/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 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 */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc3;
ADC_HandleTypeDef hadc4;
DMA_HandleTypeDef hdma_adc3;
DMA_HandleTypeDef hdma_adc4;

COMP_HandleTypeDef hcomp5;
COMP_HandleTypeDef hcomp7;

CORDIC_HandleTypeDef hcordic;

DAC_HandleTypeDef hdac1;
DAC_HandleTypeDef hdac4;

FMAC_HandleTypeDef hfmac;

HRTIM_HandleTypeDef hhrtim1;

TIM_HandleTypeDef htim1;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */

uint16_t time = 0;

#include <stdint.h>
const uint16_t pwm_sine[500] = {
    0, 0, 0, 0, 0, 0, 1027, 1198, 1369, 1540,
    1711, 1882, 2053, 2224, 2394, 2565, 2735, 2906, 3076, 3246,
    3416, 3586, 3755, 3925, 4094, 4263, 4433, 4601, 4770, 4939,
    5107, 5275, 5443, 5611, 5778, 5945, 6112, 6279, 6445, 6612,
    6778, 6943, 7109, 7274, 7439, 7603, 7768, 7932, 8095, 8259,
    8422, 8584, 8747, 8909, 9070, 9231, 9392, 9553, 9713, 9873,
    10032, 10191, 10350, 10508, 10666, 10823, 10980, 11136, 11292, 11448,
    11603, 11758, 11912, 12065, 12219, 12371, 12524, 12675, 12827, 12977,
    13128, 13277, 13427, 13575, 13723, 13871, 14018, 14164, 14310, 14456,
    14601, 14745, 14888, 15031, 15174, 15316, 15457, 15597, 15737, 15877,
    16015, 16154, 16291, 16428, 16564, 16699, 16834, 16968, 17102, 17235,
    17367, 17498, 17629, 17759, 17889, 18017, 18145, 18272, 18399, 18525,
    18650, 18774, 18897, 19020, 19142, 19264, 19384, 19504, 19623, 19741,
    19858, 19975, 20091, 20206, 20320, 20434, 20546, 20658, 20769, 20879,
    20988, 21097, 21205, 21311, 21417, 21523, 21627, 21730, 21833, 21935,
    22035, 22135, 22234, 22333, 22430, 22526, 22622, 22717, 22810, 22903,
    22995, 23086, 23176, 23265, 23354, 23441, 23527, 23613, 23697, 23781,
    23864, 23945, 24026, 24106, 24185, 24263, 24339, 24415, 24490, 24564,
    24637, 24710, 24781, 24851, 24920, 24988, 25055, 25121, 25186, 25251,
    25314, 25376, 25437, 25497, 25556, 25615, 25672, 25728, 25783, 25837,
    25890, 25942, 25993, 26043, 26092, 26139, 26186, 26232, 26277, 26321,
    26363, 26405, 26445, 26485, 26523, 26561, 26597, 26633, 26667, 26700,
    26732, 26763, 26793, 26822, 26850, 26877, 26903, 26928, 26951, 26974,
    26995, 27016, 27035, 27053, 27071, 27087, 27102, 27116, 27129, 27141,
    27151, 27161, 27170, 27177, 27184, 27189, 27193, 27197, 27199, 27200,
    27200, 27199, 27197, 27193, 27189, 27184, 27177, 27170, 27161, 27151,
    27141, 27129, 27116, 27102, 27087, 27071, 27053, 27035, 27016, 26995,
    26974, 26951, 26928, 26903, 26877, 26850, 26822, 26793, 26763, 26732,
    26700, 26667, 26633, 26597, 26561, 26523, 26485, 26445, 26405, 26363,
    26321, 26277, 26232, 26186, 26139, 26092, 26043, 25993, 25942, 25890,
    25837, 25783, 25728, 25672, 25615, 25556, 25497, 25437, 25376, 25314,
    25251, 25186, 25121, 25055, 24988, 24920, 24851, 24781, 24710, 24637,
    24564, 24490, 24415, 24339, 24263, 24185, 24106, 24026, 23945, 23864,
    23781, 23697, 23613, 23527, 23441, 23354, 23265, 23176, 23086, 22995,
    22903, 22810, 22717, 22622, 22526, 22430, 22333, 22234, 22135, 22035,
    21935, 21833, 21730, 21627, 21523, 21417, 21311, 21205, 21097, 20988,
    20879, 20769, 20658, 20546, 20434, 20320, 20206, 20091, 19975, 19858,
    19741, 19623, 19504, 19384, 19264, 19142, 19020, 18897, 18774, 18650,
    18525, 18399, 18272, 18145, 18017, 17889, 17759, 17629, 17498, 17367,
    17235, 17102, 16968, 16834, 16699, 16564, 16428, 16291, 16154, 16015,
    15877, 15737, 15597, 15457, 15316, 15174, 15031, 14888, 14745, 14601,
    14456, 14310, 14164, 14018, 13871, 13723, 13575, 13427, 13277, 13128,
    12977, 12827, 12675, 12524, 12371, 12219, 12065, 11912, 11758, 11603,
    11448, 11292, 11136, 10980, 10823, 10666, 10508, 10350, 10191, 10032,
    9873, 9713, 9553, 9392, 9231, 9070, 8909, 8747, 8584, 8422,
    8259, 8095, 7932, 7768, 7603, 7439, 7274, 7109, 6943, 6778,
    6612, 6445, 6279, 6112, 5945, 5778, 5611, 5443, 5275, 5107,
    4939, 4770, 4601, 4433, 4263, 4094, 3925, 3755, 3586, 3416,
    3246, 3076, 2906, 2735, 2565, 2394, 2224, 2053, 1882, 1711,
    1540, 1369, 1198, 1027, 0, 0, 0, 0, 0, 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_TIM1_Init(void);
static void MX_CORDIC_Init(void);
static void MX_FMAC_Init(void);
static void MX_ADC3_Init(void);
static void MX_ADC4_Init(void);
static void MX_COMP5_Init(void);
static void MX_COMP7_Init(void);
static void MX_DAC1_Init(void);
static void MX_DAC4_Init(void);
static void MX_HRTIM1_Init(void);
static void MX_USART1_UART_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_DMA_Init();
  MX_TIM1_Init();
  MX_CORDIC_Init();
  MX_FMAC_Init();
  MX_ADC3_Init();
  MX_ADC4_Init();
  MX_COMP5_Init();
  MX_COMP7_Init();
  MX_DAC1_Init();
  MX_DAC4_Init();
  MX_HRTIM1_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */

  HAL_ADCEx_Calibration_Start(&hadc3, ADC_SINGLE_ENDED);
  HAL_ADCEx_Calibration_Start(&hadc4, ADC_SINGLE_ENDED);

//  HAL_DAC_SetValue(&hdac1, DAC_CHANNEL_2, DAC_ALIGN_12B_R, );//voltage
  HAL_DAC_SetValue(&hdac4, DAC_CHANNEL_1, DAC_ALIGN_12B_R, 3500);//current
//  HAL_DAC_Start(&hdac1, DAC_CHANNEL_2);
  HAL_DAC_Start(&hdac4, DAC_CHANNEL_1); //current



  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */


  HAL_HRTIM_WaveformCountStart(&hhrtim1,HRTIM_TIMERID_MASTER|HRTIM_TIMERID_TIMER_A|HRTIM_TIMERID_TIMER_B);
  HAL_TIM_Base_Start_IT(&htim1);
  char dtext[20] = "Startup \n\r";
  HAL_UART_Transmit(&huart1,(uint8_t *)(dtext),strlen(dtext),10);
  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};

  /** Configure the main internal regulator output voltage
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV4;
  RCC_OscInitStruct.PLL.PLLN = 34;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  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_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief ADC3 Initialization Function
  * @param None
  * @retval None
  */
static void MX_ADC3_Init(void)
{

  /* USER CODE BEGIN ADC3_Init 0 */

  /* USER CODE END ADC3_Init 0 */

  ADC_MultiModeTypeDef multimode = {0};
  ADC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN ADC3_Init 1 */

  /* USER CODE END ADC3_Init 1 */

  /** Common config
  */
  hadc3.Instance = ADC3;
  hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
  hadc3.Init.Resolution = ADC_RESOLUTION_12B;
  hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc3.Init.GainCompensation = 0;
  hadc3.Init.ScanConvMode = ADC_SCAN_DISABLE;
  hadc3.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc3.Init.LowPowerAutoWait = DISABLE;
  hadc3.Init.ContinuousConvMode = ENABLE;
  hadc3.Init.NbrOfConversion = 1;
  hadc3.Init.DiscontinuousConvMode = DISABLE;
  hadc3.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc3.Init.DMAContinuousRequests = ENABLE;
  hadc3.Init.Overrun = ADC_OVR_DATA_OVERWRITTEN;
  hadc3.Init.OversamplingMode = DISABLE;
  if (HAL_ADC_Init(&hadc3) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure the ADC multi-mode
  */
  multimode.Mode = ADC_MODE_INDEPENDENT;
  if (HAL_ADCEx_MultiModeConfigChannel(&hadc3, &multimode) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
  */
  sConfig.Channel = ADC_CHANNEL_5;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_247CYCLES_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC3_Init 2 */

  /* USER CODE END ADC3_Init 2 */

}

/**
  * @brief ADC4 Initialization Function
  * @param None
  * @retval None
  */
static void MX_ADC4_Init(void)
{

  /* USER CODE BEGIN ADC4_Init 0 */

  /* USER CODE END ADC4_Init 0 */

  ADC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN ADC4_Init 1 */

  /* USER CODE END ADC4_Init 1 */

  /** Common config
  */
  hadc4.Instance = ADC4;
  hadc4.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
  hadc4.Init.Resolution = ADC_RESOLUTION_12B;
  hadc4.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc4.Init.GainCompensation = 0;
  hadc4.Init.ScanConvMode = ADC_SCAN_DISABLE;
  hadc4.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc4.Init.LowPowerAutoWait = DISABLE;
  hadc4.Init.ContinuousConvMode = ENABLE;
  hadc4.Init.NbrOfConversion = 1;
  hadc4.Init.DiscontinuousConvMode = DISABLE;
  hadc4.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc4.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc4.Init.DMAContinuousRequests = ENABLE;
  hadc4.Init.Overrun = ADC_OVR_DATA_OVERWRITTEN;
  hadc4.Init.OversamplingMode = DISABLE;
  if (HAL_ADC_Init(&hadc4) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
  */
  sConfig.Channel = ADC_CHANNEL_4;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_247CYCLES_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc4, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC4_Init 2 */

  /* USER CODE END ADC4_Init 2 */

}

/**
  * @brief COMP5 Initialization Function
  * @param None
  * @retval None
  */
static void MX_COMP5_Init(void)
{

  /* USER CODE BEGIN COMP5_Init 0 */

  /* USER CODE END COMP5_Init 0 */

  /* USER CODE BEGIN COMP5_Init 1 */

  /* USER CODE END COMP5_Init 1 */
  hcomp5.Instance = COMP5;
  hcomp5.Init.InputPlus = COMP_INPUT_PLUS_IO1;
  hcomp5.Init.InputMinus = COMP_INPUT_MINUS_DAC1_CH2;
  hcomp5.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED;
  hcomp5.Init.Hysteresis = COMP_HYSTERESIS_NONE;
  hcomp5.Init.BlankingSrce = COMP_BLANKINGSRC_NONE;
  hcomp5.Init.TriggerMode = COMP_TRIGGERMODE_IT_RISING;
  if (HAL_COMP_Init(&hcomp5) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN COMP5_Init 2 */

  /* USER CODE END COMP5_Init 2 */

}

/**
  * @brief COMP7 Initialization Function
  * @param None
  * @retval None
  */
static void MX_COMP7_Init(void)
{

  /* USER CODE BEGIN COMP7_Init 0 */

  /* USER CODE END COMP7_Init 0 */

  /* USER CODE BEGIN COMP7_Init 1 */

  /* USER CODE END COMP7_Init 1 */
  hcomp7.Instance = COMP7;
  hcomp7.Init.InputPlus = COMP_INPUT_PLUS_IO1;
  hcomp7.Init.InputMinus = COMP_INPUT_MINUS_DAC4_CH1;
  hcomp7.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED;
  hcomp7.Init.Hysteresis = COMP_HYSTERESIS_NONE;
  hcomp7.Init.BlankingSrce = COMP_BLANKINGSRC_NONE;
  hcomp7.Init.TriggerMode = COMP_TRIGGERMODE_IT_RISING;
  if (HAL_COMP_Init(&hcomp7) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN COMP7_Init 2 */

  /* USER CODE END COMP7_Init 2 */

}

/**
  * @brief CORDIC Initialization Function
  * @param None
  * @retval None
  */
static void MX_CORDIC_Init(void)
{

  /* USER CODE BEGIN CORDIC_Init 0 */

  /* USER CODE END CORDIC_Init 0 */

  /* USER CODE BEGIN CORDIC_Init 1 */

  /* USER CODE END CORDIC_Init 1 */
  hcordic.Instance = CORDIC;
  if (HAL_CORDIC_Init(&hcordic) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CORDIC_Init 2 */

  /* USER CODE END CORDIC_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 OUT2 config
  */
  sConfig.DAC_HighFrequency = DAC_HIGH_FREQUENCY_INTERFACE_MODE_AUTOMATIC;
  sConfig.DAC_DMADoubleDataMode = DISABLE;
  sConfig.DAC_SignedFormat = DISABLE;
  sConfig.DAC_SampleAndHold = DAC_SAMPLEANDHOLD_DISABLE;
  sConfig.DAC_Trigger = DAC_TRIGGER_NONE;
  sConfig.DAC_Trigger2 = DAC_TRIGGER_NONE;
  sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_DISABLE;
  sConfig.DAC_ConnectOnChipPeripheral = DAC_CHIPCONNECT_INTERNAL;
  sConfig.DAC_UserTrimming = DAC_TRIMMING_FACTORY;
  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 DAC4 Initialization Function
  * @param None
  * @retval None
  */
static void MX_DAC4_Init(void)
{

  /* USER CODE BEGIN DAC4_Init 0 */

  /* USER CODE END DAC4_Init 0 */

  DAC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN DAC4_Init 1 */

  /* USER CODE END DAC4_Init 1 */

  /** DAC Initialization
  */
  hdac4.Instance = DAC4;
  if (HAL_DAC_Init(&hdac4) != HAL_OK)
  {
    Error_Handler();
  }

  /** DAC channel OUT1 config
  */
  sConfig.DAC_HighFrequency = DAC_HIGH_FREQUENCY_INTERFACE_MODE_AUTOMATIC;
  sConfig.DAC_DMADoubleDataMode = DISABLE;
  sConfig.DAC_SignedFormat = DISABLE;
  sConfig.DAC_SampleAndHold = DAC_SAMPLEANDHOLD_DISABLE;
  sConfig.DAC_Trigger = DAC_TRIGGER_NONE;
  sConfig.DAC_Trigger2 = DAC_TRIGGER_NONE;
  sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_DISABLE;
  sConfig.DAC_ConnectOnChipPeripheral = DAC_CHIPCONNECT_INTERNAL;
  sConfig.DAC_UserTrimming = DAC_TRIMMING_FACTORY;
  if (HAL_DAC_ConfigChannel(&hdac4, &sConfig, DAC_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN DAC4_Init 2 */

  /* USER CODE END DAC4_Init 2 */

}

/**
  * @brief FMAC Initialization Function
  * @param None
  * @retval None
  */
static void MX_FMAC_Init(void)
{

  /* USER CODE BEGIN FMAC_Init 0 */

  /* USER CODE END FMAC_Init 0 */

  /* USER CODE BEGIN FMAC_Init 1 */

  /* USER CODE END FMAC_Init 1 */
  hfmac.Instance = FMAC;
  if (HAL_FMAC_Init(&hfmac) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN FMAC_Init 2 */

  /* USER CODE END FMAC_Init 2 */

}

/**
  * @brief HRTIM1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_HRTIM1_Init(void)
{

  /* USER CODE BEGIN HRTIM1_Init 0 */

  /* USER CODE END HRTIM1_Init 0 */

  HRTIM_EventCfgTypeDef pEventCfg = {0};
  HRTIM_TimeBaseCfgTypeDef pTimeBaseCfg = {0};
  HRTIM_TimerCfgTypeDef pTimerCfg = {0};
  HRTIM_TimerCtlTypeDef pTimerCtl = {0};
  HRTIM_CompareCfgTypeDef pCompareCfg = {0};
  HRTIM_OutputCfgTypeDef pOutputCfg = {0};

  /* USER CODE BEGIN HRTIM1_Init 1 */

  /* USER CODE END HRTIM1_Init 1 */
  hhrtim1.Instance = HRTIM1;
  hhrtim1.Init.HRTIMInterruptResquests = HRTIM_IT_NONE;
  hhrtim1.Init.SyncOptions = HRTIM_SYNCOPTION_NONE;
  if (HAL_HRTIM_Init(&hhrtim1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_DLLCalibrationStart(&hhrtim1, HRTIM_CALIBRATIONRATE_3) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_PollForDLLCalibration(&hhrtim1, 10) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_EventPrescalerConfig(&hhrtim1, HRTIM_EVENTPRESCALER_DIV1) != HAL_OK)
  {
    Error_Handler();
  }
  pEventCfg.Source = HRTIM_EEV1SRC_COMP2_OUT;
  pEventCfg.Polarity = HRTIM_EVENTPOLARITY_HIGH;
  pEventCfg.Sensitivity = HRTIM_EVENTSENSITIVITY_LEVEL;
  pEventCfg.FastMode = HRTIM_EVENTFASTMODE_DISABLE;
  if (HAL_HRTIM_EventConfig(&hhrtim1, HRTIM_EVENT_1, &pEventCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimeBaseCfg.Period = 0xD480;
  pTimeBaseCfg.RepetitionCounter = 0x00;
  pTimeBaseCfg.PrescalerRatio = HRTIM_PRESCALERRATIO_MUL32;
  pTimeBaseCfg.Mode = HRTIM_MODE_CONTINUOUS;
  if (HAL_HRTIM_TimeBaseConfig(&hhrtim1, HRTIM_TIMERINDEX_MASTER, &pTimeBaseCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimerCfg.InterruptRequests = HRTIM_MASTER_IT_NONE;
  pTimerCfg.DMARequests = HRTIM_MASTER_DMA_NONE;
  pTimerCfg.DMASrcAddress = 0x0000;
  pTimerCfg.DMADstAddress = 0x0000;
  pTimerCfg.DMASize = 0x1;
  pTimerCfg.HalfModeEnable = HRTIM_HALFMODE_DISABLED;
  pTimerCfg.InterleavedMode = HRTIM_INTERLEAVED_MODE_DISABLED;
  pTimerCfg.StartOnSync = HRTIM_SYNCSTART_DISABLED;
  pTimerCfg.ResetOnSync = HRTIM_SYNCRESET_DISABLED;
  pTimerCfg.DACSynchro = HRTIM_DACSYNC_NONE;
  pTimerCfg.PreloadEnable = HRTIM_PRELOAD_ENABLED;
  pTimerCfg.UpdateGating = HRTIM_UPDATEGATING_INDEPENDENT;
  pTimerCfg.BurstMode = HRTIM_TIMERBURSTMODE_MAINTAINCLOCK;
  pTimerCfg.RepetitionUpdate = HRTIM_UPDATEONREPETITION_ENABLED;
  pTimerCfg.ReSyncUpdate = HRTIM_TIMERESYNC_UPDATE_UNCONDITIONAL;
  if (HAL_HRTIM_WaveformTimerConfig(&hhrtim1, HRTIM_TIMERINDEX_MASTER, &pTimerCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimeBaseCfg.RepetitionCounter = 0x0;
  if (HAL_HRTIM_TimeBaseConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_A, &pTimeBaseCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimerCtl.UpDownMode = HRTIM_TIMERUPDOWNMODE_UP;
  pTimerCtl.GreaterCMP1 = HRTIM_TIMERGTCMP1_GREATER;
  pTimerCtl.DualChannelDacEnable = HRTIM_TIMER_DCDE_DISABLED;
  if (HAL_HRTIM_WaveformTimerControl(&hhrtim1, HRTIM_TIMERINDEX_TIMER_A, &pTimerCtl) != HAL_OK)
  {
    Error_Handler();
  }
  pTimerCfg.InterruptRequests = HRTIM_TIM_IT_NONE;
  pTimerCfg.DMARequests = HRTIM_TIM_DMA_NONE;
  pTimerCfg.RepetitionUpdate = HRTIM_UPDATEONREPETITION_DISABLED;
  pTimerCfg.PushPull = HRTIM_TIMPUSHPULLMODE_DISABLED;
  pTimerCfg.FaultEnable = HRTIM_TIMFAULTENABLE_NONE;
  pTimerCfg.FaultLock = HRTIM_TIMFAULTLOCK_READWRITE;
  pTimerCfg.DeadTimeInsertion = HRTIM_TIMDEADTIMEINSERTION_DISABLED;
  pTimerCfg.DelayedProtectionMode = HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_DISABLED;
  pTimerCfg.UpdateTrigger = HRTIM_TIMUPDATETRIGGER_NONE;
  pTimerCfg.ResetTrigger = HRTIM_TIMRESETTRIGGER_NONE;
  pTimerCfg.ResetUpdate = HRTIM_TIMUPDATEONRESET_ENABLED;
  if (HAL_HRTIM_WaveformTimerConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_A, &pTimerCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_WaveformTimerConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_B, &pTimerCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pCompareCfg.CompareValue = 0x0;
  if (HAL_HRTIM_WaveformCompareConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_A, HRTIM_COMPAREUNIT_1, &pCompareCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pOutputCfg.Polarity = HRTIM_OUTPUTPOLARITY_LOW;
  pOutputCfg.SetSource = HRTIM_OUTPUTSET_TIMPER;
  pOutputCfg.ResetSource = HRTIM_OUTPUTRESET_TIMCMP1;
  pOutputCfg.IdleMode = HRTIM_OUTPUTIDLEMODE_NONE;
  pOutputCfg.IdleLevel = HRTIM_OUTPUTIDLELEVEL_ACTIVE;
  pOutputCfg.FaultLevel = HRTIM_OUTPUTFAULTLEVEL_NONE;
  pOutputCfg.ChopperModeEnable = HRTIM_OUTPUTCHOPPERMODE_DISABLED;
  pOutputCfg.BurstModeEntryDelayed = HRTIM_OUTPUTBURSTMODEENTRY_REGULAR;
  if (HAL_HRTIM_WaveformOutputConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_A, HRTIM_OUTPUT_TA1, &pOutputCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_WaveformOutputConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_B, HRTIM_OUTPUT_TB1, &pOutputCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pOutputCfg.Polarity = HRTIM_OUTPUTPOLARITY_HIGH;
  pOutputCfg.IdleLevel = HRTIM_OUTPUTIDLELEVEL_INACTIVE;
  if (HAL_HRTIM_WaveformOutputConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_A, HRTIM_OUTPUT_TA2, &pOutputCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_WaveformOutputConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_B, HRTIM_OUTPUT_TB2, &pOutputCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimeBaseCfg.RepetitionCounter = 0x00;
  if (HAL_HRTIM_TimeBaseConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_B, &pTimeBaseCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_WaveformTimerControl(&hhrtim1, HRTIM_TIMERINDEX_TIMER_B, &pTimerCtl) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_WaveformCompareConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_B, HRTIM_COMPAREUNIT_1, &pCompareCfg) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN HRTIM1_Init 2 */

  /* USER CODE END HRTIM1_Init 2 */
  HAL_HRTIM_MspPostInit(&hhrtim1);

}

/**
  * @brief TIM1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM1_Init(void)
{

  /* USER CODE BEGIN TIM1_Init 0 */

  /* USER CODE END TIM1_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM1_Init 1 */

  /* USER CODE END TIM1_Init 1 */
  htim1.Instance = TIM1;
  htim1.Init.Prescaler = 170-1;
  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim1.Init.Period = 20;
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.RepetitionCounter = 0;
  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM1_Init 2 */

  /* USER CODE END TIM1_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 */

}

/**
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMAMUX1_CLK_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);
  /* DMA1_Channel2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  /* USER CODE BEGIN MX_GPIO_Init_1 */

  /* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, ENABLE_DRVA_Pin|ENABLE_DRVB_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pins : ENABLE_DRVA_Pin ENABLE_DRVB_Pin */
  GPIO_InitStruct.Pin = ENABLE_DRVA_Pin|ENABLE_DRVB_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* USER CODE BEGIN MX_GPIO_Init_2 */

  /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

void HAL_TIM_PeriodElapsedCallback (TIM_HandleTypeDef * htim)
{
	if (htim == &htim1)		// 50khz timer
	{
		time++; // current time in 20us increments; -> 1000 = one period
		if (time >=1000) time = 0;
		if ((time >= 0) && (time < 500))
		{
			// positive half
			// set hrtim->A with pwm_sine[time]

			//HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_A].CMP1xR = pwm_sine[time];
			HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_A].CMP1xR = 0;
			HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_B].CMP1xR = pwm_sine[time];

			HAL_HRTIM_WaveformOutputStop(&hhrtim1,HRTIM_OUTPUT_TB1|HRTIM_OUTPUT_TA2);
			HAL_HRTIM_WaveformOutputStart(&hhrtim1,HRTIM_OUTPUT_TA1|HRTIM_OUTPUT_TB2);
			HAL_GPIO_WritePin(ENABLE_DRVA_GPIO_Port,ENABLE_DRVA_Pin,GPIO_PIN_SET);
			HAL_GPIO_WritePin(ENABLE_DRVB_GPIO_Port,ENABLE_DRVB_Pin,GPIO_PIN_SET);


		}
		else if ((time >= 500) && (time < 1000))
		{
			// negative half
			// set hrtim->B with pwm_sine[time]

			//HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_B].CMP1xR = pwm_sine[time-500];
			HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_B].CMP1xR = 0;
			HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_A].CMP1xR = pwm_sine[time-500];

			HAL_HRTIM_WaveformOutputStop(&hhrtim1,HRTIM_OUTPUT_TA1|HRTIM_OUTPUT_TB2);
			HAL_HRTIM_WaveformOutputStart(&hhrtim1,HRTIM_OUTPUT_TB1|HRTIM_OUTPUT_TA2);
		}

	}
}

void HAL_COMP_TriggerCallback(COMP_HandleTypeDef *hcomp)
{
	HAL_HRTIM_WaveformOutputStop(&hhrtim1,HRTIM_OUTPUT_TB2|HRTIM_OUTPUT_TB1|HRTIM_OUTPUT_TA2|HRTIM_OUTPUT_TA1);
	HAL_TIM_Base_Stop_IT(&htim1);
	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 */
	 char etext[20] = "Error \n\r";
	  HAL_UART_Transmit(&huart1,(uint8_t *)(etext),strlen(etext),10);
  __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 */