/* USER CODE BEGIN Header */

/**
this avsdmu
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

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

/* USER CODE BEGIN Includes */

/* 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 but_gpio GPIOB
#define but_set_gr_pin GPIO_PIN_5
#define but_set_line_pin GPIO_PIN_6
#define but_run_pin GPIO_PIN_7
#define led_gpio GPIOB
#define led_set_gr_pin GPIO_PIN_9
#define led_left GPIO_PIN_10
#define led_right GPIO_PIN_9
#define led_set_line_pin GPIO_PIN_10
#define mor1_gpio GPIOB
#define mor2_gpio GPIOB
#define mor1_pin_1 GPIO_PIN_14
#define mor1_pin_2 GPIO_PIN_15
#define mor2_pin_1 GPIO_PIN_12
#define mor2_pin_2 GPIO_PIN_13
#define hcsr_gpio GPIOB
#define trig_pin GPIO_PIN_10
#define echo_pin GPIO_PIN_11
#define max_speed 1000
#define speed (max_speed*0.6)
#define min_speed max_speed*0
#define ir 7
#define KS 1000
//#define pos_m (ir*KS-KS)/2
#define pos_m 3000
/* USER CODE END PM */

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

ADC_HandleTypeDef hadc1;
DMA_HandleTypeDef hdma_adc1;

TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;

/* USER CODE BEGIN PV */

volatile uint16_t ADC_VAL[8];
volatile uint16_t min_val[8]={364,384,377,394,379,356,388,0};
volatile uint16_t max_val[8]={2744,2840,2700,2714,2864,2617,2883,0};
volatile uint16_t thresh_hold[8]={1554,1612,1538,1554,1635,1486,1635,0};
volatile uint8_t line_bool[8];
uint8_t get_adc_now=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_TIM3_Init(void);
static void MX_TIM4_Init(void);
/* USER CODE BEGIN PFP */

void ADC_Select_CH0 (void);

void ADC_Select_CH1 (void);
void ADC_Select_CH2 (void);
void ADC_Select_CH3 (void);
void ADC_Select_CH4 (void);
void ADC_Select_CH5 (void);
void ADC_Select_CH6 (void);
void ADC_Select_CH7 (void);
void ADC_Select_CH8 (void);
/* USER CODE END PFP */

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

/* USER CODE BEGIN 0 */
volatile uint32_t time_process;
volatile uint8_t count_=0;
volatile uint16_t distance_arr[5];
volatile uint16_t distance_now;
/// pid

int last_err,output,err_sum;
float p = 0.5; //0.215
float i =0;
float d = 0; /// 0.1
uint8_t run_ =0;
volatile uint16_t left_motor;
volatile uint16_t right_motor;
uint8_t first_line=0;
volatile int pos_x=0;

volatile uint32_t avgs=0;

volatile uint32_t sums=0;
volatile uint32_t map_adc[8];
volatile uint8_t state=0;
///
void delay_us(uint16_t time)
{
__HAL_TIM_SET_COUNTER(&htim3,0); //
while (__HAL_TIM_GET_COUNTER(&htim3) < time); //
}
uint16_t read_timer3()
{
return TIM3->CNT;
}
void hcsr_test()
{
state=0;
HAL_TIM_Base_Start(&htim3);
HAL_GPIO_WritePin(GPIOB,trig_pin,GPIO_PIN_SET);
delay_us(5);
state=1;
HAL_GPIO_WritePin(GPIOB,trig_pin,GPIO_PIN_RESET);
uint16_t timeout_count=HAL_GetTick();
while(HAL_GPIO_ReadPin(GPIOB,echo_pin)==0 || (HAL_GetTick()-
timeout_count)>300);
state=2;
__HAL_TIM_SET_COUNTER(&htim3,0); //
timeout_count=HAL_GetTick();
while((HAL_GPIO_ReadPin(GPIOB,echo_pin)==1)|| (HAL_GetTick()-
timeout_count)>300)
{
// timeout_count=HAL_GetTick();
}
state=3;
uint16_t time_pulse=read_timer3();
distance_now = (uint16_t)(time_pulse/2.0/29.412); // s=v*t --> 29.412 cm / ms
--> s=v*t
if(distance_now > 300)distance_now=300;
else if(distance_now < 2)distance_now=2;
HAL_TIM_Base_Stop(&htim3);
}

void get_adc_value()
{
uint32_t start_ = HAL_GetTick();
/*
ADC_Select_CH1();
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[0] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);
ADC_Select_CH2();
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[1] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);
ADC_Select_CH8();
 HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[7] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);
*/

ADC_Select_CH3();
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[2] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);
ADC_Select_CH4();
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[3] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);

ADC_Select_CH5();
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[4] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);

ADC_Select_CH6();
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[5] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);

ADC_Select_CH7();
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[6] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);

time_process=HAL_GetTick()-start_;
}

void get_adc_value2()
{
uint32_t start_ = HAL_GetTick();
ADC_Select_CH0();
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[0] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);
ADC_Select_CH1();
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[1] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);

ADC_Select_CH2();
 HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[2] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);
ADC_Select_CH3();
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[3] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);

ADC_Select_CH4();
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[4] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);

ADC_Select_CH5();
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[5] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);

ADC_Select_CH6();
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, 1000);
ADC_VAL[6] = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);

time_process=HAL_GetTick()-start_;
}

void motor1_act(int speed_)

{
TIM4->CCR1=speed_;
HAL_GPIO_WritePin(mor1_gpio,mor1_pin_1,GPIO_PIN_SET);
HAL_GPIO_WritePin(mor1_gpio,mor1_pin_2,GPIO_PIN_RESET);
//HAL_GPIO_WritePin(mor1_gpio,GPIO_PIN_6,GPIO_PIN_SET);
}
void motor2_act(int speed_)
{
TIM4->CCR2=speed_;
HAL_GPIO_WritePin(mor1_gpio,mor2_pin_2,GPIO_PIN_SET);
HAL_GPIO_WritePin(mor1_gpio,mor2_pin_1,GPIO_PIN_RESET);
}
void line_follow()
{
int err = ADC_VAL[3]-ADC_VAL[5]; ////// 7 6 5 4 3 2 1 0 --> middle = 3 4
5
output=p*err + d*(err-last_err); /// err > 0 -> 3>5 -> can quay phai -> l>r
last_err=err;
left_motor=speed+output;
right_motor=speed-output;
if(left_motor >max_speed)left_motor=max_speed;
 else if(left_motor<min_speed)left_motor=min_speed;
if(right_motor>max_speed)right_motor=max_speed;
else if(right_motor<min_speed)right_motor=min_speed;
//motor_act();
}
void button_test()
{
if(HAL_GPIO_ReadPin(but_gpio,but_set_gr_pin) == 0)
{
HAL_GPIO_WritePin(led_gpio,led_set_gr_pin,GPIO_PIN_SET);
//get_sample();
//HAL_Delay(100);
}
if(HAL_GPIO_ReadPin(but_gpio,but_set_line_pin)==0)
{
//HAL_GPIO_WritePin(led_gpio,led_set_gr_pin,GPIO_PIN_RESET);
HAL_GPIO_WritePin(led_gpio,led_set_line_pin,GPIO_PIN_RESET);
HAL_GPIO_WritePin(led_gpio,led_set_gr_pin,GPIO_PIN_SET);
run_=0;
left_motor=0;
right_motor=0;
first_line=0;
//motor_act();
}
if(HAL_GPIO_ReadPin(but_gpio,but_run_pin)==0)
{
HAL_GPIO_WritePin(led_gpio,led_set_line_pin,GPIO_PIN_SET);
run_=1;
HAL_Delay(100);
//count_++;
}
}
void motor_act_2()
{
left_motor=speed-output;
right_motor=speed+output;
if(left_motor >max_speed)left_motor=max_speed;
else if(left_motor<min_speed)left_motor=min_speed;
if(right_motor>max_speed)right_motor=max_speed;
else if(right_motor<min_speed)right_motor=min_speed;
motor1_act(left_motor);
motor2_act(500);
}
long map(long x, long in_min, long in_max, long out_min, long out_max) {
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
long constrain(long val,long val_min,long val_max)
{
if(val>val_max)return val_max;
if(val<val_min)return val_min;
}
void get_sample()
{
static uint8_t first=0;
get_adc_value2();
//while(get_adc_now==0);
for(int i = 0 ;i<7;i++)
{
min_val[i]=ADC_VAL[i];
 max_val[i]=ADC_VAL[i];
}
first=1;
while(first==1)
{
avgs=0;
sums=0;
uint8_t get_line=0;
get_adc_value2();
for(int i = 0 ;i<7;i++)
{
if(min_val[i] >ADC_VAL[i])min_val[i]=ADC_VAL[i]; // 0- 4095 -->
nen trang nho nhat nên den lon nhat
if(max_val[i] <ADC_VAL[i])max_val[i]=ADC_VAL[i];
thresh_hold[i]=(min_val[i]+max_val[i])/2; // < thresh_hold -->
nen trang > nen den

map_adc[i]=map(ADC_VAL[i],min_val[i],max_val[i],0,KS);
map_adc[i]=constrain(map_adc[i],0,KS); /// input --> 0-> 7000 ---> 0-
4095 10 bit ADC stm32 3700 1000 --> 4000 500 --> 0-1000 230->1000 --> <50
if(map_adc[i]>230)get_line=1;
if(map_adc[i]>45)
{
avgs+=(long)map_adc[i]*(i*KS); /// lech trai hay lech phai -->
3500 < 3500 -> lech phai hoac trai -> > 3500 -> nguoc lai
sums+=map_adc[i];
}
}
if(get_line)pos_x=avgs/sums; // posx -> vi tri --> neu ma dang ben trai ->
quay sang phai
else if(pos_x<pos_m)pos_x=0; // --> PID -> input 3500 output 0-7000 ->
>3500 --> lech trai <3500 -> lech phai
else pos_x=pos_m*2;
}
}
void move_robot_2()
{
if(thresh_hold[3] != 0)
{

uint8_t get_line=0;
get_adc_value2();
avgs=0;
sums=0;
uint8_t total_line=0;
for (uint8_t i = 0 ;i<7;i++)
{
/*
uint16_t denominator = max_val[i] - min_val[i];

if (denominator != 0)
{
ADC_VAL[i] = (((int32_t)ADC_VAL[i]) - min_val[i]) * 1000 / denominator;
}
*/
if(ADC_VAL[i]>thresh_hold[i])total_line+=1; //
map_adc[i]=map(ADC_VAL[i],min_val[i],max_val[i],0,KS);
map_adc[i]=constrain(map_adc[i],0,KS); /// input --> 0-> 7000 ---> 0-
4095 10 bit ADC stm32 3700 1000 --> 4000 500 --> 0-1000 230->1000 --> <50
 if(map_adc[i]>230)get_line=1;
if(map_adc[i]>45)
{
avgs+=(long)map_adc[i]*(i*KS); /// lech trai hay lech phai -->
3500 < 3500 -> lech phai hoac trai -> > 3500 -> nguoc lai
sums+=map_adc[i];
}
}
/*
if(total_line>=5 && first_line==0)
{
left_motor=0;
right_motor=0;
motor1_act(0);
motor2_act(0);
HAL_Delay(10000);
}
*/
if(get_line)pos_x=avgs/sums; // posx -> vi tri --> neu ma dang ben trai ->
quay sang phai
else if(pos_x<pos_m)pos_x=0; // --> PID -> input 3500 output 0-7000 ->
>3500 --> lech trai <3500 -> lech phai
else pos_x=pos_m*2;
int err_now =pos_x-pos_m; // >3500 -> right > left --> right+=output >3500 ->
4000 --> 3500 --> 100
static int sum_ ;
sum_+=err_now;
sum_=constrain(sum_,-500,500); //
output=p*err_now+d*(err_now-last_err)+i*sum_; // 400 --> lech trai --> quay
phai --> toc do banh trai > toc do banh phai
last_err=err_now; /// --> 18 --> toc do banh trai +18 -> toc do banh phai -18

motor_act_2();
}
}
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc) {
get_adc_now=1;
//move_robot();
}
/* 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_TIM3_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
//HAL_ADC_Start_DMA(&hadc1, (uint32_t *)ADC_VAL, 8); // start adc in DMA mode

//servo(10);
/* USER CODE END 2 */

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

/* USER CODE BEGIN 3 */

//button_test();
//get_sample();

//motor1_act(400);
// motor2_act(700);

//get_adc_value();
//motor_test();
move_robot_2();
//motor_test();
// //servo(10);
// hcsr_test();
}
/* 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 = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
 if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}

/**
* @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};

/* USER CODE BEGIN TIM3_Init 1 */

/* USER CODE END TIM3_Init 1 */

htim3.Instance = TIM3;
htim3.Init.Prescaler = 71;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 65535;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
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();
}
/* 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_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 = 71;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_1) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */

/* USER CODE END TIM4_Init 2 */

HAL_TIM_MspPostInit(&htim4);

/**
* 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(GPIOB, GPIO_PIN_10|GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14
|GPIO_PIN_15|GPIO_PIN_9, GPIO_PIN_RESET);

/*Configure GPIO pins : PB10 PB12 PB13 PB14

PB15 PB9 */
GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14
|GPIO_PIN_15|GPIO_PIN_9;
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 : PB11 */

GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

/* USER CODE BEGIN 4 */

void ADC_Select_CH0 (void)
{
ADC_ChannelConfTypeDef sConfig = {0};
/** Configure for the selected ADC regular channel its corresponding rank
in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_1;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
}
void ADC_Select_CH1 (void)
{
ADC_ChannelConfTypeDef sConfig = {0};
 /** Configure for the selected ADC regular channel its corresponding rank
in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
}

void ADC_Select_CH2 (void)

{
ADC_ChannelConfTypeDef sConfig = {0};
/** Configure for the selected ADC regular channel its corresponding rank
in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_2;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
}
void ADC_Select_CH4 (void)
{
ADC_ChannelConfTypeDef sConfig = {0};
/** Configure for the selected ADC regular channel its corresponding rank
in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
}

void ADC_Select_CH3 (void)

{
ADC_ChannelConfTypeDef sConfig = {0};
/** Configure for the selected ADC regular channel its corresponding rank
in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_9;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
}
void ADC_Select_CH6 (void)
{
ADC_ChannelConfTypeDef sConfig = {0};
/** Configure for the selected ADC regular channel its corresponding rank
in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
}

void ADC_Select_CH5 (void)

{
ADC_ChannelConfTypeDef sConfig = {0};
/** Configure for the selected ADC regular channel its corresponding rank
in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
}
void ADC_Select_CH7(void)
{
ADC_ChannelConfTypeDef sConfig = {0};
/** Configure for the selected ADC regular channel its corresponding rank
in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
}

void ADC_Select_CH8 (void)

{
ADC_ChannelConfTypeDef sConfig = {0};
/** Configure for the selected ADC regular channel its corresponding rank
in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE END 4 */

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

#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */