
/**
  ******************************************************************************
  Written By : Usman Ali Butt
	Property of: www.microcontroller-project.com
	Dated      : 19 july 2018
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f1xx_hal.h"
#include "tim.h"
#include "gpio.h"

/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

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

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  *
  * @retval None
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

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

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

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

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

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM3_Init();
 
 HAL_GPIO_WritePin(GPIOA,A0_Pin,GPIO_PIN_SET);   // Start first motor clock wise rotation
 HAL_GPIO_WritePin(GPIOA,A1_Pin,GPIO_PIN_RESET);
 
 HAL_GPIO_WritePin(GPIOA,A2_Pin,GPIO_PIN_SET);   //Start second motor clock wise rotation
 HAL_GPIO_WritePin(GPIOA,A3_Pin,GPIO_PIN_RESET);
 
 				HAL_TIM_Base_Start(&htim3);               //Initialize stm32 timer 3
			  HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);  //PB0 Start pwm second motor 100% duty cycle
			  HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);  //PB1 Start pwm first motor  100% duty cycle
 
  while (1)
  {
		if(HAL_GPIO_ReadPin(GPIOB,B9_Pin)==GPIO_PIN_RESET) //Change direction of motors anticlock wise
		{
				HAL_GPIO_TogglePin(GPIOA,A0_Pin);
			  HAL_Delay(3000); //Delay for 3 seconds to stop motor properly
				HAL_GPIO_TogglePin(GPIOA,A1_Pin);
			
			  HAL_GPIO_TogglePin(GPIOA,A2_Pin);
			  HAL_Delay(3000); //Delay for 3 seconds to stop motor properly
				HAL_GPIO_TogglePin(GPIOA,A3_Pin);	
		}
		
		if(HAL_GPIO_ReadPin(GPIOB,B8_Pin)==GPIO_PIN_RESET) //Motor rotate at 75% duty cycle 
		{
				__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_3,75); //Second motor 75% voltage
			  __HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,75); //Second motor 75% voltage
		}

		if(HAL_GPIO_ReadPin(GPIOB,B7_Pin)==GPIO_PIN_RESET) //Motor rotate at 50% duty cycle 
		{
				__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_3,50); //Second motor 50% voltage
			  __HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,50); //Second motor 50% voltage
		}
		
		if(HAL_GPIO_ReadPin(GPIOB,B6_Pin)==GPIO_PIN_RESET) //Motor rotate at 25% duty cycle
		{
				__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_3,25); //Second motor 25% voltage
			  __HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,25); //Second motor 25% voltage
		}
		
  }
  /* USER CODE END 3 */

}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV4;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV4;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure the Systick interrupt time 
    */
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

    /**Configure the Systick 
    */
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  file: The file name as string.
  * @param  line: The line in file as a number.
  * @retval None
  */
void _Error_Handler(char *file, int line)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  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,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/**
  * @}
  */

/**
  * @}
  */

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