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

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define LUT_SIZE_MAX ((uint32_t) 1000)
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

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

HRTIM_HandleTypeDef hhrtim;
DMA_HandleTypeDef hdma_hrtim1_m;

/* USER CODE BEGIN PV */
ALIGN_32BYTES (static uint32_t   lut[LUT_SIZE_MAX][3]); //generate lookup table with 1000 entries, containing 1000 entries for each TIMER_A.CMP1xR, TIMER_B.CMP1xR and TIMER_C.CMP1xR
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_HRTIM_Init(void);
/* USER CODE BEGIN PFP */
static void CPU_CACHE_Enable(void);
uint8_t calcLUTsawTooth(void);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
	 /* Enable the CPU Cache */
	CPU_CACHE_Enable();

	/* Enable I-Cache---------------------------------------------------------*/
	SCB_EnableICache();

	/* Enable D-Cache---------------------------------------------------------*/
	SCB_EnableDCache();

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_HRTIM_Init();
  /* USER CODE BEGIN 2 */
  calcLUTsawTooth();

  /* Clean Data Cache to update the content of the SRAM to be used by the DMA */
   SCB_CleanDCache_by_Addr((uint32_t *) lut, LUT_SIZE_MAX );

  /* activate outputs */
   HAL_HRTIM_WaveformOutputStart(&hhrtim, HRTIM_OUTPUT_TA1 | HRTIM_OUTPUT_TA2 | HRTIM_OUTPUT_TB1 | HRTIM_OUTPUT_TB2 | HRTIM_OUTPUT_TC1 | HRTIM_OUTPUT_TC2);

  /* start timers */
   HAL_HRTIM_WaveformCountStart_DMA(&hhrtim, HRTIM_TIMERID_MASTER | HRTIM_TIMERID_TIMER_A | HRTIM_TIMERID_TIMER_B | HRTIM_TIMERID_TIMER_C);				// Timer starten

  /* USER CODE END 2 */

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

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Supply configuration update enable
  */
  HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);

  /** Configure the main internal regulator output voltage
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);

  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_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 12;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
  RCC_OscInitStruct.PLL.PLLFRACN = 4096;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
                              |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief HRTIM Initialization Function
  * @param None
  * @retval None
  */
static void MX_HRTIM_Init(void)
{

  /* USER CODE BEGIN HRTIM_Init 0 */

  /* USER CODE END HRTIM_Init 0 */

  HRTIM_BurstModeCfgTypeDef pBurstModeCfg = {0};
  HRTIM_TimeBaseCfgTypeDef pTimeBaseCfg = {0};
  HRTIM_TimerCfgTypeDef pTimerCfg = {0};
  HRTIM_CompareCfgTypeDef pCompareCfg = {0};
  HRTIM_DeadTimeCfgTypeDef pDeadTimeCfg = {0};
  HRTIM_OutputCfgTypeDef pOutputCfg = {0};

  /* USER CODE BEGIN HRTIM_Init 1 */

  /* USER CODE END HRTIM_Init 1 */
  hhrtim.Instance = HRTIM1;
  hhrtim.Init.HRTIMInterruptResquests = HRTIM_IT_NONE;
  hhrtim.Init.SyncOptions = HRTIM_SYNCOPTION_NONE;
  if (HAL_HRTIM_Init(&hhrtim) != HAL_OK)
  {
    Error_Handler();
  }
  pBurstModeCfg.Mode = HRTIM_BURSTMODE_CONTINOUS;
  pBurstModeCfg.ClockSource = HRTIM_BURSTMODECLOCKSOURCE_MASTER;
  pBurstModeCfg.Prescaler = HRTIM_BURSTMODEPRESCALER_DIV1;
  pBurstModeCfg.PreloadEnable = HRIM_BURSTMODEPRELOAD_ENABLED;
  pBurstModeCfg.Trigger = HRTIM_BURSTMODETRIGGER_MASTER_REPETITION;
  pBurstModeCfg.IdleDuration = 3;
  pBurstModeCfg.Period = 1000;
  if (HAL_HRTIM_BurstModeConfig(&hhrtim, &pBurstModeCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimeBaseCfg.Period = 50000;
  pTimeBaseCfg.RepetitionCounter = 0x00;
  pTimeBaseCfg.PrescalerRatio = HRTIM_PRESCALERRATIO_DIV2;
  pTimeBaseCfg.Mode = HRTIM_MODE_CONTINUOUS;
  if (HAL_HRTIM_TimeBaseConfig(&hhrtim, HRTIM_TIMERINDEX_MASTER, &pTimeBaseCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimerCfg.InterruptRequests = HRTIM_MASTER_IT_NONE;
  pTimerCfg.DMARequests = HRTIM_MASTER_DMA_MREP;
  pTimerCfg.DMASrcAddress = (uint32_t)&lut[0][0];
  pTimerCfg.DMADstAddress = HRTIM_BDMADR_BDMADR;
  pTimerCfg.DMASize = 1000;
  pTimerCfg.HalfModeEnable = HRTIM_HALFMODE_DISABLED;
  pTimerCfg.StartOnSync = HRTIM_SYNCSTART_DISABLED;
  pTimerCfg.ResetOnSync = HRTIM_SYNCRESET_DISABLED;
  pTimerCfg.DACSynchro = HRTIM_DACSYNC_NONE;
  pTimerCfg.PreloadEnable = HRTIM_PRELOAD_ENABLED;
  pTimerCfg.UpdateGating = HRTIM_UPDATEGATING_DMABURST_UPDATE;
  pTimerCfg.BurstMode = HRTIM_TIMERBURSTMODE_MAINTAINCLOCK;
  pTimerCfg.RepetitionUpdate = HRTIM_UPDATEONREPETITION_ENABLED;
  if (HAL_HRTIM_WaveformTimerConfig(&hhrtim, HRTIM_TIMERINDEX_MASTER, &pTimerCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimeBaseCfg.Period = 2000;
  pTimeBaseCfg.PrescalerRatio = HRTIM_PRESCALERRATIO_DIV1;
  if (HAL_HRTIM_TimeBaseConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_A, &pTimeBaseCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimerCfg.InterruptRequests = HRTIM_TIM_IT_NONE;
  pTimerCfg.DMARequests = HRTIM_TIM_DMA_NONE;
  pTimerCfg.DMASrcAddress = 0x0000;
  pTimerCfg.DMADstAddress = 0x0000;
  pTimerCfg.DMASize = 0x1;
  pTimerCfg.UpdateGating = HRTIM_UPDATEGATING_INDEPENDENT;
  pTimerCfg.PushPull = HRTIM_TIMPUSHPULLMODE_DISABLED;
  pTimerCfg.FaultEnable = HRTIM_TIMFAULTENABLE_NONE;
  pTimerCfg.FaultLock = HRTIM_TIMFAULTLOCK_READWRITE;
  pTimerCfg.DeadTimeInsertion = HRTIM_TIMDEADTIMEINSERTION_ENABLED;
  pTimerCfg.DelayedProtectionMode = HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_DISABLED;
  pTimerCfg.UpdateTrigger = HRTIM_TIMUPDATETRIGGER_NONE;
  pTimerCfg.ResetTrigger = HRTIM_TIMRESETTRIGGER_NONE;
  pTimerCfg.ResetUpdate = HRTIM_TIMUPDATEONRESET_ENABLED;
  if (HAL_HRTIM_WaveformTimerConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_A, &pTimerCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimerCfg.PreloadEnable = HRTIM_PRELOAD_DISABLED;
  pTimerCfg.ResetUpdate = HRTIM_TIMUPDATEONRESET_DISABLED;
  if (HAL_HRTIM_WaveformTimerConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_B, &pTimerCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimerCfg.PreloadEnable = HRTIM_PRELOAD_ENABLED;
  if (HAL_HRTIM_WaveformTimerConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_C, &pTimerCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pCompareCfg.CompareValue = 1000;
  if (HAL_HRTIM_WaveformCompareConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_A, HRTIM_COMPAREUNIT_1, &pCompareCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_BurstDMAConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_A, HRTIM_BURSTDMA_CMP1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_BurstDMAConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_B, HRTIM_BURSTDMA_CMP1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_BurstDMAConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_C, HRTIM_BURSTDMA_CMP1) != HAL_OK)
  {
    Error_Handler();
  }
  pDeadTimeCfg.Prescaler = HRTIM_TIMDEADTIME_PRESCALERRATIO_DIV1;
  pDeadTimeCfg.RisingValue = 10;
  pDeadTimeCfg.RisingSign = HRTIM_TIMDEADTIME_RISINGSIGN_POSITIVE;
  pDeadTimeCfg.RisingLock = HRTIM_TIMDEADTIME_RISINGLOCK_WRITE;
  pDeadTimeCfg.RisingSignLock = HRTIM_TIMDEADTIME_RISINGSIGNLOCK_WRITE;
  pDeadTimeCfg.FallingValue = 10;
  pDeadTimeCfg.FallingSign = HRTIM_TIMDEADTIME_FALLINGSIGN_POSITIVE;
  pDeadTimeCfg.FallingLock = HRTIM_TIMDEADTIME_FALLINGLOCK_WRITE;
  pDeadTimeCfg.FallingSignLock = HRTIM_TIMDEADTIME_FALLINGSIGNLOCK_WRITE;
  if (HAL_HRTIM_DeadTimeConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_A, &pDeadTimeCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_DeadTimeConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_B, &pDeadTimeCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_DeadTimeConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_C, &pDeadTimeCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pOutputCfg.Polarity = HRTIM_OUTPUTPOLARITY_HIGH;
  pOutputCfg.SetSource = HRTIM_OUTPUTSET_TIMPER;
  pOutputCfg.ResetSource = HRTIM_OUTPUTRESET_TIMCMP1;
  pOutputCfg.IdleMode = HRTIM_OUTPUTIDLEMODE_NONE;
  pOutputCfg.IdleLevel = HRTIM_OUTPUTIDLELEVEL_INACTIVE;
  pOutputCfg.FaultLevel = HRTIM_OUTPUTFAULTLEVEL_NONE;
  pOutputCfg.ChopperModeEnable = HRTIM_OUTPUTCHOPPERMODE_DISABLED;
  pOutputCfg.BurstModeEntryDelayed = HRTIM_OUTPUTBURSTMODEENTRY_REGULAR;
  if (HAL_HRTIM_WaveformOutputConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_A, HRTIM_OUTPUT_TA1, &pOutputCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_WaveformOutputConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_B, HRTIM_OUTPUT_TB1, &pOutputCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_WaveformOutputConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_C, HRTIM_OUTPUT_TC1, &pOutputCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pOutputCfg.SetSource = HRTIM_OUTPUTSET_NONE;
  pOutputCfg.ResetSource = HRTIM_OUTPUTRESET_TIMPER;
  if (HAL_HRTIM_WaveformOutputConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_A, HRTIM_OUTPUT_TA2, &pOutputCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_WaveformOutputConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_B, HRTIM_OUTPUT_TB2, &pOutputCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pOutputCfg.ResetSource = HRTIM_OUTPUTRESET_TIMCMP1;
  if (HAL_HRTIM_WaveformOutputConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_C, HRTIM_OUTPUT_TC2, &pOutputCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_TimeBaseConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_B, &pTimeBaseCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_WaveformCompareConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_B, HRTIM_COMPAREUNIT_1, &pCompareCfg) != HAL_OK)
  {
    Error_Handler();
  }
  pTimeBaseCfg.Period = 50000;
  if (HAL_HRTIM_TimeBaseConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_C, &pTimeBaseCfg) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_HRTIM_WaveformCompareConfig(&hhrtim, HRTIM_TIMERINDEX_TIMER_C, HRTIM_COMPAREUNIT_1, &pCompareCfg) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN HRTIM_Init 2 */

  /* USER CODE END HRTIM_Init 2 */
  HAL_HRTIM_MspPostInit(&hhrtim);

}

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

  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_ENABLE();

  /* DMA interrupt init */
  /* DMA1_Stream0_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);

}

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

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOG_CLK_ENABLE();
  __HAL_RCC_GPIOE_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, LD1_Pin|LD3_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(USB_OTG_FS_PWR_EN_GPIO_Port, USB_OTG_FS_PWR_EN_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : B1_Pin */
  GPIO_InitStruct.Pin = B1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : PC1 PC4 PC5 */
  GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_4|GPIO_PIN_5;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pins : PA1 PA2 PA7 */
  GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : LD1_Pin LD3_Pin */
  GPIO_InitStruct.Pin = LD1_Pin|LD3_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 : PB13 */
  GPIO_InitStruct.Pin = 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_AF11_ETH;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : STLINK_RX_Pin STLINK_TX_Pin */
  GPIO_InitStruct.Pin = STLINK_RX_Pin|STLINK_TX_Pin;
  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);

  /*Configure GPIO pin : USB_OTG_FS_PWR_EN_Pin */
  GPIO_InitStruct.Pin = USB_OTG_FS_PWR_EN_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(USB_OTG_FS_PWR_EN_GPIO_Port, &GPIO_InitStruct);

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

  /*Configure GPIO pins : PA11 PA12 */
  GPIO_InitStruct.Pin = GPIO_PIN_11|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_AF10_OTG1_FS;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PG11 PG13 */
  GPIO_InitStruct.Pin = GPIO_PIN_11|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_AF11_ETH;
  HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);

  /*Configure GPIO pin : LD2_Pin */
  GPIO_InitStruct.Pin = LD2_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */
static void CPU_CACHE_Enable(void)
{
  /* Enable I-Cache */
  SCB_EnableICache();

  /* Enable D-Cache */
  SCB_EnableDCache();
}


uint8_t calcLUTsawTooth()
{
	// Generate Phase Shift (120° per phase) sawtooth values (range from 500 to 1500)
	uint16_t i_L2 = round(LUT_SIZE_MAX/3);
	uint16_t i_L3 = round(2 * LUT_SIZE_MAX/3);

	uint16_t pwm_duty = 500;

	for(uint16_t i = 0; i < LUT_SIZE_MAX; ++i)
	{

		pwm_duty = (uint16_t) pwm_duty + 1;

		if(i_L2 < LUT_SIZE_MAX) {lut[i_L2][1] = pwm_duty; i_L2 ++;}
		else { i_L2 = 0; lut[i_L2][1] = pwm_duty; i_L2 ++; }

		if(i_L3 < LUT_SIZE_MAX) { lut[i_L3][2] = pwm_duty; i_L3 ++;}
		else { i_L3 = 0; lut[i_L3][2] = pwm_duty; i_L3 ++;	}
	}
	return 0;
}

/* USER CODE END 4 */

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

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