/* 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 */

/* 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 ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;

DAC_HandleTypeDef hdac1;

FDCAN_HandleTypeDef hfdcan1;
FDCAN_HandleTypeDef hfdcan2;

I2C_HandleTypeDef hi2c1;

UART_HandleTypeDef huart1;
UART_HandleTypeDef huart3;

PCD_HandleTypeDef hpcd_USB_DRD_FS;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_ADC1_Init(void);
static void MX_DAC1_Init(void);
static void MX_FDCAN1_Init(void);
static void MX_FDCAN2_Init(void);
static void MX_I2C1_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_USART3_UART_Init(void);
static void MX_USB_DRD_FS_PCD_Init(void);
/* USER CODE BEGIN PFP */

/* 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 */

  /* 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_ADC1_Init();
  MX_DAC1_Init();
  MX_FDCAN1_Init();
  MX_FDCAN2_Init();
  MX_I2C1_Init();
  MX_USART1_UART_Init();
  MX_USART3_UART_Init();
  MX_USB_DRD_FS_PCD_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* 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};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Configure the main internal regulator output voltage
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_HSI48;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
  RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the peripherals clocks
  */
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN|RCC_PERIPHCLK_USART1
                              |RCC_PERIPHCLK_USART3|RCC_PERIPHCLK_I2C1
                              |RCC_PERIPHCLK_USB|RCC_PERIPHCLK_ADC;
  PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK1;
  PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_PCLK1;
  PeriphClkInit.AdcClockSelection = RCC_ADCCLKSOURCE_SYSCLK;
  PeriphClkInit.Usart3ClockSelection = RCC_USART3CLKSOURCE_PCLK1;
  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_HSI48;
  PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PCLK1;

  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 */
  /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
  */
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc1.Init.LowPowerAutoWait = DISABLE;
  hadc1.Init.LowPowerAutoPowerOff = DISABLE;
  hadc1.Init.ContinuousConvMode = DISABLE;
  hadc1.Init.NbrOfConversion = 1;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc1.Init.DMAContinuousRequests = DISABLE;
  hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc1.Init.SamplingTimeCommon1 = ADC_SAMPLETIME_1CYCLE_5;
  hadc1.Init.SamplingTimeCommon2 = ADC_SAMPLETIME_1CYCLE_5;
  hadc1.Init.OversamplingMode = DISABLE;
  hadc1.Init.TriggerFrequencyMode = ADC_TRIGGER_FREQ_HIGH;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Regular Channel
  */
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLINGTIME_COMMON_1;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC1_Init 2 */

  /* USER CODE END ADC1_Init 2 */

}

/**
  * @brief DAC1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_DAC1_Init(void)
{

  /* USER CODE BEGIN DAC1_Init 0 */

  /* USER CODE END DAC1_Init 0 */

  DAC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN DAC1_Init 1 */

  /* USER CODE END DAC1_Init 1 */
  /** DAC Initialization
  */
  hdac1.Instance = DAC1;
  if (HAL_DAC_Init(&hdac1) != HAL_OK)
  {
    Error_Handler();
  }
  /** DAC channel OUT1 config
  */
  sConfig.DAC_SampleAndHold = DAC_SAMPLEANDHOLD_DISABLE;
  sConfig.DAC_Trigger = DAC_TRIGGER_NONE;
  sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_ENABLE;
  sConfig.DAC_ConnectOnChipPeripheral = DAC_CHIPCONNECT_DISABLE;
  sConfig.DAC_UserTrimming = DAC_TRIMMING_FACTORY;
  if (HAL_DAC_ConfigChannel(&hdac1, &sConfig, DAC_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  /** DAC channel OUT2 config
  */
  sConfig.DAC_ConnectOnChipPeripheral = DAC_CHIPCONNECT_DISABLE;
  if (HAL_DAC_ConfigChannel(&hdac1, &sConfig, DAC_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN DAC1_Init 2 */

  /* USER CODE END DAC1_Init 2 */

}

/**
  * @brief FDCAN1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_FDCAN1_Init(void)
{

  /* USER CODE BEGIN FDCAN1_Init 0 */

  /* USER CODE END FDCAN1_Init 0 */

  /* USER CODE BEGIN FDCAN1_Init 1 */

  /* USER CODE END FDCAN1_Init 1 */
  hfdcan1.Instance = FDCAN1;
  hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
  hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan1.Init.AutoRetransmission = DISABLE;
  hfdcan1.Init.TransmitPause = DISABLE;
  hfdcan1.Init.ProtocolException = DISABLE;
  hfdcan1.Init.NominalPrescaler = 1;
  hfdcan1.Init.NominalSyncJumpWidth = 1;
  hfdcan1.Init.NominalTimeSeg1 = 2;
  hfdcan1.Init.NominalTimeSeg2 = 2;
  hfdcan1.Init.DataPrescaler = 1;
  hfdcan1.Init.DataSyncJumpWidth = 1;
  hfdcan1.Init.DataTimeSeg1 = 1;
  hfdcan1.Init.DataTimeSeg2 = 1;
  hfdcan1.Init.StdFiltersNbr = 0;
  hfdcan1.Init.ExtFiltersNbr = 0;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN FDCAN1_Init 2 */

  /* USER CODE END FDCAN1_Init 2 */

}

/**
  * @brief FDCAN2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_FDCAN2_Init(void)
{

  /* USER CODE BEGIN FDCAN2_Init 0 */

  /* USER CODE END FDCAN2_Init 0 */

  /* USER CODE BEGIN FDCAN2_Init 1 */

  /* USER CODE END FDCAN2_Init 1 */
  hfdcan2.Instance = FDCAN2;
  hfdcan2.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
  hfdcan2.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan2.Init.AutoRetransmission = DISABLE;
  hfdcan2.Init.TransmitPause = DISABLE;
  hfdcan2.Init.ProtocolException = DISABLE;
  hfdcan2.Init.NominalPrescaler = 1;
  hfdcan2.Init.NominalSyncJumpWidth = 1;
  hfdcan2.Init.NominalTimeSeg1 = 2;
  hfdcan2.Init.NominalTimeSeg2 = 2;
  hfdcan2.Init.DataPrescaler = 1;
  hfdcan2.Init.DataSyncJumpWidth = 1;
  hfdcan2.Init.DataTimeSeg1 = 1;
  hfdcan2.Init.DataTimeSeg2 = 1;
  hfdcan2.Init.StdFiltersNbr = 0;
  hfdcan2.Init.ExtFiltersNbr = 0;
  hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN FDCAN2_Init 2 */

  /* USER CODE END FDCAN2_Init 2 */

}

/**
  * @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.Timing = 0x00303D5B;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Analogue filter
  */
  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Digital filter
  */
  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C1_Init 2 */

  /* USER CODE END I2C1_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 = 115200;
  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;
  huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_Init 2 */

}

/**
  * @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_7B;
  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.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart3) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetTxFifoThreshold(&huart3, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetRxFifoThreshold(&huart3, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART3_Init 2 */

  /* USER CODE END USART3_Init 2 */

}

/**
  * @brief USB_DRD_FS Initialization Function
  * @param None
  * @retval None
  */
static void MX_USB_DRD_FS_PCD_Init(void)
{

  /* USER CODE BEGIN USB_DRD_FS_Init 0 */

  /* USER CODE END USB_DRD_FS_Init 0 */

  /* USER CODE BEGIN USB_DRD_FS_Init 1 */

  /* USER CODE END USB_DRD_FS_Init 1 */
  hpcd_USB_DRD_FS.Instance = USB_DRD_FS;
  hpcd_USB_DRD_FS.Init.dev_endpoints = 8;
  hpcd_USB_DRD_FS.Init.Host_channels = 8;
  hpcd_USB_DRD_FS.Init.speed = USB_DRD_SPEED_FS;
  hpcd_USB_DRD_FS.Init.phy_itface = PCD_PHY_EMBEDDED;
  hpcd_USB_DRD_FS.Init.Sof_enable = DISABLE;
  hpcd_USB_DRD_FS.Init.low_power_enable = DISABLE;
  hpcd_USB_DRD_FS.Init.lpm_enable = DISABLE;
  hpcd_USB_DRD_FS.Init.battery_charging_enable = DISABLE;
  hpcd_USB_DRD_FS.Init.vbus_sensing_enable = DISABLE;
  hpcd_USB_DRD_FS.Init.bulk_doublebuffer_enable = DISABLE;
  hpcd_USB_DRD_FS.Init.iso_singlebuffer_enable = DISABLE;
  if (HAL_PCD_Init(&hpcd_USB_DRD_FS) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USB_DRD_FS_Init 2 */

  /* USER CODE END USB_DRD_FS_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_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOE_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, MC_NTC_Pin|MC_DissipativeBrake_Pin|LCD_CS_OD_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(EX_RESET_OD_GPIO_Port, EX_RESET_OD_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOD, LED3_Pin|LED4_Pin|MicroSD_CS_OD_Pin|LED1_Pin
                          |LED2_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOE, FDCAN1_STBY_Pin|FDCAN2_STBY_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pins : MC_NTC_Pin MC_DissipativeBrake_Pin */
  GPIO_InitStruct.Pin = MC_NTC_Pin|MC_DissipativeBrake_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 : EX_RESET_OD_Pin */
  GPIO_InitStruct.Pin = EX_RESET_OD_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(EX_RESET_OD_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : MC_PFCsync1_Pin */
  GPIO_InitStruct.Pin = MC_PFCsync1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF0_LPTIM1;
  HAL_GPIO_Init(MC_PFCsync1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : JOY_UP_Pin JOY_DOWN_Pin JOY_RIGHT_Pin JOY_LEFT_Pin */
  GPIO_InitStruct.Pin = JOY_UP_Pin|JOY_DOWN_Pin|JOY_RIGHT_Pin|JOY_LEFT_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pin : JOY_SEL_Pin */
  GPIO_InitStruct.Pin = JOY_SEL_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(JOY_SEL_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : PA7 */
  GPIO_InitStruct.Pin = GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF0_SPI1;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : MC_PFCpwm_Pin MC_EnB_Pin */
  GPIO_InitStruct.Pin = MC_PFCpwm_Pin|MC_EnB_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF1_TIM3;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pin : MC_EmergencySTOP_Pin */
  GPIO_InitStruct.Pin = MC_EmergencySTOP_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF2_TIM1;
  HAL_GPIO_Init(MC_EmergencySTOP_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : MC_UH_Pin MC_VH_Pin MC_WH_Pin */
  GPIO_InitStruct.Pin = MC_UH_Pin|MC_VH_Pin|MC_WH_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF2_TIM1;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : MC_EnA_Pin */
  GPIO_InitStruct.Pin = MC_EnA_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF1_TIM3;
  HAL_GPIO_Init(MC_EnA_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : LED3_Pin LED4_Pin LED1_Pin LED2_Pin */
  GPIO_InitStruct.Pin = LED3_Pin|LED4_Pin|LED1_Pin|LED2_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

  /*Configure GPIO pin : SDcard_detect_Pin */
  GPIO_InitStruct.Pin = SDcard_detect_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(SDcard_detect_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : MC_PFCsync2_Pin */
  GPIO_InitStruct.Pin = MC_PFCsync2_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF2_TIM16;
  HAL_GPIO_Init(MC_PFCsync2_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : MicroSD_CS_OD_Pin */
  GPIO_InitStruct.Pin = MicroSD_CS_OD_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(MicroSD_CS_OD_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : MC_UL_Pin MC_VL_Pin MC_WL_Pin */
  GPIO_InitStruct.Pin = MC_UL_Pin|MC_VL_Pin|MC_WL_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF2_TIM1;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

  /*Configure GPIO pin : PB3 */
  GPIO_InitStruct.Pin = GPIO_PIN_3;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF0_SPI1;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : FDCAN1_STBY_Pin FDCAN2_STBY_Pin */
  GPIO_InitStruct.Pin = FDCAN1_STBY_Pin|FDCAN2_STBY_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

  /*Configure GPIO pin : LCD_CS_OD_Pin */
  GPIO_InitStruct.Pin = LCD_CS_OD_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LCD_CS_OD_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 */
  __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 */

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