合并 神秘小轮腿 到 MC_02

Added kalman_filter.c to the project structure for chassis state estimation. Updated Keil MDK project files (.uvprojx, .uvoptx) to include the new component and modified the debug watch window to monitor chassis variables.

.gitignore

@@ -1,136 +1,36 @@
-# Keil MDK-ARM generated files
+*.rar
 *.o
 *.d
 *.crf
 *.htm
-*.map
 *.dep
-*.uvguix.*
+*.map
-*.uvoptx
 *.bak
-*.orig
+*.lnp
-*.axf
+*.lst
-*.bin
+*.ini
-*.elf
+*.iex
-*.hex
+*.pyc
-*.lib
+*.sct
-*.a
+*.scvd
-*.exe
-
-# Keil project user settings
 *.uvguix
-*.uvgui.*
+*.dbg*
-*.uvopt
+*.uvguix.*
-Listings/
+.mxproject
-Objects/
+ 
 RTE/
-DebugConfig/
+Templates/
+Examples/
+底盘/
+!*.uvprojx
+!*.h
+!*.c
+!*.ioc
+!*.axf
+!*.bin
+!*.hex
 
-# CubeMX generated backup files
-*.tmp
-*#
-*~
-*.swp
-*.swo
-
-# System generated files
-Thumbs.db
-ehthumbs.db
-Desktop.ini
-$RECYCLE.BIN/
-.DS_Store
-.DS_Store?
-._*
-.Spotlight-V100
-.Trashes
-Icon?
-
-# IDE specific files
-.vscode/
-.idea/
-*.workspace
-*.project
-*.cproject
-*.settings/
-
-# Build directories
 build/
-Build/
+dist/
-BUILD/
+*.spec
-debug/
+*.exe
-Debug/
-DEBUG/
-release/
-Release/
-RELEASE/
-
-# HAL/LL library files (if using git submodules, you might want to keep these)
-# Drivers/STM32*/HAL_Driver/
-# Drivers/STM32*/LL_Driver/
-
-# Generated documentation
-html/
-latex/
-
-# Temporary files
-*.log
-*.tlog
-*.idb
-*.pdb
-*.ilk
-*.exp
-*.pch
-*.ipch
-*.sdf
-*.opensdf
-*.suo
-*.user
-*.ncb
-*.aps
-*.tags
-*.res
-
-# Memory dump files
-*.dmp
-*.mdmp
-
-# JLink files
-JLinkLog.txt
-JLinkSettings.ini
-
-# OpenOCD files
-openocd.log
-
-# ST-Link files
-STLinkUpgrade.log
-
-# Compiler specific
-*.[oa]
-*.so
-*.dll
-*.dylib
-
-# Package files
-*.tar.gz
-*.zip
-*.rar
-*.7z
-
-# Node.js (if using any web tools)
-node_modules/
-npm-debug.log*
-yarn-debug.log*
-yarn-error.log*
-
-# Python (if using any Python scripts)
-__pycache__/
-*.py[cod]
-*$py.class
-*.egg-info/
-.pytest_cache/
-
-# Custom additions for embedded development
-# Add any project-specific files you want to ignore here
-# Example:
-# custom_config.h
-# local_settings.txt

.settings/bundles-lock.store.json

@@ -0,0 +1,147 @@
+{
+  "resolved": [
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "cmake",
+          "version": "4.0.1+st.3"
+        }
+      ]
+    },
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "cmake",
+          "version": "4.0.1+st.3"
+        }
+      ]
+    },
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "cmake",
+          "version": "4.0.1+st.3"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "13.3.1+st.9",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32",
+          "version": "13.3.1+st.9"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "13.3.1+st.9",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32",
+          "version": "13.3.1+st.9"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "13.3.1+st.9",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32",
+          "version": "13.3.1+st.9"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32-13_3_1-description",
+      "version": "1.0.1+st.1",
+      "platform": "all",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32-13_3_1-description",
+          "version": ">=0.0.1"
+        }
+      ]
+    },
+    {
+      "name": "ninja",
+      "version": "1.13.1+st.1",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "ninja",
+          "version": "1.13.1+st.1"
+        }
+      ]
+    },
+    {
+      "name": "ninja",
+      "version": "1.13.1+st.1",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "ninja",
+          "version": "1.13.1+st.1"
+        }
+      ]
+    },
+    {
+      "name": "ninja",
+      "version": "1.13.1+st.1",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "ninja",
+          "version": "1.13.1+st.1"
+        }
+      ]
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "st-arm-clangd",
+          "version": "19.1.2+st.3"
+        }
+      ]
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "st-arm-clangd",
+          "version": "19.1.2+st.3"
+        }
+      ]
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "st-arm-clangd",
+          "version": "19.1.2+st.3"
+        }
+      ]
+    }
+  ]
+}

.settings/bundles.store.json

@@ -0,0 +1,20 @@
+{
+  "bundles": [
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3"
+    },
+    {
+      "name": "ninja",
+      "version": "1.13.1+st.1"
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "13.3.1+st.9"
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3"
+    }
+  ]
+}

.settings/ide.store.json

@@ -0,0 +1,6 @@
+{
+  "device": "STM32H723VGT6",
+  "core": "Cortex-M7",
+  "order": 0,
+  "toolchain": "GCC"
+}

.vscode/c_cpp_properties.json

@@ -0,0 +1,16 @@
+{
+    "configurations": [
+        {
+            "name": "STM32",
+            "compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json",
+            "macFrameworkPath": [
+                "/System/Library/Frameworks",
+                "/Library/Frameworks"
+            ],
+            "intelliSenseMode": "macos-clang-x64",
+            "cStandard": "c17",
+            "cppStandard": "c++14"
+        }
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,15 @@
+{
+    "cmake.cmakePath": "cube-cmake",
+    "cmake.configureArgs": [
+        "-DCMAKE_COMMAND=cube-cmake"
+    ],
+    "cmake.preferredGenerators": [
+        "Ninja"
+    ],
+    "stm32cube-ide-clangd.path": "cube",
+    "stm32cube-ide-clangd.arguments": [
+        "starm-clangd",
+        "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc",
+        "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++"
+    ]
+}

BuzzerAlarm.hpp

@@ -0,0 +1,98 @@
+#pragma once
+
+// clang-format off
+/* === MODULE MANIFEST V2 ===
+module_description: 无源蜂鸣器报警模块 / Buzzer alarm module
+constructor_args:
+  - alarm_delay: 5000
+template_args: []
+required_hardware: pwm_buzzer
+depends: []
+=== END MANIFEST === */
+// clang-format on
+
+#include "app_framework.hpp"
+#include "pwm.hpp"
+
+class BuzzerAlarm : public LibXR::Application {
+public:
+  // NOLINTNEXTLINE
+  enum class NoteName { C = 0, Cs, D, Ds, E, F, Fs, G, Gs, A, As, B };
+
+  BuzzerAlarm(LibXR::HardwareContainer& hw, LibXR::ApplicationManager& app,
+              uint32_t alarm_delay)
+    :
+    alarm_delay_(alarm_delay),
+    pwm_(hw.template FindOrExit<LibXR::PWM>({"pwm_tim12_ch2"})) {
+    app.Register(*this);
+
+    auto error_callback = LibXR::Assert::Callback::Create(
+        [](bool in_isr, BuzzerAlarm* alarm, const char* file, uint32_t line) {
+          UNUSED(file);
+          UNUSED(line);
+
+          alarm->PlayNote(NoteName::D, 4, 600);
+          alarm->PlayNote(NoteName::E, 4, 600);
+          alarm->PlayNote(NoteName::G, 4, 600);
+          alarm->PlayNote(NoteName::E, 4, 600);
+          alarm->PlayNote(NoteName::D, 4, 300);
+          alarm->PlayNote(NoteName::E, 4, 150);
+          alarm->PlayNote(NoteName::D, 4, 300);
+          alarm->PlayNote(NoteName::C, 4, 300);
+          alarm->PlayNote(NoteName::A, 3, 900);
+          LibXR::Thread::Sleep(300);
+
+          alarm->PlayNote(NoteName::D, 4, 600);
+          alarm->PlayNote(NoteName::E, 4, 600);
+          alarm->PlayNote(NoteName::G, 4, 600);
+          alarm->PlayNote(NoteName::E, 4, 600);
+          alarm->PlayNote(NoteName::D, 4, 300);
+          alarm->PlayNote(NoteName::E, 4, 150);
+          alarm->PlayNote(NoteName::D, 4, 300);
+          alarm->PlayNote(NoteName::A, 3, 300);
+          alarm->PlayNote(NoteName::C, 4, 900);
+          if (!in_isr) {
+            LibXR::Thread::Sleep(alarm->alarm_delay_);
+          }
+        },
+        this);
+
+    LibXR::Assert::RegisterFatalErrorCallback(error_callback);
+    PlayNote(NoteName::B, 5, 200);
+    PlayNote(NoteName::G, 4, 200);
+    PlayNote(NoteName::B, 5, 400);
+    PlayNote(NoteName::G, 4, 200);
+    PlayNote(NoteName::B, 5, 400);
+    PlayNote(NoteName::G, 4, 200);
+    PlayNote(NoteName::D, 5, 400);
+    PlayNote(NoteName::G, 4, 200);
+    PlayNote(NoteName::C, 5, 200);
+    PlayNote(NoteName::C, 5, 200);
+    PlayNote(NoteName::G, 4, 200);
+    PlayNote(NoteName::B, 5, 200);
+    PlayNote(NoteName::C, 5, 200);
+  }
+
+  void Play(uint32_t freq, uint32_t duration) {
+    pwm_->SetConfig({freq});
+    pwm_->Enable();
+    pwm_->SetDutyCycle(0.5);
+    LibXR::Thread::Sleep(duration);
+    pwm_->Disable();
+  }
+
+  void PlayNote(NoteName note, uint32_t octave, uint32_t duration) {
+    int midi_num = static_cast<int>(note) + static_cast<int>((octave + 1) * 12);
+    float freq =
+        440.0f * std::pow(2.0f, (static_cast<float>(midi_num) - 69.0f) / 12.0f);
+    Play(static_cast<uint32_t>(freq), static_cast<uint32_t>(duration));
+  }
+
+  void OnMonitor() override {
+  }
+
+private:
+  uint32_t alarm_delay_;
+
+  LibXR::PWM* pwm_;
+};

CMakeLists.txt

@@ -19,7 +19,7 @@ if(NOT CMAKE_BUILD_TYPE)
 endif()
 
 # Set the project name
-set(CMAKE_PROJECT_NAME DevC)
+set(CMAKE_PROJECT_NAME CtrBoard-H7_ALL)
 
 # Enable compile command to ease indexing with e.g. clangd
 set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
@@ -46,11 +46,8 @@ target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     # Add user sources here
     # User/bsp sources
-    User/bsp/can.c
+    User/bsp/fdcan.c
-<<<<<<< HEAD
+    User/bsp/flash.c
-=======
-    User/bsp/dwt.c
->>>>>>> main
     User/bsp/gpio.c
     User/bsp/mm.c
     User/bsp/pwm.c
@@ -75,45 +72,65 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/bsp/uart.c
 
     # User/component sources
+    User/component/QuaternionEKF.c
     User/component/ahrs.c
-    User/component/cmd.c
+    User/component/crc16.c
+    User/component/crc8.c
+    User/component/error_detect.c
     User/component/filter.c
-    User/component/kinematics.c
+    User/component/freertos_cli.c
+    User/component/kalman_filter.c
     User/component/limiter.c
     User/component/lqr.c
     User/component/pid.c
+    User/component/speed_planner.c
     User/component/user_math.c
     User/component/vmc.c
 
     # User/device sources
+    User/device/ai.c
+    User/device/bmi088.c
     User/device/buzzer.c
     User/device/dm_imu.c
     User/device/dr16.c
+    User/device/gimbal_imu.c
     User/device/motor.c
     User/device/motor_dm.c
     User/device/motor_lk.c
     User/device/motor_lz.c
     User/device/motor_rm.c
-    User/device/rc_can.c
+    User/device/vision_bridge.c
+    User/device/vofa.c
+    User/device/mrobot.c
 
     # User/module sources
 >>>>>>> main
     User/module/balance_chassis.c
+    User/module/cmd.c
     User/module/config.c
+    User/module/gimbal.c
+    User/module/shoot.c
 
     # User/task sources
-    User/task/atti_esti.c
+    User/task/ai.c
+    User/task/atti_esit.c
     User/task/blink.c
+    User/task/cmd.c
     User/task/ctrl_chassis.c
 <<<<<<< HEAD
     User/task/imu.c
     User/task/init.c
 =======
     User/task/ctrl_gimbal.c
+    User/task/ctrl_shoot.c
+    User/task/debug.c
     User/task/init.c
+    User/task/monitor.c
+    User/task/music.c
     User/task/rc.c
->>>>>>> main
+    User/task/cli.c
     User/task/user_task.c
+    User/task/vofa.c
 )
 
 # Add include paths
@@ -133,6 +150,7 @@ list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
 # Add linked libraries
 target_link_libraries(${CMAKE_PROJECT_NAME}
     stm32cubemx
+    ${CMAKE_SOURCE_DIR}/Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfsp_math.a
 
     # Add user defined libraries
 )

CMakePresets.json

@@ -18,31 +18,11 @@
             }
         },
         {
-<<<<<<< HEAD
-=======
-            "name": "RelWithDebInfo",
-            "inherits": "default",
-            "cacheVariables": {
-                "CMAKE_BUILD_TYPE": "RelWithDebInfo"
-            }
-        },
-        {
->>>>>>> main
             "name": "Release",
             "inherits": "default",
             "cacheVariables": {
                 "CMAKE_BUILD_TYPE": "Release"
             }
-<<<<<<< HEAD
-=======
-        },
-        {
-            "name": "MinSizeRel",
-            "inherits": "default",
-            "cacheVariables": {
-                "CMAKE_BUILD_TYPE": "MinSizeRel"
-            }
->>>>>>> main
         }
     ],
     "buildPresets": [
@@ -51,21 +31,8 @@
             "configurePreset": "Debug"
         },
         {
-<<<<<<< HEAD
             "name": "Release",
             "configurePreset": "Release"
-=======
-            "name": "RelWithDebInfo",
-            "configurePreset": "RelWithDebInfo"
-        },
-        {
-            "name": "Release",
-            "configurePreset": "Release"
-        },
-        {
-            "name": "MinSizeRel",
-            "configurePreset": "MinSizeRel"
->>>>>>> main
         }
     ]
 }

Core/Inc/FreeRTOSConfig.h

@@ -51,17 +51,16 @@
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
   #include <stdint.h>
   extern uint32_t SystemCoreClock;
-  void xPortSysTickHandler(void);
 /* USER CODE BEGIN 0 */
   extern void configureTimerForRunTimeStats(void);
   extern unsigned long getRunTimeCounterValue(void);
 /* USER CODE END 0 */
 #endif
 #ifndef CMSIS_device_header
-#define CMSIS_device_header "stm32f4xx.h"
+#define CMSIS_device_header "stm32h7xx.h"
 #endif /* CMSIS_device_header */
 
-#define configENABLE_FPU                         1
+#define configENABLE_FPU                         0
 #define configENABLE_MPU                         0
 
 #define configUSE_PREEMPTION                     1
@@ -81,12 +80,9 @@
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        1
 #define configQUEUE_REGISTRY_SIZE                8
-#define configCHECK_FOR_STACK_OVERFLOW           2
 #define configUSE_RECURSIVE_MUTEXES              1
 #define configUSE_COUNTING_SEMAPHORES            1
-#define configENABLE_BACKWARD_COMPATIBILITY      0
 #define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
-#define configRECORD_STACK_HIGH_ADDRESS          1
 /* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
 /* Defaults to size_t for backward compatibility, but can be changed
    if lengths will always be less than the number of bytes in a size_t. */
@@ -116,22 +112,16 @@ to exclude the API function. */
 #define INCLUDE_vTaskPrioritySet             1
 #define INCLUDE_uxTaskPriorityGet            1
 #define INCLUDE_vTaskDelete                  1
-#define INCLUDE_vTaskCleanUpResources        1
+#define INCLUDE_vTaskCleanUpResources        0
 #define INCLUDE_vTaskSuspend                 1
 #define INCLUDE_vTaskDelayUntil              1
 #define INCLUDE_vTaskDelay                   1
 #define INCLUDE_xTaskGetSchedulerState       1
-#define INCLUDE_xEventGroupSetBitFromISR     1
 #define INCLUDE_xTimerPendFunctionCall       1
 #define INCLUDE_xQueueGetMutexHolder         1
-#define INCLUDE_xSemaphoreGetMutexHolder     1
-#define INCLUDE_pcTaskGetTaskName            1
 #define INCLUDE_uxTaskGetStackHighWaterMark  1
-#define INCLUDE_uxTaskGetStackHighWaterMark2 1
 #define INCLUDE_xTaskGetCurrentTaskHandle    1
 #define INCLUDE_eTaskGetState                1
-#define INCLUDE_xTaskAbortDelay              1
-#define INCLUDE_xTaskGetHandle               1
 
 /*
  * The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
@@ -177,7 +167,7 @@ standard names. */
 
 /* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */
 
-#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 1
+#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
 
 /* USER CODE BEGIN 2 */
 /* Definitions needed when configGENERATE_RUN_TIME_STATS is on */
@@ -187,7 +177,6 @@ standard names. */
 
 /* USER CODE BEGIN Defines */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
-// #define configAPPLICATION_ALLOCATED_HEAP         1
 /* USER CODE END Defines */
 
 #endif /* FREERTOS_CONFIG_H */

Core/Inc/adc.h

@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file

Core/Inc/bdma.h

@@ -0,0 +1,52 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    bdma.h
+  * @brief   This file contains all the function prototypes for
+  *          the bdma.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 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 */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __BDMA_H__
+#define __BDMA_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* DMA memory to memory transfer handles -------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_BDMA_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __BDMA_H__ */
+

Core/Inc/can.h

@@ -1,4 +1,7 @@
+<<<<<<< HEAD
 /* USER CODE BEGIN Header */
+=======
+>>>>>>> upper
 /**
   ******************************************************************************
   * @file    can.h
@@ -7,6 +10,7 @@
   ******************************************************************************
   * @attention
   *
+<<<<<<< HEAD
   * Copyright (c) 2025 STMicroelectronics.
   * All rights reserved.
   *
@@ -17,6 +21,18 @@
   ******************************************************************************
   */
 /* USER CODE END Header */
+=======
+  * <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under Ultimate Liberty license
+  * SLA0044, the "License"; You may not use this file except in compliance with
+  * the License. You may obtain a copy of the License at:
+  *                             www.st.com/SLA0044
+  *
+  ******************************************************************************
+  */
+>>>>>>> upper
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __CAN_H__
 #define __CAN_H__
@@ -33,7 +49,10 @@ extern "C" {
 /* USER CODE END Includes */
 
 extern CAN_HandleTypeDef hcan1;
+<<<<<<< HEAD
 
+=======
+>>>>>>> upper
 extern CAN_HandleTypeDef hcan2;
 
 /* USER CODE BEGIN Private defines */
@@ -53,3 +72,7 @@ void MX_CAN2_Init(void);
 
 #endif /* __CAN_H__ */
 
+<<<<<<< HEAD
+=======
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+>>>>>>> upper

Core/Inc/crc.h

@@ -1,4 +1,7 @@
+<<<<<<< HEAD
 /* USER CODE BEGIN Header */
+=======
+>>>>>>> upper
 /**
   ******************************************************************************
   * @file    crc.h
@@ -7,6 +10,7 @@
   ******************************************************************************
   * @attention
   *
+<<<<<<< HEAD
   * Copyright (c) 2025 STMicroelectronics.
   * All rights reserved.
   *
@@ -17,6 +21,18 @@
   ******************************************************************************
   */
 /* USER CODE END Header */
+=======
+  * <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under Ultimate Liberty license
+  * SLA0044, the "License"; You may not use this file except in compliance with
+  * the License. You may obtain a copy of the License at:
+  *                             www.st.com/SLA0044
+  *
+  ******************************************************************************
+  */
+>>>>>>> upper
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __CRC_H__
 #define __CRC_H__
@@ -50,3 +66,7 @@ void MX_CRC_Init(void);
 
 #endif /* __CRC_H__ */
 
+<<<<<<< HEAD
+=======
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+>>>>>>> upper

Core/Inc/dma.h

@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file

Core/Inc/fdcan.h

@@ -0,0 +1,58 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    fdcan.h
+  * @brief   This file contains all the function prototypes for
+  *          the fdcan.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 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 */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __FDCAN_H__
+#define __FDCAN_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern FDCAN_HandleTypeDef hfdcan1;
+
+extern FDCAN_HandleTypeDef hfdcan2;
+
+extern FDCAN_HandleTypeDef hfdcan3;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_FDCAN1_Init(void);
+void MX_FDCAN2_Init(void);
+void MX_FDCAN3_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __FDCAN_H__ */
+

Core/Inc/gpio.h

@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file

Core/Inc/i2c.h

@@ -1,4 +1,7 @@
+<<<<<<< HEAD
 /* USER CODE BEGIN Header */
+=======
+>>>>>>> upper
 /**
   ******************************************************************************
   * @file    i2c.h
@@ -7,6 +10,7 @@
   ******************************************************************************
   * @attention
   *
+<<<<<<< HEAD
   * Copyright (c) 2025 STMicroelectronics.
   * All rights reserved.
   *
@@ -17,6 +21,18 @@
   ******************************************************************************
   */
 /* USER CODE END Header */
+=======
+  * <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under Ultimate Liberty license
+  * SLA0044, the "License"; You may not use this file except in compliance with
+  * the License. You may obtain a copy of the License at:
+  *                             www.st.com/SLA0044
+  *
+  ******************************************************************************
+  */
+>>>>>>> upper
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __I2C_H__
 #define __I2C_H__
@@ -33,9 +49,13 @@ extern "C" {
 /* USER CODE END Includes */
 
 extern I2C_HandleTypeDef hi2c1;
+<<<<<<< HEAD
 
 extern I2C_HandleTypeDef hi2c2;
 
+=======
+extern I2C_HandleTypeDef hi2c2;
+>>>>>>> upper
 extern I2C_HandleTypeDef hi2c3;
 
 /* USER CODE BEGIN Private defines */
@@ -56,3 +76,7 @@ void MX_I2C3_Init(void);
 
 #endif /* __I2C_H__ */
 
+<<<<<<< HEAD
+=======
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+>>>>>>> upper

Core/Inc/main.h

@@ -7,13 +7,12 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.</center></h2>
+  * All rights reserved.
   *
-  * This software component is licensed by ST under Ultimate Liberty license
+  * This software is licensed under terms that can be found in the LICENSE file
-  * SLA0044, the "License"; You may not use this file except in compliance with
+  * in the root directory of this software component.
-  * the License. You may obtain a copy of the License at:
+  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *                             www.st.com/SLA0044
   *
   ******************************************************************************
   */
@@ -28,7 +27,7 @@ extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
-#include "stm32f4xx_hal.h"
+#include "stm32h7xx_hal.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -58,46 +57,40 @@ void Error_Handler(void);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
-#define LASER_Pin GPIO_PIN_8
+#define POWER_24V_2_Pin GPIO_PIN_13
-#define LASER_GPIO_Port GPIOC
+#define POWER_24V_2_GPIO_Port GPIOC
-#define CMPS_RST_Pin GPIO_PIN_6
+#define POWER_24V_1_Pin GPIO_PIN_14
-#define CMPS_RST_GPIO_Port GPIOG
+#define POWER_24V_1_GPIO_Port GPIOC
-#define IMU_HEAT_PWM_Pin GPIO_PIN_6
+#define POWER_5V_Pin GPIO_PIN_15
-#define IMU_HEAT_PWM_GPIO_Port GPIOF
+#define POWER_5V_GPIO_Port GPIOC
-#define LED_R_Pin GPIO_PIN_12
+#define ACCL_CS_Pin GPIO_PIN_0
-#define LED_R_GPIO_Port GPIOH
+#define ACCL_CS_GPIO_Port GPIOC
-#define CMPS_INT_Pin GPIO_PIN_3
+#define GYRO_CS_Pin GPIO_PIN_3
-#define CMPS_INT_GPIO_Port GPIOG
+#define GYRO_CS_GPIO_Port GPIOC
-#define CMPS_INT_EXTI_IRQn EXTI3_IRQn
+#define WS2812_Pin GPIO_PIN_7
-#define ADC_BAT_Pin GPIO_PIN_10
+#define WS2812_GPIO_Port GPIOA
-#define ADC_BAT_GPIO_Port GPIOF
+#define DCMI_PWDN_Pin GPIO_PIN_5
-#define LED_G_Pin GPIO_PIN_11
+#define DCMI_PWDN_GPIO_Port GPIOC
-#define LED_G_GPIO_Port GPIOH
+#define IMU_HEAT_Pin GPIO_PIN_1
-#define LED_B_Pin GPIO_PIN_10
+#define IMU_HEAT_GPIO_Port GPIOB
-#define LED_B_GPIO_Port GPIOH
+#define ACCL_INT_Pin GPIO_PIN_10
-#define HW0_Pin GPIO_PIN_0
+#define ACCL_INT_GPIO_Port GPIOE
-#define HW0_GPIO_Port GPIOC
+#define ACCL_INT_EXTI_IRQn EXTI15_10_IRQn
-#define HW1_Pin GPIO_PIN_1
+#define GYRO_INT_Pin GPIO_PIN_12
-#define HW1_GPIO_Port GPIOC
+#define GYRO_INT_GPIO_Port GPIOE
-#define HW2_Pin GPIO_PIN_2
+#define GYRO_INT_EXTI_IRQn EXTI15_10_IRQn
-#define HW2_GPIO_Port GPIOC
+#define LCD_CS_Pin GPIO_PIN_15
-#define BUZZER_Pin GPIO_PIN_14
+#define LCD_CS_GPIO_Port GPIOE
-#define BUZZER_GPIO_Port GPIOD
+#define LCD_BLK_Pin GPIO_PIN_10
-#define USER_KEY_Pin GPIO_PIN_0
+#define LCD_BLK_GPIO_Port GPIOB
-#define USER_KEY_GPIO_Port GPIOA
+#define LCD_RES_Pin GPIO_PIN_11
-#define USER_KEY_EXTI_IRQn EXTI0_IRQn
+#define LCD_RES_GPIO_Port GPIOB
-#define ACCL_CS_Pin GPIO_PIN_4
+#define DCMI_REST_Pin GPIO_PIN_12
-#define ACCL_CS_GPIO_Port GPIOA
+#define DCMI_REST_GPIO_Port GPIOB
-#define ACCL_INT_Pin GPIO_PIN_4
+#define BUZZER_Pin GPIO_PIN_15
-#define ACCL_INT_GPIO_Port GPIOC
+#define BUZZER_GPIO_Port GPIOB
-#define ACCL_INT_EXTI_IRQn EXTI4_IRQn
+#define LCD_DC_Pin GPIO_PIN_10
-#define GYRO_INT_Pin GPIO_PIN_5
+#define LCD_DC_GPIO_Port GPIOD
-#define GYRO_INT_GPIO_Port GPIOC
-#define GYRO_INT_EXTI_IRQn EXTI9_5_IRQn
-#define SPI2_CS_Pin GPIO_PIN_12
-#define SPI2_CS_GPIO_Port GPIOB
-#define GYRO_CS_Pin GPIO_PIN_0
-#define GYRO_CS_GPIO_Port GPIOB
 
 /* USER CODE BEGIN Private defines */
 

Core/Inc/octospi.h

@@ -0,0 +1,52 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    octospi.h
+  * @brief   This file contains all the function prototypes for
+  *          the octospi.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 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 */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __OCTOSPI_H__
+#define __OCTOSPI_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern OSPI_HandleTypeDef hospi1;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_OCTOSPI1_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OCTOSPI_H__ */
+

Core/Inc/rng.h

@@ -1,4 +1,7 @@
+<<<<<<< HEAD
 /* USER CODE BEGIN Header */
+=======
+>>>>>>> upper
 /**
   ******************************************************************************
   * @file    rng.h
@@ -7,6 +10,7 @@
   ******************************************************************************
   * @attention
   *
+<<<<<<< HEAD
   * Copyright (c) 2025 STMicroelectronics.
   * All rights reserved.
   *
@@ -17,6 +21,18 @@
   ******************************************************************************
   */
 /* USER CODE END Header */
+=======
+  * <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under Ultimate Liberty license
+  * SLA0044, the "License"; You may not use this file except in compliance with
+  * the License. You may obtain a copy of the License at:
+  *                             www.st.com/SLA0044
+  *
+  ******************************************************************************
+  */
+>>>>>>> upper
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __RNG_H__
 #define __RNG_H__
@@ -50,3 +66,7 @@ void MX_RNG_Init(void);
 
 #endif /* __RNG_H__ */
 
+<<<<<<< HEAD
+=======
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+>>>>>>> upper

Core/Inc/spi.h

@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file

Core/Inc/stm32f4xx_hal_conf.h

@@ -1,4 +1,7 @@
+<<<<<<< HEAD
 /* USER CODE BEGIN Header */
+=======
+>>>>>>> upper
 /**
   ******************************************************************************
   * @file    stm32f4xx_hal_conf_template.h
@@ -9,6 +12,7 @@
   ******************************************************************************
   * @attention
   *
+<<<<<<< HEAD
   * Copyright (c) 2017 STMicroelectronics.
   * All rights reserved.
   *
@@ -19,6 +23,18 @@
   ******************************************************************************
   */
 /* USER CODE END Header */
+=======
+  * <h2><center>&copy; Copyright (c) 2017 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
+  *
+  ******************************************************************************
+  */
+>>>>>>> upper
 
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __STM32F4xx_HAL_CONF_H
@@ -37,6 +53,7 @@
   */
 #define HAL_MODULE_ENABLED
 
+<<<<<<< HEAD
   /* #define HAL_CRYP_MODULE_ENABLED */
 #define HAL_ADC_MODULE_ENABLED
 #define HAL_CAN_MODULE_ENABLED
@@ -81,6 +98,52 @@
 /* #define HAL_SPDIFRX_MODULE_ENABLED */
 /* #define HAL_DFSDM_MODULE_ENABLED */
 /* #define HAL_LPTIM_MODULE_ENABLED */
+=======
+  #define HAL_ADC_MODULE_ENABLED
+/* #define HAL_CRYP_MODULE_ENABLED   */
+#define HAL_CAN_MODULE_ENABLED
+#define HAL_CRC_MODULE_ENABLED
+/* #define HAL_CAN_LEGACY_MODULE_ENABLED   */
+/* #define HAL_CRYP_MODULE_ENABLED   */
+/* #define HAL_DAC_MODULE_ENABLED   */
+/* #define HAL_DCMI_MODULE_ENABLED   */
+/* #define HAL_DMA2D_MODULE_ENABLED   */
+/* #define HAL_ETH_MODULE_ENABLED   */
+/* #define HAL_NAND_MODULE_ENABLED   */
+/* #define HAL_NOR_MODULE_ENABLED   */
+/* #define HAL_PCCARD_MODULE_ENABLED   */
+/* #define HAL_SRAM_MODULE_ENABLED   */
+/* #define HAL_SDRAM_MODULE_ENABLED   */
+/* #define HAL_HASH_MODULE_ENABLED   */
+#define HAL_I2C_MODULE_ENABLED
+/* #define HAL_I2S_MODULE_ENABLED   */
+/* #define HAL_IWDG_MODULE_ENABLED   */
+/* #define HAL_LTDC_MODULE_ENABLED   */
+#define HAL_RNG_MODULE_ENABLED
+/* #define HAL_RTC_MODULE_ENABLED   */
+/* #define HAL_SAI_MODULE_ENABLED   */
+/* #define HAL_SD_MODULE_ENABLED   */
+/* #define HAL_MMC_MODULE_ENABLED   */
+#define HAL_SPI_MODULE_ENABLED
+#define HAL_TIM_MODULE_ENABLED
+#define HAL_UART_MODULE_ENABLED
+/* #define HAL_USART_MODULE_ENABLED   */
+/* #define HAL_IRDA_MODULE_ENABLED   */
+/* #define HAL_SMARTCARD_MODULE_ENABLED   */
+/* #define HAL_SMBUS_MODULE_ENABLED   */
+/* #define HAL_WWDG_MODULE_ENABLED   */
+#define HAL_PCD_MODULE_ENABLED
+/* #define HAL_HCD_MODULE_ENABLED   */
+/* #define HAL_DSI_MODULE_ENABLED   */
+/* #define HAL_QSPI_MODULE_ENABLED   */
+/* #define HAL_QSPI_MODULE_ENABLED   */
+/* #define HAL_CEC_MODULE_ENABLED   */
+/* #define HAL_FMPI2C_MODULE_ENABLED   */
+/* #define HAL_FMPSMBUS_MODULE_ENABLED   */
+/* #define HAL_SPDIFRX_MODULE_ENABLED   */
+/* #define HAL_DFSDM_MODULE_ENABLED   */
+/* #define HAL_LPTIM_MODULE_ENABLED   */
+>>>>>>> upper
 #define HAL_GPIO_MODULE_ENABLED
 #define HAL_EXTI_MODULE_ENABLED
 #define HAL_DMA_MODULE_ENABLED
@@ -222,7 +285,11 @@
 /* Section 2: PHY configuration section */
 
 /* DP83848_PHY_ADDRESS Address*/
+<<<<<<< HEAD
 #define DP83848_PHY_ADDRESS
+=======
+#define DP83848_PHY_ADDRESS           0x01U
+>>>>>>> upper
 /* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
 #define PHY_RESET_DELAY                 0x000000FFU
 /* PHY Configuration delay */
@@ -252,10 +319,17 @@
 #define PHY_JABBER_DETECTION            ((uint16_t)0x0002U)  /*!< Jabber condition detected            */
 
 /* Section 4: Extended PHY Registers */
+<<<<<<< HEAD
 #define PHY_SR                          ((uint16_t))    /*!< PHY status register Offset                      */
 
 #define PHY_SPEED_STATUS                ((uint16_t))  /*!< PHY Speed mask                                  */
 #define PHY_DUPLEX_STATUS               ((uint16_t))  /*!< PHY Duplex mask                                 */
+=======
+#define PHY_SR                          ((uint16_t)0x10U)    /*!< PHY status register Offset                      */
+
+#define PHY_SPEED_STATUS                ((uint16_t)0x0002U)  /*!< PHY Speed mask                                  */
+#define PHY_DUPLEX_STATUS               ((uint16_t)0x0004U)  /*!< PHY Duplex mask                                 */
+>>>>>>> upper
 
 /* ################## SPI peripheral configuration ########################## */
 
@@ -327,10 +401,13 @@
   #include "stm32f4xx_hal_eth.h"
 #endif /* HAL_ETH_MODULE_ENABLED */
 
+<<<<<<< HEAD
 #ifdef HAL_ETH_LEGACY_MODULE_ENABLED
   #include "stm32f4xx_hal_eth_legacy.h"
 #endif /* HAL_ETH_LEGACY_MODULE_ENABLED */
 
+=======
+>>>>>>> upper
 #ifdef HAL_FLASH_MODULE_ENABLED
   #include "stm32f4xx_hal_flash.h"
 #endif /* HAL_FLASH_MODULE_ENABLED */
@@ -493,3 +570,8 @@
 #endif
 
 #endif /* __STM32F4xx_HAL_CONF_H */
+<<<<<<< HEAD
+=======
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+>>>>>>> upper

Core/Inc/stm32f4xx_it.h

@@ -23,7 +23,11 @@
 #define __STM32F4xx_IT_H
 
 #ifdef __cplusplus
+<<<<<<< HEAD
 extern "C" {
+=======
+ extern "C" {
+>>>>>>> upper
 #endif
 
 /* Private includes ----------------------------------------------------------*/
@@ -59,7 +63,10 @@ void EXTI3_IRQHandler(void);
 void EXTI4_IRQHandler(void);
 void DMA1_Stream1_IRQHandler(void);
 void DMA1_Stream2_IRQHandler(void);
+<<<<<<< HEAD
+=======
 void CAN1_TX_IRQHandler(void);
+>>>>>>> upper
 void CAN1_RX0_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
 void EXTI9_5_IRQHandler(void);
@@ -70,7 +77,10 @@ void TIM7_IRQHandler(void);
 void DMA2_Stream1_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
 void DMA2_Stream3_IRQHandler(void);
+<<<<<<< HEAD
+=======
 void CAN2_TX_IRQHandler(void);
+>>>>>>> upper
 void CAN2_RX0_IRQHandler(void);
 void CAN2_RX1_IRQHandler(void);
 void OTG_FS_IRQHandler(void);
@@ -87,3 +97,8 @@ void USART6_IRQHandler(void);
 #endif
 
 #endif /* __STM32F4xx_IT_H */
+<<<<<<< HEAD
+=======
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+>>>>>>> upper

Core/Inc/stm32h7xx_hal_conf.h

@@ -0,0 +1,514 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32h7xx_hal_conf.h
+  * @author  MCD Application Team
+  * @brief   HAL configuration file.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2017 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 */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef STM32H7xx_HAL_CONF_H
+#define STM32H7xx_HAL_CONF_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+
+/* ########################## Module Selection ############################## */
+/**
+  * @brief This is the list of modules to be used in the HAL driver
+  */
+#define HAL_MODULE_ENABLED
+
+  #define HAL_ADC_MODULE_ENABLED
+#define HAL_FDCAN_MODULE_ENABLED
+/* #define HAL_FMAC_MODULE_ENABLED   */
+/* #define HAL_CEC_MODULE_ENABLED   */
+/* #define HAL_COMP_MODULE_ENABLED   */
+/* #define HAL_CORDIC_MODULE_ENABLED   */
+/* #define HAL_CRC_MODULE_ENABLED   */
+/* #define HAL_CRYP_MODULE_ENABLED   */
+/* #define HAL_DAC_MODULE_ENABLED   */
+/* #define HAL_DCMI_MODULE_ENABLED   */
+/* #define HAL_DMA2D_MODULE_ENABLED   */
+/* #define HAL_ETH_MODULE_ENABLED   */
+/* #define HAL_ETH_LEGACY_MODULE_ENABLED   */
+/* #define HAL_NAND_MODULE_ENABLED   */
+/* #define HAL_NOR_MODULE_ENABLED   */
+/* #define HAL_OTFDEC_MODULE_ENABLED   */
+/* #define HAL_SRAM_MODULE_ENABLED   */
+/* #define HAL_SDRAM_MODULE_ENABLED   */
+/* #define HAL_HASH_MODULE_ENABLED   */
+/* #define HAL_HRTIM_MODULE_ENABLED   */
+/* #define HAL_HSEM_MODULE_ENABLED   */
+/* #define HAL_GFXMMU_MODULE_ENABLED   */
+/* #define HAL_JPEG_MODULE_ENABLED   */
+/* #define HAL_OPAMP_MODULE_ENABLED   */
+#define HAL_OSPI_MODULE_ENABLED
+/* #define HAL_I2S_MODULE_ENABLED   */
+/* #define HAL_SMBUS_MODULE_ENABLED   */
+/* #define HAL_IWDG_MODULE_ENABLED   */
+/* #define HAL_LPTIM_MODULE_ENABLED   */
+/* #define HAL_LTDC_MODULE_ENABLED   */
+/* #define HAL_QSPI_MODULE_ENABLED   */
+/* #define HAL_RAMECC_MODULE_ENABLED   */
+/* #define HAL_RNG_MODULE_ENABLED   */
+/* #define HAL_RTC_MODULE_ENABLED   */
+/* #define HAL_SAI_MODULE_ENABLED   */
+/* #define HAL_SD_MODULE_ENABLED   */
+/* #define HAL_MMC_MODULE_ENABLED   */
+/* #define HAL_SPDIFRX_MODULE_ENABLED   */
+#define HAL_SPI_MODULE_ENABLED
+/* #define HAL_SWPMI_MODULE_ENABLED   */
+#define HAL_TIM_MODULE_ENABLED
+#define HAL_UART_MODULE_ENABLED
+/* #define HAL_USART_MODULE_ENABLED   */
+/* #define HAL_IRDA_MODULE_ENABLED   */
+/* #define HAL_SMARTCARD_MODULE_ENABLED   */
+/* #define HAL_WWDG_MODULE_ENABLED   */
+#define HAL_PCD_MODULE_ENABLED
+/* #define HAL_HCD_MODULE_ENABLED   */
+/* #define HAL_DFSDM_MODULE_ENABLED   */
+/* #define HAL_DSI_MODULE_ENABLED   */
+/* #define HAL_JPEG_MODULE_ENABLED   */
+/* #define HAL_MDIOS_MODULE_ENABLED   */
+/* #define HAL_PSSI_MODULE_ENABLED   */
+/* #define HAL_DTS_MODULE_ENABLED   */
+#define HAL_GPIO_MODULE_ENABLED
+#define HAL_DMA_MODULE_ENABLED
+#define HAL_MDMA_MODULE_ENABLED
+#define HAL_RCC_MODULE_ENABLED
+#define HAL_FLASH_MODULE_ENABLED
+#define HAL_EXTI_MODULE_ENABLED
+#define HAL_PWR_MODULE_ENABLED
+#define HAL_I2C_MODULE_ENABLED
+#define HAL_CORTEX_MODULE_ENABLED
+#define HAL_HSEM_MODULE_ENABLED
+
+/* ########################## Oscillator Values adaptation ####################*/
+/**
+  * @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSE is used as system clock source, directly or through the PLL).
+  */
+#if !defined  (HSE_VALUE)
+#define HSE_VALUE    (24000000UL) /*!< Value of the External oscillator in Hz : FPGA case fixed to 60MHZ */
+#endif /* HSE_VALUE */
+
+#if !defined  (HSE_STARTUP_TIMEOUT)
+  #define HSE_STARTUP_TIMEOUT    (100UL)   /*!< Time out for HSE start up, in ms */
+#endif /* HSE_STARTUP_TIMEOUT */
+
+/**
+  * @brief Internal  oscillator (CSI) default value.
+  *        This value is the default CSI value after Reset.
+  */
+#if !defined  (CSI_VALUE)
+  #define CSI_VALUE    (4000000UL) /*!< Value of the Internal oscillator in Hz*/
+#endif /* CSI_VALUE */
+
+/**
+  * @brief Internal High Speed oscillator (HSI) value.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSI is used as system clock source, directly or through the PLL).
+  */
+#if !defined  (HSI_VALUE)
+  #define HSI_VALUE    (64000000UL) /*!< Value of the Internal oscillator in Hz*/
+#endif /* HSI_VALUE */
+
+/**
+  * @brief External Low Speed oscillator (LSE) value.
+  *        This value is used by the UART, RTC HAL module to compute the system frequency
+  */
+#if !defined  (LSE_VALUE)
+  #define LSE_VALUE    (32768UL) /*!< Value of the External oscillator in Hz*/
+#endif /* LSE_VALUE */
+
+#if !defined  (LSE_STARTUP_TIMEOUT)
+  #define LSE_STARTUP_TIMEOUT    (5000UL)   /*!< Time out for LSE start up, in ms */
+#endif /* LSE_STARTUP_TIMEOUT */
+
+#if !defined  (LSI_VALUE)
+  #define LSI_VALUE  (32000UL)              /*!< LSI Typical Value in Hz*/
+#endif /* LSI_VALUE */                      /*!< Value of the Internal Low Speed oscillator in Hz
+                                              The real value may vary depending on the variations
+                                              in voltage and temperature.*/
+
+/**
+  * @brief External clock source for I2S peripheral
+  *        This value is used by the I2S HAL module to compute the I2S clock source
+  *        frequency, this source is inserted directly through I2S_CKIN pad.
+  */
+#if !defined  (EXTERNAL_CLOCK_VALUE)
+  #define EXTERNAL_CLOCK_VALUE    12288000UL /*!< Value of the External clock in Hz*/
+#endif /* EXTERNAL_CLOCK_VALUE */
+
+/* Tip: To avoid modifying this file each time you need to use different HSE,
+   ===  you can define the HSE value in your toolchain compiler preprocessor. */
+
+/* ########################### System Configuration ######################### */
+/**
+  * @brief This is the HAL system configuration section
+  */
+#define  VDD_VALUE                    (3300UL) /*!< Value of VDD in mv */
+#define  TICK_INT_PRIORITY            (15UL) /*!< tick interrupt priority */
+#define  USE_RTOS                     0
+#define  USE_SD_TRANSCEIVER           0U               /*!< use uSD Transceiver */
+#define  USE_SPI_CRC	              0U               /*!< use CRC in SPI */
+
+#define  USE_HAL_ADC_REGISTER_CALLBACKS     0U /* ADC register callback disabled     */
+#define  USE_HAL_CEC_REGISTER_CALLBACKS     0U /* CEC register callback disabled     */
+#define  USE_HAL_COMP_REGISTER_CALLBACKS    0U /* COMP register callback disabled    */
+#define  USE_HAL_CORDIC_REGISTER_CALLBACKS  0U /* CORDIC register callback disabled  */
+#define  USE_HAL_CRYP_REGISTER_CALLBACKS    0U /* CRYP register callback disabled    */
+#define  USE_HAL_DAC_REGISTER_CALLBACKS     0U /* DAC register callback disabled     */
+#define  USE_HAL_DCMI_REGISTER_CALLBACKS    0U /* DCMI register callback disabled    */
+#define  USE_HAL_DFSDM_REGISTER_CALLBACKS   0U /* DFSDM register callback disabled   */
+#define  USE_HAL_DMA2D_REGISTER_CALLBACKS   0U /* DMA2D register callback disabled   */
+#define  USE_HAL_DSI_REGISTER_CALLBACKS     0U /* DSI register callback disabled     */
+#define  USE_HAL_DTS_REGISTER_CALLBACKS     0U /* DTS register callback disabled     */
+#define  USE_HAL_ETH_REGISTER_CALLBACKS     0U /* ETH register callback disabled     */
+#define  USE_HAL_FDCAN_REGISTER_CALLBACKS   0U /* FDCAN register callback disabled   */
+#define  USE_HAL_FMAC_REGISTER_CALLBACKS    0U /* FMAC register callback disabled  */
+#define  USE_HAL_NAND_REGISTER_CALLBACKS    0U /* NAND register callback disabled    */
+#define  USE_HAL_NOR_REGISTER_CALLBACKS     0U /* NOR register callback disabled     */
+#define  USE_HAL_SDRAM_REGISTER_CALLBACKS   0U /* SDRAM register callback disabled   */
+#define  USE_HAL_SRAM_REGISTER_CALLBACKS    0U /* SRAM register callback disabled    */
+#define  USE_HAL_HASH_REGISTER_CALLBACKS    0U /* HASH register callback disabled    */
+#define  USE_HAL_HCD_REGISTER_CALLBACKS     0U /* HCD register callback disabled     */
+#define  USE_HAL_GFXMMU_REGISTER_CALLBACKS  0U /* GFXMMU register callback disabled  */
+#define  USE_HAL_HRTIM_REGISTER_CALLBACKS   0U /* HRTIM register callback disabled   */
+#define  USE_HAL_I2C_REGISTER_CALLBACKS     0U /* I2C register callback disabled     */
+#define  USE_HAL_I2S_REGISTER_CALLBACKS     0U /* I2S register callback disabled     */
+#define  USE_HAL_IRDA_REGISTER_CALLBACKS    0U /* IRDA register callback disabled    */
+#define  USE_HAL_JPEG_REGISTER_CALLBACKS    0U /* JPEG register callback disabled    */
+#define  USE_HAL_LPTIM_REGISTER_CALLBACKS   0U /* LPTIM register callback disabled   */
+#define  USE_HAL_LTDC_REGISTER_CALLBACKS    0U /* LTDC register callback disabled    */
+#define  USE_HAL_MDIOS_REGISTER_CALLBACKS   0U /* MDIO register callback disabled    */
+#define  USE_HAL_MMC_REGISTER_CALLBACKS     0U /* MMC register callback disabled     */
+#define  USE_HAL_OPAMP_REGISTER_CALLBACKS   0U /* MDIO register callback disabled    */
+#define  USE_HAL_OSPI_REGISTER_CALLBACKS    0U /* OSPI register callback disabled    */
+#define  USE_HAL_OTFDEC_REGISTER_CALLBACKS  0U /* OTFDEC register callback disabled  */
+#define  USE_HAL_PCD_REGISTER_CALLBACKS     0U /* PCD register callback disabled     */
+#define  USE_HAL_QSPI_REGISTER_CALLBACKS    0U /* QSPI register callback disabled    */
+#define  USE_HAL_RNG_REGISTER_CALLBACKS     0U /* RNG register callback disabled     */
+#define  USE_HAL_RTC_REGISTER_CALLBACKS     0U /* RTC register callback disabled     */
+#define  USE_HAL_SAI_REGISTER_CALLBACKS     0U /* SAI register callback disabled     */
+#define  USE_HAL_SD_REGISTER_CALLBACKS      0U /* SD register callback disabled      */
+#define  USE_HAL_SMARTCARD_REGISTER_CALLBACKS  0U /* SMARTCARD register callback disabled */
+#define  USE_HAL_SPDIFRX_REGISTER_CALLBACKS 0U /* SPDIFRX register callback disabled */
+#define  USE_HAL_SMBUS_REGISTER_CALLBACKS   0U /* SMBUS register callback disabled   */
+#define  USE_HAL_SPI_REGISTER_CALLBACKS     0U /* SPI register callback disabled     */
+#define  USE_HAL_SWPMI_REGISTER_CALLBACKS   0U /* SWPMI register callback disabled   */
+#define  USE_HAL_TIM_REGISTER_CALLBACKS     0U /* TIM register callback disabled     */
+#define  USE_HAL_UART_REGISTER_CALLBACKS    0U /* UART register callback disabled    */
+#define  USE_HAL_USART_REGISTER_CALLBACKS   0U /* USART register callback disabled   */
+#define  USE_HAL_WWDG_REGISTER_CALLBACKS    0U /* WWDG register callback disabled    */
+
+/* ########################### Ethernet Configuration ######################### */
+#define ETH_TX_DESC_CNT         4U  /* number of Ethernet Tx DMA descriptors */
+#define ETH_RX_DESC_CNT         4U  /* number of Ethernet Rx DMA descriptors */
+
+#define ETH_MAC_ADDR0    (0x02UL)
+#define ETH_MAC_ADDR1    (0x00UL)
+#define ETH_MAC_ADDR2    (0x00UL)
+#define ETH_MAC_ADDR3    (0x00UL)
+#define ETH_MAC_ADDR4    (0x00UL)
+#define ETH_MAC_ADDR5    (0x00UL)
+
+/* ########################## Assert Selection ############################## */
+/**
+  * @brief Uncomment the line below to expanse the "assert_param" macro in the
+  *        HAL drivers code
+  */
+/* #define USE_FULL_ASSERT    1U */
+
+/* Includes ------------------------------------------------------------------*/
+/**
+  * @brief Include module's header file
+  */
+
+#ifdef HAL_RCC_MODULE_ENABLED
+  #include "stm32h7xx_hal_rcc.h"
+#endif /* HAL_RCC_MODULE_ENABLED */
+
+#ifdef HAL_GPIO_MODULE_ENABLED
+  #include "stm32h7xx_hal_gpio.h"
+#endif /* HAL_GPIO_MODULE_ENABLED */
+
+#ifdef HAL_DMA_MODULE_ENABLED
+  #include "stm32h7xx_hal_dma.h"
+#endif /* HAL_DMA_MODULE_ENABLED */
+
+#ifdef HAL_MDMA_MODULE_ENABLED
+ #include "stm32h7xx_hal_mdma.h"
+#endif /* HAL_MDMA_MODULE_ENABLED */
+
+#ifdef HAL_HASH_MODULE_ENABLED
+  #include "stm32h7xx_hal_hash.h"
+#endif /* HAL_HASH_MODULE_ENABLED */
+
+#ifdef HAL_DCMI_MODULE_ENABLED
+  #include "stm32h7xx_hal_dcmi.h"
+#endif /* HAL_DCMI_MODULE_ENABLED */
+
+#ifdef HAL_DMA2D_MODULE_ENABLED
+  #include "stm32h7xx_hal_dma2d.h"
+#endif /* HAL_DMA2D_MODULE_ENABLED */
+
+#ifdef HAL_DSI_MODULE_ENABLED
+  #include "stm32h7xx_hal_dsi.h"
+#endif /* HAL_DSI_MODULE_ENABLED */
+
+#ifdef HAL_DFSDM_MODULE_ENABLED
+  #include "stm32h7xx_hal_dfsdm.h"
+#endif /* HAL_DFSDM_MODULE_ENABLED */
+
+#ifdef HAL_DTS_MODULE_ENABLED
+ #include "stm32h7xx_hal_dts.h"
+#endif /* HAL_DTS_MODULE_ENABLED */
+
+#ifdef HAL_ETH_MODULE_ENABLED
+  #include "stm32h7xx_hal_eth.h"
+#endif /* HAL_ETH_MODULE_ENABLED */
+
+#ifdef HAL_ETH_LEGACY_MODULE_ENABLED
+  #include "stm32h7xx_hal_eth_legacy.h"
+#endif /* HAL_ETH_LEGACY_MODULE_ENABLED */
+
+#ifdef HAL_EXTI_MODULE_ENABLED
+  #include "stm32h7xx_hal_exti.h"
+#endif /* HAL_EXTI_MODULE_ENABLED */
+
+#ifdef HAL_CORTEX_MODULE_ENABLED
+  #include "stm32h7xx_hal_cortex.h"
+#endif /* HAL_CORTEX_MODULE_ENABLED */
+
+#ifdef HAL_ADC_MODULE_ENABLED
+  #include "stm32h7xx_hal_adc.h"
+#endif /* HAL_ADC_MODULE_ENABLED */
+
+#ifdef HAL_FDCAN_MODULE_ENABLED
+  #include "stm32h7xx_hal_fdcan.h"
+#endif /* HAL_FDCAN_MODULE_ENABLED */
+
+#ifdef HAL_CEC_MODULE_ENABLED
+  #include "stm32h7xx_hal_cec.h"
+#endif /* HAL_CEC_MODULE_ENABLED */
+
+#ifdef HAL_COMP_MODULE_ENABLED
+  #include "stm32h7xx_hal_comp.h"
+#endif /* HAL_COMP_MODULE_ENABLED */
+
+#ifdef HAL_CORDIC_MODULE_ENABLED
+  #include "stm32h7xx_hal_cordic.h"
+#endif /* HAL_CORDIC_MODULE_ENABLED */
+
+#ifdef HAL_CRC_MODULE_ENABLED
+  #include "stm32h7xx_hal_crc.h"
+#endif /* HAL_CRC_MODULE_ENABLED */
+
+#ifdef HAL_CRYP_MODULE_ENABLED
+  #include "stm32h7xx_hal_cryp.h"
+#endif /* HAL_CRYP_MODULE_ENABLED */
+
+#ifdef HAL_DAC_MODULE_ENABLED
+  #include "stm32h7xx_hal_dac.h"
+#endif /* HAL_DAC_MODULE_ENABLED */
+
+#ifdef HAL_FLASH_MODULE_ENABLED
+  #include "stm32h7xx_hal_flash.h"
+#endif /* HAL_FLASH_MODULE_ENABLED */
+
+#ifdef HAL_GFXMMU_MODULE_ENABLED
+  #include "stm32h7xx_hal_gfxmmu.h"
+#endif /* HAL_GFXMMU_MODULE_ENABLED */
+
+#ifdef HAL_FMAC_MODULE_ENABLED
+  #include "stm32h7xx_hal_fmac.h"
+#endif /* HAL_FMAC_MODULE_ENABLED */
+
+#ifdef HAL_HRTIM_MODULE_ENABLED
+  #include "stm32h7xx_hal_hrtim.h"
+#endif /* HAL_HRTIM_MODULE_ENABLED */
+
+#ifdef HAL_HSEM_MODULE_ENABLED
+  #include "stm32h7xx_hal_hsem.h"
+#endif /* HAL_HSEM_MODULE_ENABLED */
+
+#ifdef HAL_SRAM_MODULE_ENABLED
+  #include "stm32h7xx_hal_sram.h"
+#endif /* HAL_SRAM_MODULE_ENABLED */
+
+#ifdef HAL_NOR_MODULE_ENABLED
+  #include "stm32h7xx_hal_nor.h"
+#endif /* HAL_NOR_MODULE_ENABLED */
+
+#ifdef HAL_NAND_MODULE_ENABLED
+  #include "stm32h7xx_hal_nand.h"
+#endif /* HAL_NAND_MODULE_ENABLED */
+
+#ifdef HAL_I2C_MODULE_ENABLED
+ #include "stm32h7xx_hal_i2c.h"
+#endif /* HAL_I2C_MODULE_ENABLED */
+
+#ifdef HAL_I2S_MODULE_ENABLED
+ #include "stm32h7xx_hal_i2s.h"
+#endif /* HAL_I2S_MODULE_ENABLED */
+
+#ifdef HAL_IWDG_MODULE_ENABLED
+ #include "stm32h7xx_hal_iwdg.h"
+#endif /* HAL_IWDG_MODULE_ENABLED */
+
+#ifdef HAL_JPEG_MODULE_ENABLED
+ #include "stm32h7xx_hal_jpeg.h"
+#endif /* HAL_JPEG_MODULE_ENABLED */
+
+#ifdef HAL_MDIOS_MODULE_ENABLED
+ #include "stm32h7xx_hal_mdios.h"
+#endif /* HAL_MDIOS_MODULE_ENABLED */
+
+#ifdef HAL_MMC_MODULE_ENABLED
+ #include "stm32h7xx_hal_mmc.h"
+#endif /* HAL_MMC_MODULE_ENABLED */
+
+#ifdef HAL_LPTIM_MODULE_ENABLED
+#include "stm32h7xx_hal_lptim.h"
+#endif /* HAL_LPTIM_MODULE_ENABLED */
+
+#ifdef HAL_LTDC_MODULE_ENABLED
+#include "stm32h7xx_hal_ltdc.h"
+#endif /* HAL_LTDC_MODULE_ENABLED */
+
+#ifdef HAL_OPAMP_MODULE_ENABLED
+#include "stm32h7xx_hal_opamp.h"
+#endif /* HAL_OPAMP_MODULE_ENABLED */
+
+#ifdef HAL_OSPI_MODULE_ENABLED
+ #include "stm32h7xx_hal_ospi.h"
+#endif /* HAL_OSPI_MODULE_ENABLED */
+
+#ifdef HAL_OTFDEC_MODULE_ENABLED
+#include "stm32h7xx_hal_otfdec.h"
+#endif /* HAL_OTFDEC_MODULE_ENABLED */
+
+#ifdef HAL_PSSI_MODULE_ENABLED
+ #include "stm32h7xx_hal_pssi.h"
+#endif /* HAL_PSSI_MODULE_ENABLED */
+
+#ifdef HAL_PWR_MODULE_ENABLED
+ #include "stm32h7xx_hal_pwr.h"
+#endif /* HAL_PWR_MODULE_ENABLED */
+
+#ifdef HAL_QSPI_MODULE_ENABLED
+ #include "stm32h7xx_hal_qspi.h"
+#endif /* HAL_QSPI_MODULE_ENABLED */
+
+#ifdef HAL_RAMECC_MODULE_ENABLED
+ #include "stm32h7xx_hal_ramecc.h"
+#endif /* HAL_RAMECC_MODULE_ENABLED */
+
+#ifdef HAL_RNG_MODULE_ENABLED
+ #include "stm32h7xx_hal_rng.h"
+#endif /* HAL_RNG_MODULE_ENABLED */
+
+#ifdef HAL_RTC_MODULE_ENABLED
+ #include "stm32h7xx_hal_rtc.h"
+#endif /* HAL_RTC_MODULE_ENABLED */
+
+#ifdef HAL_SAI_MODULE_ENABLED
+ #include "stm32h7xx_hal_sai.h"
+#endif /* HAL_SAI_MODULE_ENABLED */
+
+#ifdef HAL_SD_MODULE_ENABLED
+ #include "stm32h7xx_hal_sd.h"
+#endif /* HAL_SD_MODULE_ENABLED */
+
+#ifdef HAL_SDRAM_MODULE_ENABLED
+ #include "stm32h7xx_hal_sdram.h"
+#endif /* HAL_SDRAM_MODULE_ENABLED */
+
+#ifdef HAL_SPI_MODULE_ENABLED
+ #include "stm32h7xx_hal_spi.h"
+#endif /* HAL_SPI_MODULE_ENABLED */
+
+#ifdef HAL_SPDIFRX_MODULE_ENABLED
+ #include "stm32h7xx_hal_spdifrx.h"
+#endif /* HAL_SPDIFRX_MODULE_ENABLED */
+
+#ifdef HAL_SWPMI_MODULE_ENABLED
+ #include "stm32h7xx_hal_swpmi.h"
+#endif /* HAL_SWPMI_MODULE_ENABLED */
+
+#ifdef HAL_TIM_MODULE_ENABLED
+ #include "stm32h7xx_hal_tim.h"
+#endif /* HAL_TIM_MODULE_ENABLED */
+
+#ifdef HAL_UART_MODULE_ENABLED
+ #include "stm32h7xx_hal_uart.h"
+#endif /* HAL_UART_MODULE_ENABLED */
+
+#ifdef HAL_USART_MODULE_ENABLED
+ #include "stm32h7xx_hal_usart.h"
+#endif /* HAL_USART_MODULE_ENABLED */
+
+#ifdef HAL_IRDA_MODULE_ENABLED
+ #include "stm32h7xx_hal_irda.h"
+#endif /* HAL_IRDA_MODULE_ENABLED */
+
+#ifdef HAL_SMARTCARD_MODULE_ENABLED
+ #include "stm32h7xx_hal_smartcard.h"
+#endif /* HAL_SMARTCARD_MODULE_ENABLED */
+
+#ifdef HAL_SMBUS_MODULE_ENABLED
+ #include "stm32h7xx_hal_smbus.h"
+#endif /* HAL_SMBUS_MODULE_ENABLED */
+
+#ifdef HAL_WWDG_MODULE_ENABLED
+ #include "stm32h7xx_hal_wwdg.h"
+#endif /* HAL_WWDG_MODULE_ENABLED */
+
+#ifdef HAL_PCD_MODULE_ENABLED
+ #include "stm32h7xx_hal_pcd.h"
+#endif /* HAL_PCD_MODULE_ENABLED */
+
+#ifdef HAL_HCD_MODULE_ENABLED
+ #include "stm32h7xx_hal_hcd.h"
+#endif /* HAL_HCD_MODULE_ENABLED */
+
+/* Exported macro ------------------------------------------------------------*/
+#ifdef  USE_FULL_ASSERT
+/**
+  * @brief  The assert_param macro is used for function's parameters check.
+  * @param  expr: If expr is false, it calls assert_failed function
+  *         which reports the name of the source file and the source
+  *         line number of the call that failed.
+  *         If expr is true, it returns no value.
+  * @retval None
+  */
+  #define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
+/* Exported functions ------------------------------------------------------- */
+  void assert_failed(uint8_t *file, uint32_t line);
+#else
+  #define assert_param(expr) ((void)0U)
+#endif /* USE_FULL_ASSERT */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* STM32H7xx_HAL_CONF_H */

Core/Inc/stm32h7xx_it.h

@@ -0,0 +1,86 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32h7xx_it.h
+  * @brief   This file contains the headers of the interrupt handlers.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 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 */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32H7xx_IT_H
+#define __STM32H7xx_IT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Exported types ------------------------------------------------------------*/
+/* USER CODE BEGIN ET */
+
+/* USER CODE END ET */
+
+/* Exported constants --------------------------------------------------------*/
+/* USER CODE BEGIN EC */
+
+/* USER CODE END EC */
+
+/* Exported macro ------------------------------------------------------------*/
+/* USER CODE BEGIN EM */
+
+/* USER CODE END EM */
+
+/* Exported functions prototypes ---------------------------------------------*/
+void NMI_Handler(void);
+void HardFault_Handler(void);
+void MemManage_Handler(void);
+void BusFault_Handler(void);
+void UsageFault_Handler(void);
+void DebugMon_Handler(void);
+void DMA1_Stream0_IRQHandler(void);
+void DMA1_Stream1_IRQHandler(void);
+void DMA1_Stream2_IRQHandler(void);
+void DMA1_Stream3_IRQHandler(void);
+void DMA1_Stream4_IRQHandler(void);
+void DMA1_Stream5_IRQHandler(void);
+void FDCAN1_IT0_IRQHandler(void);
+void FDCAN2_IT0_IRQHandler(void);
+void FDCAN1_IT1_IRQHandler(void);
+void FDCAN2_IT1_IRQHandler(void);
+void SPI2_IRQHandler(void);
+void USART1_IRQHandler(void);
+void USART2_IRQHandler(void);
+void USART3_IRQHandler(void);
+void EXTI15_10_IRQHandler(void);
+void UART5_IRQHandler(void);
+void UART7_IRQHandler(void);
+void ADC3_IRQHandler(void);
+void BDMA_Channel0_IRQHandler(void);
+void USART10_IRQHandler(void);
+void FDCAN3_IT0_IRQHandler(void);
+void FDCAN3_IT1_IRQHandler(void);
+void TIM23_IRQHandler(void);
+/* USER CODE BEGIN EFP */
+
+/* USER CODE END EFP */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32H7xx_IT_H */

Core/Inc/tim.h

@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file
@@ -34,29 +34,20 @@ extern "C" {
 
 extern TIM_HandleTypeDef htim1;
 
+extern TIM_HandleTypeDef htim2;
+
 extern TIM_HandleTypeDef htim3;
 
-extern TIM_HandleTypeDef htim4;
+extern TIM_HandleTypeDef htim12;
-
-extern TIM_HandleTypeDef htim5;
-
-extern TIM_HandleTypeDef htim7;
-
-extern TIM_HandleTypeDef htim8;
-
-extern TIM_HandleTypeDef htim10;
 
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
 void MX_TIM1_Init(void);
+void MX_TIM2_Init(void);
 void MX_TIM3_Init(void);
-void MX_TIM4_Init(void);
+void MX_TIM12_Init(void);
-void MX_TIM5_Init(void);
-void MX_TIM7_Init(void);
-void MX_TIM8_Init(void);
-void MX_TIM10_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
 

Core/Inc/usart.h

@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file
@@ -32,19 +32,28 @@ extern "C" {
 
 /* USER CODE END Includes */
 
+extern UART_HandleTypeDef huart5;
+
+extern UART_HandleTypeDef huart7;
+
 extern UART_HandleTypeDef huart1;
 
+extern UART_HandleTypeDef huart2;
+
 extern UART_HandleTypeDef huart3;
 
-extern UART_HandleTypeDef huart6;
+extern UART_HandleTypeDef huart10;
 
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
+void MX_UART5_Init(void);
+void MX_UART7_Init(void);
 void MX_USART1_UART_Init(void);
+void MX_USART2_UART_Init(void);
 void MX_USART3_UART_Init(void);
-void MX_USART6_UART_Init(void);
+void MX_USART10_UART_Init(void);
 
 /* USER CODE BEGIN Prototypes */
 

Core/Inc/usb_otg.h

@@ -0,0 +1,52 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    usb_otg.h
+  * @brief   This file contains all the function prototypes for
+  *          the usb_otg.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 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 */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __USB_OTG_H__
+#define __USB_OTG_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern PCD_HandleTypeDef hpcd_USB_OTG_HS;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_USB_OTG_HS_PCD_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __USB_OTG_H__ */
+

Core/Src/adc.c

@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file
@@ -26,6 +26,8 @@
 
 ADC_HandleTypeDef hadc1;
 ADC_HandleTypeDef hadc3;
+DMA_HandleTypeDef hdma_adc1;
+DMA_HandleTypeDef hdma_adc3;
 
 /* ADC1 init function */
 void MX_ADC1_Init(void)
@@ -35,36 +37,62 @@ void MX_ADC1_Init(void)
 
   /* USER CODE END ADC1_Init 0 */
 
+  ADC_MultiModeTypeDef multimode = {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)
+  /** Common config
   */
   hadc1.Instance = ADC1;
-  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV6;
+  hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV64;
-  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc1.Init.Resolution = ADC_RESOLUTION_16B;
-  hadc1.Init.ScanConvMode = DISABLE;
+  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
-  hadc1.Init.ContinuousConvMode = DISABLE;
-  hadc1.Init.DiscontinuousConvMode = DISABLE;
-  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
-  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
-  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
-  hadc1.Init.NbrOfConversion = 1;
-  hadc1.Init.DMAContinuousRequests = DISABLE;
   hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  hadc1.Init.LowPowerAutoWait = DISABLE;
+  hadc1.Init.ContinuousConvMode = ENABLE;
+  hadc1.Init.NbrOfConversion = 2;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
+  hadc1.Init.ConversionDataManagement = ADC_CONVERSIONDATA_DMA_CIRCULAR;
+  hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
+  hadc1.Init.LeftBitShift = ADC_LEFTBITSHIFT_NONE;
+  hadc1.Init.OversamplingMode = DISABLE;
+  hadc1.Init.Oversampling.Ratio = 1;
   if (HAL_ADC_Init(&hadc1) != HAL_OK)
   {
     Error_Handler();
   }
 
-  /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
+  /** Configure the ADC multi-mode
   */
-  sConfig.Channel = ADC_CHANNEL_TEMPSENSOR;
+  multimode.Mode = ADC_MODE_INDEPENDENT;
-  sConfig.Rank = 1;
+  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
-  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SamplingTime = ADC_SAMPLETIME_32CYCLES_5;
+  sConfig.SingleDiff = ADC_SINGLE_ENDED;
+  sConfig.OffsetNumber = ADC_OFFSET_NONE;
+  sConfig.Offset = 0;
+  sConfig.OffsetSignedSaturation = DISABLE;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_19;
+  sConfig.Rank = ADC_REGULAR_RANK_2;
   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
   {
     Error_Handler();
@@ -88,30 +116,41 @@ void MX_ADC3_Init(void)
 
   /* USER CODE END ADC3_Init 1 */
 
-  /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
+  /** Common config
   */
   hadc3.Instance = ADC3;
-  hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV6;
+  hadc3.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
   hadc3.Init.Resolution = ADC_RESOLUTION_12B;
-  hadc3.Init.ScanConvMode = DISABLE;
+  hadc3.Init.DataAlign = ADC3_DATAALIGN_RIGHT;
-  hadc3.Init.ContinuousConvMode = DISABLE;
+  hadc3.Init.ScanConvMode = ADC_SCAN_DISABLE;
-  hadc3.Init.DiscontinuousConvMode = DISABLE;
-  hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
-  hadc3.Init.ExternalTrigConv = ADC_SOFTWARE_START;
-  hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
-  hadc3.Init.NbrOfConversion = 1;
-  hadc3.Init.DMAContinuousRequests = DISABLE;
   hadc3.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  hadc3.Init.LowPowerAutoWait = DISABLE;
+  hadc3.Init.ContinuousConvMode = DISABLE;
+  hadc3.Init.NbrOfConversion = 1;
+  hadc3.Init.DiscontinuousConvMode = DISABLE;
+  hadc3.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
+  hadc3.Init.DMAContinuousRequests = DISABLE;
+  hadc3.Init.SamplingMode = ADC_SAMPLING_MODE_NORMAL;
+  hadc3.Init.ConversionDataManagement = ADC_CONVERSIONDATA_DR;
+  hadc3.Init.Overrun = ADC_OVR_DATA_PRESERVED;
+  hadc3.Init.LeftBitShift = ADC_LEFTBITSHIFT_NONE;
+  hadc3.Init.OversamplingMode = DISABLE;
+  hadc3.Init.Oversampling.Ratio = ADC3_OVERSAMPLING_RATIO_2;
   if (HAL_ADC_Init(&hadc3) != HAL_OK)
   {
     Error_Handler();
   }
 
-  /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
+  /** Configure Regular Channel
   */
-  sConfig.Channel = ADC_CHANNEL_8;
+  sConfig.Channel = ADC_CHANNEL_VBAT;
-  sConfig.Rank = 1;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
-  sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
+  sConfig.SamplingTime = ADC3_SAMPLETIME_2CYCLES_5;
+  sConfig.SingleDiff = ADC_SINGLE_ENDED;
+  sConfig.OffsetNumber = ADC_OFFSET_NONE;
+  sConfig.Offset = 0;
+  sConfig.OffsetSign = ADC3_OFFSET_SIGN_NEGATIVE;
   if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
   {
     Error_Handler();
@@ -132,7 +171,43 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
 
   /* USER CODE END ADC1_MspInit 0 */
     /* ADC1 clock enable */
-    __HAL_RCC_ADC1_CLK_ENABLE();
+    __HAL_RCC_ADC12_CLK_ENABLE();
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**ADC1 GPIO Configuration
+    PA5     ------> ADC1_INP19
+    PC4     ------> ADC1_INP4
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_5;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_4;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    /* ADC1 DMA Init */
+    /* ADC1 Init */
+    hdma_adc1.Instance = DMA1_Stream0;
+    hdma_adc1.Init.Request = DMA_REQUEST_ADC1;
+    hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    hdma_adc1.Init.Mode = DMA_CIRCULAR;
+    hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_adc1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
+
   /* USER CODE BEGIN ADC1_MspInit 1 */
 
   /* USER CODE END ADC1_MspInit 1 */
@@ -145,15 +220,27 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
     /* ADC3 clock enable */
     __HAL_RCC_ADC3_CLK_ENABLE();
 
-    __HAL_RCC_GPIOF_CLK_ENABLE();
+    /* ADC3 DMA Init */
-    /**ADC3 GPIO Configuration
+    /* ADC3 Init */
-    PF10     ------> ADC3_IN8
+    hdma_adc3.Instance = BDMA_Channel0;
-    */
+    hdma_adc3.Init.Request = BDMA_REQUEST_ADC3;
-    GPIO_InitStruct.Pin = ADC_BAT_Pin;
+    hdma_adc3.Init.Direction = DMA_PERIPH_TO_MEMORY;
-    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    hdma_adc3.Init.PeriphInc = DMA_PINC_DISABLE;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    hdma_adc3.Init.MemInc = DMA_MINC_ENABLE;
-    HAL_GPIO_Init(ADC_BAT_GPIO_Port, &GPIO_InitStruct);
+    hdma_adc3.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
+    hdma_adc3.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
+    hdma_adc3.Init.Mode = DMA_NORMAL;
+    hdma_adc3.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_adc3) != HAL_OK)
+    {
+      Error_Handler();
+    }
 
+    __HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc3);
+
+    /* ADC3 interrupt Init */
+    HAL_NVIC_SetPriority(ADC3_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(ADC3_IRQn);
   /* USER CODE BEGIN ADC3_MspInit 1 */
 
   /* USER CODE END ADC3_MspInit 1 */
@@ -169,7 +256,18 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
 
   /* USER CODE END ADC1_MspDeInit 0 */
     /* Peripheral clock disable */
-    __HAL_RCC_ADC1_CLK_DISABLE();
+    __HAL_RCC_ADC12_CLK_DISABLE();
+
+    /**ADC1 GPIO Configuration
+    PA5     ------> ADC1_INP19
+    PC4     ------> ADC1_INP4
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5);
+
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_4);
+
+    /* ADC1 DMA DeInit */
+    HAL_DMA_DeInit(adcHandle->DMA_Handle);
   /* USER CODE BEGIN ADC1_MspDeInit 1 */
 
   /* USER CODE END ADC1_MspDeInit 1 */
@@ -182,11 +280,11 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
     /* Peripheral clock disable */
     __HAL_RCC_ADC3_CLK_DISABLE();
 
-    /**ADC3 GPIO Configuration
+    /* ADC3 DMA DeInit */
-    PF10     ------> ADC3_IN8
+    HAL_DMA_DeInit(adcHandle->DMA_Handle);
-    */
-    HAL_GPIO_DeInit(ADC_BAT_GPIO_Port, ADC_BAT_Pin);
 
+    /* ADC3 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(ADC3_IRQn);
   /* USER CODE BEGIN ADC3_MspDeInit 1 */
 
   /* USER CODE END ADC3_MspDeInit 1 */

Core/Src/bdma.c

@@ -0,0 +1,55 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    bdma.c
+  * @brief   This file provides code for the configuration
+  *          of all the requested memory to memory DMA transfers.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 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 "bdma.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/*----------------------------------------------------------------------------*/
+/* Configure DMA                                                              */
+/*----------------------------------------------------------------------------*/
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/**
+  * Enable DMA controller clock
+  */
+void MX_BDMA_Init(void)
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_BDMA_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* BDMA_Channel0_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(BDMA_Channel0_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(BDMA_Channel0_IRQn);
+
+}
+
+/* USER CODE BEGIN 2 */
+
+/* USER CODE END 2 */
+

Core/Src/can.c

@@ -1,4 +1,7 @@
+<<<<<<< HEAD
 /* USER CODE BEGIN Header */
+=======
+>>>>>>> upper
 /**
   ******************************************************************************
   * @file    can.c
@@ -7,6 +10,7 @@
   ******************************************************************************
   * @attention
   *
+<<<<<<< HEAD
   * Copyright (c) 2025 STMicroelectronics.
   * All rights reserved.
   *
@@ -17,6 +21,19 @@
   ******************************************************************************
   */
 /* USER CODE END Header */
+=======
+  * <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under Ultimate Liberty license
+  * SLA0044, the "License"; You may not use this file except in compliance with
+  * the License. You may obtain a copy of the License at:
+  *                             www.st.com/SLA0044
+  *
+  ******************************************************************************
+  */
+
+>>>>>>> upper
 /* Includes ------------------------------------------------------------------*/
 #include "can.h"
 
@@ -49,7 +66,7 @@ void MX_CAN1_Init(void)
   hcan1.Init.AutoWakeUp = DISABLE;
   hcan1.Init.AutoRetransmission = ENABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
-  hcan1.Init.TransmitFifoPriority = ENABLE;
+  hcan1.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)
   {
     Error_Handler();
@@ -81,7 +98,7 @@ void MX_CAN2_Init(void)
   hcan2.Init.AutoWakeUp = DISABLE;
   hcan2.Init.AutoRetransmission = ENABLE;
   hcan2.Init.ReceiveFifoLocked = DISABLE;
-  hcan2.Init.TransmitFifoPriority = ENABLE;
+  hcan2.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan2) != HAL_OK)
   {
     Error_Handler();
@@ -122,8 +139,11 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
     /* CAN1 interrupt Init */
+<<<<<<< HEAD
+=======
     HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
+>>>>>>> upper
     HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
     HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
@@ -157,8 +177,11 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
     /* CAN2 interrupt Init */
+<<<<<<< HEAD
+=======
     HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
+>>>>>>> upper
     HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
     HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
@@ -190,7 +213,10 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
 
     /* CAN1 interrupt Deinit */
+<<<<<<< HEAD
+=======
     HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
+>>>>>>> upper
     HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
     HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
   /* USER CODE BEGIN CAN1_MspDeInit 1 */
@@ -216,7 +242,10 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
 
     /* CAN2 interrupt Deinit */
+<<<<<<< HEAD
+=======
     HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
+>>>>>>> upper
     HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
     HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
   /* USER CODE BEGIN CAN2_MspDeInit 1 */
@@ -228,3 +257,8 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
+<<<<<<< HEAD
+=======
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+>>>>>>> upper

Core/Src/crc.c

@@ -1,4 +1,7 @@
+<<<<<<< HEAD
 /* USER CODE BEGIN Header */
+=======
+>>>>>>> upper
 /**
   ******************************************************************************
   * @file    crc.c
@@ -7,6 +10,7 @@
   ******************************************************************************
   * @attention
   *
+<<<<<<< HEAD
   * Copyright (c) 2025 STMicroelectronics.
   * All rights reserved.
   *
@@ -17,6 +21,19 @@
   ******************************************************************************
   */
 /* USER CODE END Header */
+=======
+  * <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under Ultimate Liberty license
+  * SLA0044, the "License"; You may not use this file except in compliance with
+  * the License. You may obtain a copy of the License at:
+  *                             www.st.com/SLA0044
+  *
+  ******************************************************************************
+  */
+
+>>>>>>> upper
 /* Includes ------------------------------------------------------------------*/
 #include "crc.h"
 
@@ -83,3 +100,8 @@ void HAL_CRC_MspDeInit(CRC_HandleTypeDef* crcHandle)
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
+<<<<<<< HEAD
+=======
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+>>>>>>> upper

Core/Src/dma.c

@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file
@@ -40,37 +40,27 @@ void MX_DMA_Init(void)
 {
 
   /* DMA controller clock enable */
-  __HAL_RCC_DMA2_CLK_ENABLE();
   __HAL_RCC_DMA1_CLK_ENABLE();
 
   /* DMA interrupt init */
+  /* DMA1_Stream0_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
   /* DMA1_Stream1_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
   /* DMA1_Stream2_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);
-  /* DMA1_Stream7_IRQn interrupt configuration */
+  /* DMA1_Stream3_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Stream7_IRQn, 5, 0);
+  HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA1_Stream7_IRQn);
+  HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
-  /* DMA2_Stream1_IRQn interrupt configuration */
+  /* DMA1_Stream4_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0);
+  HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn);
+  HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn);
-  /* DMA2_Stream2_IRQn interrupt configuration */
+  /* DMA1_Stream5_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
+  HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
+  HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
-  /* DMA2_Stream3_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
-  /* DMA2_Stream5_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn);
-  /* DMA2_Stream6_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
-  /* DMA2_Stream7_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn);
 
 }
 

Core/Src/fdcan.c

@@ -0,0 +1,390 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    fdcan.c
+  * @brief   This file provides code for the configuration
+  *          of the FDCAN instances.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 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 "fdcan.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+FDCAN_HandleTypeDef hfdcan1;
+FDCAN_HandleTypeDef hfdcan2;
+FDCAN_HandleTypeDef hfdcan3;
+
+/* FDCAN1 init function */
+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.FrameFormat = FDCAN_FRAME_CLASSIC;
+  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
+  hfdcan1.Init.AutoRetransmission = ENABLE;
+  hfdcan1.Init.TransmitPause = DISABLE;
+  hfdcan1.Init.ProtocolException = DISABLE;
+  hfdcan1.Init.NominalPrescaler = 24;
+  hfdcan1.Init.NominalSyncJumpWidth = 1;
+  hfdcan1.Init.NominalTimeSeg1 = 3;
+  hfdcan1.Init.NominalTimeSeg2 = 1;
+  hfdcan1.Init.DataPrescaler = 1;
+  hfdcan1.Init.DataSyncJumpWidth = 1;
+  hfdcan1.Init.DataTimeSeg1 = 1;
+  hfdcan1.Init.DataTimeSeg2 = 1;
+  hfdcan1.Init.MessageRAMOffset = 0;
+  hfdcan1.Init.StdFiltersNbr = 1;
+  hfdcan1.Init.ExtFiltersNbr = 0;
+  hfdcan1.Init.RxFifo0ElmtsNbr = 32;
+  hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
+  hfdcan1.Init.RxFifo1ElmtsNbr = 0;
+  hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
+  hfdcan1.Init.RxBuffersNbr = 0;
+  hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
+  hfdcan1.Init.TxEventsNbr = 0;
+  hfdcan1.Init.TxBuffersNbr = 0;
+  hfdcan1.Init.TxFifoQueueElmtsNbr = 32;
+  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
+  hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
+  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN FDCAN1_Init 2 */
+
+  /* USER CODE END FDCAN1_Init 2 */
+
+}
+/* FDCAN2 init function */
+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 = ENABLE;
+  hfdcan2.Init.TransmitPause = DISABLE;
+  hfdcan2.Init.ProtocolException = DISABLE;
+  hfdcan2.Init.NominalPrescaler = 24;
+  hfdcan2.Init.NominalSyncJumpWidth = 1;
+  hfdcan2.Init.NominalTimeSeg1 = 3;
+  hfdcan2.Init.NominalTimeSeg2 = 1;
+  hfdcan2.Init.DataPrescaler = 1;
+  hfdcan2.Init.DataSyncJumpWidth = 1;
+  hfdcan2.Init.DataTimeSeg1 = 1;
+  hfdcan2.Init.DataTimeSeg2 = 1;
+  hfdcan2.Init.MessageRAMOffset = 0x406;
+  hfdcan2.Init.StdFiltersNbr = 1;
+  hfdcan2.Init.ExtFiltersNbr = 0;
+  hfdcan2.Init.RxFifo0ElmtsNbr = 32;
+  hfdcan2.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
+  hfdcan2.Init.RxFifo1ElmtsNbr = 32;
+  hfdcan2.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
+  hfdcan2.Init.RxBuffersNbr = 0;
+  hfdcan2.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
+  hfdcan2.Init.TxEventsNbr = 0;
+  hfdcan2.Init.TxBuffersNbr = 0;
+  hfdcan2.Init.TxFifoQueueElmtsNbr = 32;
+  hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
+  hfdcan2.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
+  if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN FDCAN2_Init 2 */
+
+  /* USER CODE END FDCAN2_Init 2 */
+
+}
+/* FDCAN3 init function */
+void MX_FDCAN3_Init(void)
+{
+
+  /* USER CODE BEGIN FDCAN3_Init 0 */
+
+  /* USER CODE END FDCAN3_Init 0 */
+
+  /* USER CODE BEGIN FDCAN3_Init 1 */
+
+  /* USER CODE END FDCAN3_Init 1 */
+  hfdcan3.Instance = FDCAN3;
+  hfdcan3.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
+  hfdcan3.Init.Mode = FDCAN_MODE_NORMAL;
+  hfdcan3.Init.AutoRetransmission = ENABLE;
+  hfdcan3.Init.TransmitPause = DISABLE;
+  hfdcan3.Init.ProtocolException = DISABLE;
+  hfdcan3.Init.NominalPrescaler = 24;
+  hfdcan3.Init.NominalSyncJumpWidth = 1;
+  hfdcan3.Init.NominalTimeSeg1 = 3;
+  hfdcan3.Init.NominalTimeSeg2 = 1;
+  hfdcan3.Init.DataPrescaler = 1;
+  hfdcan3.Init.DataSyncJumpWidth = 1;
+  hfdcan3.Init.DataTimeSeg1 = 1;
+  hfdcan3.Init.DataTimeSeg2 = 1;
+  hfdcan3.Init.MessageRAMOffset = 0x812;
+  hfdcan3.Init.StdFiltersNbr = 1;
+  hfdcan3.Init.ExtFiltersNbr = 1;
+  hfdcan3.Init.RxFifo0ElmtsNbr = 32;
+  hfdcan3.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
+  hfdcan3.Init.RxFifo1ElmtsNbr = 32;
+  hfdcan3.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
+  hfdcan3.Init.RxBuffersNbr = 0;
+  hfdcan3.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
+  hfdcan3.Init.TxEventsNbr = 0;
+  hfdcan3.Init.TxBuffersNbr = 0;
+  hfdcan3.Init.TxFifoQueueElmtsNbr = 32;
+  hfdcan3.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
+  hfdcan3.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
+  if (HAL_FDCAN_Init(&hfdcan3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN FDCAN3_Init 2 */
+
+  /* USER CODE END FDCAN3_Init 2 */
+
+}
+
+static uint32_t HAL_RCC_FDCAN_CLK_ENABLED=0;
+
+void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
+  if(fdcanHandle->Instance==FDCAN1)
+  {
+  /* USER CODE BEGIN FDCAN1_MspInit 0 */
+
+  /* USER CODE END FDCAN1_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
+    PeriphClkInitStruct.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* FDCAN1 clock enable */
+    HAL_RCC_FDCAN_CLK_ENABLED++;
+    if(HAL_RCC_FDCAN_CLK_ENABLED==1){
+      __HAL_RCC_FDCAN_CLK_ENABLE();
+    }
+
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**FDCAN1 GPIO Configuration
+    PD0     ------> FDCAN1_RX
+    PD1     ------> FDCAN1_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    /* FDCAN1 interrupt Init */
+    HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
+    HAL_NVIC_SetPriority(FDCAN1_IT1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
+  /* USER CODE BEGIN FDCAN1_MspInit 1 */
+
+  /* USER CODE END FDCAN1_MspInit 1 */
+  }
+  else if(fdcanHandle->Instance==FDCAN2)
+  {
+  /* USER CODE BEGIN FDCAN2_MspInit 0 */
+
+  /* USER CODE END FDCAN2_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
+    PeriphClkInitStruct.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* FDCAN2 clock enable */
+    HAL_RCC_FDCAN_CLK_ENABLED++;
+    if(HAL_RCC_FDCAN_CLK_ENABLED==1){
+      __HAL_RCC_FDCAN_CLK_ENABLE();
+    }
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**FDCAN2 GPIO Configuration
+    PB5     ------> FDCAN2_RX
+    PB6     ------> FDCAN2_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN2;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    /* FDCAN2 interrupt Init */
+    HAL_NVIC_SetPriority(FDCAN2_IT0_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
+    HAL_NVIC_SetPriority(FDCAN2_IT1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(FDCAN2_IT1_IRQn);
+  /* USER CODE BEGIN FDCAN2_MspInit 1 */
+
+  /* USER CODE END FDCAN2_MspInit 1 */
+  }
+  else if(fdcanHandle->Instance==FDCAN3)
+  {
+  /* USER CODE BEGIN FDCAN3_MspInit 0 */
+
+  /* USER CODE END FDCAN3_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
+    PeriphClkInitStruct.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* FDCAN3 clock enable */
+    HAL_RCC_FDCAN_CLK_ENABLED++;
+    if(HAL_RCC_FDCAN_CLK_ENABLED==1){
+      __HAL_RCC_FDCAN_CLK_ENABLE();
+    }
+
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**FDCAN3 GPIO Configuration
+    PD12     ------> FDCAN3_RX
+    PD13     ------> FDCAN3_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF5_FDCAN3;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    /* FDCAN3 interrupt Init */
+    HAL_NVIC_SetPriority(FDCAN3_IT0_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(FDCAN3_IT0_IRQn);
+    HAL_NVIC_SetPriority(FDCAN3_IT1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(FDCAN3_IT1_IRQn);
+  /* USER CODE BEGIN FDCAN3_MspInit 1 */
+
+  /* USER CODE END FDCAN3_MspInit 1 */
+  }
+}
+
+void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
+{
+
+  if(fdcanHandle->Instance==FDCAN1)
+  {
+  /* USER CODE BEGIN FDCAN1_MspDeInit 0 */
+
+  /* USER CODE END FDCAN1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    HAL_RCC_FDCAN_CLK_ENABLED--;
+    if(HAL_RCC_FDCAN_CLK_ENABLED==0){
+      __HAL_RCC_FDCAN_CLK_DISABLE();
+    }
+
+    /**FDCAN1 GPIO Configuration
+    PD0     ------> FDCAN1_RX
+    PD1     ------> FDCAN1_TX
+    */
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
+
+    /* FDCAN1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
+    HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn);
+  /* USER CODE BEGIN FDCAN1_MspDeInit 1 */
+
+  /* USER CODE END FDCAN1_MspDeInit 1 */
+  }
+  else if(fdcanHandle->Instance==FDCAN2)
+  {
+  /* USER CODE BEGIN FDCAN2_MspDeInit 0 */
+
+  /* USER CODE END FDCAN2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    HAL_RCC_FDCAN_CLK_ENABLED--;
+    if(HAL_RCC_FDCAN_CLK_ENABLED==0){
+      __HAL_RCC_FDCAN_CLK_DISABLE();
+    }
+
+    /**FDCAN2 GPIO Configuration
+    PB5     ------> FDCAN2_RX
+    PB6     ------> FDCAN2_TX
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
+
+    /* FDCAN2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(FDCAN2_IT0_IRQn);
+    HAL_NVIC_DisableIRQ(FDCAN2_IT1_IRQn);
+  /* USER CODE BEGIN FDCAN2_MspDeInit 1 */
+
+  /* USER CODE END FDCAN2_MspDeInit 1 */
+  }
+  else if(fdcanHandle->Instance==FDCAN3)
+  {
+  /* USER CODE BEGIN FDCAN3_MspDeInit 0 */
+
+  /* USER CODE END FDCAN3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    HAL_RCC_FDCAN_CLK_ENABLED--;
+    if(HAL_RCC_FDCAN_CLK_ENABLED==0){
+      __HAL_RCC_FDCAN_CLK_DISABLE();
+    }
+
+    /**FDCAN3 GPIO Configuration
+    PD12     ------> FDCAN3_RX
+    PD13     ------> FDCAN3_TX
+    */
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_12|GPIO_PIN_13);
+
+    /* FDCAN3 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(FDCAN3_IT0_IRQn);
+    HAL_NVIC_DisableIRQ(FDCAN3_IT1_IRQn);
+  /* USER CODE BEGIN FDCAN3_MspDeInit 1 */
+
+  /* USER CODE END FDCAN3_MspDeInit 1 */
+  }
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

Core/Src/freertos.c

@@ -6,13 +6,12 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.</center></h2>
+  * All rights reserved.
   *
-  * This software component is licensed by ST under Ultimate Liberty license
+  * This software is licensed under terms that can be found in the LICENSE file
-  * SLA0044, the "License"; You may not use this file except in compliance with
+  * in the root directory of this software component.
-  * the License. You may obtain a copy of the License at:
+  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *                             www.st.com/SLA0044
   *
   ******************************************************************************
   */
@@ -47,7 +46,7 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN Variables */
-uint8_t ucHeap[configTOTAL_HEAP_SIZE] __attribute__((section(".ccmram")));
+
 /* USER CODE END Variables */
 /* Definitions for defaultTask */
 osThreadId_t defaultTaskHandle;
@@ -64,13 +63,11 @@ const osThreadAttr_t defaultTask_attributes = {
 
 void StartDefaultTask(void *argument);
 
-extern void MX_USB_DEVICE_Init(void);
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
 /* Hook prototypes */
 void configureTimerForRunTimeStats(void);
 unsigned long getRunTimeCounterValue(void);
-void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName);
 
 /* USER CODE BEGIN 1 */
 /* Functions needed when configGENERATE_RUN_TIME_STATS is on */
@@ -85,15 +82,6 @@ return 0;
 }
 /* USER CODE END 1 */
 
-/* USER CODE BEGIN 4 */
-void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName)
-{
-   /* Run time stack overflow checking is performed if
-   configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
-   called if a stack overflow is detected. */
-}
-/* USER CODE END 4 */
-
 /**
   * @brief  FreeRTOS initialization
   * @param  None
@@ -144,8 +132,6 @@ void MX_FREERTOS_Init(void) {
 /* USER CODE END Header_StartDefaultTask */
 void StartDefaultTask(void *argument)
 {
-  /* init code for USB_DEVICE */
-  MX_USB_DEVICE_Init();
   /* USER CODE BEGIN StartDefaultTask */
     osThreadTerminate(osThreadGetId());
   /* USER CODE END StartDefaultTask */

Core/Src/gpio.c

@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file
@@ -38,6 +38,7 @@
         * Output
         * EVENT_OUT
         * EXTI
+     PA8   ------> RCC_MCO_1
 */
 void MX_GPIO_Init(void)
 {
@@ -45,82 +46,97 @@ void MX_GPIO_Init(void)
   GPIO_InitTypeDef GPIO_InitStruct = {0};
 
   /* GPIO Ports Clock Enable */
-  __HAL_RCC_GPIOB_CLK_ENABLE();
-  __HAL_RCC_GPIOG_CLK_ENABLE();
-  __HAL_RCC_GPIOA_CLK_ENABLE();
-  __HAL_RCC_GPIOD_CLK_ENABLE();
-  __HAL_RCC_GPIOC_CLK_ENABLE();
-  __HAL_RCC_GPIOI_CLK_ENABLE();
-  __HAL_RCC_GPIOF_CLK_ENABLE();
-  __HAL_RCC_GPIOH_CLK_ENABLE();
   __HAL_RCC_GPIOE_CLK_ENABLE();
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOH_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(CMPS_RST_GPIO_Port, CMPS_RST_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOC, POWER_24V_2_Pin|POWER_24V_1_Pin|POWER_5V_Pin|ACCL_CS_Pin
+                          |GYRO_CS_Pin|DCMI_PWDN_Pin, GPIO_PIN_SET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(ACCL_CS_GPIO_Port, ACCL_CS_Pin, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(LCD_CS_GPIO_Port, LCD_CS_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOB, SPI2_CS_Pin|GYRO_CS_Pin, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOB, LCD_BLK_Pin|LCD_RES_Pin, GPIO_PIN_RESET);
 
-  /*Configure GPIO pin : CMPS_RST_Pin */
+  /*Configure GPIO pin Output Level */
-  GPIO_InitStruct.Pin = CMPS_RST_Pin;
+  HAL_GPIO_WritePin(DCMI_REST_GPIO_Port, DCMI_REST_Pin, GPIO_PIN_SET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(LCD_DC_GPIO_Port, LCD_DC_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pins : POWER_24V_2_Pin POWER_24V_1_Pin POWER_5V_Pin */
+  GPIO_InitStruct.Pin = POWER_24V_2_Pin|POWER_24V_1_Pin|POWER_5V_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
-  HAL_GPIO_Init(CMPS_RST_GPIO_Port, &GPIO_InitStruct);
-
-  /*Configure GPIO pin : CMPS_INT_Pin */
-  GPIO_InitStruct.Pin = CMPS_INT_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
-  HAL_GPIO_Init(CMPS_INT_GPIO_Port, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : HW0_Pin HW1_Pin HW2_Pin */
-  GPIO_InitStruct.Pin = HW0_Pin|HW1_Pin|HW2_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : USER_KEY_Pin */
+  /*Configure GPIO pins : ACCL_CS_Pin GYRO_CS_Pin DCMI_PWDN_Pin */
-  GPIO_InitStruct.Pin = USER_KEY_Pin;
+  GPIO_InitStruct.Pin = ACCL_CS_Pin|GYRO_CS_Pin|DCMI_PWDN_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
-  HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
-
-  /*Configure GPIO pin : ACCL_CS_Pin */
-  GPIO_InitStruct.Pin = ACCL_CS_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-  HAL_GPIO_Init(ACCL_CS_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
   /*Configure GPIO pins : ACCL_INT_Pin GYRO_INT_Pin */
   GPIO_InitStruct.Pin = ACCL_INT_Pin|GYRO_INT_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : SPI2_CS_Pin GYRO_CS_Pin */
+  /*Configure GPIO pin : LCD_CS_Pin */
-  GPIO_InitStruct.Pin = SPI2_CS_Pin|GYRO_CS_Pin;
+  GPIO_InitStruct.Pin = LCD_CS_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(LCD_CS_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : LCD_BLK_Pin LCD_RES_Pin */
+  GPIO_InitStruct.Pin = LCD_BLK_Pin|LCD_RES_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 : DCMI_REST_Pin */
+  GPIO_InitStruct.Pin = DCMI_REST_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+  HAL_GPIO_Init(DCMI_REST_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : LCD_DC_Pin */
+  GPIO_InitStruct.Pin = LCD_DC_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(LCD_DC_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PA8 */
+  GPIO_InitStruct.Pin = GPIO_PIN_8;
+  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  GPIO_InitStruct.Alternate = GPIO_AF0_MCO;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PA15 */
+  GPIO_InitStruct.Pin = GPIO_PIN_15;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /*AnalogSwitch Config */
+  HAL_SYSCFG_AnalogSwitchConfig(SYSCFG_SWITCH_PC3, SYSCFG_SWITCH_PC3_CLOSE);
+
   /* EXTI interrupt init*/
-  HAL_NVIC_SetPriority(EXTI0_IRQn, 5, 0);
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(EXTI0_IRQn);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
-
-  HAL_NVIC_SetPriority(EXTI3_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(EXTI3_IRQn);
-
-  HAL_NVIC_SetPriority(EXTI4_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(EXTI4_IRQn);
-
-  HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
 
 }
 

Core/Src/i2c.c

@@ -1,4 +1,7 @@
+<<<<<<< HEAD
 /* USER CODE BEGIN Header */
+=======
+>>>>>>> upper
 /**
   ******************************************************************************
   * @file    i2c.c
@@ -7,6 +10,7 @@
   ******************************************************************************
   * @attention
   *
+<<<<<<< HEAD
   * Copyright (c) 2025 STMicroelectronics.
   * All rights reserved.
   *
@@ -17,6 +21,19 @@
   ******************************************************************************
   */
 /* USER CODE END Header */
+=======
+  * <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under Ultimate Liberty license
+  * SLA0044, the "License"; You may not use this file except in compliance with
+  * the License. You may obtain a copy of the License at:
+  *                             www.st.com/SLA0044
+  *
+  ******************************************************************************
+  */
+
+>>>>>>> upper
 /* Includes ------------------------------------------------------------------*/
 #include "i2c.h"
 
@@ -316,3 +333,8 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* i2cHandle)
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
+<<<<<<< HEAD
+=======
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+>>>>>>> upper

Core/Src/main.c

@@ -6,13 +6,12 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.</center></h2>
+  * All rights reserved.
   *
-  * This software component is licensed by ST under Ultimate Liberty license
+  * This software is licensed under terms that can be found in the LICENSE file
-  * SLA0044, the "License"; You may not use this file except in compliance with
+  * in the root directory of this software component.
-  * the License. You may obtain a copy of the License at:
+  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *                             www.st.com/SLA0044
   *
   ******************************************************************************
   */
@@ -21,15 +20,14 @@
 #include "main.h"
 #include "cmsis_os.h"
 #include "adc.h"
-#include "can.h"
+#include "bdma.h"
-#include "crc.h"
 #include "dma.h"
-#include "i2c.h"
+#include "fdcan.h"
-#include "rng.h"
+#include "octospi.h"
 #include "spi.h"
 #include "tim.h"
 #include "usart.h"
-#include "usb_device.h"
+#include "usb_otg.h"
 #include "gpio.h"
 
 /* Private includes ----------------------------------------------------------*/
@@ -44,6 +42,7 @@
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
+
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
@@ -59,6 +58,7 @@
 
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
+void PeriphCommonClock_Config(void);
 void MX_FREERTOS_Init(void);
 /* USER CODE BEGIN PFP */
 
@@ -92,6 +92,9 @@ int main(void)
   /* Configure the system clock */
   SystemClock_Config();
 
+  /* Configure the peripherals common clocks */
+  PeriphCommonClock_Config();
+
   /* USER CODE BEGIN SysInit */
 
   /* USER CODE END SysInit */
@@ -99,27 +102,26 @@ int main(void)
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
   MX_DMA_Init();
+  MX_BDMA_Init();
   MX_ADC1_Init();
-  MX_ADC3_Init();
+  MX_TIM12_Init();
-  MX_CAN1_Init();
-  MX_CAN2_Init();
-  MX_I2C1_Init();
   MX_SPI1_Init();
-  MX_TIM4_Init();
-  MX_TIM5_Init();
-  MX_USART3_UART_Init();
-  MX_TIM8_Init();
-  MX_CRC_Init();
-  MX_RNG_Init();
-  MX_I2C2_Init();
-  MX_I2C3_Init();
   MX_SPI2_Init();
-  MX_TIM1_Init();
   MX_TIM3_Init();
-  MX_TIM10_Init();
   MX_USART1_UART_Init();
-  MX_USART6_UART_Init();
+  MX_USART2_UART_Init();
-  MX_TIM7_Init();
+  MX_USART3_UART_Init();
+  MX_UART7_Init();
+  MX_USART10_UART_Init();
+  MX_FDCAN1_Init();
+  MX_FDCAN2_Init();
+  MX_FDCAN3_Init();
+  MX_TIM1_Init();
+  MX_TIM2_Init();
+  MX_OCTOSPI1_Init();
+  MX_UART5_Init();
+  MX_ADC3_Init();
+  MX_USB_OTG_HS_PCD_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -153,22 +155,35 @@ void SystemClock_Config(void)
   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 
+  /** Supply configuration update enable
+  */
+  HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
+
   /** Configure the main internal regulator output voltage
   */
-  __HAL_RCC_PWR_CLK_ENABLE();
+  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
-  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+
+  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
 
   /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSI
+                              |RCC_OSCILLATORTYPE_HSE;
   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
+  RCC_OscInitStruct.HSICalibrationValue = 64;
+  RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
-  RCC_OscInitStruct.PLL.PLLM = 6;
+  RCC_OscInitStruct.PLL.PLLM = 2;
-  RCC_OscInitStruct.PLL.PLLN = 168;
+  RCC_OscInitStruct.PLL.PLLN = 40;
-  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
+  RCC_OscInitStruct.PLL.PLLP = 1;
-  RCC_OscInitStruct.PLL.PLLQ = 7;
+  RCC_OscInitStruct.PLL.PLLQ = 4;
+  RCC_OscInitStruct.PLL.PLLR = 2;
+  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
+  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
+  RCC_OscInitStruct.PLL.PLLFRACN = 0;
   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
   {
     Error_Handler();
@@ -177,13 +192,44 @@ void SystemClock_Config(void)
   /** Initializes the CPU, AHB and APB buses clocks
   */
   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
-                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
+                              |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
-  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
-  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
-  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
+  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
 
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
+}
+
+/**
+  * @brief Peripherals Common Clock Configuration
+  * @retval None
+  */
+void PeriphCommonClock_Config(void)
+{
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
+
+  /** Initializes the peripherals clock
+  */
+  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_ADC;
+  PeriphClkInitStruct.PLL2.PLL2M = 2;
+  PeriphClkInitStruct.PLL2.PLL2N = 16;
+  PeriphClkInitStruct.PLL2.PLL2P = 2;
+  PeriphClkInitStruct.PLL2.PLL2Q = 2;
+  PeriphClkInitStruct.PLL2.PLL2R = 2;
+  PeriphClkInitStruct.PLL2.PLL2RGE = RCC_PLL2VCIRANGE_3;
+  PeriphClkInitStruct.PLL2.PLL2VCOSEL = RCC_PLL2VCOWIDE;
+  PeriphClkInitStruct.PLL2.PLL2FRACN = 0;
+  PeriphClkInitStruct.AdcClockSelection = RCC_ADCCLKSOURCE_PLL2;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
   {
     Error_Handler();
   }
@@ -193,6 +239,28 @@ void SystemClock_Config(void)
 
 /* USER CODE END 4 */
 
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM23 interrupt took place, inside
+  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+  * a global variable "uwTick" used as application time base.
+  * @param  htim : TIM handle
+  * @retval None
+  */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  /* USER CODE BEGIN Callback 0 */
+
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM23)
+  {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
+
+  /* USER CODE END Callback 1 */
+}
+
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None

Core/Src/octospi.c

@@ -0,0 +1,195 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    octospi.c
+  * @brief   This file provides code for the configuration
+  *          of the OCTOSPI instances.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 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 "octospi.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+OSPI_HandleTypeDef hospi1;
+
+/* OCTOSPI1 init function */
+void MX_OCTOSPI1_Init(void)
+{
+
+  /* USER CODE BEGIN OCTOSPI1_Init 0 */
+
+  /* USER CODE END OCTOSPI1_Init 0 */
+
+  OSPIM_CfgTypeDef sOspiManagerCfg = {0};
+
+  /* USER CODE BEGIN OCTOSPI1_Init 1 */
+
+  /* USER CODE END OCTOSPI1_Init 1 */
+  hospi1.Instance = OCTOSPI1;
+  hospi1.Init.FifoThreshold = 1;
+  hospi1.Init.DualQuad = HAL_OSPI_DUALQUAD_DISABLE;
+  hospi1.Init.MemoryType = HAL_OSPI_MEMTYPE_MICRON;
+  hospi1.Init.DeviceSize = 32;
+  hospi1.Init.ChipSelectHighTime = 1;
+  hospi1.Init.FreeRunningClock = HAL_OSPI_FREERUNCLK_DISABLE;
+  hospi1.Init.ClockMode = HAL_OSPI_CLOCK_MODE_0;
+  hospi1.Init.WrapSize = HAL_OSPI_WRAP_NOT_SUPPORTED;
+  hospi1.Init.ClockPrescaler = 1;
+  hospi1.Init.SampleShifting = HAL_OSPI_SAMPLE_SHIFTING_NONE;
+  hospi1.Init.DelayHoldQuarterCycle = HAL_OSPI_DHQC_DISABLE;
+  hospi1.Init.ChipSelectBoundary = 0;
+  hospi1.Init.DelayBlockBypass = HAL_OSPI_DELAY_BLOCK_BYPASSED;
+  hospi1.Init.MaxTran = 0;
+  hospi1.Init.Refresh = 0;
+  if (HAL_OSPI_Init(&hospi1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sOspiManagerCfg.ClkPort = 1;
+  sOspiManagerCfg.NCSPort = 1;
+  sOspiManagerCfg.IOLowPort = HAL_OSPIM_IOPORT_1_LOW;
+  if (HAL_OSPIM_Config(&hospi1, &sOspiManagerCfg, HAL_OSPI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN OCTOSPI1_Init 2 */
+
+  /* USER CODE END OCTOSPI1_Init 2 */
+
+}
+
+void HAL_OSPI_MspInit(OSPI_HandleTypeDef* ospiHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
+  if(ospiHandle->Instance==OCTOSPI1)
+  {
+  /* USER CODE BEGIN OCTOSPI1_MspInit 0 */
+
+  /* USER CODE END OCTOSPI1_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_OSPI;
+    PeriphClkInitStruct.OspiClockSelection = RCC_OSPICLKSOURCE_D1HCLK;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* OCTOSPI1 clock enable */
+    __HAL_RCC_OCTOSPIM_CLK_ENABLE();
+    __HAL_RCC_OSPI1_CLK_ENABLE();
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**OCTOSPI1 GPIO Configuration
+    PA1     ------> OCTOSPIM_P1_IO3
+    PA3     ------> OCTOSPIM_P1_IO2
+    PB0     ------> OCTOSPIM_P1_IO1
+    PB2     ------> OCTOSPIM_P1_CLK
+    PE11     ------> OCTOSPIM_P1_NCS
+    PD11     ------> OCTOSPIM_P1_IO0
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF9_OCTOSPIM_P1;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_3;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF6_OCTOSPIM_P1;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_0;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF4_OCTOSPIM_P1;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_2;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF9_OCTOSPIM_P1;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_11;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF11_OCTOSPIM_P1;
+    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_11;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF9_OCTOSPIM_P1;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN OCTOSPI1_MspInit 1 */
+
+  /* USER CODE END OCTOSPI1_MspInit 1 */
+  }
+}
+
+void HAL_OSPI_MspDeInit(OSPI_HandleTypeDef* ospiHandle)
+{
+
+  if(ospiHandle->Instance==OCTOSPI1)
+  {
+  /* USER CODE BEGIN OCTOSPI1_MspDeInit 0 */
+
+  /* USER CODE END OCTOSPI1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_OCTOSPIM_CLK_DISABLE();
+    __HAL_RCC_OSPI1_CLK_DISABLE();
+
+    /**OCTOSPI1 GPIO Configuration
+    PA1     ------> OCTOSPIM_P1_IO3
+    PA3     ------> OCTOSPIM_P1_IO2
+    PB0     ------> OCTOSPIM_P1_IO1
+    PB2     ------> OCTOSPIM_P1_CLK
+    PE11     ------> OCTOSPIM_P1_NCS
+    PD11     ------> OCTOSPIM_P1_IO0
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_3);
+
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_0|GPIO_PIN_2);
+
+    HAL_GPIO_DeInit(GPIOE, GPIO_PIN_11);
+
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_11);
+
+  /* USER CODE BEGIN OCTOSPI1_MspDeInit 1 */
+
+  /* USER CODE END OCTOSPI1_MspDeInit 1 */
+  }
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

Core/Src/rng.c

@@ -1,4 +1,7 @@
+<<<<<<< HEAD
 /* USER CODE BEGIN Header */
+=======
+>>>>>>> upper
 /**
   ******************************************************************************
   * @file    rng.c
@@ -7,6 +10,7 @@
   ******************************************************************************
   * @attention
   *
+<<<<<<< HEAD
   * Copyright (c) 2025 STMicroelectronics.
   * All rights reserved.
   *
@@ -17,6 +21,19 @@
   ******************************************************************************
   */
 /* USER CODE END Header */
+=======
+  * <h2><center>&copy; Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under Ultimate Liberty license
+  * SLA0044, the "License"; You may not use this file except in compliance with
+  * the License. You may obtain a copy of the License at:
+  *                             www.st.com/SLA0044
+  *
+  ******************************************************************************
+  */
+
+>>>>>>> upper
 /* Includes ------------------------------------------------------------------*/
 #include "rng.h"
 
@@ -83,3 +100,8 @@ void HAL_RNG_MspDeInit(RNG_HandleTypeDef* rngHandle)
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
+<<<<<<< HEAD
+=======
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+>>>>>>> upper

Core/Src/spi.c

@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file
@@ -26,8 +26,8 @@
 
 SPI_HandleTypeDef hspi1;
 SPI_HandleTypeDef hspi2;
-DMA_HandleTypeDef hdma_spi1_rx;
+DMA_HandleTypeDef hdma_spi2_rx;
-DMA_HandleTypeDef hdma_spi1_tx;
+DMA_HandleTypeDef hdma_spi2_tx;
 
 /* SPI1 init function */
 void MX_SPI1_Init(void)
@@ -42,16 +42,26 @@ void MX_SPI1_Init(void)
   /* USER CODE END SPI1_Init 1 */
   hspi1.Instance = SPI1;
   hspi1.Init.Mode = SPI_MODE_MASTER;
-  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
+  hspi1.Init.Direction = SPI_DIRECTION_2LINES_TXONLY;
   hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
   hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
-  hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
+  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
   hspi1.Init.NSS = SPI_NSS_SOFT;
-  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
+  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
   hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
   hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
   hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
-  hspi1.Init.CRCPolynomial = 10;
+  hspi1.Init.CRCPolynomial = 0x0;
+  hspi1.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
+  hspi1.Init.NSSPolarity = SPI_NSS_POLARITY_LOW;
+  hspi1.Init.FifoThreshold = SPI_FIFO_THRESHOLD_01DATA;
+  hspi1.Init.TxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
+  hspi1.Init.RxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
+  hspi1.Init.MasterSSIdleness = SPI_MASTER_SS_IDLENESS_00CYCLE;
+  hspi1.Init.MasterInterDataIdleness = SPI_MASTER_INTERDATA_IDLENESS_00CYCLE;
+  hspi1.Init.MasterReceiverAutoSusp = SPI_MASTER_RX_AUTOSUSP_DISABLE;
+  hspi1.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_DISABLE;
+  hspi1.Init.IOSwap = SPI_IO_SWAP_DISABLE;
   if (HAL_SPI_Init(&hspi1) != HAL_OK)
   {
     Error_Handler();
@@ -76,14 +86,24 @@ void MX_SPI2_Init(void)
   hspi2.Init.Mode = SPI_MODE_MASTER;
   hspi2.Init.Direction = SPI_DIRECTION_2LINES;
   hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
-  hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
+  hspi2.Init.CLKPolarity = SPI_POLARITY_HIGH;
-  hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
+  hspi2.Init.CLKPhase = SPI_PHASE_2EDGE;
   hspi2.Init.NSS = SPI_NSS_SOFT;
-  hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
+  hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
   hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
   hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
   hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
-  hspi2.Init.CRCPolynomial = 10;
+  hspi2.Init.CRCPolynomial = 0x0;
+  hspi2.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
+  hspi2.Init.NSSPolarity = SPI_NSS_POLARITY_LOW;
+  hspi2.Init.FifoThreshold = SPI_FIFO_THRESHOLD_01DATA;
+  hspi2.Init.TxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
+  hspi2.Init.RxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
+  hspi2.Init.MasterSSIdleness = SPI_MASTER_SS_IDLENESS_00CYCLE;
+  hspi2.Init.MasterInterDataIdleness = SPI_MASTER_INTERDATA_IDLENESS_00CYCLE;
+  hspi2.Init.MasterReceiverAutoSusp = SPI_MASTER_RX_AUTOSUSP_DISABLE;
+  hspi2.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_DISABLE;
+  hspi2.Init.IOSwap = SPI_IO_SWAP_DISABLE;
   if (HAL_SPI_Init(&hspi2) != HAL_OK)
   {
     Error_Handler();
@@ -98,72 +118,45 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
 {
 
   GPIO_InitTypeDef GPIO_InitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
   if(spiHandle->Instance==SPI1)
   {
   /* USER CODE BEGIN SPI1_MspInit 0 */
 
   /* USER CODE END SPI1_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI1;
+    PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_PLL;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
     /* SPI1 clock enable */
     __HAL_RCC_SPI1_CLK_ENABLE();
 
+    __HAL_RCC_GPIOD_CLK_ENABLE();
     __HAL_RCC_GPIOB_CLK_ENABLE();
-    __HAL_RCC_GPIOA_CLK_ENABLE();
     /**SPI1 GPIO Configuration
-    PB4     ------> SPI1_MISO
+    PD7     ------> SPI1_MOSI
-    PB3     ------> SPI1_SCK
+    PB3(JTDO/TRACESWO)     ------> SPI1_SCK
-    PA7     ------> SPI1_MOSI
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_3;
+    GPIO_InitStruct.Pin = GPIO_PIN_7;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_3;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
-    GPIO_InitStruct.Pin = GPIO_PIN_7;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
-    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-    /* SPI1 DMA Init */
-    /* SPI1_RX Init */
-    hdma_spi1_rx.Instance = DMA2_Stream2;
-    hdma_spi1_rx.Init.Channel = DMA_CHANNEL_3;
-    hdma_spi1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
-    hdma_spi1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_spi1_rx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_spi1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_spi1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_spi1_rx.Init.Mode = DMA_NORMAL;
-    hdma_spi1_rx.Init.Priority = DMA_PRIORITY_VERY_HIGH;
-    hdma_spi1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    if (HAL_DMA_Init(&hdma_spi1_rx) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_LINKDMA(spiHandle,hdmarx,hdma_spi1_rx);
-
-    /* SPI1_TX Init */
-    hdma_spi1_tx.Instance = DMA2_Stream3;
-    hdma_spi1_tx.Init.Channel = DMA_CHANNEL_3;
-    hdma_spi1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
-    hdma_spi1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_spi1_tx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_spi1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_spi1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_spi1_tx.Init.Mode = DMA_NORMAL;
-    hdma_spi1_tx.Init.Priority = DMA_PRIORITY_HIGH;
-    hdma_spi1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    if (HAL_DMA_Init(&hdma_spi1_tx) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_LINKDMA(spiHandle,hdmatx,hdma_spi1_tx);
-
   /* USER CODE BEGIN SPI1_MspInit 1 */
 
   /* USER CODE END SPI1_MspInit 1 */
@@ -173,22 +166,80 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
   /* USER CODE BEGIN SPI2_MspInit 0 */
 
   /* USER CODE END SPI2_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI2;
+    PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_PLL;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
     /* SPI2 clock enable */
     __HAL_RCC_SPI2_CLK_ENABLE();
 
+    __HAL_RCC_GPIOC_CLK_ENABLE();
     __HAL_RCC_GPIOB_CLK_ENABLE();
     /**SPI2 GPIO Configuration
+    PC1     ------> SPI2_MOSI
+    PC2_C     ------> SPI2_MISO
     PB13     ------> SPI2_SCK
-    PB14     ------> SPI2_MISO
-    PB15     ------> SPI2_MOSI
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
+    GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_13;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+    /* SPI2 DMA Init */
+    /* SPI2_RX Init */
+    hdma_spi2_rx.Instance = DMA1_Stream1;
+    hdma_spi2_rx.Init.Request = DMA_REQUEST_SPI2_RX;
+    hdma_spi2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_spi2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_spi2_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_spi2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_spi2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_spi2_rx.Init.Mode = DMA_NORMAL;
+    hdma_spi2_rx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_spi2_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_spi2_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(spiHandle,hdmarx,hdma_spi2_rx);
+
+    /* SPI2_TX Init */
+    hdma_spi2_tx.Instance = DMA1_Stream2;
+    hdma_spi2_tx.Init.Request = DMA_REQUEST_SPI2_TX;
+    hdma_spi2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_spi2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_spi2_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_spi2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_spi2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_spi2_tx.Init.Mode = DMA_NORMAL;
+    hdma_spi2_tx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_spi2_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_spi2_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(spiHandle,hdmatx,hdma_spi2_tx);
+
+    /* SPI2 interrupt Init */
+    HAL_NVIC_SetPriority(SPI2_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(SPI2_IRQn);
   /* USER CODE BEGIN SPI2_MspInit 1 */
 
   /* USER CODE END SPI2_MspInit 1 */
@@ -207,17 +258,13 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
     __HAL_RCC_SPI1_CLK_DISABLE();
 
     /**SPI1 GPIO Configuration
-    PB4     ------> SPI1_MISO
+    PD7     ------> SPI1_MOSI
-    PB3     ------> SPI1_SCK
+    PB3(JTDO/TRACESWO)     ------> SPI1_SCK
-    PA7     ------> SPI1_MOSI
     */
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_4|GPIO_PIN_3);
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_7);
 
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_7);
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_3);
 
-    /* SPI1 DMA DeInit */
-    HAL_DMA_DeInit(spiHandle->hdmarx);
-    HAL_DMA_DeInit(spiHandle->hdmatx);
   /* USER CODE BEGIN SPI1_MspDeInit 1 */
 
   /* USER CODE END SPI1_MspDeInit 1 */
@@ -231,12 +278,20 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
     __HAL_RCC_SPI2_CLK_DISABLE();
 
     /**SPI2 GPIO Configuration
+    PC1     ------> SPI2_MOSI
+    PC2_C     ------> SPI2_MISO
     PB13     ------> SPI2_SCK
-    PB14     ------> SPI2_MISO
-    PB15     ------> SPI2_MOSI
     */
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15);
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_1|GPIO_PIN_2);
 
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13);
+
+    /* SPI2 DMA DeInit */
+    HAL_DMA_DeInit(spiHandle->hdmarx);
+    HAL_DMA_DeInit(spiHandle->hdmatx);
+
+    /* SPI2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(SPI2_IRQn);
   /* USER CODE BEGIN SPI2_MspDeInit 1 */
 
   /* USER CODE END SPI2_MspDeInit 1 */

Core/Src/stm32f4xx_hal_msp.c

@@ -63,7 +63,10 @@
   */
 void HAL_MspInit(void)
 {
+<<<<<<< HEAD
 
+=======
+>>>>>>> upper
   /* USER CODE BEGIN MspInit 0 */
 
   /* USER CODE END MspInit 0 */
@@ -83,3 +86,8 @@ void HAL_MspInit(void)
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
+<<<<<<< HEAD
+=======
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+>>>>>>> upper

Core/Src/stm32f4xx_it.c

@@ -207,7 +207,11 @@ void EXTI0_IRQHandler(void)
   /* USER CODE BEGIN EXTI0_IRQn 0 */
 
   /* USER CODE END EXTI0_IRQn 0 */
+<<<<<<< HEAD
   HAL_GPIO_EXTI_IRQHandler(USER_KEY_Pin);
+=======
+  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0);
+>>>>>>> upper
   /* USER CODE BEGIN EXTI0_IRQn 1 */
 
   /* USER CODE END EXTI0_IRQn 1 */
@@ -221,7 +225,11 @@ void EXTI3_IRQHandler(void)
   /* USER CODE BEGIN EXTI3_IRQn 0 */
 
   /* USER CODE END EXTI3_IRQn 0 */
+<<<<<<< HEAD
   HAL_GPIO_EXTI_IRQHandler(CMPS_INT_Pin);
+=======
+  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_3);
+>>>>>>> upper
   /* USER CODE BEGIN EXTI3_IRQn 1 */
 
   /* USER CODE END EXTI3_IRQn 1 */
@@ -235,7 +243,11 @@ void EXTI4_IRQHandler(void)
   /* USER CODE BEGIN EXTI4_IRQn 0 */
 
   /* USER CODE END EXTI4_IRQn 0 */
+<<<<<<< HEAD
   HAL_GPIO_EXTI_IRQHandler(ACCL_INT_Pin);
+=======
+  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_4);
+>>>>>>> upper
   /* USER CODE BEGIN EXTI4_IRQn 1 */
 
   /* USER CODE END EXTI4_IRQn 1 */
@@ -270,6 +282,8 @@ void DMA1_Stream2_IRQHandler(void)
 }
 
 /**
+<<<<<<< HEAD
+=======
   * @brief This function handles CAN1 TX interrupts.
   */
 void CAN1_TX_IRQHandler(void)
@@ -284,6 +298,7 @@ void CAN1_TX_IRQHandler(void)
 }
 
 /**
+>>>>>>> upper
   * @brief This function handles CAN1 RX0 interrupts.
   */
 void CAN1_RX0_IRQHandler(void)
@@ -319,7 +334,11 @@ void EXTI9_5_IRQHandler(void)
   /* USER CODE BEGIN EXTI9_5_IRQn 0 */
 
   /* USER CODE END EXTI9_5_IRQn 0 */
+<<<<<<< HEAD
   HAL_GPIO_EXTI_IRQHandler(GYRO_INT_Pin);
+=======
+  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_5);
+>>>>>>> upper
   /* USER CODE BEGIN EXTI9_5_IRQn 1 */
 
   /* USER CODE END EXTI9_5_IRQn 1 */
@@ -349,6 +368,10 @@ void USART1_IRQHandler(void)
   /* USER CODE END USART1_IRQn 0 */
   HAL_UART_IRQHandler(&huart1);
   /* USER CODE BEGIN USART1_IRQn 1 */
+<<<<<<< HEAD
+=======
+  BSP_UART_IRQHandler(&huart1);
+>>>>>>> upper
 
   /* USER CODE END USART1_IRQn 1 */
 }
@@ -424,6 +447,8 @@ void DMA2_Stream3_IRQHandler(void)
 }
 
 /**
+<<<<<<< HEAD
+=======
   * @brief This function handles CAN2 TX interrupts.
   */
 void CAN2_TX_IRQHandler(void)
@@ -438,6 +463,7 @@ void CAN2_TX_IRQHandler(void)
 }
 
 /**
+>>>>>>> upper
   * @brief This function handles CAN2 RX0 interrupts.
   */
 void CAN2_RX0_IRQHandler(void)
@@ -539,3 +565,7 @@ void USART6_IRQHandler(void)
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
+<<<<<<< HEAD
+=======
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+>>>>>>> upper

Core/Src/stm32h7xx_hal_msp.c

@@ -0,0 +1,83 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file         stm32h7xx_hal_msp.c
+  * @brief        This file provides code for the MSP Initialization
+  *               and de-Initialization codes.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 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"
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN TD */
+
+/* USER CODE END TD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN Define */
+
+/* USER CODE END Define */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN Macro */
+
+/* USER CODE END Macro */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* External functions --------------------------------------------------------*/
+/* USER CODE BEGIN ExternalFunctions */
+
+/* USER CODE END ExternalFunctions */
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+/**
+  * Initializes the Global MSP.
+  */
+void HAL_MspInit(void)
+{
+
+  /* USER CODE BEGIN MspInit 0 */
+
+  /* USER CODE END MspInit 0 */
+
+  __HAL_RCC_SYSCFG_CLK_ENABLE();
+
+  /* System interrupt init*/
+  /* PendSV_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
+
+  /* USER CODE BEGIN MspInit 1 */
+
+  /* USER CODE END MspInit 1 */
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

Core/Src/stm32h7xx_hal_timebase_tim.c

@@ -0,0 +1,121 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32h7xx_hal_timebase_tim.c
+  * @brief   HAL time base based on the hardware TIM.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 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 "stm32h7xx_hal.h"
+#include "stm32h7xx_hal_tim.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef        htim23;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @brief  This function configures the TIM23 as a time base source.
+  *         The time source is configured  to have 1ms time base with a dedicated
+  *         Tick interrupt priority.
+  * @note   This function is called  automatically at the beginning of program after
+  *         reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
+  * @param  TickPriority: Tick interrupt priority.
+  * @retval HAL status
+  */
+HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
+{
+  RCC_ClkInitTypeDef    clkconfig;
+  uint32_t              uwTimclock;
+  uint32_t              uwPrescalerValue;
+  uint32_t              pFLatency;
+
+  /*Configure the TIM23 IRQ priority */
+  if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+   {
+     HAL_NVIC_SetPriority(TIM23_IRQn, TickPriority ,0);
+
+     /* Enable the TIM23 global Interrupt */
+     HAL_NVIC_EnableIRQ(TIM23_IRQn);
+     uwTickPrio = TickPriority;
+    }
+  else
+  {
+    return HAL_ERROR;
+  }
+
+  /* Enable TIM23 clock */
+  __HAL_RCC_TIM23_CLK_ENABLE();
+
+  /* Get clock configuration */
+  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+
+  /* Compute TIM23 clock */
+      uwTimclock = 2*HAL_RCC_GetPCLK2Freq();
+
+  /* Compute the prescaler value to have TIM23 counter clock equal to 1MHz */
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
+
+  /* Initialize TIM23 */
+  htim23.Instance = TIM23;
+
+  /* Initialize TIMx peripheral as follow:
+   * Period = [(TIM23CLK/1000) - 1]. to have a (1/1000) s time base.
+   * Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+   * ClockDivision = 0
+   * Counter direction = Up
+   */
+  htim23.Init.Period = (1000000U / 1000U) - 1U;
+  htim23.Init.Prescaler = uwPrescalerValue;
+  htim23.Init.ClockDivision = 0;
+  htim23.Init.CounterMode = TIM_COUNTERMODE_UP;
+
+  if(HAL_TIM_Base_Init(&htim23) == HAL_OK)
+  {
+    /* Start the TIM time Base generation in interrupt mode */
+    return HAL_TIM_Base_Start_IT(&htim23);
+  }
+
+  /* Return function status */
+  return HAL_ERROR;
+}
+
+/**
+  * @brief  Suspend Tick increment.
+  * @note   Disable the tick increment by disabling TIM23 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_SuspendTick(void)
+{
+  /* Disable TIM23 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim23, TIM_IT_UPDATE);
+}
+
+/**
+  * @brief  Resume Tick increment.
+  * @note   Enable the tick increment by Enabling TIM23 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_ResumeTick(void)
+{
+  /* Enable TIM23 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim23, TIM_IT_UPDATE);
+}
+

Core/Src/stm32h7xx_it.c

@@ -0,0 +1,508 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32h7xx_it.c
+  * @brief   Interrupt Service Routines.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 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"
+#include "stm32h7xx_it.h"
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "bsp/uart.h"
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN TD */
+
+/* USER CODE END TD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/* External variables --------------------------------------------------------*/
+extern DMA_HandleTypeDef hdma_adc1;
+extern DMA_HandleTypeDef hdma_adc3;
+extern ADC_HandleTypeDef hadc3;
+extern FDCAN_HandleTypeDef hfdcan1;
+extern FDCAN_HandleTypeDef hfdcan2;
+extern FDCAN_HandleTypeDef hfdcan3;
+extern DMA_HandleTypeDef hdma_spi2_rx;
+extern DMA_HandleTypeDef hdma_spi2_tx;
+extern SPI_HandleTypeDef hspi2;
+extern DMA_HandleTypeDef hdma_uart5_rx;
+extern DMA_HandleTypeDef hdma_usart1_tx;
+extern DMA_HandleTypeDef hdma_usart1_rx;
+extern UART_HandleTypeDef huart5;
+extern UART_HandleTypeDef huart7;
+extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart2;
+extern UART_HandleTypeDef huart3;
+extern UART_HandleTypeDef huart10;
+extern TIM_HandleTypeDef htim23;
+
+/* USER CODE BEGIN EV */
+
+/* USER CODE END EV */
+
+/******************************************************************************/
+/*           Cortex Processor Interruption and Exception Handlers          */
+/******************************************************************************/
+/**
+  * @brief This function handles Non maskable interrupt.
+  */
+void NMI_Handler(void)
+{
+  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
+
+  /* USER CODE END NonMaskableInt_IRQn 0 */
+  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
+   while (1)
+  {
+  }
+  /* USER CODE END NonMaskableInt_IRQn 1 */
+}
+
+/**
+  * @brief This function handles Hard fault interrupt.
+  */
+void HardFault_Handler(void)
+{
+  /* USER CODE BEGIN HardFault_IRQn 0 */
+
+  /* USER CODE END HardFault_IRQn 0 */
+  while (1)
+  {
+    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+    /* USER CODE END W1_HardFault_IRQn 0 */
+  }
+}
+
+/**
+  * @brief This function handles Memory management fault.
+  */
+void MemManage_Handler(void)
+{
+  /* USER CODE BEGIN MemoryManagement_IRQn 0 */
+
+  /* USER CODE END MemoryManagement_IRQn 0 */
+  while (1)
+  {
+    /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
+    /* USER CODE END W1_MemoryManagement_IRQn 0 */
+  }
+}
+
+/**
+  * @brief This function handles Pre-fetch fault, memory access fault.
+  */
+void BusFault_Handler(void)
+{
+  /* USER CODE BEGIN BusFault_IRQn 0 */
+
+  /* USER CODE END BusFault_IRQn 0 */
+  while (1)
+  {
+    /* USER CODE BEGIN W1_BusFault_IRQn 0 */
+    /* USER CODE END W1_BusFault_IRQn 0 */
+  }
+}
+
+/**
+  * @brief This function handles Undefined instruction or illegal state.
+  */
+void UsageFault_Handler(void)
+{
+  /* USER CODE BEGIN UsageFault_IRQn 0 */
+
+  /* USER CODE END UsageFault_IRQn 0 */
+  while (1)
+  {
+    /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
+    /* USER CODE END W1_UsageFault_IRQn 0 */
+  }
+}
+
+/**
+  * @brief This function handles Debug monitor.
+  */
+void DebugMon_Handler(void)
+{
+  /* USER CODE BEGIN DebugMonitor_IRQn 0 */
+
+  /* USER CODE END DebugMonitor_IRQn 0 */
+  /* USER CODE BEGIN DebugMonitor_IRQn 1 */
+
+  /* USER CODE END DebugMonitor_IRQn 1 */
+}
+
+/******************************************************************************/
+/* STM32H7xx Peripheral Interrupt Handlers                                    */
+/* Add here the Interrupt Handlers for the used peripherals.                  */
+/* For the available peripheral interrupt handler names,                      */
+/* please refer to the startup file (startup_stm32h7xx.s).                    */
+/******************************************************************************/
+
+/**
+  * @brief This function handles DMA1 stream0 global interrupt.
+  */
+void DMA1_Stream0_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream0_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream0_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_adc1);
+  /* USER CODE BEGIN DMA1_Stream0_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream0_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA1 stream1 global interrupt.
+  */
+void DMA1_Stream1_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream1_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_spi2_rx);
+  /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA1 stream2 global interrupt.
+  */
+void DMA1_Stream2_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream2_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_spi2_tx);
+  /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream2_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA1 stream3 global interrupt.
+  */
+void DMA1_Stream3_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream3_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_uart5_rx);
+  /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream3_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA1 stream4 global interrupt.
+  */
+void DMA1_Stream4_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream4_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart1_tx);
+  /* USER CODE BEGIN DMA1_Stream4_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream4_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA1 stream5 global interrupt.
+  */
+void DMA1_Stream5_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream5_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream5_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart1_rx);
+  /* USER CODE BEGIN DMA1_Stream5_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream5_IRQn 1 */
+}
+
+/**
+  * @brief This function handles FDCAN1 interrupt 0.
+  */
+void FDCAN1_IT0_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN1_IT0_IRQn 0 */
+
+  /* USER CODE END FDCAN1_IT0_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan1);
+  /* USER CODE BEGIN FDCAN1_IT0_IRQn 1 */
+
+  /* USER CODE END FDCAN1_IT0_IRQn 1 */
+}
+
+/**
+  * @brief This function handles FDCAN2 interrupt 0.
+  */
+void FDCAN2_IT0_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN2_IT0_IRQn 0 */
+
+  /* USER CODE END FDCAN2_IT0_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan2);
+  /* USER CODE BEGIN FDCAN2_IT0_IRQn 1 */
+
+  /* USER CODE END FDCAN2_IT0_IRQn 1 */
+}
+
+/**
+  * @brief This function handles FDCAN1 interrupt 1.
+  */
+void FDCAN1_IT1_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN1_IT1_IRQn 0 */
+
+  /* USER CODE END FDCAN1_IT1_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan1);
+  /* USER CODE BEGIN FDCAN1_IT1_IRQn 1 */
+
+  /* USER CODE END FDCAN1_IT1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles FDCAN2 interrupt 1.
+  */
+void FDCAN2_IT1_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN2_IT1_IRQn 0 */
+
+  /* USER CODE END FDCAN2_IT1_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan2);
+  /* USER CODE BEGIN FDCAN2_IT1_IRQn 1 */
+
+  /* USER CODE END FDCAN2_IT1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles SPI2 global interrupt.
+  */
+void SPI2_IRQHandler(void)
+{
+  /* USER CODE BEGIN SPI2_IRQn 0 */
+
+  /* USER CODE END SPI2_IRQn 0 */
+  HAL_SPI_IRQHandler(&hspi2);
+  /* USER CODE BEGIN SPI2_IRQn 1 */
+
+  /* USER CODE END SPI2_IRQn 1 */
+}
+
+/**
+  * @brief This function handles USART1 global interrupt.
+  */
+void USART1_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART1_IRQn 0 */
+
+  /* USER CODE END USART1_IRQn 0 */
+  HAL_UART_IRQHandler(&huart1);
+  /* USER CODE BEGIN USART1_IRQn 1 */
+  BSP_UART_IRQHandler(&huart1);
+
+  /* USER CODE END USART1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles USART2 global interrupt.
+  */
+void USART2_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART2_IRQn 0 */
+
+  /* USER CODE END USART2_IRQn 0 */
+  HAL_UART_IRQHandler(&huart2);
+  /* USER CODE BEGIN USART2_IRQn 1 */
+
+  /* USER CODE END USART2_IRQn 1 */
+}
+
+/**
+  * @brief This function handles USART3 global interrupt.
+  */
+void USART3_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART3_IRQn 0 */
+
+  /* USER CODE END USART3_IRQn 0 */
+  HAL_UART_IRQHandler(&huart3);
+  /* USER CODE BEGIN USART3_IRQn 1 */
+
+  /* USER CODE END USART3_IRQn 1 */
+}
+
+/**
+  * @brief This function handles EXTI line[15:10] interrupts.
+  */
+void EXTI15_10_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI15_10_IRQn 0 */
+
+  /* USER CODE END EXTI15_10_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(ACCL_INT_Pin);
+  HAL_GPIO_EXTI_IRQHandler(GYRO_INT_Pin);
+  /* USER CODE BEGIN EXTI15_10_IRQn 1 */
+
+  /* USER CODE END EXTI15_10_IRQn 1 */
+}
+
+/**
+  * @brief This function handles UART5 global interrupt.
+  */
+void UART5_IRQHandler(void)
+{
+  /* USER CODE BEGIN UART5_IRQn 0 */
+
+  /* USER CODE END UART5_IRQn 0 */
+  HAL_UART_IRQHandler(&huart5);
+  /* USER CODE BEGIN UART5_IRQn 1 */
+  BSP_UART_IRQHandler(&huart5);
+
+  /* USER CODE END UART5_IRQn 1 */
+}
+
+/**
+  * @brief This function handles UART7 global interrupt.
+  */
+void UART7_IRQHandler(void)
+{
+  /* USER CODE BEGIN UART7_IRQn 0 */
+
+  /* USER CODE END UART7_IRQn 0 */
+  HAL_UART_IRQHandler(&huart7);
+  /* USER CODE BEGIN UART7_IRQn 1 */
+
+  /* USER CODE END UART7_IRQn 1 */
+}
+
+/**
+  * @brief This function handles ADC3 global interrupt.
+  */
+void ADC3_IRQHandler(void)
+{
+  /* USER CODE BEGIN ADC3_IRQn 0 */
+
+  /* USER CODE END ADC3_IRQn 0 */
+  HAL_ADC_IRQHandler(&hadc3);
+  /* USER CODE BEGIN ADC3_IRQn 1 */
+
+  /* USER CODE END ADC3_IRQn 1 */
+}
+
+/**
+  * @brief This function handles BDMA channel0 global interrupt.
+  */
+void BDMA_Channel0_IRQHandler(void)
+{
+  /* USER CODE BEGIN BDMA_Channel0_IRQn 0 */
+
+  /* USER CODE END BDMA_Channel0_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_adc3);
+  /* USER CODE BEGIN BDMA_Channel0_IRQn 1 */
+
+  /* USER CODE END BDMA_Channel0_IRQn 1 */
+}
+
+/**
+  * @brief This function handles USART10 global interrupt.
+  */
+void USART10_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART10_IRQn 0 */
+
+  /* USER CODE END USART10_IRQn 0 */
+  HAL_UART_IRQHandler(&huart10);
+  /* USER CODE BEGIN USART10_IRQn 1 */
+
+  /* USER CODE END USART10_IRQn 1 */
+}
+
+/**
+  * @brief This function handles FDCAN3 interrupt 0.
+  */
+void FDCAN3_IT0_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN3_IT0_IRQn 0 */
+
+  /* USER CODE END FDCAN3_IT0_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan3);
+  /* USER CODE BEGIN FDCAN3_IT0_IRQn 1 */
+
+  /* USER CODE END FDCAN3_IT0_IRQn 1 */
+}
+
+/**
+  * @brief This function handles FDCAN3 interrupt 1.
+  */
+void FDCAN3_IT1_IRQHandler(void)
+{
+  /* USER CODE BEGIN FDCAN3_IT1_IRQn 0 */
+
+  /* USER CODE END FDCAN3_IT1_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan3);
+  /* USER CODE BEGIN FDCAN3_IT1_IRQn 1 */
+
+  /* USER CODE END FDCAN3_IT1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles TIM23 global interrupt.
+  */
+void TIM23_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM23_IRQn 0 */
+
+  /* USER CODE END TIM23_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim23);
+  /* USER CODE BEGIN TIM23_IRQn 1 */
+
+  /* USER CODE END TIM23_IRQn 1 */
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

Core/Src/syscalls.c

@@ -6,19 +6,11 @@
  *
  *            For more information about which c-functions
  *            need which of these lowlevel functions
-<<<<<<< HEAD
  *            please consult the Newlib or Picolibc libc-manual
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2020-2025 STMicroelectronics.
-=======
- *            please consult the Newlib libc-manual
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2020-2024 STMicroelectronics.
->>>>>>> main
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
@@ -147,21 +139,13 @@ int _unlink(char *name)
   return -1;
 }
 
-<<<<<<< HEAD
 clock_t _times(struct tms *buf)
-=======
-int _times(struct tms *buf)
->>>>>>> main
 {
   (void)buf;
   return -1;
 }
 
-<<<<<<< HEAD
 int _stat(const char *file, struct stat *st)
-=======
-int _stat(char *file, struct stat *st)
->>>>>>> main
 {
   (void)file;
   st->st_mode = S_IFCHR;
@@ -190,7 +174,6 @@ int _execve(char *name, char **argv, char **env)
   errno = ENOMEM;
   return -1;
 }
-<<<<<<< HEAD
 
 // --- Picolibc Specific Section ---
 #if defined(__PICOLIBC__)
@@ -259,5 +242,3 @@ __strong_reference(_kill, kill);
 __strong_reference(_getpid, getpid);
 
 #endif //__PICOLIBC__
-=======
->>>>>>> main

Core/Src/sysmem.c

@@ -6,19 +6,11 @@
  *
  *            For more information about which C functions
  *            need which of these lowlevel functions
-<<<<<<< HEAD
  *            please consult the Newlib or Picolibc libc manual
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
-=======
- *            please consult the newlib libc manual
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2024 STMicroelectronics.
->>>>>>> main
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
@@ -31,10 +23,7 @@
 /* Includes */
 #include <errno.h>
 #include <stdint.h>
-<<<<<<< HEAD
 #include <stddef.h>
-=======
->>>>>>> main
 
 /**
  * Pointer to the current high watermark of the heap usage
@@ -89,7 +78,6 @@ void *_sbrk(ptrdiff_t incr)
 
   return (void *)prev_heap_end;
 }
-<<<<<<< HEAD
 
 #if defined(__PICOLIBC__)
   // Picolibc expects syscalls without the leading underscore.
@@ -97,5 +85,3 @@ void *_sbrk(ptrdiff_t incr)
   // calls to `sbrk()` are resolved to our `_sbrk()` implementation.
   __strong_reference(_sbrk, sbrk);
 #endif
-=======
->>>>>>> main

Core/Src/system_stm32h7xx.c

@@ -0,0 +1,556 @@
+/**
+  ******************************************************************************
+  * @file    system_stm32h7xx.c
+  * @author  MCD Application Team
+  * @brief   CMSIS Cortex-Mx Device Peripheral Access Layer System Source File.
+  *
+  *   This file provides two functions and one global variable to be called from
+  *   user application:
+  *      - ExitRun0Mode(): Specifies the Power Supply source. This function is
+  *                        called at startup just after reset and before the call
+  *                        of SystemInit(). This call is made inside
+  *                        the "startup_stm32h7xx.s" file.
+  *
+  *      - SystemInit(): This function is called at startup just after reset and
+  *                      before branch to main program. This call is made inside
+  *                      the "startup_stm32h7xx.s" file.
+  *
+  *      - SystemCoreClock variable: Contains the core clock, it can be used
+  *                                  by the user application to setup the SysTick
+  *                                  timer or configure other parameters.
+  *
+  *      - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
+  *                                 be called whenever the core clock is changed
+  *                                 during program execution.
+  *
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2017 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.
+  *
+  ******************************************************************************
+  */
+
+/** @addtogroup CMSIS
+  * @{
+  */
+
+/** @addtogroup stm32h7xx_system
+  * @{
+  */
+
+/** @addtogroup STM32H7xx_System_Private_Includes
+  * @{
+  */
+
+#include "stm32h7xx.h"
+#include <math.h>
+
+#if !defined  (HSE_VALUE)
+#define HSE_VALUE    ((uint32_t)25000000) /*!< Value of the External oscillator in Hz */
+#endif /* HSE_VALUE */
+
+#if !defined  (CSI_VALUE)
+  #define CSI_VALUE    ((uint32_t)4000000) /*!< Value of the Internal oscillator in Hz*/
+#endif /* CSI_VALUE */
+
+#if !defined  (HSI_VALUE)
+  #define HSI_VALUE    ((uint32_t)64000000) /*!< Value of the Internal oscillator in Hz*/
+#endif /* HSI_VALUE */
+
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32H7xx_System_Private_TypesDefinitions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32H7xx_System_Private_Defines
+  * @{
+  */
+
+/************************* Miscellaneous Configuration ************************/
+/*!< Uncomment the following line if you need to use initialized data in D2 domain SRAM (AHB SRAM) */
+/* #define DATA_IN_D2_SRAM */
+
+/* Note: Following vector table addresses must be defined in line with linker
+         configuration. */
+/*!< Uncomment the following line if you need to relocate the vector table
+     anywhere in FLASH BANK1 or AXI SRAM, else the vector table is kept at the automatic
+     remap of boot address selected */
+/* #define USER_VECT_TAB_ADDRESS */
+
+#if defined(USER_VECT_TAB_ADDRESS)
+#if defined(DUAL_CORE) && defined(CORE_CM4)
+/*!< Uncomment the following line if you need to relocate your vector Table
+     in D2 AXI SRAM else user remap will be done in FLASH BANK2. */
+/* #define VECT_TAB_SRAM */
+#if defined(VECT_TAB_SRAM)
+#define VECT_TAB_BASE_ADDRESS   D2_AXISRAM_BASE   /*!< Vector Table base address field.
+                                                       This value must be a multiple of 0x400. */
+#define VECT_TAB_OFFSET         0x00000000U       /*!< Vector Table base offset field.
+                                                       This value must be a multiple of 0x400. */
+#else
+#define VECT_TAB_BASE_ADDRESS   FLASH_BANK2_BASE  /*!< Vector Table base address field.
+                                                       This value must be a multiple of 0x400. */
+#define VECT_TAB_OFFSET         0x00000000U       /*!< Vector Table base offset field.
+                                                       This value must be a multiple of 0x400. */
+#endif /* VECT_TAB_SRAM */
+#else
+/*!< Uncomment the following line if you need to relocate your vector Table
+     in D1 AXI SRAM else user remap will be done in FLASH BANK1. */
+/* #define VECT_TAB_SRAM */
+#if defined(VECT_TAB_SRAM)
+#define VECT_TAB_BASE_ADDRESS   D1_AXISRAM_BASE   /*!< Vector Table base address field.
+                                                       This value must be a multiple of 0x400. */
+#define VECT_TAB_OFFSET         0x00000000U       /*!< Vector Table base offset field.
+                                                       This value must be a multiple of 0x400. */
+#else
+#define VECT_TAB_BASE_ADDRESS   FLASH_BANK1_BASE  /*!< Vector Table base address field.
+                                                       This value must be a multiple of 0x400. */
+#define VECT_TAB_OFFSET         0x00000000U       /*!< Vector Table base offset field.
+                                                       This value must be a multiple of 0x400. */
+#endif /* VECT_TAB_SRAM */
+#endif /* DUAL_CORE && CORE_CM4 */
+#endif /* USER_VECT_TAB_ADDRESS */
+/******************************************************************************/
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32H7xx_System_Private_Macros
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32H7xx_System_Private_Variables
+  * @{
+  */
+  /* This variable is updated in three ways:
+      1) by calling CMSIS function SystemCoreClockUpdate()
+      2) by calling HAL API function HAL_RCC_GetHCLKFreq()
+      3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
+         Note: If you use this function to configure the system clock; then there
+               is no need to call the 2 first functions listed above, since SystemCoreClock
+               variable is updated automatically.
+  */
+  uint32_t SystemCoreClock = 64000000;
+  uint32_t SystemD2Clock = 64000000;
+  const  uint8_t D1CorePrescTable[16] = {0, 0, 0, 0, 1, 2, 3, 4, 1, 2, 3, 4, 6, 7, 8, 9};
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32H7xx_System_Private_FunctionPrototypes
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32H7xx_System_Private_Functions
+  * @{
+  */
+
+/**
+  * @brief  Setup the microcontroller system
+  *         Initialize the FPU setting and  vector table location
+  *         configuration.
+  * @param  None
+  * @retval None
+  */
+void SystemInit (void)
+{
+#if defined (DATA_IN_D2_SRAM)
+ __IO uint32_t tmpreg;
+#endif /* DATA_IN_D2_SRAM */
+
+  /* FPU settings ------------------------------------------------------------*/
+  #if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
+    SCB->CPACR |= ((3UL << (10*2))|(3UL << (11*2)));  /* set CP10 and CP11 Full Access */
+  #endif
+  /* Reset the RCC clock configuration to the default reset state ------------*/
+
+   /* Increasing the CPU frequency */
+  if(FLASH_LATENCY_DEFAULT  > (READ_BIT((FLASH->ACR), FLASH_ACR_LATENCY)))
+  {
+    /* Program the new number of wait states to the LATENCY bits in the FLASH_ACR register */
+    MODIFY_REG(FLASH->ACR, FLASH_ACR_LATENCY, (uint32_t)(FLASH_LATENCY_DEFAULT));
+  }
+
+  /* Set HSION bit */
+  RCC->CR |= RCC_CR_HSION;
+
+  /* Reset CFGR register */
+  RCC->CFGR = 0x00000000;
+
+  /* Reset HSEON, HSECSSON, CSION, HSI48ON, CSIKERON, PLL1ON, PLL2ON and PLL3ON bits */
+  RCC->CR &= 0xEAF6ED7FU;
+
+   /* Decreasing the number of wait states because of lower CPU frequency */
+  if(FLASH_LATENCY_DEFAULT  < (READ_BIT((FLASH->ACR), FLASH_ACR_LATENCY)))
+  {
+    /* Program the new number of wait states to the LATENCY bits in the FLASH_ACR register */
+    MODIFY_REG(FLASH->ACR, FLASH_ACR_LATENCY, (uint32_t)(FLASH_LATENCY_DEFAULT));
+  }
+
+#if defined(D3_SRAM_BASE)
+  /* Reset D1CFGR register */
+  RCC->D1CFGR = 0x00000000;
+
+  /* Reset D2CFGR register */
+  RCC->D2CFGR = 0x00000000;
+
+  /* Reset D3CFGR register */
+  RCC->D3CFGR = 0x00000000;
+#else
+  /* Reset CDCFGR1 register */
+  RCC->CDCFGR1 = 0x00000000;
+
+  /* Reset CDCFGR2 register */
+  RCC->CDCFGR2 = 0x00000000;
+
+  /* Reset SRDCFGR register */
+  RCC->SRDCFGR = 0x00000000;
+#endif
+  /* Reset PLLCKSELR register */
+  RCC->PLLCKSELR = 0x02020200;
+
+  /* Reset PLLCFGR register */
+  RCC->PLLCFGR = 0x01FF0000;
+  /* Reset PLL1DIVR register */
+  RCC->PLL1DIVR = 0x01010280;
+  /* Reset PLL1FRACR register */
+  RCC->PLL1FRACR = 0x00000000;
+
+  /* Reset PLL2DIVR register */
+  RCC->PLL2DIVR = 0x01010280;
+
+  /* Reset PLL2FRACR register */
+
+  RCC->PLL2FRACR = 0x00000000;
+  /* Reset PLL3DIVR register */
+  RCC->PLL3DIVR = 0x01010280;
+
+  /* Reset PLL3FRACR register */
+  RCC->PLL3FRACR = 0x00000000;
+
+  /* Reset HSEBYP bit */
+  RCC->CR &= 0xFFFBFFFFU;
+
+  /* Disable all interrupts */
+  RCC->CIER = 0x00000000;
+
+#if (STM32H7_DEV_ID == 0x450UL)
+  /* dual core CM7 or single core line */
+  if((DBGMCU->IDCODE & 0xFFFF0000U) < 0x20000000U)
+  {
+    /* if stm32h7 revY*/
+    /* Change  the switch matrix read issuing capability to 1 for the AXI SRAM target (Target 7) */
+    *((__IO uint32_t*)0x51008108) = 0x000000001U;
+  }
+#endif /* STM32H7_DEV_ID */
+
+#if defined(DATA_IN_D2_SRAM)
+  /* in case of initialized data in D2 SRAM (AHB SRAM), enable the D2 SRAM clock (AHB SRAM clock) */
+#if defined(RCC_AHB2ENR_D2SRAM3EN)
+  RCC->AHB2ENR |= (RCC_AHB2ENR_D2SRAM1EN | RCC_AHB2ENR_D2SRAM2EN | RCC_AHB2ENR_D2SRAM3EN);
+#elif defined(RCC_AHB2ENR_D2SRAM2EN)
+  RCC->AHB2ENR |= (RCC_AHB2ENR_D2SRAM1EN | RCC_AHB2ENR_D2SRAM2EN);
+#else
+  RCC->AHB2ENR |= (RCC_AHB2ENR_AHBSRAM1EN | RCC_AHB2ENR_AHBSRAM2EN);
+#endif /* RCC_AHB2ENR_D2SRAM3EN */
+
+  tmpreg = RCC->AHB2ENR;
+  (void) tmpreg;
+#endif /* DATA_IN_D2_SRAM */
+
+#if defined(DUAL_CORE) && defined(CORE_CM4)
+  /* Configure the Vector Table location add offset address for cortex-M4 ------------------*/
+#if defined(USER_VECT_TAB_ADDRESS)
+  SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal D2 AXI-RAM or in Internal FLASH */
+#endif /* USER_VECT_TAB_ADDRESS */
+
+#else
+  if(READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN) == 0U)
+  {
+    /* Enable the FMC interface clock */
+    SET_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
+
+    /*
+     * Disable the FMC bank1 (enabled after reset).
+     * This, prevents CPU speculation access on this bank which blocks the use of FMC during
+     * 24us. During this time the others FMC master (such as LTDC) cannot use it!
+     */
+    FMC_Bank1_R->BTCR[0] = 0x000030D2;
+
+    /* Disable the FMC interface clock */
+    CLEAR_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
+  }
+
+  /* Configure the Vector Table location -------------------------------------*/
+#if defined(USER_VECT_TAB_ADDRESS)
+  SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal D1 AXI-RAM or in Internal FLASH */
+#endif /* USER_VECT_TAB_ADDRESS */
+
+#endif /*DUAL_CORE && CORE_CM4*/
+}
+
+/**
+  * @brief  Update SystemCoreClock variable according to Clock Register Values.
+  *         The SystemCoreClock variable contains the core clock , it can
+  *         be used by the user application to setup the SysTick timer or configure
+  *         other parameters.
+  *
+  * @note   Each time the core clock changes, this function must be called
+  *         to update SystemCoreClock variable value. Otherwise, any configuration
+  *         based on this variable will be incorrect.
+  *
+  * @note   - The system frequency computed by this function is not the real
+  *           frequency in the chip. It is calculated based on the predefined
+  *           constant and the selected clock source:
+  *
+  *           - If SYSCLK source is CSI, SystemCoreClock will contain the CSI_VALUE(*)
+  *           - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(**)
+  *           - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(***)
+  *           - If SYSCLK source is PLL, SystemCoreClock will contain the CSI_VALUE(*),
+  *             HSI_VALUE(**) or HSE_VALUE(***) multiplied/divided by the PLL factors.
+  *
+  *         (*) CSI_VALUE is a constant defined in stm32h7xx_hal.h file (default value
+  *             4 MHz) but the real value may vary depending on the variations
+  *             in voltage and temperature.
+  *         (**) HSI_VALUE is a constant defined in stm32h7xx_hal.h file (default value
+  *             64 MHz) but the real value may vary depending on the variations
+  *             in voltage and temperature.
+  *
+  *         (***)HSE_VALUE is a constant defined in stm32h7xx_hal.h file (default value
+  *              25 MHz), user has to ensure that HSE_VALUE is same as the real
+  *              frequency of the crystal used. Otherwise, this function may
+  *              have wrong result.
+  *
+  *         - The result of this function could be not correct when using fractional
+  *           value for HSE crystal.
+  * @param  None
+  * @retval None
+  */
+void SystemCoreClockUpdate (void)
+{
+  uint32_t pllp, pllsource, pllm, pllfracen, hsivalue, tmp;
+  uint32_t common_system_clock;
+  float_t fracn1, pllvco;
+
+
+  /* Get SYSCLK source -------------------------------------------------------*/
+
+  switch (RCC->CFGR & RCC_CFGR_SWS)
+  {
+  case RCC_CFGR_SWS_HSI:  /* HSI used as system clock source */
+    common_system_clock = (uint32_t) (HSI_VALUE >> ((RCC->CR & RCC_CR_HSIDIV)>> 3));
+    break;
+
+  case RCC_CFGR_SWS_CSI:  /* CSI used as system clock  source */
+    common_system_clock = CSI_VALUE;
+    break;
+
+  case RCC_CFGR_SWS_HSE:  /* HSE used as system clock  source */
+    common_system_clock = HSE_VALUE;
+    break;
+
+  case RCC_CFGR_SWS_PLL1:  /* PLL1 used as system clock  source */
+
+    /* PLL_VCO = (HSE_VALUE or HSI_VALUE or CSI_VALUE/ PLLM) * PLLN
+    SYSCLK = PLL_VCO / PLLR
+    */
+    pllsource = (RCC->PLLCKSELR & RCC_PLLCKSELR_PLLSRC);
+    pllm = ((RCC->PLLCKSELR & RCC_PLLCKSELR_DIVM1)>> 4)  ;
+    pllfracen = ((RCC->PLLCFGR & RCC_PLLCFGR_PLL1FRACEN)>>RCC_PLLCFGR_PLL1FRACEN_Pos);
+    fracn1 = (float_t)(uint32_t)(pllfracen* ((RCC->PLL1FRACR & RCC_PLL1FRACR_FRACN1)>> 3));
+
+    if (pllm != 0U)
+    {
+      switch (pllsource)
+      {
+        case RCC_PLLCKSELR_PLLSRC_HSI:  /* HSI used as PLL clock source */
+
+        hsivalue = (HSI_VALUE >> ((RCC->CR & RCC_CR_HSIDIV)>> 3)) ;
+        pllvco = ( (float_t)hsivalue / (float_t)pllm) * ((float_t)(uint32_t)(RCC->PLL1DIVR & RCC_PLL1DIVR_N1) + (fracn1/(float_t)0x2000) +(float_t)1 );
+
+        break;
+
+        case RCC_PLLCKSELR_PLLSRC_CSI:  /* CSI used as PLL clock source */
+          pllvco = ((float_t)CSI_VALUE / (float_t)pllm) * ((float_t)(uint32_t)(RCC->PLL1DIVR & RCC_PLL1DIVR_N1) + (fracn1/(float_t)0x2000) +(float_t)1 );
+        break;
+
+        case RCC_PLLCKSELR_PLLSRC_HSE:  /* HSE used as PLL clock source */
+          pllvco = ((float_t)HSE_VALUE / (float_t)pllm) * ((float_t)(uint32_t)(RCC->PLL1DIVR & RCC_PLL1DIVR_N1) + (fracn1/(float_t)0x2000) +(float_t)1 );
+        break;
+
+      default:
+          hsivalue = (HSI_VALUE >> ((RCC->CR & RCC_CR_HSIDIV)>> 3)) ;
+          pllvco = ((float_t)hsivalue / (float_t)pllm) * ((float_t)(uint32_t)(RCC->PLL1DIVR & RCC_PLL1DIVR_N1) + (fracn1/(float_t)0x2000) +(float_t)1 );
+        break;
+      }
+      pllp = (((RCC->PLL1DIVR & RCC_PLL1DIVR_P1) >>9) + 1U ) ;
+      common_system_clock =  (uint32_t)(float_t)(pllvco/(float_t)pllp);
+    }
+    else
+    {
+      common_system_clock = 0U;
+    }
+    break;
+
+  default:
+    common_system_clock = (uint32_t) (HSI_VALUE >> ((RCC->CR & RCC_CR_HSIDIV)>> 3));
+    break;
+  }
+
+  /* Compute SystemClock frequency --------------------------------------------------*/
+#if defined (RCC_D1CFGR_D1CPRE)
+  tmp = D1CorePrescTable[(RCC->D1CFGR & RCC_D1CFGR_D1CPRE)>> RCC_D1CFGR_D1CPRE_Pos];
+
+  /* common_system_clock frequency : CM7 CPU frequency  */
+  common_system_clock >>= tmp;
+
+  /* SystemD2Clock frequency : CM4 CPU, AXI and AHBs Clock frequency  */
+  SystemD2Clock = (common_system_clock >> ((D1CorePrescTable[(RCC->D1CFGR & RCC_D1CFGR_HPRE)>> RCC_D1CFGR_HPRE_Pos]) & 0x1FU));
+
+#else
+  tmp = D1CorePrescTable[(RCC->CDCFGR1 & RCC_CDCFGR1_CDCPRE)>> RCC_CDCFGR1_CDCPRE_Pos];
+
+  /* common_system_clock frequency : CM7 CPU frequency  */
+  common_system_clock >>= tmp;
+
+  /* SystemD2Clock frequency : AXI and AHBs Clock frequency  */
+  SystemD2Clock = (common_system_clock >> ((D1CorePrescTable[(RCC->CDCFGR1 & RCC_CDCFGR1_HPRE)>> RCC_CDCFGR1_HPRE_Pos]) & 0x1FU));
+
+#endif
+
+#if defined(DUAL_CORE) && defined(CORE_CM4)
+  SystemCoreClock = SystemD2Clock;
+#else
+  SystemCoreClock = common_system_clock;
+#endif /* DUAL_CORE && CORE_CM4 */
+}
+
+/**
+  * @brief  Exit Run* mode and Configure the system Power Supply
+  *
+  * @note   This function exits the Run* mode and configures the system power supply
+  *         according to the definition to be used at compilation preprocessing level.
+  *         The application shall set one of the following configuration option:
+  *           - PWR_LDO_SUPPLY
+  *           - PWR_DIRECT_SMPS_SUPPLY
+  *           - PWR_EXTERNAL_SOURCE_SUPPLY
+  *           - PWR_SMPS_1V8_SUPPLIES_LDO
+  *           - PWR_SMPS_2V5_SUPPLIES_LDO
+  *           - PWR_SMPS_1V8_SUPPLIES_EXT_AND_LDO
+  *           - PWR_SMPS_2V5_SUPPLIES_EXT_AND_LDO
+  *           - PWR_SMPS_1V8_SUPPLIES_EXT
+  *           - PWR_SMPS_2V5_SUPPLIES_EXT
+  *
+  * @note   The function modifies the PWR->CR3 register to enable or disable specific
+  *         power supply modes and waits until the voltage level flag is set, indicating
+  *         that the power supply configuration is stable.
+  *
+  * @param  None
+  * @retval None
+  */
+void ExitRun0Mode(void)
+{
+#if defined(USE_PWR_LDO_SUPPLY)
+  #if defined(SMPS)
+    /* Exit Run* mode by disabling SMPS and enabling LDO */
+    PWR->CR3 = (PWR->CR3 & ~PWR_CR3_SMPSEN) | PWR_CR3_LDOEN;
+  #else
+    /* Enable LDO mode */
+    PWR->CR3 |= PWR_CR3_LDOEN;
+  #endif /* SMPS */
+  /* Wait till voltage level flag is set */
+  while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
+  {}
+#elif defined(USE_PWR_EXTERNAL_SOURCE_SUPPLY)
+  #if defined(SMPS)
+    /* Exit Run* mode */
+    PWR->CR3 = (PWR->CR3 & ~(PWR_CR3_SMPSEN | PWR_CR3_LDOEN)) | PWR_CR3_BYPASS;
+  #else
+    PWR->CR3 = (PWR->CR3 & ~(PWR_CR3_LDOEN)) | PWR_CR3_BYPASS;
+  #endif /* SMPS */
+  /* Wait till voltage level flag is set */
+  while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
+  {}
+#elif defined(USE_PWR_DIRECT_SMPS_SUPPLY) && defined(SMPS)
+  /* Exit Run* mode */
+  PWR->CR3 &= ~(PWR_CR3_LDOEN);
+  /* Wait till voltage level flag is set */
+  while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
+  {}
+#elif defined(USE_PWR_SMPS_1V8_SUPPLIES_LDO) && defined(SMPS)
+  /* Exit Run* mode */
+  PWR->CR3 |= PWR_CR3_SMPSLEVEL_0 | PWR_CR3_SMPSEN | PWR_CR3_LDOEN;
+  /* Wait till voltage level flag is set */
+  while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
+  {}
+#elif defined(USE_PWR_SMPS_2V5_SUPPLIES_LDO) && defined(SMPS)
+  /* Exit Run* mode */
+  PWR->CR3 |= PWR_CR3_SMPSLEVEL_1 | PWR_CR3_SMPSEN | PWR_CR3_LDOEN;
+  /* Wait till voltage level flag is set */
+  while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
+  {}
+#elif defined(USE_PWR_SMPS_1V8_SUPPLIES_EXT_AND_LDO) && defined(SMPS)
+  /* Exit Run* mode */
+  PWR->CR3 |= PWR_CR3_SMPSLEVEL_0 | PWR_CR3_SMPSEXTHP | PWR_CR3_SMPSEN | PWR_CR3_LDOEN;
+  /* Wait till voltage level flag is set */
+  while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
+  {}
+#elif defined(USE_PWR_SMPS_2V5_SUPPLIES_EXT_AND_LDO) && defined(SMPS)
+  /* Exit Run* mode */
+  PWR->CR3 |= PWR_CR3_SMPSLEVEL_1 | PWR_CR3_SMPSEXTHP | PWR_CR3_SMPSEN | PWR_CR3_LDOEN;
+  /* Wait till voltage level flag is set */
+  while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
+  {}
+#elif defined(USE_PWR_SMPS_1V8_SUPPLIES_EXT) && defined(SMPS)
+  /* Exit Run* mode */
+  PWR->CR3 = (PWR->CR3 & ~(PWR_CR3_LDOEN)) | PWR_CR3_SMPSLEVEL_0 | PWR_CR3_SMPSEXTHP | PWR_CR3_SMPSEN | PWR_CR3_BYPASS;
+  /* Wait till voltage level flag is set */
+  while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
+  {}
+#elif defined(USE_PWR_SMPS_2V5_SUPPLIES_EXT) && defined(SMPS)
+  /* Exit Run* mode */
+  PWR->CR3 = (PWR->CR3 & ~(PWR_CR3_LDOEN)) | PWR_CR3_SMPSLEVEL_1 | PWR_CR3_SMPSEXTHP | PWR_CR3_SMPSEN | PWR_CR3_BYPASS;
+  /* Wait till voltage level flag is set */
+  while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U)
+  {}
+#else
+  /* No system power supply configuration is selected at exit Run* mode */
+#endif /* USE_PWR_LDO_SUPPLY */
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */

Core/Src/tim.c

@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file
@@ -25,12 +25,9 @@
 /* USER CODE END 0 */
 
 TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
-TIM_HandleTypeDef htim4;
+TIM_HandleTypeDef htim12;
-TIM_HandleTypeDef htim5;
-TIM_HandleTypeDef htim7;
-TIM_HandleTypeDef htim8;
-TIM_HandleTypeDef htim10;
 
 /* TIM1 init function */
 void MX_TIM1_Init(void)
@@ -40,7 +37,6 @@ void MX_TIM1_Init(void)
 
   /* USER CODE END TIM1_Init 0 */
 
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
   TIM_MasterConfigTypeDef sMasterConfig = {0};
   TIM_OC_InitTypeDef sConfigOC = {0};
   TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
@@ -49,33 +45,25 @@ void MX_TIM1_Init(void)
 
   /* USER CODE END TIM1_Init 1 */
   htim1.Instance = TIM1;
-  htim1.Init.Prescaler = 167;
+  htim1.Init.Prescaler = 24;
   htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.Period = 19999;
+  htim1.Init.Period = 10000;
   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();
-  }
   if (HAL_TIM_PWM_Init(&htim1) != 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();
   }
   sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 0;
+  sConfigOC.Pulse = 5000;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
@@ -85,25 +73,20 @@ void MX_TIM1_Init(void)
   {
     Error_Handler();
   }
-  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
   if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
   {
     Error_Handler();
   }
-  sConfigOC.Pulse = 1000;
-  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
-  {
-    Error_Handler();
-  }
   sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
   sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
   sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
   sBreakDeadTimeConfig.DeadTime = 0;
   sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
   sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.BreakFilter = 0;
+  sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
+  sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
+  sBreakDeadTimeConfig.Break2Filter = 0;
   sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
   if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
   {
@@ -114,6 +97,54 @@ void MX_TIM1_Init(void)
   /* USER CODE END TIM1_Init 2 */
   HAL_TIM_MspPostInit(&htim1);
 
+}
+/* TIM2 init function */
+void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM2_Init 1 */
+
+  /* USER CODE END TIM2_Init 1 */
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 24;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 10000;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 5000;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM2_Init 2 */
+
+  /* USER CODE END TIM2_Init 2 */
+  HAL_TIM_MspPostInit(&htim2);
+
 }
 /* TIM3 init function */
 void MX_TIM3_Init(void)
@@ -123,7 +154,6 @@ void MX_TIM3_Init(void)
 
   /* USER CODE END TIM3_Init 0 */
 
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
   TIM_MasterConfigTypeDef sMasterConfig = {0};
   TIM_OC_InitTypeDef sConfigOC = {0};
 
@@ -131,20 +161,11 @@ void MX_TIM3_Init(void)
 
   /* USER CODE END TIM3_Init 1 */
   htim3.Instance = TIM3;
-  htim3.Init.Prescaler = 0;
+  htim3.Init.Prescaler = 24-1;
   htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim3.Init.Period = 65535;
+  htim3.Init.Period = 10000-1;
   htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  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();
-  }
   if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
   {
     Error_Handler();
@@ -159,7 +180,11 @@ void MX_TIM3_Init(void)
   sConfigOC.Pulse = 0;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
   {
     Error_Handler();
   }
@@ -169,43 +194,33 @@ void MX_TIM3_Init(void)
   HAL_TIM_MspPostInit(&htim3);
 
 }
-/* TIM4 init function */
+/* TIM12 init function */
-void MX_TIM4_Init(void)
+void MX_TIM12_Init(void)
 {
 
-  /* USER CODE BEGIN TIM4_Init 0 */
+  /* USER CODE BEGIN TIM12_Init 0 */
 
-  /* USER CODE END TIM4_Init 0 */
+  /* USER CODE END TIM12_Init 0 */
 
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
   TIM_MasterConfigTypeDef sMasterConfig = {0};
   TIM_OC_InitTypeDef sConfigOC = {0};
 
-  /* USER CODE BEGIN TIM4_Init 1 */
+  /* USER CODE BEGIN TIM12_Init 1 */
 
-  /* USER CODE END TIM4_Init 1 */
+  /* USER CODE END TIM12_Init 1 */
-  htim4.Instance = TIM4;
+  htim12.Instance = TIM12;
-  htim4.Init.Prescaler = 167;
+  htim12.Init.Prescaler = 24-1;
-  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim12.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim4.Init.Period = 65535;
+  htim12.Init.Period = 2000-1;
-  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim12.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  htim12.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+  if (HAL_TIM_PWM_Init(&htim12) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  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)
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim12, &sMasterConfig) != HAL_OK)
   {
     Error_Handler();
   }
@@ -213,246 +228,43 @@ void MX_TIM4_Init(void)
   sConfigOC.Pulse = 0;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  if (HAL_TIM_PWM_ConfigChannel(&htim12, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
   {
     Error_Handler();
   }
-  /* USER CODE BEGIN TIM4_Init 2 */
+  /* USER CODE BEGIN TIM12_Init 2 */
 
-  /* USER CODE END TIM4_Init 2 */
+  /* USER CODE END TIM12_Init 2 */
-  HAL_TIM_MspPostInit(&htim4);
+  HAL_TIM_MspPostInit(&htim12);
-
-}
-/* TIM5 init function */
-void MX_TIM5_Init(void)
-{
-
-  /* USER CODE BEGIN TIM5_Init 0 */
-
-  /* USER CODE END TIM5_Init 0 */
-
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
-
-  /* USER CODE BEGIN TIM5_Init 1 */
-
-  /* USER CODE END TIM5_Init 1 */
-  htim5.Instance = TIM5;
-  htim5.Init.Prescaler = 0;
-  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim5.Init.Period = 65535;
-  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_Init(&htim5) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &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(&htim5, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM5_Init 2 */
-
-  /* USER CODE END TIM5_Init 2 */
-  HAL_TIM_MspPostInit(&htim5);
-
-}
-/* TIM7 init function */
-void MX_TIM7_Init(void)
-{
-
-  /* USER CODE BEGIN TIM7_Init 0 */
-
-  /* USER CODE END TIM7_Init 0 */
-
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-
-  /* USER CODE BEGIN TIM7_Init 1 */
-
-  /* USER CODE END TIM7_Init 1 */
-  htim7.Instance = TIM7;
-  htim7.Init.Prescaler = 83;
-  htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim7.Init.Period = 9;
-  htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim7) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM7_Init 2 */
-
-  /* USER CODE END TIM7_Init 2 */
-
-}
-/* TIM8 init function */
-void MX_TIM8_Init(void)
-{
-
-  /* USER CODE BEGIN TIM8_Init 0 */
-
-  /* USER CODE END TIM8_Init 0 */
-
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
-  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
-
-  /* USER CODE BEGIN TIM8_Init 1 */
-
-  /* USER CODE END TIM8_Init 1 */
-  htim8.Instance = TIM8;
-  htim8.Init.Prescaler = 167;
-  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim8.Init.Period = 19999;
-  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim8.Init.RepetitionCounter = 0;
-  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 1000;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
-  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
-  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
-  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
-  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
-  sBreakDeadTimeConfig.DeadTime = 0;
-  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
-  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
-  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
-  if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM8_Init 2 */
-
-  /* USER CODE END TIM8_Init 2 */
-  HAL_TIM_MspPostInit(&htim8);
-
-}
-/* TIM10 init function */
-void MX_TIM10_Init(void)
-{
-
-  /* USER CODE BEGIN TIM10_Init 0 */
-
-  /* USER CODE END TIM10_Init 0 */
-
-  TIM_OC_InitTypeDef sConfigOC = {0};
-
-  /* USER CODE BEGIN TIM10_Init 1 */
-
-  /* USER CODE END TIM10_Init 1 */
-  htim10.Instance = TIM10;
-  htim10.Init.Prescaler = 0;
-  htim10.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim10.Init.Period = 4999;
-  htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim10) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_Init(&htim10) != 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(&htim10, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM10_Init 2 */
-
-  /* USER CODE END TIM10_Init 2 */
-  HAL_TIM_MspPostInit(&htim10);
 
 }
 
-void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
+void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM1)
+  if(tim_pwmHandle->Instance==TIM1)
   {
   /* USER CODE BEGIN TIM1_MspInit 0 */
 
   /* USER CODE END TIM1_MspInit 0 */
     /* TIM1 clock enable */
     __HAL_RCC_TIM1_CLK_ENABLE();
-
-    /* TIM1 interrupt Init */
-    HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 5, 0);
-    HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
   /* USER CODE BEGIN TIM1_MspInit 1 */
 
   /* USER CODE END TIM1_MspInit 1 */
   }
-  else if(tim_baseHandle->Instance==TIM3)
+  else if(tim_pwmHandle->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspInit 0 */
+
+  /* USER CODE END TIM2_MspInit 0 */
+    /* TIM2 clock enable */
+    __HAL_RCC_TIM2_CLK_ENABLE();
+  /* USER CODE BEGIN TIM2_MspInit 1 */
+
+  /* USER CODE END TIM2_MspInit 1 */
+  }
+  else if(tim_pwmHandle->Instance==TIM3)
   {
   /* USER CODE BEGIN TIM3_MspInit 0 */
 
@@ -463,64 +275,16 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM3_MspInit 1 */
   }
-  else if(tim_baseHandle->Instance==TIM4)
+  else if(tim_pwmHandle->Instance==TIM12)
   {
-  /* USER CODE BEGIN TIM4_MspInit 0 */
+  /* USER CODE BEGIN TIM12_MspInit 0 */
 
-  /* USER CODE END TIM4_MspInit 0 */
+  /* USER CODE END TIM12_MspInit 0 */
-    /* TIM4 clock enable */
+    /* TIM12 clock enable */
-    __HAL_RCC_TIM4_CLK_ENABLE();
+    __HAL_RCC_TIM12_CLK_ENABLE();
-  /* USER CODE BEGIN TIM4_MspInit 1 */
+  /* USER CODE BEGIN TIM12_MspInit 1 */
 
-  /* USER CODE END TIM4_MspInit 1 */
+  /* USER CODE END TIM12_MspInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM5)
-  {
-  /* USER CODE BEGIN TIM5_MspInit 0 */
-
-  /* USER CODE END TIM5_MspInit 0 */
-    /* TIM5 clock enable */
-    __HAL_RCC_TIM5_CLK_ENABLE();
-  /* USER CODE BEGIN TIM5_MspInit 1 */
-
-  /* USER CODE END TIM5_MspInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM7)
-  {
-  /* USER CODE BEGIN TIM7_MspInit 0 */
-
-  /* USER CODE END TIM7_MspInit 0 */
-    /* TIM7 clock enable */
-    __HAL_RCC_TIM7_CLK_ENABLE();
-
-    /* TIM7 interrupt Init */
-    HAL_NVIC_SetPriority(TIM7_IRQn, 5, 0);
-    HAL_NVIC_EnableIRQ(TIM7_IRQn);
-  /* USER CODE BEGIN TIM7_MspInit 1 */
-
-  /* USER CODE END TIM7_MspInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM8)
-  {
-  /* USER CODE BEGIN TIM8_MspInit 0 */
-
-  /* USER CODE END TIM8_MspInit 0 */
-    /* TIM8 clock enable */
-    __HAL_RCC_TIM8_CLK_ENABLE();
-  /* USER CODE BEGIN TIM8_MspInit 1 */
-
-  /* USER CODE END TIM8_MspInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM10)
-  {
-  /* USER CODE BEGIN TIM10_MspInit 0 */
-
-  /* USER CODE END TIM10_MspInit 0 */
-    /* TIM10 clock enable */
-    __HAL_RCC_TIM10_CLK_ENABLE();
-  /* USER CODE BEGIN TIM10_MspInit 1 */
-
-  /* USER CODE END TIM10_MspInit 1 */
   }
 }
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
@@ -534,15 +298,13 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
   /* USER CODE END TIM1_MspPostInit 0 */
     __HAL_RCC_GPIOE_CLK_ENABLE();
     /**TIM1 GPIO Configuration
-    PE13     ------> TIM1_CH3
     PE9     ------> TIM1_CH1
-    PE11     ------> TIM1_CH2
+    PE13     ------> TIM1_CH3
-    PE14     ------> TIM1_CH4
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_9|GPIO_PIN_11|GPIO_PIN_14;
+    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_13;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
     HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
@@ -550,143 +312,108 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 
   /* USER CODE END TIM1_MspPostInit 1 */
   }
+  else if(timHandle->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspPostInit 0 */
+
+  /* USER CODE END TIM2_MspPostInit 0 */
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM2 GPIO Configuration
+    PA0     ------> TIM2_CH1
+    PA2     ------> TIM2_CH3
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_2;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM2_MspPostInit 1 */
+
+  /* USER CODE END TIM2_MspPostInit 1 */
+  }
   else if(timHandle->Instance==TIM3)
   {
   /* USER CODE BEGIN TIM3_MspPostInit 0 */
 
   /* USER CODE END TIM3_MspPostInit 0 */
 
-    __HAL_RCC_GPIOC_CLK_ENABLE();
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
     /**TIM3 GPIO Configuration
-    PC8     ------> TIM3_CH3
+    PA7     ------> TIM3_CH2
+    PB1     ------> TIM3_CH4
     */
-    GPIO_InitStruct.Pin = LASER_Pin;
+    GPIO_InitStruct.Pin = WS2812_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
-    HAL_GPIO_Init(LASER_GPIO_Port, &GPIO_InitStruct);
+    HAL_GPIO_Init(WS2812_GPIO_Port, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = IMU_HEAT_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_TIM3;
+    HAL_GPIO_Init(IMU_HEAT_GPIO_Port, &GPIO_InitStruct);
 
   /* USER CODE BEGIN TIM3_MspPostInit 1 */
 
   /* USER CODE END TIM3_MspPostInit 1 */
   }
-  else if(timHandle->Instance==TIM4)
+  else if(timHandle->Instance==TIM12)
   {
-  /* USER CODE BEGIN TIM4_MspPostInit 0 */
+  /* USER CODE BEGIN TIM12_MspPostInit 0 */
 
-  /* USER CODE END TIM4_MspPostInit 0 */
+  /* USER CODE END TIM12_MspPostInit 0 */
 
-    __HAL_RCC_GPIOD_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
-    /**TIM4 GPIO Configuration
+    /**TIM12 GPIO Configuration
-    PD14     ------> TIM4_CH3
+    PB15     ------> TIM12_CH2
     */
     GPIO_InitStruct.Pin = BUZZER_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM12;
     HAL_GPIO_Init(BUZZER_GPIO_Port, &GPIO_InitStruct);
 
-  /* USER CODE BEGIN TIM4_MspPostInit 1 */
+  /* USER CODE BEGIN TIM12_MspPostInit 1 */
 
-  /* USER CODE END TIM4_MspPostInit 1 */
+  /* USER CODE END TIM12_MspPostInit 1 */
-  }
-  else if(timHandle->Instance==TIM5)
-  {
-  /* USER CODE BEGIN TIM5_MspPostInit 0 */
-
-  /* USER CODE END TIM5_MspPostInit 0 */
-
-    __HAL_RCC_GPIOH_CLK_ENABLE();
-    /**TIM5 GPIO Configuration
-    PH12     ------> TIM5_CH3
-    PH11     ------> TIM5_CH2
-    PH10     ------> TIM5_CH1
-    */
-    GPIO_InitStruct.Pin = LED_R_Pin|LED_G_Pin|LED_B_Pin;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
-    HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN TIM5_MspPostInit 1 */
-
-  /* USER CODE END TIM5_MspPostInit 1 */
-  }
-  else if(timHandle->Instance==TIM8)
-  {
-  /* USER CODE BEGIN TIM8_MspPostInit 0 */
-
-  /* USER CODE END TIM8_MspPostInit 0 */
-
-    __HAL_RCC_GPIOI_CLK_ENABLE();
-    __HAL_RCC_GPIOC_CLK_ENABLE();
-    /**TIM8 GPIO Configuration
-    PI6     ------> TIM8_CH2
-    PC6     ------> TIM8_CH1
-    */
-    GPIO_InitStruct.Pin = GPIO_PIN_6;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
-    HAL_GPIO_Init(GPIOI, &GPIO_InitStruct);
-
-    GPIO_InitStruct.Pin = GPIO_PIN_6;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
-    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN TIM8_MspPostInit 1 */
-
-  /* USER CODE END TIM8_MspPostInit 1 */
-  }
-  else if(timHandle->Instance==TIM10)
-  {
-  /* USER CODE BEGIN TIM10_MspPostInit 0 */
-
-  /* USER CODE END TIM10_MspPostInit 0 */
-
-    __HAL_RCC_GPIOF_CLK_ENABLE();
-    /**TIM10 GPIO Configuration
-    PF6     ------> TIM10_CH1
-    */
-    GPIO_InitStruct.Pin = IMU_HEAT_PWM_Pin;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF3_TIM10;
-    HAL_GPIO_Init(IMU_HEAT_PWM_GPIO_Port, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN TIM10_MspPostInit 1 */
-
-  /* USER CODE END TIM10_MspPostInit 1 */
   }
 
 }
 
-void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
+void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM1)
+  if(tim_pwmHandle->Instance==TIM1)
   {
   /* USER CODE BEGIN TIM1_MspDeInit 0 */
 
   /* USER CODE END TIM1_MspDeInit 0 */
     /* Peripheral clock disable */
     __HAL_RCC_TIM1_CLK_DISABLE();
-
-    /* TIM1 interrupt Deinit */
-    HAL_NVIC_DisableIRQ(TIM1_BRK_TIM9_IRQn);
   /* USER CODE BEGIN TIM1_MspDeInit 1 */
 
   /* USER CODE END TIM1_MspDeInit 1 */
   }
-  else if(tim_baseHandle->Instance==TIM3)
+  else if(tim_pwmHandle->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspDeInit 0 */
+
+  /* USER CODE END TIM2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM2_CLK_DISABLE();
+  /* USER CODE BEGIN TIM2_MspDeInit 1 */
+
+  /* USER CODE END TIM2_MspDeInit 1 */
+  }
+  else if(tim_pwmHandle->Instance==TIM3)
   {
   /* USER CODE BEGIN TIM3_MspDeInit 0 */
 
@@ -697,63 +424,16 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM3_MspDeInit 1 */
   }
-  else if(tim_baseHandle->Instance==TIM4)
+  else if(tim_pwmHandle->Instance==TIM12)
   {
-  /* USER CODE BEGIN TIM4_MspDeInit 0 */
+  /* USER CODE BEGIN TIM12_MspDeInit 0 */
 
-  /* USER CODE END TIM4_MspDeInit 0 */
+  /* USER CODE END TIM12_MspDeInit 0 */
     /* Peripheral clock disable */
-    __HAL_RCC_TIM4_CLK_DISABLE();
+    __HAL_RCC_TIM12_CLK_DISABLE();
-  /* USER CODE BEGIN TIM4_MspDeInit 1 */
+  /* USER CODE BEGIN TIM12_MspDeInit 1 */
 
-  /* USER CODE END TIM4_MspDeInit 1 */
+  /* USER CODE END TIM12_MspDeInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM5)
-  {
-  /* USER CODE BEGIN TIM5_MspDeInit 0 */
-
-  /* USER CODE END TIM5_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM5_CLK_DISABLE();
-  /* USER CODE BEGIN TIM5_MspDeInit 1 */
-
-  /* USER CODE END TIM5_MspDeInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM7)
-  {
-  /* USER CODE BEGIN TIM7_MspDeInit 0 */
-
-  /* USER CODE END TIM7_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM7_CLK_DISABLE();
-
-    /* TIM7 interrupt Deinit */
-    HAL_NVIC_DisableIRQ(TIM7_IRQn);
-  /* USER CODE BEGIN TIM7_MspDeInit 1 */
-
-  /* USER CODE END TIM7_MspDeInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM8)
-  {
-  /* USER CODE BEGIN TIM8_MspDeInit 0 */
-
-  /* USER CODE END TIM8_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM8_CLK_DISABLE();
-  /* USER CODE BEGIN TIM8_MspDeInit 1 */
-
-  /* USER CODE END TIM8_MspDeInit 1 */
-  }
-  else if(tim_baseHandle->Instance==TIM10)
-  {
-  /* USER CODE BEGIN TIM10_MspDeInit 0 */
-
-  /* USER CODE END TIM10_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM10_CLK_DISABLE();
-  /* USER CODE BEGIN TIM10_MspDeInit 1 */
-
-  /* USER CODE END TIM10_MspDeInit 1 */
   }
 }
 

Core/Src/usart.c

@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2025 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file
@@ -24,15 +24,102 @@
 
 /* USER CODE END 0 */
 
+UART_HandleTypeDef huart5;
+UART_HandleTypeDef huart7;
 UART_HandleTypeDef huart1;
+UART_HandleTypeDef huart2;
 UART_HandleTypeDef huart3;
-UART_HandleTypeDef huart6;
+UART_HandleTypeDef huart10;
+DMA_HandleTypeDef hdma_uart5_rx;
 DMA_HandleTypeDef hdma_usart1_tx;
 DMA_HandleTypeDef hdma_usart1_rx;
-DMA_HandleTypeDef hdma_usart3_rx;
-DMA_HandleTypeDef hdma_usart6_rx;
-DMA_HandleTypeDef hdma_usart6_tx;
 
+/* UART5 init function */
+void MX_UART5_Init(void)
+{
+
+  /* USER CODE BEGIN UART5_Init 0 */
+
+  /* USER CODE END UART5_Init 0 */
+
+  /* USER CODE BEGIN UART5_Init 1 */
+
+  /* USER CODE END UART5_Init 1 */
+  huart5.Instance = UART5;
+  huart5.Init.BaudRate = 100000;
+  huart5.Init.WordLength = UART_WORDLENGTH_9B;
+  huart5.Init.StopBits = UART_STOPBITS_2;
+  huart5.Init.Parity = UART_PARITY_EVEN;
+  huart5.Init.Mode = UART_MODE_RX;
+  huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart5.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart5.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+  huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_UART_Init(&huart5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetTxFifoThreshold(&huart5, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetRxFifoThreshold(&huart5, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_DisableFifoMode(&huart5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN UART5_Init 2 */
+
+  /* USER CODE END UART5_Init 2 */
+
+}
+/* UART7 init function */
+void MX_UART7_Init(void)
+{
+
+  /* USER CODE BEGIN UART7_Init 0 */
+
+  /* USER CODE END UART7_Init 0 */
+
+  /* USER CODE BEGIN UART7_Init 1 */
+
+  /* USER CODE END UART7_Init 1 */
+  huart7.Instance = UART7;
+  huart7.Init.BaudRate = 921600;
+  huart7.Init.WordLength = UART_WORDLENGTH_8B;
+  huart7.Init.StopBits = UART_STOPBITS_1;
+  huart7.Init.Parity = UART_PARITY_NONE;
+  huart7.Init.Mode = UART_MODE_TX_RX;
+  huart7.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart7.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart7.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart7.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+  huart7.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_UART_Init(&huart7) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetTxFifoThreshold(&huart7, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetRxFifoThreshold(&huart7, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_DisableFifoMode(&huart7) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN UART7_Init 2 */
+
+  /* USER CODE END UART7_Init 2 */
+
+}
 /* USART1 init function */
 
 void MX_USART1_UART_Init(void)
@@ -46,21 +133,80 @@ void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 115200;
+  huart1.Init.BaudRate = 921600;
   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 */
 
+}
+/* USART2 init function */
+
+void MX_USART2_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART2_Init 0 */
+
+  /* USER CODE END USART2_Init 0 */
+
+  /* USER CODE BEGIN USART2_Init 1 */
+
+  /* USER CODE END USART2_Init 1 */
+  huart2.Instance = USART2;
+  huart2.Init.BaudRate = 921600;
+  huart2.Init.WordLength = UART_WORDLENGTH_8B;
+  huart2.Init.StopBits = UART_STOPBITS_1;
+  huart2.Init.Parity = UART_PARITY_NONE;
+  huart2.Init.Mode = UART_MODE_TX_RX;
+  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_RS485Ex_Init(&huart2, UART_DE_POLARITY_HIGH, 0, 0) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_DisableFifoMode(&huart2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART2_Init 2 */
+
+  /* USER CODE END USART2_Init 2 */
+
 }
 /* USART3 init function */
 
@@ -75,14 +221,29 @@ void MX_USART3_UART_Init(void)
 
   /* USER CODE END USART3_Init 1 */
   huart3.Instance = USART3;
-  huart3.Init.BaudRate = 100000;
+  huart3.Init.BaudRate = 921600;
   huart3.Init.WordLength = UART_WORDLENGTH_8B;
   huart3.Init.StopBits = UART_STOPBITS_1;
-  huart3.Init.Parity = UART_PARITY_EVEN;
+  huart3.Init.Parity = UART_PARITY_NONE;
-  huart3.Init.Mode = UART_MODE_RX;
+  huart3.Init.Mode = UART_MODE_TX_RX;
   huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
   huart3.Init.OverSampling = UART_OVERSAMPLING_16;
-  if (HAL_UART_Init(&huart3) != HAL_OK)
+  huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart3.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+  huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_RS485Ex_Init(&huart3, UART_DE_POLARITY_HIGH, 0, 0) != 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();
   }
@@ -91,33 +252,48 @@ void MX_USART3_UART_Init(void)
   /* USER CODE END USART3_Init 2 */
 
 }
-/* USART6 init function */
+/* USART10 init function */
 
-void MX_USART6_UART_Init(void)
+void MX_USART10_UART_Init(void)
 {
 
-  /* USER CODE BEGIN USART6_Init 0 */
+  /* USER CODE BEGIN USART10_Init 0 */
 
-  /* USER CODE END USART6_Init 0 */
+  /* USER CODE END USART10_Init 0 */
 
-  /* USER CODE BEGIN USART6_Init 1 */
+  /* USER CODE BEGIN USART10_Init 1 */
 
-  /* USER CODE END USART6_Init 1 */
+  /* USER CODE END USART10_Init 1 */
-  huart6.Instance = USART6;
+  huart10.Instance = USART10;
-  huart6.Init.BaudRate = 115200;
+  huart10.Init.BaudRate = 921600;
-  huart6.Init.WordLength = UART_WORDLENGTH_8B;
+  huart10.Init.WordLength = UART_WORDLENGTH_8B;
-  huart6.Init.StopBits = UART_STOPBITS_1;
+  huart10.Init.StopBits = UART_STOPBITS_1;
-  huart6.Init.Parity = UART_PARITY_NONE;
+  huart10.Init.Parity = UART_PARITY_NONE;
-  huart6.Init.Mode = UART_MODE_TX_RX;
+  huart10.Init.Mode = UART_MODE_TX_RX;
-  huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart10.Init.HwFlowCtl = UART_HWCONTROL_NONE;
-  huart6.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart10.Init.OverSampling = UART_OVERSAMPLING_16;
-  if (HAL_UART_Init(&huart6) != HAL_OK)
+  huart10.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart10.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+  huart10.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_UART_Init(&huart10) != HAL_OK)
   {
     Error_Handler();
   }
-  /* USER CODE BEGIN USART6_Init 2 */
+  if (HAL_UARTEx_SetTxFifoThreshold(&huart10, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetRxFifoThreshold(&huart10, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_DisableFifoMode(&huart10) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART10_Init 2 */
 
-  /* USER CODE END USART6_Init 2 */
+  /* USER CODE END USART10_Init 2 */
 
 }
 
@@ -125,45 +301,149 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 {
 
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(uartHandle->Instance==USART1)
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
+  if(uartHandle->Instance==UART5)
+  {
+  /* USER CODE BEGIN UART5_MspInit 0 */
+
+  /* USER CODE END UART5_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART5;
+    PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* UART5 clock enable */
+    __HAL_RCC_UART5_CLK_ENABLE();
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**UART5 GPIO Configuration
+    PC12     ------> UART5_TX
+    PD2     ------> UART5_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF8_UART5;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_2;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF8_UART5;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    /* UART5 DMA Init */
+    /* UART5_RX Init */
+    hdma_uart5_rx.Instance = DMA1_Stream3;
+    hdma_uart5_rx.Init.Request = DMA_REQUEST_UART5_RX;
+    hdma_uart5_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_uart5_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_uart5_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_uart5_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_uart5_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_uart5_rx.Init.Mode = DMA_NORMAL;
+    hdma_uart5_rx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_uart5_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_uart5_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmarx,hdma_uart5_rx);
+
+    /* UART5 interrupt Init */
+    HAL_NVIC_SetPriority(UART5_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(UART5_IRQn);
+  /* USER CODE BEGIN UART5_MspInit 1 */
+
+  /* USER CODE END UART5_MspInit 1 */
+  }
+  else if(uartHandle->Instance==UART7)
+  {
+  /* USER CODE BEGIN UART7_MspInit 0 */
+
+  /* USER CODE END UART7_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART7;
+    PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* UART7 clock enable */
+    __HAL_RCC_UART7_CLK_ENABLE();
+
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+    /**UART7 GPIO Configuration
+    PE7     ------> UART7_RX
+    PE8     ------> UART7_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_8;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF7_UART7;
+    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
+    /* UART7 interrupt Init */
+    HAL_NVIC_SetPriority(UART7_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(UART7_IRQn);
+  /* USER CODE BEGIN UART7_MspInit 1 */
+
+  /* USER CODE END UART7_MspInit 1 */
+  }
+  else if(uartHandle->Instance==USART1)
   {
   /* USER CODE BEGIN USART1_MspInit 0 */
 
   /* USER CODE END USART1_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1;
+    PeriphClkInitStruct.Usart16ClockSelection = RCC_USART16910CLKSOURCE_D2PCLK2;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
     /* USART1 clock enable */
     __HAL_RCC_USART1_CLK_ENABLE();
 
-    __HAL_RCC_GPIOB_CLK_ENABLE();
     __HAL_RCC_GPIOA_CLK_ENABLE();
     /**USART1 GPIO Configuration
-    PB7     ------> USART1_RX
     PA9     ------> USART1_TX
+    PA10     ------> USART1_RX
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_7;
+    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-    GPIO_InitStruct.Pin = GPIO_PIN_9;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
     /* USART1 DMA Init */
     /* USART1_TX Init */
-    hdma_usart1_tx.Instance = DMA2_Stream7;
+    hdma_usart1_tx.Instance = DMA1_Stream4;
-    hdma_usart1_tx.Init.Channel = DMA_CHANNEL_4;
+    hdma_usart1_tx.Init.Request = DMA_REQUEST_USART1_TX;
     hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
     hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
     hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
     hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
     hdma_usart1_tx.Init.Mode = DMA_NORMAL;
-    hdma_usart1_tx.Init.Priority = DMA_PRIORITY_MEDIUM;
+    hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
     hdma_usart1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
     {
@@ -173,15 +453,15 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx);
 
     /* USART1_RX Init */
-    hdma_usart1_rx.Instance = DMA2_Stream5;
+    hdma_usart1_rx.Instance = DMA1_Stream5;
-    hdma_usart1_rx.Init.Channel = DMA_CHANNEL_4;
+    hdma_usart1_rx.Init.Request = DMA_REQUEST_USART1_RX;
     hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
     hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
     hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE;
     hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
     hdma_usart1_rx.Init.Mode = DMA_NORMAL;
-    hdma_usart1_rx.Init.Priority = DMA_PRIORITY_MEDIUM;
+    hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
     hdma_usart1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK)
     {
@@ -197,119 +477,185 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 
   /* USER CODE END USART1_MspInit 1 */
   }
+  else if(uartHandle->Instance==USART2)
+  {
+  /* USER CODE BEGIN USART2_MspInit 0 */
+
+  /* USER CODE END USART2_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART2;
+    PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* USART2 clock enable */
+    __HAL_RCC_USART2_CLK_ENABLE();
+
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**USART2 GPIO Configuration
+    PD4     ------> USART2_DE
+    PD5     ------> USART2_TX
+    PD6     ------> USART2_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    /* USART2 interrupt Init */
+    HAL_NVIC_SetPriority(USART2_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(USART2_IRQn);
+  /* USER CODE BEGIN USART2_MspInit 1 */
+
+  /* USER CODE END USART2_MspInit 1 */
+  }
   else if(uartHandle->Instance==USART3)
   {
   /* USER CODE BEGIN USART3_MspInit 0 */
 
   /* USER CODE END USART3_MspInit 0 */
-    /* USART3 clock enable */
-    __HAL_RCC_USART3_CLK_ENABLE();
 
-    __HAL_RCC_GPIOC_CLK_ENABLE();
+  /** Initializes the peripherals clock
-    /**USART3 GPIO Configuration
-    PC11     ------> USART3_RX
-    PC10     ------> USART3_TX
   */
-    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_10;
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART3;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
-    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
-    /* USART3 DMA Init */
-    /* USART3_RX Init */
-    hdma_usart3_rx.Instance = DMA1_Stream1;
-    hdma_usart3_rx.Init.Channel = DMA_CHANNEL_4;
-    hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
-    hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_usart3_rx.Init.Mode = DMA_NORMAL;
-    hdma_usart3_rx.Init.Priority = DMA_PRIORITY_HIGH;
-    hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
     {
       Error_Handler();
     }
 
-    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx);
+    /* USART3 clock enable */
+    __HAL_RCC_USART3_CLK_ENABLE();
 
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**USART3 GPIO Configuration
+    PB14     ------> USART3_DE
+    PD8     ------> USART3_TX
+    PD9     ------> USART3_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_14;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    /* USART3 interrupt Init */
+    HAL_NVIC_SetPriority(USART3_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(USART3_IRQn);
   /* USER CODE BEGIN USART3_MspInit 1 */
 
   /* USER CODE END USART3_MspInit 1 */
   }
-  else if(uartHandle->Instance==USART6)
+  else if(uartHandle->Instance==USART10)
   {
-  /* USER CODE BEGIN USART6_MspInit 0 */
+  /* USER CODE BEGIN USART10_MspInit 0 */
 
-  /* USER CODE END USART6_MspInit 0 */
+  /* USER CODE END USART10_MspInit 0 */
-    /* USART6 clock enable */
-    __HAL_RCC_USART6_CLK_ENABLE();
 
-    __HAL_RCC_GPIOG_CLK_ENABLE();
+  /** Initializes the peripherals clock
-    /**USART6 GPIO Configuration
-    PG14     ------> USART6_TX
-    PG9     ------> USART6_RX
   */
-    GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_9;
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART10;
+    PeriphClkInitStruct.Usart16ClockSelection = RCC_USART16910CLKSOURCE_D2PCLK2;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* USART10 clock enable */
+    __HAL_RCC_USART10_CLK_ENABLE();
+
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+    /**USART10 GPIO Configuration
+    PE2     ------> USART10_RX
+    PE3     ------> USART10_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_2;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
+    GPIO_InitStruct.Alternate = GPIO_AF4_USART10;
-    HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
+    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
-    /* USART6 DMA Init */
+    GPIO_InitStruct.Pin = GPIO_PIN_3;
-    /* USART6_RX Init */
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    hdma_usart6_rx.Instance = DMA2_Stream1;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    GPIO_InitStruct.Alternate = GPIO_AF11_USART10;
-    hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
-    hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_usart6_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_usart6_rx.Init.Mode = DMA_NORMAL;
-    hdma_usart6_rx.Init.Priority = DMA_PRIORITY_MEDIUM;
-    hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK)
-    {
-      Error_Handler();
-    }
 
-    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart6_rx);
+    /* USART10 interrupt Init */
+    HAL_NVIC_SetPriority(USART10_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(USART10_IRQn);
+  /* USER CODE BEGIN USART10_MspInit 1 */
 
-    /* USART6_TX Init */
+  /* USER CODE END USART10_MspInit 1 */
-    hdma_usart6_tx.Instance = DMA2_Stream6;
-    hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5;
-    hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
-    hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_usart6_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_usart6_tx.Init.Mode = DMA_NORMAL;
-    hdma_usart6_tx.Init.Priority = DMA_PRIORITY_MEDIUM;
-    hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    if (HAL_DMA_Init(&hdma_usart6_tx) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart6_tx);
-
-    /* USART6 interrupt Init */
-    HAL_NVIC_SetPriority(USART6_IRQn, 5, 0);
-    HAL_NVIC_EnableIRQ(USART6_IRQn);
-  /* USER CODE BEGIN USART6_MspInit 1 */
-
-  /* USER CODE END USART6_MspInit 1 */
   }
 }
 
 void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 {
 
-  if(uartHandle->Instance==USART1)
+  if(uartHandle->Instance==UART5)
+  {
+  /* USER CODE BEGIN UART5_MspDeInit 0 */
+
+  /* USER CODE END UART5_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_UART5_CLK_DISABLE();
+
+    /**UART5 GPIO Configuration
+    PC12     ------> UART5_TX
+    PD2     ------> UART5_RX
+    */
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_12);
+
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_2);
+
+    /* UART5 DMA DeInit */
+    HAL_DMA_DeInit(uartHandle->hdmarx);
+
+    /* UART5 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(UART5_IRQn);
+  /* USER CODE BEGIN UART5_MspDeInit 1 */
+
+  /* USER CODE END UART5_MspDeInit 1 */
+  }
+  else if(uartHandle->Instance==UART7)
+  {
+  /* USER CODE BEGIN UART7_MspDeInit 0 */
+
+  /* USER CODE END UART7_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_UART7_CLK_DISABLE();
+
+    /**UART7 GPIO Configuration
+    PE7     ------> UART7_RX
+    PE8     ------> UART7_TX
+    */
+    HAL_GPIO_DeInit(GPIOE, GPIO_PIN_7|GPIO_PIN_8);
+
+    /* UART7 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(UART7_IRQn);
+  /* USER CODE BEGIN UART7_MspDeInit 1 */
+
+  /* USER CODE END UART7_MspDeInit 1 */
+  }
+  else if(uartHandle->Instance==USART1)
   {
   /* USER CODE BEGIN USART1_MspDeInit 0 */
 
@@ -318,12 +664,10 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     __HAL_RCC_USART1_CLK_DISABLE();
 
     /**USART1 GPIO Configuration
-    PB7     ------> USART1_RX
     PA9     ------> USART1_TX
+    PA10     ------> USART1_RX
     */
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_7);
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
-
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9);
 
     /* USART1 DMA DeInit */
     HAL_DMA_DeInit(uartHandle->hdmatx);
@@ -335,6 +679,27 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 
   /* USER CODE END USART1_MspDeInit 1 */
   }
+  else if(uartHandle->Instance==USART2)
+  {
+  /* USER CODE BEGIN USART2_MspDeInit 0 */
+
+  /* USER CODE END USART2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART2_CLK_DISABLE();
+
+    /**USART2 GPIO Configuration
+    PD4     ------> USART2_DE
+    PD5     ------> USART2_TX
+    PD6     ------> USART2_RX
+    */
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6);
+
+    /* USART2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART2_IRQn);
+  /* USER CODE BEGIN USART2_MspDeInit 1 */
+
+  /* USER CODE END USART2_MspDeInit 1 */
+  }
   else if(uartHandle->Instance==USART3)
   {
   /* USER CODE BEGIN USART3_MspDeInit 0 */
@@ -344,40 +709,39 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     __HAL_RCC_USART3_CLK_DISABLE();
 
     /**USART3 GPIO Configuration
-    PC11     ------> USART3_RX
+    PB14     ------> USART3_DE
-    PC10     ------> USART3_TX
+    PD8     ------> USART3_TX
+    PD9     ------> USART3_RX
     */
-    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_11|GPIO_PIN_10);
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_14);
 
-    /* USART3 DMA DeInit */
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_8|GPIO_PIN_9);
-    HAL_DMA_DeInit(uartHandle->hdmarx);
+
+    /* USART3 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART3_IRQn);
   /* USER CODE BEGIN USART3_MspDeInit 1 */
 
   /* USER CODE END USART3_MspDeInit 1 */
   }
-  else if(uartHandle->Instance==USART6)
+  else if(uartHandle->Instance==USART10)
   {
-  /* USER CODE BEGIN USART6_MspDeInit 0 */
+  /* USER CODE BEGIN USART10_MspDeInit 0 */
 
-  /* USER CODE END USART6_MspDeInit 0 */
+  /* USER CODE END USART10_MspDeInit 0 */
     /* Peripheral clock disable */
-    __HAL_RCC_USART6_CLK_DISABLE();
+    __HAL_RCC_USART10_CLK_DISABLE();
 
-    /**USART6 GPIO Configuration
+    /**USART10 GPIO Configuration
-    PG14     ------> USART6_TX
+    PE2     ------> USART10_RX
-    PG9     ------> USART6_RX
+    PE3     ------> USART10_TX
     */
-    HAL_GPIO_DeInit(GPIOG, GPIO_PIN_14|GPIO_PIN_9);
+    HAL_GPIO_DeInit(GPIOE, GPIO_PIN_2|GPIO_PIN_3);
 
-    /* USART6 DMA DeInit */
+    /* USART10 interrupt Deinit */
-    HAL_DMA_DeInit(uartHandle->hdmarx);
+    HAL_NVIC_DisableIRQ(USART10_IRQn);
-    HAL_DMA_DeInit(uartHandle->hdmatx);
+  /* USER CODE BEGIN USART10_MspDeInit 1 */
 
-    /* USART6 interrupt Deinit */
+  /* USER CODE END USART10_MspDeInit 1 */
-    HAL_NVIC_DisableIRQ(USART6_IRQn);
-  /* USER CODE BEGIN USART6_MspDeInit 1 */
-
-  /* USER CODE END USART6_MspDeInit 1 */
   }
 }