Initial Filedump

Tadaaa!!

1 files changed, 792 insertions, 0 deletions

diff --git a/bootloader/Core/Src/main.c b/bootloader/Core/Src/main.c
new file mode 100755
index 0000000..0a9ebdb
--- /dev/null
+++ b/bootloader/Core/Src/main.c
@@ -0,0 +1,792 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.c
+  * @brief          : Main program body
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "usb_device.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include <stdint.h>
+#include <stdbool.h>
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+SPI_HandleTypeDef hspi2;
+
+TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim4;
+
+UART_HandleTypeDef huart3;
+
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_TIM1_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_SPI2_Init(void);
+static void MX_USART3_UART_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+
+
+
+#define APP_LOAD_ADDRESS 0x08010000
+#define BOARD_FLASH_SIZE (1024*512)
+void jump_to_app() {
+    const uint32_t *app_base = (const uint32_t *)APP_LOAD_ADDRESS;
+
+    /*
+     * We refuse to program the first word of the app until the upload is marked
+     * complete by the host.  So if it's not 0xffffffff, we should try booting it.
+     */
+    if (app_base[0] == 0xffffffff) {
+        return;
+    }
+
+    // first word is stack base - needs to be in RAM region and word-aligned
+    if ((app_base[0] & 0xff000003) != 0x20000000) {
+        return;
+    }
+
+    /*
+     * The second word of the app is the entrypoint; it must point within the
+     * flash area (or we have a bad flash).
+     */
+    if (app_base[1] < APP_LOAD_ADDRESS) {
+        return;
+    }
+
+    if (app_base[1] >= (APP_LOAD_ADDRESS + BOARD_FLASH_SIZE)) {
+        return;
+    }
+
+    /* just for paranoia's sake */
+    HAL_FLASH_Lock();
+
+    typedef void (*pFunction)(void);
+    	pFunction JumpToApplication;
+    	HAL_RCC_DeInit();
+    	HAL_DeInit();
+    	SysTick->CTRL = 0;
+    	SysTick->LOAD = 0;
+    	SysTick->VAL = 0;
+    	//__disable_irq();
+    	__DSB();
+    //	__HAL_SYSCFG_REMAPMEMORY_SYSTEMFLASH();/* Remap is bot visible at once. Execute some unrelated command! */
+    //	__DSB();
+    	__ISB();
+    	//SCB->VTOR = APP_LOAD_ADDRESS ;
+    	JumpToApplication = (void (*)(void)) (*((uint32_t*)(APP_LOAD_ADDRESS + 4)));
+    	__set_MSP(*(__IO uint32_t*) APP_LOAD_ADDRESS);
+    	JumpToApplication();
+    	while (1);
+}
+
+void jumptoROMbootloader(void) {
+#ifndef EMU
+	// todo - maybe set a flag in the flash and then use NVIC_SystemReset() which will cause it to jumptobootloader earlier
+	// https://community.st.com/s/question/0D50X00009XkeeW/stm32l476rg-jump-to-bootloader-from-software
+	typedef void (*pFunction)(void);
+	pFunction JumpToApplication;
+	HAL_RCC_DeInit();
+	HAL_DeInit();
+	SysTick->CTRL = 0;
+	SysTick->LOAD = 0;
+	SysTick->VAL = 0;
+	__disable_irq();
+	__DSB();
+	__HAL_SYSCFG_REMAPMEMORY_SYSTEMFLASH();/* Remap is bot visible at once. Execute some unrelated command! */
+	__DSB();
+	__ISB();
+	JumpToApplication = (void (*)(void)) (*((uint32_t*)(0x1FFF0000 + 4)));
+	__set_MSP(*(__IO uint32_t*) 0x1FFF0000);
+	JumpToApplication();
+#else
+	while (1);
+#endif
+}
+
+
+#include <stdarg.h>
+void DebugLog(const char *fmt, ...) {
+#if 1
+	static char logging=0;
+	if (logging) return;
+	logging=1;
+#ifndef EMU
+	while (huart3.gState != HAL_UART_STATE_READY);
+#endif
+	char buf[256];
+	va_list args;
+	va_start(args, fmt);
+	int n = vsnprintf(buf, sizeof(buf), fmt, args);
+	va_end(args);
+#ifdef EMU
+	_write(1,buf,n);
+#else
+	//HAL_UART_Transmit_IT(&huart3, (u8*) buf, n);
+	HAL_UART_Transmit(&huart3, (unsigned char*) buf, n, 1000);
+#endif
+	logging=0;
+#endif
+}
+static unsigned char led_state=0xff;
+
+unsigned char encstate=0;
+int encheld=0;
+void led_init(void) {
+#ifndef EMU
+	  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+	  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+	  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
+	  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
+#ifdef NEW_PINOUT
+	  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
+#else
+	  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
+#endif
+	  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+	  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+	  HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
+#endif
+	  led_state=0;
+}
+void ghostfat_1ms(void);
+void led_update(void) {
+	encstate=(encstate<<1)+(((GPIOC->IDR>>13)&1)^1);
+	if (encstate==0xff)
+		encheld++;
+	else
+		encheld=0;
+	if (led_state==0xff)
+		return;
+	ghostfat_1ms();
+
+#define N1 2
+#define N2 5
+#define N3 7
+#ifdef NEW_PINOUT
+#define N4 0
+#else
+#define N4 14
+#endif
+#define N5 15
+	int x=led_state;
+
+#ifndef EMU
+	if (x < 8) x ^= 7;
+	//////////////////////////////////////
+	static int frame;
+	frame++;
+	unsigned char leds[9];
+	int y1 = (x * 512) + 256;
+	int dy = (y1 - 2048);
+	if (dy<0) dy=-dy;
+	for (int xx = 0; xx < 8; ++xx) {
+		int x1 = (xx * 512) + 256;
+		int dx = (x1 - 2048);
+		if (dx<0) dx=-dx;
+		int dist = (dx<dy) ? dy:dx;
+		dist -= (frame/8)*16;
+		int k = -dist / 4;
+		k&=511;
+		if (k > 255)
+			k = 512 - k;
+		if (k < 0)
+			k = 0;
+		leds[xx] = ((k * k) >> 8);
+	}
+	//////////////////////////////////////
+	const static unsigned int nbits[5]={(1<<(N1*2)),(1<<(N2*2)),(1<<(N3*2)),(1<<(N4*2)),(1<<(N5*2))};
+	  GPIOD->MODER &= ~((3<<(N1*2))+(3<<(N2*2))+(3<<(N3*2))+(3<<(N4*2))+(3<<(N5*2)));
+	  unsigned char xor=0;
+	  if (led_state&9) {
+	  	  GPIOD->ODR |=  ((1<<N1)+(1<<N2)+(1<<N3)+(1<<N4)+(1<<N5));
+	  	  xor=255;
+	  } else
+		  GPIOD->ODR &= ~((1<<N1)+(1<<N2)+(1<<N3)+(1<<N4)+(1<<N5));
+	  __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1 , leds[0]^xor);
+	  __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_2 , leds[1]^xor);
+	  __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_3 , leds[2]^xor);
+	  __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_4 , leds[3]^xor);
+	  __HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_2 , leds[4]^xor);
+#ifdef NEW_PINOUT
+	  __HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_3, leds[5]^xor);
+#else
+	  __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, leds[5] ^ xor);
+#endif
+	  __HAL_TIM_SET_COMPARE(&htim2,TIM_CHANNEL_3 , leds[6]^xor);
+	  __HAL_TIM_SET_COMPARE(&htim2,TIM_CHANNEL_4 , leds[7]^xor);
+	  GPIOD->MODER|=nbits[led_state/2];
+#else
+	const u8* leds = led_ram[x];
+	extern u8 emuleds[9][8];
+	  for (int i=0;i<8;++i) emuleds[led_state][i]=leds[i];
+#endif
+	  led_state++;
+	  if (led_state==9) led_state=0;
+
+}
+
+void spi_setchip(uint32_t addr);
+int spi_readid(void);
+
+
+/* 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 */
+  MX_GPIO_Init();
+
+
+  HAL_Delay(1);
+  bool encdown = !((GPIOC->IDR>>13)&1);
+
+  if (!encdown) { // encoder not down
+	  jump_to_app();
+  }
+  // BOOTLOADER FLASHING MODE!!
+  memcpy((void*)DELAY_BUF,(void*)0x08000000,65536); // copy bootloader into RAM!:)
+  memset((void*)REVERB_BUF,0,32768); // use reverbbuf as a byte mask of which bootlder pages have been written
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_USB_DEVICE_Init();
+  MX_TIM1_Init();
+  MX_TIM2_Init();
+  MX_TIM4_Init();
+  MX_SPI2_Init();
+  MX_USART3_UART_Init();
+  /* USER CODE BEGIN 2 */
+  led_init();
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+/*  HAL_Delay(10);
+  spi_setchip(0xffffffff);
+  DebugLog("spi chip 1 = %d\r\n", spi_readid());
+  spi_setchip(0);
+  DebugLog("spi chip 0 = %d\r\n", spi_readid());
+*/
+  bool startreset=false;
+  while (1)
+  {
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+	  if (encstate==1)
+		  startreset=true;
+	 if (encstate==0x80 && startreset) {
+		 // released the encoder
+		 scb_reset_system();
+	 }
+	 if (encheld>10000)
+		 jumptoROMbootloader();
+  }
+  /* 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.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLM = 1;
+  RCC_OscInitStruct.PLL.PLLN = 12;
+  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
+  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
+  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV4;
+  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_DIV1;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART3|RCC_PERIPHCLK_USB;
+  PeriphClkInit.Usart3ClockSelection = RCC_USART3CLKSOURCE_PCLK1;
+  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLLSAI1;
+  PeriphClkInit.PLLSAI1.PLLSAI1Source = RCC_PLLSOURCE_HSE;
+  PeriphClkInit.PLLSAI1.PLLSAI1M = 1;
+  PeriphClkInit.PLLSAI1.PLLSAI1N = 12;
+  PeriphClkInit.PLLSAI1.PLLSAI1P = RCC_PLLP_DIV7;
+  PeriphClkInit.PLLSAI1.PLLSAI1Q = RCC_PLLQ_DIV4;
+  PeriphClkInit.PLLSAI1.PLLSAI1R = RCC_PLLR_DIV2;
+  PeriphClkInit.PLLSAI1.PLLSAI1ClockOut = RCC_PLLSAI1_48M2CLK;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /** Enables the Clock Security System
+  */
+  HAL_RCC_EnableCSS();
+  /** Configure the main internal regulator output voltage
+  */
+  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief SPI2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_SPI2_Init(void)
+{
+
+  /* USER CODE BEGIN SPI2_Init 0 */
+
+  /* USER CODE END SPI2_Init 0 */
+
+  /* USER CODE BEGIN SPI2_Init 1 */
+
+  /* USER CODE END SPI2_Init 1 */
+  /* SPI2 parameter configuration*/
+  hspi2.Instance = SPI2;
+  hspi2.Init.Mode = SPI_MODE_MASTER;
+  hspi2.Init.Direction = SPI_DIRECTION_2LINES;
+  hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
+  hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
+  hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
+  hspi2.Init.NSS = SPI_NSS_SOFT;
+  hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
+  hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
+  hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
+  hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+  hspi2.Init.CRCPolynomial = 7;
+  hspi2.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
+  hspi2.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
+  if (HAL_SPI_Init(&hspi2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN SPI2_Init 2 */
+
+  /* USER CODE END SPI2_Init 2 */
+
+}
+
+/**
+  * @brief TIM1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 0;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 256;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != 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();
+  }
+  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.BreakFilter = 0;
+  sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
+  sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
+  sBreakDeadTimeConfig.Break2Filter = 0;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM2_Init 1 */
+
+  /* USER CODE END TIM2_Init 1 */
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 0;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 256;
+  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 = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  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 = 256;
+  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 = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM4_Init 2 */
+
+  /* USER CODE END TIM4_Init 2 */
+  HAL_TIM_MspPostInit(&htim4);
+
+}
+
+/**
+  * @brief USART3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USART3_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART3_Init 0 */
+
+  /* USER CODE END USART3_Init 0 */
+
+  /* USER CODE BEGIN USART3_Init 1 */
+
+  /* USER CODE END USART3_Init 1 */
+  huart3.Instance = USART3;
+  huart3.Init.BaudRate = 115200;
+  huart3.Init.WordLength = UART_WORDLENGTH_8B;
+  huart3.Init.StopBits = UART_STOPBITS_1;
+  huart3.Init.Parity = UART_PARITY_NONE;
+  huart3.Init.Mode = UART_MODE_TX_RX;
+  huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart3.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_UART_Init(&huart3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART3_Init 2 */
+
+  /* USER CODE END USART3_Init 2 */
+
+}
+
+/**
+  * @brief GPIO Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_GPIO_Init(void)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOH_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOE_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_15|GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_5
+                          |GPIO_PIN_7, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOE, SPICS2_Pin|SPICS_Pin, GPIO_PIN_SET);
+
+  /*Configure GPIO pin : ENC_Pin */
+  GPIO_InitStruct.Pin = ENC_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(ENC_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : PD15 PD0 PD2 PD5
+                           PD7 */
+  GPIO_InitStruct.Pin = GPIO_PIN_15|GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_5
+                          |GPIO_PIN_7;
+  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 : SPICS2_Pin SPICS_Pin */
+  GPIO_InitStruct.Pin = SPICS2_Pin|SPICS_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
+}
+
+/* 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 */
+
+  /* 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,
+     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+  /* USER CODE END 6 */
+}
+#endif /* USE_FULL_ASSERT */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/