/**
  @page TIM_6Steps TIM 6 Steps example
  
  @verbatim
  ******************** (C) COPYRIGHT 2016 STMicroelectronics *******************
  * @file    Examples_MIX/TIM/TIM_6Steps/readme.txt 
  * @author  MCD Application Team
  * @version V1.0.0
  * @date    14-April-2017
  * @brief   Description of the TIM 6 Steps example.
  ******************************************************************************
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  @endverbatim

@par Example Description 

Configuration of the TIM1 peripheral to generate six-step PWM signals. 
The STM32F1xx TIM1 peripheral allows programming in advance the configuration 
for the next TIM1 output behavior (or step) and changing simultaneously the configuration of all the 
channels. This operation is possible when the COM (commutation) event is used. 
This example is based on the STM32F1xx TIM HAL and LL API. The LL API is used for performance improvement.

The COM event can be generated by software by setting the COM bit in the TIM1_EGR
register or by hardware (on TRC rising edge).
In this example, a software COM event is generated each 1 ms: using the SysTick 
interrupt.

The TIM1 is configured in Timing Mode, each time a COM event occurs, a new TIM1
configuration will be set in advance. Only changed states are programmed. 

The break Polarity is used at High level.

The following Table describes the TIM1 Channels states:

@verbatim
                     -----------------------------------------------
                    | Step1 | Step2 | Step3 | Step4 | Step5 | Step6 |
          ----------------------------------------------------------
         |Channel1  | 1(PWM)|   0   |   0   |   0   |   0   |1(PWM) |
          ----------------------------------------------------------
         |Channel1N |   0   |   0   |1(PWM) |1(PWM) |   0   |   0   |
          ----------------------------------------------------------
         |Channel2  |   0   |   0   |   0   |1(PWM) |1(PWM) |   0   |
          ----------------------------------------------------------
         |Channel2N |1(PWM) |1(PWM) |   0   |   0   |   0   |   0   |
          ----------------------------------------------------------
         |Channel3  |   0   |1(PWM) |1(PWM) |   0   |   0   |   0   |
          ----------------------------------------------------------
         |Channel3N |   0   |   0   |   0   |   0   |1(PWM) |1(PWM) |
          -----------------------------------------------------------
 

 
                     . Step1 . Step2 . Step3 . Step4 . Step 5 . Step 6 . Step1 . Step2 . Step 3 . Step 4 . Step5 ... 

 Channel1  (PA.08)   |||||||||_________________________________|||||||||||||||||____________________________________
 Channel1N (PB.13)   ________________|||||||||||||||||__________________________________||||||||||||||||||__________
                                                    
 Channel2  (PA.09)   ________________________||||||||||||||||||_________________________________|||||||||||||||||___
 Channel2N (PB.14)   |||||||||||||||||_________________________________|||||||||||||||||____________________________    
                                                    
 Channel3  (PA.10)   ________|||||||||||||||||__________________________________||||||||||||||||||___________________
 Channel3N (PB.15)   _________________________________||||||||||||||||||__________________________________|||||||||||
   
@endverbatim

@note Care must be taken when using HAL_Delay(), this function provides accurate delay (in milliseconds)
      based on variable incremented in SysTick ISR. This implies that if HAL_Delay() is called from
      a peripheral ISR process, then the SysTick interrupt must have higher priority (numerically lower)
      than the peripheral interrupt. Otherwise the caller ISR process will be blocked.
      To change the SysTick interrupt priority you have to use HAL_NVIC_SetPriority() function.

@note The application needs to ensure that the SysTick time base is always set to 1 millisecond
      to have correct HAL operation.

@par Directory contents 

  - Examples_MIX/TIM/TIM_6Steps/Inc/stm32f1xx_hal_conf.h    HAL configuration file
  - Examples_MIX/TIM/TIM_6Steps/Inc/stm32f1xx_it.h          Interrupt handlers header file
  - Examples_MIX/TIM/TIM_6Steps/Inc/main.h                  Header for main.c module  
  - Examples_MIX/TIM/TIM_6Steps/Src/stm32f1xx_it.c          Interrupt handlers
  - Examples_MIX/TIM/TIM_6Steps/Src/main.c                  Main program
  - Examples_MIX/TIM/TIM_6Steps/Src/system_stm32f1xx.c      STM32F1xx system source file
  - Examples_MIX/TIM/TIM_6Steps/Src/stm32f1xx_hal_msp.c     HAL MSP file    


@par Hardware and Software environment

  - This example runs on STM32F103xB devices.
    
  - This example has been tested with STM32F103RB-Nucleo board and can be
    easily tailored to any other supported device and development board.    

  - STM32F103RB-Nucleo Set-up
    - Connect the TIM1 pins to an oscilloscope to monitor the different waveforms:
      - TIM1_CH1  PA.08: connected to pin 8 of CN9 connector  
      - TIM1_CH1N PB.13: connected to pin 30 of CN10 connector 
      - TIM1_CH2  PA.09: connected to pin 1 of CN5 connector 
      - TIM1_CH2N PB.14: connected to pin 28 of CN10 connector 
      - TIM1_CH3  PA.10: connected to pin 3 of CN9 connector 
      - TIM1_CH3N PB.15: connected to pin 26 of CN10 connector 

    - Connect the TIM1 break to the GND. To generate a break event, switch this
      pin level from 0V to 3.3V.  
      - TIM1_BKIN  PB.12: connected to pin 16 of CN10 connector 

@par How to use it ? 

In order to make the program work, you must do the following :
 - Open your preferred toolchain
 - Rebuild all files and load your image into target memory
 - Run the example

 * <h3><center>&copy; COPYRIGHT STMicroelectronics</center></h3>
 */
