/* 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, 548, 822, 1096, 1370, 1644, 1917, 2191, 2465,
    2738, 3012, 3285, 3558, 3831, 4104, 4376, 4649, 4921, 5193,
    5465, 5737, 6009, 6280, 6551, 6822, 7092, 7362, 7632, 7902,
    8171, 8440, 8709, 8977, 9245, 9512, 9779, 10046, 10313, 10579,
    10844, 11109, 11374, 11638, 11902, 12165, 12428, 12691, 12952, 13214,
    13474, 13735, 13994, 14254, 14512, 14770, 15028, 15285, 15541, 15796,
    16051, 16306, 16559, 16812, 17065, 17317, 17568, 17818, 18068, 18316,
    18565, 18812, 19059, 19305, 19550, 19794, 20038, 20281, 20523, 20764,
    21004, 21244, 21483, 21720, 21957, 22194, 22429, 22663, 22897, 23129,
    23361, 23592, 23821, 24050, 24278, 24505, 24731, 24956, 25180, 25403,
    25625, 25846, 26066, 26285, 26502, 26719, 26935, 27150, 27363, 27576,
    27787, 27997, 28207, 28415, 28622, 28828, 29032, 29236, 29438, 29639,
    29839, 30038, 30236, 30432, 30628, 30822, 31015, 31206, 31396, 31586,
    31773, 31960, 32145, 32329, 32512, 32694, 32874, 33053, 33230, 33407,
    33582, 33755, 33927, 34098, 34268, 34436, 34603, 34769, 34933, 35095,
    35257, 35417, 35575, 35732, 35888, 36042, 36195, 36346, 36496, 36645,
    36792, 36938, 37082, 37225, 37366, 37505, 37644, 37780, 37916, 38049,
    38182, 38312, 38442, 38569, 38695, 38820, 38943, 39065, 39185, 39303,
    39420, 39535, 39649, 39761, 39872, 39981, 40088, 40194, 40298, 40401,
    40502, 40602, 40699, 40796, 40890, 40983, 41075, 41164, 41252, 41339,
    41424, 41507, 41588, 41668, 41747, 41823, 41898, 41971, 42043, 42113,
    42181, 42248, 42313, 42376, 42438, 42497, 42556, 42612, 42667, 42720,
    42772, 42821, 42869, 42916, 42960, 43003, 43045, 43084, 43122, 43158,
    43192, 43225, 43256, 43285, 43313, 43339, 43363, 43385, 43406, 43425,
    43442, 43458, 43471, 43484, 43494, 43503, 43509, 43515, 43518, 43520,
    43520, 43518, 43515, 43509, 43503, 43494, 43484, 43471, 43458, 43442,
    43425, 43406, 43385, 43363, 43339, 43313, 43285, 43256, 43225, 43192,
    43158, 43122, 43084, 43045, 43003, 42960, 42916, 42869, 42821, 42772,
    42720, 42667, 42612, 42556, 42497, 42438, 42376, 42313, 42248, 42181,
    42113, 42043, 41971, 41898, 41823, 41747, 41668, 41588, 41507, 41424,
    41339, 41252, 41164, 41075, 40983, 40890, 40796, 40699, 40602, 40502,
    40401, 40298, 40194, 40088, 39981, 39872, 39761, 39649, 39535, 39420,
    39303, 39185, 39065, 38943, 38820, 38695, 38569, 38442, 38312, 38182,
    38049, 37916, 37780, 37644, 37505, 37366, 37225, 37082, 36938, 36792,
    36645, 36496, 36346, 36195, 36042, 35888, 35732, 35575, 35417, 35257,
    35095, 34933, 34769, 34603, 34436, 34268, 34098, 33927, 33755, 33582,
    33407, 33230, 33053, 32874, 32694, 32512, 32329, 32145, 31960, 31773,
    31586, 31396, 31206, 31015, 30822, 30628, 30432, 30236, 30038, 29839,
    29639, 29438, 29236, 29032, 28828, 28622, 28415, 28207, 27997, 27787,
    27576, 27363, 27150, 26935, 26719, 26502, 26285, 26066, 25846, 25625,
    25403, 25180, 24956, 24731, 24505, 24278, 24050, 23821, 23592, 23361,
    23129, 22897, 22663, 22429, 22194, 21957, 21720, 21483, 21244, 21004,
    20764, 20523, 20281, 20038, 19794, 19550, 19305, 19059, 18812, 18565,
    18316, 18068, 17818, 17568, 17317, 17065, 16812, 16559, 16306, 16051,
    15796, 15541, 15285, 15028, 14770, 14512, 14254, 13994, 13735, 13474,
    13214, 12952, 12691, 12428, 12165, 11902, 11638, 11374, 11109, 10844,
    10579, 10313, 10046, 9779, 9512, 9245, 8977, 8709, 8440, 8171,
    7902, 7632, 7362, 7092, 6822, 6551, 6280, 6009, 5737, 5465,
    5193, 4921, 4649, 4376, 4104, 3831, 3558, 3285, 3012, 2738,
    2465, 2191, 1917, 1644, 1370, 1096, 822, 548, 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_GPIO_WritePin(ENABLE_DRVA_GPIO_Port,ENABLE_DRVA_Pin,GPIO_PIN_RESET);
  HAL_GPIO_WritePin(ENABLE_DRVB_GPIO_Port,ENABLE_DRVA_Pin,GPIO_PIN_RESET);


  /* 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);
  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_NONE;
  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_NONE;
  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_DISABLED;
  pTimerCfg.UpdateGating = HRTIM_UPDATEGATING_INDEPENDENT;
  pTimerCfg.BurstMode = HRTIM_TIMERBURSTMODE_MAINTAINCLOCK;
  pTimerCfg.RepetitionUpdate = HRTIM_UPDATEONREPETITION_DISABLED;
  pTimerCfg.ReSyncUpdate = HRTIM_TIMERESYNC_UPDATE_UNCONDITIONAL;
  if (HAL_HRTIM_WaveformTimerConfig(&hhrtim1, HRTIM_TIMERINDEX_MASTER, &pTimerCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_TimeBaseConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_A, &pTimeBaseCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimerCtl.UpDownMode = HRTIM_TIMERUPDOWNMODE_UP;
  pTimerCtl.GreaterCMP1 = HRTIM_TIMERGTCMP1_EQUAL;
  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.PreloadEnable = HRTIM_PRELOAD_ENABLED;
  pTimerCfg.RepetitionUpdate = HRTIM_UPDATEONREPETITION_ENABLED;
  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_TIMER_A;
  pTimerCfg.ResetTrigger = HRTIM_TIMRESETTRIGGER_MASTER_PER;
  pTimerCfg.ResetUpdate = HRTIM_TIMUPDATEONRESET_ENABLED;
  if (HAL_HRTIM_WaveformTimerConfig(&hhrtim1, HRTIM_TIMERINDEX_TIMER_A, &pTimerCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimerCfg.UpdateTrigger = HRTIM_TIMUPDATETRIGGER_TIMER_B;
  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_HIGH;
  pOutputCfg.SetSource = HRTIM_OUTPUTSET_TIMPER;
  pOutputCfg.ResetSource = HRTIM_OUTPUTRESET_TIMCMP1;
  pOutputCfg.IdleMode = HRTIM_OUTPUTIDLEMODE_NONE;
  pOutputCfg.IdleLevel = HRTIM_OUTPUTIDLELEVEL_INACTIVE;
  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();
  }
  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();
  }
  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_B].CMP1xR = 0xD480;

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


		}
		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];
			HRTIM1->sTimerxRegs[HRTIM_TIMERINDEX_TIMER_A].CMP1xR = 0xD480;

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

	}
}


/* 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 */