/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2021 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 <string.h>
#include "libSerial/serial.h"
#include "libPLX/plx.h"
#include "libPLX/commsLib.h"
#include "misc.h"

#include "libIgnTiming/rpm.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 */
#define ADC_CHANNELS 7

#define ADC_MAP_CHAN 2

#define ADC_PRESSURE_CHAN 3

#define ADC_REF_CHAN 5

#define ADC_TEMP_CHAN 6

// wait for about 1 second to decide whether or not starter is on

#define STARTER_LIMIT 10

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
DMA_HandleTypeDef hdma_adc1;

CAN_HandleTypeDef hcan;

SPI_HandleTypeDef hspi1;

TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */

// storage for ADC
uint16_t ADC_Samples[ADC_CHANNELS] = {[0 ... ADC_CHANNELS - 1] = 0};

uint32_t FILT_Samples[ADC_CHANNELS] = {[0 ... ADC_CHANNELS - 1] = 0}; // filtered ADC samples * Scale

#define NOM_VREF 3.3
// initial ADC vref
float adc_vref = NOM_VREF;

// internal bandgap voltage reference
const float STM32REF = 1.2; // 1.2V typical

// scale factor initially assuming
float ADC_Scale = 1 / (Scale * 4096) * NOM_VREF;

unsigned int Coded_RPM = 0;
unsigned int Coded_CHT = 0;

uint32_t PowerTempTimer;

uint16_t Starter_Debounce = 0;

/* 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_ADC1_Init(void);
static void MX_CAN_Init(void);
static void MX_SPI1_Init(void);
static void MX_TIM2_Init(void);
static void MX_TIM3_Init(void);
static void MX_TIM4_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 plx_sendword(int x)
{
  PutCharSerial(&uc1, ((x) >> 6) & 0x3F);
  PutCharSerial(&uc1, (x)&0x3F);
}

void filter_ADC_samples()
{
  int i;
  for (i = 0; i < ADC_CHANNELS; i++)
  {
    FILT_Samples[i] += (ADC_Samples[i] * Scale - FILT_Samples[i]) / 2;
  }
}

/****!
 * @brief this reads the reference voltage within the STM32L151
 * Powers up reference voltage and temperature sensor, waits 3mS  and takes reading
 * Requires that the ADC be powered up
 */

void CalibrateADC(void)
{
  float adc_val = FILT_Samples[ADC_REF_CHAN]; // as set up in device config

  float adc_vref = STM32REF * (4096.0 * Scale) / adc_val; // the estimate for checking

  ADC_Scale = 1 / (Scale * 4096) * adc_vref;
}

void ProcessRPM(void)
{
  static unsigned int Coded_RPM = 0;
  int32_t rpm = CalculateRPM();
  if (rpm >= 0)
    Coded_RPM = rpm / 19.55;

  // send the current RPM *calculation
  plx_sendword(PLX_RPM);
  PutCharSerial(&uc1, libPLXgetNextInstance(PLX_RPM));
  plx_sendword(Coded_RPM / Scale);
}

// this uses a MAX6675 which is a simple 16 bit read
// SPI is configured for 8 bits so I can use an OLED display if I need it
// must wait > 0.22 seconds between conversion attempts as this is the measurement time
//

FunctionalState CHT_Enable = ENABLE;

#define CORR 3

uint16_t Temp_Observations[NUM_SPI_TEMP_SENS] = {[0 ... NUM_SPI_TEMP_SENS - 1] = 0};

/// \param item The array index to send
/// \param type the code to use for this observation
void ProcessTemp(char item, enum PLX_Observations type)
{
  if (item > NUM_SPI_TEMP_SENS)
    return;
  plx_sendword(type);
  PutCharSerial(&uc1, libPLXgetNextInstance(type));
  plx_sendword(Temp_Observations[(int)item]);
}

/// \brief Reset the temperature chip select system
void resetTempCS(void)
{
  HAL_GPIO_WritePin(SPI_CS_D_GPIO_Port, SPI_CS_D_Pin, GPIO_PIN_SET);
  HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
                    GPIO_PIN_SET);

  for (int i = 0; i < 8; i++)
  {
    HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
                      GPIO_PIN_RESET);
    HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
                      GPIO_PIN_SET);
  }

  // prepare for selecting next pin
  HAL_GPIO_WritePin(SPI_CS_D_GPIO_Port, SPI_CS_D_Pin, GPIO_PIN_RESET);
}

void nextTempCS(void)
{
  HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
                    GPIO_PIN_RESET);
  HAL_GPIO_WritePin(SPI_CS_Clk_GPIO_Port, SPI_CS_Clk_Pin,
                    GPIO_PIN_SET);
  HAL_GPIO_WritePin(SPI_CS_D_GPIO_Port, SPI_CS_D_Pin, GPIO_PIN_SET);
}

void EnableTempSensors(FunctionalState state)

{
  GPIO_InitTypeDef GPIO_InitStruct;

  CHT_Enable = state;

  /* enable SPI in live mode : assume it and its GPIOs are already initialised in SPI mode */
  if (state == ENABLE)
  {
    HAL_GPIO_WritePin(ENA_AUX_5V_GPIO_Port, ENA_AUX_5V_Pin, GPIO_PIN_SET);

    resetTempCS();

    /* put the SPI pins back into SPI AF mode */
    GPIO_InitStruct.Pin = SPI1_MOSI_Pin | SPI1_MISO_Pin | SPI1_SCK_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(SPI1_SCK_GPIO_Port, &GPIO_InitStruct);
  }
  else
  {
    /*  Power down the SPI interface taking signals all low */
    HAL_GPIO_WritePin(ENA_AUX_5V_GPIO_Port, ENA_AUX_5V_Pin, GPIO_PIN_RESET);

    HAL_GPIO_WritePin(SPI1_SCK_GPIO_Port,
                      SPI1_MOSI_Pin | SPI1_MISO_Pin | SPI1_SCK_Pin,
                      GPIO_PIN_RESET);

    /* put the SPI pins back into GPIO mode */
    GPIO_InitStruct.Pin = SPI1_MOSI_Pin | SPI1_MISO_Pin | SPI1_SCK_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(SPI1_SCK_GPIO_Port, &GPIO_InitStruct);
  }
}

// 1023 is 20.00 volts.
/// \param item - used to lookup the index of the local reading
void ProcessBatteryVoltage(int item)
{
  float reading = FILT_Samples[item] * ADC_Scale;
  reading = reading * 7.8125; // real voltage
  reading = reading * 51.15;  // PLC scaling =  1023/20

  plx_sendword(PLX_Volts);
  PutCharSerial(&uc1, libPLXgetNextInstance(PLX_Volts));
  plx_sendword((uint16_t)reading);
}

void ProcessCPUTemperature(void)
{
  // this is defined in the STM32F103 reference manual . #
  // V25 = 1.43 volts
  // Avg_slope = 4.3mV /degree C
  // temperature = {(V25 - VSENSE) / Avg_Slope} + 25

  /* get the ADC reading corresponding to ADC channel 16 after turning on the ADC */

  float temp_val = FILT_Samples[ADC_TEMP_CHAN] * ADC_Scale;
  /* renormalise temperature value to account for different ADC Vref  : normalise to that which we would get for a 3000mV reference */
  temp_val = (1.43 - temp_val) / 4.3e-3 + 25;

  int32_t result = temp_val;

  //  int32_t result = 800 * ((int32_t) temp_val - TS_CAL30);
  //  result = result / (TS_CAL110 - TS_CAL30) + 300;

  plx_sendword(PLX_FluidTemp);
  PutCharSerial(&uc1, libPLXgetNextInstance(PLX_FluidTemp));
  plx_sendword(result);
}

// the MAP sensor is giving us a reading of
// 4.6 volts for 1019mB or 2.27 volts at the ADC input (resistive divider by 2.016)
// I believe the sensor reads  4.5V at 1000kPa and 0.5V at  0kPa
// Calibration is a bit off
// Real   Displayed
// 989    968
// 994.1    986
// 992.3  984

void ProcessMAP(void)
{
  // Using ADC_Samples[3] as the MAP input
  float reading = FILT_Samples[ADC_MAP_CHAN] * ADC_Scale;
  reading = reading * 2.016; // real voltage
  // values computed from slope / intercept of map.ods
  // reading = (reading) * 56.23 + 743.2; // do not assume 0.5 volt offset : reading from 0 to 4.5 instead of 0.5 to 4.5
  // using a pressure gauge.
  reading = (reading)*150 + 326;

  plx_sendword(PLX_MAP);
  PutCharSerial(&uc1, libPLXgetNextInstance(PLX_MAP));
  plx_sendword((uint16_t)reading);
}

// the Oil pressi sensor is giving us a reading of
// 4.5 volts for 100 PSI or  2.25 volts at the ADC input (resistive divider by 2.016)
// I believe the sensor reads  4.5V at 100PSI and 0.5V at  0PSI
// an observation of 1024 is 200PSI, so observation of 512 is 100 PSI.

void ProcessOilPress(void)
{
  // Using ADC_Samples[2] as the MAP input
  float reading = FILT_Samples[ADC_PRESSURE_CHAN] * ADC_Scale;
  reading = reading * 2.00;            // real voltage
  reading = (reading - 0.5) * 512 / 4; // this is 1023 * 100/200

  plx_sendword(PLX_FluidPressure);
  PutCharSerial(&uc1, libPLXgetNextInstance(PLX_FluidPressure));
  plx_sendword((uint16_t)reading);
}

void ProcessTiming(void)
{
  plx_sendword(PLX_Timing);
  PutCharSerial(&uc1, libPLXgetNextInstance(PLX_Timing));
  plx_sendword(64 - 15); // make it negative
}


void libPLXcallbackSendUserData()
{
  // send the observations
  ProcessRPM();
  ProcessTemp(0, PLX_X_CHT);
  ProcessTemp(1, PLX_X_CHT);
  ProcessTemp(2, PLX_AIT);
  ProcessTemp(3, PLX_AIT);
  ProcessBatteryVoltage(0); // Batt 1
  ProcessBatteryVoltage(1); // Batt 2
  ProcessCPUTemperature();  //  built in temperature sensor

  ProcessMAP();
  ProcessOilPress();

  PutCharSerial(&uc1, PLX_Stop);
}
/* 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_ADC1_Init();
  MX_CAN_Init();
  MX_SPI1_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
  HAL_MspInit();

  // Not using HAL USART code
  __HAL_RCC_USART1_CLK_ENABLE(); // PLX comms port
  /* setup the USART control blocks */
  init_usart_ctl(&uc1, &huart1);

  EnableSerialRxInterrupt(&uc1);

  HAL_SPI_MspInit(&hspi1);

  HAL_ADC_MspInit(&hadc1);

  HAL_ADC_Start_DMA(&hadc1, (uint32_t *)ADC_Samples, ADC_CHANNELS);

  HAL_ADC_Start_IT(&hadc1);

  HAL_TIM_Base_MspInit(&htim4);
  HAL_TIM_Base_Start_IT(&htim4);

  // initialise all the STMCubeMX stuff
  HAL_TIM_Base_MspInit(&htim2);
  // Start the counter
  HAL_TIM_Base_Start(&htim2);
  // Start the input capture and the rising edge interrupt
  HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);
  // Start the input capture and the falling edge interrupt
  HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);

  HAL_TIM_Base_MspInit(&htim3);
  __HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
  uint32_t Ticks = HAL_GetTick() + 100;
  int CalCounter = 0;

  PowerTempTimer = HAL_GetTick() + 1000; /* wait 10 seconds before powering up the CHT sensor */

  ResetRxBuffer(&uc1);

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

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

    if (HAL_GetTick() > Ticks)
    {
      Ticks += 100;
      filter_ADC_samples();
      // delay to calibrate ADC
      if (CalCounter < 1000)
      {
        CalCounter += 100;
      }

      if (CalCounter == 900)
      {
        CalibrateADC();
      }
    }
    /* when the starter motor is on then power down the CHT sensors as they seem to fail */

    if (HAL_GPIO_ReadPin(STARTER_ON_GPIO_Port, STARTER_ON_Pin) == GPIO_PIN_RESET)
    {
      if (Starter_Debounce < STARTER_LIMIT)
      {
        Starter_Debounce++;
      }
    }
    else
    {
      if (Starter_Debounce > 0)
      {
        Starter_Debounce--;
      }
    }

    if (Starter_Debounce == STARTER_LIMIT)
    {
      EnableTempSensors(DISABLE);
      PowerTempTimer = HAL_GetTick() + 1000;
    }
    else
    /* if the PowerTempTimer is set then wait for it to timeout, then power up CHT */
    {
      if ((PowerTempTimer > 0) && (HAL_GetTick() > PowerTempTimer))
      {
        EnableTempSensors(ENABLE);
        PowerTempTimer = 0;
      }
    }

    // check to see if we have any incoming data, copy and append if so, if no data then create our own frames.

    // poll the input data and produce automatic output if the timer expires and no serial input data
    libPLXpollData(&uc1);
  }

  /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
   */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
  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 = DISABLE;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T3_TRGO;
  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc1.Init.NbrOfConversion = 7;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
   */
  sConfig.Channel = ADC_CHANNEL_0;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_71CYCLES_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
   */
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Rank = ADC_REGULAR_RANK_2;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
   */
  sConfig.Channel = ADC_CHANNEL_2;
  sConfig.Rank = ADC_REGULAR_RANK_3;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
   */
  sConfig.Channel = ADC_CHANNEL_3;
  sConfig.Rank = ADC_REGULAR_RANK_4;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
   */
  sConfig.Channel = ADC_CHANNEL_4;
  sConfig.Rank = ADC_REGULAR_RANK_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
   */
  sConfig.Channel = ADC_CHANNEL_VREFINT;
  sConfig.Rank = ADC_REGULAR_RANK_6;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
   */
  sConfig.Channel = ADC_CHANNEL_TEMPSENSOR;
  sConfig.Rank = ADC_REGULAR_RANK_7;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC1_Init 2 */

  /* USER CODE END ADC1_Init 2 */
}

/**
 * @brief CAN Initialization Function
 * @param None
 * @retval None
 */
static void MX_CAN_Init(void)
{

  /* USER CODE BEGIN CAN_Init 0 */

  /* USER CODE END CAN_Init 0 */

  /* USER CODE BEGIN CAN_Init 1 */

  /* USER CODE END CAN_Init 1 */
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 16;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_1TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = DISABLE;
  hcan.Init.AutoWakeUp = DISABLE;
  hcan.Init.AutoRetransmission = DISABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN_Init 2 */

  /* USER CODE END CAN_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_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
  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};
  TIM_IC_InitTypeDef sConfigIC = {0};

  /* USER CODE BEGIN TIM2_Init 1 */

  /* USER CODE END TIM2_Init 1 */
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 719;
  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();
  }
  if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
  sConfigIC.ICFilter = 15;
  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
  sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
  sConfigIC.ICFilter = 0;
  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != 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_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 719;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 199;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_OC_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_OnePulse_Init(&htim3, TIM_OPMODE_SINGLE) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC1;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_TIMING;
  sConfigOC.Pulse = 198;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_OC_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM3_Init 2 */

  /* USER CODE END TIM3_Init 2 */
}

/**
 * @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};

  /* USER CODE BEGIN TIM4_Init 1 */

  /* USER CODE END TIM4_Init 1 */
  htim4.Instance = TIM4;
  htim4.Init.Prescaler = 719;
  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim4.Init.Period = 9999;
  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();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM4_Init 2 */

  /* USER CODE END TIM4_Init 2 */
}

/**
 * @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 = 19200;
  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};

  /* 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(LED_Blink_GPIO_Port, LED_Blink_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, SPI_CS_Clk_Pin | SPI_CS_D_Pin | ENA_AUX_5V_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : LED_Blink_Pin */
  GPIO_InitStruct.Pin = LED_Blink_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LED_Blink_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : SPI_CS_Clk_Pin SPI_CS_D_Pin ENA_AUX_5V_Pin */
  GPIO_InitStruct.Pin = SPI_CS_Clk_Pin | SPI_CS_D_Pin | ENA_AUX_5V_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 pin : STARTER_ON_Pin */
  GPIO_InitStruct.Pin = STARTER_ON_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(STARTER_ON_GPIO_Port, &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 */