projekt_wuest_steiner/RTC/Core/Src/main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 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
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "fatfs.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "math.h"
#include "stdbool.h"
#include "string.h"
#include <stdio.h>
#include "fatfs_sd.h"
#include <stdarg.h>
/* USER CODE END Includes */

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

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

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

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
SPI_HandleTypeDef hspi1;
ADC_HandleTypeDef hadc1;

RTC_HandleTypeDef hrtc;

UART_HandleTypeDef huart2;

/* USER CODE BEGIN PV */
RTC_TimeTypeDef sTime;
RTC_DateTypeDef sDate;
RTC_AlarmTypeDef sAlarmA, sAlarmB;
static volatile uint16_t gLastError;
static volatile bool gButtonPressed = FALSE;

//Nuremberg coordinates
int latitude_nbg = 49;
int longitude_nbg = 11;

//German UTC time,summer (+2) and winter (+1)
int UTC_DER_sum = 2;
int UTC_DER_win = 1;
bool winterTime = true;

int DaysInMonth[12] = {31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
int DaysInMonthLeapYear[12] = {31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
bool leapYear = false;
int stepsFor180Deg = 1600; // The stepper motor needs 200 single steps for 360 deg, equals 100 steps for 180 deg, 180 Deg in 1/16 steps equals 1600 1/16 steps
int leapsFor180Deg = 5; // Determines how big the amount of single steps is to complete 180 degrees of rotation
bool alarmSunriseFlag = false;
bool alarmSunsetFlag = false;
bool makeStepFlag = false;

/* Initialization parameters. */
l6208_Init_t initDeviceParameters =
{
  1500,            //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
  20,              //Acceleration current torque in % (from 0 to 100)
  1500,            //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
  20,              //Deceleration current torque in % (from 0 to 100)
  1500,            //Running speed in step/s or (1/16)th step/s for microstep modes
  10,              //Running current torque in % (from 0 to 100)
  5,               //Holding current torque in % (from 0 to 100)
  STEP_MODE_1_16,  //Step mode via enum motorStepMode_t
  FAST_DECAY,      //Decay mode via enum motorDecayMode_t
  0,               //Dwelling time in ms
  FALSE,           //Automatic HIZ STOP
  100000           //VREFA and VREFB PWM frequency (Hz)
};

typedef struct {
	int hours;
	int minutes;
	int seconds;
	int weekDay;
	int month;
	int day;
	int year;
} timeAndDate;

// SD CARD Variables
FATFS fs;
FATFS *pfs;
FIL fil;
FRESULT fres;
DWORD fre_clust;
uint32_t totalSpace, freeSpace;
char buffer[100];
uint16_t AD_RES;
int num;
char filename[12];

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_RTC_Init(void);
static void MX_SPI1_Init(void);
static void MX_ADC1_Init(void);
static void MyFlagInterruptHandler(void);
void MyErrorHandler(uint16_t error);
void ButtonHandler(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/*******************************************************************************
* Function Name  : deg_to_rad
* Description    : converts degrees to radians
* Return         : angle in radians
*******************************************************************************/
double deg_to_rad(double deg)
{
	double rad = deg*(M_PI/180);
	return rad;
}

/*******************************************************************************
* Function Name  : rad_to_deg
* Description    : converts radians to degrees
* Return         : angle in degrees
*******************************************************************************/
double rad_to_deg(double rad)
{
	double deg = rad*(180/M_PI);
	return deg;
}

/*******************************************************************************
* Function Name  : leap_year_check
* Description    : checks if year is a leap year
* Return         : false: no leap year, true: leap year
*******************************************************************************/
void leap_year_check(int initialyear)
{
	int year = initialyear;
	if((year % 4 == 0 && year % 100 != 0) || (year % 400 == 0))
	{
		leapYear = true;
	}
	else
	{
		leapYear = false;
	}

}

/*******************************************************************************
* Function Name  : calc_day_of_year
* Description    : calculates the day of year
* Return         : day of year (1.1.. = 1, 2.1.. = 2,...)
* Source		 : https://overiq.com/c-examples/c-program-to-calculate-the-day-of-year-from-the-date/
*******************************************************************************/
int calc_day_of_year(int day, int mon, int year)
{
	int days_in_feb = 28;
	int doy = day;   //day of year

	// check for leap year
	//bool leap_year = leap_year_check(year);
	if(leapYear == true)
	{
	    days_in_feb = 29;
	}

	switch(mon)
	{
		case 2:
			doy += 31;
			break;
		case 3:
			doy += 31+days_in_feb;
			break;
		case 4:
			doy += days_in_feb+62;
			break;
		case 5:
			doy += days_in_feb+92;
			break;
		case 6:
			doy += days_in_feb+123;
			break;
		case 7:
			doy += days_in_feb+153;
			break;
		case 8:
			doy += days_in_feb+184;
			break;
		case 9:
			doy += days_in_feb+215;
			break;
		case 10:
			doy += days_in_feb+245;
			break;
		case 11:
			doy += days_in_feb+276;
			break;
		case 12:
			doy += days_in_feb+306;
			break;
	}
	return doy;
}

/*******************************************************************************
* Function Name  : calc_sunrise_sunset
* Description    : calculates the sunrise and sunset time of a specific date
* Source		 : General Solar Position Calculations, NOAA Global Monitoring Division
*******************************************************************************/
void calc_sunrise_sunset(timeAndDate* initialDate, timeAndDate* sunriseStruct, timeAndDate* sunsetStruct, timeAndDate* tomorrowsDate)
{
	double gamma = 0;
	double eqtime = 0;
	double decl = 0;
	//double decl_deg = 0;
	double zenith_sun = 0;
	double lat_nbg_rad = 0;
	double ha = 0;
	double sunrise = 0;
	double sunset = 0;
	double ha_deg = 0;
	int sunrise_h = 0;
	int sunset_h = 0;
	double sunrise_min = 0;
	double sunset_min = 0;
	int int_sunrise_min = 0;
	int int_sunset_min = 0;

	int day = initialDate->day;
	int month = initialDate->month;
	int year = initialDate->year;

	//day of year calculation
	int day_of_year = calc_day_of_year(day, month, year);

	// fractional year (γ) in radians
    // check for leap year
	//leap_year = leap_year_check(year);
	if(leapYear == false)
	{
		//The back part of the formula was omitted, because there is no difference in the result
		gamma = ((2 * M_PI)/365)*(day_of_year - 1);
	} else {
		//The back part of the formula was omitted, because there is no difference in the result
		gamma = ((2 * M_PI)/366)*(day_of_year - 1);
	}

	//Equation of time in minutes
	eqtime = 229.18*(0.000075 + 0.001868*cos(gamma) - 0.032077*sin(gamma) - 0.014615*cos(2*gamma) - 0.040849*sin(2*gamma));

	//Solar declination angle in radians
	decl = 0.006918 - 0.399912*cos(gamma) + 0.070257*sin(gamma) - 0.006758*cos(2*gamma) + 0.000907*sin(2*gamma) - 0.002697*cos(3*gamma) + 0.00148*sin(3*gamma);

	//Solar declination angle in degrees
	//decl_deg = rad_to_deg(decl);

	//Hour angle in degrees, positive number corresponds to sunrise, negative to sunset
	//special case of sunrise or sunset, the zenith is set to 90.833Deg
	zenith_sun = deg_to_rad(90.833);
	//Latitude of Nuernberg in rad
	lat_nbg_rad = deg_to_rad(latitude_nbg);
	ha = acos((cos(zenith_sun)/(cos(lat_nbg_rad)*cos(decl)))-(tan(lat_nbg_rad)*tan(decl)));
	ha_deg = rad_to_deg(ha);

	//UTC time of sunrise (or sunset) in minutes
	sunrise = (720-4*(longitude_nbg+ha_deg)-eqtime);
	sunset = 720-4*(longitude_nbg-ha_deg)-eqtime;

	//Convert sunrise (or sunset) UTC time in hours
	sunrise = sunrise/60;
	sunset = sunset/60;

	//Seperate hours and minutes
	sunrise_h = floor(sunrise);
	sunrise_min = sunrise - sunrise_h;
	//Cut off after two decimal places
	int_sunrise_min = floor(sunrise_min * 100.0);
	if (int_sunrise_min >= 60)
	{
		sunrise_h = sunrise_h + 1;
		int_sunrise_min = int_sunrise_min - 60;
	}
	sunset_h = floor(sunset);
	sunset_min = sunset - sunset_h;
	//Cut off after two decimal places
	int_sunset_min = floor(sunset_min * 100.0);
	if (int_sunset_min >= 60)
	{
		sunset_h = sunset_h + 1;
		int_sunset_min = int_sunset_min - 60;
	}

	//Add time difference from German time to UTC Time
	//Private variable winterTime must be initialized accordingly
	if (winterTime)
	{
		sunrise_h = sunrise_h + UTC_DER_win;
		sunset_h = sunset_h + UTC_DER_win;
	} else {
		sunrise_h = sunrise_h + UTC_DER_sum;
	    sunset_h = sunset_h + UTC_DER_sum;
	}

	sunriseStruct->hours = sunrise_h;
	sunriseStruct->minutes = int_sunrise_min;

	sunsetStruct->hours = sunset_h;
	sunsetStruct->minutes = int_sunset_min;

	sunriseStruct->day = sunsetStruct->day = tomorrowsDate->day;
	sunriseStruct->weekDay = sunsetStruct->weekDay = tomorrowsDate->weekDay;
	sunriseStruct->month = sunsetStruct->month = tomorrowsDate->month;
	sunriseStruct->year = sunsetStruct->year = tomorrowsDate->year;
}

/*******************************************************************************
* Function Name  : calc_tomorrows_date
* Description    : calculates tomorrow's date
* Source		 : https://github.com/vyacht/stm32/blob/master/vynmea/rtc.c
*******************************************************************************/
void calc_tomorrows_date(timeAndDate* initialDate, timeAndDate* tomorrowsDate)
{
	int yearToUse[12];

	if (leapYear == true){
		memcpy(yearToUse, DaysInMonthLeapYear, sizeof yearToUse);
	} else {
		memcpy(yearToUse, DaysInMonth, sizeof yearToUse);
	}

	int day = initialDate->day;
	int wday = initialDate->weekDay;
	int month = initialDate->month;
	int year = initialDate->year;

	day++;							// next day
	wday++;							// next weekday
	if(wday == 8)
	{
		wday = 1;					// Monday
	}
	if(day > yearToUse[month-1])
	{								// next month
		day = 1;
		month++;
	}
	if(day > 31 && month == 12)     // next year
	{
		day = 1;
		month = 1;
		year++;
	}

	tomorrowsDate->day = day;
	tomorrowsDate->weekDay = wday;
	tomorrowsDate->month = month;
	tomorrowsDate->year = year;

}

/*******************************************************************************
* Function Name  : set_alarm
* Description    : sets alarm A or B
*******************************************************************************/
void set_alarm(int h, int min, int weekDay, char* alarm, RTC_AlarmTypeDef* alarmInstance)
{
	/** Enable the Alarm A*/

	alarmInstance->AlarmTime.Hours = h;
	alarmInstance->AlarmTime.Minutes = min;
	alarmInstance->AlarmTime.Seconds = 0;
	alarmInstance->AlarmTime.SubSeconds = 0;
	alarmInstance->AlarmTime.DayLightSaving = RTC_DAYLIGHTSAVING_NONE;
	alarmInstance->AlarmTime.StoreOperation = RTC_STOREOPERATION_RESET;
	alarmInstance->AlarmMask = RTC_ALARMMASK_NONE;						//only by specific time
	alarmInstance->AlarmSubSecondMask = RTC_ALARMSUBSECONDMASK_ALL;
	alarmInstance->AlarmDateWeekDaySel = RTC_ALARMDATEWEEKDAYSEL_WEEKDAY;
	alarmInstance->AlarmDateWeekDay = weekDay;

	if (strcmp("A", alarm) == 0) {
		alarmInstance->Alarm = RTC_ALARM_A;
	} else {
		alarmInstance->Alarm = RTC_ALARM_B;
	}

	if (HAL_RTC_SetAlarm_IT(&hrtc, alarmInstance, RTC_FORMAT_BIN) != HAL_OK)
	{
		Error_Handler();
	}


}

/*******************************************************************************
* Function Name  : transmit_uart
* Description    : Transmit a string over uart
*******************************************************************************/
void transmit_uart(char *string){
	uint8_t len = strlen(string);
	HAL_UART_Transmit(&huart2, (uint8_t*) string, len, 200);
}

/***************************************************************************************************
* Function Name  : set_time_and_date
* Description    : Overwriting the date given in timeanddate with the current time and date from rtc
****************************************************************************************************/
void set_time_and_date(timeAndDate *timeanddate){

	if (HAL_RTC_GetTime(&hrtc, &sTime, RTC_FORMAT_BIN) == HAL_OK)
	{
		timeanddate->hours = sTime.Hours;
		timeanddate->minutes = sTime.Minutes;
		timeanddate->seconds = sTime.Seconds;
	}

	if (HAL_RTC_GetDate(&hrtc, &sDate, RTC_FORMAT_BIN) == HAL_OK)
	{
		timeanddate->weekDay = sDate.WeekDay;
		timeanddate->month = sDate.Month;
		timeanddate->day = sDate.Date;
		timeanddate->year = 2000 + sDate.Year;
	}
}

/*******************************************************************************
* Function Name  : calc_interval_duration
* Description    : Calculate the duration between the two given time/dates
* Return		 : The duration as an integer
*******************************************************************************/
int calc_interval_duration(timeAndDate *sunrise, timeAndDate *sunset){
	int duration_h=0;
	int duration_m=0;

	duration_h = sunset->hours - sunrise->hours;
	duration_m = sunset->minutes - sunrise->minutes;

	if (duration_m < 0) {
		duration_h = duration_h - 1;
		duration_m = 60 - sunrise->minutes + sunset->minutes;
	}

	return (duration_h * 60 + duration_m) / leapsFor180Deg;
}

/*******************************************************************************
* Function Name  : generate_filename
* Description    : Short function to generate a filename with the current date
*******************************************************************************/
void generate_filename(timeAndDate *date){
	sprintf(filename, "%02d%02d%02d.txt", date->year, date->month, date->day);
}

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
	/* USER CODE BEGIN 1 */

	/* USER CODE END 1 */

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

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

	/* USER CODE BEGIN Init */

	/* USER CODE END Init */

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

	/* USER CODE BEGIN SysInit */

	/* USER CODE END SysInit */

	/* Initialize all configured peripherals */
	MX_GPIO_Init();
	MX_USART2_UART_Init();
	MX_RTC_Init();
	MX_SPI1_Init();
	MX_FATFS_Init();
	MX_ADC1_Init();
	/* USER CODE BEGIN 2 */

	//######### Inits of the Motor control library #########

	/* Set the L6208 library to use 1 device */
	BSP_MotorControl_SetNbDevices(BSP_MOTOR_CONTROL_BOARD_ID_L6208, 1);

	BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_L6208, &initDeviceParameters);

	//BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_L6208, NULL); //Default params

	/* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */
	BSP_MotorControl_AttachFlagInterrupt(MyFlagInterruptHandler);

	/* Attach the function MyErrorHandler (defined below) to the error Handler*/
	BSP_MotorControl_AttachErrorHandler(MyErrorHandler);

	/* Set Systick Interrupt priority highest to ensure no lock by using HAL_Delay */
	HAL_NVIC_SetPriority(SysTick_IRQn, 0x0, 0x0);

	/* Configure KEY Button */
	//BSP_PB_Init(BUTTON_KEY, BUTTON_MODE_EXTI);

	/* Disable the power bridges after initialization */
	BSP_MotorControl_CmdDisable(0);

	int32_t pos=0;
	uint32_t freqPwm=0;

	freqPwm = BSP_MotorControl_GetBridgeInputPwmFreq(0);

	BSP_MotorControl_SetBridgeInputPwmFreq(0, freqPwm>>1);

	// current position
	pos = BSP_MotorControl_GetPosition(0);

	// set current position to home
	BSP_MotorControl_SetHome(0, pos);

	//######### Mount SD-Card #########
	/* The SD Card is not working at the moment due to getting FR_NOT_READY
		 * when connecting the SD Card Pins with the SPI Pins on the mounted X-NUCLEO Motor driver.
		 * When dismounting the motor driver and connecting it via cables, there is unusual behaviour of the motor mnovement.
		 * The SD Card though, works when the SD Card Breakout is connected directly to the NUCLEO board.
		 *
	fres = f_mount(&fs, "", 0);
	if (fres == FR_OK) {
	transmit_uart("SD card is mounted successfully!\r\n");
	} else if (fres != FR_OK) {
	transmit_uart("SD card is not mounted!\r\n");
	}
	*/

	//######### Start ADC Conversion #########
	HAL_ADC_Start(&hadc1);

	//######### Variable inits #########

	timeAndDate sunrise, sunset, wakeUpTimeForStep, tomorrowsDate, initialDate;
	sunrise = sunset = wakeUpTimeForStep = tomorrowsDate = initialDate = (timeAndDate) {\
	  0,
	  0,
	  0,
	  0,
	  0,
	  0,
	  0
	};

	uint32_t timeToNextStep_m=0;
	uint32_t alarmB_h = 0;
	uint32_t alarmB_m = 0;
	uint32_t alarmB_wd = 0;
	uint32_t stepsToMake = stepsFor180Deg / leapsFor180Deg; // The amount of single steps to make to complete 180/x degrees ^= 1600/x

	/* USER CODE END 2 */

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

	while (1)
	{
		HAL_Delay(2000);

		transmit_uart("Resetting motor position and calculating new dates and times.\r\n");

		BSP_MotorControl_GoHome(0);
		BSP_MotorControl_WaitWhileActive(0);

	/* USER CODE END WHILE */

	/* USER CODE BEGIN 3 */
		set_time_and_date(&initialDate);

		leap_year_check(initialDate.year);

		calc_tomorrows_date(&initialDate, &tomorrowsDate);

		generate_filename(&tomorrowsDate);

		//######### SD Card Write #########

		/* The SD Card is not working at the moment due to getting FR_NOT_READY
		 * when connecting the SD Card Pins with the SPI Pins on the mounted X-NUCLEO Motor driver.
		 * When dismounting the motor driver and connecting it via cables, there is unusual behaviour of the motor mnovement.
		 * The SD Card though, works when the SD Card Breakout is connected directly to the NUCLEO board.
		 *

		// Open file with tomorrows date as file name
		fres = f_open(&fil, filename, FA_OPEN_APPEND | FA_WRITE | FA_READ);
		if (fres == FR_OK) {
			transmit_uart("File opened.\r\n");
		} else if (fres != FR_OK) {
			transmit_uart("File was not opened!\r\n");
		}

		f_puts("Data", &fil);

		//Close file
		fres = f_close(&fil);
		if (fres == FR_OK) {
			transmit_uart("File is closed.\r\n");
		} else if (fres != FR_OK) {
			transmit_uart("File was not closed.\r\n");
		}
		*/

		//Calculate sunrise and sunset time for tomorrow
		calc_sunrise_sunset(&initialDate, &sunrise, &sunset, &tomorrowsDate);

		//Test code
		sunrise.hours = 14;
		sunrise.minutes = 0;
		sunrise.weekDay = 7;

		sunset.hours = 16;
		sunset.minutes = 00;
		sunset.weekDay = 7;

		//Calculate the time for next motor step in minutes
		timeToNextStep_m = calc_interval_duration(&sunrise, &sunset);

		// Set Alarm for sunrise
		transmit_uart("Setting alarm for sunrise.\r\n");
		set_alarm(sunrise.hours, sunrise.minutes, sunrise.weekDay, "A", &sAlarmA);

		HAL_Delay(2000);

		transmit_uart("Entering sleep mode.\r\n");
		HAL_SuspendTick();
		HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
		HAL_ResumeTick();

		if (alarmSunriseFlag == true) {

			transmit_uart("Sunrise statement entered.\r\n");
			// Reset the flags
			alarmSunsetFlag = false;
			alarmSunriseFlag = false;

			// The alarm for the next step is incremented from sunrise as the initial time.
			alarmB_h = sunrise.hours;
			alarmB_m = sunrise.minutes;
			alarmB_wd = sunrise.weekDay;

			// Set Alarm for sunset, it overwrites the alarm for sunrise because the sunrise already happenend
			// The timeframes for both alarms dont overlap so 1 alarm is enough
			transmit_uart("Setting alarm for sunset.\r\n");
			set_alarm(sunset.hours, sunset.minutes, sunset.weekDay, "A", &sAlarmA);

			HAL_Delay(2000);

			while (alarmSunsetFlag != true) {

				transmit_uart("|--------------------------------------------------------|\r\n\r\n");
				// Increment alarm time with the precalculated timeToNextStep
				int minAdd_tmp=0;

				minAdd_tmp = alarmB_m + timeToNextStep_m;

				// Consider minutes overflow ^= hours + 1
				if (minAdd_tmp > 60) {
					alarmB_h = alarmB_h + 1;
					alarmB_m = minAdd_tmp - 60;
				} else {
					alarmB_m = minAdd_tmp;
				}

				transmit_uart("Setting alarm for next step.\r\n");
				set_alarm(alarmB_h, alarmB_m, alarmB_wd, "B", &sAlarmB);

				HAL_Delay(2000);

				transmit_uart("Entering sleep mode.\r\n");
				HAL_SuspendTick();
				HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
				HAL_ResumeTick();

				if (makeStepFlag) {
					// Poll ADC1 Perihperal & TimeOut = 1mSec
					HAL_ADC_PollForConversion(&hadc1, 1);
					// Read The ADC Conversion Result
					AD_RES = HAL_ADC_GetValue(&hadc1);

					transmit_uart("Making a step.\r\n");
					BSP_MotorControl_Move(0, FORWARD, stepsToMake);
					BSP_MotorControl_WaitWhileActive(0);
				}

				makeStepFlag = true;

				transmit_uart("\r\n");

			};
		}

		BSP_MotorControl_GoHome(0);
		BSP_MotorControl_WaitWhileActive(0);
	}
	/* USER CODE END 3 */
}

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

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  //RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.LSIState = RCC_LSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 16;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_RTC;
  PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSI;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
}

/**

  * @brief RTC Initialization Function
  * @param None
  * @retval None
  */
static void MX_RTC_Init(void)
{

  /* USER CODE BEGIN RTC_Init 0 */

  /* USER CODE END RTC_Init 0 */

  RTC_TimeTypeDef sTime = {0};
  RTC_DateTypeDef sDate = {0};
  RTC_AlarmTypeDef sAlarm = {0};

  /* USER CODE BEGIN RTC_Init 1 */

  /* USER CODE END RTC_Init 1 */
  /** Initialize RTC Only
  */
  hrtc.Instance = RTC;
  hrtc.Init.HourFormat = RTC_HOURFORMAT_24;
  hrtc.Init.AsynchPrediv = 127;
  hrtc.Init.SynchPrediv = 255;
  hrtc.Init.OutPut = RTC_OUTPUT_DISABLE;
  hrtc.Init.OutPutPolarity = RTC_OUTPUT_POLARITY_HIGH;
  hrtc.Init.OutPutType = RTC_OUTPUT_TYPE_OPENDRAIN;
  if (HAL_RTC_Init(&hrtc) != HAL_OK)
  {
    Error_Handler();
  }

  /* USER CODE BEGIN Check_RTC_BKUP */

  /* USER CODE END Check_RTC_BKUP */

  /** Initialize RTC and set the Time and Date
  */
  sTime.Hours = 13;
  sTime.Minutes = 56;
  sTime.Seconds = 10;
  sTime.DayLightSaving = RTC_DAYLIGHTSAVING_NONE;
  sTime.StoreOperation = RTC_STOREOPERATION_RESET;
  if (HAL_RTC_SetTime(&hrtc, &sTime, RTC_FORMAT_BIN) != HAL_OK)
  {
    Error_Handler();
  }
  sDate.WeekDay = RTC_WEEKDAY_SUNDAY;
  sDate.Month = RTC_MONTH_FEBRUARY;
  sDate.Date = 21;
  sDate.Year = 21;

  if (HAL_RTC_SetDate(&hrtc, &sDate, RTC_FORMAT_BIN) != HAL_OK)
  {
    Error_Handler();
  }
  /** Enable the Alarm A
  */
  sAlarm.AlarmTime.Hours = 0;
  sAlarm.AlarmTime.Minutes = 0;
  sAlarm.AlarmTime.Seconds = 0;
  sAlarm.AlarmTime.SubSeconds = 0;
  sAlarm.AlarmTime.DayLightSaving = RTC_DAYLIGHTSAVING_NONE;
  sAlarm.AlarmTime.StoreOperation = RTC_STOREOPERATION_RESET;
  sAlarm.AlarmMask = RTC_ALARMMASK_NONE;
  sAlarm.AlarmSubSecondMask = RTC_ALARMSUBSECONDMASK_ALL;
  sAlarm.AlarmDateWeekDaySel = RTC_ALARMDATEWEEKDAYSEL_DATE;
  sAlarm.AlarmDateWeekDay = 1;
  sAlarm.Alarm = RTC_ALARM_A;
  if (HAL_RTC_SetAlarm_IT(&hrtc, &sAlarm, RTC_FORMAT_BIN) != HAL_OK)
  {
    Error_Handler();
  }
  /** Enable the Alarm B
  */
  sAlarm.AlarmDateWeekDay = 1;
  sAlarm.Alarm = RTC_ALARM_B;
  if (HAL_RTC_SetAlarm_IT(&hrtc, &sAlarm, RTC_FORMAT_BIN) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN RTC_Init 2 */

  /* USER CODE END RTC_Init 2 */

}

/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static 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 = 115200;
  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;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

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

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

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

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_SET);

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

  /*Configure GPIO pin : PB6 */
  GPIO_InitStruct.Pin = GPIO_PIN_6;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

}

/**
  * @brief ADC1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_ADC1_Init(void)
{

  /* USER CODE BEGIN ADC1_Init 0 */

  /* USER CODE END ADC1_Init 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)
  */
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
  hadc1.Init.ScanConvMode = DISABLE;
  hadc1.Init.ContinuousConvMode = ENABLE;
  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;
  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.
  */
  sConfig.Channel = ADC_CHANNEL_0;
  sConfig.Rank = 1;
  sConfig.SamplingTime = ADC_SAMPLETIME_480CYCLES;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC1_Init 2 */

  /* USER CODE END ADC1_Init 2 */

}

/**
  * @brief SPI1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI1_Init(void)
{

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */
  /* SPI1 parameter configuration*/
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial = 10;
  if (HAL_SPI_Init(&hspi1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_Init 2 */

}

/* USER CODE BEGIN 4 */
/**
  * @brief  Alarm callback
  * @param  hrtc: RTC handle
  * @retval None
  */
void HAL_RTC_AlarmAEventCallback(RTC_HandleTypeDef *hrtc)
{
  /* Alarm generation */
  alarmSunriseFlag = true;
  alarmSunsetFlag = true;
  transmit_uart("Alarm A Callback triggered.\r\n");
  transmit_uart("Setting sunrise and sunset flags.\r\n");
}

void HAL_RTCEx_AlarmBEventCallback(RTC_HandleTypeDef *hrtc)
{
  /* Alarm generation */
  makeStepFlag = true;
  transmit_uart("Alarm B Callback triggered.\r\n");
  transmit_uart("Setting makeStep flag.\r\n");
}

/**
  * @brief  This function is the User handler for the flag interrupt
  * @param  None
  * @retval None
  */
void MyFlagInterruptHandler(void)
{
  //When EN pin is forced low by a failure, configure the GPIO as an ouput low
  BSP_MotorControl_CmdDisable(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 */
}

void MyErrorHandler(uint16_t error)
{
  // Motor error handler
  /* Backup error number */
  gLastError = error;

  /* Infinite loop */
  while(1)
  {
  }
}

void ButtonHandler(void)
{
	gButtonPressed = TRUE;
  /* Let 200 ms before clearing the IT for key debouncing */
	HAL_Delay(200);
	__HAL_GPIO_EXTI_CLEAR_IT(KEY_BUTTON_PIN);
	HAL_NVIC_ClearPendingIRQ(KEY_BUTTON_EXTI_IRQn);
}

#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 */

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