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/* 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"

/* Private includes ----------------------------------------------------------*/

/* USER CODE BEGIN Includes */

#include "libPLX/plx.h"

#include "libSerial/serial.H"

#include "libSmallPrintf/small_printf.h"

#include "libNMEA/nmea.h"

#include "switches.h"

#include <string.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 ---------------------------------------------------------*/

I2C_HandleTypeDef hi2c1;

SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim2;

TIM_HandleTypeDef htim3;

TIM_HandleTypeDef htim9;

UART_HandleTypeDef huart4;

UART_HandleTypeDef huart1;

UART_HandleTypeDef huart2;

UART_HandleTypeDef huart3;

/* USER CODE BEGIN PV */

/* Private variables ---------------------------------------------------------*/

context_t contexts[MAX_DISPLAYS];

///@brief  timeout when the ignition is switched off

#define IGNITION_OFF_TIMEOUT 30000UL

/// @brief 1000mS per logger period, print average per period

#define LOGGER_INTERVAL 1000UL

/// @brief  about 10 seconds after twiddle, save the dial position.

const int DialTimeout = 100;

/// @brief Data storage for readings

info_t Info[MAXRDG];

/// @brief Define a null item

const info_t nullInfo = {.Max = 0,

                         .Min = 0xFFF,

                         .sum = 0,

                         .count = 0,

                         .updated = 0,

                         .lastUpdated = 0,

                         .observation = PLX_MAX_OBS,

                         .instance = PLX_MAX_INST};

/// \brief storage for incoming data

data_t Data;

uint32_t Latch_Timer = IGNITION_OFF_TIMEOUT;

// location for GPS data

Location loc;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/

void SystemClock_Config(void);

static void MX_GPIO_Init(void);

static void MX_SPI1_Init(void);

static void MX_USART1_UART_Init(void);

static void MX_USART2_UART_Init(void);

static void MX_USART3_UART_Init(void);

static void MX_TIM3_Init(void);

static void MX_TIM9_Init(void);

static void MX_TIM2_Init(void);

static void MX_UART4_Init(void);

static void MX_I2C1_Init(void);

/* USER CODE BEGIN PFP */

// the dial is the switch number we are using.

// suppress is the ItemIndex we wish to suppress on this display

int DisplayCurrent(int dial, int suppress)

{

  if (contexts[dial].knobPos < 0)

    return -1;

  return cc_display(dial, suppress);

}

/// \note  HC-05 only accepts : 9600,19200,38400,57600,115200,230400,460800 baud

/// \brief Setup Bluetooth module

void initModule(usart_ctl *ctl, uint32_t baudRate)

{

  char initBuf[30];

  // switch to command mode

  HAL_GPIO_WritePin(BT_RESET_GPIO_Port, BT_RESET_Pin, GPIO_PIN_RESET);

  HAL_Delay(500);

  setBaud(ctl, 38400);

  int initLen = small_sprintf(initBuf, "AT+UART=%lu,0,0\n", baudRate);

  const char buf[] = "AT+RESET\n";

  sendString(ctl, initBuf, initLen);

  HAL_Delay(500);

  initLen = small_sprintf(initBuf, buf);

  sendString(ctl, initBuf, initLen);

  TxWaitEmpty(ctl);

  // clear the button press

  HAL_GPIO_WritePin(BT_RESET_GPIO_Port, BT_RESET_Pin, GPIO_PIN_SET);

  // switch back to normal comms at new baud rate

  setBaud(ctl, baudRate);

  HAL_Delay(100);

}

// workspace for RMC data read from GPS module.

uint8_t rmc_buff[80];

volatile uint16_t rmc_length;

uint8_t rmc_callback(uint8_t *data, uint16_t length)

{

  rmc_length = length < sizeof(rmc_buff) ? length : sizeof(rmc_buff);

  memcpy(rmc_buff, data, length);

  return 0;

}

// check if bluetooth connected

uint8_t btConnected()

{

  return HAL_GPIO_ReadPin(BT_STATE_GPIO_Port, BT_STATE_Pin) == GPIO_PIN_SET;

}

/// @brief return true if this slot is unused

/// @param ptr pointer to the slot to

uint8_t isUnused(int index)

{

  if (index < 0 || index > MAXRDG)

    return false;

  return Info[index].instance == PLX_MAX_INST && Info[index].observation == PLX_MAX_OBS;

}

/// @brief Determine if an entry is currently valid

/// @param index the number of the array entry to display

/// @return true if the entry contains data which is fresh

uint8_t isValid(int index)

{

  if (index < 0 || index > MAXRDG)

    return false;

  if (isUnused(index))

    return false;

  uint32_t age = HAL_GetTick() - Info[index].lastUpdated;

  if (age > 300)

    return false;

  return true;

}

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**

 * @brief  The application entry point.

 * @retval int

 */

int main(void)

{

  /* USER CODE BEGIN 1 */

  __HAL_RCC_SPI1_CLK_ENABLE();

  __HAL_RCC_USART1_CLK_ENABLE(); // PLX main port

  __HAL_RCC_USART2_CLK_ENABLE(); // debug port

  __HAL_RCC_USART3_CLK_ENABLE(); // Bluetooth port

  __HAL_RCC_UART4_CLK_ENABLE();  // NMEA0183 port

  __HAL_RCC_TIM3_CLK_ENABLE();

  __HAL_RCC_TIM9_CLK_ENABLE();

  /* 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 */

  // Switch handler called on sysTick interrupt.

  InitSwitches();

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */

  MX_GPIO_Init();

  MX_SPI1_Init();

  MX_USART1_UART_Init();

  MX_USART2_UART_Init();

  MX_USART3_UART_Init();

  MX_TIM3_Init();

  MX_TIM9_Init();

  MX_TIM2_Init();

  MX_UART4_Init();

  MX_I2C1_Init();

  /* USER CODE BEGIN 2 */

  /* Turn on USART1 IRQ */

  HAL_NVIC_SetPriority(USART1_IRQn, 2, 0);

  HAL_NVIC_EnableIRQ(USART1_IRQn);

  /* Turn on USART2 IRQ  */

  HAL_NVIC_SetPriority(USART2_IRQn, 4, 0);

  HAL_NVIC_EnableIRQ(USART2_IRQn);

  /* turn on USART3 IRQ */

  HAL_NVIC_SetPriority(USART3_IRQn, 4, 0);

  HAL_NVIC_EnableIRQ(USART3_IRQn);

  /* turn on UART4 IRQ */

  HAL_NVIC_SetPriority(UART4_IRQn, 4, 0);

  HAL_NVIC_EnableIRQ(UART4_IRQn);

  /* setup the USART control blocks */

  init_usart_ctl(&uc1, &huart1);

  init_usart_ctl(&uc2, &huart2);

  init_usart_ctl(&uc3, &huart3);

  init_usart_ctl(&uc4, &huart4);

  EnableSerialRxInterrupt(&uc1);

  EnableSerialRxInterrupt(&uc2);

  EnableSerialRxInterrupt(&uc3);

  EnableSerialRxInterrupt(&uc4);

  HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);

  HAL_TIM_Encoder_Start(&htim9, TIM_CHANNEL_ALL);

  initModule(&uc3, 38400);

  // Initialise UART for 4800 baud NMEA

  setBaud(&uc2, 4800);

  // Initialuse UART4 for 4800 baud NMEA.

  setBaud(&uc4, 4800);

  cc_init();

  int i;

  for (i = 0; i < 2; i++)

  {

    dial_pos[i] = 0;            // default to items 0 and 1

    contexts[i].knobPos = -1;   // set the knob position

    contexts[i].dial_timer = 1; // timeout immediately when decremented

    cc_check_nvram(i);

  }

  /* reset the display timeout, latch on power from accessories */

  Latch_Timer = IGNITION_OFF_TIMEOUT;

  HAL_GPIO_WritePin(POWER_LATCH_GPIO_Port, POWER_LATCH_Pin, GPIO_PIN_RESET);

  setRmcCallback(&rmc_callback);

  // data timeout

  uint32_t timeout = 0; //

  uint32_t nextTick = 0;

  uint8_t log = 0;

  // PLX decoder protocols

  char PLXPacket = 0;

  for (i = 0; i < MAXRDG; i++)

  {

    Info[i] = nullInfo;

  }

  int PLXPtr = 0;

  int logCount = 0;

  uint32_t resetCounter; // record time at which both reset buttons were first pressed.

  /* USER CODE END 2 */

  /* Infinite loop */

  /* USER CODE BEGIN WHILE */

  while (1)

  {

    /* while ignition is on, keep resetting power latch timer */

    if (HAL_GPIO_ReadPin(IGNITION_GPIO_Port, IGNITION_Pin) == GPIO_PIN_RESET)

    {

      Latch_Timer = HAL_GetTick() + IGNITION_OFF_TIMEOUT;

    }

    else

    {

      /* if the ignition has been off for a while, then turn off power */

      if (HAL_GetTick() > Latch_Timer)

      {

        HAL_GPIO_WritePin(POWER_LATCH_GPIO_Port, POWER_LATCH_Pin,

                          GPIO_PIN_RESET);

      }

    }

    // Handle the bluetooth pairing / reset function by pressing both buttons.

    if ((push_pos[0] == 1) && (push_pos[1] == 1))

    {

      HAL_GPIO_WritePin(BT_BUTTON_GPIO_Port, BT_BUTTON_Pin,

                        GPIO_PIN_RESET);

      if (resetCounter == 0)

        resetCounter = HAL_GetTick();

    }

    else

    {

      HAL_GPIO_WritePin(BT_BUTTON_GPIO_Port, BT_BUTTON_Pin,

                        GPIO_PIN_SET);

      if (resetCounter != 0)

      {

        // Held down reset button for 10 seconds, clear NVRAM.

        if ((HAL_GetTick() - resetCounter) > 10000)

        {

          for (i = 0; i < 2; i++)

          {

            dial_pos[i] = 0;            // default to items 0 and 1

            contexts[i].knobPos = -1;   // set the knob position

            contexts[i].dial_timer = 1; // timeout immediately when decremented

          }

          erase_nvram();

        }

        resetCounter = 0;

      }

    }

    // poll GPS Position/time on UART4

    (void)updateLocation(&loc, &uc4);

    if (loc.valid == 'V')

      memset(loc.time, '-', 6);

    // if permitted, log data from RMC packet

    if (btConnected())

    {

      // Any RMC data, send it, reset the logger timeout

      if (rmc_length)

      {

        sendString(&uc3, (const char *)rmc_buff, rmc_length);

        rmc_length = 0;

        nextTick = HAL_GetTick() + LOGGER_INTERVAL;

        log = 1;      // send out associated data over Bluetooth because triggered by recieving RMC

        logCount = 0; // first sample set this second numbered 0

      }

      // Timeout for data logging regularly

      if (HAL_GetTick() > nextTick)

      {

        nextTick = HAL_GetTick() + LOGGER_INTERVAL;

        logCount++;

        if (logCount > (1000 / LOGGER_INTERVAL))

          logCount = 0;

        log = 1;

      }

      if (log)

      {

        log = 0;

        // Send items  to BT if it is in connected state

        for (int i = 0; i <  MAXRDG; ++i)

        {

          if(!isValid(i))

            continue;

          char outbuff[100];

          int cnt = small_sprintf(outbuff,

                                  "$PLLOG,%d,%d,%d,%ld",

                                  logCount,

                                  Info[i].observation,

                                  Info[i].instance,

                                  Info[i].count == 0 ? 0 : Info[i].sum / Info[i].count);

          // NMEA style checksum

          int ck;

          int sum = 0;

          for (ck = 1; ck < cnt; ck++)

            sum += outbuff[ck];

          cnt += small_sprintf(outbuff + cnt, "*%02X\n",

                               sum & 0xFF);

          sendString(&uc3, outbuff, cnt);

        }

      }

    }

    // determine if we are getting any data from the interface

    uint16_t cc = SerialCharsReceived(&uc1);

    int chr;

    if (cc == 0)

    {

      timeout++;

      if (btConnected() && (timeout % 1000 == 0))

      {

        const char msg[] = "Timeout\r\n";

        sendString(&uc3, msg, sizeof(msg));

      }

      if (timeout > 60000)

      {

        // do turn off screen

      }

      // wait for a bit if nothing came in.

      HAL_Delay(10);

    }

    /// process the observation list

    for (chr = 0; chr < cc; chr++)

    {

      char c = GetCharSerial(&uc1);

      if (c == PLX_Start) // at any time if the start byte appears, reset the pointers

      {

        PLXPtr = 0; // reset the pointer

        PLXPacket = 1;

        timeout = 0; // Reset the timer

        continue;

      }

      if (c == PLX_Stop)

      {

        if (PLXPacket)

        {

          // we can now decode the selected parameter

          int PLXNewItems = PLXPtr / sizeof(PLX_SensorInfo); // total items in last reading batch

          // process items

          for (i = 0; i < PLXNewItems; i++)

          {

            // search to see if the item already has a slot in the Info[] array

            // match the observation and instance: if found, update entry

            enum PLX_Observations observation = ConvPLX(Data.Sensor[i].AddrH,

                                                        Data.Sensor[i].AddrL);

            char instance = Data.Sensor[i].Instance;

            // validate the current item, discard out of range

            if ((instance > PLX_MAX_INST) || (observation > PLX_MAX_OBS))

              continue;

            // search for the item in the list

            int j;

            for (j = 0; j < MAXRDG; ++j)

            {

              if ((Info[j].observation == observation) && (Info[j].instance == instance))

                break;

            }

            // fallen off the end of the list of existing items without a match, so j points at next new item

            //

            // Find an unused slot

            if (j == MAXRDG)

            {

              int k;

              {

                for (k = 0; k < MAXRDG; ++k)

                  if (!isValid(k))

                  {

                    j = k; // found a spare slot

                    break;

                  }

              }

              if (k == MAXRDG)

                continue; // abandon this iteration

            }

            // give up if we are going to fall off the end of the array

            if (j > MAXRDG)

              break;

            Info[j].observation = observation;

            Info[j].instance = instance;

            Info[j].data = ConvPLX(Data.Sensor[j].ReadingH,

                                   Data.Sensor[j].ReadingL);

            if (Info[j].data > Info[j].Max)

            {

              Info[j].Max = Info[j].data;

            }

            if (Info[j].data < Info[j].Min)

            {

              Info[j].Min = Info[j].data;

            }

            // take an average

            Info[j].sum += Info[j].data;

            Info[j].count++;

            // note the last update time

            Info[j].lastUpdated = HAL_GetTick();

            Info[j].updated = 1; // it has been updated

          }

          PLXPtr = 0;

          PLXPacket = 0;

          // scan through and invalidate all old items

          for (int i = 0; i < MAXRDG; ++i)

          {

            if (!isValid(i))

              Info[i] = nullInfo;

          }

          break; // something to process

        }

      }

      if (c > PLX_Stop) // illegal char, restart reading

      {

        PLXPacket = 0;

        PLXPtr = 0;

        continue;

      }

      if (PLXPacket && PLXPtr < sizeof(Data.Bytes))

      {

        Data.Bytes[PLXPtr++] = c;

      }

    }

    int suppress = -1;

    for (i = 0; i < MAX_DISPLAYS; i++)

    { // now to display the information

      suppress = DisplayCurrent(i, suppress);

      if (dial_pos[i] < 0)

        dial_pos[i] = MAXRDG - 1;

      if (dial_pos[i] >= MAXRDG)

        dial_pos[i] = 0;

      int prevPos = contexts[i].knobPos;

      if (contexts[i].knobPos >= 0)

        contexts[i].knobPos = dial_pos[i];

      // if the dial position was changed then reset timer

      if (prevPos != contexts[i].knobPos)

        contexts[i].dial_timer = DialTimeout;

      cc_check_nvram(i);

      if (contexts[i].knobPos >= 0)

        dial_pos[i] = contexts[i].knobPos;

    }

  }

  /* 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};

  /** Configure the main internal regulator output voltage

   */

  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** 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.PLLMUL = RCC_PLL_MUL12;

  RCC_OscInitStruct.PLL.PLLDIV = RCC_PLL_DIV3;

  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_1) != HAL_OK)

  {

    Error_Handler();

  }

}

/**

 * @brief I2C1 Initialization Function

 * @param None

 * @retval None

 */

static void MX_I2C1_Init(void)

{

  /* USER CODE BEGIN I2C1_Init 0 */

  /* USER CODE END I2C1_Init 0 */

  /* USER CODE BEGIN I2C1_Init 1 */

  /* USER CODE END I2C1_Init 1 */

  hi2c1.Instance = I2C1;

  hi2c1.Init.ClockSpeed = 100000;

  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;

  hi2c1.Init.OwnAddress1 = 0;

  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;

  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;

  hi2c1.Init.OwnAddress2 = 0;

  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;

  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;

  if (HAL_I2C_Init(&hi2c1) != HAL_OK)

  {

    Error_Handler();

  }

  /* USER CODE BEGIN I2C1_Init 2 */

  /* USER CODE END I2C1_Init 2 */

}

/**

 * @brief SPI1 Initialization Function

 * @param None

 * @retval None

 */

static void MX_SPI1_Init(void)

{

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */

  /* SPI1 parameter configuration*/

  hspi1.Instance = SPI1;

  hspi1.Init.Mode = SPI_MODE_MASTER;

  hspi1.Init.Direction = SPI_DIRECTION_1LINE;

  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;

  hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;

  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;

  hspi1.Init.NSS = SPI_NSS_SOFT;

  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;

  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;

  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;

  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;

  hspi1.Init.CRCPolynomial = 10;

  if (HAL_SPI_Init(&hspi1) != HAL_OK)

  {

    Error_Handler();

  }

  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_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};

  /* 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 = 65535;

  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();

  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;

  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;

  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)

  {

    Error_Handler();

  }

  /* USER CODE BEGIN TIM2_Init 2 */

  /* USER CODE END TIM2_Init 2 */

}

/**

 * @brief TIM3 Initialization Function

 * @param None

 * @retval None

 */

static void MX_TIM3_Init(void)

{

  /* USER CODE BEGIN TIM3_Init 0 */

  /* USER CODE END TIM3_Init 0 */

  TIM_Encoder_InitTypeDef sConfig = {0};

  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */

  htim3.Instance = TIM3;

  htim3.Init.Prescaler = 0;

  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;

  htim3.Init.Period = 65535;

  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;

  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;

  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;

  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;

  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;

  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;

  sConfig.IC1Filter = 15;

  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;

  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;

  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;

  sConfig.IC2Filter = 15;

  if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)

  {

    Error_Handler();

  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;

  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;

  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)