */
-  /* User can add his own implementation to report the HAL error return state */
-  __disable_irq();
-  while (1)
-  {
-  }
-  /* USER CODE END Error_Handler_Debug */
-}
-#ifdef USE_FULL_ASSERT
-/**
-  * @brief  Reports the name of the source file and the source line number
-  *         where the assert_param error has occurred.
-  * @param  file: pointer to the source file name
-  * @param  line: assert_param error line source number
-  * @retval None
-  */
-void assert_failed(uint8_t *file, uint32_t line)
-{
-  /* USER CODE BEGIN 6 */
-  /* User can add his own implementation to report the file name and line number,
-     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
-  /* USER CODE END 6 */
-}
-#endif /* USE_FULL_ASSERT */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/5b/b0e98cbd1c43001119eefd2c7986ed92

@@ -1,390 +0,0 @@
-#include "eeprom.h"
-
-/*
- * Record format (4 bytes):
- *  [0] VirtAddress (uint16_t)
- *  [2] Data        (uint16_t)
- *
- * Page layout:
- *  [0]  PageStatus (uint16_t)
- *  [2..] Records...
- */
-
-extern uint16_t m1pwmap;
-extern uint16_t m1pwmch;
-extern uint16_t m2pwmap;
-extern uint16_t m2pwmch;
-extern uint16_t m3pwmap;
-extern uint16_t m3pwmch;
-extern uint16_t m4pwmap;
-extern uint16_t m4pwmch;
-extern uint16_t t1ap;
-extern uint16_t t2ap;
-extern uint16_t t3ap;
-extern uint16_t t4ap;
-extern uint16_t twap;
-extern uint16_t tramp;
-extern uint16_t t1ch;
-extern uint16_t t2ch;
-extern uint16_t t3ch;
-extern uint16_t t4ch;
-extern uint16_t twch;
-extern uint16_t tramp1;
-extern uint16_t trampman;
-extern uint16_t m1pwmMan;
-extern uint16_t m2pwmMan;
-extern uint16_t m3pwmMan;
-extern uint16_t m4pwmMan;
-
-const uint8_t deftab[32]={
-	40,	//m1pwmap
-	60, //m1pwmch
-	70, //m2pwmap
-	70, //m2pwmch
-	35, //m3pwmap
-	40, //m3pwmch
-	40, //m4pwmap
-	40,	//m4pwmch
-	20, //m1rampstart
-	20, //m2rampstart
-	20, //m3rampstart
-	20, //m4rampstart
-	28,	//t1ap
-	4,	//t2ap
-	10,  //t3ap
-	40, //t4ap
-	1,  //twap
-	26,  //t1ch
-	10,  //t2ch
-	30,  //t3ch
-	1,  //t4ch
-	1,  //twch
-	0,
-	0,
-	0,
-	100, //tramp1
-	60,  //m1pwmMan
-	70,  //m2pwmMan
-	40,	 //m3pwmMan
-	40,	 //m4pwmMan
-	50,  //trampman
-	10,  //tramp
-};
-
-typedef struct
-{
-    uint16_t VirtAddress;
-    uint16_t Data;
-} EE_Record_t;
-
-/* Active page base address (runtime selected in EE_Init) */
-static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
-
-/* 32 sequential virtual addresses */
-const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
-{
-    0x0001, 0x0002, 0x0003, 0x0004,
-    0x0005, 0x0006, 0x0007, 0x0008,
-    0x0009, 0x000A, 0x000B, 0x000C,
-    0x000D, 0x000E, 0x000F, 0x0010,
-    0x0011, 0x0012, 0x0013, 0x0014,
-    0x0015, 0x0016, 0x0017, 0x0018,
-    0x0019, 0x001A, 0x001B, 0x001C,
-    0x001D, 0x001E, 0x001F, 0x0020
-};
-/* ========================================================================= */
-
-/* --- Internal helpers ---------------------------------------------------- */
-
-static uint16_t EE_GetPageStatus(uint32_t pageBase)
-{
-    return *(__IO uint16_t *)pageBase;
-}
-
-static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
-{
-    HAL_StatusTypeDef status;
-
-    HAL_FLASH_Unlock();
-    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
-    HAL_FLASH_Lock();
-
-    return status;
-}
-
-static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
-{
-    HAL_StatusTypeDef status;
-    FLASH_EraseInitTypeDef EraseInit;
-    uint32_t PageError = 0;
-
-    HAL_FLASH_Unlock();
-
-    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
-    EraseInit.PageAddress = PageAddress;
-    EraseInit.NbPages     = 1;
-
-    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
-
-    HAL_FLASH_Lock();
-    return status;
-}
-
-/* Find first free record address in given page (returns 0 if full) */
-static uint32_t EE_FindFreeAddress(uint32_t pageBase)
-{
-    uint32_t addr = pageBase + 2U;                /* Skip status word */
-    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
-
-    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            /* Empty slot */
-            return addr;
-        }
-        addr += sizeof(EE_Record_t);
-    }
-
-    return 0U; /* No space */
-}
-
-/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
-/* Find latest value of VirtAddress in a specific page (scan forward) */
-static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
-{
-    uint32_t addr     = pageBase + 2U;            // skip status halfword
-    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
-    EE_Status result  = EE_NOT_FOUND;
-    uint16_t lastVal  = 0;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    while (addr <= (pageEnd - sizeof(EE_Record_t)))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            // First empty slot => no more records in this page
-            break;
-        }
-
-        uint16_t value = *(__IO uint16_t *)(addr + 2U);
-
-        if (vaddr == VirtAddress)
-        {
-            lastVal = value;    // keep most recent
-            result  = EE_OK;
-        }
-
-        addr += sizeof(EE_Record_t);  // move 4 bytes forward
-    }
-
-    if (result == EE_OK)
-        *Data = lastVal;
-
-    return result;
-}
-
-
-
-/* Format both pages: erase and set PAGE0 as VALID */
-static EE_Status EE_Format(void)
-{
-    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* PAGE1 will remain erased (status = 0xFFFF) */
-    EE_ActivePageBase = EE_PAGE0_BASE;
-
-    return EE_STATUS_OK;
-}
-
-/* Get the base of the other page */
-static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
-{
-    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
-}
-
-/* Page transfer (garbage collection + new write) */
-static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t oldBase = EE_ActivePageBase;
-    uint32_t newBase = EE_GetOtherPageBase(oldBase);
-    uint32_t addr;
-    uint16_t value;
-    EE_Status st;
-
-    /* Erase new page */
-    if (EE_FlashErasePage(newBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as RECEIVE */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Start writing records just after status */
-    addr = newBase + 2U;
-
-    /* For each known virtual variable */
-    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
-    {
-        uint16_t vaddr = EE_VirtAddrs[i];
-
-        if (vaddr == VirtAddress)
-        {
-            /* Use the new data passed into PageTransfer */
-            value = Data;
-        }
-        else
-        {
-            /* Read latest value from old active page */
-            st = EE_FindInPage(oldBase, vaddr, &value);
-            if (st != EE_STATUS_OK)
-            {
-                /* Variable never written -> skip */
-                continue;
-            }
-        }
-
-        /* Write record to new page */
-        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
-            return EE_STATUS_ERROR;
-        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
-            return EE_STATUS_ERROR;
-
-        addr += sizeof(EE_Record_t);
-        if (addr >= (newBase + EE_PAGE_SIZE))
-            return EE_STATUS_NO_SPACE;
-    }
-
-    /* Erase old page */
-    if (EE_FlashErasePage(oldBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as VALID */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Update active page */
-    EE_ActivePageBase = newBase;
-
-    return EE_STATUS_OK;
-}
-
-/* --- Public API ----------------------------------------------------------- */
-
-/*
- * Initialize the EEPROM emulation.
- * - Checks page statuses and chooses the active page.
- * - If inconsistent or blank, formats pages.
- * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
- */
-uint16_t EE_Init(void)
-{
-    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
-    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
-
-    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        /* Fresh device -> format */
-        return (uint16_t)EE_Format();
-    }
-    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE0_BASE;
-        return EE_OK;
-    }
-    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE1_BASE;
-        return EE_OK;
-    }
-    else
-    {
-        /* Any weird or inconsistent state -> reformat */
-        return (uint16_t)EE_Format();
-    }
-}
-
-/*
- * Read a 16-bit variable by its virtual address.
- * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
- */
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
-{
-    EE_Status st;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-/*
- * Write (append) a 16-bit variable.
- * - Writes a new record in the active page.
- * - If the page is full, triggers a page transfer (GC).
- * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
- */
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t freeAddr;
-    EE_Status st;
-
-    /* Find free space in active page */
-    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
-    if (freeAddr != 0U)
-    {
-        /* Write new record */
-        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
-            return EE_ERROR;
-        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
-            return EE_ERROR;
-
-        return EE_OK;
-    }
-
-    /* No space -> page transfer */
-    st = EE_PageTransfer(VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-void loadEE(void){
-	EEW_Read(M1PWMAP, &m1pwmap);
-	EEW_Read(M1PWMCH, &m1pwmch);
-	EEW_Read(M2PWMAP, &m2pwmap);
-	EEW_Read(M2PWMCH, &m2pwmch);
-	EEW_Read(M3PWMAP, &m3pwmap);
-	EEW_Read(M3PWMCH, &m3pwmch);
-	EEW_Read(M4PWMAP, &m4pwmap);
-	EEW_Read(M4PWMCH, &m4pwmch);
-	EEW_Read(T1AP, &t1ap);
-	EEW_Read(T2AP, &t2ap);
-	EEW_Read(T3AP, &t3ap);
-	EEW_Read(T4AP, &t4ap);
-	EEW_Read(TWAP, &twap);
-	EEW_Read(T1CH, &t1ch);
-	EEW_Read(T2CH, &t2ch);
-	EEW_Read(T3CH, &t3ch);
-	EEW_Read(T4CH, &t4ch);
-	EEW_Read(TWCH, &twch);
-	EEW_Read(TRAMP1, &tramp1);
-	EEW_Read(M1PWMMAN, &m1pwmMan);
-	EEW_Read(M2PWMMAN, &m2pwmMan);
-	EEW_Read(M3PWMMAN, &m3pwmMan);
-	EEW_Read(M4PWMMAN, &m4pwmMan);
-	EEW_Read(TRAMPMAN, &trampman);
-	EEW_Read(TRAMP, &tramp);
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/5c/503b4b5e1c43001119eefd2c7986ed92

@@ -1,390 +0,0 @@
-#include "eeprom.h"
-
-/*
- * Record format (4 bytes):
- *  [0] VirtAddress (uint16_t)
- *  [2] Data        (uint16_t)
- *
- * Page layout:
- *  [0]  PageStatus (uint16_t)
- *  [2..] Records...
- */
-
-extern uint16_t m1pwmap;
-extern uint16_t m1pwmch;
-extern uint16_t m2pwmap;
-extern uint16_t m2pwmch;
-extern uint16_t m3pwmap;
-extern uint16_t m3pwmch;
-extern uint16_t m4pwmap;
-extern uint16_t m4pwmch;
-extern uint16_t t1ap;
-extern uint16_t t2ap;
-extern uint16_t t3ap;
-extern uint16_t t4ap;
-extern uint16_t twap;
-extern uint16_t tramp;
-extern uint16_t t1ch;
-extern uint16_t t2ch;
-extern uint16_t t3ch;
-extern uint16_t t4ch;
-extern uint16_t twch;
-extern uint16_t tramp1;
-extern uint16_t trampman;
-extern uint16_t m1pwmMan;
-extern uint16_t m2pwmMan;
-extern uint16_t m3pwmMan;
-extern uint16_t m4pwmMan;
-
-const uint8_t deftab[32]={
-	40,	//m1pwmap
-	60, //m1pwmch
-	70, //m2pwmap
-	70, //m2pwmch
-	35, //m3pwmap
-	40, //m3pwmch
-	40, //m4pwmap
-	40,	//m4pwmch
-	20, //m1rampstart
-	20, //m2rampstart
-	20, //m3rampstart
-	20, //m4rampstart
-	28,	//t1ap
-	4,	//t2ap
-	10,  //t3ap
-	40, //t4ap
-	1,  //twap
-	20,  //t1ch
-	10,  //t2ch
-	30,  //t3ch
-	1,  //t4ch
-	1,  //twch
-	0,
-	0,
-	0,
-	100, //tramp1
-	60,  //m1pwmMan
-	70,  //m2pwmMan
-	40,	 //m3pwmMan
-	40,	 //m4pwmMan
-	50,  //trampman
-	10,  //tramp
-};
-
-typedef struct
-{
-    uint16_t VirtAddress;
-    uint16_t Data;
-} EE_Record_t;
-
-/* Active page base address (runtime selected in EE_Init) */
-static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
-
-/* 32 sequential virtual addresses */
-const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
-{
-    0x0001, 0x0002, 0x0003, 0x0004,
-    0x0005, 0x0006, 0x0007, 0x0008,
-    0x0009, 0x000A, 0x000B, 0x000C,
-    0x000D, 0x000E, 0x000F, 0x0010,
-    0x0011, 0x0012, 0x0013, 0x0014,
-    0x0015, 0x0016, 0x0017, 0x0018,
-    0x0019, 0x001A, 0x001B, 0x001C,
-    0x001D, 0x001E, 0x001F, 0x0020
-};
-/* ========================================================================= */
-
-/* --- Internal helpers ---------------------------------------------------- */
-
-static uint16_t EE_GetPageStatus(uint32_t pageBase)
-{
-    return *(__IO uint16_t *)pageBase;
-}
-
-static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
-{
-    HAL_StatusTypeDef status;
-
-    HAL_FLASH_Unlock();
-    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
-    HAL_FLASH_Lock();
-
-    return status;
-}
-
-static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
-{
-    HAL_StatusTypeDef status;
-    FLASH_EraseInitTypeDef EraseInit;
-    uint32_t PageError = 0;
-
-    HAL_FLASH_Unlock();
-
-    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
-    EraseInit.PageAddress = PageAddress;
-    EraseInit.NbPages     = 1;
-
-    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
-
-    HAL_FLASH_Lock();
-    return status;
-}
-
-/* Find first free record address in given page (returns 0 if full) */
-static uint32_t EE_FindFreeAddress(uint32_t pageBase)
-{
-    uint32_t addr = pageBase + 2U;                /* Skip status word */
-    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
-
-    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            /* Empty slot */
-            return addr;
-        }
-        addr += sizeof(EE_Record_t);
-    }
-
-    return 0U; /* No space */
-}
-
-/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
-/* Find latest value of VirtAddress in a specific page (scan forward) */
-static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
-{
-    uint32_t addr     = pageBase + 2U;            // skip status halfword
-    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
-    EE_Status result  = EE_NOT_FOUND;
-    uint16_t lastVal  = 0;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    while (addr <= (pageEnd - sizeof(EE_Record_t)))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            // First empty slot => no more records in this page
-            break;
-        }
-
-        uint16_t value = *(__IO uint16_t *)(addr + 2U);
-
-        if (vaddr == VirtAddress)
-        {
-            lastVal = value;    // keep most recent
-            result  = EE_OK;
-        }
-
-        addr += sizeof(EE_Record_t);  // move 4 bytes forward
-    }
-
-    if (result == EE_OK)
-        *Data = lastVal;
-
-    return result;
-}
-
-
-
-/* Format both pages: erase and set PAGE0 as VALID */
-static EE_Status EE_Format(void)
-{
-    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* PAGE1 will remain erased (status = 0xFFFF) */
-    EE_ActivePageBase = EE_PAGE0_BASE;
-
-    return EE_STATUS_OK;
-}
-
-/* Get the base of the other page */
-static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
-{
-    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
-}
-
-/* Page transfer (garbage collection + new write) */
-static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t oldBase = EE_ActivePageBase;
-    uint32_t newBase = EE_GetOtherPageBase(oldBase);
-    uint32_t addr;
-    uint16_t value;
-    EE_Status st;
-
-    /* Erase new page */
-    if (EE_FlashErasePage(newBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as RECEIVE */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Start writing records just after status */
-    addr = newBase + 2U;
-
-    /* For each known virtual variable */
-    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
-    {
-        uint16_t vaddr = EE_VirtAddrs[i];
-
-        if (vaddr == VirtAddress)
-        {
-            /* Use the new data passed into PageTransfer */
-            value = Data;
-        }
-        else
-        {
-            /* Read latest value from old active page */
-            st = EE_FindInPage(oldBase, vaddr, &value);
-            if (st != EE_STATUS_OK)
-            {
-                /* Variable never written -> skip */
-                continue;
-            }
-        }
-
-        /* Write record to new page */
-        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
-            return EE_STATUS_ERROR;
-        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
-            return EE_STATUS_ERROR;
-
-        addr += sizeof(EE_Record_t);
-        if (addr >= (newBase + EE_PAGE_SIZE))
-            return EE_STATUS_NO_SPACE;
-    }
-
-    /* Erase old page */
-    if (EE_FlashErasePage(oldBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as VALID */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Update active page */
-    EE_ActivePageBase = newBase;
-
-    return EE_STATUS_OK;
-}
-
-/* --- Public API ----------------------------------------------------------- */
-
-/*
- * Initialize the EEPROM emulation.
- * - Checks page statuses and chooses the active page.
- * - If inconsistent or blank, formats pages.
- * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
- */
-uint16_t EE_Init(void)
-{
-    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
-    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
-
-    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        /* Fresh device -> format */
-        return (uint16_t)EE_Format();
-    }
-    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE0_BASE;
-        return EE_OK;
-    }
-    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE1_BASE;
-        return EE_OK;
-    }
-    else
-    {
-        /* Any weird or inconsistent state -> reformat */
-        return (uint16_t)EE_Format();
-    }
-}
-
-/*
- * Read a 16-bit variable by its virtual address.
- * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
- */
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
-{
-    EE_Status st;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-/*
- * Write (append) a 16-bit variable.
- * - Writes a new record in the active page.
- * - If the page is full, triggers a page transfer (GC).
- * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
- */
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t freeAddr;
-    EE_Status st;
-
-    /* Find free space in active page */
-    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
-    if (freeAddr != 0U)
-    {
-        /* Write new record */
-        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
-            return EE_ERROR;
-        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
-            return EE_ERROR;
-
-        return EE_OK;
-    }
-
-    /* No space -> page transfer */
-    st = EE_PageTransfer(VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-void loadEE(void){
-	EEW_Read(M1PWMAP, &m1pwmap);
-	EEW_Read(M1PWMCH, &m1pwmch);
-	EEW_Read(M2PWMAP, &m2pwmap);
-	EEW_Read(M2PWMCH, &m2pwmch);
-	EEW_Read(M3PWMAP, &m3pwmap);
-	EEW_Read(M3PWMCH, &m3pwmch);
-	EEW_Read(M4PWMAP, &m4pwmap);
-	EEW_Read(M4PWMCH, &m4pwmch);
-	EEW_Read(T1AP, &t1ap);
-	EEW_Read(T2AP, &t2ap);
-	EEW_Read(T3AP, &t3ap);
-	EEW_Read(T4AP, &t4ap);
-	EEW_Read(TWAP, &twap);
-	EEW_Read(T1CH, &t1ch);
-	EEW_Read(T2CH, &t2ch);
-	EEW_Read(T3CH, &t3ch);
-	EEW_Read(T4CH, &t4ch);
-	EEW_Read(TWCH, &twch);
-	EEW_Read(TRAMP1, &tramp1);
-	EEW_Read(M1PWMMAN, &m1pwmMan);
-	EEW_Read(M2PWMMAN, &m2pwmMan);
-	EEW_Read(M3PWMMAN, &m3pwmMan);
-	EEW_Read(M4PWMMAN, &m4pwmMan);
-	EEW_Read(TRAMPMAN, &trampman);
-	EEW_Read(TRAMP, &tramp);
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/5d/50ed758c584200111f799b956365eeb8

@@ -1,955 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file           : main.c
-  * @brief          : Main program body
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2025 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-#include "usb_device.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-#include "usbd_cdc_if.h"
-#include "cdc_int.h"
-#include "eeprom.h"
-#include "pwm.h"
-#include "adc.h"
-#include "debug.h"
-/* USER CODE END Includes */
-
-/* Private typedef -----------------------------------------------------------*/
-/* USER CODE BEGIN PTD */
-
-typedef enum{
-	bzoff,
-	bzmoving,
-}stBuz_st;
-/* USER CODE END PTD */
-
-/* Private define ------------------------------------------------------------*/
-/* USER CODE BEGIN PD */
-#define P1START 0x01
-#define P1STOP  0x02
-#define P2START 0x04
-#define P2STOP  0x08
-
-#define M1 1
-#define M2 2
-#define M3 3
-#define M4 4
-
-/* USER CODE END PD */
-
-/* Private macro -------------------------------------------------------------*/
-/* USER CODE BEGIN PM */
-
-/* USER CODE END PM */
-
-/* Private variables ---------------------------------------------------------*/
-ADC_HandleTypeDef hadc1;
-DMA_HandleTypeDef hdma_adc1;
-
-TIM_HandleTypeDef htim2;
-TIM_HandleTypeDef htim4;
-
-UART_HandleTypeDef huart1;
-
-/* USER CODE BEGIN PV */
-
-extern volatile uint16_t adc_dma_buf[];
-extern uint16_t ch4 ;
-extern uint16_t ch5 ;
-extern uint16_t ch6 ;
-extern uint16_t ch7 ;
-extern uint16_t ch8 ;
-
-uint8_t pulsanti=0;
-volatile uint8_t rtP1=200;
-volatile uint8_t rtP2=200;
-volatile uint16_t rtramp[4];
-volatile uint16_t rtCiclo;
-uint16_t m1pwmap;
-uint16_t m1pwmch;
-uint16_t m2pwmap;
-uint16_t m2pwmch;
-uint16_t m3pwmap;
-uint16_t m3pwmch;
-uint16_t m4pwmap;
-uint16_t m4pwmch;
-uint16_t t1ap;
-uint16_t t2ap;
-uint16_t t3ap;
-uint16_t t4ap;
-uint16_t twap;
-uint16_t t1ch;
-uint16_t t2ch;
-uint16_t t3ch;
-uint16_t t4ch;
-uint16_t twch;
-uint16_t tramp;
-
-uint16_t mrampstart[4];
-uint16_t stPulsanti=0;
-omCiclo_st stCiclo=omchiuso;
-omCiclo_st memstCiclo=omchiuso;
-volatile stBuz_st stBuz=bzoff;
-/* USER CODE END PV */
-
-/* Private function prototypes -----------------------------------------------*/
-void SystemClock_Config(void);
-static void MX_GPIO_Init(void);
-static void MX_DMA_Init(void);
-static void MX_TIM2_Init(void);
-static void MX_TIM4_Init(void);
-static void MX_ADC1_Init(void);
-static void MX_USART1_UART_Init(void);
-/* USER CODE BEGIN PFP */
-
-/* USER CODE END PFP */
-
-/* Private user code ---------------------------------------------------------*/
-/* USER CODE BEGIN 0 */
-void HAL_SYSTICK_Callback(void){
-  static unsigned char c10ms = 0;
-  static uint8_t c100ms = 0;
-  static uint8_t c1s = 0;
-  static uint8_t inidx=0;
-  static uint8_t inbuf[4];
-  uint8_t i;
-
-  if (++c10ms >= 10) {               // 10 ms
-	  c10ms = 0;
-	  if(rtP1)rtP1--;
-	  if(rtP2)rtP2--;
-
-//**** legge i tasti********************************************************************************
-	  inidx++;
-	  inidx&=0x03;
-	  if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
-	  if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
-	  if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
-	  if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
-	  if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
-	  if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
-
-	  pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
-	  pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
-//**** legge adc ***********************************************************************************
-	  readAdc();
-	  if (++c100ms >= 10) {               // 10 ms
-		  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
-		  for(i=0;i<4;i++){
-			  if(rtramp[i])rtramp[i]--;
-		  }
-//**** gestione buzzer *****************************************************************************
-		  if(stBuz==bzmoving){
-			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
-		  }else{//bzoff
-			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
-		  }
-//**************************************************************************************************
-		  if (++c1s >= 10) {               // 10 ms
-			  c1s = 0;
-			  if(rtCiclo)rtCiclo--;
-			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
-		  }
-	  }
-  }
-}
-
-void managePulsanti(void){
-	if(pulsanti&INP1){
-		if(rtP1==0)stPulsanti|=P1START;
-	}else{
-		if(stPulsanti&P1START)stPulsanti&=(~P1START);
-		else if(rtP1<=190){
-			stPulsanti|=P1STOP;
-		}
-		rtP1=200;
-	}
-	if(pulsanti&INP2){
-		if(rtP2==0)stPulsanti|=P2START;
-	}else{
-		if(stPulsanti&P2START)stPulsanti&=(~P2START);
-		else if(rtP2<=190)stPulsanti|=P2STOP;
-		rtP2=200;
-	}
-}
-
-void manageCiclo(void){
-	switch(stCiclo){
-		case omchiuso:
-			if(stPulsanti&P1START){
-				stBuz=bzmoving;
-				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura1;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura1:
-			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ap;
-				stCiclo=omapertura2;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura2:
-			if(rtCiclo==0){
-				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura3:
-			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura4:
-			if(rtCiclo==0){
-				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura5:
-			if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ap;
-				stCiclo=omapertura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura6:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura7:
-			if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t3ap;
-				stCiclo=omapertura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura8:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
-				(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura9:
-			if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twap;
-				stCiclo=omapertura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura11:
-			if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t4ap;
-				stCiclo=omapertura12;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura12:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura13;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura13:
-			if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				ifstCiclo=omaperto;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omstopapertura:
-			SetMotPerc(M1,FW,0);
-			SetMotPerc(M2,FW,0);
-			SetMotPerc(M3,FW,0);
-			SetMotPerc(M4,FW,0);
-			if(pulsanti==0){
-				stBuz=bzoff;
-				stCiclo=omchiuso;
-				stPulsanti&=(~P1STOP);
-			}
-			break;
-		case omaperto:
-			if(stPulsanti&P1START){
-				stBuz=bzmoving;
-				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura1;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura1:
-			if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
-				rtCiclo=t4ch;
-				stCiclo=omchiusura2;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura2:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura3:
-			if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ch;
-				stCiclo=omchiusura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura4:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
-				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura5:
-			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twch;
-				stCiclo=omchiusura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura6:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
-				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura7:
-			if((ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE)){
-				rtCiclo=t3ch;
-				stCiclo=omchiusura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura8:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura9:
-			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ch;
-				stCiclo=omchiusura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura11:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura12:
-			if(rtCiclo==0){
-				//(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura13:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				stCiclo=omchiuso;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omstopchiusura:
-			SetMotPerc(M1,FW,0);
-			SetMotPerc(M2,FW,0);
-			SetMotPerc(M3,FW,0);
-			SetMotPerc(M4,FW,0);
-			if(pulsanti==0){
-				stBuz=bzoff;
-				stCiclo=omaperto;
-				stPulsanti&=(~P1STOP);
-			}
-			break;
-	}
-}
-
-/* USER CODE END 0 */
-
-/**
-  * @brief  The application entry point.
-  * @retval int
-  */
-int main(void)
-{
-
-  /* USER CODE BEGIN 1 */
-
-  /* USER CODE END 1 */
-
-  /* MCU Configuration--------------------------------------------------------*/
-
-  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-  HAL_Init();
-
-  /* USER CODE BEGIN Init */
-
-  /* USER CODE END Init */
-
-  /* Configure the system clock */
-  SystemClock_Config();
-
-  /* USER CODE BEGIN SysInit */
-
-  /* USER CODE END SysInit */
-
-  /* Initialize all configured peripherals */
-  MX_GPIO_Init();
-  MX_DMA_Init();
-  MX_USB_DEVICE_Init();
-  MX_TIM2_Init();
-  MX_TIM4_Init();
-  MX_ADC1_Init();
-  MX_USART1_UART_Init();
-  /* USER CODE BEGIN 2 */
-  HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
-  StopMot(timMot1,FWMot1);
-  StopMot(timMot1,BWMot1);
-  StopMot(timMot2,FWMot2);
-  StopMot(timMot2,BWMot2);
-  StopMot(timMot3,FWMot3);
-  StopMot(timMot3,BWMot3);
-  StopMot(timMot4,FWMot4);
-  StopMot(timMot4,BWMot4);
-  //CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
-  //while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
-  if (EE_Init() != EE_OK){
-      for(;;);//errore eeprom
-  }
-  loadEE();
-  /* USER CODE END 2 */
-
-  /* Infinite loop */
-  /* USER CODE BEGIN WHILE */
-  while (1){
-	  manageCDC();
-	  manageAdc();
-	  managePulsanti();
-	  manageCiclo();
-	  debug();
-//	  while (CDC_Available()) {
-	//	  int c = CDC_ReadByte();
-      //if (c < 0) break;
-
-//		  uint8_t out = (uint8_t)c;
-//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
-
-//		  unsigned char s[100];
-//		  sprintf((char*)s,"\nc=%03d",c);
-//		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
-//        // tiny spin or yield
-//      }
- //   }
-
-	    //HAL_Delay(1000);
-	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
-    /* USER CODE END WHILE */
-
-    /* USER CODE BEGIN 3 */
-  }
-  /* USER CODE END 3 */
-}
-
-/**
-  * @brief System Clock Configuration
-  * @retval None
-  */
-void SystemClock_Config(void)
-{
-  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
-  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
-  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
-
-  /** Initializes the RCC Oscillators according to the specified parameters
-  * in the RCC_OscInitTypeDef structure.
-  */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
-  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
-  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
-  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
-  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
-  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
-  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
-  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Initializes the CPU, AHB and APB buses clocks
-  */
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
-                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
-  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
-  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
-  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
-  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
-
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
-  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
-  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
-  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
-  {
-    Error_Handler();
-  }
-}
-
-/**
-  * @brief ADC1 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_ADC1_Init(void)
-{
-
-  /* USER CODE BEGIN ADC1_Init 0 */
-
-  /* USER CODE END ADC1_Init 0 */
-
-  ADC_ChannelConfTypeDef sConfig = {0};
-
-  /* USER CODE BEGIN ADC1_Init 1 */
-
-  /* USER CODE END ADC1_Init 1 */
-
-  /** Common config
-  */
-  hadc1.Instance = ADC1;
-  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
-  hadc1.Init.ContinuousConvMode = ENABLE;
-  hadc1.Init.DiscontinuousConvMode = DISABLE;
-  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
-  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
-  hadc1.Init.NbrOfConversion = 5;
-  if (HAL_ADC_Init(&hadc1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Regular Channel
-  */
-  sConfig.Channel = ADC_CHANNEL_4;
-  sConfig.Rank = ADC_REGULAR_RANK_1;
-  sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Regular Channel
-  */
-  sConfig.Channel = ADC_CHANNEL_5;
-  sConfig.Rank = ADC_REGULAR_RANK_2;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Regular Channel
-  */
-  sConfig.Channel = ADC_CHANNEL_6;
-  sConfig.Rank = ADC_REGULAR_RANK_3;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Regular Channel
-  */
-  sConfig.Channel = ADC_CHANNEL_7;
-  sConfig.Rank = ADC_REGULAR_RANK_4;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Regular Channel
-  */
-  sConfig.Channel = ADC_CHANNEL_8;
-  sConfig.Rank = ADC_REGULAR_RANK_5;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN ADC1_Init 2 */
-
-  /* USER CODE END ADC1_Init 2 */
-
-}
-
-/**
-  * @brief TIM2 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM2_Init(void)
-{
-
-  /* USER CODE BEGIN TIM2_Init 0 */
-
-  /* USER CODE END TIM2_Init 0 */
-
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
-
-  /* USER CODE BEGIN TIM2_Init 1 */
-
-  /* USER CODE END TIM2_Init 1 */
-  htim2.Instance = TIM2;
-  htim2.Init.Prescaler = 0;
-  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim2.Init.Period = 17999;
-  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 1000;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.Pulse = 2000;
-  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.Pulse = 3000;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.Pulse = 4000;
-  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM2_Init 2 */
-
-  /* USER CODE END TIM2_Init 2 */
-  HAL_TIM_MspPostInit(&htim2);
-
-}
-
-/**
-  * @brief TIM4 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM4_Init(void)
-{
-
-  /* USER CODE BEGIN TIM4_Init 0 */
-
-  /* USER CODE END TIM4_Init 0 */
-
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
-
-  /* USER CODE BEGIN TIM4_Init 1 */
-
-  /* USER CODE END TIM4_Init 1 */
-  htim4.Instance = TIM4;
-  htim4.Init.Prescaler = 0;
-  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim4.Init.Period = 17999;
-  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 5000;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.Pulse = 6000;
-  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.Pulse = 7000;
-  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.Pulse = 8000;
-  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM4_Init 2 */
-
-  /* USER CODE END TIM4_Init 2 */
-  HAL_TIM_MspPostInit(&htim4);
-
-}
-
-/**
-  * @brief USART1 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_USART1_UART_Init(void)
-{
-
-  /* USER CODE BEGIN USART1_Init 0 */
-
-  /* USER CODE END USART1_Init 0 */
-
-  /* USER CODE BEGIN USART1_Init 1 */
-
-  /* USER CODE END USART1_Init 1 */
-  huart1.Instance = USART1;
-  huart1.Init.BaudRate = 115200;
-  huart1.Init.WordLength = UART_WORDLENGTH_8B;
-  huart1.Init.StopBits = UART_STOPBITS_1;
-  huart1.Init.Parity = UART_PARITY_NONE;
-  huart1.Init.Mode = UART_MODE_TX_RX;
-  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
-  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
-  if (HAL_UART_Init(&huart1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN USART1_Init 2 */
-
-  /* USER CODE END USART1_Init 2 */
-
-}
-
-/**
-  * Enable DMA controller clock
-  */
-static void MX_DMA_Init(void)
-{
-
-  /* DMA controller clock enable */
-  __HAL_RCC_DMA1_CLK_ENABLE();
-
-  /* DMA interrupt init */
-  /* DMA1_Channel1_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
-  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
-
-}
-
-/**
-  * @brief GPIO Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_GPIO_Init(void)
-{
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
-  /* USER CODE BEGIN MX_GPIO_Init_1 */
-
-  /* USER CODE END MX_GPIO_Init_1 */
-
-  /* GPIO Ports Clock Enable */
-  __HAL_RCC_GPIOC_CLK_ENABLE();
-  __HAL_RCC_GPIOD_CLK_ENABLE();
-  __HAL_RCC_GPIOA_CLK_ENABLE();
-  __HAL_RCC_GPIOB_CLK_ENABLE();
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
-                          |EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
-
-  /*Configure GPIO pin : LED2_Pin */
-  GPIO_InitStruct.Pin = LED2_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : P1_Pin P2_Pin */
-  GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
-  /*Configure GPIO pin : AIN1_Pin */
-  GPIO_InitStruct.Pin = AIN1_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-  HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
-                           EXP1_Pin EXP2_Pin EXP3_Pin */
-  GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
-                          |EXP1_Pin|EXP2_Pin|EXP3_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
-  GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : BUZ_Pin LED1_Pin */
-  GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN MX_GPIO_Init_2 */
-
-  /* USER CODE END MX_GPIO_Init_2 */
-}
-
-/* USER CODE BEGIN 4 */
-
-/* USER CODE END 4 */
-
-/**
-  * @brief  This function is executed in case of error occurrence.
-  * @retval None
-  */
-void Error_Handler(void)
-{
-  /* USER CODE BEGIN Error_Handler_Debug */
-  /* User can add his own implementation to report the HAL error return state */
-  __disable_irq();
-  while (1)
-  {
-  }
-  /* USER CODE END Error_Handler_Debug */
-}
-#ifdef USE_FULL_ASSERT
-/**
-  * @brief  Reports the name of the source file and the source line number
-  *         where the assert_param error has occurred.
-  * @param  file: pointer to the source file name
-  * @param  line: assert_param error line source number
-  * @retval None
-  */
-void assert_failed(uint8_t *file, uint32_t line)
-{
-  /* USER CODE BEGIN 6 */
-  /* User can add his own implementation to report the file name and line number,
-     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
-  /* USER CODE END 6 */
-}
-#endif /* USE_FULL_ASSERT */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/61/006bd49b0248001113e9e1acf606c4d0

@@ -0,0 +1,340 @@
+/*
+ * mot.c
+ *
+ *  Created on: May 2, 2026
+ *      Author: user
+ */
+#include "main.h"
+#include "mot.h"
+#include "pwm.h"
+
+extern uint16_t apM1start;
+extern uint16_t apM1stop;
+extern uint16_t apM2start;
+extern uint16_t apM2stop;
+extern uint16_t apM3start;
+extern uint16_t apM3stop;
+extern uint16_t apM4start;
+extern uint16_t apM4stop;
+extern uint16_t chM1start;
+extern uint16_t chM1stop;
+extern uint16_t chM2start;
+extern uint16_t chM2stop;
+extern uint16_t chM3start;
+extern uint16_t chM3stop;
+extern uint16_t chM4start;
+extern uint16_t chM4stop;
+extern volatile uint16_t rtCiclo;
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t mrampstart[4];
+extern uint16_t tramp;
+
+motMov_st m1ap(void){
+	static motMov_st m1st=motWaiting;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=mem1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ap=%d",m1st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=apM1start){
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM1stop){
+				(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ap(void){
+	static motMov_st m2st;
+	if(rtCiclo<apM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=apM2start){
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM2stop){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ap(void){
+	static motMov_st m3st;
+	if(rtCiclo<apM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=apM3start){
+				(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM3stop){
+				(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ap(void){
+	static motMov_st m4st;
+	if(rtCiclo<apM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=apM4start){
+				(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM4stop){
+				(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}
+
+motMov_st m1ch(void){
+	static motMov_st m1st;
+	if(rtCiclo<chM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=chM1start){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM1stop){
+				(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ch(void){
+	static motMov_st m2st;
+	if(rtCiclo<chM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=chM2start){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM2stop){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ch(void){
+	static motMov_st m3st;
+	if(rtCiclo<chM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=chM3start){
+				(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM3stop){
+				(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ch(void){
+	static motMov_st m4st;
+	if(rtCiclo<chM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=chM4start){
+				(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM4stop){
+				(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/62/d0f1c1ec3f4300111cdb94684896a530

@@ -1,390 +0,0 @@
-#include "eeprom.h"
-
-/*
- * Record format (4 bytes):
- *  [0] VirtAddress (uint16_t)
- *  [2] Data        (uint16_t)
- *
- * Page layout:
- *  [0]  PageStatus (uint16_t)
- *  [2..] Records...
- */
-
-extern uint16_t m1pwmap;
-extern uint16_t m1pwmch;
-extern uint16_t m2pwmap;
-extern uint16_t m2pwmch;
-extern uint16_t m3pwmap;
-extern uint16_t m3pwmch;
-extern uint16_t m4pwmap;
-extern uint16_t m4pwmch;
-extern uint16_t t1ap;
-extern uint16_t t2ap;
-extern uint16_t t3ap;
-extern uint16_t t4ap;
-extern uint16_t twap;
-extern uint16_t tramp;
-extern uint16_t t1ch;
-extern uint16_t t2ch;
-extern uint16_t t3ch;
-extern uint16_t t4ch;
-extern uint16_t twch;
-extern uint16_t tramp1;
-extern uint16_t trampman;
-extern uint16_t m1pwmMan;
-extern uint16_t m2pwmMan;
-extern uint16_t m3pwmMan;
-extern uint16_t m4pwmMan;
-
-const uint8_t deftab[32]={
-	40,	//m1pwmap
-	60, //m1pwmch
-	70, //m2pwmap
-	70, //m2pwmch
-	35, //m3pwmap
-	40, //m3pwmch
-	40, //m4pwmap
-	40,	//m4pwmch
-	20, //m1rampstart
-	20, //m2rampstart
-	20, //m3rampstart
-	20, //m4rampstart
-	28,	//t1ap
-	4,	//t2ap
-	10,  //t3ap
-	40, //t4ap
-	1,  //twap
-	27,  //t1ch
-	10,  //t2ch
-	30,  //t3ch
-	1,  //t4ch
-	1,  //twch
-	0,
-	0,
-	0,
-	100, //tramp1
-	60,  //m1pwmMan
-	70,  //m2pwmMan
-	40,	 //m3pwmMan
-	40,	 //m4pwmMan
-	50,  //trampman
-	10,  //tramp
-};
-
-typedef struct
-{
-    uint16_t VirtAddress;
-    uint16_t Data;
-} EE_Record_t;
-
-/* Active page base address (runtime selected in EE_Init) */
-static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
-
-/* 32 sequential virtual addresses */
-const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
-{
-    0x0001, 0x0002, 0x0003, 0x0004,
-    0x0005, 0x0006, 0x0007, 0x0008,
-    0x0009, 0x000A, 0x000B, 0x000C,
-    0x000D, 0x000E, 0x000F, 0x0010,
-    0x0011, 0x0012, 0x0013, 0x0014,
-    0x0015, 0x0016, 0x0017, 0x0018,
-    0x0019, 0x001A, 0x001B, 0x001C,
-    0x001D, 0x001E, 0x001F, 0x0020
-};
-/* ========================================================================= */
-
-/* --- Internal helpers ---------------------------------------------------- */
-
-static uint16_t EE_GetPageStatus(uint32_t pageBase)
-{
-    return *(__IO uint16_t *)pageBase;
-}
-
-static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
-{
-    HAL_StatusTypeDef status;
-
-    HAL_FLASH_Unlock();
-    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
-    HAL_FLASH_Lock();
-
-    return status;
-}
-
-static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
-{
-    HAL_StatusTypeDef status;
-    FLASH_EraseInitTypeDef EraseInit;
-    uint32_t PageError = 0;
-
-    HAL_FLASH_Unlock();
-
-    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
-    EraseInit.PageAddress = PageAddress;
-    EraseInit.NbPages     = 1;
-
-    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
-
-    HAL_FLASH_Lock();
-    return status;
-}
-
-/* Find first free record address in given page (returns 0 if full) */
-static uint32_t EE_FindFreeAddress(uint32_t pageBase)
-{
-    uint32_t addr = pageBase + 2U;                /* Skip status word */
-    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
-
-    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            /* Empty slot */
-            return addr;
-        }
-        addr += sizeof(EE_Record_t);
-    }
-
-    return 0U; /* No space */
-}
-
-/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
-/* Find latest value of VirtAddress in a specific page (scan forward) */
-static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
-{
-    uint32_t addr     = pageBase + 2U;            // skip status halfword
-    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
-    EE_Status result  = EE_NOT_FOUND;
-    uint16_t lastVal  = 0;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    while (addr <= (pageEnd - sizeof(EE_Record_t)))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            // First empty slot => no more records in this page
-            break;
-        }
-
-        uint16_t value = *(__IO uint16_t *)(addr + 2U);
-
-        if (vaddr == VirtAddress)
-        {
-            lastVal = value;    // keep most recent
-            result  = EE_OK;
-        }
-
-        addr += sizeof(EE_Record_t);  // move 4 bytes forward
-    }
-
-    if (result == EE_OK)
-        *Data = lastVal;
-
-    return result;
-}
-
-
-
-/* Format both pages: erase and set PAGE0 as VALID */
-static EE_Status EE_Format(void)
-{
-    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* PAGE1 will remain erased (status = 0xFFFF) */
-    EE_ActivePageBase = EE_PAGE0_BASE;
-
-    return EE_STATUS_OK;
-}
-
-/* Get the base of the other page */
-static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
-{
-    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
-}
-
-/* Page transfer (garbage collection + new write) */
-static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t oldBase = EE_ActivePageBase;
-    uint32_t newBase = EE_GetOtherPageBase(oldBase);
-    uint32_t addr;
-    uint16_t value;
-    EE_Status st;
-
-    /* Erase new page */
-    if (EE_FlashErasePage(newBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as RECEIVE */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Start writing records just after status */
-    addr = newBase + 2U;
-
-    /* For each known virtual variable */
-    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
-    {
-        uint16_t vaddr = EE_VirtAddrs[i];
-
-        if (vaddr == VirtAddress)
-        {
-            /* Use the new data passed into PageTransfer */
-            value = Data;
-        }
-        else
-        {
-            /* Read latest value from old active page */
-            st = EE_FindInPage(oldBase, vaddr, &value);
-            if (st != EE_STATUS_OK)
-            {
-                /* Variable never written -> skip */
-                continue;
-            }
-        }
-
-        /* Write record to new page */
-        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
-            return EE_STATUS_ERROR;
-        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
-            return EE_STATUS_ERROR;
-
-        addr += sizeof(EE_Record_t);
-        if (addr >= (newBase + EE_PAGE_SIZE))
-            return EE_STATUS_NO_SPACE;
-    }
-
-    /* Erase old page */
-    if (EE_FlashErasePage(oldBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as VALID */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Update active page */
-    EE_ActivePageBase = newBase;
-
-    return EE_STATUS_OK;
-}
-
-/* --- Public API ----------------------------------------------------------- */
-
-/*
- * Initialize the EEPROM emulation.
- * - Checks page statuses and chooses the active page.
- * - If inconsistent or blank, formats pages.
- * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
- */
-uint16_t EE_Init(void)
-{
-    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
-    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
-
-    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        /* Fresh device -> format */
-        return (uint16_t)EE_Format();
-    }
-    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE0_BASE;
-        return EE_OK;
-    }
-    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE1_BASE;
-        return EE_OK;
-    }
-    else
-    {
-        /* Any weird or inconsistent state -> reformat */
-        return (uint16_t)EE_Format();
-    }
-}
-
-/*
- * Read a 16-bit variable by its virtual address.
- * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
- */
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
-{
-    EE_Status st;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-/*
- * Write (append) a 16-bit variable.
- * - Writes a new record in the active page.
- * - If the page is full, triggers a page transfer (GC).
- * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
- */
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t freeAddr;
-    EE_Status st;
-
-    /* Find free space in active page */
-    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
-    if (freeAddr != 0U)
-    {
-        /* Write new record */
-        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
-            return EE_ERROR;
-        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
-            return EE_ERROR;
-
-        return EE_OK;
-    }
-
-    /* No space -> page transfer */
-    st = EE_PageTransfer(VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-void loadEE(void){
-	EEW_Read(M1PWMAP, &m1pwmap);
-	EEW_Read(M1PWMCH, &m1pwmch);
-	EEW_Read(M2PWMAP, &m2pwmap);
-	EEW_Read(M2PWMCH, &m2pwmch);
-	EEW_Read(M3PWMAP, &m3pwmap);
-	EEW_Read(M3PWMCH, &m3pwmch);
-	EEW_Read(M4PWMAP, &m4pwmap);
-	EEW_Read(M4PWMCH, &m4pwmch);
-	EEW_Read(T1AP, &t1ap);
-	EEW_Read(T2AP, &t2ap);
-	EEW_Read(T3AP, &t3ap);
-	EEW_Read(T4AP, &t4ap);
-	EEW_Read(TWAP, &twap);
-	EEW_Read(T1CH, &t1ch);
-	EEW_Read(T2CH, &t2ch);
-	EEW_Read(T3CH, &t3ch);
-	EEW_Read(T4CH, &t4ch);
-	EEW_Read(TWCH, &twch);
-	EEW_Read(TRAMP1, &tramp1);
-	EEW_Read(M1PWMMAN, &m1pwmMan);
-	EEW_Read(M2PWMMAN, &m2pwmMan);
-	EEW_Read(M3PWMMAN, &m3pwmMan);
-	EEW_Read(M4PWMMAN, &m4pwmMan);
-	EEW_Read(TRAMPMAN, &trampman);
-	EEW_Read(TRAMP, &tramp);
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/63/f08045be404300111cdb94684896a530

@@ -1,124 +0,0 @@
-/*
- * eeprom.h
- *
- *  Created on: Dec 7, 2025
- *      Author: user
- */
-
-#ifndef __EEPROM_H
-#define __EEPROM_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "stm32f1xx_hal.h"
-
-/*
- * Simple EEPROM emulation for STM32F103C8T6 (medium density).
- * - Uses 2 Flash pages (1 kB each) at the end of Flash.
- * - Stores variables as 16-bit values identified by 16-bit "virtual addresses".
- *
- * You must define the list of virtual addresses in eeprom.c: EE_VirtAddrs[].
- */
-
-typedef enum
-{
-    EE_STATUS_OK = 0,
-    EE_STATUS_ERROR,
-    EE_STATUS_NOT_FOUND,
-    EE_STATUS_NO_SPACE
-} EE_Status;
-
-/* For compatibility with ST style uint16_t return codes */
-#define EE_OK        ((uint16_t)EE_STATUS_OK)
-#define EE_ERROR     ((uint16_t)EE_STATUS_ERROR)
-#define EE_NOT_FOUND ((uint16_t)EE_STATUS_NOT_FOUND)
-#define EE_NO_SPACE  ((uint16_t)EE_STATUS_NO_SPACE)
-
-/* Flash parameters for STM32F103C8T6 */
-#define EE_FLASH_BASE_ADDR     0x08000000U
-#define EE_PAGE_SIZE           0x400U      /* 1 kB pages */
-
-/*
- * Here we assume a 64 kB Flash device (STM32F103C8T6):
- * Flash range: 0x0800 0000 - 0x0800 FFFF
- * Pages: 0..63 (64 pages)
- * We use the last 2 pages for EEPROM:
- *  - Page 62: 0x0800 F800
- *  - Page 63: 0x0800 FC00
- */
-#define EE_PAGE0_BASE          (EE_FLASH_BASE_ADDR + (62U * EE_PAGE_SIZE))
-#define EE_PAGE1_BASE          (EE_FLASH_BASE_ADDR + (63U * EE_PAGE_SIZE))
-
-/* Page status markers (stored in the first halfword of each page) */
-#define EE_PAGE_STATUS_ERASED  0xFFFFU
-#define EE_PAGE_STATUS_VALID   0xAAAAU
-#define EE_PAGE_STATUS_RECEIVE 0x5555U
-
-/*
- * Configure how many virtual variables you have.
- * Example: bytes, words, and array elements mapped to 16-bit variables.
- * Set EE_NUM_VIRTUAL_ADDR and define EE_VirtAddrs[] in eeprom.c.
- */
-/* 32 virtual variables, sequential addresses */
-#define EE_NUM_VIRTUAL_ADDR    32U
-#define EEW_ADDR(i)            (uint16_t)(0x0001 + (i))   // i = 0..31
-
-
-#define M1PWMAP	0	//m1pwmap
-#define M1PWMCH	1	//m1pwmch
-#define M2PWMAP	2	//m2pwmap
-#define M2PWMCH	3	//m2pwmch
-#define M3PWMAP	4	//m3pwmap
-#define M3PWMCH	5	//m3pwmch
-#define M4PWMAP	6	//m4pwmap
-#define M4PWMCH	7	//m4pwmch
-#define M1RAMPSTART 8 //m1rampstart
-#define M2RAMPSTART 9 //m2rampstart
-#define M3RAMPSTART 10 //m3rampstart
-#define M4RAMPSTART 11 //m4rampstart
-#define T1AP 12 //t1ap
-#define T2AP 13 //t2ap
-#define T3AP 14 //t3ap
-#define T4AP 15 //t4ap
-#define TWAP 16 //twap
-#define T1CH 17 //t1ch
-#define T2CH 18 //t2ch
-#define T3CH 19 //t3ch
-#define T4CH 20 //t4ch
-#define TWCH 21 //twch
-
-#define TRAMP1   25  //tramp1
-#define M1PWMMAN 26 //m1pwmMan
-#define M2PWMMAN 27 //m2pwmMan
-#define M3PWMMAN 28 //m3pwmMan
-#define M4PWMMAN 29 //m4pwmMan
-#define TRAMPMAN 30 //trampman
-#define TRAMP 31 //tramp
-
-
-/* Virtual address table (defined in eeprom.c, can be customized) */
-extern const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR];
-
-/* Public API – now using uint16_t like ST examples */
-uint16_t EE_Init(void);
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data);
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
-void loadEE(void);
-/* Pseudo-array accessor EEW[idx] */
-static inline uint16_t EEW_Read(uint8_t idx, uint16_t *value)
-{
-    return EE_ReadVariable(EEW_ADDR(idx), value);
-}
-
-static inline uint16_t EEW_Write(uint8_t idx, uint16_t value)
-{
-    return EE_WriteVariable(EEW_ADDR(idx), value);
-}
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __EEPROM_H */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/73/d0c88b890248001113e9e1acf606c4d0

@@ -0,0 +1,340 @@
+/*
+ * mot.c
+ *
+ *  Created on: May 2, 2026
+ *      Author: user
+ */
+#include "main.h"
+#include "mot.h"
+#include "pwm.h"
+#include "debug.h"
+extern uint16_t apM1start;
+extern uint16_t apM1stop;
+extern uint16_t apM2start;
+extern uint16_t apM2stop;
+extern uint16_t apM3start;
+extern uint16_t apM3stop;
+extern uint16_t apM4start;
+extern uint16_t apM4stop;
+extern uint16_t chM1start;
+extern uint16_t chM1stop;
+extern uint16_t chM2start;
+extern uint16_t chM2stop;
+extern uint16_t chM3start;
+extern uint16_t chM3stop;
+extern uint16_t chM4start;
+extern uint16_t chM4stop;
+extern volatile uint16_t rtCiclo;
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t mrampstart[4];
+extern uint16_t tramp;
+
+motMov_st m1ap(void){
+	static motMov_st m1st=motWaiting;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=mem1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ap=%d",m1st);
+		debug(s);
+	}
+	if(rtCiclo<apM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=apM1start){
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM1stop){
+				(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ap(void){
+	static motMov_st m2st;
+	if(rtCiclo<apM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=apM2start){
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM2stop){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ap(void){
+	static motMov_st m3st;
+	if(rtCiclo<apM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=apM3start){
+				(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM3stop){
+				(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ap(void){
+	static motMov_st m4st;
+	if(rtCiclo<apM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=apM4start){
+				(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM4stop){
+				(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}
+
+motMov_st m1ch(void){
+	static motMov_st m1st;
+	if(rtCiclo<chM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=chM1start){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM1stop){
+				(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ch(void){
+	static motMov_st m2st;
+	if(rtCiclo<chM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=chM2start){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM2stop){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ch(void){
+	static motMov_st m3st;
+	if(rtCiclo<chM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=chM3start){
+				(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM3stop){
+				(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ch(void){
+	static motMov_st m4st;
+	if(rtCiclo<chM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=chM4start){
+				(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM4stop){
+				(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/74/80feaa280448001113e9e1acf606c4d0

@@ -28,6 +28,7 @@
 #include "pwm.h"
 #include "adc.h"
 #include "debug.h"
+#include "mot.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -36,28 +37,15 @@
 typedef enum{
 	bzoff,
 	bzmoving,
+	bzwarning,
 }stBuz_st;
+
+
 /* USER CODE END PTD */
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
-#define P1START 0x01
-#define P1STOP  0x02
-#define P2START 0x04
-#define P2STOP  0x08
-#define M1FW  0x10
-#define M1BW  0x20
-#define M2FW  0x40
-#define M2BW  0x80
-#define M3FW  0x100
-#define M3BW  0x200
-#define M4FW  0x400
-#define M4BW  0x800
 
-#define M1 1
-#define M2 2
-#define M3 3
-#define M4 4
 
 /* USER CODE END PD */
 
@@ -103,18 +91,37 @@ uint16_t t2ap;
 uint16_t t3ap;
 uint16_t t4ap;
 uint16_t twap;
-uint16_t t1ch;
+uint16_t m1TimeoutMan;
-uint16_t t2ch;
+uint16_t m2TimeoutMan;
-uint16_t t3ch;
+uint16_t m3TimeoutMan;
-uint16_t t4ch;
+uint16_t m4TimeoutMan;
 uint16_t twch;
 uint16_t tramp;
+uint16_t tramp1;
 uint16_t trampman;
 uint16_t m1pwmMan;
 uint16_t m2pwmMan;
 uint16_t m3pwmMan;
 uint16_t m4pwmMan;
 
+uint16_t apM1start;
+uint16_t apM1stop;
+uint16_t apM2start;
+uint16_t apM2stop;
+uint16_t apM3start;
+uint16_t apM3stop;
+uint16_t apM4start;
+uint16_t apM4stop;
+uint16_t chM1start;
+uint16_t chM1stop;
+uint16_t chM2start;
+uint16_t chM2stop;
+uint16_t chM3start;
+uint16_t chM3stop;
+uint16_t chM4start;
+uint16_t chM4stop;
+
+
 uint16_t mrampstart[4];
 uint16_t stPulsanti=0;
 omCiclo_st stCiclo=omchiuso;
@@ -168,16 +175,19 @@ void HAL_SYSTICK_Callback(void){
 		  for(i=0;i<4;i++){
 			  if(rtramp[i])rtramp[i]--;
 		  }
+		  if(rtCiclo<0xffff)rtCiclo++;
+
 //**** gestione buzzer *****************************************************************************
 		  if(stBuz==bzmoving){
 			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else if(stBuz==bzwarning){
+			  if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
 		  }else{//bzoff
 			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
 		  }
 //**************************************************************************************************
-		  if (++c1s >= 10) {               // 10 ms
+		  if (++c1s >= 10) {               // 1 s
 			  c1s = 0;
-			  if(rtCiclo)rtCiclo--;
 			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
 		  }
 	  }
@@ -201,10 +211,11 @@ void managePulsanti(void){
 		else if(rtP2<=190)stPulsanti|=P2STOP;
 		rtP2=200;
 	}
+	stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
 	if(stPulsanti==0){
 		switch(pulsanti&0x3c){
 			case 0x00:
-				rtTLC=10;
+				rtTLC=100;
 				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
 				break;
 			case 0x08://tlc1
@@ -226,7 +237,7 @@ void managePulsanti(void){
 				if(rtTLC==0)stPulsanti|=M4BW;
 				break;
 			default:
-				rtTLC=10;
+				rtTLC=100;
 				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
 				break;
 		}
@@ -238,10 +249,136 @@ void manageCiclo(void){
 	switch(stCiclo){
 		case omchiuso:
 			if(stPulsanti&P1START){
-				stBuz=bzmoving;
+				stBuz=bzwarning;
-				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				rtCiclo=0;
-				stCiclo=omapertura1;
+				stCiclo=omapertura0;
+				(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
 			}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omM1fw1:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1fw2;
+			break;
+		case omM1fw2:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM1bw1:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1bw2;
+			break;
+		case omM1bw2:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2fw1:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2fw2;
+			break;
+		case omM2fw2:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2bw1:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2bw2;
+			break;
+		case omM2bw2:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3fw1:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3fw2;
+			break;
+		case omM3fw2:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3bw1:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3bw2;
+			break;
+		case omM3bw2:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4fw1:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4fw2;
+			break;
+		case omM4fw2:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4bw1:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4bw2;
+			break;
+		case omM4bw2:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omStopMan:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M1,BW,0);
+			SetMotPerc(M2,BW,0);
+			SetMotPerc(M3,BW,0);
+			SetMotPerc(M4,BW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
+			break;
+		case omapertura0:
+			if(rtCiclo>=30){//doppo 3 secondi
+				stBuz=bzmoving;
+				if((m1ap()==motStop)&&(m2ap()==motStop)&&(m3ap()==motStop)&&(m4ap()==motStop)){
+					stBuz=bzoff;
+					stCiclo=omaperto;
+				}
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+				stPulsanti&=(~P1STOP);
+			}
+			break;
+		case omaperto:
+			rtCiclo=0;
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+				(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			else if(stPulsanti&M1FW){
 				stBuz=bzmoving;
 				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
@@ -276,298 +413,16 @@ void manageCiclo(void){
 				stCiclo=omM4bw1;
 			}
 			break;
-		case omM1fw1:
-			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM1fw2;
-			break;
-		case omM1fw2:
-			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM1bw1:
-			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM1bw2;
-			break;
-		case omM1bw2:
-			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM2fw1:
-			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM2fw2;
-			break;
-		case omM2fw2:
-			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM2bw1:
-			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM2bw2;
-			break;
-		case omM2bw2:
-			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM3fw1:
-			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM3fw2;
-			break;
-		case omM3fw2:
-			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM3bw1:
-			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM3bw2;
-			break;
-		case omM3bw2:
-			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM4fw1:
-			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM4fw2;
-			break;
-		case omM4fw2:
-			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM4bw1:
-			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM4bw2;
-			break;
-		case omM4bw2:
-			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omStopMan:
-			SetMotPerc(M1,FW,0);
-			SetMotPerc(M2,FW,0);
-			SetMotPerc(M3,FW,0);
-			SetMotPerc(M4,FW,0);
-			if(pulsanti==0){
-				stBuz=bzoff;
-				stCiclo=omaperto;
-			}
-			break;
-		case omapertura1:
-			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ap;
-				stCiclo=omapertura2;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura2:
-			if(rtCiclo==0){
-				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura3:
-			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura4:
-			if(rtCiclo==0){
-				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura5:
-			if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ap;
-				stCiclo=omapertura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura6:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura7:
-			if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t3ap;
-				stCiclo=omapertura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura8:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
-				(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura9:
-			if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twap;
-				stCiclo=omapertura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura11:
-			if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t4ap;
-				stCiclo=omapertura12;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura12:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura13;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura13:
-			if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				stCiclo=omaperto;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omstopapertura:
-			SetMotPerc(M1,FW,0);
-			SetMotPerc(M2,FW,0);
-			SetMotPerc(M3,FW,0);
-			SetMotPerc(M4,FW,0);
-			if(pulsanti==0){
-				stBuz=bzoff;
-				stCiclo=omchiuso;
-				stPulsanti&=(~P1STOP);
-			}
-			break;
-		case omaperto:
-			if(stPulsanti&P1START){
-				stBuz=bzmoving;
-				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura1;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
 		case omchiusura1:
-			if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+			if(rtCiclo>=10){//doppo 1 secondi
-				rtCiclo=t4ch;
+				if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
-				stCiclo=omchiusura2;
+					stBuz=bzoff;
-			}
+					stCiclo=omchiuso;
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+				}
-			break;
-		case omchiusura2:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura3:
-			if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ch;
-				stCiclo=omchiusura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura4:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
-				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura5:
-			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twch;
-				stCiclo=omchiusura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura6:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
-				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura7:
-			if((ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE)){
-				rtCiclo=t3ch;
-				stCiclo=omchiusura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura8:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura9:
-			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ch;
-				stCiclo=omchiusura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura11:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura12:
-			if(rtCiclo==0){
-				//(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura13:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				stCiclo=omchiuso;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
+
 		case omstopchiusura:
 			SetMotPerc(M1,FW,0);
 			SetMotPerc(M2,FW,0);

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/7b/a018b23c694200111f799b956365eeb8

@@ -1,187 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file           : main.h
-  * @brief          : Header for main.c file.
-  *                   This file contains the common defines of the application.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2025 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __MAIN_H
-#define __MAIN_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f1xx_hal.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-/* Exported types ------------------------------------------------------------*/
-/* USER CODE BEGIN ET */
-typedef enum{
-	omchiuso,
-	omM1fw1,
-	omM1fw2,
-	omM1bw1,
-	omM1bw2,
-	omM2fw1,
-	omM2fw2,
-	omM2bw1,
-	omM2bw2,
-	omM3fw1,
-	omM3fw2,
-	omM3bw1,
-	omM3bw2,
-	omM4fw1,
-	omM4fw2,
-	omM4bw1,
-	omM4bw2,
-	omapertura1,
-	omapertura2,
-	omapertura3,
-	omapertura4,
-	omapertura5,
-	omapertura6,
-	omapertura7,
-	omapertura8,
-	omapertura9,
-	omapertura10,
-	omapertura11,
-	omapertura12,
-	omapertura13,
-	omapertura14,
-	omstopapertura,
-	omaperto,
-	omchiusura1,
-	omchiusura2,
-	omchiusura3,
-	omchiusura4,
-	omchiusura5,
-	omchiusura6,
-	omchiusura7,
-	omchiusura8,
-	omchiusura9,
-	omchiusura10,
-	omchiusura11,
-	omchiusura12,
-	omchiusura13,
-	omchiusura14,
-	omstopchiusura,
-}omCiclo_st;
-/* USER CODE END ET */
-
-/* Exported constants --------------------------------------------------------*/
-/* USER CODE BEGIN EC */
-
-/* USER CODE END EC */
-
-/* Exported macro ------------------------------------------------------------*/
-/* USER CODE BEGIN EM */
-
-/* USER CODE END EM */
-
-void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
-
-/* Exported functions prototypes ---------------------------------------------*/
-void Error_Handler(void);
-
-/* USER CODE BEGIN EFP */
-
-/* USER CODE END EFP */
-
-/* Private defines -----------------------------------------------------------*/
-#define LED2_Pin GPIO_PIN_13
-#define LED2_GPIO_Port GPIOC
-#define P1_Pin GPIO_PIN_14
-#define P1_GPIO_Port GPIOC
-#define P2_Pin GPIO_PIN_15
-#define P2_GPIO_Port GPIOC
-#define IN1_Pin GPIO_PIN_0
-#define IN1_GPIO_Port GPIOA
-#define IN2_Pin GPIO_PIN_1
-#define IN2_GPIO_Port GPIOA
-#define IN3_Pin GPIO_PIN_2
-#define IN3_GPIO_Port GPIOA
-#define IN4_Pin GPIO_PIN_3
-#define IN4_GPIO_Port GPIOA
-#define AIN1_Pin GPIO_PIN_4
-#define AIN1_GPIO_Port GPIOA
-#define AIN2_Pin GPIO_PIN_5
-#define AIN2_GPIO_Port GPIOA
-#define AIN3_Pin GPIO_PIN_6
-#define AIN3_GPIO_Port GPIOA
-#define AIN4_Pin GPIO_PIN_7
-#define AIN4_GPIO_Port GPIOA
-#define ANEM_Pin GPIO_PIN_0
-#define ANEM_GPIO_Port GPIOB
-#define INH1_Pin GPIO_PIN_1
-#define INH1_GPIO_Port GPIOB
-#define INH2_Pin GPIO_PIN_2
-#define INH2_GPIO_Port GPIOB
-#define INH3_Pin GPIO_PIN_10
-#define INH3_GPIO_Port GPIOB
-#define INH4_Pin GPIO_PIN_11
-#define INH4_GPIO_Port GPIOB
-#define CH1_Pin GPIO_PIN_12
-#define CH1_GPIO_Port GPIOB
-#define CH2_Pin GPIO_PIN_13
-#define CH2_GPIO_Port GPIOB
-#define CH3_Pin GPIO_PIN_14
-#define CH3_GPIO_Port GPIOB
-#define CH4_Pin GPIO_PIN_15
-#define CH4_GPIO_Port GPIOB
-#define BUZ_Pin GPIO_PIN_8
-#define BUZ_GPIO_Port GPIOA
-#define SWIO_Pin GPIO_PIN_13
-#define SWIO_GPIO_Port GPIOA
-#define SWCLK_Pin GPIO_PIN_14
-#define SWCLK_GPIO_Port GPIOA
-#define LED1_Pin GPIO_PIN_15
-#define LED1_GPIO_Port GPIOA
-#define EXP1_Pin GPIO_PIN_3
-#define EXP1_GPIO_Port GPIOB
-#define EXP2_Pin GPIO_PIN_4
-#define EXP2_GPIO_Port GPIOB
-#define EXP3_Pin GPIO_PIN_5
-#define EXP3_GPIO_Port GPIOB
-#define IN5_Pin GPIO_PIN_6
-#define IN5_GPIO_Port GPIOB
-#define IN6_Pin GPIO_PIN_7
-#define IN6_GPIO_Port GPIOB
-#define IN7_Pin GPIO_PIN_8
-#define IN7_GPIO_Port GPIOB
-#define IN8_Pin GPIO_PIN_9
-#define IN8_GPIO_Port GPIOB
-
-/* USER CODE BEGIN Private defines */
-#define INP1 1
-#define INP2 2
-#define INCH1 4
-#define INCH2 8
-#define INCH3 16
-#define INCH4 32
-/* USER CODE END Private defines */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MAIN_H */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/8b/8080382a1b43001119eefd2c7986ed92

@@ -1,123 +0,0 @@
-/*
- * eeprom.h
- *
- *  Created on: Dec 7, 2025
- *      Author: user
- */
-
-#ifndef __EEPROM_H
-#define __EEPROM_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "stm32f1xx_hal.h"
-
-/*
- * Simple EEPROM emulation for STM32F103C8T6 (medium density).
- * - Uses 2 Flash pages (1 kB each) at the end of Flash.
- * - Stores variables as 16-bit values identified by 16-bit "virtual addresses".
- *
- * You must define the list of virtual addresses in eeprom.c: EE_VirtAddrs[].
- */
-
-typedef enum
-{
-    EE_STATUS_OK = 0,
-    EE_STATUS_ERROR,
-    EE_STATUS_NOT_FOUND,
-    EE_STATUS_NO_SPACE
-} EE_Status;
-
-/* For compatibility with ST style uint16_t return codes */
-#define EE_OK        ((uint16_t)EE_STATUS_OK)
-#define EE_ERROR     ((uint16_t)EE_STATUS_ERROR)
-#define EE_NOT_FOUND ((uint16_t)EE_STATUS_NOT_FOUND)
-#define EE_NO_SPACE  ((uint16_t)EE_STATUS_NO_SPACE)
-
-/* Flash parameters for STM32F103C8T6 */
-#define EE_FLASH_BASE_ADDR     0x08000000U
-#define EE_PAGE_SIZE           0x400U      /* 1 kB pages */
-
-/*
- * Here we assume a 64 kB Flash device (STM32F103C8T6):
- * Flash range: 0x0800 0000 - 0x0800 FFFF
- * Pages: 0..63 (64 pages)
- * We use the last 2 pages for EEPROM:
- *  - Page 62: 0x0800 F800
- *  - Page 63: 0x0800 FC00
- */
-#define EE_PAGE0_BASE          (EE_FLASH_BASE_ADDR + (62U * EE_PAGE_SIZE))
-#define EE_PAGE1_BASE          (EE_FLASH_BASE_ADDR + (63U * EE_PAGE_SIZE))
-
-/* Page status markers (stored in the first halfword of each page) */
-#define EE_PAGE_STATUS_ERASED  0xFFFFU
-#define EE_PAGE_STATUS_VALID   0xAAAAU
-#define EE_PAGE_STATUS_RECEIVE 0x5555U
-
-/*
- * Configure how many virtual variables you have.
- * Example: bytes, words, and array elements mapped to 16-bit variables.
- * Set EE_NUM_VIRTUAL_ADDR and define EE_VirtAddrs[] in eeprom.c.
- */
-/* 32 virtual variables, sequential addresses */
-#define EE_NUM_VIRTUAL_ADDR    32U
-#define EEW_ADDR(i)            (uint16_t)(0x0001 + (i))   // i = 0..31
-
-
-#define M1PWMAP	0	//m1pwmap
-#define M1PWMCH	1	//m1pwmch
-#define M2PWMAP	2	//m2pwmap
-#define M2PWMCH	3	//m2pwmch
-#define M3PWMAP	4	//m3pwmap
-#define M3PWMCH	5	//m3pwmch
-#define M4PWMAP	6	//m4pwmap
-#define M4PWMCH	7	//m4pwmch
-#define M1RAMPSTART 8 //m1rampstart
-#define M2RAMPSTART 9 //m2rampstart
-#define M3RAMPSTART 10 //m3rampstart
-#define M4RAMPSTART 11 //m4rampstart
-#define T1AP 12 //t1ap
-#define T2AP 13 //t2ap
-#define T3AP 14 //t3ap
-#define T4AP 15 //t4ap
-#define TWAP 16 //twap
-#define T1CH 17 //t1ch
-#define T2CH 18 //t2ch
-#define T3CH 19 //t3ch
-#define T4CH 20 //t4ch
-#define TWCH 21 //twch
-
-#define M1PWMMAN 26 //m1pwmMan
-#define M2PWMMAN 27 //m2pwmMan
-#define M3PWMMAN 28 //m3pwmMan
-#define M4PWMMAN 29 //m4pwmMan
-#define TRAMPMAN 30 //trampman
-#define TRAMP 31 //tramp
-
-
-/* Virtual address table (defined in eeprom.c, can be customized) */
-extern const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR];
-
-/* Public API – now using uint16_t like ST examples */
-uint16_t EE_Init(void);
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data);
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
-void loadEE(void);
-/* Pseudo-array accessor EEW[idx] */
-static inline uint16_t EEW_Read(uint8_t idx, uint16_t *value)
-{
-    return EE_ReadVariable(EEW_ADDR(idx), value);
-}
-
-static inline uint16_t EEW_Write(uint8_t idx, uint16_t value)
-{
-    return EE_WriteVariable(EEW_ADDR(idx), value);
-}
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __EEPROM_H */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/94/e0c4b23d1b43001119eefd2c7986ed92

@@ -1,389 +0,0 @@
-#include "eeprom.h"
-
-/*
- * Record format (4 bytes):
- *  [0] VirtAddress (uint16_t)
- *  [2] Data        (uint16_t)
- *
- * Page layout:
- *  [0]  PageStatus (uint16_t)
- *  [2..] Records...
- */
-
-extern uint16_t m1pwmap;
-extern uint16_t m1pwmch;
-extern uint16_t m2pwmap;
-extern uint16_t m2pwmch;
-extern uint16_t m3pwmap;
-extern uint16_t m3pwmch;
-extern uint16_t m4pwmap;
-extern uint16_t m4pwmch;
-extern uint16_t t1ap;
-extern uint16_t t2ap;
-extern uint16_t t3ap;
-extern uint16_t t4ap;
-extern uint16_t twap;
-extern uint16_t tramp;
-extern uint16_t t1ch;
-extern uint16_t t2ch;
-extern uint16_t t3ch;
-extern uint16_t t4ch;
-extern uint16_t twch;
-extern uint16_t trampman;
-extern uint16_t m1pwmMan;
-extern uint16_t m2pwmMan;
-extern uint16_t m3pwmMan;
-extern uint16_t m4pwmMan;
-
-const uint8_t deftab[32]={
-	40,	//m1pwmap
-	60, //m1pwmch
-	70, //m2pwmap
-	70, //m2pwmch
-	35, //m3pwmap
-	40, //m3pwmch
-	40, //m4pwmap
-	40,	//m4pwmch
-	20, //m1rampstart
-	20, //m2rampstart
-	20, //m3rampstart
-	20, //m4rampstart
-	28,	//t1ap
-	4,	//t2ap
-	10,  //t3ap
-	40, //t4ap
-	1,  //twap
-	20,  //t1ch
-	10,  //t2ch
-	30,  //t3ch
-	1,  //t4ch
-	1,  //twch
-	0,
-	0,
-	0,
-	100, //tramp1
-	60,  //m1pwmMan
-	70,  //m2pwmMan
-	40,	 //m3pwmMan
-	40,	 //m4pwmMan
-	50,  //trampman
-	10,  //tramp
-};
-
-typedef struct
-{
-    uint16_t VirtAddress;
-    uint16_t Data;
-} EE_Record_t;
-
-/* Active page base address (runtime selected in EE_Init) */
-static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
-
-/* 32 sequential virtual addresses */
-const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
-{
-    0x0001, 0x0002, 0x0003, 0x0004,
-    0x0005, 0x0006, 0x0007, 0x0008,
-    0x0009, 0x000A, 0x000B, 0x000C,
-    0x000D, 0x000E, 0x000F, 0x0010,
-    0x0011, 0x0012, 0x0013, 0x0014,
-    0x0015, 0x0016, 0x0017, 0x0018,
-    0x0019, 0x001A, 0x001B, 0x001C,
-    0x001D, 0x001E, 0x001F, 0x0020
-};
-/* ========================================================================= */
-
-/* --- Internal helpers ---------------------------------------------------- */
-
-static uint16_t EE_GetPageStatus(uint32_t pageBase)
-{
-    return *(__IO uint16_t *)pageBase;
-}
-
-static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
-{
-    HAL_StatusTypeDef status;
-
-    HAL_FLASH_Unlock();
-    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
-    HAL_FLASH_Lock();
-
-    return status;
-}
-
-static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
-{
-    HAL_StatusTypeDef status;
-    FLASH_EraseInitTypeDef EraseInit;
-    uint32_t PageError = 0;
-
-    HAL_FLASH_Unlock();
-
-    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
-    EraseInit.PageAddress = PageAddress;
-    EraseInit.NbPages     = 1;
-
-    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
-
-    HAL_FLASH_Lock();
-    return status;
-}
-
-/* Find first free record address in given page (returns 0 if full) */
-static uint32_t EE_FindFreeAddress(uint32_t pageBase)
-{
-    uint32_t addr = pageBase + 2U;                /* Skip status word */
-    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
-
-    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            /* Empty slot */
-            return addr;
-        }
-        addr += sizeof(EE_Record_t);
-    }
-
-    return 0U; /* No space */
-}
-
-/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
-/* Find latest value of VirtAddress in a specific page (scan forward) */
-static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
-{
-    uint32_t addr     = pageBase + 2U;            // skip status halfword
-    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
-    EE_Status result  = EE_NOT_FOUND;
-    uint16_t lastVal  = 0;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    while (addr <= (pageEnd - sizeof(EE_Record_t)))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            // First empty slot => no more records in this page
-            break;
-        }
-
-        uint16_t value = *(__IO uint16_t *)(addr + 2U);
-
-        if (vaddr == VirtAddress)
-        {
-            lastVal = value;    // keep most recent
-            result  = EE_OK;
-        }
-
-        addr += sizeof(EE_Record_t);  // move 4 bytes forward
-    }
-
-    if (result == EE_OK)
-        *Data = lastVal;
-
-    return result;
-}
-
-
-
-/* Format both pages: erase and set PAGE0 as VALID */
-static EE_Status EE_Format(void)
-{
-    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* PAGE1 will remain erased (status = 0xFFFF) */
-    EE_ActivePageBase = EE_PAGE0_BASE;
-
-    return EE_STATUS_OK;
-}
-
-/* Get the base of the other page */
-static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
-{
-    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
-}
-
-/* Page transfer (garbage collection + new write) */
-static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t oldBase = EE_ActivePageBase;
-    uint32_t newBase = EE_GetOtherPageBase(oldBase);
-    uint32_t addr;
-    uint16_t value;
-    EE_Status st;
-
-    /* Erase new page */
-    if (EE_FlashErasePage(newBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as RECEIVE */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Start writing records just after status */
-    addr = newBase + 2U;
-
-    /* For each known virtual variable */
-    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
-    {
-        uint16_t vaddr = EE_VirtAddrs[i];
-
-        if (vaddr == VirtAddress)
-        {
-            /* Use the new data passed into PageTransfer */
-            value = Data;
-        }
-        else
-        {
-            /* Read latest value from old active page */
-            st = EE_FindInPage(oldBase, vaddr, &value);
-            if (st != EE_STATUS_OK)
-            {
-                /* Variable never written -> skip */
-                continue;
-            }
-        }
-
-        /* Write record to new page */
-        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
-            return EE_STATUS_ERROR;
-        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
-            return EE_STATUS_ERROR;
-
-        addr += sizeof(EE_Record_t);
-        if (addr >= (newBase + EE_PAGE_SIZE))
-            return EE_STATUS_NO_SPACE;
-    }
-
-    /* Erase old page */
-    if (EE_FlashErasePage(oldBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as VALID */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Update active page */
-    EE_ActivePageBase = newBase;
-
-    return EE_STATUS_OK;
-}
-
-/* --- Public API ----------------------------------------------------------- */
-
-/*
- * Initialize the EEPROM emulation.
- * - Checks page statuses and chooses the active page.
- * - If inconsistent or blank, formats pages.
- * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
- */
-uint16_t EE_Init(void)
-{
-    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
-    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
-
-    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        /* Fresh device -> format */
-        return (uint16_t)EE_Format();
-    }
-    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE0_BASE;
-        return EE_OK;
-    }
-    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE1_BASE;
-        return EE_OK;
-    }
-    else
-    {
-        /* Any weird or inconsistent state -> reformat */
-        return (uint16_t)EE_Format();
-    }
-}
-
-/*
- * Read a 16-bit variable by its virtual address.
- * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
- */
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
-{
-    EE_Status st;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-/*
- * Write (append) a 16-bit variable.
- * - Writes a new record in the active page.
- * - If the page is full, triggers a page transfer (GC).
- * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
- */
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t freeAddr;
-    EE_Status st;
-
-    /* Find free space in active page */
-    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
-    if (freeAddr != 0U)
-    {
-        /* Write new record */
-        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
-            return EE_ERROR;
-        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
-            return EE_ERROR;
-
-        return EE_OK;
-    }
-
-    /* No space -> page transfer */
-    st = EE_PageTransfer(VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-void loadEE(void){
-	EEW_Read(M1PWMAP, &m1pwmap);
-	EEW_Read(M1PWMCH, &m1pwmch);
-	EEW_Read(M2PWMAP, &m2pwmap);
-	EEW_Read(M2PWMCH, &m2pwmch);
-	EEW_Read(M3PWMAP, &m3pwmap);
-	EEW_Read(M3PWMCH, &m3pwmch);
-	EEW_Read(M4PWMAP, &m4pwmap);
-	EEW_Read(M4PWMCH, &m4pwmch);
-	EEW_Read(T1AP, &t1ap);
-	EEW_Read(T2AP, &t2ap);
-	EEW_Read(T3AP, &t3ap);
-	EEW_Read(T4AP, &t4ap);
-	EEW_Read(TWAP, &twap);
-	EEW_Read(T1CH, &t1ch);
-	EEW_Read(T2CH, &t2ch);
-	EEW_Read(T3CH, &t3ch);
-	EEW_Read(T4CH, &t4ch);
-	EEW_Read(TWCH, &twch);
-	EEW_Read(TRAMP1, &tramp1);
-	EEW_Read(M1PWMMAN, &m1pwmMan);
-	EEW_Read(M2PWMMAN, &m2pwmMan);
-	EEW_Read(M3PWMMAN, &m3pwmMan);
-	EEW_Read(M4PWMMAN, &m4pwmMan);
-	EEW_Read(TRAMPMAN, &trampman);
-	EEW_Read(TRAMP, &tramp);
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/a6/b0f83d21c648001117c8b81d4e0ec712

@@ -0,0 +1,968 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.c
+  * @brief          : Main program body
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "usb_device.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "eeprom.h"
+#include "pwm.h"
+#include "adc.h"
+#include "debug.h"
+#include "mot.h"
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+typedef enum{
+	bzoff,
+	bzmoving,
+	bzwarning,
+}stBuz_st;
+
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+DMA_HandleTypeDef hdma_adc1;
+
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim4;
+
+UART_HandleTypeDef huart1;
+
+/* USER CODE BEGIN PV */
+
+extern volatile uint16_t adc_dma_buf[];
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+
+uint8_t pulsanti=0;
+volatile uint8_t rtP1=200;
+volatile uint8_t rtP2=200;
+volatile uint8_t rtTLC=100;
+volatile uint16_t rtramp[4];
+volatile uint16_t rtCiclo;
+uint16_t m1pwmap;
+uint16_t m1pwmch;
+uint16_t m2pwmap;
+uint16_t m2pwmch;
+uint16_t m3pwmap;
+uint16_t m3pwmch;
+uint16_t m4pwmap;
+uint16_t m4pwmch;
+uint16_t t1ap;
+uint16_t t2ap;
+uint16_t t3ap;
+uint16_t t4ap;
+uint16_t twap;
+uint16_t m1TimeoutMan;
+uint16_t m2TimeoutMan;
+uint16_t m3TimeoutMan;
+uint16_t m4TimeoutMan;
+uint16_t twch;
+uint16_t tramp;
+uint16_t tramp1;
+uint16_t trampman;
+uint16_t m1pwmMan;
+uint16_t m2pwmMan;
+uint16_t m3pwmMan;
+uint16_t m4pwmMan;
+
+uint16_t apM1start;
+uint16_t apM1stop;
+uint16_t apM2start;
+uint16_t apM2stop;
+uint16_t apM3start;
+uint16_t apM3stop;
+uint16_t apM4start;
+uint16_t apM4stop;
+uint16_t chM1start;
+uint16_t chM1stop;
+uint16_t chM2start;
+uint16_t chM2stop;
+uint16_t chM3start;
+uint16_t chM3stop;
+uint16_t chM4start;
+uint16_t chM4stop;
+
+
+uint16_t mrampstart[4];
+uint16_t stPulsanti=0;
+omCiclo_st stCiclo=omchiuso;
+omCiclo_st memstCiclo=omchiuso;
+volatile stBuz_st stBuz=bzoff;
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_DMA_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_USART1_UART_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+  static uint8_t c100ms = 0;
+  static uint8_t c1s = 0;
+  static uint8_t inidx=0;
+  static uint8_t inbuf[4];
+  uint8_t i;
+
+  if (++c10ms >= 10) {               // 10 ms
+	  c10ms = 0;
+	  if(rtP1)rtP1--;
+	  if(rtP2)rtP2--;
+	  if(rtTLC)rtTLC--;
+//**** legge i tasti********************************************************************************
+	  inidx++;
+	  inidx&=0x03;
+	  if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
+	  if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
+	  if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
+	  if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
+	  if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
+	  if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
+
+	  pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
+	  pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
+//**** legge adc ***********************************************************************************
+	  readAdc();
+	  if (++c100ms >= 10) {               // 10 ms
+		  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+		  for(i=0;i<4;i++){
+			  if(rtramp[i])rtramp[i]--;
+		  }
+		  if(rtCiclo<0xffff)rtCiclo++;
+
+//**** gestione buzzer *****************************************************************************
+		  if(stBuz==bzmoving){
+			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else if(stBuz==bzwarning){
+			  if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else{//bzoff
+			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
+		  }
+//**************************************************************************************************
+		  if (++c1s >= 10) {               // 1 s
+			  c1s = 0;
+			  //HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+		  }
+	  }
+  }
+}
+
+void managePulsanti(void){
+	if(pulsanti&INP1){
+		if(rtP1==0)stPulsanti|=P1START;
+		else{
+			if(rtP1&0x40)HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+		}
+	}else{
+		if(stPulsanti&P1START){
+			stPulsanti&=(~P1START);
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
+		}else if(rtP1<=190){
+			stPulsanti|=P1STOP;
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
+		}
+		rtP1=200;
+	}
+	if(pulsanti&INP2){
+		if(rtP2==0)stPulsanti|=P2START;
+	}else{
+		if(stPulsanti&P2START)stPulsanti&=(~P2START);
+		else if(rtP2<=190)stPulsanti|=P2STOP;
+		rtP2=200;
+	}
+	stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
+	if(stPulsanti==0){
+		switch(pulsanti&0x3c){
+			case 0x00:
+				rtTLC=100;
+				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
+				break;
+			case 0x08://tlc1
+				if(rtTLC==0)stPulsanti|=M1FW;
+				break;
+			case 0x10://tlc2
+				if(rtTLC==0)stPulsanti|=M1BW;
+				break;
+			case 0x20://tlc3
+				if(rtTLC==0)stPulsanti|=M3FW;
+				break;
+			case 0x04://tlc4
+				if(rtTLC==0)stPulsanti|=M3BW;
+				break;
+			case 0x30://tlc5
+				if(rtTLC==0)stPulsanti|=M4FW;
+				break;
+			case 0x0c://tlc6
+				if(rtTLC==0)stPulsanti|=M4BW;
+				break;
+			default:
+				rtTLC=100;
+				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
+				break;
+		}
+	}
+}
+
+void manageCiclo(void){
+	motMov_st m1,m2,m3,m4;
+	switch(stCiclo){
+		case omchiuso:
+			if(stPulsanti&P1START){
+				stBuz=bzwarning;
+				rtCiclo=0;
+				stCiclo=omapertura0;
+				(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
+			}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omM1fw1:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1fw2;
+			break;
+		case omM1fw2:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM1bw1:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1bw2;
+			break;
+		case omM1bw2:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2fw1:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2fw2;
+			break;
+		case omM2fw2:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2bw1:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2bw2;
+			break;
+		case omM2bw2:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3fw1:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3fw2;
+			break;
+		case omM3fw2:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3bw1:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3bw2;
+			break;
+		case omM3bw2:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4fw1:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4fw2;
+			break;
+		case omM4fw2:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4bw1:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4bw2;
+			break;
+		case omM4bw2:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omStopMan:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M1,BW,0);
+			SetMotPerc(M2,BW,0);
+			SetMotPerc(M3,BW,0);
+			SetMotPerc(M4,BW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
+			break;
+		case omapertura0:
+			if(rtCiclo>=30){//doppo 3 secondi
+				stBuz=bzmoving;
+				m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
+				if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
+					stBuz=bzoff;
+					stCiclo=omaperto;
+				}
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+				stPulsanti&=(~P1STOP);
+			}
+			break;
+		case omaperto:
+			rtCiclo=0;
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+				(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			else if(stPulsanti&M1FW){
+				stBuz=bzmoving;
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
+				stCiclo=omM1fw1;
+			}else if(stPulsanti&M1BW){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
+				stCiclo=omM1bw1;
+			}else if(stPulsanti&M2FW){
+				stBuz=bzmoving;
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
+				stCiclo=omM2fw1;
+			}else if(stPulsanti&M2BW){
+				stBuz=bzmoving;
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
+				stCiclo=omM2bw1;
+			}else if(stPulsanti&M3FW){
+				stBuz=bzmoving;
+				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM3fw1;
+			}else if(stPulsanti&M3BW){
+				stBuz=bzmoving;
+				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM3bw1;
+			}else if(stPulsanti&M4FW){
+				stBuz=bzmoving;
+				(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM4fw1;
+			}else if(stPulsanti&M4BW){
+				stBuz=bzmoving;
+				(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM4bw1;
+			}
+			break;
+		case omchiusura1:
+			if(rtCiclo>=10){//doppo 1 secondi
+				if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
+					stBuz=bzoff;
+					stCiclo=omchiuso;
+				}
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+
+		case omstopchiusura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+				stPulsanti&=(~P1STOP);
+			}
+			break;
+	}
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_DMA_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_ADC1_Init();
+  MX_USART1_UART_Init();
+  /* USER CODE BEGIN 2 */
+  HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
+  StopMot(timMot1,FWMot1);
+  StopMot(timMot1,BWMot1);
+  StopMot(timMot2,FWMot2);
+  StopMot(timMot2,BWMot2);
+  StopMot(timMot3,FWMot3);
+  StopMot(timMot3,BWMot3);
+  StopMot(timMot4,FWMot4);
+  StopMot(timMot4,BWMot4);
+  //CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  //while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
+  if (EE_Init() != EE_OK){
+      for(;;);//errore eeprom
+  }
+  loadEE();
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  manageCDC();
+	  manageAdc();
+	  managePulsanti();
+	  manageCiclo();
+	  debug();
+//	  while (CDC_Available()) {
+	//	  int c = CDC_ReadByte();
+      //if (c < 0) break;
+
+//		  uint8_t out = (uint8_t)c;
+//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+//		  unsigned char s[100];
+//		  sprintf((char*)s,"\nc=%03d",c);
+//		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
+//        // tiny spin or yield
+//      }
+ //   }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
+  hadc1.Init.ContinuousConvMode = ENABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 5;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_5;
+  sConfig.Rank = ADC_REGULAR_RANK_2;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_6;
+  sConfig.Rank = ADC_REGULAR_RANK_3;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_7;
+  sConfig.Rank = ADC_REGULAR_RANK_4;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_8;
+  sConfig.Rank = ADC_REGULAR_RANK_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM2_Init 1 */
+
+  /* USER CODE END TIM2_Init 1 */
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 0;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 17999;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 1000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 2000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 3000;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 4000;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM2_Init 2 */
+
+  /* USER CODE END TIM2_Init 2 */
+  HAL_TIM_MspPostInit(&htim2);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM4_Init 1 */
+
+  /* USER CODE END TIM4_Init 1 */
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 0;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 17999;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 5000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 7000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 8000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM4_Init 2 */
+
+  /* USER CODE END TIM4_Init 2 */
+  HAL_TIM_MspPostInit(&htim4);
+
+}
+
+/**
+  * @brief USART1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART1_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART1_Init 0 */
+
+  /* USER CODE END USART1_Init 0 */
+
+  /* USER CODE BEGIN USART1_Init 1 */
+
+  /* USER CODE END USART1_Init 1 */
+  huart1.Instance = USART1;
+  huart1.Init.BaudRate = 115200;
+  huart1.Init.WordLength = UART_WORDLENGTH_8B;
+  huart1.Init.StopBits = UART_STOPBITS_1;
+  huart1.Init.Parity = UART_PARITY_NONE;
+  huart1.Init.Mode = UART_MODE_TX_RX;
+  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART1_Init 2 */
+
+  /* USER CODE END USART1_Init 2 */
+
+}
+
+/**
+  * Enable DMA controller clock
+  */
+static void MX_DMA_Init(void)
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA1_Channel1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
+
+}
+
+/**
+  * @brief GPIO Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_GPIO_Init(void)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  /* USER CODE BEGIN MX_GPIO_Init_1 */
+
+  /* USER CODE END MX_GPIO_Init_1 */
+
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
+                          |EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : LED2_Pin */
+  GPIO_InitStruct.Pin = LED2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : P1_Pin P2_Pin */
+  GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : AIN1_Pin */
+  GPIO_InitStruct.Pin = AIN1_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
+                           EXP1_Pin EXP2_Pin EXP3_Pin */
+  GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
+                          |EXP1_Pin|EXP2_Pin|EXP3_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
+  GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : BUZ_Pin LED1_Pin */
+  GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN MX_GPIO_Init_2 */
+
+  /* USER CODE END MX_GPIO_Init_2 */
+}
+
+/* USER CODE BEGIN 4 */
+
+/* USER CODE END 4 */
+
+/**
+  * @brief  This function is executed in case of error occurrence.
+  * @retval None
+  */
+void Error_Handler(void)
+{
+  /* USER CODE BEGIN Error_Handler_Debug */
+  /* User can add his own implementation to report the HAL error return state */
+  __disable_irq();
+  while (1)
+  {
+  }
+  /* USER CODE END Error_Handler_Debug */
+}
+#ifdef USE_FULL_ASSERT
+/**
+  * @brief  Reports the name of the source file and the source line number
+  *         where the assert_param error has occurred.
+  * @param  file: pointer to the source file name
+  * @param  line: assert_param error line source number
+  * @retval None
+  */
+void assert_failed(uint8_t *file, uint32_t line)
+{
+  /* USER CODE BEGIN 6 */
+  /* User can add his own implementation to report the file name and line number,
+     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+  /* USER CODE END 6 */
+}
+#endif /* USE_FULL_ASSERT */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/aa/60a5e063c548001117c8b81d4e0ec712

@@ -0,0 +1,968 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.c
+  * @brief          : Main program body
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "usb_device.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "eeprom.h"
+#include "pwm.h"
+#include "adc.h"
+#include "debug.h"
+#include "mot.h"
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+typedef enum{
+	bzoff,
+	bzmoving,
+	bzwarning,
+}stBuz_st;
+
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+DMA_HandleTypeDef hdma_adc1;
+
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim4;
+
+UART_HandleTypeDef huart1;
+
+/* USER CODE BEGIN PV */
+
+extern volatile uint16_t adc_dma_buf[];
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+
+uint8_t pulsanti=0;
+volatile uint8_t rtP1=200;
+volatile uint8_t rtP2=200;
+volatile uint8_t rtTLC=100;
+volatile uint16_t rtramp[4];
+volatile uint16_t rtCiclo;
+uint16_t m1pwmap;
+uint16_t m1pwmch;
+uint16_t m2pwmap;
+uint16_t m2pwmch;
+uint16_t m3pwmap;
+uint16_t m3pwmch;
+uint16_t m4pwmap;
+uint16_t m4pwmch;
+uint16_t t1ap;
+uint16_t t2ap;
+uint16_t t3ap;
+uint16_t t4ap;
+uint16_t twap;
+uint16_t m1TimeoutMan;
+uint16_t m2TimeoutMan;
+uint16_t m3TimeoutMan;
+uint16_t m4TimeoutMan;
+uint16_t twch;
+uint16_t tramp;
+uint16_t tramp1;
+uint16_t trampman;
+uint16_t m1pwmMan;
+uint16_t m2pwmMan;
+uint16_t m3pwmMan;
+uint16_t m4pwmMan;
+
+uint16_t apM1start;
+uint16_t apM1stop;
+uint16_t apM2start;
+uint16_t apM2stop;
+uint16_t apM3start;
+uint16_t apM3stop;
+uint16_t apM4start;
+uint16_t apM4stop;
+uint16_t chM1start;
+uint16_t chM1stop;
+uint16_t chM2start;
+uint16_t chM2stop;
+uint16_t chM3start;
+uint16_t chM3stop;
+uint16_t chM4start;
+uint16_t chM4stop;
+
+
+uint16_t mrampstart[4];
+uint16_t stPulsanti=0;
+omCiclo_st stCiclo=omchiuso;
+omCiclo_st memstCiclo=omchiuso;
+volatile stBuz_st stBuz=bzoff;
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_DMA_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_USART1_UART_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+  static uint8_t c100ms = 0;
+  static uint8_t c1s = 0;
+  static uint8_t inidx=0;
+  static uint8_t inbuf[4];
+  uint8_t i;
+
+  if (++c10ms >= 10) {               // 10 ms
+	  c10ms = 0;
+	  if(rtP1)rtP1--;
+	  if(rtP2)rtP2--;
+	  if(rtTLC)rtTLC--;
+//**** legge i tasti********************************************************************************
+	  inidx++;
+	  inidx&=0x03;
+	  if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
+	  if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
+	  if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
+	  if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
+	  if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
+	  if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
+
+	  pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
+	  pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
+//**** legge adc ***********************************************************************************
+	  readAdc();
+	  if (++c100ms >= 10) {               // 10 ms
+		  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+		  for(i=0;i<4;i++){
+			  if(rtramp[i])rtramp[i]--;
+		  }
+		  if(rtCiclo<0xffff)rtCiclo++;
+
+//**** gestione buzzer *****************************************************************************
+		  if(stBuz==bzmoving){
+			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else if(stBuz==bzwarning){
+			  if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else{//bzoff
+			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
+		  }
+//**************************************************************************************************
+		  if (++c1s >= 10) {               // 1 s
+			  c1s = 0;
+			  //HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+		  }
+	  }
+  }
+}
+
+void managePulsanti(void){
+	if(pulsanti&INP1){
+		if(rtP1==0)stPulsanti|=P1START;
+		else{
+			if(rtP1&4)HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+		}
+	}else{
+		if(stPulsanti&P1START){
+			stPulsanti&=(~P1START);
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
+		}else if(rtP1<=190){
+			stPulsanti|=P1STOP;
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
+		}
+		rtP1=200;
+	}
+	if(pulsanti&INP2){
+		if(rtP2==0)stPulsanti|=P2START;
+	}else{
+		if(stPulsanti&P2START)stPulsanti&=(~P2START);
+		else if(rtP2<=190)stPulsanti|=P2STOP;
+		rtP2=200;
+	}
+	stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
+	if(stPulsanti==0){
+		switch(pulsanti&0x3c){
+			case 0x00:
+				rtTLC=100;
+				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
+				break;
+			case 0x08://tlc1
+				if(rtTLC==0)stPulsanti|=M1FW;
+				break;
+			case 0x10://tlc2
+				if(rtTLC==0)stPulsanti|=M1BW;
+				break;
+			case 0x20://tlc3
+				if(rtTLC==0)stPulsanti|=M3FW;
+				break;
+			case 0x04://tlc4
+				if(rtTLC==0)stPulsanti|=M3BW;
+				break;
+			case 0x30://tlc5
+				if(rtTLC==0)stPulsanti|=M4FW;
+				break;
+			case 0x0c://tlc6
+				if(rtTLC==0)stPulsanti|=M4BW;
+				break;
+			default:
+				rtTLC=100;
+				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
+				break;
+		}
+	}
+}
+
+void manageCiclo(void){
+	motMov_st m1,m2,m3,m4;
+	switch(stCiclo){
+		case omchiuso:
+			if(stPulsanti&P1START){
+				stBuz=bzwarning;
+				rtCiclo=0;
+				stCiclo=omapertura0;
+				(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
+			}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omM1fw1:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1fw2;
+			break;
+		case omM1fw2:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM1bw1:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1bw2;
+			break;
+		case omM1bw2:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2fw1:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2fw2;
+			break;
+		case omM2fw2:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2bw1:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2bw2;
+			break;
+		case omM2bw2:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3fw1:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3fw2;
+			break;
+		case omM3fw2:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3bw1:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3bw2;
+			break;
+		case omM3bw2:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4fw1:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4fw2;
+			break;
+		case omM4fw2:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4bw1:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4bw2;
+			break;
+		case omM4bw2:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omStopMan:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M1,BW,0);
+			SetMotPerc(M2,BW,0);
+			SetMotPerc(M3,BW,0);
+			SetMotPerc(M4,BW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
+			break;
+		case omapertura0:
+			if(rtCiclo>=30){//doppo 3 secondi
+				stBuz=bzmoving;
+				m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
+				if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
+					stBuz=bzoff;
+					stCiclo=omaperto;
+				}
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+				stPulsanti&=(~P1STOP);
+			}
+			break;
+		case omaperto:
+			rtCiclo=0;
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+				(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			else if(stPulsanti&M1FW){
+				stBuz=bzmoving;
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
+				stCiclo=omM1fw1;
+			}else if(stPulsanti&M1BW){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
+				stCiclo=omM1bw1;
+			}else if(stPulsanti&M2FW){
+				stBuz=bzmoving;
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
+				stCiclo=omM2fw1;
+			}else if(stPulsanti&M2BW){
+				stBuz=bzmoving;
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
+				stCiclo=omM2bw1;
+			}else if(stPulsanti&M3FW){
+				stBuz=bzmoving;
+				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM3fw1;
+			}else if(stPulsanti&M3BW){
+				stBuz=bzmoving;
+				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM3bw1;
+			}else if(stPulsanti&M4FW){
+				stBuz=bzmoving;
+				(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM4fw1;
+			}else if(stPulsanti&M4BW){
+				stBuz=bzmoving;
+				(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM4bw1;
+			}
+			break;
+		case omchiusura1:
+			if(rtCiclo>=10){//doppo 1 secondi
+				if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
+					stBuz=bzoff;
+					stCiclo=omchiuso;
+				}
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+
+		case omstopchiusura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+				stPulsanti&=(~P1STOP);
+			}
+			break;
+	}
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_DMA_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_ADC1_Init();
+  MX_USART1_UART_Init();
+  /* USER CODE BEGIN 2 */
+  HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
+  StopMot(timMot1,FWMot1);
+  StopMot(timMot1,BWMot1);
+  StopMot(timMot2,FWMot2);
+  StopMot(timMot2,BWMot2);
+  StopMot(timMot3,FWMot3);
+  StopMot(timMot3,BWMot3);
+  StopMot(timMot4,FWMot4);
+  StopMot(timMot4,BWMot4);
+  //CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  //while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
+  if (EE_Init() != EE_OK){
+      for(;;);//errore eeprom
+  }
+  loadEE();
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  manageCDC();
+	  manageAdc();
+	  managePulsanti();
+	  manageCiclo();
+	  debug();
+//	  while (CDC_Available()) {
+	//	  int c = CDC_ReadByte();
+      //if (c < 0) break;
+
+//		  uint8_t out = (uint8_t)c;
+//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+//		  unsigned char s[100];
+//		  sprintf((char*)s,"\nc=%03d",c);
+//		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
+//        // tiny spin or yield
+//      }
+ //   }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
+  hadc1.Init.ContinuousConvMode = ENABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 5;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_5;
+  sConfig.Rank = ADC_REGULAR_RANK_2;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_6;
+  sConfig.Rank = ADC_REGULAR_RANK_3;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_7;
+  sConfig.Rank = ADC_REGULAR_RANK_4;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_8;
+  sConfig.Rank = ADC_REGULAR_RANK_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM2_Init 1 */
+
+  /* USER CODE END TIM2_Init 1 */
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 0;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 17999;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 1000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 2000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 3000;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 4000;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM2_Init 2 */
+
+  /* USER CODE END TIM2_Init 2 */
+  HAL_TIM_MspPostInit(&htim2);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM4_Init 1 */
+
+  /* USER CODE END TIM4_Init 1 */
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 0;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 17999;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 5000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 7000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 8000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM4_Init 2 */
+
+  /* USER CODE END TIM4_Init 2 */
+  HAL_TIM_MspPostInit(&htim4);
+
+}
+
+/**
+  * @brief USART1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART1_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART1_Init 0 */
+
+  /* USER CODE END USART1_Init 0 */
+
+  /* USER CODE BEGIN USART1_Init 1 */
+
+  /* USER CODE END USART1_Init 1 */
+  huart1.Instance = USART1;
+  huart1.Init.BaudRate = 115200;
+  huart1.Init.WordLength = UART_WORDLENGTH_8B;
+  huart1.Init.StopBits = UART_STOPBITS_1;
+  huart1.Init.Parity = UART_PARITY_NONE;
+  huart1.Init.Mode = UART_MODE_TX_RX;
+  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART1_Init 2 */
+
+  /* USER CODE END USART1_Init 2 */
+
+}
+
+/**
+  * Enable DMA controller clock
+  */
+static void MX_DMA_Init(void)
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA1_Channel1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
+
+}
+
+/**
+  * @brief GPIO Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_GPIO_Init(void)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  /* USER CODE BEGIN MX_GPIO_Init_1 */
+
+  /* USER CODE END MX_GPIO_Init_1 */
+
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
+                          |EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : LED2_Pin */
+  GPIO_InitStruct.Pin = LED2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : P1_Pin P2_Pin */
+  GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : AIN1_Pin */
+  GPIO_InitStruct.Pin = AIN1_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
+                           EXP1_Pin EXP2_Pin EXP3_Pin */
+  GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
+                          |EXP1_Pin|EXP2_Pin|EXP3_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
+  GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : BUZ_Pin LED1_Pin */
+  GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN MX_GPIO_Init_2 */
+
+  /* USER CODE END MX_GPIO_Init_2 */
+}
+
+/* USER CODE BEGIN 4 */
+
+/* USER CODE END 4 */
+
+/**
+  * @brief  This function is executed in case of error occurrence.
+  * @retval None
+  */
+void Error_Handler(void)
+{
+  /* USER CODE BEGIN Error_Handler_Debug */
+  /* User can add his own implementation to report the HAL error return state */
+  __disable_irq();
+  while (1)
+  {
+  }
+  /* USER CODE END Error_Handler_Debug */
+}
+#ifdef USE_FULL_ASSERT
+/**
+  * @brief  Reports the name of the source file and the source line number
+  *         where the assert_param error has occurred.
+  * @param  file: pointer to the source file name
+  * @param  line: assert_param error line source number
+  * @retval None
+  */
+void assert_failed(uint8_t *file, uint32_t line)
+{
+  /* USER CODE BEGIN 6 */
+  /* User can add his own implementation to report the file name and line number,
+     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+  /* USER CODE END 6 */
+}
+#endif /* USE_FULL_ASSERT */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/b/b0e22dbe6e4200111f799b956365eeb8

@@ -1,378 +0,0 @@
-#include "eeprom.h"
-
-/*
- * Record format (4 bytes):
- *  [0] VirtAddress (uint16_t)
- *  [2] Data        (uint16_t)
- *
- * Page layout:
- *  [0]  PageStatus (uint16_t)
- *  [2..] Records...
- */
-
-extern uint16_t m1pwmap;
-extern uint16_t m1pwmch;
-extern uint16_t m2pwmap;
-extern uint16_t m2pwmch;
-extern uint16_t m3pwmap;
-extern uint16_t m3pwmch;
-extern uint16_t m4pwmap;
-extern uint16_t m4pwmch;
-extern uint16_t t1ap;
-extern uint16_t t2ap;
-extern uint16_t t3ap;
-extern uint16_t t4ap;
-extern uint16_t twap;
-extern uint16_t tramp;
-extern uint16_t t1ch;
-extern uint16_t t2ch;
-extern uint16_t t3ch;
-extern uint16_t t4ch;
-extern uint16_t twch;
-
-const uint8_t deftab[32]={
-	40,	//m1pwmap
-	60, //m1pwmch
-	70, //m2pwmap
-	70, //m2pwmch
-	35, //m3pwmap
-	40, //m3pwmch
-	40, //m4pwmap
-	40,	//m4pwmch
-	20, //m1rampstart
-	20, //m2rampstart
-	20, //m3rampstart
-	20, //m4rampstart
-	28,	//t1ap
-	4,	//t2ap
-	10,  //t3ap
-	40, //t4ap
-	1,  //twap
-	20,  //t1ch
-	10,  //t2ch
-	30,  //t3ch
-	1,  //t4ch
-	1,  //twch
-	0,
-	0,
-	0,
-	0,
-	60,  //m1pwmMan
-	70,  //m2pwmMan
-	40,	 //m3pwmMan
-	40,	 //m4pwmMan
-	50,  //trampman
-	10,  //tramp
-};
-
-typedef struct
-{
-    uint16_t VirtAddress;
-    uint16_t Data;
-} EE_Record_t;
-
-/* Active page base address (runtime selected in EE_Init) */
-static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
-
-/* 32 sequential virtual addresses */
-const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
-{
-    0x0001, 0x0002, 0x0003, 0x0004,
-    0x0005, 0x0006, 0x0007, 0x0008,
-    0x0009, 0x000A, 0x000B, 0x000C,
-    0x000D, 0x000E, 0x000F, 0x0010,
-    0x0011, 0x0012, 0x0013, 0x0014,
-    0x0015, 0x0016, 0x0017, 0x0018,
-    0x0019, 0x001A, 0x001B, 0x001C,
-    0x001D, 0x001E, 0x001F, 0x0020
-};
-/* ========================================================================= */
-
-/* --- Internal helpers ---------------------------------------------------- */
-
-static uint16_t EE_GetPageStatus(uint32_t pageBase)
-{
-    return *(__IO uint16_t *)pageBase;
-}
-
-static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
-{
-    HAL_StatusTypeDef status;
-
-    HAL_FLASH_Unlock();
-    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
-    HAL_FLASH_Lock();
-
-    return status;
-}
-
-static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
-{
-    HAL_StatusTypeDef status;
-    FLASH_EraseInitTypeDef EraseInit;
-    uint32_t PageError = 0;
-
-    HAL_FLASH_Unlock();
-
-    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
-    EraseInit.PageAddress = PageAddress;
-    EraseInit.NbPages     = 1;
-
-    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
-
-    HAL_FLASH_Lock();
-    return status;
-}
-
-/* Find first free record address in given page (returns 0 if full) */
-static uint32_t EE_FindFreeAddress(uint32_t pageBase)
-{
-    uint32_t addr = pageBase + 2U;                /* Skip status word */
-    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
-
-    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            /* Empty slot */
-            return addr;
-        }
-        addr += sizeof(EE_Record_t);
-    }
-
-    return 0U; /* No space */
-}
-
-/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
-/* Find latest value of VirtAddress in a specific page (scan forward) */
-static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
-{
-    uint32_t addr     = pageBase + 2U;            // skip status halfword
-    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
-    EE_Status result  = EE_NOT_FOUND;
-    uint16_t lastVal  = 0;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    while (addr <= (pageEnd - sizeof(EE_Record_t)))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            // First empty slot => no more records in this page
-            break;
-        }
-
-        uint16_t value = *(__IO uint16_t *)(addr + 2U);
-
-        if (vaddr == VirtAddress)
-        {
-            lastVal = value;    // keep most recent
-            result  = EE_OK;
-        }
-
-        addr += sizeof(EE_Record_t);  // move 4 bytes forward
-    }
-
-    if (result == EE_OK)
-        *Data = lastVal;
-
-    return result;
-}
-
-
-
-/* Format both pages: erase and set PAGE0 as VALID */
-static EE_Status EE_Format(void)
-{
-    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* PAGE1 will remain erased (status = 0xFFFF) */
-    EE_ActivePageBase = EE_PAGE0_BASE;
-
-    return EE_STATUS_OK;
-}
-
-/* Get the base of the other page */
-static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
-{
-    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
-}
-
-/* Page transfer (garbage collection + new write) */
-static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t oldBase = EE_ActivePageBase;
-    uint32_t newBase = EE_GetOtherPageBase(oldBase);
-    uint32_t addr;
-    uint16_t value;
-    EE_Status st;
-
-    /* Erase new page */
-    if (EE_FlashErasePage(newBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as RECEIVE */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Start writing records just after status */
-    addr = newBase + 2U;
-
-    /* For each known virtual variable */
-    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
-    {
-        uint16_t vaddr = EE_VirtAddrs[i];
-
-        if (vaddr == VirtAddress)
-        {
-            /* Use the new data passed into PageTransfer */
-            value = Data;
-        }
-        else
-        {
-            /* Read latest value from old active page */
-            st = EE_FindInPage(oldBase, vaddr, &value);
-            if (st != EE_STATUS_OK)
-            {
-                /* Variable never written -> skip */
-                continue;
-            }
-        }
-
-        /* Write record to new page */
-        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
-            return EE_STATUS_ERROR;
-        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
-            return EE_STATUS_ERROR;
-
-        addr += sizeof(EE_Record_t);
-        if (addr >= (newBase + EE_PAGE_SIZE))
-            return EE_STATUS_NO_SPACE;
-    }
-
-    /* Erase old page */
-    if (EE_FlashErasePage(oldBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as VALID */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Update active page */
-    EE_ActivePageBase = newBase;
-
-    return EE_STATUS_OK;
-}
-
-/* --- Public API ----------------------------------------------------------- */
-
-/*
- * Initialize the EEPROM emulation.
- * - Checks page statuses and chooses the active page.
- * - If inconsistent or blank, formats pages.
- * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
- */
-uint16_t EE_Init(void)
-{
-    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
-    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
-
-    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        /* Fresh device -> format */
-        return (uint16_t)EE_Format();
-    }
-    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE0_BASE;
-        return EE_OK;
-    }
-    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE1_BASE;
-        return EE_OK;
-    }
-    else
-    {
-        /* Any weird or inconsistent state -> reformat */
-        return (uint16_t)EE_Format();
-    }
-}
-
-/*
- * Read a 16-bit variable by its virtual address.
- * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
- */
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
-{
-    EE_Status st;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-/*
- * Write (append) a 16-bit variable.
- * - Writes a new record in the active page.
- * - If the page is full, triggers a page transfer (GC).
- * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
- */
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t freeAddr;
-    EE_Status st;
-
-    /* Find free space in active page */
-    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
-    if (freeAddr != 0U)
-    {
-        /* Write new record */
-        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
-            return EE_ERROR;
-        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
-            return EE_ERROR;
-
-        return EE_OK;
-    }
-
-    /* No space -> page transfer */
-    st = EE_PageTransfer(VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-void loadEE(void){
-	EEW_Read(M1PWMAP, &m1pwmap);
-	EEW_Read(M1PWMCH, &m1pwmch);
-	EEW_Read(M2PWMAP, &m2pwmap);
-	EEW_Read(M2PWMCH, &m2pwmch);
-	EEW_Read(M3PWMAP, &m3pwmap);
-	EEW_Read(M3PWMCH, &m3pwmch);
-	EEW_Read(M4PWMAP, &m4pwmap);
-	EEW_Read(M4PWMCH, &m4pwmch);
-	EEW_Read(T1AP, &t1ap);
-	EEW_Read(T2AP, &t2ap);
-	EEW_Read(T3AP, &t3ap);
-	EEW_Read(T4AP, &t4ap);
-	EEW_Read(TWAP, &twap);
-	EEW_Read(T1CH, &t1ch);
-	EEW_Read(T2CH, &t2ch);
-	EEW_Read(T3CH, &t3ch);
-	EEW_Read(T4CH, &t4ch);
-	EEW_Read(TWCH, &twch);
-	EEW_Read(TRAMP, &tramp);
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/b8/d0040c7f0048001113e9e1acf606c4d0

@@ -0,0 +1,229 @@
+#include <string.h>
+#include <stdbool.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "eeprom.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+extern const uint16_t EE_VirtAddrs[];
+extern uint8_t pulsanti;
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+extern const uint8_t deftab[];
+extern omCiclo_st stCiclo;
+extern omCiclo_st memstCiclo;
+extern uint8_t stPulsanti;
+
+bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
+	if((c1>='0')&&(c1<='9')){
+		c1-='0';
+	}else if((c1>='a')&&(c1<='f')){
+		c1=(c1-'a')+10;
+	}else return false;
+
+	if((c2>='0')&&(c2<='9')){
+		c2-='0';
+	}else if((c2>='a')&&(c2<='f')){
+		c2=(c2-'a')+10;
+	}else return false;
+
+	if((c3>='0')&&(c3<='9')){
+		c3-='0';
+	}else if((c3>='a')&&(c3<='f')){
+		c3=(c3-'a')+10;
+	}else return false;
+
+	if((c4>='0')&&(c4<='9')){
+		c4-='0';
+	}else if((c4>='a')&&(c4<='f')){
+		c4=(c4-'a')+10;
+	}else return false;
+
+	*retval=c1;
+	*retval*=16;
+	*retval+=c2;
+	*retval*=16;
+	*retval+=c3;
+	*retval*=16;
+	*retval+=c4;
+	return true;
+
+}
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	uint8_t mot,dir,dm,m,c,d,u;
+	uint16_t val;
+	uint16_t st;
+	uint16_t eeadd;
+	uint8_t i;
+
+	if (CDC_Available()) {
+	  int rx = CDC_ReadByte();
+	  if (rx < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+	  rxbuf[rxidx]=rx;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((rx==0x0d)||(rx==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"info\n");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\nP=0x%x ch4=%05d ch5=%05d ch6=%05d ch7=%05d ch8=%05d",pulsanti,ch4,ch5,ch6,ch7,ch8);
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\nstCiclo=%05d stPulsanti=%05d",stCiclo,stPulsanti);
+				  while (CDC_Transmit_FS(s, 31) == USBD_BUSY);
+				  break;
+			  case 'I':
+				  sprintf((char*)s,"\nID000000");
+				  while (CDC_Transmit_FS(s, 9) == USBD_BUSY);
+				  break;
+			  case 'm':
+				  if(rxidx==8){
+					  if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
+						  mot=rxbuf[1]-='0';
+						  if(rxbuf[2]=='f'){
+							  dir=FW;
+						  }else if(rxbuf[2]=='b'){
+							  dir=BW;
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
+							  break;
+						  }
+						  if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
+							  dm=rxbuf[3]-='0';
+							  m=rxbuf[4]-='0';
+							  c=rxbuf[5]-='0';
+							  d=rxbuf[6]-='0';
+							  u=rxbuf[7]-='0';
+							  val=dm;
+							  val*=10;
+							  val+=m;
+							  val*=10;
+							  val+=c;
+							  val*=10;
+							  val+=d;
+							  val*=10;
+							  val+=u;
+							  SetMot(mot,dir,val);
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+						  }
+
+					  }else{
+						  sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
+						  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
+					  while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
+				  }
+				  break;
+			  case 'e':
+				  if(rxidx>1){
+					  if(rxbuf[1]=='r'){
+						  if(rxidx==4){
+							  if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
+								  st=EEW_Read(eeadd, &val);
+								  if (st == EE_OK){
+									  sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }else{
+									  sprintf((char*)s,"\nee read error %d",st);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }
+							  }else{
+								  sprintf((char*)s,"\n?eraa hex values");
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+							  }
+						  }else{
+							  sprintf((char*)s,"\n?eraa");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else if(rxbuf[1]=='w'){
+						  if(rxidx==8){
+							  if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
+								  if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
+									  st=EEW_Write(eeadd, val);
+									  if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
+									  else sprintf((char*)s,"\nee write error %d", st);
+								  }else sprintf((char*)s,"\n?ewaavvvv hex values");
+							  }else sprintf((char*)s,"\n?ewaa hex values");
+						  }else sprintf((char*)s,"\n?ewaavvvv");
+						  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+					  }else if(rxbuf[1]=='d'){
+						  if(rxidx==2){
+							  for(i=0;i<32;i++){
+								  st=EEW_Read(i, &val);
+								  if (st == EE_OK){
+									  sprintf((char*)s,"\n0x%02x=%5d ",i,val);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }else{
+									  sprintf((char*)s,"rderr %d ",st);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }
+							  }
+							  if((i%4)==0){
+								  sprintf((char*)s,"\n");
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+							  }
+						  }else{
+							  sprintf((char*)s,"\n?ed");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else if(rxbuf[1]=='x'){
+						  if(rxidx==2){
+							  for(i=0;i<64;i++){
+								  st=EEW_Write(i,deftab[i]);
+								  if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",i,deftab[i]);
+								  else sprintf((char*)s,"\nee write error %d", st);
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+
+							  }
+							  loadEE();
+						  }else{
+							  sprintf((char*)s,"\n?ex");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else{
+						  sprintf((char*)s,"\n?er|w|d|x");
+						  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?eraa | ewaavvvv");
+					  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  }
+				  break;
+			  default:
+				  sprintf((char*)s,"\n?");
+				  while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
+				  break;
+			  }
+		  }
+		  rxidx=0;
+	  }else rxidx++;
+      // tiny spin or yield
+    }
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/be/202811460248001113e9e1acf606c4d0

@@ -0,0 +1,333 @@
+/*
+ * mot.c
+ *
+ *  Created on: May 2, 2026
+ *      Author: user
+ */
+#include "main.h"
+#include "mot.h"
+#include "pwm.h"
+
+extern uint16_t apM1start;
+extern uint16_t apM1stop;
+extern uint16_t apM2start;
+extern uint16_t apM2stop;
+extern uint16_t apM3start;
+extern uint16_t apM3stop;
+extern uint16_t apM4start;
+extern uint16_t apM4stop;
+extern uint16_t chM1start;
+extern uint16_t chM1stop;
+extern uint16_t chM2start;
+extern uint16_t chM2stop;
+extern uint16_t chM3start;
+extern uint16_t chM3stop;
+extern uint16_t chM4start;
+extern uint16_t chM4stop;
+extern volatile uint16_t rtCiclo;
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t mrampstart[4];
+extern uint16_t tramp;
+
+motMov_st m1ap(void){
+	static motMov_st m1st;
+	if(rtCiclo<apM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=apM1start){
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM1stop){
+				(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ap(void){
+	static motMov_st m2st;
+	if(rtCiclo<apM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=apM2start){
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM2stop){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ap(void){
+	static motMov_st m3st;
+	if(rtCiclo<apM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=apM3start){
+				(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM3stop){
+				(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ap(void){
+	static motMov_st m4st;
+	if(rtCiclo<apM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=apM4start){
+				(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM4stop){
+				(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}
+
+motMov_st m1ch(void){
+	static motMov_st m1st;
+	if(rtCiclo<chM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=chM1start){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM1stop){
+				(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ch(void){
+	static motMov_st m2st;
+	if(rtCiclo<chM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=chM2start){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM2stop){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ch(void){
+	static motMov_st m3st;
+	if(rtCiclo<chM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=chM3start){
+				(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM3stop){
+				(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ch(void){
+	static motMov_st m4st;
+	if(rtCiclo<chM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=chM4start){
+				(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM4stop){
+				(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/c6/e07830eec448001117c8b81d4e0ec712

@@ -28,6 +28,7 @@
 #include "pwm.h"
 #include "adc.h"
 #include "debug.h"
+#include "mot.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -36,28 +37,15 @@
 typedef enum{
 	bzoff,
 	bzmoving,
+	bzwarning,
 }stBuz_st;
+
+
 /* USER CODE END PTD */
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
-#define P1START 0x01
-#define P1STOP  0x02
-#define P2START 0x04
-#define P2STOP  0x08
-#define M1FW  0x10
-#define M1BW  0x20
-#define M2FW  0x40
-#define M2BW  0x80
-#define M3FW  0x100
-#define M3BW  0x200
-#define M4FW  0x400
-#define M4BW  0x800
 
-#define M1 1
-#define M2 2
-#define M3 3
-#define M4 4
 
 /* USER CODE END PD */
 
@@ -103,18 +91,37 @@ uint16_t t2ap;
 uint16_t t3ap;
 uint16_t t4ap;
 uint16_t twap;
-uint16_t t1ch;
+uint16_t m1TimeoutMan;
-uint16_t t2ch;
+uint16_t m2TimeoutMan;
-uint16_t t3ch;
+uint16_t m3TimeoutMan;
-uint16_t t4ch;
+uint16_t m4TimeoutMan;
 uint16_t twch;
 uint16_t tramp;
+uint16_t tramp1;
 uint16_t trampman;
 uint16_t m1pwmMan;
 uint16_t m2pwmMan;
 uint16_t m3pwmMan;
 uint16_t m4pwmMan;
 
+uint16_t apM1start;
+uint16_t apM1stop;
+uint16_t apM2start;
+uint16_t apM2stop;
+uint16_t apM3start;
+uint16_t apM3stop;
+uint16_t apM4start;
+uint16_t apM4stop;
+uint16_t chM1start;
+uint16_t chM1stop;
+uint16_t chM2start;
+uint16_t chM2stop;
+uint16_t chM3start;
+uint16_t chM3stop;
+uint16_t chM4start;
+uint16_t chM4stop;
+
+
 uint16_t mrampstart[4];
 uint16_t stPulsanti=0;
 omCiclo_st stCiclo=omchiuso;
@@ -168,16 +175,19 @@ void HAL_SYSTICK_Callback(void){
 		  for(i=0;i<4;i++){
 			  if(rtramp[i])rtramp[i]--;
 		  }
+		  if(rtCiclo<0xffff)rtCiclo++;
+
 //**** gestione buzzer *****************************************************************************
 		  if(stBuz==bzmoving){
 			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else if(stBuz==bzwarning){
+			  if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
 		  }else{//bzoff
 			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
 		  }
 //**************************************************************************************************
-		  if (++c1s >= 10) {               // 10 ms
+		  if (++c1s >= 10) {               // 1 s
 			  c1s = 0;
-			  if(rtCiclo)rtCiclo--;
 			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
 		  }
 	  }
@@ -201,10 +211,11 @@ void managePulsanti(void){
 		else if(rtP2<=190)stPulsanti|=P2STOP;
 		rtP2=200;
 	}
+	stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
 	if(stPulsanti==0){
-		switch((pulsanti>>2)&0x03){
+		switch(pulsanti&0x3c){
 			case 0x00:
-				rtTLC=10;
+				rtTLC=100;
 				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
 				break;
 			case 0x08://tlc1
@@ -226,7 +237,7 @@ void managePulsanti(void){
 				if(rtTLC==0)stPulsanti|=M4BW;
 				break;
 			default:
-				rtTLC=10;
+				rtTLC=100;
 				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
 				break;
 		}
@@ -234,13 +245,141 @@ void managePulsanti(void){
 }
 
 void manageCiclo(void){
+	motMov_st m1,m2,m3,m4;
 	switch(stCiclo){
 		case omchiuso:
 			if(stPulsanti&P1START){
-				stBuz=bzmoving;
+				stBuz=bzwarning;
-				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				rtCiclo=0;
-				stCiclo=omapertura1;
+				stCiclo=omapertura0;
+				(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
 			}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omM1fw1:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1fw2;
+			break;
+		case omM1fw2:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM1bw1:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1bw2;
+			break;
+		case omM1bw2:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2fw1:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2fw2;
+			break;
+		case omM2fw2:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2bw1:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2bw2;
+			break;
+		case omM2bw2:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3fw1:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3fw2;
+			break;
+		case omM3fw2:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3bw1:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3bw2;
+			break;
+		case omM3bw2:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4fw1:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4fw2;
+			break;
+		case omM4fw2:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4bw1:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4bw2;
+			break;
+		case omM4bw2:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omStopMan:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M1,BW,0);
+			SetMotPerc(M2,BW,0);
+			SetMotPerc(M3,BW,0);
+			SetMotPerc(M4,BW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
+			break;
+		case omapertura0:
+			if(rtCiclo>=30){//doppo 3 secondi
+				stBuz=bzmoving;
+				m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
+				if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
+					stBuz=bzoff;
+					stCiclo=omaperto;
+				}
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+				stPulsanti&=(~P1STOP);
+			}
+			break;
+		case omaperto:
+			rtCiclo=0;
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+				(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			else if(stPulsanti&M1FW){
 				stBuz=bzmoving;
 				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
@@ -275,288 +414,16 @@ void manageCiclo(void){
 				stCiclo=omM4bw1;
 			}
 			break;
-		case omM1fw1:
-			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM1fw2;
-			break;
-		case omM1fw2:
-			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM1bw1:
-			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM1bw2;
-			break;
-		case omM1bw2:
-			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM2fw1:
-			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM2fw2;
-			break;
-		case omM2fw2:
-			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM2bw1:
-			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM2bw2;
-			break;
-		case omM2bw2:
-			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM3fw1:
-			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM3fw2;
-			break;
-		case omM3fw2:
-			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM3bw1:
-			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM3bw2;
-			break;
-		case omM3bw2:
-			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM4fw1:
-			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM4fw2;
-			break;
-		case omM4fw2:
-			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omM4bw1:
-			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti==0)stCiclo=omM4bw2;
-			break;
-		case omM4bw2:
-			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
-			if(pulsanti)stCiclo=omStopMan;
-			break;
-		case omapertura1:
-			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ap;
-				stCiclo=omapertura2;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura2:
-			if(rtCiclo==0){
-				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura3:
-			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura4:
-			if(rtCiclo==0){
-				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura5:
-			if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ap;
-				stCiclo=omapertura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura6:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura7:
-			if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t3ap;
-				stCiclo=omapertura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura8:
-			if(rtCiclo==0){
-				(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
-				(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura9:
-			if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twap;
-				stCiclo=omapertura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
-				stCiclo=omapertura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura11:
-			if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
-				rtCiclo=t4ap;
-				stCiclo=omapertura12;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura12:
-			if(rtCiclo==0){
-				(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
-				stCiclo=omapertura13;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura13:
-			if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twap;
-				stCiclo=omapertura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omapertura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				stCiclo=omaperto;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
-			break;
-		case omstopapertura:
-			SetMotPerc(M1,FW,0);
-			SetMotPerc(M2,FW,0);
-			SetMotPerc(M3,FW,0);
-			SetMotPerc(M4,FW,0);
-			if(pulsanti==0){
-				stBuz=bzoff;
-				stCiclo=omchiuso;
-				stPulsanti&=(~P1STOP);
-			}
-			break;
-		case omaperto:
-			if(stPulsanti&P1START){
-				stBuz=bzmoving;
-				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura1;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
 		case omchiusura1:
-			if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+			if(rtCiclo>=10){//doppo 1 secondi
-				rtCiclo=t4ch;
+				if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
-				stCiclo=omchiusura2;
+					stBuz=bzoff;
-			}
+					stCiclo=omchiuso;
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+				}
-			break;
-		case omchiusura2:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura3;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura3:
-			if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
-				rtCiclo=t1ch;
-				stCiclo=omchiusura4;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura4:
-			if(rtCiclo==0){
-				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
-				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura5;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura5:
-			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
-				rtCiclo=twch;
-				stCiclo=omchiusura6;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura6:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
-				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
-				stCiclo=omchiusura7;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura7:
-			if((ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE)){
-				rtCiclo=t3ch;
-				stCiclo=omchiusura8;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura8:
-			if(rtCiclo==0){
-				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura9;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura9:
-			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=t2ch;
-				stCiclo=omchiusura10;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura10:
-			if(rtCiclo==0){
-				(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura11;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura11:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura12:
-			if(rtCiclo==0){
-				//(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura13:
-			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
-				rtCiclo=twch;
-				stCiclo=omchiusura14;
-			}
-			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
-			break;
-		case omchiusura14:
-			if((rtCiclo==0)&&(pulsanti==0)){
-				stBuz=bzoff;
-				stCiclo=omchiuso;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
+
 		case omstopchiusura:
 			SetMotPerc(M1,FW,0);
 			SetMotPerc(M2,FW,0);

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/ca/40043ee5c548001117c8b81d4e0ec712

@@ -0,0 +1,968 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.c
+  * @brief          : Main program body
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "usb_device.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "eeprom.h"
+#include "pwm.h"
+#include "adc.h"
+#include "debug.h"
+#include "mot.h"
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+typedef enum{
+	bzoff,
+	bzmoving,
+	bzwarning,
+}stBuz_st;
+
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+DMA_HandleTypeDef hdma_adc1;
+
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim4;
+
+UART_HandleTypeDef huart1;
+
+/* USER CODE BEGIN PV */
+
+extern volatile uint16_t adc_dma_buf[];
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+
+uint8_t pulsanti=0;
+volatile uint8_t rtP1=200;
+volatile uint8_t rtP2=200;
+volatile uint8_t rtTLC=100;
+volatile uint16_t rtramp[4];
+volatile uint16_t rtCiclo;
+uint16_t m1pwmap;
+uint16_t m1pwmch;
+uint16_t m2pwmap;
+uint16_t m2pwmch;
+uint16_t m3pwmap;
+uint16_t m3pwmch;
+uint16_t m4pwmap;
+uint16_t m4pwmch;
+uint16_t t1ap;
+uint16_t t2ap;
+uint16_t t3ap;
+uint16_t t4ap;
+uint16_t twap;
+uint16_t m1TimeoutMan;
+uint16_t m2TimeoutMan;
+uint16_t m3TimeoutMan;
+uint16_t m4TimeoutMan;
+uint16_t twch;
+uint16_t tramp;
+uint16_t tramp1;
+uint16_t trampman;
+uint16_t m1pwmMan;
+uint16_t m2pwmMan;
+uint16_t m3pwmMan;
+uint16_t m4pwmMan;
+
+uint16_t apM1start;
+uint16_t apM1stop;
+uint16_t apM2start;
+uint16_t apM2stop;
+uint16_t apM3start;
+uint16_t apM3stop;
+uint16_t apM4start;
+uint16_t apM4stop;
+uint16_t chM1start;
+uint16_t chM1stop;
+uint16_t chM2start;
+uint16_t chM2stop;
+uint16_t chM3start;
+uint16_t chM3stop;
+uint16_t chM4start;
+uint16_t chM4stop;
+
+
+uint16_t mrampstart[4];
+uint16_t stPulsanti=0;
+omCiclo_st stCiclo=omchiuso;
+omCiclo_st memstCiclo=omchiuso;
+volatile stBuz_st stBuz=bzoff;
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_DMA_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_USART1_UART_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+  static uint8_t c100ms = 0;
+  static uint8_t c1s = 0;
+  static uint8_t inidx=0;
+  static uint8_t inbuf[4];
+  uint8_t i;
+
+  if (++c10ms >= 10) {               // 10 ms
+	  c10ms = 0;
+	  if(rtP1)rtP1--;
+	  if(rtP2)rtP2--;
+	  if(rtTLC)rtTLC--;
+//**** legge i tasti********************************************************************************
+	  inidx++;
+	  inidx&=0x03;
+	  if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
+	  if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
+	  if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
+	  if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
+	  if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
+	  if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
+
+	  pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
+	  pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
+//**** legge adc ***********************************************************************************
+	  readAdc();
+	  if (++c100ms >= 10) {               // 10 ms
+		  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+		  for(i=0;i<4;i++){
+			  if(rtramp[i])rtramp[i]--;
+		  }
+		  if(rtCiclo<0xffff)rtCiclo++;
+
+//**** gestione buzzer *****************************************************************************
+		  if(stBuz==bzmoving){
+			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else if(stBuz==bzwarning){
+			  if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+		  }else{//bzoff
+			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
+		  }
+//**************************************************************************************************
+		  if (++c1s >= 10) {               // 1 s
+			  c1s = 0;
+			  //HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+		  }
+	  }
+  }
+}
+
+void managePulsanti(void){
+	if(pulsanti&INP1){
+		if(rtP1==0)stPulsanti|=P1START;
+		else{
+			if(rtP1&0x10)HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+		}
+	}else{
+		if(stPulsanti&P1START){
+			stPulsanti&=(~P1START);
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
+		}else if(rtP1<=190){
+			stPulsanti|=P1STOP;
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
+		}
+		rtP1=200;
+	}
+	if(pulsanti&INP2){
+		if(rtP2==0)stPulsanti|=P2START;
+	}else{
+		if(stPulsanti&P2START)stPulsanti&=(~P2START);
+		else if(rtP2<=190)stPulsanti|=P2STOP;
+		rtP2=200;
+	}
+	stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
+	if(stPulsanti==0){
+		switch(pulsanti&0x3c){
+			case 0x00:
+				rtTLC=100;
+				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
+				break;
+			case 0x08://tlc1
+				if(rtTLC==0)stPulsanti|=M1FW;
+				break;
+			case 0x10://tlc2
+				if(rtTLC==0)stPulsanti|=M1BW;
+				break;
+			case 0x20://tlc3
+				if(rtTLC==0)stPulsanti|=M3FW;
+				break;
+			case 0x04://tlc4
+				if(rtTLC==0)stPulsanti|=M3BW;
+				break;
+			case 0x30://tlc5
+				if(rtTLC==0)stPulsanti|=M4FW;
+				break;
+			case 0x0c://tlc6
+				if(rtTLC==0)stPulsanti|=M4BW;
+				break;
+			default:
+				rtTLC=100;
+				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
+				break;
+		}
+	}
+}
+
+void manageCiclo(void){
+	motMov_st m1,m2,m3,m4;
+	switch(stCiclo){
+		case omchiuso:
+			if(stPulsanti&P1START){
+				stBuz=bzwarning;
+				rtCiclo=0;
+				stCiclo=omapertura0;
+				(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
+			}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omM1fw1:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1fw2;
+			break;
+		case omM1fw2:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM1bw1:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1bw2;
+			break;
+		case omM1bw2:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2fw1:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2fw2;
+			break;
+		case omM2fw2:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2bw1:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2bw2;
+			break;
+		case omM2bw2:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3fw1:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3fw2;
+			break;
+		case omM3fw2:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3bw1:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3bw2;
+			break;
+		case omM3bw2:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4fw1:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4fw2;
+			break;
+		case omM4fw2:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4bw1:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4bw2;
+			break;
+		case omM4bw2:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omStopMan:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M1,BW,0);
+			SetMotPerc(M2,BW,0);
+			SetMotPerc(M3,BW,0);
+			SetMotPerc(M4,BW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
+			break;
+		case omapertura0:
+			if(rtCiclo>=30){//doppo 3 secondi
+				stBuz=bzmoving;
+				m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
+				if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
+					stBuz=bzoff;
+					stCiclo=omaperto;
+				}
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+				stPulsanti&=(~P1STOP);
+			}
+			break;
+		case omaperto:
+			rtCiclo=0;
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+				(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			else if(stPulsanti&M1FW){
+				stBuz=bzmoving;
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
+				stCiclo=omM1fw1;
+			}else if(stPulsanti&M1BW){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
+				stCiclo=omM1bw1;
+			}else if(stPulsanti&M2FW){
+				stBuz=bzmoving;
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
+				stCiclo=omM2fw1;
+			}else if(stPulsanti&M2BW){
+				stBuz=bzmoving;
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
+				stCiclo=omM2bw1;
+			}else if(stPulsanti&M3FW){
+				stBuz=bzmoving;
+				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM3fw1;
+			}else if(stPulsanti&M3BW){
+				stBuz=bzmoving;
+				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM3bw1;
+			}else if(stPulsanti&M4FW){
+				stBuz=bzmoving;
+				(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM4fw1;
+			}else if(stPulsanti&M4BW){
+				stBuz=bzmoving;
+				(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM4bw1;
+			}
+			break;
+		case omchiusura1:
+			if(rtCiclo>=10){//doppo 1 secondi
+				if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
+					stBuz=bzoff;
+					stCiclo=omchiuso;
+				}
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+
+		case omstopchiusura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+				stPulsanti&=(~P1STOP);
+			}
+			break;
+	}
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_DMA_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_ADC1_Init();
+  MX_USART1_UART_Init();
+  /* USER CODE BEGIN 2 */
+  HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
+  StopMot(timMot1,FWMot1);
+  StopMot(timMot1,BWMot1);
+  StopMot(timMot2,FWMot2);
+  StopMot(timMot2,BWMot2);
+  StopMot(timMot3,FWMot3);
+  StopMot(timMot3,BWMot3);
+  StopMot(timMot4,FWMot4);
+  StopMot(timMot4,BWMot4);
+  //CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  //while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
+  if (EE_Init() != EE_OK){
+      for(;;);//errore eeprom
+  }
+  loadEE();
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  manageCDC();
+	  manageAdc();
+	  managePulsanti();
+	  manageCiclo();
+	  debug();
+//	  while (CDC_Available()) {
+	//	  int c = CDC_ReadByte();
+      //if (c < 0) break;
+
+//		  uint8_t out = (uint8_t)c;
+//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+//		  unsigned char s[100];
+//		  sprintf((char*)s,"\nc=%03d",c);
+//		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
+//        // tiny spin or yield
+//      }
+ //   }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
+  hadc1.Init.ContinuousConvMode = ENABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 5;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_5;
+  sConfig.Rank = ADC_REGULAR_RANK_2;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_6;
+  sConfig.Rank = ADC_REGULAR_RANK_3;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_7;
+  sConfig.Rank = ADC_REGULAR_RANK_4;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_8;
+  sConfig.Rank = ADC_REGULAR_RANK_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM2_Init 1 */
+
+  /* USER CODE END TIM2_Init 1 */
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 0;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 17999;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 1000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 2000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 3000;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 4000;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM2_Init 2 */
+
+  /* USER CODE END TIM2_Init 2 */
+  HAL_TIM_MspPostInit(&htim2);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM4_Init 1 */
+
+  /* USER CODE END TIM4_Init 1 */
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 0;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 17999;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 5000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 7000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 8000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM4_Init 2 */
+
+  /* USER CODE END TIM4_Init 2 */
+  HAL_TIM_MspPostInit(&htim4);
+
+}
+
+/**
+  * @brief USART1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART1_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART1_Init 0 */
+
+  /* USER CODE END USART1_Init 0 */
+
+  /* USER CODE BEGIN USART1_Init 1 */
+
+  /* USER CODE END USART1_Init 1 */
+  huart1.Instance = USART1;
+  huart1.Init.BaudRate = 115200;
+  huart1.Init.WordLength = UART_WORDLENGTH_8B;
+  huart1.Init.StopBits = UART_STOPBITS_1;
+  huart1.Init.Parity = UART_PARITY_NONE;
+  huart1.Init.Mode = UART_MODE_TX_RX;
+  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART1_Init 2 */
+
+  /* USER CODE END USART1_Init 2 */
+
+}
+
+/**
+  * Enable DMA controller clock
+  */
+static void MX_DMA_Init(void)
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA1_Channel1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
+
+}
+
+/**
+  * @brief GPIO Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_GPIO_Init(void)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  /* USER CODE BEGIN MX_GPIO_Init_1 */
+
+  /* USER CODE END MX_GPIO_Init_1 */
+
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
+                          |EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : LED2_Pin */
+  GPIO_InitStruct.Pin = LED2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : P1_Pin P2_Pin */
+  GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : AIN1_Pin */
+  GPIO_InitStruct.Pin = AIN1_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
+                           EXP1_Pin EXP2_Pin EXP3_Pin */
+  GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
+                          |EXP1_Pin|EXP2_Pin|EXP3_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
+  GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : BUZ_Pin LED1_Pin */
+  GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN MX_GPIO_Init_2 */
+
+  /* USER CODE END MX_GPIO_Init_2 */
+}
+
+/* USER CODE BEGIN 4 */
+
+/* USER CODE END 4 */
+
+/**
+  * @brief  This function is executed in case of error occurrence.
+  * @retval None
+  */
+void Error_Handler(void)
+{
+  /* USER CODE BEGIN Error_Handler_Debug */
+  /* User can add his own implementation to report the HAL error return state */
+  __disable_irq();
+  while (1)
+  {
+  }
+  /* USER CODE END Error_Handler_Debug */
+}
+#ifdef USE_FULL_ASSERT
+/**
+  * @brief  Reports the name of the source file and the source line number
+  *         where the assert_param error has occurred.
+  * @param  file: pointer to the source file name
+  * @param  line: assert_param error line source number
+  * @retval None
+  */
+void assert_failed(uint8_t *file, uint32_t line)
+{
+  /* USER CODE BEGIN 6 */
+  /* User can add his own implementation to report the file name and line number,
+     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+  /* USER CODE END 6 */
+}
+#endif /* USE_FULL_ASSERT */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/cc/70d71ce36e4200111f799b956365eeb8

@@ -1,383 +0,0 @@
-#include "eeprom.h"
-
-/*
- * Record format (4 bytes):
- *  [0] VirtAddress (uint16_t)
- *  [2] Data        (uint16_t)
- *
- * Page layout:
- *  [0]  PageStatus (uint16_t)
- *  [2..] Records...
- */
-
-extern uint16_t m1pwmap;
-extern uint16_t m1pwmch;
-extern uint16_t m2pwmap;
-extern uint16_t m2pwmch;
-extern uint16_t m3pwmap;
-extern uint16_t m3pwmch;
-extern uint16_t m4pwmap;
-extern uint16_t m4pwmch;
-extern uint16_t t1ap;
-extern uint16_t t2ap;
-extern uint16_t t3ap;
-extern uint16_t t4ap;
-extern uint16_t twap;
-extern uint16_t tramp;
-extern uint16_t t1ch;
-extern uint16_t t2ch;
-extern uint16_t t3ch;
-extern uint16_t t4ch;
-extern uint16_t twch;
-
-const uint8_t deftab[32]={
-	40,	//m1pwmap
-	60, //m1pwmch
-	70, //m2pwmap
-	70, //m2pwmch
-	35, //m3pwmap
-	40, //m3pwmch
-	40, //m4pwmap
-	40,	//m4pwmch
-	20, //m1rampstart
-	20, //m2rampstart
-	20, //m3rampstart
-	20, //m4rampstart
-	28,	//t1ap
-	4,	//t2ap
-	10,  //t3ap
-	40, //t4ap
-	1,  //twap
-	20,  //t1ch
-	10,  //t2ch
-	30,  //t3ch
-	1,  //t4ch
-	1,  //twch
-	0,
-	0,
-	0,
-	0,
-	60,  //m1pwmMan
-	70,  //m2pwmMan
-	40,	 //m3pwmMan
-	40,	 //m4pwmMan
-	50,  //trampman
-	10,  //tramp
-};
-
-typedef struct
-{
-    uint16_t VirtAddress;
-    uint16_t Data;
-} EE_Record_t;
-
-/* Active page base address (runtime selected in EE_Init) */
-static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
-
-/* 32 sequential virtual addresses */
-const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
-{
-    0x0001, 0x0002, 0x0003, 0x0004,
-    0x0005, 0x0006, 0x0007, 0x0008,
-    0x0009, 0x000A, 0x000B, 0x000C,
-    0x000D, 0x000E, 0x000F, 0x0010,
-    0x0011, 0x0012, 0x0013, 0x0014,
-    0x0015, 0x0016, 0x0017, 0x0018,
-    0x0019, 0x001A, 0x001B, 0x001C,
-    0x001D, 0x001E, 0x001F, 0x0020
-};
-/* ========================================================================= */
-
-/* --- Internal helpers ---------------------------------------------------- */
-
-static uint16_t EE_GetPageStatus(uint32_t pageBase)
-{
-    return *(__IO uint16_t *)pageBase;
-}
-
-static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
-{
-    HAL_StatusTypeDef status;
-
-    HAL_FLASH_Unlock();
-    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
-    HAL_FLASH_Lock();
-
-    return status;
-}
-
-static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
-{
-    HAL_StatusTypeDef status;
-    FLASH_EraseInitTypeDef EraseInit;
-    uint32_t PageError = 0;
-
-    HAL_FLASH_Unlock();
-
-    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
-    EraseInit.PageAddress = PageAddress;
-    EraseInit.NbPages     = 1;
-
-    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
-
-    HAL_FLASH_Lock();
-    return status;
-}
-
-/* Find first free record address in given page (returns 0 if full) */
-static uint32_t EE_FindFreeAddress(uint32_t pageBase)
-{
-    uint32_t addr = pageBase + 2U;                /* Skip status word */
-    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
-
-    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            /* Empty slot */
-            return addr;
-        }
-        addr += sizeof(EE_Record_t);
-    }
-
-    return 0U; /* No space */
-}
-
-/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
-/* Find latest value of VirtAddress in a specific page (scan forward) */
-static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
-{
-    uint32_t addr     = pageBase + 2U;            // skip status halfword
-    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
-    EE_Status result  = EE_NOT_FOUND;
-    uint16_t lastVal  = 0;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    while (addr <= (pageEnd - sizeof(EE_Record_t)))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            // First empty slot => no more records in this page
-            break;
-        }
-
-        uint16_t value = *(__IO uint16_t *)(addr + 2U);
-
-        if (vaddr == VirtAddress)
-        {
-            lastVal = value;    // keep most recent
-            result  = EE_OK;
-        }
-
-        addr += sizeof(EE_Record_t);  // move 4 bytes forward
-    }
-
-    if (result == EE_OK)
-        *Data = lastVal;
-
-    return result;
-}
-
-
-
-/* Format both pages: erase and set PAGE0 as VALID */
-static EE_Status EE_Format(void)
-{
-    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* PAGE1 will remain erased (status = 0xFFFF) */
-    EE_ActivePageBase = EE_PAGE0_BASE;
-
-    return EE_STATUS_OK;
-}
-
-/* Get the base of the other page */
-static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
-{
-    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
-}
-
-/* Page transfer (garbage collection + new write) */
-static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t oldBase = EE_ActivePageBase;
-    uint32_t newBase = EE_GetOtherPageBase(oldBase);
-    uint32_t addr;
-    uint16_t value;
-    EE_Status st;
-
-    /* Erase new page */
-    if (EE_FlashErasePage(newBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as RECEIVE */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Start writing records just after status */
-    addr = newBase + 2U;
-
-    /* For each known virtual variable */
-    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
-    {
-        uint16_t vaddr = EE_VirtAddrs[i];
-
-        if (vaddr == VirtAddress)
-        {
-            /* Use the new data passed into PageTransfer */
-            value = Data;
-        }
-        else
-        {
-            /* Read latest value from old active page */
-            st = EE_FindInPage(oldBase, vaddr, &value);
-            if (st != EE_STATUS_OK)
-            {
-                /* Variable never written -> skip */
-                continue;
-            }
-        }
-
-        /* Write record to new page */
-        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
-            return EE_STATUS_ERROR;
-        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
-            return EE_STATUS_ERROR;
-
-        addr += sizeof(EE_Record_t);
-        if (addr >= (newBase + EE_PAGE_SIZE))
-            return EE_STATUS_NO_SPACE;
-    }
-
-    /* Erase old page */
-    if (EE_FlashErasePage(oldBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as VALID */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Update active page */
-    EE_ActivePageBase = newBase;
-
-    return EE_STATUS_OK;
-}
-
-/* --- Public API ----------------------------------------------------------- */
-
-/*
- * Initialize the EEPROM emulation.
- * - Checks page statuses and chooses the active page.
- * - If inconsistent or blank, formats pages.
- * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
- */
-uint16_t EE_Init(void)
-{
-    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
-    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
-
-    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        /* Fresh device -> format */
-        return (uint16_t)EE_Format();
-    }
-    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE0_BASE;
-        return EE_OK;
-    }
-    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE1_BASE;
-        return EE_OK;
-    }
-    else
-    {
-        /* Any weird or inconsistent state -> reformat */
-        return (uint16_t)EE_Format();
-    }
-}
-
-/*
- * Read a 16-bit variable by its virtual address.
- * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
- */
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
-{
-    EE_Status st;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-/*
- * Write (append) a 16-bit variable.
- * - Writes a new record in the active page.
- * - If the page is full, triggers a page transfer (GC).
- * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
- */
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t freeAddr;
-    EE_Status st;
-
-    /* Find free space in active page */
-    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
-    if (freeAddr != 0U)
-    {
-        /* Write new record */
-        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
-            return EE_ERROR;
-        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
-            return EE_ERROR;
-
-        return EE_OK;
-    }
-
-    /* No space -> page transfer */
-    st = EE_PageTransfer(VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-void loadEE(void){
-	EEW_Read(M1PWMAP, &m1pwmap);
-	EEW_Read(M1PWMCH, &m1pwmch);
-	EEW_Read(M2PWMAP, &m2pwmap);
-	EEW_Read(M2PWMCH, &m2pwmch);
-	EEW_Read(M3PWMAP, &m3pwmap);
-	EEW_Read(M3PWMCH, &m3pwmch);
-	EEW_Read(M4PWMAP, &m4pwmap);
-	EEW_Read(M4PWMCH, &m4pwmch);
-	EEW_Read(T1AP, &t1ap);
-	EEW_Read(T2AP, &t2ap);
-	EEW_Read(T3AP, &t3ap);
-	EEW_Read(T4AP, &t4ap);
-	EEW_Read(TWAP, &twap);
-	EEW_Read(T1CH, &t1ch);
-	EEW_Read(T2CH, &t2ch);
-	EEW_Read(T3CH, &t3ch);
-	EEW_Read(T4CH, &t4ch);
-	EEW_Read(TWCH, &twch);
-	EEW_Read(M1PWMMAN, &m1pwmMan);
-	EEW_Read(M2PWMMAN, &m2pwmMan);
-	EEW_Read(M3PWMMAN, &m3pwmMan);
-	EEW_Read(M4PWMMAN, &m4pwmMan);
-	EEW_Read(TRAMPMAN, &trampman);
-	EEW_Read(TRAMP, &tramp);
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/cd/d0397a7dc748001117c8b81d4e0ec712

@@ -0,0 +1,229 @@
+#include <string.h>
+#include <stdbool.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "eeprom.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+extern const uint16_t EE_VirtAddrs[];
+extern uint8_t pulsanti;
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+extern const uint16_t deftab[];
+extern omCiclo_st stCiclo;
+extern omCiclo_st memstCiclo;
+extern uint8_t stPulsanti;
+
+bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
+	if((c1>='0')&&(c1<='9')){
+		c1-='0';
+	}else if((c1>='a')&&(c1<='f')){
+		c1=(c1-'a')+10;
+	}else return false;
+
+	if((c2>='0')&&(c2<='9')){
+		c2-='0';
+	}else if((c2>='a')&&(c2<='f')){
+		c2=(c2-'a')+10;
+	}else return false;
+
+	if((c3>='0')&&(c3<='9')){
+		c3-='0';
+	}else if((c3>='a')&&(c3<='f')){
+		c3=(c3-'a')+10;
+	}else return false;
+
+	if((c4>='0')&&(c4<='9')){
+		c4-='0';
+	}else if((c4>='a')&&(c4<='f')){
+		c4=(c4-'a')+10;
+	}else return false;
+
+	*retval=c1;
+	*retval*=16;
+	*retval+=c2;
+	*retval*=16;
+	*retval+=c3;
+	*retval*=16;
+	*retval+=c4;
+	return true;
+
+}
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	uint8_t mot,dir,dm,m,c,d,u;
+	uint16_t val;
+	uint16_t st;
+	uint16_t eeadd;
+	uint8_t i;
+
+	if (CDC_Available()) {
+	  int rx = CDC_ReadByte();
+	  if (rx < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+	  rxbuf[rxidx]=rx;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((rx==0x0d)||(rx==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"info\n");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\nP=0x%x ch4=%05d ch5=%05d ch6=%05d ch7=%05d ch8=%05d",pulsanti,ch4,ch5,ch6,ch7,ch8);
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\nstCiclo=%05d stPulsanti=%05d",stCiclo,stPulsanti);
+				  while (CDC_Transmit_FS(s, 31) == USBD_BUSY);
+				  break;
+			  case 'I':
+				  sprintf((char*)s,"\nID000000");
+				  while (CDC_Transmit_FS(s, 9) == USBD_BUSY);
+				  break;
+			  case 'm':
+				  if(rxidx==8){
+					  if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
+						  mot=rxbuf[1]-='0';
+						  if(rxbuf[2]=='f'){
+							  dir=FW;
+						  }else if(rxbuf[2]=='b'){
+							  dir=BW;
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
+							  break;
+						  }
+						  if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
+							  dm=rxbuf[3]-='0';
+							  m=rxbuf[4]-='0';
+							  c=rxbuf[5]-='0';
+							  d=rxbuf[6]-='0';
+							  u=rxbuf[7]-='0';
+							  val=dm;
+							  val*=10;
+							  val+=m;
+							  val*=10;
+							  val+=c;
+							  val*=10;
+							  val+=d;
+							  val*=10;
+							  val+=u;
+							  SetMot(mot,dir,val);
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+						  }
+
+					  }else{
+						  sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
+						  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
+					  while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
+				  }
+				  break;
+			  case 'e':
+				  if(rxidx>1){
+					  if(rxbuf[1]=='r'){
+						  if(rxidx==4){
+							  if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
+								  st=EEW_Read(eeadd, &val);
+								  if (st == EE_OK){
+									  sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }else{
+									  sprintf((char*)s,"\nee read error %d",st);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }
+							  }else{
+								  sprintf((char*)s,"\n?eraa hex values");
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+							  }
+						  }else{
+							  sprintf((char*)s,"\n?eraa");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else if(rxbuf[1]=='w'){
+						  if(rxidx==8){
+							  if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
+								  if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
+									  st=EEW_Write(eeadd, val);
+									  if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
+									  else sprintf((char*)s,"\nee write error %d", st);
+								  }else sprintf((char*)s,"\n?ewaavvvv hex values");
+							  }else sprintf((char*)s,"\n?ewaa hex values");
+						  }else sprintf((char*)s,"\n?ewaavvvv");
+						  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+					  }else if(rxbuf[1]=='d'){
+						  if(rxidx==2){
+							  for(i=0;i<32;i++){
+								  st=EEW_Read(i, &val);
+								  if (st == EE_OK){
+									  sprintf((char*)s,"\n0x%02x=%5d ",i,val);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }else{
+									  sprintf((char*)s,"rderr %d ",st);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }
+							  }
+							  if((i%4)==0){
+								  sprintf((char*)s,"\n");
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+							  }
+						  }else{
+							  sprintf((char*)s,"\n?ed");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else if(rxbuf[1]=='x'){
+						  if(rxidx==2){
+							  for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
+								  st=EEW_Write(i,deftab[i]);
+								  if (st == EE_OK)sprintf((char*)s,"\ndone %d=%d",i,deftab[i]);
+								  else sprintf((char*)s,"\nee write error %d", st);
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+
+							  }
+							  loadEE();
+						  }else{
+							  sprintf((char*)s,"\n?ex");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else{
+						  sprintf((char*)s,"\n?er|w|d|x");
+						  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?eraa | ewaavvvv");
+					  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  }
+				  break;
+			  default:
+				  sprintf((char*)s,"\n?");
+				  while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
+				  break;
+			  }
+		  }
+		  rxidx=0;
+	  }else rxidx++;
+      // tiny spin or yield
+    }
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/d5/a01f6275c848001117c8b81d4e0ec712

@@ -0,0 +1,231 @@
+#include <string.h>
+#include <stdbool.h>
+#include "usb_device.h"
+
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "stm32f1xx_hal.h"
+#include "eeprom.h"
+#include "pwm.h"
+#include <stdbool.h>
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+extern const uint16_t EE_VirtAddrs[];
+extern uint8_t pulsanti;
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+extern const uint16_t deftab[];
+extern omCiclo_st stCiclo;
+extern omCiclo_st memstCiclo;
+extern uint8_t stPulsanti;
+extern bool nobuz;
+
+bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
+	if((c1>='0')&&(c1<='9')){
+		c1-='0';
+	}else if((c1>='a')&&(c1<='f')){
+		c1=(c1-'a')+10;
+	}else return false;
+
+	if((c2>='0')&&(c2<='9')){
+		c2-='0';
+	}else if((c2>='a')&&(c2<='f')){
+		c2=(c2-'a')+10;
+	}else return false;
+
+	if((c3>='0')&&(c3<='9')){
+		c3-='0';
+	}else if((c3>='a')&&(c3<='f')){
+		c3=(c3-'a')+10;
+	}else return false;
+
+	if((c4>='0')&&(c4<='9')){
+		c4-='0';
+	}else if((c4>='a')&&(c4<='f')){
+		c4=(c4-'a')+10;
+	}else return false;
+
+	*retval=c1;
+	*retval*=16;
+	*retval+=c2;
+	*retval*=16;
+	*retval+=c3;
+	*retval*=16;
+	*retval+=c4;
+	return true;
+
+}
+
+void manageCDC(void){
+	static uint8_t rxbuf[100];
+	static uint8_t rxidx=0;
+	unsigned char s[100];
+	uint8_t mot,dir,dm,m,c,d,u;
+	uint16_t val;
+	uint16_t st;
+	uint16_t eeadd;
+	uint8_t i;
+
+	if (CDC_Available()) {
+	  int rx = CDC_ReadByte();
+	  if (rx < 0) return;
+	  //uint8_t out = (uint8_t)c;
+	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+	  rxbuf[rxidx]=rx;
+	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
+	  if((rx==0x0d)||(rx==0x0a)){
+		  if(rxidx){
+			  switch(rxbuf[0]){
+			  case 'i':
+				  sprintf((char*)s,"info\n");
+				  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\nP=0x%x ch4=%05d ch5=%05d ch6=%05d ch7=%05d ch8=%05d",pulsanti,ch4,ch5,ch6,ch7,ch8);
+				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\nstCiclo=%05d stPulsanti=%05d",stCiclo,stPulsanti);
+				  while (CDC_Transmit_FS(s, 31) == USBD_BUSY);
+				  break;
+			  case 'I':
+				  sprintf((char*)s,"\nID000000");
+				  while (CDC_Transmit_FS(s, 9) == USBD_BUSY);
+				  break;
+			  case 'm':
+				  if(rxidx==8){
+					  if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
+						  mot=rxbuf[1]-='0';
+						  if(rxbuf[2]=='f'){
+							  dir=FW;
+						  }else if(rxbuf[2]=='b'){
+							  dir=BW;
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
+							  break;
+						  }
+						  if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
+							  dm=rxbuf[3]-='0';
+							  m=rxbuf[4]-='0';
+							  c=rxbuf[5]-='0';
+							  d=rxbuf[6]-='0';
+							  u=rxbuf[7]-='0';
+							  val=dm;
+							  val*=10;
+							  val+=m;
+							  val*=10;
+							  val+=c;
+							  val*=10;
+							  val+=d;
+							  val*=10;
+							  val+=u;
+							  SetMot(mot,dir,val);
+						  }else{
+							  sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
+							  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+						  }
+
+					  }else{
+						  sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
+						  while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
+					  while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
+				  }
+				  break;
+			  case 'e':
+				  if(rxidx>1){
+					  if(rxbuf[1]=='r'){
+						  if(rxidx==4){
+							  if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
+								  st=EEW_Read(eeadd, &val);
+								  if (st == EE_OK){
+									  sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }else{
+									  sprintf((char*)s,"\nee read error %d",st);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }
+							  }else{
+								  sprintf((char*)s,"\n?eraa hex values");
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+							  }
+						  }else{
+							  sprintf((char*)s,"\n?eraa");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else if(rxbuf[1]=='w'){
+						  if(rxidx==8){
+							  if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
+								  if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
+									  st=EEW_Write(eeadd, val);
+									  if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
+									  else sprintf((char*)s,"\nee write error %d", st);
+								  }else sprintf((char*)s,"\n?ewaavvvv hex values");
+							  }else sprintf((char*)s,"\n?ewaa hex values");
+						  }else sprintf((char*)s,"\n?ewaavvvv");
+						  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+					  }else if(rxbuf[1]=='d'){
+						  if(rxidx==2){
+							  for(i=0;i<32;i++){
+								  st=EEW_Read(i, &val);
+								  if (st == EE_OK){
+									  sprintf((char*)s,"\n0x%02x=%5d ",i,val);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }else{
+									  sprintf((char*)s,"rderr %d ",st);
+									  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+								  }
+							  }
+							  if((i%4)==0){
+								  sprintf((char*)s,"\n");
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+							  }
+						  }else{
+							  sprintf((char*)s,"\n?ed");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else if(rxbuf[1]=='x'){
+						  if(rxidx==2){
+							  for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
+								  st=EEW_Write(i,deftab[i]);
+								  if (st == EE_OK)sprintf((char*)s,"\ndone %d=%d",i,deftab[i]);
+								  else sprintf((char*)s,"\nee write error %d", st);
+								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+
+							  }
+							  loadEE();
+						  }else{
+							  sprintf((char*)s,"\n?ex");
+							  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+						  }
+					  }else{
+						  sprintf((char*)s,"\n?er|w|d|x");
+						  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+					  }
+				  }else{
+					  sprintf((char*)s,"\n?eraa | ewaavvvv");
+					  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  }
+				  break;
+			  default:
+				  sprintf((char*)s,"\n?");
+				  while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
+				  break;
+			  }
+		  }
+		  rxidx=0;
+	  }else rxidx++;
+      // tiny spin or yield
+    }
+
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/e4/503a351e494500111843adf714d33ab7

@@ -1,431 +0,0 @@
-#include "eeprom.h"
-
-/*
- * Record format (4 bytes):
- *  [0] VirtAddress (uint16_t)
- *  [2] Data        (uint16_t)
- *
- * Page layout:
- *  [0]  PageStatus (uint16_t)
- *  [2..] Records...
- */
-
-extern uint16_t m1pwmap;
-extern uint16_t m1pwmch;
-extern uint16_t m2pwmap;
-extern uint16_t m2pwmch;
-extern uint16_t m3pwmap;
-extern uint16_t m3pwmch;
-extern uint16_t m4pwmap;
-extern uint16_t m4pwmch;
-extern uint16_t t1ap;
-extern uint16_t t2ap;
-extern uint16_t t3ap;
-extern uint16_t t4ap;
-extern uint16_t twap;
-extern uint16_t tramp;
-extern uint16_t t1ch;
-extern uint16_t t2ch;
-extern uint16_t t3ch;
-extern uint16_t t4ch;
-extern uint16_t twch;
-extern uint16_t tramp1;
-extern uint16_t trampman;
-extern uint16_t m1pwmMan;
-extern uint16_t m2pwmMan;
-extern uint16_t m3pwmMan;
-extern uint16_t m4pwmMan;
-
-const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
-	40,	//m1pwmap
-	60, //m1pwmch
-	70, //m2pwmap
-	70, //m2pwmch
-	35, //m3pwmap
-	40, //m3pwmch
-	40, //m4pwmap
-	40,	//m4pwmch
-	20, //m1rampstart
-	20, //m2rampstart
-	20, //m3rampstart
-	20, //m4rampstart
-	28,	//t1ap
-	4,	//t2ap
-	10,  //t3ap
-	40, //t4ap
-	1,  //twap
-	27,  //t1ch
-	10,  //t2ch
-	30,  //t3ch
-	1,  //t4ch
-	1,  //twch
-	0,
-	0,
-	0,
-	100, //tramp1
-	60,  //m1pwmMan
-	70,  //m2pwmMan
-	40,	 //m3pwmMan
-	40,	 //m4pwmMan
-	50,  //trampman
-	10,  //tramp
-	40,
-	60,
-	70,
-	70,
-	35,
-	40,
-	40,
-	40,
-	20,
-	20,
-	20,
-	20,
-	28,
-	4,
-	10,
-	40,
-	1,
-	27,
-	10,
-	30,
-	1,
-	1,
-	0,
-	0,
-	0,
-	100,
-	60,
-	70,
-	40,
-	40,
-	50,
-	10,
-};
-
-typedef struct
-{
-    uint16_t VirtAddress;
-    uint16_t Data;
-} EE_Record_t;
-
-/* Active page base address (runtime selected in EE_Init) */
-static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
-
-/* 32 sequential virtual addresses */
-const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
-{
-	    0x0001, 0x0002, 0x0003, 0x0004,
-	    0x0005, 0x0006, 0x0007, 0x0008,
-	    0x0009, 0x000A, 0x000B, 0x000C,
-	    0x000D, 0x000E, 0x000F, 0x0010,
-	    0x0011, 0x0012, 0x0013, 0x0014,
-	    0x0015, 0x0016, 0x0017, 0x0018,
-	    0x0019, 0x001A, 0x001B, 0x001C,
-	    0x001D, 0x001E, 0x001F, 0x0020,
-
-	    0x0021, 0x0022, 0x0023, 0x0024,
-	    0x0025, 0x0026, 0x0027, 0x0028,
-	    0x0029, 0x002A, 0x002B, 0x002C,
-	    0x002D, 0x002E, 0x002F, 0x0030,
-	    0x0031, 0x0032, 0x0033, 0x0034,
-	    0x0035, 0x0036, 0x0037, 0x0038,
-	    0x0039, 0x003A, 0x003B, 0x003C,
-	    0x003D, 0x003E, 0x003F, 0x0040
-};
-/* ========================================================================= */
-
-/* --- Internal helpers ---------------------------------------------------- */
-
-static uint16_t EE_GetPageStatus(uint32_t pageBase)
-{
-    return *(__IO uint16_t *)pageBase;
-}
-
-static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
-{
-    HAL_StatusTypeDef status;
-
-    HAL_FLASH_Unlock();
-    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
-    HAL_FLASH_Lock();
-
-    return status;
-}
-
-static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
-{
-    HAL_StatusTypeDef status;
-    FLASH_EraseInitTypeDef EraseInit;
-    uint32_t PageError = 0;
-
-    HAL_FLASH_Unlock();
-
-    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
-    EraseInit.PageAddress = PageAddress;
-    EraseInit.NbPages     = 1;
-
-    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
-
-    HAL_FLASH_Lock();
-    return status;
-}
-
-/* Find first free record address in given page (returns 0 if full) */
-static uint32_t EE_FindFreeAddress(uint32_t pageBase)
-{
-    uint32_t addr = pageBase + 2U;                /* Skip status word */
-    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
-
-    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            /* Empty slot */
-            return addr;
-        }
-        addr += sizeof(EE_Record_t);
-    }
-
-    return 0U; /* No space */
-}
-
-/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
-/* Find latest value of VirtAddress in a specific page (scan forward) */
-static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
-{
-    uint32_t addr     = pageBase + 2U;            // skip status halfword
-    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
-    EE_Status result  = EE_NOT_FOUND;
-    uint16_t lastVal  = 0;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    while (addr <= (pageEnd - sizeof(EE_Record_t)))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            // First empty slot => no more records in this page
-            break;
-        }
-
-        uint16_t value = *(__IO uint16_t *)(addr + 2U);
-
-        if (vaddr == VirtAddress)
-        {
-            lastVal = value;    // keep most recent
-            result  = EE_OK;
-        }
-
-        addr += sizeof(EE_Record_t);  // move 4 bytes forward
-    }
-
-    if (result == EE_OK)
-        *Data = lastVal;
-
-    return result;
-}
-
-
-
-/* Format both pages: erase and set PAGE0 as VALID */
-static EE_Status EE_Format(void)
-{
-    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* PAGE1 will remain erased (status = 0xFFFF) */
-    EE_ActivePageBase = EE_PAGE0_BASE;
-
-    return EE_STATUS_OK;
-}
-
-/* Get the base of the other page */
-static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
-{
-    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
-}
-
-/* Page transfer (garbage collection + new write) */
-static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t oldBase = EE_ActivePageBase;
-    uint32_t newBase = EE_GetOtherPageBase(oldBase);
-    uint32_t addr;
-    uint16_t value;
-    EE_Status st;
-
-    /* Erase new page */
-    if (EE_FlashErasePage(newBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as RECEIVE */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Start writing records just after status */
-    addr = newBase + 2U;
-
-    /* For each known virtual variable */
-    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
-    {
-        uint16_t vaddr = EE_VirtAddrs[i];
-
-        if (vaddr == VirtAddress)
-        {
-            /* Use the new data passed into PageTransfer */
-            value = Data;
-        }
-        else
-        {
-            /* Read latest value from old active page */
-            st = EE_FindInPage(oldBase, vaddr, &value);
-            if (st != EE_STATUS_OK)
-            {
-                /* Variable never written -> skip */
-                continue;
-            }
-        }
-
-        /* Write record to new page */
-        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
-            return EE_STATUS_ERROR;
-        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
-            return EE_STATUS_ERROR;
-
-        addr += sizeof(EE_Record_t);
-        if (addr >= (newBase + EE_PAGE_SIZE))
-            return EE_STATUS_NO_SPACE;
-    }
-
-    /* Erase old page */
-    if (EE_FlashErasePage(oldBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as VALID */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Update active page */
-    EE_ActivePageBase = newBase;
-
-    return EE_STATUS_OK;
-}
-
-/* --- Public API ----------------------------------------------------------- */
-
-/*
- * Initialize the EEPROM emulation.
- * - Checks page statuses and chooses the active page.
- * - If inconsistent or blank, formats pages.
- * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
- */
-uint16_t EE_Init(void)
-{
-    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
-    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
-
-    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        /* Fresh device -> format */
-        return (uint16_t)EE_Format();
-    }
-    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE0_BASE;
-        return EE_OK;
-    }
-    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE1_BASE;
-        return EE_OK;
-    }
-    else
-    {
-        /* Any weird or inconsistent state -> reformat */
-        return (uint16_t)EE_Format();
-    }
-}
-
-/*
- * Read a 16-bit variable by its virtual address.
- * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
- */
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
-{
-    EE_Status st;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-/*
- * Write (append) a 16-bit variable.
- * - Writes a new record in the active page.
- * - If the page is full, triggers a page transfer (GC).
- * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
- */
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t freeAddr;
-    EE_Status st;
-
-    /* Find free space in active page */
-    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
-    if (freeAddr != 0U)
-    {
-        /* Write new record */
-        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
-            return EE_ERROR;
-        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
-            return EE_ERROR;
-
-        return EE_OK;
-    }
-
-    /* No space -> page transfer */
-    st = EE_PageTransfer(VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-void loadEE(void){
-	EEW_Read(M1PWMAP, &m1pwmap);
-	EEW_Read(M1PWMCH, &m1pwmch);
-	EEW_Read(M2PWMAP, &m2pwmap);
-	EEW_Read(M2PWMCH, &m2pwmch);
-	EEW_Read(M3PWMAP, &m3pwmap);
-	EEW_Read(M3PWMCH, &m3pwmch);
-	EEW_Read(M4PWMAP, &m4pwmap);
-	EEW_Read(M4PWMCH, &m4pwmch);
-	EEW_Read(T1AP, &t1ap);
-	EEW_Read(T2AP, &t2ap);
-	EEW_Read(T3AP, &t3ap);
-	EEW_Read(T4AP, &t4ap);
-	EEW_Read(TWAP, &twap);
-	EEW_Read(T1CH, &t1ch);
-	EEW_Read(T2CH, &t2ch);
-	EEW_Read(T3CH, &t3ch);
-	EEW_Read(T4CH, &t4ch);
-	EEW_Read(TWCH, &twch);
-	EEW_Read(TRAMP1, &tramp1);
-	EEW_Read(M1PWMMAN, &m1pwmMan);
-	EEW_Read(M2PWMMAN, &m2pwmMan);
-	EEW_Read(M3PWMMAN, &m3pwmMan);
-	EEW_Read(M4PWMMAN, &m4pwmMan);
-	EEW_Read(TRAMPMAN, &trampman);
-	EEW_Read(TRAMP, &tramp);
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/e5/a069f0bd0248001113e9e1acf606c4d0

@@ -0,0 +1,343 @@
+/*
+ * mot.c
+ *
+ *  Created on: May 2, 2026
+ *      Author: user
+ */
+#include <stdio.h>
+#include "main.h"
+#include "mot.h"
+#include "pwm.h"
+
+extern uint16_t apM1start;
+extern uint16_t apM1stop;
+extern uint16_t apM2start;
+extern uint16_t apM2stop;
+extern uint16_t apM3start;
+extern uint16_t apM3stop;
+extern uint16_t apM4start;
+extern uint16_t apM4stop;
+extern uint16_t chM1start;
+extern uint16_t chM1stop;
+extern uint16_t chM2start;
+extern uint16_t chM2stop;
+extern uint16_t chM3start;
+extern uint16_t chM3stop;
+extern uint16_t chM4start;
+extern uint16_t chM4stop;
+extern volatile uint16_t rtCiclo;
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t mrampstart[4];
+extern uint16_t tramp;
+
+extern UART_HandleTypeDef huart1;
+
+motMov_st m1ap(void){
+	static motMov_st m1st=motWaiting;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=m1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ap=%d",m1st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=apM1start){
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM1stop){
+				(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ap(void){
+	static motMov_st m2st;
+	if(rtCiclo<apM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=apM2start){
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM2stop){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ap(void){
+	static motMov_st m3st;
+	if(rtCiclo<apM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=apM3start){
+				(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM3stop){
+				(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ap(void){
+	static motMov_st m4st;
+	if(rtCiclo<apM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=apM4start){
+				(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM4stop){
+				(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}
+
+motMov_st m1ch(void){
+	static motMov_st m1st;
+	if(rtCiclo<chM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=chM1start){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM1stop){
+				(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ch(void){
+	static motMov_st m2st;
+	if(rtCiclo<chM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=chM2start){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM2stop){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ch(void){
+	static motMov_st m3st;
+	if(rtCiclo<chM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=chM3start){
+				(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM3stop){
+				(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ch(void){
+	static motMov_st m4st;
+	if(rtCiclo<chM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=chM4start){
+				(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM4stop){
+				(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/e9/b0bed52bb14f00111ddee3d6661b4ee8

@@ -0,0 +1,396 @@
+/*
+ * mot.c
+ *
+ *  Created on: May 2, 2026
+ *      Author: user
+ */
+#include <stdio.h>
+#include <string.h>
+#include "main.h"
+#include "mot.h"
+#include "pwm.h"
+
+extern uint16_t apM1start;
+extern uint16_t apM1stop;
+extern uint16_t apM2start;
+extern uint16_t apM2stop;
+extern uint16_t apM3start;
+extern uint16_t apM3stop;
+extern uint16_t apM4start;
+extern uint16_t apM4stop;
+extern uint16_t chM1start;
+extern uint16_t chM1stop;
+extern uint16_t chM2start;
+extern uint16_t chM2stop;
+extern uint16_t chM3start;
+extern uint16_t chM3stop;
+extern uint16_t chM4start;
+extern uint16_t chM4stop;
+extern volatile uint16_t rtCiclo;
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t mrampstart[4];
+extern uint16_t tramp;
+
+extern UART_HandleTypeDef huart1;
+
+motMov_st m1ap(void){
+	static motMov_st m1st=motWaiting;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=m1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ap=%d",m1st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=apM1start){
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM1stop){
+				(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ap(void){
+	static motMov_st m2st;
+	static motMov_st memm2st=motStop;
+	char s[100];
+	if(memm2st!=m2st){
+		memm2st=m2st;
+		sprintf(s,"\nm2ap=%d",m2st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=apM2start){
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM2stop){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ap(void){
+	static motMov_st m3st;
+	static motMov_st memm3st=motStop;
+	char s[100];
+	if(memm3st!=m3st){
+		memm3st=m3st;
+		sprintf(s,"\nm3ap=%d",m3st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=apM3start){
+				(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM3stop){
+				(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ap(void){
+	static motMov_st m4st;
+	static motMov_st memm4st=motStop;
+	char s[100];
+	if(memm4st!=m4st){
+		memm4st=m4st;
+		sprintf(s,"\nm4ap=%d",m4st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=apM4start){
+				(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM4stop){
+				(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M4,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}
+
+motMov_st m1ch(void){
+	static motMov_st m1st;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=m1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ch=%d",m1st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<chM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=chM1start){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM1stop){
+				(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ch(void){
+	static motMov_st m2st;
+	static motMov_st memm2st=motStop;
+	char s[100];
+	if(memm2st!=m2st){
+		memm2st=m2st;
+		sprintf(s,"\nm2ch=%d",m2st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+
+	if(rtCiclo<chM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=chM2start){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM2stop){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ch(void){
+	static motMov_st m3st;
+	static motMov_st memm3st=motStop;
+	char s[100];
+	if(memm3st!=m3st){
+		memm3st=m3st;
+		sprintf(s,"\nm3ch=%d",m3st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+
+	if(rtCiclo<chM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=chM3start){
+				(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM3stop){
+				(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ch(void){
+	static motMov_st m4st;
+	static motMov_st memm4st=motStop;
+	char s[100];
+	if(memm4st!=m4st){
+		memm4st=m4st;
+		sprintf(s,"\nm4ch=%d",m4st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+
+	if(rtCiclo<chM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=chM4start){
+				(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM4stop){
+				(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/eb/60a33a2a1b43001119eefd2c7986ed92

@@ -1,188 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file           : main.h
-  * @brief          : Header for main.c file.
-  *                   This file contains the common defines of the application.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2025 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __MAIN_H
-#define __MAIN_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f1xx_hal.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-/* Exported types ------------------------------------------------------------*/
-/* USER CODE BEGIN ET */
-typedef enum{
-	omchiuso,
-	omM1fw1,
-	omM1fw2,
-	omM1bw1,
-	omM1bw2,
-	omM2fw1,
-	omM2fw2,
-	omM2bw1,
-	omM2bw2,
-	omM3fw1,
-	omM3fw2,
-	omM3bw1,
-	omM3bw2,
-	omM4fw1,
-	omM4fw2,
-	omM4bw1,
-	omM4bw2,
-	omStopMan,
-	omapertura1,
-	omapertura2,
-	omapertura3,
-	omapertura4,
-	omapertura5,
-	omapertura6,
-	omapertura7,
-	omapertura8,
-	omapertura9,
-	omapertura10,
-	omapertura11,
-	omapertura12,
-	omapertura13,
-	omapertura14,
-	omstopapertura,
-	omaperto,
-	omchiusura1,
-	omchiusura2,
-	omchiusura3,
-	omchiusura4,
-	omchiusura5,
-	omchiusura6,
-	omchiusura7,
-	omchiusura8,
-	omchiusura9,
-	omchiusura10,
-	omchiusura11,
-	omchiusura12,
-	omchiusura13,
-	omchiusura14,
-	omstopchiusura,
-}omCiclo_st;
-/* USER CODE END ET */
-
-/* Exported constants --------------------------------------------------------*/
-/* USER CODE BEGIN EC */
-
-/* USER CODE END EC */
-
-/* Exported macro ------------------------------------------------------------*/
-/* USER CODE BEGIN EM */
-
-/* USER CODE END EM */
-
-void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
-
-/* Exported functions prototypes ---------------------------------------------*/
-void Error_Handler(void);
-
-/* USER CODE BEGIN EFP */
-
-/* USER CODE END EFP */
-
-/* Private defines -----------------------------------------------------------*/
-#define LED2_Pin GPIO_PIN_13
-#define LED2_GPIO_Port GPIOC
-#define P1_Pin GPIO_PIN_14
-#define P1_GPIO_Port GPIOC
-#define P2_Pin GPIO_PIN_15
-#define P2_GPIO_Port GPIOC
-#define IN1_Pin GPIO_PIN_0
-#define IN1_GPIO_Port GPIOA
-#define IN2_Pin GPIO_PIN_1
-#define IN2_GPIO_Port GPIOA
-#define IN3_Pin GPIO_PIN_2
-#define IN3_GPIO_Port GPIOA
-#define IN4_Pin GPIO_PIN_3
-#define IN4_GPIO_Port GPIOA
-#define AIN1_Pin GPIO_PIN_4
-#define AIN1_GPIO_Port GPIOA
-#define AIN2_Pin GPIO_PIN_5
-#define AIN2_GPIO_Port GPIOA
-#define AIN3_Pin GPIO_PIN_6
-#define AIN3_GPIO_Port GPIOA
-#define AIN4_Pin GPIO_PIN_7
-#define AIN4_GPIO_Port GPIOA
-#define ANEM_Pin GPIO_PIN_0
-#define ANEM_GPIO_Port GPIOB
-#define INH1_Pin GPIO_PIN_1
-#define INH1_GPIO_Port GPIOB
-#define INH2_Pin GPIO_PIN_2
-#define INH2_GPIO_Port GPIOB
-#define INH3_Pin GPIO_PIN_10
-#define INH3_GPIO_Port GPIOB
-#define INH4_Pin GPIO_PIN_11
-#define INH4_GPIO_Port GPIOB
-#define CH1_Pin GPIO_PIN_12
-#define CH1_GPIO_Port GPIOB
-#define CH2_Pin GPIO_PIN_13
-#define CH2_GPIO_Port GPIOB
-#define CH3_Pin GPIO_PIN_14
-#define CH3_GPIO_Port GPIOB
-#define CH4_Pin GPIO_PIN_15
-#define CH4_GPIO_Port GPIOB
-#define BUZ_Pin GPIO_PIN_8
-#define BUZ_GPIO_Port GPIOA
-#define SWIO_Pin GPIO_PIN_13
-#define SWIO_GPIO_Port GPIOA
-#define SWCLK_Pin GPIO_PIN_14
-#define SWCLK_GPIO_Port GPIOA
-#define LED1_Pin GPIO_PIN_15
-#define LED1_GPIO_Port GPIOA
-#define EXP1_Pin GPIO_PIN_3
-#define EXP1_GPIO_Port GPIOB
-#define EXP2_Pin GPIO_PIN_4
-#define EXP2_GPIO_Port GPIOB
-#define EXP3_Pin GPIO_PIN_5
-#define EXP3_GPIO_Port GPIOB
-#define IN5_Pin GPIO_PIN_6
-#define IN5_GPIO_Port GPIOB
-#define IN6_Pin GPIO_PIN_7
-#define IN6_GPIO_Port GPIOB
-#define IN7_Pin GPIO_PIN_8
-#define IN7_GPIO_Port GPIOB
-#define IN8_Pin GPIO_PIN_9
-#define IN8_GPIO_Port GPIOB
-
-/* USER CODE BEGIN Private defines */
-#define INP1 1
-#define INP2 2
-#define INCH1 4
-#define INCH2 8
-#define INCH3 16
-#define INCH4 32
-/* USER CODE END Private defines */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MAIN_H */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/eb/e0e9dea50248001113e9e1acf606c4d0

@@ -0,0 +1,342 @@
+/*
+ * mot.c
+ *
+ *  Created on: May 2, 2026
+ *      Author: user
+ */
+#include "main.h"
+#include "mot.h"
+#include "pwm.h"
+
+extern uint16_t apM1start;
+extern uint16_t apM1stop;
+extern uint16_t apM2start;
+extern uint16_t apM2stop;
+extern uint16_t apM3start;
+extern uint16_t apM3stop;
+extern uint16_t apM4start;
+extern uint16_t apM4stop;
+extern uint16_t chM1start;
+extern uint16_t chM1stop;
+extern uint16_t chM2start;
+extern uint16_t chM2stop;
+extern uint16_t chM3start;
+extern uint16_t chM3stop;
+extern uint16_t chM4start;
+extern uint16_t chM4stop;
+extern volatile uint16_t rtCiclo;
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t mrampstart[4];
+extern uint16_t tramp;
+
+extern UART_HandleTypeDef huart1;
+
+motMov_st m1ap(void){
+	static motMov_st m1st=motWaiting;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=mem1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ap=%d",m1st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=apM1start){
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM1stop){
+				(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ap(void){
+	static motMov_st m2st;
+	if(rtCiclo<apM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=apM2start){
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM2stop){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ap(void){
+	static motMov_st m3st;
+	if(rtCiclo<apM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=apM3start){
+				(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM3stop){
+				(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ap(void){
+	static motMov_st m4st;
+	if(rtCiclo<apM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=apM4start){
+				(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM4stop){
+				(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}
+
+motMov_st m1ch(void){
+	static motMov_st m1st;
+	if(rtCiclo<chM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=chM1start){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM1stop){
+				(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ch(void){
+	static motMov_st m2st;
+	if(rtCiclo<chM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=chM2start){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM2stop){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ch(void){
+	static motMov_st m3st;
+	if(rtCiclo<chM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=chM3start){
+				(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM3stop){
+				(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ch(void){
+	static motMov_st m4st;
+	if(rtCiclo<chM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=chM4start){
+				(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM4stop){
+				(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/ee/a05d362a1b43001119eefd2c7986ed92

@@ -1,388 +0,0 @@
-#include "eeprom.h"
-
-/*
- * Record format (4 bytes):
- *  [0] VirtAddress (uint16_t)
- *  [2] Data        (uint16_t)
- *
- * Page layout:
- *  [0]  PageStatus (uint16_t)
- *  [2..] Records...
- */
-
-extern uint16_t m1pwmap;
-extern uint16_t m1pwmch;
-extern uint16_t m2pwmap;
-extern uint16_t m2pwmch;
-extern uint16_t m3pwmap;
-extern uint16_t m3pwmch;
-extern uint16_t m4pwmap;
-extern uint16_t m4pwmch;
-extern uint16_t t1ap;
-extern uint16_t t2ap;
-extern uint16_t t3ap;
-extern uint16_t t4ap;
-extern uint16_t twap;
-extern uint16_t tramp;
-extern uint16_t t1ch;
-extern uint16_t t2ch;
-extern uint16_t t3ch;
-extern uint16_t t4ch;
-extern uint16_t twch;
-extern uint16_t trampman;
-extern uint16_t m1pwmMan;
-extern uint16_t m2pwmMan;
-extern uint16_t m3pwmMan;
-extern uint16_t m4pwmMan;
-
-const uint8_t deftab[32]={
-	40,	//m1pwmap
-	60, //m1pwmch
-	70, //m2pwmap
-	70, //m2pwmch
-	35, //m3pwmap
-	40, //m3pwmch
-	40, //m4pwmap
-	40,	//m4pwmch
-	20, //m1rampstart
-	20, //m2rampstart
-	20, //m3rampstart
-	20, //m4rampstart
-	28,	//t1ap
-	4,	//t2ap
-	10,  //t3ap
-	40, //t4ap
-	1,  //twap
-	20,  //t1ch
-	10,  //t2ch
-	30,  //t3ch
-	1,  //t4ch
-	1,  //twch
-	0,
-	0,
-	0,
-	0,
-	60,  //m1pwmMan
-	70,  //m2pwmMan
-	40,	 //m3pwmMan
-	40,	 //m4pwmMan
-	50,  //trampman
-	10,  //tramp
-};
-
-typedef struct
-{
-    uint16_t VirtAddress;
-    uint16_t Data;
-} EE_Record_t;
-
-/* Active page base address (runtime selected in EE_Init) */
-static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
-
-/* 32 sequential virtual addresses */
-const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
-{
-    0x0001, 0x0002, 0x0003, 0x0004,
-    0x0005, 0x0006, 0x0007, 0x0008,
-    0x0009, 0x000A, 0x000B, 0x000C,
-    0x000D, 0x000E, 0x000F, 0x0010,
-    0x0011, 0x0012, 0x0013, 0x0014,
-    0x0015, 0x0016, 0x0017, 0x0018,
-    0x0019, 0x001A, 0x001B, 0x001C,
-    0x001D, 0x001E, 0x001F, 0x0020
-};
-/* ========================================================================= */
-
-/* --- Internal helpers ---------------------------------------------------- */
-
-static uint16_t EE_GetPageStatus(uint32_t pageBase)
-{
-    return *(__IO uint16_t *)pageBase;
-}
-
-static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
-{
-    HAL_StatusTypeDef status;
-
-    HAL_FLASH_Unlock();
-    status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
-    HAL_FLASH_Lock();
-
-    return status;
-}
-
-static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
-{
-    HAL_StatusTypeDef status;
-    FLASH_EraseInitTypeDef EraseInit;
-    uint32_t PageError = 0;
-
-    HAL_FLASH_Unlock();
-
-    EraseInit.TypeErase   = FLASH_TYPEERASE_PAGES;
-    EraseInit.PageAddress = PageAddress;
-    EraseInit.NbPages     = 1;
-
-    status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
-
-    HAL_FLASH_Lock();
-    return status;
-}
-
-/* Find first free record address in given page (returns 0 if full) */
-static uint32_t EE_FindFreeAddress(uint32_t pageBase)
-{
-    uint32_t addr = pageBase + 2U;                /* Skip status word */
-    uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
-
-    while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            /* Empty slot */
-            return addr;
-        }
-        addr += sizeof(EE_Record_t);
-    }
-
-    return 0U; /* No space */
-}
-
-/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
-/* Find latest value of VirtAddress in a specific page (scan forward) */
-static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
-{
-    uint32_t addr     = pageBase + 2U;            // skip status halfword
-    uint32_t pageEnd  = pageBase + EE_PAGE_SIZE;
-    EE_Status result  = EE_NOT_FOUND;
-    uint16_t lastVal  = 0;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    while (addr <= (pageEnd - sizeof(EE_Record_t)))
-    {
-        uint16_t vaddr = *(__IO uint16_t *)addr;
-
-        if (vaddr == 0xFFFFU)
-        {
-            // First empty slot => no more records in this page
-            break;
-        }
-
-        uint16_t value = *(__IO uint16_t *)(addr + 2U);
-
-        if (vaddr == VirtAddress)
-        {
-            lastVal = value;    // keep most recent
-            result  = EE_OK;
-        }
-
-        addr += sizeof(EE_Record_t);  // move 4 bytes forward
-    }
-
-    if (result == EE_OK)
-        *Data = lastVal;
-
-    return result;
-}
-
-
-
-/* Format both pages: erase and set PAGE0 as VALID */
-static EE_Status EE_Format(void)
-{
-    if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* PAGE1 will remain erased (status = 0xFFFF) */
-    EE_ActivePageBase = EE_PAGE0_BASE;
-
-    return EE_STATUS_OK;
-}
-
-/* Get the base of the other page */
-static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
-{
-    return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
-}
-
-/* Page transfer (garbage collection + new write) */
-static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t oldBase = EE_ActivePageBase;
-    uint32_t newBase = EE_GetOtherPageBase(oldBase);
-    uint32_t addr;
-    uint16_t value;
-    EE_Status st;
-
-    /* Erase new page */
-    if (EE_FlashErasePage(newBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as RECEIVE */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Start writing records just after status */
-    addr = newBase + 2U;
-
-    /* For each known virtual variable */
-    for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
-    {
-        uint16_t vaddr = EE_VirtAddrs[i];
-
-        if (vaddr == VirtAddress)
-        {
-            /* Use the new data passed into PageTransfer */
-            value = Data;
-        }
-        else
-        {
-            /* Read latest value from old active page */
-            st = EE_FindInPage(oldBase, vaddr, &value);
-            if (st != EE_STATUS_OK)
-            {
-                /* Variable never written -> skip */
-                continue;
-            }
-        }
-
-        /* Write record to new page */
-        if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
-            return EE_STATUS_ERROR;
-        if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
-            return EE_STATUS_ERROR;
-
-        addr += sizeof(EE_Record_t);
-        if (addr >= (newBase + EE_PAGE_SIZE))
-            return EE_STATUS_NO_SPACE;
-    }
-
-    /* Erase old page */
-    if (EE_FlashErasePage(oldBase) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Mark new page as VALID */
-    if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
-        return EE_STATUS_ERROR;
-
-    /* Update active page */
-    EE_ActivePageBase = newBase;
-
-    return EE_STATUS_OK;
-}
-
-/* --- Public API ----------------------------------------------------------- */
-
-/*
- * Initialize the EEPROM emulation.
- * - Checks page statuses and chooses the active page.
- * - If inconsistent or blank, formats pages.
- * PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
- */
-uint16_t EE_Init(void)
-{
-    uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
-    uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
-
-    if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        /* Fresh device -> format */
-        return (uint16_t)EE_Format();
-    }
-    else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE0_BASE;
-        return EE_OK;
-    }
-    else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
-    {
-        EE_ActivePageBase = EE_PAGE1_BASE;
-        return EE_OK;
-    }
-    else
-    {
-        /* Any weird or inconsistent state -> reformat */
-        return (uint16_t)EE_Format();
-    }
-}
-
-/*
- * Read a 16-bit variable by its virtual address.
- * PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
- */
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
-{
-    EE_Status st;
-
-    if (Data == NULL)
-        return EE_ERROR;
-
-    st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-/*
- * Write (append) a 16-bit variable.
- * - Writes a new record in the active page.
- * - If the page is full, triggers a page transfer (GC).
- * PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
- */
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
-{
-    uint32_t freeAddr;
-    EE_Status st;
-
-    /* Find free space in active page */
-    freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
-    if (freeAddr != 0U)
-    {
-        /* Write new record */
-        if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
-            return EE_ERROR;
-        if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
-            return EE_ERROR;
-
-        return EE_OK;
-    }
-
-    /* No space -> page transfer */
-    st = EE_PageTransfer(VirtAddress, Data);
-    return (uint16_t)st;
-}
-
-void loadEE(void){
-	EEW_Read(M1PWMAP, &m1pwmap);
-	EEW_Read(M1PWMCH, &m1pwmch);
-	EEW_Read(M2PWMAP, &m2pwmap);
-	EEW_Read(M2PWMCH, &m2pwmch);
-	EEW_Read(M3PWMAP, &m3pwmap);
-	EEW_Read(M3PWMCH, &m3pwmch);
-	EEW_Read(M4PWMAP, &m4pwmap);
-	EEW_Read(M4PWMCH, &m4pwmch);
-	EEW_Read(T1AP, &t1ap);
-	EEW_Read(T2AP, &t2ap);
-	EEW_Read(T3AP, &t3ap);
-	EEW_Read(T4AP, &t4ap);
-	EEW_Read(TWAP, &twap);
-	EEW_Read(T1CH, &t1ch);
-	EEW_Read(T2CH, &t2ch);
-	EEW_Read(T3CH, &t3ch);
-	EEW_Read(T4CH, &t4ch);
-	EEW_Read(TWCH, &twch);
-	EEW_Read(M1PWMMAN, &m1pwmMan);
-	EEW_Read(M2PWMMAN, &m2pwmMan);
-	EEW_Read(M3PWMMAN, &m3pwmMan);
-	EEW_Read(M4PWMMAN, &m4pwmMan);
-	EEW_Read(TRAMPMAN, &trampman);
-	EEW_Read(TRAMP, &tramp);
-}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/fa/106ac7b50448001113e9e1acf606c4d0

@@ -0,0 +1,396 @@
+/*
+ * mot.c
+ *
+ *  Created on: May 2, 2026
+ *      Author: user
+ */
+#include <stdio.h>
+#include <string.h>
+#include "main.h"
+#include "mot.h"
+#include "pwm.h"
+
+extern uint16_t apM1start;
+extern uint16_t apM1stop;
+extern uint16_t apM2start;
+extern uint16_t apM2stop;
+extern uint16_t apM3start;
+extern uint16_t apM3stop;
+extern uint16_t apM4start;
+extern uint16_t apM4stop;
+extern uint16_t chM1start;
+extern uint16_t chM1stop;
+extern uint16_t chM2start;
+extern uint16_t chM2stop;
+extern uint16_t chM3start;
+extern uint16_t chM3stop;
+extern uint16_t chM4start;
+extern uint16_t chM4stop;
+extern volatile uint16_t rtCiclo;
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t mrampstart[4];
+extern uint16_t tramp;
+
+extern UART_HandleTypeDef huart1;
+
+motMov_st m1ap(void){
+	static motMov_st m1st=motWaiting;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=m1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ap=%d",m1st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=apM1start){
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM1stop){
+				(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ap(void){
+	static motMov_st m2st;
+	static motMov_st memm2st=motStop;
+	char s[100];
+	if(memm2st!=m2st){
+		memm2st=m2st;
+		sprintf(s,"\nm2ap=%d",m2st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=apM2start){
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM2stop){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ap(void){
+	static motMov_st m3st;
+	static motMov_st memm3st=motStop;
+	char s[100];
+	if(memm3st!=m3st){
+		memm3st=m3st;
+		sprintf(s,"\nm3ap=%d",m3st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=apM3start){
+				(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM3stop){
+				(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ap(void){
+	static motMov_st m4st;
+	static motMov_st memm4st=motStop;
+	char s[100];
+	if(memm4st!=m4st){
+		memm4st=m4st;
+		sprintf(s,"\nm4ap=%d",m4st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=apM4start){
+				(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM4stop){
+				(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}
+
+motMov_st m1ch(void){
+	static motMov_st m1st;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=m1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ch=%d",m1st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<chM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=chM1start){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM1stop){
+				(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ch(void){
+	static motMov_st m2st;
+	static motMov_st memm2st=motStop;
+	char s[100];
+	if(memm2st!=m2st){
+		memm2st=m2st;
+		sprintf(s,"\nm2ch=%d",m2st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+
+	if(rtCiclo<chM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=chM2start){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM2stop){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ch(void){
+	static motMov_st m3st;
+	static motMov_st memm3st=motStop;
+	char s[100];
+	if(memm3st!=m3st){
+		memm3st=m3st;
+		sprintf(s,"\nm3ch=%d",m3st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+
+	if(rtCiclo<chM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=chM3start){
+				(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM3stop){
+				(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ch(void){
+	static motMov_st m4st;
+	static motMov_st memm4st=motStop;
+	char s[100];
+	if(memm4st!=m4st){
+		memm4st=m4st;
+		sprintf(s,"\nm4ch=%d",m4st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+
+	if(rtCiclo<chM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=chM4start){
+				(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM4stop){
+				(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/fa/d0460483b04f00111ddee3d6661b4ee8

@@ -0,0 +1,978 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.c
+  * @brief          : Main program body
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "usb_device.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "usbd_cdc_if.h"
+#include "cdc_int.h"
+#include "eeprom.h"
+#include "pwm.h"
+#include "adc.h"
+#include "debug.h"
+#include "mot.h"
+#include <stdbool.h>
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+typedef enum{
+	bzoff,
+	bzmoving,
+	bzwarning,
+}stBuz_st;
+
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc1;
+DMA_HandleTypeDef hdma_adc1;
+
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim4;
+
+UART_HandleTypeDef huart1;
+
+/* USER CODE BEGIN PV */
+
+extern volatile uint16_t adc_dma_buf[];
+extern uint16_t ch4 ;
+extern uint16_t ch5 ;
+extern uint16_t ch6 ;
+extern uint16_t ch7 ;
+extern uint16_t ch8 ;
+
+uint8_t pulsanti=0;
+volatile uint8_t rtP1=200;
+volatile uint8_t rtP2=200;
+volatile uint8_t rtTLC=100;
+volatile uint16_t rtramp[4];
+volatile uint16_t rtCiclo;
+uint16_t m1pwmap;
+uint16_t m1pwmch;
+uint16_t m2pwmap;
+uint16_t m2pwmch;
+uint16_t m3pwmap;
+uint16_t m3pwmch;
+uint16_t m4pwmap;
+uint16_t m4pwmch;
+uint16_t t1ap;
+uint16_t t2ap;
+uint16_t t3ap;
+uint16_t t4ap;
+uint16_t twap;
+uint16_t m1TimeoutMan;
+uint16_t m2TimeoutMan;
+uint16_t m3TimeoutMan;
+uint16_t m4TimeoutMan;
+uint16_t twch;
+uint16_t tramp;
+uint16_t tramp1;
+uint16_t trampman;
+uint16_t m1pwmMan;
+uint16_t m2pwmMan;
+uint16_t m3pwmMan;
+uint16_t m4pwmMan;
+
+uint16_t apM1start;
+uint16_t apM1stop;
+uint16_t apM2start;
+uint16_t apM2stop;
+uint16_t apM3start;
+uint16_t apM3stop;
+uint16_t apM4start;
+uint16_t apM4stop;
+uint16_t chM1start;
+uint16_t chM1stop;
+uint16_t chM2start;
+uint16_t chM2stop;
+uint16_t chM3start;
+uint16_t chM3stop;
+uint16_t chM4start;
+uint16_t chM4stop;
+
+
+uint16_t mrampstart[4];
+uint16_t stPulsanti=0;
+omCiclo_st stCiclo=omchiuso;
+omCiclo_st memstCiclo=omchiuso;
+volatile stBuz_st stBuz=bzoff;
+bool nobuz=false;
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_DMA_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_ADC1_Init(void);
+static void MX_USART1_UART_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+void HAL_SYSTICK_Callback(void){
+  static unsigned char c10ms = 0;
+  static uint8_t c100ms = 0;
+  static uint8_t c1s = 0;
+  static uint8_t inidx=0;
+  static uint8_t inbuf[4];
+  uint8_t i;
+
+  if (++c10ms >= 10) {               // 10 ms
+	  c10ms = 0;
+	  if(rtP1)rtP1--;
+	  if(rtP2)rtP2--;
+	  if(rtTLC)rtTLC--;
+//**** legge i tasti********************************************************************************
+	  inidx++;
+	  inidx&=0x03;
+	  if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
+	  if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
+	  if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
+	  if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
+	  if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
+	  if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
+
+	  pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
+	  pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
+//**** legge adc ***********************************************************************************
+	  readAdc();
+	  if (++c100ms >= 10) {               // 10 ms
+		  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+		  for(i=0;i<4;i++){
+			  if(rtramp[i])rtramp[i]--;
+		  }
+		  if(rtCiclo<0xffff)rtCiclo++;
+
+//**** gestione buzzer *****************************************************************************
+		  if(stBuz==bzmoving){
+			  if(nobuz){
+				  if(c1s>=5)HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
+			  }else{
+				  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+			  }
+		  }else if(stBuz==bzwarning){
+			  if(nobuz){
+				  if(c1s&2)HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
+			  }else{
+				  if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+			  }
+		  }else{//bzoff
+			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
+		  }
+//**************************************************************************************************
+		  if (++c1s >= 10) {               // 1 s
+			  c1s = 0;
+			  //HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+		  }
+	  }
+  }
+}
+
+void managePulsanti(void){
+	if(pulsanti&INP1){
+		if(rtP1==0)stPulsanti|=P1START;
+		else{
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_SET);
+		}
+	}else{
+		if(stPulsanti&P1START){
+			stPulsanti&=(~P1START);
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
+		}else if(rtP1<=190){
+			stPulsanti|=P1STOP;
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
+		}
+		rtP1=200;
+	}
+	if(pulsanti&INP2){
+		if(rtP2==0)stPulsanti|=P2START;
+	}else{
+		if(stPulsanti&P2START)stPulsanti&=(~P2START);
+		else if(rtP2<=190)stPulsanti|=P2STOP;
+		rtP2=200;
+	}
+	stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
+	if(stPulsanti==0){
+		switch(pulsanti&0x3c){
+			case 0x00:
+				rtTLC=100;
+				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
+				break;
+			case 0x08://tlc1
+				if(rtTLC==0)stPulsanti|=M1FW;
+				break;
+			case 0x10://tlc2
+				if(rtTLC==0)stPulsanti|=M1BW;
+				break;
+			case 0x20://tlc3
+				if(rtTLC==0)stPulsanti|=M3FW;
+				break;
+			case 0x04://tlc4
+				if(rtTLC==0)stPulsanti|=M3BW;
+				break;
+			case 0x30://tlc5
+				if(rtTLC==0)stPulsanti|=M4FW;
+				break;
+			case 0x0c://tlc6
+				if(rtTLC==0)stPulsanti|=M4BW;
+				break;
+			default:
+				rtTLC=100;
+				stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
+				break;
+		}
+	}
+}
+
+void manageCiclo(void){
+	motMov_st m1,m2,m3,m4;
+	switch(stCiclo){
+		case omchiuso:
+			if(stPulsanti&P1START){
+				stBuz=bzwarning;
+				rtCiclo=0;
+				stCiclo=omapertura0;
+				(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
+			}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omM1fw1:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1fw2;
+			break;
+		case omM1fw2:
+			(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM1bw1:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM1bw2;
+			break;
+		case omM1bw2:
+			(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2fw1:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2fw2;
+			break;
+		case omM2fw2:
+			(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM2bw1:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM2bw2;
+			break;
+		case omM2bw2:
+			(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3fw1:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3fw2;
+			break;
+		case omM3fw2:
+			(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM3bw1:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM3bw2;
+			break;
+		case omM3bw2:
+			(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4fw1:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4fw2;
+			break;
+		case omM4fw2:
+			(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omM4bw1:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti==0)stCiclo=omM4bw2;
+			break;
+		case omM4bw2:
+			(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
+			if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
+			if(pulsanti)stCiclo=omStopMan;
+			break;
+		case omStopMan:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M1,BW,0);
+			SetMotPerc(M2,BW,0);
+			SetMotPerc(M3,BW,0);
+			SetMotPerc(M4,BW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
+			break;
+		case omapertura0:
+			if(rtCiclo>=30){//doppo 3 secondi
+				stBuz=bzmoving;
+				m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
+				if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
+					stBuz=bzoff;
+					stCiclo=omaperto;
+				}
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+				stPulsanti&=(~P1STOP);
+			}
+			break;
+		case omaperto:
+			rtCiclo=0;
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+				(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			else if(stPulsanti&M1FW){
+				stBuz=bzmoving;
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
+				stCiclo=omM1fw1;
+			}else if(stPulsanti&M1BW){
+				stBuz=bzmoving;
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
+				stCiclo=omM1bw1;
+			}else if(stPulsanti&M2FW){
+				stBuz=bzmoving;
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
+				stCiclo=omM2fw1;
+			}else if(stPulsanti&M2BW){
+				stBuz=bzmoving;
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
+				stCiclo=omM2bw1;
+			}else if(stPulsanti&M3FW){
+				stBuz=bzmoving;
+				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM3fw1;
+			}else if(stPulsanti&M3BW){
+				stBuz=bzmoving;
+				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM3bw1;
+			}else if(stPulsanti&M4FW){
+				stBuz=bzmoving;
+				(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM4fw1;
+			}else if(stPulsanti&M4BW){
+				stBuz=bzmoving;
+				(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
+				stCiclo=omM4bw1;
+			}
+			break;
+		case omchiusura1:
+			if(rtCiclo>=10){//doppo 1 secondi
+				if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
+					stBuz=bzoff;
+					stCiclo=omchiuso;
+				}
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+
+		case omstopchiusura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
+			if(pulsanti==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+				stPulsanti&=(~P1STOP);
+			}
+			break;
+	}
+}
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_DMA_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_ADC1_Init();
+  MX_USART1_UART_Init();
+  /* USER CODE BEGIN 2 */
+  HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
+  StopMot(timMot1,FWMot1);
+  StopMot(timMot1,BWMot1);
+  StopMot(timMot2,FWMot2);
+  StopMot(timMot2,BWMot2);
+  StopMot(timMot3,FWMot3);
+  StopMot(timMot3,BWMot3);
+  StopMot(timMot4,FWMot4);
+  StopMot(timMot4,BWMot4);
+  //CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
+  //while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
+  if (EE_Init() != EE_OK){
+      for(;;);//errore eeprom
+  }
+  loadEE();
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1){
+	  manageCDC();
+	  manageAdc();
+	  managePulsanti();
+	  manageCiclo();
+	  debug();
+//	  while (CDC_Available()) {
+	//	  int c = CDC_ReadByte();
+      //if (c < 0) break;
+
+//		  uint8_t out = (uint8_t)c;
+//		  if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
+//		  unsigned char s[100];
+//		  sprintf((char*)s,"\nc=%03d",c);
+//		  while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
+//        // tiny spin or yield
+//      }
+ //   }
+
+	    //HAL_Delay(1000);
+	   // CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
+  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief ADC1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
+  hadc1.Init.ContinuousConvMode = ENABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 5;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_5;
+  sConfig.Rank = ADC_REGULAR_RANK_2;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_6;
+  sConfig.Rank = ADC_REGULAR_RANK_3;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_7;
+  sConfig.Rank = ADC_REGULAR_RANK_4;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_8;
+  sConfig.Rank = ADC_REGULAR_RANK_5;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM2_Init 1 */
+
+  /* USER CODE END TIM2_Init 1 */
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 0;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 17999;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 1000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 2000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 3000;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 4000;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM2_Init 2 */
+
+  /* USER CODE END TIM2_Init 2 */
+  HAL_TIM_MspPostInit(&htim2);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM4_Init 1 */
+
+  /* USER CODE END TIM4_Init 1 */
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 0;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 17999;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 5000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 6000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 7000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.Pulse = 8000;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM4_Init 2 */
+
+  /* USER CODE END TIM4_Init 2 */
+  HAL_TIM_MspPostInit(&htim4);
+
+}
+
+/**
+  * @brief USART1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART1_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART1_Init 0 */
+
+  /* USER CODE END USART1_Init 0 */
+
+  /* USER CODE BEGIN USART1_Init 1 */
+
+  /* USER CODE END USART1_Init 1 */
+  huart1.Instance = USART1;
+  huart1.Init.BaudRate = 115200;
+  huart1.Init.WordLength = UART_WORDLENGTH_8B;
+  huart1.Init.StopBits = UART_STOPBITS_1;
+  huart1.Init.Parity = UART_PARITY_NONE;
+  huart1.Init.Mode = UART_MODE_TX_RX;
+  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART1_Init 2 */
+
+  /* USER CODE END USART1_Init 2 */
+
+}
+
+/**
+  * Enable DMA controller clock
+  */
+static void MX_DMA_Init(void)
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA1_Channel1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
+
+}
+
+/**
+  * @brief GPIO Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_GPIO_Init(void)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  /* USER CODE BEGIN MX_GPIO_Init_1 */
+
+  /* USER CODE END MX_GPIO_Init_1 */
+
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
+                          |EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : LED2_Pin */
+  GPIO_InitStruct.Pin = LED2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : P1_Pin P2_Pin */
+  GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : AIN1_Pin */
+  GPIO_InitStruct.Pin = AIN1_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
+                           EXP1_Pin EXP2_Pin EXP3_Pin */
+  GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
+                          |EXP1_Pin|EXP2_Pin|EXP3_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
+  GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : BUZ_Pin LED1_Pin */
+  GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN MX_GPIO_Init_2 */
+
+  /* USER CODE END MX_GPIO_Init_2 */
+}
+
+/* USER CODE BEGIN 4 */
+
+/* USER CODE END 4 */
+
+/**
+  * @brief  This function is executed in case of error occurrence.
+  * @retval None
+  */
+void Error_Handler(void)
+{
+  /* USER CODE BEGIN Error_Handler_Debug */
+  /* User can add his own implementation to report the HAL error return state */
+  __disable_irq();
+  while (1)
+  {
+  }
+  /* USER CODE END Error_Handler_Debug */
+}
+#ifdef USE_FULL_ASSERT
+/**
+  * @brief  Reports the name of the source file and the source line number
+  *         where the assert_param error has occurred.
+  * @param  file: pointer to the source file name
+  * @param  line: assert_param error line source number
+  * @retval None
+  */
+void assert_failed(uint8_t *file, uint32_t line)
+{
+  /* USER CODE BEGIN 6 */
+  /* User can add his own implementation to report the file name and line number,
+     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+  /* USER CODE END 6 */
+}
+#endif /* USE_FULL_ASSERT */

workspace/.metadata/.plugins/org.eclipse.core.resources/.history/ff/a0e5beb40248001113e9e1acf606c4d0

@@ -0,0 +1,342 @@
+/*
+ * mot.c
+ *
+ *  Created on: May 2, 2026
+ *      Author: user
+ */
+#include "main.h"
+#include "mot.h"
+#include "pwm.h"
+
+extern uint16_t apM1start;
+extern uint16_t apM1stop;
+extern uint16_t apM2start;
+extern uint16_t apM2stop;
+extern uint16_t apM3start;
+extern uint16_t apM3stop;
+extern uint16_t apM4start;
+extern uint16_t apM4stop;
+extern uint16_t chM1start;
+extern uint16_t chM1stop;
+extern uint16_t chM2start;
+extern uint16_t chM2stop;
+extern uint16_t chM3start;
+extern uint16_t chM3stop;
+extern uint16_t chM4start;
+extern uint16_t chM4stop;
+extern volatile uint16_t rtCiclo;
+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t mrampstart[4];
+extern uint16_t tramp;
+
+extern UART_HandleTypeDef huart1;
+
+motMov_st m1ap(void){
+	static motMov_st m1st=motWaiting;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=m1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ap=%d",m1st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+	if(rtCiclo<apM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=apM1start){
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM1stop){
+				(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ap(void){
+	static motMov_st m2st;
+	if(rtCiclo<apM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=apM2start){
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM2stop){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ap(void){
+	static motMov_st m3st;
+	if(rtCiclo<apM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=apM3start){
+				(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM3stop){
+				(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ap(void){
+	static motMov_st m4st;
+	if(rtCiclo<apM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=apM4start){
+				(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=apM4stop){
+				(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}
+
+motMov_st m1ch(void){
+	static motMov_st m1st;
+	if(rtCiclo<chM1start)m1st=motWaiting;
+	switch(m1st){
+		case motWaiting:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+			if(rtCiclo>=chM1start){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				m1st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
+				m1st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM1stop){
+				(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
+				m1st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
+				m1st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M1,BW,0);
+		break;
+	}
+	return m1st;
+}
+
+motMov_st m2ch(void){
+	static motMov_st m2st;
+	if(rtCiclo<chM2start)m2st=motWaiting;
+	switch(m2st){
+		case motWaiting:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+			if(rtCiclo>=chM2start){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				m2st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				m2st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM2stop){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				m2st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				m2st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M2,BW,0);
+		break;
+	}
+	return m2st;
+}
+
+motMov_st m3ch(void){
+	static motMov_st m3st;
+	if(rtCiclo<chM3start)m3st=motWaiting;
+	switch(m3st){
+		case motWaiting:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+			if(rtCiclo>=chM3start){
+				(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
+				m3st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
+				m3st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM3stop){
+				(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
+				m3st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
+				m3st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M3,BW,0);
+		break;
+	}
+	return m3st;
+}
+
+motMov_st m4ch(void){
+	static motMov_st m4st;
+	if(rtCiclo<chM4start)m4st=motWaiting;
+	switch(m4st){
+		case motWaiting:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+			if(rtCiclo>=chM4start){
+				(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
+				m4st=motStartRamp;
+			}
+			break;
+		case motStartRamp:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				m4st=motWaitingTime;
+			}
+			break;
+		case motWaitingTime:
+			if(rtCiclo>=chM4stop){
+				(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
+				m4st=motStopRamp;
+			}
+			break;
+		case motStopRamp:
+			if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				m4st=motStop;
+			}
+			break;
+		case motStop:
+		default:
+			SetMotPerc(M4,FW,0);
+			SetMotPerc(M4,BW,0);
+		break;
+	}
+	return m4st;
+}

workspace/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.debug.ui.prefs

@@ -6,6 +6,6 @@ org.eclipse.debug.ui.user_view_bindings=<?xml version\="1.0" encoding\="UTF-8" s
 pref_state_memento.org.eclipse.debug.ui.BreakpointView=<?xml version\="1.0" encoding\="UTF-8"?>\r\n<VariablesViewMemento org.eclipse.debug.ui.SASH_DETAILS_PART\="315" org.eclipse.debug.ui.SASH_VIEW_PART\="684">\r\n<PRESENTATION_CONTEXT_PROPERTIES IMemento.internal.id\="org.eclipse.debug.ui.BreakpointView">\r\n<BOOLEAN BOOLEAN\="true" IMemento.internal.id\="org.eclipse.debug.ui.check"/>\r\n</PRESENTATION_CONTEXT_PROPERTIES>\r\n</VariablesViewMemento>
 pref_state_memento.org.eclipse.debug.ui.DebugVieworg.eclipse.debug.ui.DebugView=<?xml version\="1.0" encoding\="UTF-8"?>\r\n<DebugViewMemento org.eclipse.debug.ui.BREADCRUMB_DROPDOWN_AUTO_EXPAND\="false"/>
 pref_state_memento.org.eclipse.debug.ui.ExpressionView=<?xml version\="1.0" encoding\="UTF-8"?>\r\n<VariablesViewMemento org.eclipse.debug.ui.SASH_DETAILS_PART\="315" org.eclipse.debug.ui.SASH_VIEW_PART\="684">\r\n<PRESENTATION_CONTEXT_PROPERTIES IMemento.internal.id\="org.eclipse.debug.ui.ExpressionView">\r\n<INTEGER IMemento.internal.id\="initialChildCountLimitForCollections" INTEGER\="100"/>\r\n<BOOLEAN BOOLEAN\="true" IMemento.internal.id\="PRESENTATION_SHOW_LOGICAL_STRUCTURES"/>\r\n</PRESENTATION_CONTEXT_PROPERTIES>\r\n</VariablesViewMemento>
-pref_state_memento.org.eclipse.debug.ui.VariableView=<?xml version\="1.0" encoding\="UTF-8"?>\r\n<VariablesViewMemento org.eclipse.debug.ui.SASH_DETAILS_PART\="315" org.eclipse.debug.ui.SASH_VIEW_PART\="684">\r\n<PRESENTATION_CONTEXT_PROPERTIES IMemento.internal.id\="org.eclipse.debug.ui.VariableView">\r\n<INTEGER IMemento.internal.id\="initialChildCountLimitForCollections" INTEGER\="100"/>\r\n<BOOLEAN BOOLEAN\="true" IMemento.internal.id\="PRESENTATION_SHOW_LOGICAL_STRUCTURES"/>\r\n</PRESENTATION_CONTEXT_PROPERTIES>\r\n</VariablesViewMemento>
+pref_state_memento.org.eclipse.debug.ui.VariableView=<?xml version\="1.0" encoding\="UTF-8"?>\r\n<VariablesViewMemento org.eclipse.debug.ui.SASH_DETAILS_PART\="315" org.eclipse.debug.ui.SASH_VIEW_PART\="684">\r\n<PRESENTATION_CONTEXT_PROPERTIES IMemento.internal.id\="org.eclipse.debug.ui.VariableView">\r\n<INTEGER IMemento.internal.id\="initialChildCountLimitForCollections" INTEGER\="100"/>\r\n<PERSISTABLE IMemento.internal.id\="org.eclipse.cdt.dsf.ui.elementFormatPersistable" PERSISTABLE\="org.eclipse.cdt.dsf.ui.simpleMapPersistableFactory">\r\n<type>java.lang.String</type>\r\n</PERSISTABLE>\r\n<BOOLEAN BOOLEAN\="true" IMemento.internal.id\="PRESENTATION_SHOW_LOGICAL_STRUCTURES"/>\r\n</PRESENTATION_CONTEXT_PROPERTIES>\r\n</VariablesViewMemento>
 preferredDetailPanes=NumberFormatPane\:NumberFormatPane|DefaultDetailPane\:DefaultDetailPane|
 preferredTargets=org.eclipse.cdt.debug.ui.toggleCBreakpointTarget,org.eclipse.cdt.debug.ui.toggleCDynamicPrintfTarget\:org.eclipse.cdt.debug.ui.toggleCBreakpointTarget|

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

@@ -38,7 +38,7 @@
 			<item key="ignoreCase" value="true"/>
 			<item key="isRegExSearch" value="false"/>
 			<item key="isWholeWord" value="false"/>
-			<item key="textPattern" value="rtCiclo"/>
+			<item key="textPattern" value="bool"/>
 			<item key="scope" value="0"/>
 			<list key="fileNamePatterns">
 				<item value="*"/>
@@ -53,7 +53,7 @@
 			<item key="ignoreCase" value="true"/>
 			<item key="isRegExSearch" value="false"/>
 			<item key="isWholeWord" value="false"/>
-			<item key="textPattern" value="tramp1"/>
+			<item key="textPattern" value="deftab"/>
 			<item key="scope" value="0"/>
 			<list key="fileNamePatterns">
 				<item value="*"/>
@@ -65,7 +65,7 @@
 			<item key="ignoreCase" value="true"/>
 			<item key="isRegExSearch" value="false"/>
 			<item key="isWholeWord" value="false"/>
-			<item key="textPattern" value="t4ch"/>
+			<item key="textPattern" value="rtCiclo"/>
 			<item key="scope" value="0"/>
 			<list key="fileNamePatterns">
 				<item value="*"/>
@@ -77,7 +77,7 @@
 			<item key="ignoreCase" value="true"/>
 			<item key="isRegExSearch" value="false"/>
 			<item key="isWholeWord" value="false"/>
-			<item key="textPattern" value="bzmoving"/>
+			<item key="textPattern" value="tramp1"/>
 			<item key="scope" value="0"/>
 			<list key="fileNamePatterns">
 				<item value="*"/>
@@ -89,7 +89,7 @@
 			<item key="ignoreCase" value="true"/>
 			<item key="isRegExSearch" value="false"/>
 			<item key="isWholeWord" value="false"/>
-			<item key="textPattern" value="rtciclo--"/>
+			<item key="textPattern" value="t4ch"/>
 			<item key="scope" value="0"/>
 			<list key="fileNamePatterns">
 				<item value="*"/>
@@ -101,7 +101,7 @@
 			<item key="ignoreCase" value="true"/>
 			<item key="isRegExSearch" value="false"/>
 			<item key="isWholeWord" value="false"/>
-			<item key="textPattern" value="trampman"/>
+			<item key="textPattern" value="bzmoving"/>
 			<item key="scope" value="0"/>
 			<list key="fileNamePatterns">
 				<item value="*"/>
@@ -113,7 +113,7 @@
 			<item key="ignoreCase" value="true"/>
 			<item key="isRegExSearch" value="false"/>
 			<item key="isWholeWord" value="false"/>
-			<item key="textPattern" value="rtramp"/>
+			<item key="textPattern" value="rtciclo--"/>
 			<item key="scope" value="0"/>
 			<list key="fileNamePatterns">
 				<item value="*"/>
@@ -125,7 +125,7 @@
 			<item key="ignoreCase" value="true"/>
 			<item key="isRegExSearch" value="false"/>
 			<item key="isWholeWord" value="false"/>
-			<item key="textPattern" value="tramp"/>
+			<item key="textPattern" value="trampman"/>
 			<item key="scope" value="0"/>
 			<list key="fileNamePatterns">
 				<item value="*"/>
@@ -137,7 +137,7 @@
 			<item key="ignoreCase" value="true"/>
 			<item key="isRegExSearch" value="false"/>
 			<item key="isWholeWord" value="false"/>
-			<item key="textPattern" value="tramp="/>
+			<item key="textPattern" value="rtramp"/>
 			<item key="scope" value="0"/>
 			<list key="fileNamePatterns">
 				<item value="*"/>
@@ -149,7 +149,7 @@
 			<item key="ignoreCase" value="true"/>
 			<item key="isRegExSearch" value="false"/>
 			<item key="isWholeWord" value="false"/>
-			<item key="textPattern" value="loadee"/>
+			<item key="textPattern" value="tramp"/>
 			<item key="scope" value="0"/>
 			<list key="fileNamePatterns">
 				<item value="*"/>
@@ -161,7 +161,7 @@
 			<item key="ignoreCase" value="true"/>
 			<item key="isRegExSearch" value="false"/>
 			<item key="isWholeWord" value="false"/>
-			<item key="textPattern" value="rtp2"/>
+			<item key="textPattern" value="tramp="/>
 			<item key="scope" value="0"/>
 			<list key="fileNamePatterns">
 				<item value="*"/>
@@ -173,7 +173,7 @@
 			<item key="ignoreCase" value="true"/>
 			<item key="isRegExSearch" value="false"/>
 			<item key="isWholeWord" value="false"/>
-			<item key="textPattern" value="stPulsanti"/>
+			<item key="textPattern" value="loadee"/>
 			<item key="scope" value="0"/>
 			<list key="fileNamePatterns">
 				<item value="*"/>

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

@@ -3,6 +3,7 @@
 	<item key="hasShownOverlayPopupBefore" value="true"/>
 	<item key="replaceBarOpen" value="false"/>
 	<list key="searchhistory">
+		<item value="bool"/>
 		<item value="omM1fw1"/>
 		<item value="M1FW"/>
 		<item value="pulsanti="/>
@@ -17,6 +18,5 @@
 		<item value="extern uint16_t "/>
 		<item value="deftab"/>
 		<item value="rtp1"/>
-		<item value="cdc"/>
 	</list>
 </section>

workspace/.metadata/version.ini

@@ -1,3 +1,3 @@
-#Fri May 01 12:15:52 CEST 2026
+#Thu May 14 17:57:33 CEST 2026
 org.eclipse.core.runtime=2
 org.eclipse.platform=4.33.0.v20240903-0240

workspace/AUTOM10/Core/Src/cdc_int.c

@@ -7,6 +7,7 @@
 #include "stm32f1xx_hal.h"
 #include "eeprom.h"
 #include "pwm.h"
+#include <stdbool.h>
 
 extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim2;
@@ -19,10 +20,11 @@ extern uint16_t ch5 ;
 extern uint16_t ch6 ;
 extern uint16_t ch7 ;
 extern uint16_t ch8 ;
-extern const uint8_t deftab[];
+extern const uint16_t deftab[];
 extern omCiclo_st stCiclo;
 extern omCiclo_st memstCiclo;
 extern uint8_t stPulsanti;
+extern bool nobuz;
 
 bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
 	if((c1>='0')&&(c1<='9')){
@@ -97,6 +99,21 @@ void manageCDC(void){
 				  sprintf((char*)s,"\nID000000");
 				  while (CDC_Transmit_FS(s, 9) == USBD_BUSY);
 				  break;
+			  case 'b':
+				  if(rxidx==2){
+				  	if(rxbuf[1]=='0'){
+				  		nobuz=false;
+				  	}else if(rxbuf[1]=='1'){
+				  		nobuz=true;
+				  	}else{
+						  sprintf((char*)s,"\nb0|1");
+						  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  	}
+				  }else{
+					  sprintf((char*)s,"\nb0|1");
+					  while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
+				  }
+				  break;
 			  case 'm':
 				  if(rxidx==8){
 					  if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
@@ -194,9 +211,9 @@ void manageCDC(void){
 						  }
 					  }else if(rxbuf[1]=='x'){
 						  if(rxidx==2){
-							  for(i=0;i<32;i++){
+							  for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
 								  st=EEW_Write(i,deftab[i]);
-								  if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",i,deftab[i]);
+								  if (st == EE_OK)sprintf((char*)s,"\ndone %d=%d",i,deftab[i]);
 								  else sprintf((char*)s,"\nee write error %d", st);
 								  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
 

workspace/AUTOM10/Core/Src/main.c

@@ -29,6 +29,7 @@
 #include "adc.h"
 #include "debug.h"
 #include "mot.h"
+#include <stdbool.h>
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -127,6 +128,7 @@ uint16_t stPulsanti=0;
 omCiclo_st stCiclo=omchiuso;
 omCiclo_st memstCiclo=omchiuso;
 volatile stBuz_st stBuz=bzoff;
+bool nobuz=false;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -179,16 +181,24 @@ void HAL_SYSTICK_Callback(void){
 
 //**** gestione buzzer *****************************************************************************
 		  if(stBuz==bzmoving){
-			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+			  if(nobuz){
+				  if(c1s>=5)HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
+			  }else{
+				  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+			  }
 		  }else if(stBuz==bzwarning){
-			  if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+			  if(nobuz){
+				  if(c1s&2)HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
+			  }else{
+				  if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
+			  }
 		  }else{//bzoff
 			  HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
 		  }
 //**************************************************************************************************
 		  if (++c1s >= 10) {               // 1 s
 			  c1s = 0;
-			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+			  //HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
 		  }
 	  }
   }
@@ -197,10 +207,16 @@ void HAL_SYSTICK_Callback(void){
 void managePulsanti(void){
 	if(pulsanti&INP1){
 		if(rtP1==0)stPulsanti|=P1START;
+		else{
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_SET);
+		}
 	}else{
-		if(stPulsanti&P1START)stPulsanti&=(~P1START);
+		if(stPulsanti&P1START){
-		else if(rtP1<=190){
+			stPulsanti&=(~P1START);
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
+		}else if(rtP1<=190){
 			stPulsanti|=P1STOP;
+			HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
 		}
 		rtP1=200;
 	}
@@ -375,7 +391,7 @@ void manageCiclo(void){
 			rtCiclo=0;
 			if(stPulsanti&P1START){
 				stBuz=bzmoving;
-				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				//(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
 				stCiclo=omchiusura1;
 				(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
 			}
@@ -416,7 +432,8 @@ void manageCiclo(void){
 			break;
 		case omchiusura1:
 			if(rtCiclo>=10){//doppo 1 secondi
-				if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
+				m1=m1ch();m2=m2ch();m3=m3ch();m4=m4ch();
+				if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
 					stBuz=bzoff;
 					stCiclo=omchiuso;
 				}

workspace/AUTOM10/Core/Src/mot.c

@@ -382,7 +382,7 @@ motMov_st m4ch(void){
 			}
 			break;
 		case motStopRamp:
-			if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+			if(ramp(M4,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
 				m4st=motStop;
 			}
 			break;

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

@@ -1,4 +1,4 @@
 ../Core/Src/eeprom.h:121:24:EEW_Read	1
 ../Core/Src/eeprom.h:126:24:EEW_Write	1
-../Core/Src/cdc_int.c:27:6:toHex	17
+../Core/Src/cdc_int.c:29:6:toHex	17
-../Core/Src/cdc_int.c:63:6:manageCDC	71
+../Core/Src/cdc_int.c:65:6:manageCDC	75

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

@@ -1,4 +1,4 @@
 ../Core/Src/eeprom.h:121:24:EEW_Read	16	static
 ../Core/Src/eeprom.h:126:24:EEW_Write	16	static
-../Core/Src/cdc_int.c:27:6:toHex	16	static
+../Core/Src/cdc_int.c:29:6:toHex	16	static
-../Core/Src/cdc_int.c:63:6:manageCDC	184	static
+../Core/Src/cdc_int.c:65:6:manageCDC	184	static

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

@@ -1,12 +1,12 @@
-../Core/Src/main.c:146:6:HAL_SYSTICK_Callback	20
+../Core/Src/main.c:148:6:HAL_SYSTICK_Callback	24
-../Core/Src/main.c:197:6:managePulsanti	23
+../Core/Src/main.c:207:6:managePulsanti	23
-../Core/Src/main.c:247:6:manageCiclo	83
+../Core/Src/main.c:263:6:manageCiclo	83
-../Core/Src/main.c:446:5:main	2
+../Core/Src/main.c:464:5:main	2
-../Core/Src/main.c:530:6:SystemClock_Config	4
+../Core/Src/main.c:548:6:SystemClock_Config	4
-../Core/Src/main.c:578:13:MX_ADC1_Init	7
+../Core/Src/main.c:596:13:MX_ADC1_Init	7
-../Core/Src/main.c:661:13:MX_TIM2_Init	9
+../Core/Src/main.c:679:13:MX_TIM2_Init	9
-../Core/Src/main.c:737:13:MX_TIM4_Init	9
+../Core/Src/main.c:755:13:MX_TIM4_Init	9
-../Core/Src/main.c:811:13:MX_USART1_UART_Init	2
+../Core/Src/main.c:829:13:MX_USART1_UART_Init	2
-../Core/Src/main.c:842:13:MX_DMA_Init	1
+../Core/Src/main.c:860:13:MX_DMA_Init	1
-../Core/Src/main.c:860:13:MX_GPIO_Init	1
+../Core/Src/main.c:878:13:MX_GPIO_Init	1
-../Core/Src/main.c:936:6:Error_Handler	1
+../Core/Src/main.c:954:6:Error_Handler	1

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

@@ -1,12 +1,12 @@
-../Core/Src/main.c:146:6:HAL_SYSTICK_Callback	16	static
+../Core/Src/main.c:148:6:HAL_SYSTICK_Callback	16	static
-../Core/Src/main.c:197:6:managePulsanti	4	static
+../Core/Src/main.c:207:6:managePulsanti	8	static
-../Core/Src/main.c:247:6:manageCiclo	16	static
+../Core/Src/main.c:263:6:manageCiclo	24	static
-../Core/Src/main.c:446:5:main	8	static
+../Core/Src/main.c:464:5:main	8	static
-../Core/Src/main.c:530:6:SystemClock_Config	88	static
+../Core/Src/main.c:548:6:SystemClock_Config	88	static
-../Core/Src/main.c:578:13:MX_ADC1_Init	24	static
+../Core/Src/main.c:596:13:MX_ADC1_Init	24	static
-../Core/Src/main.c:661:13:MX_TIM2_Init	64	static
+../Core/Src/main.c:679:13:MX_TIM2_Init	64	static
-../Core/Src/main.c:737:13:MX_TIM4_Init	64	static
+../Core/Src/main.c:755:13:MX_TIM4_Init	64	static
-../Core/Src/main.c:811:13:MX_USART1_UART_Init	8	static
+../Core/Src/main.c:829:13:MX_USART1_UART_Init	8	static
-../Core/Src/main.c:842:13:MX_DMA_Init	16	static
+../Core/Src/main.c:860:13:MX_DMA_Init	16	static
-../Core/Src/main.c:860:13:MX_GPIO_Init	40	static
+../Core/Src/main.c:878:13:MX_GPIO_Init	40	static
-../Core/Src/main.c:936:6:Error_Handler	4	static,ignoring_inline_asm
+../Core/Src/main.c:954:6:Error_Handler	4	static,ignoring_inline_asm

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

@@ -1,8 +1,8 @@
-../Core/Src/mot.c:39:11:m1ap	10
+../Core/Src/mot.c:43:11:m1ap	11
-../Core/Src/mot.c:76:11:m2ap	10
+../Core/Src/mot.c:87:11:m2ap	11
-../Core/Src/mot.c:113:11:m3ap	10
+../Core/Src/mot.c:131:11:m3ap	11
-../Core/Src/mot.c:150:11:m4ap	10
+../Core/Src/mot.c:175:11:m4ap	11
-../Core/Src/mot.c:187:11:m1ch	10
+../Core/Src/mot.c:219:11:m1ch	11
-../Core/Src/mot.c:224:11:m2ch	10
+../Core/Src/mot.c:263:11:m2ch	11
-../Core/Src/mot.c:261:11:m3ch	10
+../Core/Src/mot.c:308:11:m3ch	11
-../Core/Src/mot.c:298:11:m4ch	10
+../Core/Src/mot.c:353:11:m4ch	11

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

@@ -1,8 +1,8 @@
-../Core/Src/mot.c:39:11:m1ap	16	static
+../Core/Src/mot.c:43:11:m1ap	120	static
-../Core/Src/mot.c:76:11:m2ap	16	static
+../Core/Src/mot.c:87:11:m2ap	120	static
-../Core/Src/mot.c:113:11:m3ap	16	static
+../Core/Src/mot.c:131:11:m3ap	120	static
-../Core/Src/mot.c:150:11:m4ap	16	static
+../Core/Src/mot.c:175:11:m4ap	120	static
-../Core/Src/mot.c:187:11:m1ch	16	static
+../Core/Src/mot.c:219:11:m1ch	120	static
-../Core/Src/mot.c:224:11:m2ch	16	static
+../Core/Src/mot.c:263:11:m2ch	120	static
-../Core/Src/mot.c:261:11:m3ch	16	static
+../Core/Src/mot.c:308:11:m3ch	120	static
-../Core/Src/mot.c:298:11:m4ch	16	static
+../Core/Src/mot.c:353:11:m4ch	120	static