main.c

/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  *
  * COPYRIGHT(c) 2017 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "motor_control.h"

/* USER CODE BEGIN Includes */
/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;

TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim8;

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/

//Global heartbeats
uint32_t globalHeartbeat_50us = 0, heartbeat_100us = 0, heartbeat_1ms = 0, heartbeat_10ms = 0;
int measuredSpeed = 0, demandedSpeed = 0, speedError = 0;
int demandedPWM = 0, controlOutput = 0; //Duty cycle proportional to the control 
uint16_t accelPedalValue_scaled = 0;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void Error_Handler(void);
static void MX_GPIO_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM3_Init(void);
static void MX_TIM8_Init(void);
static void MX_ADC1_Init(void);
static void MX_ADC2_Init(void);

void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
    globalHeartbeat_50us++;
}


/* USER CODE END 0 */


int main(void)
{

  /* USER CODE BEGIN 1 */
	//-------------------------------------------------------------------------------------------------
	// VARIABLES THAT THE USER MIGHT WANT TO CHANGE
	//-------------------------------------------------------------------------------------------------
	
	//Minimum and maximum values from the acceleration and braking pedals
	uint16_t brakeMin_in = 1080, brakeMax_in = 2895, accelMin_in = 1020, accelMax_in = 2875;
	
	//Motor characteristics
	float motorSpeedConstant = 0.004; // in volts per rpm
	float motorBrakeConstant = 0.001; // in volts per rpm
	//float motorBrakeConstant = motorSpeedConstant; //Uncomment to see if brake constant impacts results
	uint8_t supplyVoltage = 12; //in volts
	uint16_t maxMotorSpeed = 3000; //in rpmm
	
	//PI variables
	bool pidEnabled = false;
	float Kp = 1.125;
	float Ki = 0.001;
	bool windupEnabled = true;
	
	
	//-------------------------------------------------------------------------------------------------
	// VARIABLES NOT TO BE CHANGED
	//-------------------------------------------------------------------------------------------------

	uint32_t heartbeatDiff = 0; //Used to check the difference between two heartbeats
	uint32_t hallLED_state = 0; //Used to display the hall sensor position using the STM LEDs
	
	//Variables to store the scaled acceleration and braking pedal values
	uint16_t brakePedalVlaue_scaled = 0;
	//uint16_t accelPedalValue_scaled = 0;
	
	
	uint8_t systemState = 0; //Senses dead man switch / malfunctions
	
	uint8_t hallPosition = 0; //Stores the position of the hall sensors
														//0 will be identified as a hall sensor malfunction

	bool gearForward = true; //Stores the gear forward/backward switch samples
													 //True is identified with gear forward
													 
	bool deadManSwitch = true; //Stores the dead man switch samples
														 //True is dead man switch pressed
														 
	//Initialise mosfet states
	bool Phases[6]; //0 for Phase 1 High, 1 for Phase 1 Low, 2 for Phase 2 High, etc
	bool Halls[3]; // 0 for Hall 1, 1 for Hall 2, 2 for Hall 3
	initPhases(Phases);
	initHalls(Halls);
	
	//Pedal ranges
  	uint16_t brakeRange = (brakeMax_in - brakeMin_in);
  	uint16_t accelRange = (accelMax_in - accelMin_in);

	//PID
	uint32_t hallEffectTick = globalHeartbeat_50us; //Time of last hall position change (in us)
																									// used to compute motor velocity

	uint8_t lastHallPosition; //Last position of the hall sensors - used to compute motor velocity
	int encoder_ticks = 0;
	
	//int measuredSpeed = 0, demandedSpeed = 0; //Keep track of motor measured/demanded speed
	float speedErrorSum = 0.0; //Integral of the speed error
	//int controlOutput; //PID output
	//int demandedPWM = 0; //Duty cycle proportional to the control output
	
	//Specifc for anti-windup (due to actuator saturation)
	float actuatorSaturationPoint;
	getActuatorSaturationPoint(&actuatorSaturationPoint, supplyVoltage, motorSpeedConstant);

  /* USER CODE END 1 */

  /* MCU Configuration----------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* Configure the system clock */
  SystemClock_Config();

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM1_Init();
  MX_TIM3_Init();
  MX_TIM8_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();

  /* USER CODE BEGIN 2 */

	HAL_TIM_Base_Start_IT(&htim3);
	HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);

	HAL_TIM_Base_Start_IT(&htim1);
	startTimerPWM();

	startADC_HALs();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
	readHallSensors(Halls);
	getHallPosition(Halls, &hallPosition);
	lastHallPosition = hallPosition;
  while (1)
	{
		heartbeatDiff = globalHeartbeat_50us - heartbeat_100us;
		if (heartbeatDiff & 0x80000000) {
     heartbeatDiff = ~heartbeatDiff + 1;
		}

    if (heartbeatDiff > 2) { //100us stuff, commutation, calculate speed and position for control
      heartbeat_100us = globalHeartbeat_50us;
			
			//Read Hall Sensors
			readHallSensors(Halls);
			getHallPosition(Halls, &hallPosition);
			
			//encoder_ticks += getEncoderChanges(lastHallPosition, hallPosition);
			//lastHallPosition = hallPosition;
			if (hallPosition != lastHallPosition) { //Compute motor speed using hall sensors
				//computeHallSpeed(&measuredSpeed, globalHeartbeat_50us, hallPosition, &hallEffectTick, &lastHallPosition);
				
				encoder_ticks++;
				//hallEffectTick = globalHeartbeat_50us;
				lastHallPosition = hallPosition;
			}
			
			
			if (!deadManSwitch) //Check for dead man switch
			{ 
				systemState = 99;
				setNullDutyCiclePWM(); //No voltage to motor
			} else if (brakePedalVlaue_scaled > 40) //If braking
			{
        systemState = 0;
				setBrakingDutyCiclePWM(brakePedalVlaue_scaled);
				startTimerPWM();
			} 
			else //No braking
			{
				if (!checkHallSensorMalfunction(hallPosition)) //Hall sensors work correctly
				{
          systemState = 0;
					
					//Get phases given gear/hallPosition
		      if (!gearForward){
						getPhasesReverse(Phases, hallPosition);
					} else {
						getPhasesForward(Phases, hallPosition);
					}
					
					if(pidEnabled){ // PID
						if (demandedPWM >=0) { //Accelerate
							setDutyCiclePWM(Phases, demandedPWM);
						} else { //Decelerate
							setBrakingDutyCiclePWM(abs(demandedPWM));
						}
					} else { //No PID
						setDutyCiclePWM(Phases, accelPedalValue_scaled); //Duty Cicle acording to pedal value
					}
					
					startTimerPWM();
				} 
				else //Hall sensors malfunction
				{
					systemState = 1;
					stopTimerPWM(); //Stop timer
				}
			}
    }
		
		heartbeatDiff = globalHeartbeat_50us -  heartbeat_1ms;
		if (heartbeatDiff & 0x80000000) {
			heartbeatDiff = ~heartbeatDiff + 1;
		}
		if (heartbeatDiff > 20) { //1ms stuff, get PID value
			
  		heartbeat_1ms = globalHeartbeat_50us;
			
			speedError = demandedSpeed - measuredSpeed;
			//Apply PID - with anti-windup
			getControlOutput(&controlOutput, demandedSpeed, measuredSpeed, actuatorSaturationPoint, 
				&speedErrorSum, Kp, Ki, windupEnabled);
			//Get the PWM duty cicle sing scalar control (volts per hz)
			getDemandedPWM(&demandedPWM, controlOutput, motorSpeedConstant, motorBrakeConstant, supplyVoltage); 
			
		}
		
		heartbeatDiff = globalHeartbeat_50us -  heartbeat_10ms;
		if (heartbeatDiff & 0x80000000) {
     heartbeatDiff = ~heartbeatDiff + 1; 
		}
		
  	if (heartbeatDiff > 2000) {
      heartbeat_10ms = globalHeartbeat_50us; //10ms stuff, get pedal values
			
			//60 * encoder_ticks / (time_interval * pulses per revolution)
			measuredSpeed = ((float)(100 * encoder_ticks));
			encoder_ticks = 0;
			
			getScaledBrakeValue(&brakePedalVlaue_scaled, brakeMin_in, brakeRange); //Read brake pedal
			getScaledAccelValue(&accelPedalValue_scaled, accelMin_in, accelRange); //Read accelearion pedal
			//accelPedalValue_scaled = 2100; //2100
			getDemandedSpeed(&demandedSpeed, accelPedalValue_scaled, maxMotorSpeed); //Get the demanded speed
																																							 //from accel pedal info
  		getGearForward(&gearForward); //Sample gear forward/backward
			demandedSpeed = 2000;
			
			startADC_HALs();
			LED_stateMachine(systemState, Halls, globalHeartbeat_50us, hallLED_state);
  	}

  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */
	}
  /* USER CODE END 3 */

}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

  __HAL_RCC_PWR_CLK_ENABLE();

  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 84;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  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_DIV2;
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }

  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* ADC1 init function */
static void MX_ADC1_Init(void)
{

  ADC_ChannelConfTypeDef sConfig;

    /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
    */
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
  hadc1.Init.ScanConvMode = DISABLE;
  hadc1.Init.ContinuousConvMode = DISABLE;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc1.Init.NbrOfConversion = 1;
  hadc1.Init.DMAContinuousRequests = DISABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SEQ_CONV;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    Error_Handler();
  }

    /**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
    */
  sConfig.Channel = ADC_CHANNEL_10;
  sConfig.Rank = 1;
  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

}

/* ADC2 init function */
static void MX_ADC2_Init(void)
{

  ADC_ChannelConfTypeDef sConfig;

    /**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
    */
  hadc2.Instance = ADC2;
  hadc2.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
  hadc2.Init.Resolution = ADC_RESOLUTION_12B;
  hadc2.Init.ScanConvMode = DISABLE;
  hadc2.Init.ContinuousConvMode = DISABLE;
  hadc2.Init.DiscontinuousConvMode = DISABLE;
  hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc2.Init.NbrOfConversion = 1;
  hadc2.Init.DMAContinuousRequests = DISABLE;
  hadc2.Init.EOCSelection = ADC_EOC_SEQ_CONV;
  if (HAL_ADC_Init(&hadc2) != HAL_OK)
  {
    Error_Handler();
  }

    /**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
    */
  sConfig.Channel = ADC_CHANNEL_11;
  sConfig.Rank = 1;
  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
  if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

}

/* TIM1 init function */
static void MX_TIM1_Init(void)
{

  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
  TIM_OC_InitTypeDef sConfigOC;

  htim1.Instance = TIM1;
  htim1.Init.Prescaler = 0;
  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim1.Init.Period = 4200;
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.RepetitionCounter = 0;
  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }

  HAL_TIM_MspPostInit(&htim1);

}

/* TIM3 init function */
static void MX_TIM3_Init(void)
{

  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_MasterConfigTypeDef sMasterConfig;

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 4200;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

}

/* TIM8 init function */
static void MX_TIM8_Init(void)
{

  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_SlaveConfigTypeDef sSlaveConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
  TIM_OC_InitTypeDef sConfigOC;

  htim8.Instance = TIM8;
  htim8.Init.Prescaler = 0;
  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim8.Init.Period = 4200;
  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim8.Init.RepetitionCounter = 0;
  if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }

  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
  sSlaveConfig.InputTrigger = TIM_TS_ITR0;
  if (HAL_TIM_SlaveConfigSynchronization(&htim8, &sSlaveConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }

  HAL_TIM_MspPostInit(&htim8);

}

/** Configure pins as
        * Analog
        * Input
        * Output
        * EVENT_OUT
        * EXTI
*/
static void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct;

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOE_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();

  /*Configure GPIO pin : BOOT1_Pin */
  GPIO_InitStruct.Pin = BOOT1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(BOOT1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : LD4_Pin LD3_Pin LD5_Pin LD6_Pin */
  GPIO_InitStruct.Pin = LD4_Pin|LD3_Pin|LD5_Pin|LD6_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

  /*Configure GPIO pins : Hall1_Pin Hall2_Pin Hall3_Pin */
  GPIO_InitStruct.Pin = Hall1_Pin|Hall2_Pin|Hall3_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

  /*Configure GPIO pin : Fw_Rev_switch_Pin */
  GPIO_InitStruct.Pin = Fw_Rev_switch_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(Fw_Rev_switch_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOD, LD4_Pin|LD3_Pin|LD5_Pin|LD6_Pin, GPIO_PIN_RESET);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler */
  /* User can add his own implementation to report the HAL error return state */
  while(1)
  {
  }
  /* USER CODE END Error_Handler */
}

#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

/**
  * @}
  */

/**
  * @}
*/

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/