UART receiving issue

[Da3]

Hello, I was able to successfully implement a way to read motor status and various parameters through UART on putty with my B-G431B-ESC1. However, when I tried following tutorials to add a way to also control the motor status (turning it on and off), I keep getting no response from the motor when I type commands in putty. I don't know if something is wrong with my code or with the way I set up putty, but im leaning more towards the code since the TX part works well. Im quite a beginner with this so maybe its something very ***, but i really cant wrap my head around it. Linked to the post is my main.c. thank you.

[Andrew Neil]

Your post is not very clear - please give more details.

See: How to write your question to maximize your chances to find a solution

You forgot to attach your code ?

[Pavel A.]

Here you can find help with the UART issue and anything else needed for your project.

[Da3]

Yep, sorry I forgot to attach my code, here it is

#include "main.h"
#include <stdio.h>
#include <string.h>
#include <mc_config.h>
 
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
 
COMP_HandleTypeDef hcomp1;
COMP_HandleTypeDef hcomp2;
COMP_HandleTypeDef hcomp4;
 
CORDIC_HandleTypeDef hcordic;
 
DAC_HandleTypeDef hdac3;
 
OPAMP_HandleTypeDef hopamp1;
OPAMP_HandleTypeDef hopamp2;
OPAMP_HandleTypeDef hopamp3;
 
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim4;
 
UART_HandleTypeDef huart2;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart2_tx;
 
int velocita = 0;
const char* get_state_name(MCI_State_t state) {
    switch (state) {
        case IDLE:            return "IDLE";
        case ALIGNMENT:       return "ALIGNMENT";
        case START:           return "STARTING";
        case RUN:             return "RUNNING";
        case FAULT_NOW:       return "FAULT_ACTIVE";
        case FAULT_OVER:      return "FAULT_OVER";
        default:              return "UNKNOWN";
    }
}
 
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_ADC1_Init(void);
static void MX_ADC2_Init(void);
static void MX_COMP1_Init(void);
static void MX_COMP2_Init(void);
static void MX_COMP4_Init(void);
static void MX_CORDIC_Init(void);
static void MX_DAC3_Init(void);
static void MX_OPAMP1_Init(void);
static void MX_OPAMP2_Init(void);
static void MX_OPAMP3_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM4_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_NVIC_Init(void);
 
char msg[128];
uint8_t rx_data[1];
int16_t target_speed = 2500;
 
int main(void)
{
  SystemClock_Config();
 
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();
  MX_COMP1_Init();
  MX_COMP2_Init();
  MX_COMP4_Init();
  MX_CORDIC_Init();
  MX_DAC3_Init();
  MX_OPAMP1_Init();
  MX_OPAMP2_Init();
  MX_OPAMP3_Init();
  MX_TIM1_Init();
  MX_TIM4_Init();
  MX_USART2_UART_Init();
  MX_MotorControl_Init();
  MX_NVIC_Init();
  
  HAL_UART_Receive_IT(&huart2, rx_data, 1);
  void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
  {
 
      if (huart->Instance == USART2)
      {
 
          if ((rx_data[0] == 's' || rx_data[0] == 'S') && MC_GetSTMStateMotor1() == IDLE)
          {
              MC_StartMotor1();
              MC_ProgramSpeedRampMotor1(3000, 200);
          }
          else if (rx_data[0] == 'x' || rx_data[0] == 'X')
          {
              MC_StopMotor1();
          }
 
          HAL_UART_Transmit(&huart2, rx_data, 1, 100);
 
          HAL_UART_Receive_IT(&huart2, rx_data, 1);
      }
 
  }
  while (1)
  {
  MCI_State_t currentState = MC_GetSTMStateMotor1();
  if (currentState == FAULT_NOW || currentState == FAULT_OVER)
  {
      MC_AcknowledgeFaultMotor1();
      // HAL_Delay(100);
  }
  velocita = MC_GetMecSpeedAverageMotor1();
  const char* stateName = get_state_name(currentState);
 
  sprintf(msg, "Stato: %s | RPM el: %d | RPM mech: %.1f | Rev counter: %ld\r\n", stateName, velocita*10, velocita/15.5, HALL_M1.RevolutionCounter/155);
  HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), 100);
  HAL_Delay(500);
 
  }
}
 
 
 
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV2;
  RCC_OscInitStruct.PLL.PLLN = 85;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV8;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
 
  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_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
 
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_RCC_EnableCSS();
}
 
static void MX_NVIC_Init(void)
{
  /* USART2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(USART2_IRQn, 3, 1);
  HAL_NVIC_EnableIRQ(USART2_IRQn);
  /* DMA1_Channel1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 3, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
  /* TIM1_BRK_TIM15_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM1_BRK_TIM15_IRQn, 4, 1);
  HAL_NVIC_EnableIRQ(TIM1_BRK_TIM15_IRQn);
  /* TIM1_UP_TIM16_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM1_UP_TIM16_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(TIM1_UP_TIM16_IRQn);
  /* ADC1_2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(ADC1_2_IRQn, 2, 0);
  HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
  /* TIM4_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM4_IRQn, 2, 0);
  HAL_NVIC_EnableIRQ(TIM4_IRQn);
  /* EXTI15_10_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 3, 0);
  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
}
 
static void MX_ADC1_Init(void)
{
  ADC_MultiModeTypeDef multimode = {0};
  ADC_InjectionConfTypeDef sConfigInjected = {0};
  ADC_ChannelConfTypeDef sConfig = {0};
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
  hadc1.Init.DataAlign = ADC_DATAALIGN_LEFT;
  hadc1.Init.GainCompensation = 0;
  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc1.Init.LowPowerAutoWait = DISABLE;
  hadc1.Init.ContinuousConvMode = DISABLE;
  hadc1.Init.NbrOfConversion = 2;
  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.OversamplingMode = DISABLE;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    Error_Handler();
  }
 
  multimode.Mode = ADC_MODE_INDEPENDENT;
  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
  {
    Error_Handler();
  }
 
  sConfigInjected.InjectedChannel = ADC_CHANNEL_3;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1;
  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_6CYCLES_5;
  sConfigInjected.InjectedSingleDiff = ADC_SINGLE_ENDED;
  sConfigInjected.InjectedOffsetNumber = ADC_OFFSET_NONE;
  sConfigInjected.InjectedOffset = 0;
  sConfigInjected.InjectedNbrOfConversion = 2;
  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
  sConfigInjected.AutoInjectedConv = DISABLE;
  sConfigInjected.QueueInjectedContext = DISABLE;
  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJEC_T1_CC4;
  sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONV_EDGE_RISING;
  sConfigInjected.InjecOversamplingMode = DISABLE;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }
 
  sConfigInjected.InjectedChannel = ADC_CHANNEL_12;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_2;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }
 
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_47CYCLES_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfig.Channel = ADC_CHANNEL_5;
  sConfig.Rank = ADC_REGULAR_RANK_2;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
}
 
static void MX_ADC2_Init(void)
{
 
  ADC_InjectionConfTypeDef sConfigInjected = {0};
 
  hadc2.Instance = ADC2;
  hadc2.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
  hadc2.Init.Resolution = ADC_RESOLUTION_12B;
  hadc2.Init.DataAlign = ADC_DATAALIGN_LEFT;
  hadc2.Init.GainCompensation = 0;
  hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
  hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc2.Init.LowPowerAutoWait = DISABLE;
  hadc2.Init.ContinuousConvMode = DISABLE;
  hadc2.Init.NbrOfConversion = 1;
  hadc2.Init.DiscontinuousConvMode = DISABLE;
  hadc2.Init.DMAContinuousRequests = DISABLE;
  hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc2.Init.OversamplingMode = DISABLE;
  if (HAL_ADC_Init(&hadc2) != HAL_OK)
  {
    Error_Handler();
  }
 
  sConfigInjected.InjectedChannel = ADC_CHANNEL_VOPAMP3_ADC2;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1;
  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_6CYCLES_5;
  sConfigInjected.InjectedSingleDiff = ADC_SINGLE_ENDED;
  sConfigInjected.InjectedOffsetNumber = ADC_OFFSET_NONE;
  sConfigInjected.InjectedOffset = 0;
  sConfigInjected.InjectedNbrOfConversion = 2;
  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
  sConfigInjected.AutoInjectedConv = DISABLE;
  sConfigInjected.QueueInjectedContext = DISABLE;
  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJEC_T1_CC4;
  sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONV_EDGE_RISING;
  sConfigInjected.InjecOversamplingMode = DISABLE;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }
 
  sConfigInjected.InjectedChannel = ADC_CHANNEL_3;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_2;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }
}
 
static void MX_COMP1_Init(void)
{
  hcomp1.Instance = COMP1;
  hcomp1.Init.InputPlus = COMP_INPUT_PLUS_IO1;
  hcomp1.Init.InputMinus = COMP_INPUT_MINUS_DAC3_CH1;
  hcomp1.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED;
  hcomp1.Init.Hysteresis = COMP_HYSTERESIS_NONE;
  hcomp1.Init.BlankingSrce = COMP_BLANKINGSRC_NONE;
  hcomp1.Init.TriggerMode = COMP_TRIGGERMODE_NONE;
  if (HAL_COMP_Init(&hcomp1) != HAL_OK)
  {
    Error_Handler();
  }
}
 
static void MX_COMP2_Init(void)
{
  hcomp2.Instance = COMP2;
  hcomp2.Init.InputPlus = COMP_INPUT_PLUS_IO1;
  hcomp2.Init.InputMinus = COMP_INPUT_MINUS_DAC3_CH2;
  hcomp2.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED;
  hcomp2.Init.Hysteresis = COMP_HYSTERESIS_NONE;
  hcomp2.Init.BlankingSrce = COMP_BLANKINGSRC_NONE;
  hcomp2.Init.TriggerMode = COMP_TRIGGERMODE_NONE;
  if (HAL_COMP_Init(&hcomp2) != HAL_OK)
  {
    Error_Handler();
  }
}
 
static void MX_COMP4_Init(void)
{
  hcomp4.Instance = COMP4;
  hcomp4.Init.InputPlus = COMP_INPUT_PLUS_IO1;
  hcomp4.Init.InputMinus = COMP_INPUT_MINUS_DAC3_CH2;
  hcomp4.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED;
  hcomp4.Init.Hysteresis = COMP_HYSTERESIS_NONE;
  hcomp4.Init.BlankingSrce = COMP_BLANKINGSRC_NONE;
  hcomp4.Init.TriggerMode = COMP_TRIGGERMODE_NONE;
  if (HAL_COMP_Init(&hcomp4) != HAL_OK)
  {
    Error_Handler();
  }
}
 
static void MX_CORDIC_Init(void)
{
  hcordic.Instance = CORDIC;
  if (HAL_CORDIC_Init(&hcordic) != HAL_OK)
  {
    Error_Handler();
  }
}
 
static void MX_DAC3_Init(void)
{
 
  hdac3.Instance = DAC3;
  if (HAL_DAC_Init(&hdac3) != HAL_OK)
  {
    Error_Handler();
  }
 
  sConfig.DAC_HighFrequency = DAC_HIGH_FREQUENCY_INTERFACE_MODE_AUTOMATIC;
  sConfig.DAC_DMADoubleDataMode = DISABLE;
  sConfig.DAC_SignedFormat = DISABLE;
  sConfig.DAC_SampleAndHold = DAC_SAMPLEANDHOLD_DISABLE;
  sConfig.DAC_Trigger = DAC_TRIGGER_NONE;
  sConfig.DAC_Trigger2 = DAC_TRIGGER_NONE;
  sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_DISABLE;
  sConfig.DAC_ConnectOnChipPeripheral = DAC_CHIPCONNECT_INTERNAL;
  sConfig.DAC_UserTrimming = DAC_TRIMMING_FACTORY;
  if (HAL_DAC_ConfigChannel(&hdac3, &sConfig, DAC_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
 
  /** DAC channel OUT2 config
  */
  if (HAL_DAC_ConfigChannel(&hdac3, &sConfig, DAC_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
}
 
 
static void MX_OPAMP1_Init(void)
{
  hopamp1.Instance = OPAMP1;
  hopamp1.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
  hopamp1.Init.Mode = OPAMP_PGA_MODE;
  hopamp1.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
  hopamp1.Init.InternalOutput = DISABLE;
  hopamp1.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
  hopamp1.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_IO0_BIAS;
  hopamp1.Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15;
  hopamp1.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
  if (HAL_OPAMP_Init(&hopamp1) != HAL_OK)
  {
    Error_Handler();
  }
}
 
static void MX_OPAMP2_Init(void)
{
  hopamp2.Instance = OPAMP2;
  hopamp2.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
  hopamp2.Init.Mode = OPAMP_PGA_MODE;
  hopamp2.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
  hopamp2.Init.InternalOutput = DISABLE;
  hopamp2.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
  hopamp2.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_IO0_BIAS;
  hopamp2.Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15;
  hopamp2.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
  if (HAL_OPAMP_Init(&hopamp2) != HAL_OK)
  {
    Error_Handler();
  }
}
 
/**
  * @brief OPAMP3 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_OPAMP3_Init(void)
{
  hopamp3.Instance = OPAMP3;
  hopamp3.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
  hopamp3.Init.Mode = OPAMP_PGA_MODE;
  hopamp3.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
  hopamp3.Init.InternalOutput = ENABLE;
  hopamp3.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
  hopamp3.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_IO0_BIAS;
  hopamp3.Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15;
  hopamp3.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
  if (HAL_OPAMP_Init(&hopamp3) != HAL_OK)
  {
    Error_Handler();
  }
}
 
static void MX_TIM1_Init(void)
{
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIMEx_BreakInputConfigTypeDef sBreakInputConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
 
  htim1.Instance = TIM1;
  htim1.Init.Prescaler = ((TIM_CLOCK_DIVIDER) - 1);
  htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
  htim1.Init.Period = ((PWM_PERIOD_CYCLES) / 2);
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV2;
  htim1.Init.RepetitionCounter = (REP_COUNTER);
  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC4REF;
  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakInputConfig.Source = TIM_BREAKINPUTSOURCE_COMP1;
  sBreakInputConfig.Enable = TIM_BREAKINPUTSOURCE_ENABLE;
  sBreakInputConfig.Polarity = TIM_BREAKINPUTSOURCE_POLARITY_HIGH;
  if (HAL_TIMEx_ConfigBreakInput(&htim1, TIM_BREAKINPUT_BRK, &sBreakInputConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakInputConfig.Source = TIM_BREAKINPUTSOURCE_COMP2;
  if (HAL_TIMEx_ConfigBreakInput(&htim1, TIM_BREAKINPUT_BRK, &sBreakInputConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakInputConfig.Source = TIM_BREAKINPUTSOURCE_COMP4;
  if (HAL_TIMEx_ConfigBreakInput(&htim1, TIM_BREAKINPUT_BRK, &sBreakInputConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = ((PWM_PERIOD_CYCLES) / 4);
  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();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM2;
  sConfigOC.Pulse = (((PWM_PERIOD_CYCLES) / 2) - (HTMIN));
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = ((DEAD_TIME_COUNTS) / 2);
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_ENABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.BreakFilter = 4;
  sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
  sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
  sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
  sBreakDeadTimeConfig.Break2Filter = 3;
  sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim1);
 
}
 
static void MX_TIM4_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_HallSensor_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 = M1_HALL_TIM_PERIOD;
  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = M1_HALL_IC_FILTER;
  sConfig.Commutation_Delay = 0;
  if (HAL_TIMEx_HallSensor_Init(&htim4, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC2REF;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
}
 
static void MX_USART2_UART_Init(void)
{
  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;
  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_DisableFifoMode(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
}
 
static void MX_DMA_Init(void)
{
 
  /* DMA controller clock enable */
  __HAL_RCC_DMAMUX1_CLK_ENABLE();
  __HAL_RCC_DMA1_CLK_ENABLE();
 
}
 
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
 
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
 
  /*Configure GPIO pin : Start_Stop_Pin */
  GPIO_InitStruct.Pin = Start_Stop_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(Start_Stop_GPIO_Port, &GPIO_InitStruct);
}
 
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
 
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 */

[Karl Yamashita]

You didn't read @Andrew Neil post where he has a link 

See: How to write your question to maximize your chances to find a solution

It clearly explains on how to insert code so that it is properly formatted and readable. Edit you post and insert the code snippet.

[EThom.3]

int main(void)
{
  SystemClock_Config();
 
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();
  MX_COMP1_Init();
  MX_COMP2_Init();
  MX_COMP4_Init();
  MX_CORDIC_Init();
  MX_DAC3_Init();
  MX_OPAMP1_Init();
  MX_OPAMP2_Init();
  MX_OPAMP3_Init();
  MX_TIM1_Init();
  MX_TIM4_Init();
  MX_USART2_UART_Init();
  MX_MotorControl_Init();
  MX_NVIC_Init();
  
  HAL_UART_Receive_IT(&huart2, rx_data, 1);
  void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
  {
 
      if (huart->Instance == USART2)
      {
 
          if ((rx_data[0] == 's' || rx_data[0] == 'S') && MC_GetSTMStateMotor1() == IDLE)
          {
              MC_StartMotor1();
              MC_ProgramSpeedRampMotor1(3000, 200);
          }
          else if (rx_data[0] == 'x' || rx_data[0] == 'X')
          {
              MC_StopMotor1();
          }
 
          HAL_UART_Transmit(&huart2, rx_data, 1, 100);
 
          HAL_UART_Receive_IT(&huart2, rx_data, 1);
      }
 
  }
  while (1)
  {
(...)

I would absolutlety discourage making the Rx interrupt callback a nested function. I am not certain that this is what causes it not to work, but in the code it makes no sense to do it.

Edit to add a recommendation:

In the interrupt callback function, you generally don't want to do stuff that takes a lot of time. Do what is necessary, and exit. E.g. when receiving a byte, copy the byte to a buffer (global variable or array), do something to alert the main code that something has been received (such as incrementing a character counter, or setting a boolean variable), and then let the main code handle the received data.

[Andrew Neil]

---

@Karl Yamashita wrote:

 How to write your question to maximize your chances to find a solution

It clearly explains on how to insert code so that it is properly formatted and readable. Edit you post and insert the code snippet.

---

Indeed.

@Da3 - see also: How to insert source code

To edit, click the little down-arrow button at top-right of your post, and choose 'Edit Reply':

[Karl Yamashita]

Since @EThom.3 inserted part of your code, it's now readable.

The first thing I've noticed is that  you have a function inside of main. You should have gotten a warning that the callback is defined but not used during build. Move the callback HAL_UART_RxCpltCallback function outside of main

int main(void)
{
  SystemClock_Config();
 
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();
  MX_COMP1_Init();
  MX_COMP2_Init();
  MX_COMP4_Init();
  MX_CORDIC_Init();
  MX_DAC3_Init();
  MX_OPAMP1_Init();
  MX_OPAMP2_Init();
  MX_OPAMP3_Init();
  MX_TIM1_Init();
  MX_TIM4_Init();
  MX_USART2_UART_Init();
  MX_MotorControl_Init();
  MX_NVIC_Init();
  
  HAL_UART_Receive_IT(&huart2, rx_data, 1);
******************************************************
****** You can't have a function inside of main ******
******************************************************
  void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
  {
 
      if (huart->Instance == USART2)
      {
 
          if ((rx_data[0] == 's' || rx_data[0] == 'S') && MC_GetSTMStateMotor1() == IDLE)
          {
              MC_StartMotor1();
              MC_ProgramSpeedRampMotor1(3000, 200);
          }
          else if (rx_data[0] == 'x' || rx_data[0] == 'X')
          {
              MC_StopMotor1();
          }
 
          HAL_UART_Transmit(&huart2, rx_data, 1, 100);
 
          HAL_UART_Receive_IT(&huart2, rx_data, 1);
      }
 
  }
  while (1)
  {
(...)

[Da3]

Hi thanks for the suggestions and sorry for not editing my post earlier, as it was the weekend and I didnt have access to my job computer. I tried modifying the code as you suggested, but still no signs of life from the motor. I can still read the state of the motor, speed etc. through putty, but typing 's' or 'x' to get the motor to start/stop yields no result. I will add that obviously the board is connected to the correct power supply and I know that the motor works, as I've already used it for other tests and applications. I moved the callback function out of main and I added in the while loop all the logic which was before handled in the callback function. Furthermore, I added a boolean variable to control whether or not to execute the check, a int32_t variable 'cnt' to count the number of instances the callback function is called, and in the callback function I have a HAL_UART_Transmit which should, in theory, echo what I write in the terminal. Entering debug mode and checking 'lettura' and 'cnt', none of them update as expected when I type in the terminal, and I don't get any echo, suggesting that the function is not being called correctly, but I really cant understand why. I will attach the new modified code, hoping that I do it right this time.

#include "main.h"
#include <stdio.h>
#include <string.h>
#include <mc_config.h>
#include <stdbool.h>

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* 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 ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;

COMP_HandleTypeDef hcomp1;
COMP_HandleTypeDef hcomp2;
COMP_HandleTypeDef hcomp4;

CORDIC_HandleTypeDef hcordic;

DAC_HandleTypeDef hdac3;

OPAMP_HandleTypeDef hopamp1;
OPAMP_HandleTypeDef hopamp2;
OPAMP_HandleTypeDef hopamp3;

TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim4;

UART_HandleTypeDef huart2;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart2_tx;

/* USER CODE BEGIN PV */
int velocita = 0;
const char* get_state_name(MCI_State_t state) {
    switch (state) {
        case IDLE:            return "IDLE";
        case ALIGNMENT:       return "ALIGNMENT";
        case START:           return "STARTING";
        case RUN:             return "RUNNING";
        case FAULT_NOW:       return "FAULT_ACTIVE";
        case FAULT_OVER:      return "FAULT_OVER";
        default:              return "UNKNOWN";
    }
}
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_ADC1_Init(void);
static void MX_ADC2_Init(void);
static void MX_COMP1_Init(void);
static void MX_COMP2_Init(void);
static void MX_COMP4_Init(void);
static void MX_CORDIC_Init(void);
static void MX_DAC3_Init(void);
static void MX_OPAMP1_Init(void);
static void MX_OPAMP2_Init(void);
static void MX_OPAMP3_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM4_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_NVIC_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
char msg[128];
uint8_t rx_data[1];
int16_t target_speed = 2500;
bool lettura = false;
int32_t cnt = 0;
//#define SPEED_STEP 200;

//volatile uint8_t count = 0;

/* 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_DMA_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();
  MX_COMP1_Init();
  MX_COMP2_Init();
  MX_COMP4_Init();
  MX_CORDIC_Init();
  MX_DAC3_Init();
  MX_OPAMP1_Init();
  MX_OPAMP2_Init();
  MX_OPAMP3_Init();
  MX_TIM1_Init();
  MX_TIM4_Init();
  MX_USART2_UART_Init();
  MX_MotorControl_Init();

  /* Initialize interrupts */
  MX_NVIC_Init();
  /* USER CODE BEGIN 2 */
  HAL_UART_Receive_IT(&huart2, rx_data, 1);
  // HAL_UART_Receive(&huart2, rx_data, 2, 5000);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	  MCI_State_t currentState = MC_GetSTMStateMotor1();
	  /*if (currentState == IDLE)
	  {
	      MC_StartMotor1();
	  }

	  if (currentState == ALIGNMENT)
	  {
	      MC_ProgramSpeedRampMotor1(3500, 50);
	  }*/

	  if(lettura == true)
	  {
		  if((rx_data[0] == 's' || rx_data[0] == 'S') && MC_GetSTMStateMotor1() == IDLE)
		  {
			  MC_StartMotor1();
			  MC_ProgramSpeedRampMotor1(3500, 500);
		  }
		  else if(rx_data[0] == 'x' || rx_data[0] == 'X')
		  {
			  MC_StopMotor1();
		  }
		  lettura = false;
	  }


	  if (currentState == FAULT_NOW || currentState == FAULT_OVER)
	  {
	      MC_AcknowledgeFaultMotor1();
	      // HAL_Delay(100);
	  }
	  velocita = MC_GetMecSpeedAverageMotor1();
	  const char* stateName = get_state_name(currentState);

	  sprintf(msg, "Stato: %s | RPM el: %d | RPM mech: %.1f | Rev counter: %ld\r\n", stateName, velocita*10, velocita/15.5, HALL_M1.RevolutionCounter/155);
	  HAL_UART_Transmit(&huart2, (uint8_t*)msg, strlen(msg), 100);
	  HAL_Delay(2000);

  }
  /* USER CODE END 3 */
}


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

  /** Configure the main internal regulator output voltage
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV2;
  RCC_OscInitStruct.PLL.PLLN = 85;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV8;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  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_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }

  /** Enables the Clock Security System
  */
  HAL_RCC_EnableCSS();
}

/**
  * @brief NVIC Configuration.
  * @retval None
  */
static void MX_NVIC_Init(void)
{
  /* USART2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(USART2_IRQn, 3, 1);
  HAL_NVIC_EnableIRQ(USART2_IRQn);
  /* DMA1_Channel1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 3, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
  /* TIM1_BRK_TIM15_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM1_BRK_TIM15_IRQn, 4, 1);
  HAL_NVIC_EnableIRQ(TIM1_BRK_TIM15_IRQn);
  /* TIM1_UP_TIM16_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM1_UP_TIM16_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(TIM1_UP_TIM16_IRQn);
  /* ADC1_2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(ADC1_2_IRQn, 2, 0);
  HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
  /* TIM4_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM4_IRQn, 2, 0);
  HAL_NVIC_EnableIRQ(TIM4_IRQn);
  /* EXTI15_10_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 3, 0);
  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
}

/**
  * @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_MultiModeTypeDef multimode = {0};
  ADC_InjectionConfTypeDef sConfigInjected = {0};
  ADC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN ADC1_Init 1 */

  /* USER CODE END ADC1_Init 1 */

  /** Common config
  */
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
  hadc1.Init.DataAlign = ADC_DATAALIGN_LEFT;
  hadc1.Init.GainCompensation = 0;
  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc1.Init.LowPowerAutoWait = DISABLE;
  hadc1.Init.ContinuousConvMode = DISABLE;
  hadc1.Init.NbrOfConversion = 2;
  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.OversamplingMode = DISABLE;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure the ADC multi-mode
  */
  multimode.Mode = ADC_MODE_INDEPENDENT;
  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_3;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1;
  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_6CYCLES_5;
  sConfigInjected.InjectedSingleDiff = ADC_SINGLE_ENDED;
  sConfigInjected.InjectedOffsetNumber = ADC_OFFSET_NONE;
  sConfigInjected.InjectedOffset = 0;
  sConfigInjected.InjectedNbrOfConversion = 2;
  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
  sConfigInjected.AutoInjectedConv = DISABLE;
  sConfigInjected.QueueInjectedContext = DISABLE;
  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJEC_T1_CC4;
  sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONV_EDGE_RISING;
  sConfigInjected.InjecOversamplingMode = DISABLE;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_12;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_2;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
  */
  sConfig.Channel = ADC_CHANNEL_1;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_47CYCLES_5;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Regular Channel
  */
  sConfig.Channel = ADC_CHANNEL_5;
  sConfig.Rank = ADC_REGULAR_RANK_2;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC1_Init 2 */

  /* USER CODE END ADC1_Init 2 */

}

/**
  * @brief ADC2 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_ADC2_Init(void)
{

  /* USER CODE BEGIN ADC2_Init 0 */

  /* USER CODE END ADC2_Init 0 */

  ADC_InjectionConfTypeDef sConfigInjected = {0};

  /* USER CODE BEGIN ADC2_Init 1 */

  /* USER CODE END ADC2_Init 1 */

  /** Common config
  */
  hadc2.Instance = ADC2;
  hadc2.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
  hadc2.Init.Resolution = ADC_RESOLUTION_12B;
  hadc2.Init.DataAlign = ADC_DATAALIGN_LEFT;
  hadc2.Init.GainCompensation = 0;
  hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
  hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  hadc2.Init.LowPowerAutoWait = DISABLE;
  hadc2.Init.ContinuousConvMode = DISABLE;
  hadc2.Init.NbrOfConversion = 1;
  hadc2.Init.DiscontinuousConvMode = DISABLE;
  hadc2.Init.DMAContinuousRequests = DISABLE;
  hadc2.Init.Overrun = ADC_OVR_DATA_PRESERVED;
  hadc2.Init.OversamplingMode = DISABLE;
  if (HAL_ADC_Init(&hadc2) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_VOPAMP3_ADC2;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1;
  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_6CYCLES_5;
  sConfigInjected.InjectedSingleDiff = ADC_SINGLE_ENDED;
  sConfigInjected.InjectedOffsetNumber = ADC_OFFSET_NONE;
  sConfigInjected.InjectedOffset = 0;
  sConfigInjected.InjectedNbrOfConversion = 2;
  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
  sConfigInjected.AutoInjectedConv = DISABLE;
  sConfigInjected.QueueInjectedContext = DISABLE;
  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJEC_T1_CC4;
  sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONV_EDGE_RISING;
  sConfigInjected.InjecOversamplingMode = DISABLE;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure Injected Channel
  */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_3;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_2;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ADC2_Init 2 */

  /* USER CODE END ADC2_Init 2 */

}

/**
  * @brief COMP1 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_COMP1_Init(void)
{

  /* USER CODE BEGIN COMP1_Init 0 */

  /* USER CODE END COMP1_Init 0 */

  /* USER CODE BEGIN COMP1_Init 1 */

  /* USER CODE END COMP1_Init 1 */
  hcomp1.Instance = COMP1;
  hcomp1.Init.InputPlus = COMP_INPUT_PLUS_IO1;
  hcomp1.Init.InputMinus = COMP_INPUT_MINUS_DAC3_CH1;
  hcomp1.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED;
  hcomp1.Init.Hysteresis = COMP_HYSTERESIS_NONE;
  hcomp1.Init.BlankingSrce = COMP_BLANKINGSRC_NONE;
  hcomp1.Init.TriggerMode = COMP_TRIGGERMODE_NONE;
  if (HAL_COMP_Init(&hcomp1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN COMP1_Init 2 */

  /* USER CODE END COMP1_Init 2 */

}

/**
  * @brief COMP2 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_COMP2_Init(void)
{

  /* USER CODE BEGIN COMP2_Init 0 */

  /* USER CODE END COMP2_Init 0 */

  /* USER CODE BEGIN COMP2_Init 1 */

  /* USER CODE END COMP2_Init 1 */
  hcomp2.Instance = COMP2;
  hcomp2.Init.InputPlus = COMP_INPUT_PLUS_IO1;
  hcomp2.Init.InputMinus = COMP_INPUT_MINUS_DAC3_CH2;
  hcomp2.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED;
  hcomp2.Init.Hysteresis = COMP_HYSTERESIS_NONE;
  hcomp2.Init.BlankingSrce = COMP_BLANKINGSRC_NONE;
  hcomp2.Init.TriggerMode = COMP_TRIGGERMODE_NONE;
  if (HAL_COMP_Init(&hcomp2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN COMP2_Init 2 */

  /* USER CODE END COMP2_Init 2 */

}

/**
  * @brief COMP4 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_COMP4_Init(void)
{

  /* USER CODE BEGIN COMP4_Init 0 */

  /* USER CODE END COMP4_Init 0 */

  /* USER CODE BEGIN COMP4_Init 1 */

  /* USER CODE END COMP4_Init 1 */
  hcomp4.Instance = COMP4;
  hcomp4.Init.InputPlus = COMP_INPUT_PLUS_IO1;
  hcomp4.Init.InputMinus = COMP_INPUT_MINUS_DAC3_CH2;
  hcomp4.Init.OutputPol = COMP_OUTPUTPOL_NONINVERTED;
  hcomp4.Init.Hysteresis = COMP_HYSTERESIS_NONE;
  hcomp4.Init.BlankingSrce = COMP_BLANKINGSRC_NONE;
  hcomp4.Init.TriggerMode = COMP_TRIGGERMODE_NONE;
  if (HAL_COMP_Init(&hcomp4) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN COMP4_Init 2 */

  /* USER CODE END COMP4_Init 2 */

}

/**
  * @brief CORDIC Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_CORDIC_Init(void)
{

  /* USER CODE BEGIN CORDIC_Init 0 */

  /* USER CODE END CORDIC_Init 0 */

  /* USER CODE BEGIN CORDIC_Init 1 */

  /* USER CODE END CORDIC_Init 1 */
  hcordic.Instance = CORDIC;
  if (HAL_CORDIC_Init(&hcordic) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CORDIC_Init 2 */

  /* USER CODE END CORDIC_Init 2 */

}

/**
  * @brief DAC3 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_DAC3_Init(void)
{

  /* USER CODE BEGIN DAC3_Init 0 */

  /* USER CODE END DAC3_Init 0 */

  DAC_ChannelConfTypeDef sConfig = {0};

  /* USER CODE BEGIN DAC3_Init 1 */

  /* USER CODE END DAC3_Init 1 */

  /** DAC Initialization
  */
  hdac3.Instance = DAC3;
  if (HAL_DAC_Init(&hdac3) != HAL_OK)
  {
    Error_Handler();
  }

  /** DAC channel OUT1 config
  */
  sConfig.DAC_HighFrequency = DAC_HIGH_FREQUENCY_INTERFACE_MODE_AUTOMATIC;
  sConfig.DAC_DMADoubleDataMode = DISABLE;
  sConfig.DAC_SignedFormat = DISABLE;
  sConfig.DAC_SampleAndHold = DAC_SAMPLEANDHOLD_DISABLE;
  sConfig.DAC_Trigger = DAC_TRIGGER_NONE;
  sConfig.DAC_Trigger2 = DAC_TRIGGER_NONE;
  sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_DISABLE;
  sConfig.DAC_ConnectOnChipPeripheral = DAC_CHIPCONNECT_INTERNAL;
  sConfig.DAC_UserTrimming = DAC_TRIMMING_FACTORY;
  if (HAL_DAC_ConfigChannel(&hdac3, &sConfig, DAC_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }

  /** DAC channel OUT2 config
  */
  if (HAL_DAC_ConfigChannel(&hdac3, &sConfig, DAC_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN DAC3_Init 2 */

  /* USER CODE END DAC3_Init 2 */

}

/**
  * @brief OPAMP1 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_OPAMP1_Init(void)
{

  /* USER CODE BEGIN OPAMP1_Init 0 */

  /* USER CODE END OPAMP1_Init 0 */

  /* USER CODE BEGIN OPAMP1_Init 1 */

  /* USER CODE END OPAMP1_Init 1 */
  hopamp1.Instance = OPAMP1;
  hopamp1.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
  hopamp1.Init.Mode = OPAMP_PGA_MODE;
  hopamp1.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
  hopamp1.Init.InternalOutput = DISABLE;
  hopamp1.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
  hopamp1.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_IO0_BIAS;
  hopamp1.Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15;
  hopamp1.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
  if (HAL_OPAMP_Init(&hopamp1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN OPAMP1_Init 2 */

  /* USER CODE END OPAMP1_Init 2 */

}

/**
  * @brief OPAMP2 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_OPAMP2_Init(void)
{

  /* USER CODE BEGIN OPAMP2_Init 0 */

  /* USER CODE END OPAMP2_Init 0 */

  /* USER CODE BEGIN OPAMP2_Init 1 */

  /* USER CODE END OPAMP2_Init 1 */
  hopamp2.Instance = OPAMP2;
  hopamp2.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
  hopamp2.Init.Mode = OPAMP_PGA_MODE;
  hopamp2.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
  hopamp2.Init.InternalOutput = DISABLE;
  hopamp2.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
  hopamp2.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_IO0_BIAS;
  hopamp2.Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15;
  hopamp2.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
  if (HAL_OPAMP_Init(&hopamp2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN OPAMP2_Init 2 */

  /* USER CODE END OPAMP2_Init 2 */

}

/**
  * @brief OPAMP3 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_OPAMP3_Init(void)
{

  /* USER CODE BEGIN OPAMP3_Init 0 */

  /* USER CODE END OPAMP3_Init 0 */

  /* USER CODE BEGIN OPAMP3_Init 1 */

  /* USER CODE END OPAMP3_Init 1 */
  hopamp3.Instance = OPAMP3;
  hopamp3.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
  hopamp3.Init.Mode = OPAMP_PGA_MODE;
  hopamp3.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
  hopamp3.Init.InternalOutput = ENABLE;
  hopamp3.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
  hopamp3.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_IO0_BIAS;
  hopamp3.Init.PgaGain = OPAMP_PGA_GAIN_16_OR_MINUS_15;
  hopamp3.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
  if (HAL_OPAMP_Init(&hopamp3) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN OPAMP3_Init 2 */

  /* USER CODE END OPAMP3_Init 2 */

}

/**
  * @brief TIM1 Initialization Function
  * @PAram None
  * @retval None
  */
static 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 = ((TIM_CLOCK_DIVIDER) - 1);
  htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
  htim1.Init.Period = ((PWM_PERIOD_CYCLES) / 2);
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV2;
  htim1.Init.RepetitionCounter = (REP_COUNTER);
  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC4REF;
  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakInputConfig.Source = TIM_BREAKINPUTSOURCE_COMP1;
  sBreakInputConfig.Enable = TIM_BREAKINPUTSOURCE_ENABLE;
  sBreakInputConfig.Polarity = TIM_BREAKINPUTSOURCE_POLARITY_HIGH;
  if (HAL_TIMEx_ConfigBreakInput(&htim1, TIM_BREAKINPUT_BRK, &sBreakInputConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakInputConfig.Source = TIM_BREAKINPUTSOURCE_COMP2;
  if (HAL_TIMEx_ConfigBreakInput(&htim1, TIM_BREAKINPUT_BRK, &sBreakInputConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakInputConfig.Source = TIM_BREAKINPUTSOURCE_COMP4;
  if (HAL_TIMEx_ConfigBreakInput(&htim1, TIM_BREAKINPUT_BRK, &sBreakInputConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = ((PWM_PERIOD_CYCLES) / 4);
  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();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM2;
  sConfigOC.Pulse = (((PWM_PERIOD_CYCLES) / 2) - (HTMIN));
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = ((DEAD_TIME_COUNTS) / 2);
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_ENABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.BreakFilter = 4;
  sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
  sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
  sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
  sBreakDeadTimeConfig.Break2Filter = 3;
  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);

}

/**
  * @brief TIM4 Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_TIM4_Init(void)
{

  /* USER CODE BEGIN TIM4_Init 0 */

  /* USER CODE END TIM4_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_HallSensor_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 = M1_HALL_TIM_PERIOD;
  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = M1_HALL_IC_FILTER;
  sConfig.Commutation_Delay = 0;
  if (HAL_TIMEx_HallSensor_Init(&htim4, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC2REF;
  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 */

}

/**
  * @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;
  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_DisableFifoMode(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMAMUX1_CLK_ENABLE();
  __HAL_RCC_DMA1_CLK_ENABLE();

}

/**
  * @brief GPIO Initialization Function
  * @PAram None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  /* USER CODE BEGIN MX_GPIO_Init_1 */

  /* USER CODE END MX_GPIO_Init_1 */

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

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

  /* USER CODE BEGIN MX_GPIO_Init_2 */

  /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	cnt++;
	lettura = true;
    if(huart->Instance == USART2)
    {
        HAL_UART_Transmit(&huart2, rx_data, 1, 100);
        HAL_UART_Receive_IT(&huart2, rx_data, 1);
    }

}
/* 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 */

[Pavel A.]

> but still no signs of life from the motor

Then, may be the problem is in the motor? Can you connect it to some other host, for example PC with USB to UART adapter, and send commands?