File content as of revision 7:e3a2ade56b79:

#include "mbed.h"
#include "HardwareSetup.h"
#include "stm32h7xx_hal.h"

TIM_HandleTypeDef htim12;
TIM_HandleTypeDef htim15;
TIM_HandleTypeDef htim13;
TIM_HandleTypeDef htim14;
TIM_HandleTypeDef htim16;
TIM_HandleTypeDef htim17;
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;

int PWM_PERIOD;
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim); 
static void MX_TIM12_Init(void);
static void MX_TIM13_Init(void);
static void MX_TIM14_Init(void);
static void MX_TIM15_Init(void);
static void MX_TIM16_Init(void);
static void MX_TIM17_Init(void);
static void MX_ADC1_Init(void);
static void MX_ADC2_Init(void); 

void config_adc1_channel(int val);
void config_adc2_channel(int val);

AnalogIn currentA(PF_12); //Enable ADC hardware pin, don't use AnalogIn reads
AnalogIn currentB(PF_11); //Enable ADC hardware pin, don't use AnalogIn reads
AnalogIn currentC(PF_13); //Enable ADC hardware pin, don't use AnalogIn reads
AnalogIn currentD(PA_4);  //Enable ADC hardware pin, don't use AnalogIn reads

void initHardware(int periodTicks){
    PWM_PERIOD = periodTicks;
  /* Initialise the HAL Layer */ 
    HAL_Init();

  /* Initialize all configured peripherals */
    MX_TIM12_Init();
    MX_TIM13_Init();
    MX_TIM14_Init();
    MX_TIM15_Init();
    MX_TIM16_Init();
    MX_TIM17_Init();
    MX_ADC1_Init();
    MX_ADC2_Init();


    HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_1); // start pwm generation
    HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_2); // start pwm generation
    HAL_TIM_PWM_Start(&htim13, TIM_CHANNEL_1); // start pwm generation
    HAL_TIM_PWM_Start(&htim14, TIM_CHANNEL_1); // start pwm generation
    HAL_TIM_PWM_Start(&htim15, TIM_CHANNEL_1); // start pwm generation
    HAL_TIM_PWM_Start(&htim15, TIM_CHANNEL_2); // start pwm generation
    HAL_TIM_PWM_Start(&htim16, TIM_CHANNEL_1); // start pwm generation
    HAL_TIM_PWM_Start(&htim17, TIM_CHANNEL_1); // start pwm generation
                    
}



uint16_t readADC1(int channel){
    config_adc1_channel(channel);
    HAL_ADC_Start(&hadc1);
    HAL_ADC_PollForConversion(&hadc1,20);
    uint32_t result = HAL_ADC_GetValue(&hadc1);
    HAL_ADC_Stop (&hadc1);    
    return result;

}

void config_adc1_channel(int val)
{
  ADC_ChannelConfTypeDef sConfig;
  if (val == 0){
      sConfig.Channel = ADC_CHANNEL_6;
      sConfig.Rank = ADC_REGULAR_RANK_1;
      sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
      sConfig.SingleDiff = ADC_SINGLE_ENDED;
      sConfig.OffsetNumber = ADC_OFFSET_NONE;
      sConfig.Offset = 0;
      if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
      {
        //Error_Handler();
      }
  }
  else{
      sConfig.Channel = ADC_CHANNEL_2;
      sConfig.Rank = ADC_REGULAR_RANK_1;
      sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
      sConfig.SingleDiff = ADC_SINGLE_ENDED;
      sConfig.OffsetNumber = ADC_OFFSET_NONE;
      sConfig.Offset = 0;
      if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
      {
        //Error_Handler();
      }
  }

}


uint16_t readADC2(int channel){  
    
    config_adc2_channel(channel);
    HAL_ADC_Start(&hadc2);
    HAL_ADC_PollForConversion(&hadc2,20);
    uint32_t result = HAL_ADC_GetValue(&hadc2);
    HAL_ADC_Stop (&hadc2);    
    return result;
}

void config_adc2_channel(int val)
{
  ADC_ChannelConfTypeDef sConfig;
  if (val == 0){
      sConfig.Channel = ADC_CHANNEL_18;
      sConfig.Rank = ADC_REGULAR_RANK_1;
      sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
      sConfig.SingleDiff = ADC_SINGLE_ENDED;
      sConfig.OffsetNumber = ADC_OFFSET_NONE;
      sConfig.Offset = 0;
      if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
      {
        //Error_Handler();
      }
  }
  else{
      sConfig.Channel = ADC_CHANNEL_2;
      sConfig.Rank = ADC_REGULAR_RANK_1;
      sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
      sConfig.SingleDiff = ADC_SINGLE_ENDED;
      sConfig.OffsetNumber = ADC_OFFSET_NONE;
      sConfig.Offset = 0;
      if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
      {
        //Error_Handler();
      }
  }

}

static void MX_ADC1_Init(void)
{
  ADC_MultiModeTypeDef multimode = {0};
  ADC_ChannelConfTypeDef sConfig = {0};
  /** Common config 
  */
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
  hadc1.Init.Resolution = ADC_RESOLUTION_16B;
  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc1.Init.LowPowerAutoWait = DISABLE;
  hadc1.Init.ContinuousConvMode = ENABLE;
  hadc1.Init.NbrOfConversion = 1;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc1.Init.ConversionDataManagement = ADC_CONVERSIONDATA_DR;
  hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc1.Init.LeftBitShift = ADC_LEFTBITSHIFT_NONE;
  hadc1.Init.OversamplingMode = DISABLE;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    //Error_Handler();
  }
  /** Configure Regular Channel 
  */
  sConfig.Channel = ADC_CHANNEL_2;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    //Error_Handler();
  }
}

/**
  * @brief ADC2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_ADC2_Init(void)
{
  ADC_ChannelConfTypeDef sConfig = {0};
  /** Common config 
  */
  hadc2.Instance = ADC2;
  hadc2.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
  hadc2.Init.Resolution = ADC_RESOLUTION_16B;
  hadc2.Init.ScanConvMode = ADC_SCAN_DISABLE;
  hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc2.Init.LowPowerAutoWait = DISABLE;
  hadc2.Init.ContinuousConvMode = ENABLE;
  hadc2.Init.NbrOfConversion = 1;
  hadc2.Init.DiscontinuousConvMode = DISABLE;
  hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc2.Init.ConversionDataManagement = ADC_CONVERSIONDATA_DR;
  hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc2.Init.LeftBitShift = ADC_LEFTBITSHIFT_NONE;
  hadc2.Init.OversamplingMode = DISABLE;
  if (HAL_ADC_Init(&hadc2) != HAL_OK)
  {
    //Error_Handler();
  }

  /** Configure Regular Channel 
  */
  sConfig.Channel = ADC_CHANNEL_2;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
  {
    //Error_Handler();
  }

}


static void MX_TIM12_Init(void)
{
  __HAL_RCC_TIM12_CLK_ENABLE();
  TIM_OC_InitTypeDef sConfigOC = {0};
  htim12.Instance = TIM12;
  htim12.Init.Prescaler = 0;
  htim12.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim12.Init.Period = PWM_PERIOD;
  htim12.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim12.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim12) != 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(&htim12, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    //Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim12, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    //Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim12);
}

static void MX_TIM13_Init(void)
{
  __HAL_RCC_TIM13_CLK_ENABLE();
  TIM_OC_InitTypeDef sConfigOC = {0};
  htim13.Instance = TIM13;
  htim13.Init.Prescaler = 0;
  htim13.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim13.Init.Period = PWM_PERIOD;
  htim13.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim13.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim13) != HAL_OK)
  {
    //Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim13) != 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(&htim13, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    //Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim13);
}

static void MX_TIM14_Init(void)
{
  __HAL_RCC_TIM14_CLK_ENABLE();
  TIM_OC_InitTypeDef sConfigOC = {0};
  htim14.Instance = TIM14;
  htim14.Init.Prescaler = 0;
  htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim14.Init.Period = PWM_PERIOD;
  htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim14) != HAL_OK)
  {
    //Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim14) != 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(&htim14, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    //Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim14);
}

static void MX_TIM15_Init(void)
{
  __HAL_RCC_TIM15_CLK_ENABLE();
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
  htim15.Instance = TIM15;
  htim15.Init.Prescaler = 0;
  htim15.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim15.Init.Period = PWM_PERIOD;
  htim15.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim15.Init.RepetitionCounter = 0;
  htim15.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim15) != HAL_OK)
  {
    //Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim15, &sMasterConfig) != HAL_OK)
  {
    //Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  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(&htim15, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    //Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim15, &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.BreakFilter = 0;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim15, &sBreakDeadTimeConfig) != HAL_OK)
  {
    //Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim15);

}

static void MX_TIM16_Init(void)
{
  __HAL_RCC_TIM16_CLK_ENABLE();
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
  htim16.Instance = TIM16;
  htim16.Init.Prescaler = 0;
  htim16.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim16.Init.Period = PWM_PERIOD;
  htim16.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim16.Init.RepetitionCounter = 0;
  htim16.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim16) != HAL_OK)
  {
    //Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim16) != HAL_OK)
  {
    //Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  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(&htim16, &sConfigOC, TIM_CHANNEL_1) != 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.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim16, &sBreakDeadTimeConfig) != HAL_OK)
  {
    //Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim16);

}

static void MX_TIM17_Init(void)
{
  __HAL_RCC_TIM17_CLK_ENABLE();
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
  htim17.Instance = TIM17;
  htim17.Init.Prescaler = 0;
  htim17.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim17.Init.Period = PWM_PERIOD;
  htim17.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim17.Init.RepetitionCounter = 0;
  htim17.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim17) != HAL_OK)
  {
    //Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim17) != HAL_OK)
  {
    //Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  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(&htim17, &sConfigOC, TIM_CHANNEL_1) != 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.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim17, &sBreakDeadTimeConfig) != HAL_OK)
  {
    //Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim17);

}

void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{
    /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOE_CLK_ENABLE();
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOF_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();
  
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(htim->Instance==TIM12)
  {

    /**TIM12 GPIO Configuration    
    PB14     ------> TIM12_CH1
    PB15     ------> TIM12_CH2 
    */
    GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_15;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM12;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  }
  else if(htim->Instance==TIM13)
  {
    /**TIM13 GPIO Configuration    
    PA6     ------> TIM13_CH1 
    */
    GPIO_InitStruct.Pin = 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_TIM13;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  }
  else if(htim->Instance==TIM14)
  {
    /**TIM14 GPIO Configuration    
    PF9     ------> TIM14_CH1 
    */
    GPIO_InitStruct.Pin = 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_AF9_TIM14;
    HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
  }
  else if(htim->Instance==TIM15)
  {
    /**TIM15 GPIO Configuration    
    PE5     ------> TIM15_CH1
    PE6     ------> TIM15_CH2 
    */
    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_AF4_TIM15;
    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
  }
  else if(htim->Instance==TIM16)
  {
    /**TIM16 GPIO Configuration    
    PF6     ------> TIM16_CH1 
    */
    GPIO_InitStruct.Pin = 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_AF1_TIM16;
    HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
  }
  else if(htim->Instance==TIM17)
  {
    /**TIM17 GPIO Configuration    
    PF7     ------> TIM17_CH1 
    */
    GPIO_InitStruct.Pin = 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_AF1_TIM17;
    HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
  }

}