#include "stm32c0xx_hal.h"
#include <string.h>
#include "lcd.h"
#include "keypad.h"

#define PASSWORD_LENGTH 4

// LCD Pins
#define RS_Pin GPIO_PIN_0
#define E_Pin  GPIO_PIN_1
#define D4_Pin GPIO_PIN_2
#define D5_Pin GPIO_PIN_3
#define D6_Pin GPIO_PIN_4
#define D7_Pin GPIO_PIN_5
#define LCD_Port GPIOB

// Motor control pins (adjust to match your wiring)
#define M1_STEP_Pin GPIO_PIN_2
#define M1_DIR_Pin  GPIO_PIN_3
#define M2_STEP_Pin GPIO_PIN_4
#define M2_DIR_Pin  GPIO_PIN_5
#define M3_STEP_Pin GPIO_PIN_6
#define M3_DIR_Pin  GPIO_PIN_7
#define M4_STEP_Pin GPIO_PIN_8
#define M4_DIR_Pin  GPIO_PIN_9
#define Motor_Port  GPIOA

//ultersonic sensor + buzzer
#define TRIG_Pin GPIO_PIN_0
#define ECHO_Pin GPIO_PIN_1
#define US_Port GPIOD

#define BUZZER_Pin GPIO_PIN_2
#define BUZZER_Port GPIOD
#define OBSTACLE_THRESHOLD_CM  20
#define OBSTACLE_CONFIRM_COUNT 3

#define MOTOR_EN_Pin GPIO_PIN_8  // ENABLE pin for all motor drivers


#define RED_LED_Pin GPIO_PIN_10
#define RED_LED_Port GPIOA
#define GREEN_LED_Pin GPIO_PIN_11
#define GREEN_LED_Port GPIOA
#define BLUE_LED_Pin GPIO_PIN_12
#define BLUE_LED_Port GPIOA

char Correct_Password[PASSWORD_LENGTH + 1] = "1234";
char Entered_Password[PASSWORD_LENGTH + 1] = {0};
uint8_t password_index = 0;

ADC_HandleTypeDef hadc1;

// Function declarations
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_ADC1_Init(void);
uint32_t read_pot(void);
void rgb_blink_sequence(void);
void run_all_motors_with_pot(uint32_t steps);
void delay_us(uint32_t us);
void delayMicroseconds(uint32_t us);
uint32_t readUltrasonic(void);
uint8_t obstacleDetected(void);



int main(void) {
    HAL_Init();
    SystemClock_Config();
    MX_GPIO_Init();
    MX_ADC1_Init();

    LCD_Init();
    LCD_SetCursor(0, 0);
    LCD_WriteString("ENTER PASSWORD:");

    rgb_blink_sequence();

    while (1) {
        char key = keypad_get_key();
        if (key != '\0') {
            if (password_index < PASSWORD_LENGTH) {
                LCD_SetCursor(1, password_index);
                LCD_WriteChar('*');
                Entered_Password[password_index++] = key;
            }

            if (password_index == PASSWORD_LENGTH) {
                Entered_Password[PASSWORD_LENGTH] = '\0';

                if (strcmp(Entered_Password, Correct_Password) == 0) {
                    LCD_Cmd(0x01);
                    LCD_SetCursor(0, 0);
                    LCD_WriteString("Access Granted");
                    LCD_Clear();

                    HAL_GPIO_WritePin(GPIOA, BLUE_LED_Pin, GPIO_PIN_SET);
                    HAL_GPIO_WritePin(Motor_Port, MOTOR_EN_Pin, GPIO_PIN_RESET); // Enable motors

                    run_all_motors_with_pot(50000);
                   

                    HAL_GPIO_WritePin(GPIOA, BLUE_LED_Pin, GPIO_PIN_RESET);
                    HAL_GPIO_WritePin(Motor_Port, MOTOR_EN_Pin, GPIO_PIN_SET); // Disable motors
                } else {
                    LCD_Cmd(0x01);
                    LCD_SetCursor(0, 0);
                    LCD_WriteString("Access Denied");
                }

                HAL_Delay(2000);
                LCD_Cmd(0x01);
                LCD_SetCursor(0, 0);
                LCD_WriteString("ENTER PASSWORD:");
                password_index = 0;
                memset(Entered_Password, 0, sizeof(Entered_Password));
            }
        }
    }
}

// Potentiometer read
uint32_t read_pot(void) {
    HAL_ADC_Start(&hadc1);
    HAL_ADC_PollForConversion(&hadc1, HAL_MAX_DELAY);
    return HAL_ADC_GetValue(&hadc1);
}

// Run motors with pot-controlled speed
void run_all_motors_with_pot(uint32_t max_steps) {
  
   uint16_t ADC_result = 0 ;
  // uint32_t total_steps = 0;
  char buffer[16];  // For displaying text
    
   LCD_SetCursor(0, 0);
   LCD_WriteString("AGV100 [*_*]");
   LCD_SetCursor(1, 0);
   HAL_ADC_Start(&hadc1);
   HAL_ADC_PollForConversion(&hadc1, 100);
   ADC_result = HAL_ADC_GetValue(&hadc1);
   HAL_ADC_Stop(&hadc1);
  //Convert ADC value (0-4095) to percentage speed (0-100)
  int speed = (ADC_result * 100) / 4095;
  // Display speed
  sprintf(buffer, "SPEED: %3d%%", speed);
  //sprintf(buffer, "ADC: %4d     ", ADC_result);
  LCD_SetCursor(1, 0);
  LCD_WriteString(buffer);
  HAL_Delay(200);


   HAL_GPIO_WritePin(Motor_Port, M1_DIR_Pin | M2_DIR_Pin | M3_DIR_Pin | M4_DIR_Pin, GPIO_PIN_SET);
  // #define OBSTACLE_THRESHOLD_CM 20
  //while (total_steps < max_steps) 
  while(1)
  {
    // Read potentiometer and set speed
    uint32_t pot_value = read_pot(); // ADC read
    uint32_t delay_time = 200 + ((4095 - pot_value) * 3000 / 4095);
      // sprintf(buffer, "SPEED: %3d%%", speed);


    // Obstacle check
    if (obstacleDetected()) {
        // Stop motors

        HAL_GPIO_WritePin(Motor_Port, M1_STEP_Pin | M2_STEP_Pin | M3_STEP_Pin | M4_STEP_Pin, GPIO_PIN_RESET);
        HAL_GPIO_WritePin(BLUE_LED_Port, BLUE_LED_Pin, GPIO_PIN_RESET);


        // Alarm while obstacle present
        while (obstacleDetected()) {
            HAL_GPIO_TogglePin(RED_LED_Port, RED_LED_Pin);
            HAL_GPIO_TogglePin(BUZZER_Port, BUZZER_Pin);
            HAL_Delay(200);
        }

        // Clear alarm
        HAL_GPIO_WritePin(RED_LED_Port, RED_LED_Pin, GPIO_PIN_RESET);
        HAL_GPIO_WritePin(BUZZER_Port, BUZZER_Pin, GPIO_PIN_RESET);
    } 
    else 
    {

        HAL_GPIO_TogglePin(BLUE_LED_Port, BLUE_LED_Pin);
        HAL_GPIO_WritePin(RED_LED_Port, RED_LED_Pin, GPIO_PIN_RESET); 
        // Normal motor stepping
        HAL_GPIO_WritePin(Motor_Port, M1_STEP_Pin | M2_STEP_Pin | M3_STEP_Pin | M4_STEP_Pin, GPIO_PIN_SET);
        delayMicroseconds(5);
        HAL_GPIO_WritePin(Motor_Port, M1_STEP_Pin | M2_STEP_Pin | M3_STEP_Pin | M4_STEP_Pin, GPIO_PIN_RESET);
        delayMicroseconds(delay_time);

        // total_steps = total_steps;

        // if(total_steps % 10000 == 0)
        // {
        // HAL_GPIO_WritePin(GREEN_LED_Port, GREEN_LED_Pin, GPIO_PIN_RESET);
        // HAL_Delay(300);
        // HAL_GPIO_WritePin(GREEN_LED_Port, GREEN_LED_Pin, GPIO_PIN_SET);

        // }

        

    }
  } 
}

void delay_us(uint32_t us) {
    uint32_t count = (HAL_RCC_GetHCLKFreq() / 1000000) * us / 5;
    while (count--) {
        __NOP();
    }
}

void delayMicroseconds(uint32_t us) {
    uint32_t count = (HAL_RCC_GetHCLKFreq() / 1000000) * us / 5;
    while (count--) {
        __NOP();
    }
}

uint32_t readUltrasonic(void) {
    uint32_t startTick, stopTick;

    HAL_GPIO_WritePin(US_Port, TRIG_Pin, GPIO_PIN_RESET);
    delayMicroseconds(2);
    HAL_GPIO_WritePin(US_Port, TRIG_Pin, GPIO_PIN_SET);
    delayMicroseconds(10);
    HAL_GPIO_WritePin(US_Port, TRIG_Pin, GPIO_PIN_RESET);

    while (HAL_GPIO_ReadPin(US_Port, ECHO_Pin) == GPIO_PIN_RESET);
    startTick = HAL_GetTick();

    while (HAL_GPIO_ReadPin(US_Port, ECHO_Pin) == GPIO_PIN_SET);
    stopTick = HAL_GetTick();

    uint32_t pulseLength_us = (stopTick - startTick) * 1000; // ms → us
    return pulseLength_us / 58; // cm
}

uint8_t obstacleDetected(void) {

    uint32_t dist = readUltrasonic();
    return (dist > 0 && dist < OBSTACLE_THRESHOLD_CM);
}


// Blink RGB sequence
void rgb_blink_sequence() {
    for (int i = 0; i < 10; i++) {
        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_SET);
        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11 | GPIO_PIN_12, GPIO_PIN_RESET);
        HAL_Delay(200);

        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, GPIO_PIN_SET);
        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10 | GPIO_PIN_12, GPIO_PIN_RESET);
        HAL_Delay(200);

        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_SET);
        HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10 | GPIO_PIN_11, GPIO_PIN_RESET);
        HAL_Delay(200);
    }
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12, GPIO_PIN_RESET);
}

// GPIO Init
static void MX_GPIO_Init(void) {
    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
    GPIO_InitTypeDef GPIO_InitStruct = {0};

    // LCD pins
    GPIO_InitStruct.Pin = RS_Pin|E_Pin|D4_Pin|D5_Pin|D6_Pin|D7_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    HAL_GPIO_Init(LCD_Port, &GPIO_InitStruct);

    // Keypad Rows
    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    // Keypad Cols
    GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_13;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    // RGB LED pins
    GPIO_InitStruct.Pin = GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    // Motor pins
    GPIO_InitStruct.Pin = M1_STEP_Pin | M1_DIR_Pin | M2_STEP_Pin | M2_DIR_Pin |
                          M3_STEP_Pin | M3_DIR_Pin | M4_STEP_Pin | M4_DIR_Pin | MOTOR_EN_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    HAL_GPIO_Init(Motor_Port, &GPIO_InitStruct);

    // Disable motors initially
    HAL_GPIO_WritePin(Motor_Port, MOTOR_EN_Pin, GPIO_PIN_SET);

    __HAL_RCC_GPIOD_CLK_ENABLE();

    // Ultrasonic + buzzer pins
   GPIO_InitStruct.Pin = TRIG_Pin ;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(US_Port, &GPIO_InitStruct);

   GPIO_InitStruct.Pin = ECHO_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(US_Port, &GPIO_InitStruct);

   // Buzzer pin (output)
   GPIO_InitStruct.Pin = BUZZER_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(BUZZER_Port, &GPIO_InitStruct);


    // Red LED
   GPIO_InitStruct.Pin = RED_LED_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   HAL_GPIO_Init(RED_LED_Pin, &GPIO_InitStruct);

}

// ADC Init (for potentiometer)
static void MX_ADC1_Init(void) {
    __HAL_RCC_ADC_CLK_ENABLE();

    hadc1.Instance = ADC1;
    hadc1.Init.Resolution = ADC_RESOLUTION_12B;
    hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
    hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
    hadc1.Init.ContinuousConvMode = DISABLE;
    hadc1.Init.DiscontinuousConvMode = DISABLE;
    hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
    HAL_ADC_Init(&hadc1);

    ADC_ChannelConfTypeDef sConfig = {0};
    sConfig.Channel = ADC_CHANNEL_0; // adjust based on your potentiometer pin
    sConfig.Rank = ADC_REGULAR_RANK_1;
    sConfig.SamplingTime = ADC_SAMPLINGTIME_COMMON_1;
    HAL_ADC_ConfigChannel(&hadc1, &sConfig);
}

void SystemClock_Config(void) {
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
    RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    HAL_RCC_OscConfig(&RCC_OscInitStruct);

    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
    HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0);
}

void Error_Handler(void) {
    while (1) {}
}







// #include "stm32c0xx_hal.h"
// #include "lcd.h"
// #include "keypad.h"
// #include <string.h>

// // prototypes
// void SystemClock_Config(void);
// static void MX_GPIO_Init(void);

// ADC_HandleTypeDef hadc1;


// int main(void) {
//     HAL_Init();
//     SystemClock_Config();
//     MX_GPIO_Init();
//     LCD_Init();

//     LCD_Set_Cursor(0, 0);
//     LCD_Write_String("Testing LCD");

//     HAL_Delay(3000);  // wait 3 seconds

//     LCD_Clear();

//     while (1) {
//         char key = keypad_get_key();
//         if (key != '\0') {
//             LCD_Clear();
//             LCD_Set_Cursor(0, 0);
//             LCD_Write_Char(key);
//             printf("Key pressed: %c\n", key);
//         }
//     }
// }



// void SystemClock_Config(void)
// {
//   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
//   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

//   __HAL_FLASH_SET_LATENCY(FLASH_LATENCY_1);

//   /** 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_ON;
//   RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
//   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
//   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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
//   RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
//   RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
//   RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;

//   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
//   {
//     Error_Handler();
//   }
// }


// 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_DIV2;
//   hadc1.Init.Resolution = ADC_RESOLUTION_12B;
//   hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
//   hadc1.Init.ScanConvMode = ADC_SCAN_SEQ_FIXED;
//   hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
//   hadc1.Init.LowPowerAutoWait = DISABLE;
//   hadc1.Init.LowPowerAutoPowerOff = DISABLE;
//   hadc1.Init.ContinuousConvMode = DISABLE;
//   hadc1.Init.NbrOfConversion = 1;
//   hadc1.Init.DiscontinuousConvMode = DISABLE;
//   hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
//   hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
//   hadc1.Init.DMAContinuousRequests = DISABLE;
//   hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
//   hadc1.Init.SamplingTimeCommon1 = ADC_SAMPLETIME_1CYCLE_5;
//   hadc1.Init.OversamplingMode = DISABLE;
//   hadc1.Init.TriggerFrequencyMode = ADC_TRIGGER_FREQ_HIGH;
//   if (HAL_ADC_Init(&hadc1) != HAL_OK)
//   {
//     Error_Handler();
//   }

//   /** Configure Regular Channel
//   */
//   sConfig.Channel = ADC_CHANNEL_0;
//   sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
//   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
//   {
//     Error_Handler();
//   }
//   /* USER CODE BEGIN ADC1_Init 2 */

//   /* USER CODE END ADC1_Init 2 */

// }

// /**
//   * @brief GPIO Initialization Function
//   * @param None
//   * @retval None
//   */
// static void MX_GPIO_Init(void)
// {

//     //  __HAL_RCC_GPIOA_CLK_ENABLE();
//     //  __HAL_RCC_GPIOB_CLK_ENABLE();

//     GPIO_InitTypeDef GPIO_InitStruct = {0};

//     // Rows: PB6 - PB9 -> Output
//     GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_8 | GPIO_PIN_9;
//     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);

//     // Columns: PB10 - PB13 -> Input
//     GPIO_InitStruct.Pin = GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_13;
//     GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
//     GPIO_InitStruct.Pull = GPIO_PULLUP; // use PULLUP to detect LOW on press
//     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

//     // LCD pins (GPIOA) setup goes here (already done if working before)



//   // GPIO_InitTypeDef GPIO_InitStruct = {0};


// // Set column pins as input with pull-down
// GPIO_InitStruct.Pin = GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15;
// GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
// GPIO_InitStruct.Pull = GPIO_PULLDOWN;
// HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

// GPIO_InitStruct.Pin = GPIO_PIN_15;
// HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); // PB15 column


//   /* GPIO Ports Clock Enable */
//   __HAL_RCC_GPIOA_CLK_ENABLE();
//   __HAL_RCC_GPIOB_CLK_ENABLE();
//   __HAL_RCC_GPIOD_CLK_ENABLE();

//   /*Configure GPIO pin Output Level */
//   HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5
//                           |GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9
//                           |GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14
//                           |GPIO_PIN_15, GPIO_PIN_RESET);

//   /*Configure GPIO pin Output Level */
//   HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10
//                           |GPIO_PIN_15|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5
//                           |GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9, GPIO_PIN_RESET);

//   /*Configure GPIO pin Output Level */
//   HAL_GPIO_WritePin(GPIOD, GPIO_PIN_3, GPIO_PIN_RESET);

//   /*Configure GPIO pins : PA2 PA3 PA4 PA5
//                            PA6 PA7 PA8 PA9
//                            PA11 PA12 PA13 PA14
//                            PA15 */
//   GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5
//                           |GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9
//                           |GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14
//                           |GPIO_PIN_15;
//   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
//   GPIO_InitStruct.Pull = GPIO_NOPULL;
//   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
//   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

//   /*Configure GPIO pins : PB0 PB1 PB2 PB10
//                            PB15 PB3 PB4 PB5
//                            PB6 PB7 PB8 PB9 */
//   GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10
//                           |GPIO_PIN_15|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5
//                           |GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9;
//   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 pins : PD0 PD1 */
//   GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
//   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
//   GPIO_InitStruct.Pull = GPIO_NOPULL;
//   HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

//   /*Configure GPIO pin : PD3 */
//   GPIO_InitStruct.Pin = GPIO_PIN_3;
//   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
//   GPIO_InitStruct.Pull = GPIO_NOPULL;
//   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
//   HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

//   /* USER CODE BEGIN MX_GPIO_Init_2 */

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

// /* USER CODE BEGIN 4 */

// /* 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 *-------------------------------------------------------*/