/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    tim.c
  * @brief   This file provides code for the configuration
  *          of the TIM instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 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 "tim.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim8;

/* TIM1 init function */
void MX_TIM1_Init(void)
{

  /* USER CODE BEGIN TIM1_Init 0 */

  /* USER CODE END TIM1_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIMEx_BreakInputConfigTypeDef sBreakInputConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

  /* USER CODE BEGIN TIM1_Init 1 */

  /* USER CODE END TIM1_Init 1 */
  htim1.Instance = TIM1;
  htim1.Init.Prescaler = 0;
  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim1.Init.Period = 65535;
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.RepetitionCounter = 0;
  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  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();
  }
  sBreakInputConfig.Source = TIM_BREAKINPUTSOURCE_BKIN;
  sBreakInputConfig.Enable = TIM_BREAKINPUTSOURCE_ENABLE;
  sBreakInputConfig.Polarity = TIM_BREAKINPUTSOURCE_POLARITY_HIGH;
  if (HAL_TIMEx_ConfigBreakInput(&htim1, TIM_BREAKINPUT_BRK, &sBreakInputConfig) != 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(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    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();
  }
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_ENABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.BreakFilter = 0;
  sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
  sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
  sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
  sBreakDeadTimeConfig.Break2Filter = 0;
  sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM1_Init 2 */

  /* USER CODE END TIM1_Init 2 */
  HAL_TIM_MspPostInit(&htim1);

}
/* TIM3 init function */
void MX_TIM3_Init(void)
{

  /* USER CODE BEGIN TIM3_Init 0 */

  /* USER CODE END TIM3_Init 0 */

  TIM_Encoder_InitTypeDef sConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIMEx_EncoderIndexConfigTypeDef sEncoderIndexConfig = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 65535;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 0;
  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 0;
  if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sEncoderIndexConfig.Polarity = TIM_ENCODERINDEX_POLARITY_NONINVERTED;
  sEncoderIndexConfig.Prescaler = TIM_ENCODERINDEX_PRESCALER_DIV1;
  sEncoderIndexConfig.Filter = 0;
  sEncoderIndexConfig.FirstIndexEnable = DISABLE;
  sEncoderIndexConfig.Position = TIM_ENCODERINDEX_POSITION_00;
  sEncoderIndexConfig.Direction = TIM_ENCODERINDEX_DIRECTION_UP_DOWN;
  if (HAL_TIMEx_ConfigEncoderIndex(&htim3, &sEncoderIndexConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM3_Init 2 */

  /* USER CODE END TIM3_Init 2 */

}
/* TIM4 init function */
void MX_TIM4_Init(void)
{

  /* USER CODE BEGIN TIM4_Init 0 */

  /* USER CODE END TIM4_Init 0 */

  TIM_Encoder_InitTypeDef sConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM4_Init 1 */

  /* USER CODE END TIM4_Init 1 */
  htim4.Instance = TIM4;
  htim4.Init.Prescaler = 0;
  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim4.Init.Period = 65535;
  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 0;
  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 0;
  if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM4_Init 2 */

  /* USER CODE END TIM4_Init 2 */

}
/* TIM8 init function */
void MX_TIM8_Init(void)
{

  /* USER CODE BEGIN TIM8_Init 0 */

  /* USER CODE END TIM8_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIMEx_BreakInputConfigTypeDef sBreakInputConfig = {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 = 0;
  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim8.Init.Period = 65535;
  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim8.Init.RepetitionCounter = 0;
  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakInputConfig.Source = TIM_BREAKINPUTSOURCE_BKIN;
  sBreakInputConfig.Enable = TIM_BREAKINPUTSOURCE_ENABLE;
  sBreakInputConfig.Polarity = TIM_BREAKINPUTSOURCE_POLARITY_HIGH;
  if (HAL_TIMEx_ConfigBreakInput(&htim8, TIM_BREAKINPUT_BRK, &sBreakInputConfig) != 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(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != 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_ENABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.BreakFilter = 0;
  sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
  sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
  sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
  sBreakDeadTimeConfig.Break2Filter = 0;
  sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
  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);

}

void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  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();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM1 GPIO Configuration
    PA15     ------> TIM1_BKIN
    */
    GPIO_InitStruct.Pin = MOTOR1_BKIN_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF9_TIM1;
    HAL_GPIO_Init(MOTOR1_BKIN_GPIO_Port, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM1_MspInit 1 */

  /* USER CODE END TIM1_MspInit 1 */
  }
  else if(tim_pwmHandle->Instance==TIM8)
  {
  /* USER CODE BEGIN TIM8_MspInit 0 */

  /* USER CODE END TIM8_MspInit 0 */
    /* TIM8 clock enable */
    __HAL_RCC_TIM8_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM8 GPIO Configuration
    PA6     ------> TIM8_BKIN
    */
    GPIO_InitStruct.Pin = MOTOR2_BKIN_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF4_TIM8;
    HAL_GPIO_Init(MOTOR2_BKIN_GPIO_Port, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM8_MspInit 1 */

  /* USER CODE END TIM8_MspInit 1 */
  }
}

void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(tim_encoderHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspInit 0 */

  /* USER CODE END TIM3_MspInit 0 */
    /* TIM3 clock enable */
    __HAL_RCC_TIM3_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**TIM3 GPIO Configuration
    PA4     ------> TIM3_CH2
    PB3     ------> TIM3_ETR
    PB4     ------> TIM3_CH1
    */
    GPIO_InitStruct.Pin = MOTOR1_ENCODER_B_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(MOTOR1_ENCODER_B_GPIO_Port, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = MOTOR1_ENCODER_Z_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF10_TIM3;
    HAL_GPIO_Init(MOTOR1_ENCODER_Z_GPIO_Port, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = MOTOR1_ENCODER_A_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(MOTOR1_ENCODER_A_GPIO_Port, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM3_MspInit 1 */

  /* USER CODE END TIM3_MspInit 1 */
  }
  else if(tim_encoderHandle->Instance==TIM4)
  {
  /* USER CODE BEGIN TIM4_MspInit 0 */

  /* USER CODE END TIM4_MspInit 0 */
    /* TIM4 clock enable */
    __HAL_RCC_TIM4_CLK_ENABLE();

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**TIM4 GPIO Configuration
    PB6     ------> TIM4_CH1
    PB7     ------> TIM4_CH2
    */
    GPIO_InitStruct.Pin = MOTOR2_ENCODER_A_Pin|MOTOR2_ENCODER_B_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_TIM4;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM4_MspInit 1 */

  /* USER CODE END TIM4_MspInit 1 */
  }
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(timHandle->Instance==TIM1)
  {
  /* USER CODE BEGIN TIM1_MspPostInit 0 */

  /* USER CODE END TIM1_MspPostInit 0 */
    __HAL_RCC_GPIOC_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM1 GPIO Configuration
    PC13     ------> TIM1_CH1N
    PB14     ------> TIM1_CH2N
    PB15     ------> TIM1_CH3N
    PA8     ------> TIM1_CH1
    PA9     ------> TIM1_CH2
    PA10     ------> TIM1_CH3
    */
    GPIO_InitStruct.Pin = MOTOR1_1N_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF4_TIM1;
    HAL_GPIO_Init(MOTOR1_1N_GPIO_Port, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = MOTOR1_2N_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
    HAL_GPIO_Init(MOTOR1_2N_GPIO_Port, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = MOTOR1_3N_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF4_TIM1;
    HAL_GPIO_Init(MOTOR1_3N_GPIO_Port, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = MOTOR1_1P_Pin|MOTOR1_2P_Pin|MOTOR1_3P_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM1_MspPostInit 1 */

  /* USER CODE END TIM1_MspPostInit 1 */
  }
  else if(timHandle->Instance==TIM8)
  {
  /* USER CODE BEGIN TIM8_MspPostInit 0 */

  /* USER CODE END TIM8_MspPostInit 0 */

    __HAL_RCC_GPIOC_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**TIM8 GPIO Configuration
    PC6     ------> TIM8_CH1
    PC10     ------> TIM8_CH1N
    PC11     ------> TIM8_CH2N
    PB5     ------> TIM8_CH3N
    PB8-BOOT0     ------> TIM8_CH2
    PB9     ------> TIM8_CH3
    */
    GPIO_InitStruct.Pin = MOTOR2_1P_Pin|MOTOR2_1N_Pin|MOTOR2_2N_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF4_TIM8;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = MOTOR2_3N_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
    HAL_GPIO_Init(MOTOR2_3N_GPIO_Port, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = MOTOR2_2P_Pin|MOTOR2_3P_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF10_TIM8;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM8_MspPostInit 1 */

  /* USER CODE END TIM8_MspPostInit 1 */
  }

}

void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
{

  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 GPIO Configuration
    PC13     ------> TIM1_CH1N
    PB14     ------> TIM1_CH2N
    PB15     ------> TIM1_CH3N
    PA8     ------> TIM1_CH1
    PA9     ------> TIM1_CH2
    PA10     ------> TIM1_CH3
    PA15     ------> TIM1_BKIN
    */
    HAL_GPIO_DeInit(MOTOR1_1N_GPIO_Port, MOTOR1_1N_Pin);

    HAL_GPIO_DeInit(GPIOB, MOTOR1_2N_Pin|MOTOR1_3N_Pin);

    HAL_GPIO_DeInit(GPIOA, MOTOR1_1P_Pin|MOTOR1_2P_Pin|MOTOR1_3P_Pin|MOTOR1_BKIN_Pin);

  /* USER CODE BEGIN TIM1_MspDeInit 1 */

  /* USER CODE END TIM1_MspDeInit 1 */
  }
  else if(tim_pwmHandle->Instance==TIM8)
  {
  /* USER CODE BEGIN TIM8_MspDeInit 0 */

  /* USER CODE END TIM8_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM8_CLK_DISABLE();

    /**TIM8 GPIO Configuration
    PA6     ------> TIM8_BKIN
    PC6     ------> TIM8_CH1
    PC10     ------> TIM8_CH1N
    PC11     ------> TIM8_CH2N
    PB5     ------> TIM8_CH3N
    PB8-BOOT0     ------> TIM8_CH2
    PB9     ------> TIM8_CH3
    */
    HAL_GPIO_DeInit(MOTOR2_BKIN_GPIO_Port, MOTOR2_BKIN_Pin);

    HAL_GPIO_DeInit(GPIOC, MOTOR2_1P_Pin|MOTOR2_1N_Pin|MOTOR2_2N_Pin);

    HAL_GPIO_DeInit(GPIOB, MOTOR2_3N_Pin|MOTOR2_2P_Pin|MOTOR2_3P_Pin);

  /* USER CODE BEGIN TIM8_MspDeInit 1 */

  /* USER CODE END TIM8_MspDeInit 1 */
  }
}

void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
{

  if(tim_encoderHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspDeInit 0 */

  /* USER CODE END TIM3_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM3_CLK_DISABLE();

    /**TIM3 GPIO Configuration
    PA4     ------> TIM3_CH2
    PB3     ------> TIM3_ETR
    PB4     ------> TIM3_CH1
    */
    HAL_GPIO_DeInit(MOTOR1_ENCODER_B_GPIO_Port, MOTOR1_ENCODER_B_Pin);

    HAL_GPIO_DeInit(GPIOB, MOTOR1_ENCODER_Z_Pin|MOTOR1_ENCODER_A_Pin);

  /* USER CODE BEGIN TIM3_MspDeInit 1 */

  /* USER CODE END TIM3_MspDeInit 1 */
  }
  else if(tim_encoderHandle->Instance==TIM4)
  {
  /* USER CODE BEGIN TIM4_MspDeInit 0 */

  /* USER CODE END TIM4_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM4_CLK_DISABLE();

    /**TIM4 GPIO Configuration
    PB6     ------> TIM4_CH1
    PB7     ------> TIM4_CH2
    */
    HAL_GPIO_DeInit(GPIOB, MOTOR2_ENCODER_A_Pin|MOTOR2_ENCODER_B_Pin);

  /* USER CODE BEGIN TIM4_MspDeInit 1 */

  /* USER CODE END TIM4_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */