diff --git a/software/dumber3/.cproject b/software/dumber3/.cproject
index 32b5cca..ebef7c1 100644
--- a/software/dumber3/.cproject
+++ b/software/dumber3/.cproject
@@ -40,6 +40,7 @@
 									<listOptionValue builtIn="false" value="STM32L071xx"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.66916114" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
+									<listOptionValue builtIn="false" value="../Application"/>
 									<listOptionValue builtIn="false" value="../Core/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32L0xx_HAL_Driver/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32L0xx_HAL_Driver/Inc/Legacy"/>
@@ -99,7 +100,7 @@
 					</fileInfo>
 					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.1932647075" name="stm32l0xx_hal_dma.c" rcbsApplicability="disable" resourcePath="Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_dma.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.1807227080">
 						<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.1807227080" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1457095105" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1457095105" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 							<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1399198488" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 						</tool>
 						<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.737656347" name="Resource Custom Build Step">
@@ -109,46 +110,22 @@
 							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.1151842665" name="Resource Custom Build Step Output Type"/>
 						</tool>
 					</fileInfo>
-					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.1164598906" name="sequenceur.c" rcbsApplicability="disable" resourcePath="Core/Src/sequenceur.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.203102427">
-						<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.203102427" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1982433835" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
-							<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1563034576" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
-						</tool>
-						<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.628002234" name="Resource Custom Build Step">
-							<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.2125150301" name="Resource Custom Build Step Input Type">
-								<additionalInput kind="additionalinputdependency" paths=""/>
-							</inputType>
-							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.87064345" name="Resource Custom Build Step Output Type"/>
-						</tool>
-					</fileInfo>
 					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.2043503841" name="main.c" rcbsApplicability="disable" resourcePath="Core/Src/main.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.346617134">
 						<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.346617134" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1844790861" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 							<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1496459642" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 						</tool>
 						<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.216781005" name="Resource Custom Build Step">
 							<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.2033552080" name="Resource Custom Build Step Input Type">
-								<additionalInput kind="additionalinputdependency" paths=""/>
+								<additionalInput kind="additionalinputdependency"/>
 							</inputType>
 							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.664489298" name="Resource Custom Build Step Output Type"/>
 						</tool>
 					</fileInfo>
-					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.48283877" name="xbee.c" rcbsApplicability="disable" resourcePath="Core/Src/xbee.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.2062255075">
-						<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.2062255075" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.386241063" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
-							<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.272972962" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
-						</tool>
-						<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.1129613589" name="Resource Custom Build Step">
-							<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.75811459" name="Resource Custom Build Step Input Type">
-								<additionalInput kind="additionalinputdependency" paths=""/>
-							</inputType>
-							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.1306698389" name="Resource Custom Build Step Output Type"/>
-						</tool>
-					</fileInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
+						<entry excluding="XBEE" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Application"/>
+						<entry excluding="XBEE" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/software/dumber3/.mxproject b/software/dumber3/.mxproject
index 03d478a..8787341 100644
--- a/software/dumber3/.mxproject
+++ b/software/dumber3/.mxproject
@@ -1,27 +1,28 @@
 [PreviousLibFiles]
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
 [PreviousUsedCubeIDEFiles]
-SourceFiles=Core/Src/main.c;Core/Src/freertos.c;Core/Src/stm32l0xx_it.c;Core/Src/stm32l0xx_hal_msp.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_adc.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_adc_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_i2c.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_i2c_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_rcc.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_rcc_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_flash_ramfunc.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_flash.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_flash_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_gpio.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_dma.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_pwr.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_pwr_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_cortex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_exti.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_lptim.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_uart.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_uart_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_tim.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_tim_ex.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM0/port.c;Drivers/CMSIS/Device/ST/STM32L0xx/Source/Templates/system_stm32l0xx.c;Core/Src/system_stm32l0xx.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_adc.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_adc_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_i2c.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_i2c_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_rcc.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_rcc_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_flash_ramfunc.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_flash.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_flash_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_gpio.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_dma.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_pwr.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_pwr_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_cortex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_exti.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_lptim.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_uart.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_uart_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_tim.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_tim_ex.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM0/port.c;Drivers/CMSIS/Device/ST/STM32L0xx/Source/Templates/system_stm32l0xx.c;Core/Src/system_stm32l0xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM0/port.c;
+SourceFiles=Core/Src/main.c;Core/Src/freertos.c;Core/Src/stm32l0xx_it.c;Core/Src/stm32l0xx_hal_msp.c;Core/Src/stm32l0xx_hal_timebase_tim.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_adc.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_adc_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_i2c.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_i2c_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_rcc.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_rcc_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_flash_ramfunc.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_flash.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_flash_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_gpio.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_dma.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_pwr.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_pwr_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_cortex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_exti.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_uart.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_uart_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_tim.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_tim_ex.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM0/port.c;Drivers/CMSIS/Device/ST/STM32L0xx/Source/Templates/system_stm32l0xx.c;Core/Src/system_stm32l0xx.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_adc.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_adc_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_i2c.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_i2c_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_rcc.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_rcc_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_flash_ramfunc.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_flash.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_flash_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_gpio.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_dma.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_pwr.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_pwr_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_cortex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_exti.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_uart.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_uart_ex.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_tim.c;Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_tim_ex.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM0/port.c;Drivers/CMSIS/Device/ST/STM32L0xx/Source/Templates/system_stm32l0xx.c;Core/Src/system_stm32l0xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM0/port.c;
 HeaderPath=Drivers/STM32L0xx_HAL_Driver/Inc;Drivers/STM32L0xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM0;Drivers/CMSIS/Device/ST/STM32L0xx/Include;Drivers/CMSIS/Include;Core/Inc;
 CDefines=USE_HAL_DRIVER;STM32L071xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
 [PreviousGenFiles]
 AdvancedFolderStructure=true
 HeaderFileListSize=4
-HeaderFiles#0=/home/dimercur/Travail/git/dumber/software/dumber3/Core/Inc/FreeRTOSConfig.h
-HeaderFiles#1=/home/dimercur/Travail/git/dumber/software/dumber3/Core/Inc/stm32l0xx_it.h
-HeaderFiles#2=/home/dimercur/Travail/git/dumber/software/dumber3/Core/Inc/stm32l0xx_hal_conf.h
-HeaderFiles#3=/home/dimercur/Travail/git/dumber/software/dumber3/Core/Inc/main.h
+HeaderFiles#0=../Core/Inc/FreeRTOSConfig.h
+HeaderFiles#1=../Core/Inc/stm32l0xx_it.h
+HeaderFiles#2=../Core/Inc/stm32l0xx_hal_conf.h
+HeaderFiles#3=../Core/Inc/main.h
 HeaderFolderListSize=1
-HeaderPath#0=/home/dimercur/Travail/git/dumber/software/dumber3/Core/Inc
+HeaderPath#0=../Core/Inc
 HeaderFiles=;
-SourceFileListSize=4
-SourceFiles#0=/home/dimercur/Travail/git/dumber/software/dumber3/Core/Src/freertos.c
-SourceFiles#1=/home/dimercur/Travail/git/dumber/software/dumber3/Core/Src/stm32l0xx_it.c
-SourceFiles#2=/home/dimercur/Travail/git/dumber/software/dumber3/Core/Src/stm32l0xx_hal_msp.c
-SourceFiles#3=/home/dimercur/Travail/git/dumber/software/dumber3/Core/Src/main.c
+SourceFileListSize=5
+SourceFiles#0=../Core/Src/freertos.c
+SourceFiles#1=../Core/Src/stm32l0xx_it.c
+SourceFiles#2=../Core/Src/stm32l0xx_hal_msp.c
+SourceFiles#3=../Core/Src/stm32l0xx_hal_timebase_tim.c
+SourceFiles#4=../Core/Src/main.c
 SourceFolderListSize=1
-SourcePath#0=/home/dimercur/Travail/git/dumber/software/dumber3/Core/Src
+SourcePath#0=../Core/Src
 SourceFiles=;
 
diff --git a/software/dumber3/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs b/software/dumber3/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
new file mode 100644
index 0000000..98a69fc
--- /dev/null
+++ b/software/dumber3/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}
diff --git a/software/dumber3/.settings/language.settings.xml b/software/dumber3/.settings/language.settings.xml
index c575685..d6d297a 100644
--- a/software/dumber3/.settings/language.settings.xml
+++ b/software/dumber3/.settings/language.settings.xml
@@ -5,8 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1151523151262932964" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1490091031643224932" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -18,7 +17,7 @@
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1151523151262932964" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1490091031643224932" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/software/dumber3/Application/application.c b/software/dumber3/Application/application.c
index 5a8bdc9..0d10da8 100644
--- a/software/dumber3/Application/application.c
+++ b/software/dumber3/Application/application.c
@@ -16,7 +16,39 @@
 #include "batterie.h"
 #include "messages.h"
 
-void LEDS_Tests();
+typedef enum {
+	stateStartup=0,
+	stateIdle,
+	stateRun,
+	stateInCharge,
+	stateInMouvement,
+	stateWatchdogDisable,
+	stateLowBatDisable
+}  APPLICATION_State;
+
+typedef struct {
+	APPLICATION_State state;
+	uint8_t cmd;
+	uint16_t batteryVoltage;
+	char batteryUpdate;
+	char inCharge;
+	int32_t distance;
+	int32_t turns;
+	int32_t motor_left;
+	int32_t motor_right;
+	char endOfMouvement;
+	char powerOffRequired;
+
+} APPLICATION_Infos;
+
+typedef struct {
+	uint32_t startupCnt;
+	uint32_t inactivityCnt;
+	uint32_t watchdogCnt;
+	char watchdogEnabled;
+	char watchdogMissedCnt;
+
+} APPLICATION_Timeout;
 
 StaticTask_t xTaskApplicationMain;
 
@@ -30,40 +62,17 @@ StaticTimer_t xBufferTimerTimeout;
 TimerHandle_t xHandleTimerTimeout = NULL;
 void vTimerTimeoutCallback( TimerHandle_t xTimer );
 
+void LEDS_Tests();
+
 void APPLICATION_MainThread(void* params);
 void APPLICATION_TimeoutThread(void* params);
 void APPLICATION_StateMachine();
 LEDS_State APPLICATION_BatteryLevel(uint16_t voltage, char inCharge);
 void APPLICATION_PowerOff();
-
-uint16_t  APPLICATION_CntTimeout;
-uint16_t  APPLICATION_CntPowerOff;
-
-typedef enum {
-	stateStartup=0,
-	stateIdle,
-	stateRun,
-	stateInCharge,
-	stateInMouvement,
-	stateWatchdogDisable,
-	stateLowBatDisable
-}  APPLICATION_State;
-
-typedef struct {
-	APPLICATION_State state;
-	CMD_Type cmd;
-	uint16_t batteryVoltage;
-	char batteryUpdate;
-	char inCharge;
-	int32_t distance;
-	int32_t turns;
-	int32_t motor_left;
-	int32_t motor_right;
-	char endOfMouvement;
-	char powerOffRequired;
-}  APPLICATION_Infos;
+void APPLICATION_TransitionToNewState(APPLICATION_State new_state);
 
 APPLICATION_Infos systemInfos = {0};
+APPLICATION_Timeout systemTimeout = {0};
 
 void APPLICATION_Init(void) {
 	/* Init des messages box */
@@ -71,16 +80,11 @@ void APPLICATION_Init(void) {
 
 	/* Init de l'afficheur */
 	LEDS_Init();
-	//LEDS_Tests();
 
 	/* Init de la partie RF / reception des messages */
 	XBEE_Init();
-	//BATTERIE_Init();
-	//MOTEURS_Init();
-	//SEQUENCEUR_Init();
-
-	/*MOTEURS_Init();
-	      MOTEURS_Test();*/
+	BATTERIE_Init();
+	MOTEURS_Init();
 
 	/* Create the task without using any dynamic memory allocation. */
 	xHandleApplicationMain = xTaskCreateStatic(
@@ -96,16 +100,14 @@ void APPLICATION_Init(void) {
 	/* Create a periodic task without using any dynamic memory allocation. */
 	xHandleTimerTimeout = xTimerCreateStatic(
 			"Seq Timer",
-			//pdMS_TO_TICKS(100),
-			pdMS_TO_TICKS(2000),
+			pdMS_TO_TICKS(APPLICATION_PERIODE),
 			pdTRUE,
 			( void * ) 0,
 			vTimerTimeoutCallback,
 			&xBufferTimerTimeout);
 	xTimerStart(xHandleTimerTimeout,0 );
 
-	APPLICATION_CntTimeout =0;
-	APPLICATION_CntPowerOff=0;
+	APPLICATION_TransitionToNewState(stateStartup);
 }
 
 void APPLICATION_MainThread(void* params) {
@@ -120,29 +122,49 @@ void APPLICATION_MainThread(void* params) {
 		switch (msg.id) {
 		case MSG_ID_XBEE_CMD:
 			cmd = (char*)msg.data;
+			decodedCmd = cmdDecode(cmd);
 
-			if (cmdIsValid(cmd)!= okANS)
-				cmdSendAnswer(errANS);
+			if (decodedCmd==CMD_DECODE_UNKNOWN)
+				cmdSendAnswer(ANS_UNKNOWN);
 			else {
-				decodedCmd = cmdDecode(cmd);
+				systemInfos.cmd = decodedCmd->type;
+				systemTimeout.inactivityCnt = 0;
 
-				if (decodedCmd==CMD_DECODE_INVALID)
-					cmdSendAnswer(errANS);
-				else if (decodedCmd==CMD_DECODE_UNKNOWN)
-					cmdSendAnswer(unknownANS);
-				else {
-					systemInfos.cmd = decodedCmd->type;
-					if (decodedCmd->type == moveCMD)
-						systemInfos.distance = ((CMD_Move*)decodedCmd)->distance;
-					else if (decodedCmd->type == turnCMD)
-						systemInfos.turns = ((CMD_Turn*)decodedCmd)->turns;
-					else if (decodedCmd->type == setMotorCMD) {
-						systemInfos.motor_left = ((CMD_SetMotor*)decodedCmd)->motor_left;
-						systemInfos.motor_right = ((CMD_SetMotor*)decodedCmd)->motor_right;
-					}
-
-					free(decodedCmd);
+				/* Manage answer to command, when possible
+				 * (further treatment of the command will be done in APPLICATION_StateMachine) */
+				switch (decodedCmd->type) {
+				case CMD_PING:
+				case CMD_TEST:
+				case CMD_DEBUG:
+				case CMD_POWER_OFF:
+					cmdSendAnswer(ANS_OK);
+					break;
+				case CMD_GET_BATTERY:
+					cmdSendBatteryLevel(systemInfos.batteryVoltage);
+					break;
+				case CMD_GET_VERSION:
+					cmdSendVersion(SYSTEM_VERSION);
+					break;
+				case CMD_GET_BUSY_STATE:
+					if (systemInfos.state == stateInMouvement)
+						cmdSendBusyState(0x1);
+					else
+						cmdSendBusyState(0x0);
+					break;
+				case CMD_MOVE:
+					systemInfos.distance = ((CMD_Move*)decodedCmd)->distance;
+					break;
+				case CMD_TURN:
+					systemInfos.turns = ((CMD_Turn*)decodedCmd)->turns;
+					break;
+				default:
+					/* All others commands must be processed in state machine
+					 * in order to find what action to do and what answer to give
+					 */
+					break;
 				}
+
+				free(decodedCmd);
 			}
 
 			free(cmd);
@@ -168,7 +190,7 @@ void APPLICATION_MainThread(void* params) {
 				systemInfos.inCharge =0;
 			break;
 
-		case MSG_ID_MOTEURS_ARRET:
+		case MSG_ID_MOTEURS_STOP:
 			systemInfos.endOfMouvement= 1;
 			break;
 
@@ -184,83 +206,98 @@ void APPLICATION_MainThread(void* params) {
 void APPLICATION_StateMachine() {
 	LEDS_State ledState = leds_off;
 
+	if (systemInfos.powerOffRequired)
+		APPLICATION_PowerOff(); // system will halt here
+
 	if (systemInfos.inCharge) {
-		systemInfos.state = stateInCharge;
-	} else if (systemInfos.batteryUpdate) {
-		ledState = APPLICATION_BatteryLevel(systemInfos.batteryVoltage, systemInfos.inCharge);
+		APPLICATION_TransitionToNewState(stateInCharge);
+	}
 
+	if (systemInfos.batteryUpdate) {
 		if (ledState == leds_niveau_bat_0)
-			systemInfos.state= stateLowBatDisable;
-	}
-
-	switch (systemInfos.cmd) { // commands common to every state
-	case pingCMD:
-		break;
-	case getVersionCMD:
-		break;
-	case getBatteryVoltageCMD:
-		break;
-	case powerOffCMD:
-		break;
-	case resetCMD:
-		break;
-	case busyStateCMD:
-		break;
-	case testCMD:
-		break;
-	case debugCMD:
-		break;
-	default: // commands no common for every states
-		break;
-	}
-
-	switch (systemInfos.state) {
-	case stateStartup:
-		if (systemInfos.batteryUpdate) {
-			ledState = APPLICATION_BatteryLevel(systemInfos.batteryVoltage, systemInfos.inCharge);
-			MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
-
-			vTaskDelay(pdMS_TO_TICKS(2000)); // wait 2s
-
-			systemInfos.state= stateIdle;
-			ledState = leds_idle;
-			MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
-		}
-		break;
-	case stateIdle:
-		if (systemInfos.powerOffRequired)
-			APPLICATION_PowerOff();
-		break;
-	case stateRun:
-		if (systemInfos.powerOffRequired)
-			APPLICATION_PowerOff();
-		break;
-	case stateInCharge:
-		if (!systemInfos.inCharge) {
-			systemInfos.state = stateIdle;
-			ledState = leds_idle;
-			MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
-		} else if (systemInfos.batteryUpdate) {
+			APPLICATION_TransitionToNewState(stateLowBatDisable);
+		else if (systemInfos.state==stateStartup) {
 			ledState = APPLICATION_BatteryLevel(systemInfos.batteryVoltage, systemInfos.inCharge);
 			MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
 		}
-		break;
-	case stateInMouvement:
-		if (systemInfos.powerOffRequired)
-			APPLICATION_PowerOff();
-		break;
-	case stateWatchdogDisable:
-		if (systemInfos.powerOffRequired)
-			APPLICATION_PowerOff();
-		break;
-	case stateLowBatDisable:
-		ledState = leds_charge_bat_0;
-		MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
+	}
 
-		vTaskDelay(pdMS_TO_TICKS(2000)); // wait 2s
+	if (systemInfos.cmd != CMD_NONE) {
+		/* a newer command just arrived, process it
+		 * in this switch/case, we only care about state transition and command execution
+		 */
+		switch (systemInfos.cmd) {
+		case CMD_RESET:
+			if ((systemInfos.state == stateIdle) ||
+					(systemInfos.state == stateRun) ||
+					(systemInfos.state == stateInMouvement)) {
+				/* command RESET is only applicable in those 3 states, otherwise it is rejected */
+				cmdSendAnswer(ANS_OK);
+				APPLICATION_TransitionToNewState(stateIdle);
+			} else
+				cmdSendAnswer(ANS_ERR);
+			break;
+		case CMD_START_WITH_WATCHDOG:
+		case CMD_START_WITHOUT_WATCHDOG:
+			if (systemInfos.state == stateIdle) {
+				/* only state where START cmd is accepted */
+				cmdSendAnswer(ANS_OK);
 
-		APPLICATION_PowerOff();
-		break;
+				APPLICATION_TransitionToNewState(stateRun);
+
+				if (systemInfos.cmd == CMD_START_WITH_WATCHDOG) {
+					systemTimeout.watchdogEnabled = 1;
+					systemTimeout.watchdogCnt=0;
+					systemTimeout.watchdogMissedCnt=0;
+				}
+			} else
+				cmdSendAnswer(ANS_ERR);
+			break;
+		case CMD_RESET_WATCHDOG:
+			if ((systemInfos.state == stateRun) || (systemInfos.state == stateInMouvement)) {
+				if ((systemTimeout.watchdogEnabled ==0 ) ||
+						((systemTimeout.watchdogCnt>=APPLICATION_WATCHDOG_MIN) && (systemTimeout.watchdogCnt<=APPLICATION_WATCHDOG_MAX)))
+					cmdSendAnswer(ANS_OK);
+				else
+					cmdSendAnswer(ANS_ERR);
+
+				systemTimeout.watchdogCnt =0;
+			}
+			break;
+		case CMD_MOVE:
+		case CMD_TURN:
+			if (systemInfos.state == stateRun) { // only state where MOVE or TURN cmds are accepted
+
+				if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance !=0)) ||
+						((systemInfos.cmd == CMD_TURN) && (systemInfos.turns !=0))) {
+					systemInfos.endOfMouvement = 0;
+					cmdSendAnswer(ANS_OK);
+					APPLICATION_TransitionToNewState(stateInMouvement);
+				} // if TURN and MOVE are sent without parameter, do nothing: we are still in run state
+			} else if (systemInfos.state == stateInMouvement) { // in this state, MOVE and TURN cmds are accepted only if they come with no parameter
+				if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance ==0)) ||
+						((systemInfos.cmd == CMD_TURN) && (systemInfos.turns ==0))) {
+					systemInfos.endOfMouvement = 1;
+					cmdSendAnswer(ANS_OK);
+				}
+			} else
+				cmdSendAnswer(ANS_ERR);
+			break;
+		default: // commands no common for every states
+			break;
+		}
+	}
+
+	if (systemInfos.endOfMouvement) {
+		APPLICATION_TransitionToNewState(stateRun);
+	}
+
+	if (systemInfos.state== stateInCharge) {
+		if (!systemInfos.inCharge)
+			APPLICATION_TransitionToNewState(stateIdle);
+		else if (systemInfos.batteryUpdate) {
+			APPLICATION_TransitionToNewState(stateInCharge);
+		}
 	}
 
 	systemInfos.batteryUpdate = 0;
@@ -269,6 +306,66 @@ void APPLICATION_StateMachine() {
 	systemInfos.powerOffRequired=0;
 }
 
+void APPLICATION_TransitionToNewState(APPLICATION_State new_state) {
+	LEDS_State ledState = leds_off;
+	uint32_t data;
+
+	switch (new_state) {
+	case stateStartup:
+		// nothing to do here
+		break;
+	case stateIdle:
+		ledState = leds_idle;
+		MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
+
+		MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_STOP, APPLICATION_Mailbox, (void*)NULL);
+		systemTimeout.watchdogEnabled=0;
+		break;
+	case stateRun:
+		ledState = leds_run;
+		MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
+
+		MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_STOP, APPLICATION_Mailbox, (void*)NULL);
+		break;
+	case stateInMouvement:
+		ledState = leds_run;
+		MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
+
+		if (systemInfos.cmd == CMD_MOVE) {
+			data = systemInfos.distance;
+			MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_MOVE, APPLICATION_Mailbox, (void*)&data);
+		} else { /* obviously, cmd is CMD_TURN */
+			data = systemInfos.turns;
+			MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_TURN, APPLICATION_Mailbox, (void*)&data);
+		}
+		break;
+	case stateInCharge:
+		ledState = APPLICATION_BatteryLevel(systemInfos.batteryVoltage, systemInfos.inCharge);
+		MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
+		systemTimeout.watchdogEnabled=0;
+		break;
+	case stateWatchdogDisable:
+		ledState = leds_erreur_1;
+		MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
+		systemTimeout.watchdogEnabled=0;
+		break;
+	case stateLowBatDisable:
+		ledState = leds_charge_bat_0;
+		MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
+		systemTimeout.watchdogEnabled=0;
+
+		vTaskDelay(pdMS_TO_TICKS(4000)); // wait 4s
+
+		/* send a message Button_Pressed to enable power off */
+		MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BUTTON_PRESSED, APPLICATION_Mailbox, (void*)NULL);
+		break;
+	default:
+		break;
+	}
+
+	systemInfos.state = new_state;
+}
+
 LEDS_State APPLICATION_BatteryLevel(uint16_t voltage, char inCharge) {
 	LEDS_State ledState=leds_niveau_bat_0;
 
@@ -276,9 +373,35 @@ LEDS_State APPLICATION_BatteryLevel(uint16_t voltage, char inCharge) {
 }
 
 void APPLICATION_PowerOff() {
+	HAL_GPIO_WritePin(SHUTDOWN_GPIO_Port, SHUTDOWN_Pin, GPIO_PIN_RESET);
 
+	while (1){
+		__WFE(); // Attente infinie que le regulateur se coupe.
+	}
 }
 
-/* This task is called every 2s */
+/* This task is called every 100 ms */
 void vTimerTimeoutCallback( TimerHandle_t xTimer ) {
+	if (systemInfos.state == stateStartup) {
+		systemTimeout.startupCnt++;
+		if (systemTimeout.startupCnt++>=APPLICATION_STARTUP_DELAY)
+			APPLICATION_TransitionToNewState(stateIdle);
+	}
+
+	systemTimeout.inactivityCnt++;
+	if (systemTimeout.inactivityCnt>=APPLICATION_INACTIVITY_TIMEOUT)
+		/* send a message Button_Pressed to enable power off */
+		MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BUTTON_PRESSED, APPLICATION_Mailbox, (void*)NULL);
+
+	if (systemTimeout.watchdogEnabled) {
+		systemTimeout.watchdogCnt++;
+
+		if (systemTimeout.watchdogCnt>APPLICATION_WATCHDOG_MAX) {
+			systemTimeout.watchdogCnt=0;
+			systemTimeout.watchdogMissedCnt++;
+
+			if (systemTimeout.watchdogMissedCnt>=APPLICATION_WATCHDOG_MISSED_MAX)
+				APPLICATION_TransitionToNewState(stateWatchdogDisable);
+		}
+	}
 }
diff --git a/software/dumber3/Application/batterie.c b/software/dumber3/Application/batterie.c
index 952b56e..2d9c91f 100644
--- a/software/dumber3/Application/batterie.c
+++ b/software/dumber3/Application/batterie.c
@@ -66,6 +66,10 @@ int BATTERIE_LireTension(uint16_t *val) {
 
 void BATTERIE_VoltageThread(void* params) {
 	static uint16_t tension;
+	TickType_t xLastWakeTime;
+
+	// Initialise the xLastWakeTime variable with the current time.
+	xLastWakeTime = xTaskGetTickCount();
 
 	while (1) {
 		if (BATTERIE_LireTension(&tension) ==0) {
@@ -77,7 +81,8 @@ void BATTERIE_VoltageThread(void* params) {
 			MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BAT_ADC_ERR, (QueueHandle_t)0x0, (void*)0x0);
 		}
 
-		vTaskDelay(pdMS_TO_TICKS(BATTERIE_PERIODE_SCRUTATION));
+		// Wait for the next cycle.
+		vTaskDelayUntil( &xLastWakeTime, pdMS_TO_TICKS(BATTERIE_PERIODE_SCRUTATION));
 	}
 }
 
diff --git a/software/dumber3/Application/commands.c b/software/dumber3/Application/commands.c
index 15d2681..5a03e87 100644
--- a/software/dumber3/Application/commands.c
+++ b/software/dumber3/Application/commands.c
@@ -80,7 +80,7 @@ void cmdSendVersion() {
 	XBEE_SendData((char*)&answer, sizeof (answer));
 }
 
-void cmdBusyState(uint8_t state) {
+void cmdSendBusyState(uint8_t state) {
 	ANS_Busy_State answer;
 
 	answer.ans = ANS_OK;
diff --git a/software/dumber3/Application/commands.h b/software/dumber3/Application/commands.h
index 63d8d1d..bfbde3c 100644
--- a/software/dumber3/Application/commands.h
+++ b/software/dumber3/Application/commands.h
@@ -10,6 +10,7 @@
 
 #include "application.h"
 
+#define CMD_NONE 					0x0
 #define CMD_PING 					0x1
 #define CMD_RESET 					0x2
 #define CMD_START_WITH_WATCHDOG 	0x3
@@ -75,6 +76,6 @@ CMD_Generic* cmdDecode(char* cmd);
 void cmdSendAnswer(uint8_t ans);
 void cmdSendBatteryLevel(char level);
 void cmdSendVersion();
-void cmdBusyState(uint8_t state);
+void cmdSendBusyState(uint8_t state);
 
 #endif /* INC_CMD_H_ */
diff --git a/software/dumber3/Application/config.h b/software/dumber3/Application/config.h
index 0b90a21..a5c5edc 100644
--- a/software/dumber3/Application/config.h
+++ b/software/dumber3/Application/config.h
@@ -12,16 +12,29 @@
 
 #define STACK_SIZE 					0x100
 
-#define PriorityMoteurs        		(configMAX_PRIORITIES -1)
+#define PriorityMoteursAsservissement	(configMAX_PRIORITIES -1)
 #define PriorityXbeeRX 				(configMAX_PRIORITIES -2)
 #define PriorityXbeeTX 				(configMAX_PRIORITIES -3)
-#define PriorityBatterie			(configMAX_PRIORITIES -4)
-#define PriorityApplicationMain		(configMAX_PRIORITIES -5)
-#define PrioritySequenceurTimeout	(configMAX_PRIORITIES -6)
-#define PriorityLeds    			(configMAX_PRIORITIES -7)
+#define PriorityMoteurs				(configMAX_PRIORITIES -4)
+#define PriorityBatterie			(configMAX_PRIORITIES -5)
+#define PriorityApplicationMain		(configMAX_PRIORITIES -6)
+#define PrioritySequenceurTimeout	(configMAX_PRIORITIES -7)
+#define PriorityLeds    			(configMAX_PRIORITIES -8)
+
+/* Periodes des taches periodiques (en ms */
+#define MOTEURS_PERIODE_ASSERVISSEMENT	(5)
+#define APPLICATION_PERIODE				(100)
+#define BATTERIE_PERIODE_SCRUTATION		(1000)
+#define LEDS_PERIODE					(100)
+
 
-#define BATTERIE_PERIODE_SCRUTATION	1000
 #define XBEE_TX_SEMAPHORE_WAIT		500
 #define XBEE_RX_BUFFER_MAX_LENGTH	50
 
+#define APPLICATION_INACTIVITY_TIMEOUT	(2*60*1000) // 2 minutes, expressed in ms
+#define APPLICATION_WATCHDOG_MIN		(900)    	// minimum time to wait before resetting watchdog, expressed in ms
+#define APPLICATION_WATCHDOG_MAX		(1100)    	// maximum time to wait before resetting watchdog, expressed in ms
+#define APPLICATION_WATCHDOG_MISSED_MAX (3)			// Maximum missed timeout reset before entering watchdog disabled state
+#define APPLICATION_STARTUP_DELAY		(3*1000)	// Startup delay, expressed in ms
+
 TickType_t msToTicks(TickType_t ms);
diff --git a/software/dumber3/Application/leds.c b/software/dumber3/Application/leds.c
index 53b0160..fb0cfd3 100644
--- a/software/dumber3/Application/leds.c
+++ b/software/dumber3/Application/leds.c
@@ -169,9 +169,14 @@ void LEDS_Tests(void* params) {
 void LEDS_AnimationThread(void* params) {
 	MESSAGE_Typedef msg;
 	uint8_t cnt=0;
+	TickType_t xLastWakeTime;
+
+	// Initialise the xLastWakeTime variable with the current time.
+	xLastWakeTime = xTaskGetTickCount();
 
 	while (1) {
-		vTaskDelay(pdMS_TO_TICKS(100));
+		// Wait for the next cycle.
+		vTaskDelayUntil( &xLastWakeTime, pdMS_TO_TICKS(LEDS_PERIODE));
 
 		msg = MESSAGE_ReadMailboxNoDelay(LEDS_Mailbox);
 		cnt++;
diff --git a/software/dumber3/Application/messages.h b/software/dumber3/Application/messages.h
index 77637d3..1a61190 100644
--- a/software/dumber3/Application/messages.h
+++ b/software/dumber3/Application/messages.h
@@ -34,8 +34,9 @@ extern QueueHandle_t APPLICATION_Mailbox;
 
 #define MSG_ID_BUTTON_PRESSED		0x30
 
-#define MSG_ID_MOTEURS_MARCHE		0x40
-#define MSG_ID_MOTEURS_ARRET		0x41
+#define MSG_ID_MOTEURS_STOP			0x40
+#define MSG_ID_MOTEURS_MOVE			0x41
+#define MSG_ID_MOTEURS_TURN			0x42
 
 #define MSG_ID_XBEE_CMD				0x50
 
diff --git a/software/dumber3/Application/moteurs.c b/software/dumber3/Application/moteurs.c
index 83b3b1f..63fbd16 100644
--- a/software/dumber3/Application/moteurs.c
+++ b/software/dumber3/Application/moteurs.c
@@ -6,19 +6,41 @@
  */
 
 #include "moteurs.h"
+#include "timers.h"
 
-//extern LPTIM_HandleTypeDef hlptim1;
+/*
+ * Global informations
+ * Main clock: 6 Mhz
+ * Tim2 PWM Input (CH1): Encodeur droit PHB : 0 -> 65535
+ * TIM21 PWM Input (CH1): Encodeur Gauche PHA: 0 -> 65535
+ * TIM3: PWM Output moteur (0->200) (~30 Khz)
+ */
 
 extern TIM_HandleTypeDef htim2;
 extern TIM_HandleTypeDef htim21;
+extern TIM_HandleTypeDef htim3;
 
-int16_t MOTEUR_CmdMoteurG;
-int16_t MOTEUR_CmdMoteurD;
-int16_t MOTEUR_ConsigneMoteurG;
-int16_t MOTEUR_ConsigneMoteurD;
+#define MOTEURS_MAX_COMMANDE	200
+#define MOTEURS_MAX_CONSIGNE	100
+#define MOTEURS_MAX_ENCODEUR	65535
 
-int16_t MOTEUR_NBImpulsionsG;
-int16_t MOTEUR_NBImpulsionsD;
+typedef struct {
+	int16_t commande;
+	int16_t consigne;
+	uint16_t encodeur;
+	uint8_t moteurLent;
+} MOTEURS_EtatMoteur;
+
+typedef struct {
+	uint8_t type;
+	int16_t commande;
+	int16_t consigne;
+	uint32_t distance;
+	uint32_t tours;
+} MOTEURS_EtatDiff;
+
+MOTEURS_EtatMoteur MOTEURS_EtatMoteurGauche, MOTEURS_EtatMoteurDroit = {0};
+MOTEURS_EtatDiff MOTEURS_EtatDifferentiel;
 
 uint16_t MOTEUR_DerniereValEncodeursG;
 uint16_t MOTEUR_DerniereValEncodeursD;
@@ -29,13 +51,164 @@ uint16_t MOTEUR_DerniereValEncodeursD;
 #define MOTEUR_Kp 		15
 #define MOTEUR_DELAY	3
 
-/*
- * Global informations
- * Main clock: 6 Mhz
- * Tim2 PWM range: 0 - 255 (freq: 23437,5 Mhz)
- * TIM21: encodeur gauche (0 - 65535)
- * LPTIM: encodeur droit (0 - 65535)
+/***** Tasks part *****/
+
+/* Tache moteurs (gestion des messages) */
+StaticTask_t xTaskMoteurs;
+StackType_t xStackMoteurs[ STACK_SIZE ];
+TaskHandle_t xHandleMoteurs = NULL;
+void MOTEURS_TachePrincipale(void* params);
+
+/* Tache moteurs périodique (asservissement) */
+StaticTask_t xTaskMoteursAsservissement;
+StackType_t xStackMoteursAsservissement[ STACK_SIZE ];
+TaskHandle_t xHandleMoteursAsservissement = NULL;
+void MOTEURS_TacheAsservissement( void* params ) ;
+
+/* Fonctions diverses */
+void MOTEURS_Set(int16_t cmdGauche, int16_t cmdDroit);
+void MOTEURS_DesactiveAlim(void);
+void MOTEURS_ActiveAlim(void);
+GPIO_PinState MOTEURS_EtatAlim(void);
+uint16_t MOTEURS_CorrectionEncodeur(uint16_t encodeur);
+
+/**
+ * @brief Fonction d'initialisation des moteurs
+ *
  */
+void MOTEURS_Init(void) {
+	/* Désactive les alimentations des moteurs */
+	MOTEURS_DesactiveAlim();
+
+	/* Create the task without using any dynamic memory allocation. */
+	xHandleMoteurs = xTaskCreateStatic(
+			MOTEURS_TachePrincipale,       /* Function that implements the task. */
+			"MOTEURS Principale",          /* Text name for the task. */
+			STACK_SIZE,      /* Number of indexes in the xStack array. */
+			NULL,    /* Parameter passed into the task. */
+			PriorityMoteurs,/* Priority at which the task is created. */
+			xStackMoteurs,          /* Array to use as the task's stack. */
+			&xTaskMoteurs);  /* Variable to hold the task's data structure. */
+	vTaskResume(xHandleMoteurs);
+
+	/* Create the task without using any dynamic memory allocation. */
+	xHandleMoteursAsservissement = xTaskCreateStatic(
+			MOTEURS_TacheAsservissement,       /* Function that implements the task. */
+			"MOTEURS Asservissement",          /* Text name for the task. */
+			STACK_SIZE,      /* Number of indexes in the xStack array. */
+			NULL,    /* Parameter passed into the task. */
+			PriorityMoteursAsservissement,/* Priority at which the task is created. */
+			xStackMoteursAsservissement,          /* Array to use as the task's stack. */
+			&xTaskMoteursAsservissement);  /* Variable to hold the task's data structure. */
+	vTaskSuspend(xHandleMoteursAsservissement); // On ne lance la tache d'asservissement que lorsque'une commande moteur arrive
+}
+
+void MOTEURS_Avance(uint32_t distance) {
+	static uint32_t dist;
+
+	dist = distance;
+	MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_MOVE, APPLICATION_Mailbox, (void*)dist);
+}
+
+void MOTEURS_Tourne(uint32_t tours) {
+	static uint32_t turns;
+
+	turns = tours;
+	MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_TURN, APPLICATION_Mailbox, (void*)turns);
+}
+
+void MOTEURS_Stop(void) {
+	MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_STOP, APPLICATION_Mailbox, (void*)NULL);
+}
+
+/*
+ * @brief Tache de supervision des moteurs
+ * 		  Gestion de la boite aux lettres moteurs, et supervision generale
+ * @params params non utilisé
+ */
+void MOTEURS_TachePrincipale(void* params) {
+	MESSAGE_Typedef msg;
+	uint32_t distance, tours;
+
+	while (1) {
+		msg = MESSAGE_ReadMailbox(MOTEURS_Mailbox);
+
+		switch (msg.id) {
+		case MSG_ID_MOTEURS_MOVE:
+			distance = *((uint32_t*)msg.data);
+
+			// TODO: trucs a faire ici
+			vTaskResume(xHandleMoteursAsservissement);
+			break;
+		case MSG_ID_MOTEURS_TURN:
+			tours = *((uint32_t*)msg.data);
+
+			// TODO: trucs a faire ici
+			vTaskResume(xHandleMoteursAsservissement);
+			break;
+		case MSG_ID_MOTEURS_STOP:
+			// TODO: trucs a faire ici
+			vTaskSuspend(xHandleMoteursAsservissement);
+			break;
+		default:
+			break;
+		}
+	}
+}
+
+/*
+ * @brief Tache d'asservissement, periodique (10ms)
+ *
+ * @params params non utilisé
+ */
+void MOTEURS_TacheAsservissement( void* params ) {
+	TickType_t xLastWakeTime;
+	int16_t deltaG, deltaD =0;
+
+	uint16_t encodeurGauche, encodeurDroit;
+
+	// Initialise the xLastWakeTime variable with the current time.
+	xLastWakeTime = xTaskGetTickCount();
+
+	for (;;) {
+		// Wait for the next cycle.
+		vTaskDelayUntil( &xLastWakeTime, pdMS_TO_TICKS(MOTEURS_PERIODE_ASSERVISSEMENT));
+
+		encodeurGauche = MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurGauche.encodeur);
+		encodeurDroit = MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurDroit.encodeur);
+
+		deltaG = MOTEURS_EtatMoteurGauche.consigne - encodeurGauche;
+		deltaD = MOTEURS_EtatMoteurDroit.consigne - encodeurDroit;
+
+		if (((MOTEURS_EtatMoteurDroit.consigne ==0) && (MOTEURS_EtatMoteurGauche.consigne ==0)) &&
+				((deltaD==0) && (deltaG==0))) MOTEURS_DesactiveAlim();
+		else MOTEURS_ActiveAlim();
+
+		if (deltaG !=0) {
+			MOTEURS_EtatMoteurGauche.commande = MOTEURS_EtatMoteurGauche.commande + MOTEUR_Kp*deltaG;
+			if (MOTEURS_EtatMoteurGauche.consigne>=0) {
+				if (MOTEURS_EtatMoteurGauche.commande>255) MOTEURS_EtatMoteurGauche.commande=255;
+				if (MOTEURS_EtatMoteurGauche.commande<0) MOTEURS_EtatMoteurGauche.commande=0;
+			} else {
+				if (MOTEURS_EtatMoteurGauche.commande>0) MOTEURS_EtatMoteurGauche.commande=0;
+				if (MOTEURS_EtatMoteurGauche.commande<-255) MOTEURS_EtatMoteurGauche.commande=-255;
+			}
+		}
+
+		if (deltaD !=0) {
+			MOTEURS_EtatMoteurDroit.commande = MOTEURS_EtatMoteurDroit.commande + MOTEUR_Kp*deltaD;
+			if (MOTEURS_EtatMoteurDroit.consigne>=0) {
+				if (MOTEURS_EtatMoteurDroit.commande>255) MOTEURS_EtatMoteurDroit.commande=255;
+				if (MOTEURS_EtatMoteurDroit.commande<0) MOTEURS_EtatMoteurDroit.commande=0;
+			} else {
+				if (MOTEURS_EtatMoteurDroit.commande>0) MOTEURS_EtatMoteurDroit.commande=0;
+				if (MOTEURS_EtatMoteurDroit.commande<-255) MOTEURS_EtatMoteurDroit.commande=-255;
+			}
+		}
+
+		MOTEURS_Set(MOTEURS_EtatMoteurGauche.commande, MOTEURS_EtatMoteurDroit.commande);
+	}
+}
 
 /**
  *
@@ -60,157 +233,143 @@ GPIO_PinState MOTEURS_EtatAlim(void) {
 	return HAL_GPIO_ReadPin(GPIOB, SHUTDOWN_5V_Pin);
 }
 
-int16_t MOTEUR_LireEncodeursGauche(void) {
-	uint16_t loc_val= htim21.Instance->CNT;
-	uint16_t overflow = htim21.Instance->SR;
-	int16_t val_end;
+/**
+ * @brief Active les encodeurs et le régulateur des moteur si nécessaire et
+ *        règle la commande du moteur (entre -MOTEURS_MAX_CONSIGNE et +MOTEURS_MAX_CONSIGNE)
+ */
+void MOTEURS_Set(int16_t cmdGauche, int16_t cmdDroit) {
+	uint8_t locValGauche, locValDroit;
 
-	htim21.Instance->SR = htim21.Instance->SR & ~(TIM_SR_UIF);
-
-	if (overflow & TIM_SR_UIF) {
-		val_end = 0xFFFF-loc_val + MOTEUR_DerniereValEncodeursG;
+	if (cmdGauche>=0) {
+		if (cmdGauche>MOTEURS_MAX_CONSIGNE)
+			locValGauche = MOTEURS_MAX_CONSIGNE;
+		else
+			locValGauche =(uint8_t)cmdGauche;
 	} else {
-		val_end = MOTEUR_DerniereValEncodeursG-loc_val;
+		if (cmdGauche < -MOTEURS_MAX_CONSIGNE)
+			locValGauche = MOTEURS_MAX_CONSIGNE;
+		else
+			locValGauche =(uint8_t)(-cmdGauche);
 	}
 
-	MOTEUR_DerniereValEncodeursG = loc_val;
-	return val_end;
-}
-
-int16_t MOTEUR_LireEncodeursDroit(void) {
-//	uint16_t loc_val= hlptim1.Instance->CNT;
-//	uint32_t status = hlptim1.Instance->ISR;
-//	int16_t val_end;
-//
-//	hlptim1.Instance->ICR=0xFF; // refait descendre les flags ISR
-//
-//	if (status & LPTIM_ISR_ARRM) {
-//		val_end = 0xFFFF-loc_val + MOTEUR_DerniereValEncodeursD;
-//	} else {
-//		val_end = MOTEUR_DerniereValEncodeursD-loc_val;
-//	}
-//
-//	val_end= -val_end;
-//
-//	MOTEUR_DerniereValEncodeursD = loc_val;
-//	return val_end;
-	return 0;
-}
-
-/**
- *
- */
-void MOTEURS_Init(void) {
-	/* Desactive les alimentations des moteurs */
-	MOTEURS_DesactiveAlim();
-
-//	/* Lance les timers (timers PWM + timers encodeurs) et regle tout à zero*/
-//	hlptim1.Instance->CR = LPTIM_CR_ENABLE;
-//	hlptim1.Instance->CR =  LPTIM_CR_ENABLE | LPTIM_CR_CNTSTRT;
-//	hlptim1.Instance->ARR = 65535;
-//	hlptim1.Instance->CFGR = LPTIM_CFGR_ENC;
-//
-//	hlptim1.Instance->CNT = 0;
-
-	htim21.Instance->ARR = 65535;
-	htim21.Instance->CR1 = htim21.Instance->CR1 | TIM_CR1_CEN| TIM_CR1_URS;
-	htim21.Instance->CNT = 0;
-
-	htim2.Instance->ARR = 255;
-	htim2.Instance->CNT = 0;
-	htim2.Instance->CCR1 = 0;
-	htim2.Instance->CCR2 = 0;
-	htim2.Instance->CCR3 = 0;
-	htim2.Instance->CCR4 = 0;
-	htim2.Instance->CR1 = htim2.Instance->CR1 | TIM_CR1_CEN;
-	htim2.Instance->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC3E | TIM_CCER_CC4E;
-
-	MOTEUR_CmdMoteurG =0;
-	MOTEUR_CmdMoteurD =0;
-	MOTEUR_ConsigneMoteurG =0;
-	MOTEUR_ConsigneMoteurD =0;
-}
-
-/**
- * @brief Active les encodeurs et le regulateur des moteur si necessaire et
- *        regle la commande du moteur (entre -255 et +255)
- */
-void MOTEURS_Set(uint8_t mot, int16_t val) {
-	uint8_t loc_val;
-
-	if (val>=0) {
-		if (val>255) loc_val = 255;
-		else  loc_val =(uint8_t)val;
+	if (cmdDroit>=0) {
+		if (cmdDroit>MOTEURS_MAX_CONSIGNE)
+			locValDroit = MOTEURS_MAX_CONSIGNE;
+		else
+			locValDroit =(uint8_t)cmdDroit;
 	} else {
-		if (val < -255) loc_val = 255;
-		else loc_val =(uint8_t)(-val);
+		if (cmdDroit < -MOTEURS_MAX_CONSIGNE)
+			locValDroit = MOTEURS_MAX_CONSIGNE;
+		else
+			locValDroit =(uint8_t)(-cmdDroit);
 	}
 
 	if (MOTEURS_EtatAlim()==GPIO_PIN_RESET)
 		MOTEURS_ActiveAlim();
 
-	if (mot == MOTEUR_DROIT) {
-		if (val >=0) {
-			htim2.Instance->CCR1 = (uint16_t)loc_val;
-			htim2.Instance->CCR2 = 0;
-		} else {
-			htim2.Instance->CCR2 = (uint16_t)loc_val;
-			htim2.Instance->CCR1 = 0;
-		}
+	// Moteur droit
+	if (cmdDroit >=0) {
+		htim2.Instance->CCR1 = (uint16_t)locValDroit;
+		htim2.Instance->CCR2 = 0;
 	} else {
-		if (val >=0) {
-			htim2.Instance->CCR4 = (uint16_t)loc_val;
-			htim2.Instance->CCR3 = 0;
-		} else {
-			htim2.Instance->CCR3 = (uint16_t)loc_val;
-			htim2.Instance->CCR4 = 0;
-		}
+		htim2.Instance->CCR2 = (uint16_t)locValDroit;
+		htim2.Instance->CCR1 = 0;
+	}
+
+	// Moteur gauche
+	if (cmdGauche >=0) {
+		htim2.Instance->CCR4 = (uint16_t)locValGauche;
+		htim2.Instance->CCR3 = 0;
+	} else {
+		htim2.Instance->CCR3 = (uint16_t)locValGauche;
+		htim2.Instance->CCR4 = 0;
 	}
 }
 
-void MOTEURS_Test (void) {
-	int16_t deltaG, deltaD =0;
-
-	MOTEUR_LireEncodeursGauche();
-	MOTEUR_LireEncodeursDroit();
-
-	while (1) {
-		HAL_Delay(MOTEUR_DELAY);
-
-		MOTEUR_NBImpulsionsG = MOTEUR_LireEncodeursGauche();
-		MOTEUR_NBImpulsionsD = MOTEUR_LireEncodeursDroit();
-
-		deltaG = MOTEUR_ConsigneMoteurG - MOTEUR_NBImpulsionsG;
-		deltaD = MOTEUR_ConsigneMoteurD - MOTEUR_NBImpulsionsD;
-
-		if (((MOTEUR_ConsigneMoteurD ==0) && (MOTEUR_ConsigneMoteurG ==0)) &&
-				((deltaD==0) && (deltaG==0))) MOTEURS_DesactiveAlim();
-		else MOTEURS_ActiveAlim();
-
-		if (deltaG !=0) {
-			MOTEUR_CmdMoteurG = MOTEUR_CmdMoteurG + MOTEUR_Kp*deltaG;
-			if (MOTEUR_ConsigneMoteurG>=0) {
-				if (MOTEUR_CmdMoteurG>255) MOTEUR_CmdMoteurG=255;
-				if (MOTEUR_CmdMoteurG<0) MOTEUR_CmdMoteurG=0;
-			} else {
-				if (MOTEUR_CmdMoteurG>0) MOTEUR_CmdMoteurG=0;
-				if (MOTEUR_CmdMoteurG<-255) MOTEUR_CmdMoteurG=-255;
-			}
-
-			MOTEURS_Set(MOTEUR_GAUCHE, MOTEUR_CmdMoteurG);
-		}
-
-		if (deltaD !=0) {
-			MOTEUR_CmdMoteurD = MOTEUR_CmdMoteurD + MOTEUR_Kp*deltaD;
-			if (MOTEUR_ConsigneMoteurD>=0) {
-				if (MOTEUR_CmdMoteurD>255) MOTEUR_CmdMoteurD=255;
-				if (MOTEUR_CmdMoteurD<0) MOTEUR_CmdMoteurD=0;
-			} else {
-				if (MOTEUR_CmdMoteurD>0) MOTEUR_CmdMoteurD=0;
-				if (MOTEUR_CmdMoteurD<-255) MOTEUR_CmdMoteurD=-255;
-			}
-
-			MOTEURS_Set(MOTEUR_DROIT, MOTEUR_CmdMoteurD);
-		}
+/*
+ * @brief Recupere les mesures brutes des encodeurs et les enregistre dans la structure moteur correspondante
+ *
+ * @param htim pointeur sur la reference du timer qui generé l'interruption
+ */
+void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
+	if (htim->Instance==TIM2) { /* moteur gauche */
+		MOTEURS_EtatMoteurGauche.encodeur = (uint16_t)TIM2->CCR1;
+		MOTEURS_EtatMoteurGauche.moteurLent = 0;
+	} else { /* moteur droit */
+		MOTEURS_EtatMoteurDroit.encodeur = (uint16_t)TIM21->CCR1;
+		MOTEURS_EtatMoteurDroit.moteurLent = 0;
 	}
 }
+
+/*
+ * @brief Gestionnaire d'interruption "overflow"
+ * 		  Lorsque deux interruptions "overflow" sont arrivées sans que l'interruption capture n'arrive,
+ * 		  cela signifie que le moteur est à l'arret.
+ * 		  On met la valeur de l'encodeur à MOTEURS_MAX_ENCODEUR
+ *
+ * @param htim pointeur sur la reference du timer qui generé l'interruption
+ */
+void MOTEURS_TimerEncodeurUpdate (TIM_HandleTypeDef *htim) {
+	if (htim->Instance==TIM2) { /* moteur gauche */
+		if ((MOTEURS_EtatMoteurGauche.moteurLent++) >=2) {
+			MOTEURS_EtatMoteurGauche.encodeur = MOTEURS_MAX_ENCODEUR;
+			MOTEURS_EtatMoteurGauche.moteurLent = 0;
+		}
+	} else { /* moteur droit */
+		if ((MOTEURS_EtatMoteurDroit.moteurLent++) >=2) {
+			MOTEURS_EtatMoteurDroit.encodeur = MOTEURS_MAX_ENCODEUR;
+			MOTEURS_EtatMoteurDroit.moteurLent = 0;
+		}
+	}
+
+}
+
+typedef struct {
+	uint16_t encodeur;
+	uint16_t correction;
+} MOTEURS_CorrectionPoint;
+
+#define MOTEURS_MAX_CORRECTION_POINTS 8
+
+const MOTEURS_CorrectionPoint MOTEURS_CorrectionPoints[MOTEURS_MAX_CORRECTION_POINTS]=
+{
+		{MOTEURS_MAX_ENCODEUR-1, 1},
+		{4000, 50},
+		{1000, 80},
+		{500, 200},
+		{400, 400},
+		{300, 1000},
+		{200,3000},
+		{0,MOTEURS_MAX_ENCODEUR}
+};
+
+/*
+ * @brief Fonction de conversion des valeurs brutes de l'encodeur en valeur linearisées
+ *
+ * @param encodeur valeur brute de l'encodeur
+ * @return valeur linearisée
+ */
+uint16_t MOTEURS_CorrectionEncodeur(uint16_t encodeur) {
+	uint16_t correction=0;
+	uint8_t index=0;
+	int32_t pente, origine;
+
+	if (encodeur ==MOTEURS_MAX_ENCODEUR)
+		correction =0;
+	else { // recherche par dichotomie de l'intervale
+		while (index <MOTEURS_MAX_CORRECTION_POINTS) {
+			if ((MOTEURS_CorrectionPoints[index].encodeur>=encodeur) && (MOTEURS_CorrectionPoints[index+1].encodeur<encodeur)) {
+				// valeur trouvée, on sort
+				break;
+			} else
+				index++;
+		}
+
+		pente = 1000*(MOTEURS_CorrectionPoints[index].encodeur-MOTEURS_CorrectionPoints[index+1].encodeur)/(MOTEURS_CorrectionPoints[index].correction - MOTEURS_CorrectionPoints[index+1].correction);
+		origine = MOTEURS_CorrectionPoints[index].correction-((pente*MOTEURS_CorrectionPoints[index].encodeur)/1000);
+
+		correction = origine - ((pente*encodeur)/1000);
+	}
+
+	return correction;
+}
diff --git a/software/dumber3/Application/moteurs.h b/software/dumber3/Application/moteurs.h
index bc432df..d4724e7 100644
--- a/software/dumber3/Application/moteurs.h
+++ b/software/dumber3/Application/moteurs.h
@@ -12,6 +12,11 @@
 
 void MOTEURS_Init(void);
 //void MOTEURS_Set(uint8_t mot, int16_t val);
-void MOTEURS_Test (void);
+//void MOTEURS_Test (void);
+void MOTEURS_Avance(uint32_t distance);
+void MOTEURS_Tourne(uint32_t tours);
+void MOTEURS_Stop(void);
+
+void MOTEURS_TimerEncodeurUpdate (TIM_HandleTypeDef *htim);
 
 #endif /* INC_MOTEURS_H_ */
diff --git a/software/dumber3/Core/Inc/FreeRTOSConfig.h b/software/dumber3/Core/Inc/FreeRTOSConfig.h
index 7dc0212..75506e2 100644
--- a/software/dumber3/Core/Inc/FreeRTOSConfig.h
+++ b/software/dumber3/Core/Inc/FreeRTOSConfig.h
@@ -51,7 +51,6 @@
 #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
   #include <stdint.h>
   extern uint32_t SystemCoreClock;
-  void xPortSysTickHandler(void);
 #endif
 #define configENABLE_FPU                         0
 #define configENABLE_MPU                         0
@@ -91,6 +90,9 @@
 #define configTIMER_QUEUE_LENGTH                 10
 #define configTIMER_TASK_STACK_DEPTH             256
 
+/* The following flag must be enabled only when using newlib */
+#define configUSE_NEWLIB_REENTRANT          1
+
 /* Set the following definitions to 1 to include the API function, or zero
 to exclude the API function. */
 #define INCLUDE_vTaskPrioritySet             1
@@ -131,7 +133,7 @@ standard names. */
 /* IMPORTANT: This define is commented when used with STM32Cube firmware, when the timebase source is SysTick,
               to prevent overwriting SysTick_Handler defined within STM32Cube HAL */
 
-/* #define xPortSysTickHandler SysTick_Handler */
+#define xPortSysTickHandler SysTick_Handler
 
 /* USER CODE BEGIN Defines */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
diff --git a/software/dumber3/Core/Inc/main.h b/software/dumber3/Core/Inc/main.h
index b83a03f..833c8cc 100644
--- a/software/dumber3/Core/Inc/main.h
+++ b/software/dumber3/Core/Inc/main.h
@@ -67,7 +67,7 @@ void Error_Handler(void);
 #define ENC_PHA_GAUCHE_GPIO_Port GPIOA
 #define ENC_PHA_DROIT_Pin GPIO_PIN_2
 #define ENC_PHA_DROIT_GPIO_Port GPIOA
-#define ENC_PHB_DROIT_Pin GPIO_PIN_3
+#define ENC_PHB_DROIT_Pin GPIO_PIN_4
 #define ENC_PHB_DROIT_GPIO_Port GPIOA
 #define ENC_PHB_GAUCHE_Pin GPIO_PIN_5
 #define ENC_PHB_GAUCHE_GPIO_Port GPIOA
diff --git a/software/dumber3/Core/Inc/stm32l0xx_hal_conf.h b/software/dumber3/Core/Inc/stm32l0xx_hal_conf.h
index 186ee33..b245509 100644
--- a/software/dumber3/Core/Inc/stm32l0xx_hal_conf.h
+++ b/software/dumber3/Core/Inc/stm32l0xx_hal_conf.h
@@ -47,7 +47,7 @@
 /*#define HAL_I2S_MODULE_ENABLED   */
 /*#define HAL_IWDG_MODULE_ENABLED   */
 /*#define HAL_LCD_MODULE_ENABLED   */
-#define HAL_LPTIM_MODULE_ENABLED
+/*#define HAL_LPTIM_MODULE_ENABLED   */
 /*#define HAL_RNG_MODULE_ENABLED   */
 /*#define HAL_RTC_MODULE_ENABLED   */
 /*#define HAL_SPI_MODULE_ENABLED   */
diff --git a/software/dumber3/Core/Inc/stm32l0xx_it.h b/software/dumber3/Core/Inc/stm32l0xx_it.h
index a9eeace..6c0473b 100644
--- a/software/dumber3/Core/Inc/stm32l0xx_it.h
+++ b/software/dumber3/Core/Inc/stm32l0xx_it.h
@@ -49,12 +49,13 @@
 /* Exported functions prototypes ---------------------------------------------*/
 void NMI_Handler(void);
 void HardFault_Handler(void);
-void SysTick_Handler(void);
 void EXTI2_3_IRQHandler(void);
 void EXTI4_15_IRQHandler(void);
 void DMA1_Channel2_3_IRQHandler(void);
 void ADC1_COMP_IRQHandler(void);
-void LPTIM1_IRQHandler(void);
+void TIM2_IRQHandler(void);
+void TIM6_IRQHandler(void);
+void TIM21_IRQHandler(void);
 void LPUART1_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
diff --git a/software/dumber3/Core/Src/main.c b/software/dumber3/Core/Src/main.c
index 43e2dc7..f38ec13 100644
--- a/software/dumber3/Core/Src/main.c
+++ b/software/dumber3/Core/Src/main.c
@@ -44,8 +44,6 @@
 /* Private variables ---------------------------------------------------------*/
 ADC_HandleTypeDef hadc;
 
-LPTIM_HandleTypeDef hlptim1;
-
 UART_HandleTypeDef hlpuart1;
 DMA_HandleTypeDef hdma_lpuart1_tx;
 DMA_HandleTypeDef hdma_lpuart1_rx;
@@ -53,6 +51,7 @@ DMA_HandleTypeDef hdma_lpuart1_rx;
 TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim21;
+TIM_HandleTypeDef htim22;
 
 /* Definitions for defaultTask */
 osThreadId_t defaultTaskHandle;
@@ -74,7 +73,7 @@ static void MX_TIM2_Init(void);
 static void MX_TIM3_Init(void);
 static void MX_TIM21_Init(void);
 static void MX_ADC_Init(void);
-static void MX_LPTIM1_Init(void);
+static void MX_TIM22_Init(void);
 void StartDefaultTask(void *argument);
 
 /* USER CODE BEGIN PFP */
@@ -120,7 +119,7 @@ int main(void)
   MX_TIM3_Init();
   MX_TIM21_Init();
   MX_ADC_Init();
-  MX_LPTIM1_Init();
+  MX_TIM22_Init();
   /* USER CODE BEGIN 2 */
   APPLICATION_Init();
   /* USER CODE END 2 */
@@ -214,10 +213,8 @@ void SystemClock_Config(void)
   {
     Error_Handler();
   }
-  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_LPUART1|RCC_PERIPHCLK_LPTIM1;
+  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_LPUART1;
   PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_PCLK1;
-  PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_PCLK;
-
   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
   {
     Error_Handler();
@@ -280,38 +277,6 @@ static void MX_ADC_Init(void)
 
 }
 
-/**
-  * @brief LPTIM1 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_LPTIM1_Init(void)
-{
-
-  /* USER CODE BEGIN LPTIM1_Init 0 */
-
-  /* USER CODE END LPTIM1_Init 0 */
-
-  /* USER CODE BEGIN LPTIM1_Init 1 */
-
-  /* USER CODE END LPTIM1_Init 1 */
-  hlptim1.Instance = LPTIM1;
-  hlptim1.Init.Clock.Source = LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC;
-  hlptim1.Init.Clock.Prescaler = LPTIM_PRESCALER_DIV1;
-  hlptim1.Init.Trigger.Source = LPTIM_TRIGSOURCE_SOFTWARE;
-  hlptim1.Init.OutputPolarity = LPTIM_OUTPUTPOLARITY_HIGH;
-  hlptim1.Init.UpdateMode = LPTIM_UPDATE_IMMEDIATE;
-  hlptim1.Init.CounterSource = LPTIM_COUNTERSOURCE_INTERNAL;
-  if (HAL_LPTIM_Init(&hlptim1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN LPTIM1_Init 2 */
-
-  /* USER CODE END LPTIM1_Init 2 */
-
-}
-
 /**
   * @brief LPUART1 Initialization Function
   * @param None
@@ -358,28 +323,53 @@ static void MX_TIM2_Init(void)
 
   /* USER CODE END TIM2_Init 0 */
 
-  TIM_Encoder_InitTypeDef sConfig = {0};
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_SlaveConfigTypeDef sSlaveConfig = {0};
+  TIM_IC_InitTypeDef sConfigIC = {0};
   TIM_MasterConfigTypeDef sMasterConfig = {0};
 
   /* USER CODE BEGIN TIM2_Init 1 */
 
   /* USER CODE END TIM2_Init 1 */
   htim2.Instance = TIM2;
-  htim2.Init.Prescaler = 0;
+  htim2.Init.Prescaler = 9;
   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
   htim2.Init.Period = 65535;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim2.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(&htim2, &sConfig) != HAL_OK)
+  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
+  sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
+  sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
+  sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1;
+  sSlaveConfig.TriggerFilter = 0;
+  if (HAL_TIM_SlaveConfigSynchro(&htim2, &sSlaveConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
+  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
+  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
+  sConfigIC.ICFilter = 0;
+  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
+  sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
+  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
   {
     Error_Handler();
   }
@@ -417,7 +407,7 @@ static void MX_TIM3_Init(void)
   htim3.Instance = TIM3;
   htim3.Init.Prescaler = 0;
   htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim3.Init.Period = 65535;
+  htim3.Init.Period = 199;
   htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
@@ -482,28 +472,53 @@ static void MX_TIM21_Init(void)
 
   /* USER CODE END TIM21_Init 0 */
 
-  TIM_Encoder_InitTypeDef sConfig = {0};
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_SlaveConfigTypeDef sSlaveConfig = {0};
+  TIM_IC_InitTypeDef sConfigIC = {0};
   TIM_MasterConfigTypeDef sMasterConfig = {0};
 
   /* USER CODE BEGIN TIM21_Init 1 */
 
   /* USER CODE END TIM21_Init 1 */
   htim21.Instance = TIM21;
-  htim21.Init.Prescaler = 0;
+  htim21.Init.Prescaler = 9;
   htim21.Init.CounterMode = TIM_COUNTERMODE_UP;
   htim21.Init.Period = 65535;
   htim21.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim21.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(&htim21, &sConfig) != HAL_OK)
+  if (HAL_TIM_Base_Init(&htim21) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim21, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_IC_Init(&htim21) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
+  sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
+  sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
+  sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1;
+  sSlaveConfig.TriggerFilter = 0;
+  if (HAL_TIM_SlaveConfigSynchro(&htim21, &sSlaveConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
+  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
+  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
+  sConfigIC.ICFilter = 0;
+  if (HAL_TIM_IC_ConfigChannel(&htim21, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
+  sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
+  if (HAL_TIM_IC_ConfigChannel(&htim21, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
   {
     Error_Handler();
   }
@@ -519,6 +534,54 @@ static void MX_TIM21_Init(void)
 
 }
 
+/**
+  * @brief TIM22 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM22_Init(void)
+{
+
+  /* USER CODE BEGIN TIM22_Init 0 */
+
+  /* USER CODE END TIM22_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM22_Init 1 */
+
+  /* USER CODE END TIM22_Init 1 */
+  htim22.Instance = TIM22;
+  htim22.Init.Prescaler = 0;
+  htim22.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim22.Init.Period = 65535;
+  htim22.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim22.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim22) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_ETRMODE2;
+  sClockSourceConfig.ClockPolarity = TIM_CLOCKPOLARITY_NONINVERTED;
+  sClockSourceConfig.ClockPrescaler = TIM_CLOCKPRESCALER_DIV1;
+  sClockSourceConfig.ClockFilter = 0;
+  if (HAL_TIM_ConfigClockSource(&htim22, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim22, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM22_Init 2 */
+
+  /* USER CODE END TIM22_Init 2 */
+
+}
+
 /**
   * Enable DMA controller clock
   */
@@ -558,6 +621,12 @@ static void MX_GPIO_Init(void)
   HAL_GPIO_WritePin(GPIOA, LED_SEG_D_Pin|LED_SEG_E_Pin|XBEE_RESET_Pin|LED_SEG_F_Pin
                           |LED_SEG_G_Pin|LED_SEG_DP_Pin, GPIO_PIN_RESET);
 
+  /*Configure GPIO pin : ENC_PHA_GAUCHE_Pin */
+  GPIO_InitStruct.Pin = ENC_PHA_GAUCHE_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(ENC_PHA_GAUCHE_GPIO_Port, &GPIO_InitStruct);
+
   /*Configure GPIO pins : LED_SEG_A_Pin LED_SEG_B_Pin LED_SEG_C_Pin SHUTDOWN_ENCODERS_Pin
                            SHUTDOWN_5V_Pin */
   GPIO_InitStruct.Pin = LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin|SHUTDOWN_ENCODERS_Pin
@@ -652,6 +721,28 @@ void StartDefaultTask(void *argument)
   /* USER CODE END 5 */
 }
 
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM6 interrupt took place, inside
+  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+  * a global variable "uwTick" used as application time base.
+  * @param  htim : TIM handle
+  * @retval None
+  */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  /* USER CODE BEGIN Callback 0 */
+
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM6) {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
+  if ((htim->Instance == TIM2) || (htim->Instance == TIM21)) /* Timers des encodeurs */
+	  MOTEURS_TimerEncodeurUpdate(htim);
+  /* USER CODE END Callback 1 */
+}
+
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None
diff --git a/software/dumber3/Core/Src/stm32l0xx_hal_msp.c b/software/dumber3/Core/Src/stm32l0xx_hal_msp.c
index 8635127..55b68b4 100644
--- a/software/dumber3/Core/Src/stm32l0xx_hal_msp.c
+++ b/software/dumber3/Core/Src/stm32l0xx_hal_msp.c
@@ -150,56 +150,6 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
 
 }
 
-/**
-* @brief LPTIM MSP Initialization
-* This function configures the hardware resources used in this example
-* @param hlptim: LPTIM handle pointer
-* @retval None
-*/
-void HAL_LPTIM_MspInit(LPTIM_HandleTypeDef* hlptim)
-{
-  if(hlptim->Instance==LPTIM1)
-  {
-  /* USER CODE BEGIN LPTIM1_MspInit 0 */
-
-  /* USER CODE END LPTIM1_MspInit 0 */
-    /* Peripheral clock enable */
-    __HAL_RCC_LPTIM1_CLK_ENABLE();
-    /* LPTIM1 interrupt Init */
-    HAL_NVIC_SetPriority(LPTIM1_IRQn, 3, 0);
-    HAL_NVIC_EnableIRQ(LPTIM1_IRQn);
-  /* USER CODE BEGIN LPTIM1_MspInit 1 */
-
-  /* USER CODE END LPTIM1_MspInit 1 */
-  }
-
-}
-
-/**
-* @brief LPTIM MSP De-Initialization
-* This function freeze the hardware resources used in this example
-* @param hlptim: LPTIM handle pointer
-* @retval None
-*/
-void HAL_LPTIM_MspDeInit(LPTIM_HandleTypeDef* hlptim)
-{
-  if(hlptim->Instance==LPTIM1)
-  {
-  /* USER CODE BEGIN LPTIM1_MspDeInit 0 */
-
-  /* USER CODE END LPTIM1_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_LPTIM1_CLK_DISABLE();
-
-    /* LPTIM1 interrupt DeInit */
-    HAL_NVIC_DisableIRQ(LPTIM1_IRQn);
-  /* USER CODE BEGIN LPTIM1_MspDeInit 1 */
-
-  /* USER CODE END LPTIM1_MspDeInit 1 */
-  }
-
-}
-
 /**
 * @brief UART MSP Initialization
 * This function configures the hardware resources used in this example
@@ -225,7 +175,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
     GPIO_InitStruct.Pin = USART_TX_Pin|USART_RX_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF4_LPUART1;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
@@ -310,15 +260,15 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 }
 
 /**
-* @brief TIM_Encoder MSP Initialization
+* @brief TIM_Base MSP Initialization
 * This function configures the hardware resources used in this example
-* @param htim_encoder: TIM_Encoder handle pointer
+* @param htim_base: TIM_Base handle pointer
 * @retval None
 */
-void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
+void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
 {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(htim_encoder->Instance==TIM2)
+  if(htim_base->Instance==TIM2)
   {
   /* USER CODE BEGIN TIM2_MspInit 0 */
 
@@ -328,16 +278,8 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
 
     __HAL_RCC_GPIOA_CLK_ENABLE();
     /**TIM2 GPIO Configuration
-    PA1     ------> TIM2_CH2
     PA5     ------> TIM2_CH1
     */
-    GPIO_InitStruct.Pin = ENC_PHA_GAUCHE_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_TIM2;
-    HAL_GPIO_Init(ENC_PHA_GAUCHE_GPIO_Port, &GPIO_InitStruct);
-
     GPIO_InitStruct.Pin = ENC_PHB_GAUCHE_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
@@ -345,11 +287,25 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
     GPIO_InitStruct.Alternate = GPIO_AF5_TIM2;
     HAL_GPIO_Init(ENC_PHB_GAUCHE_GPIO_Port, &GPIO_InitStruct);
 
+    /* TIM2 interrupt Init */
+    HAL_NVIC_SetPriority(TIM2_IRQn, 1, 0);
+    HAL_NVIC_EnableIRQ(TIM2_IRQn);
   /* USER CODE BEGIN TIM2_MspInit 1 */
 
   /* USER CODE END TIM2_MspInit 1 */
   }
-  else if(htim_encoder->Instance==TIM21)
+  else if(htim_base->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspInit 0 */
+
+  /* USER CODE END TIM3_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM3_CLK_ENABLE();
+  /* USER CODE BEGIN TIM3_MspInit 1 */
+
+  /* USER CODE END TIM3_MspInit 1 */
+  }
+  else if(htim_base->Instance==TIM21)
   {
   /* USER CODE BEGIN TIM21_MspInit 0 */
 
@@ -360,40 +316,43 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
     __HAL_RCC_GPIOA_CLK_ENABLE();
     /**TIM21 GPIO Configuration
     PA2     ------> TIM21_CH1
-    PA3     ------> TIM21_CH2
     */
-    GPIO_InitStruct.Pin = ENC_PHA_DROIT_Pin|ENC_PHB_DROIT_Pin;
+    GPIO_InitStruct.Pin = ENC_PHA_DROIT_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF0_TIM21;
-    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+    HAL_GPIO_Init(ENC_PHA_DROIT_GPIO_Port, &GPIO_InitStruct);
 
+    /* TIM21 interrupt Init */
+    HAL_NVIC_SetPriority(TIM21_IRQn, 1, 0);
+    HAL_NVIC_EnableIRQ(TIM21_IRQn);
   /* USER CODE BEGIN TIM21_MspInit 1 */
 
   /* USER CODE END TIM21_MspInit 1 */
   }
-
-}
-
-/**
-* @brief TIM_Base MSP Initialization
-* This function configures the hardware resources used in this example
-* @param htim_base: TIM_Base handle pointer
-* @retval None
-*/
-void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
-{
-  if(htim_base->Instance==TIM3)
+  else if(htim_base->Instance==TIM22)
   {
-  /* USER CODE BEGIN TIM3_MspInit 0 */
+  /* USER CODE BEGIN TIM22_MspInit 0 */
 
-  /* USER CODE END TIM3_MspInit 0 */
+  /* USER CODE END TIM22_MspInit 0 */
     /* Peripheral clock enable */
-    __HAL_RCC_TIM3_CLK_ENABLE();
-  /* USER CODE BEGIN TIM3_MspInit 1 */
+    __HAL_RCC_TIM22_CLK_ENABLE();
 
-  /* USER CODE END TIM3_MspInit 1 */
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM22 GPIO Configuration
+    PA4     ------> TIM22_ETR
+    */
+    GPIO_InitStruct.Pin = ENC_PHB_DROIT_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF5_TIM22;
+    HAL_GPIO_Init(ENC_PHB_DROIT_GPIO_Port, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM22_MspInit 1 */
+
+  /* USER CODE END TIM22_MspInit 1 */
   }
 
 }
@@ -425,7 +384,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
     GPIO_InitStruct.Pin = PWM_A_DROIT_Pin|PWM_B_DROIT_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
@@ -436,14 +395,14 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 
 }
 /**
-* @brief TIM_Encoder MSP De-Initialization
+* @brief TIM_Base MSP De-Initialization
 * This function freeze the hardware resources used in this example
-* @param htim_encoder: TIM_Encoder handle pointer
+* @param htim_base: TIM_Base handle pointer
 * @retval None
 */
-void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
+void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 {
-  if(htim_encoder->Instance==TIM2)
+  if(htim_base->Instance==TIM2)
   {
   /* USER CODE BEGIN TIM2_MspDeInit 0 */
 
@@ -452,45 +411,17 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
     __HAL_RCC_TIM2_CLK_DISABLE();
 
     /**TIM2 GPIO Configuration
-    PA1     ------> TIM2_CH2
     PA5     ------> TIM2_CH1
     */
-    HAL_GPIO_DeInit(GPIOA, ENC_PHA_GAUCHE_Pin|ENC_PHB_GAUCHE_Pin);
+    HAL_GPIO_DeInit(ENC_PHB_GAUCHE_GPIO_Port, ENC_PHB_GAUCHE_Pin);
 
+    /* TIM2 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(TIM2_IRQn);
   /* USER CODE BEGIN TIM2_MspDeInit 1 */
 
   /* USER CODE END TIM2_MspDeInit 1 */
   }
-  else if(htim_encoder->Instance==TIM21)
-  {
-  /* USER CODE BEGIN TIM21_MspDeInit 0 */
-
-  /* USER CODE END TIM21_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_TIM21_CLK_DISABLE();
-
-    /**TIM21 GPIO Configuration
-    PA2     ------> TIM21_CH1
-    PA3     ------> TIM21_CH2
-    */
-    HAL_GPIO_DeInit(GPIOA, ENC_PHA_DROIT_Pin|ENC_PHB_DROIT_Pin);
-
-  /* USER CODE BEGIN TIM21_MspDeInit 1 */
-
-  /* USER CODE END TIM21_MspDeInit 1 */
-  }
-
-}
-
-/**
-* @brief TIM_Base MSP De-Initialization
-* This function freeze the hardware resources used in this example
-* @param htim_base: TIM_Base handle pointer
-* @retval None
-*/
-void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
-{
-  if(htim_base->Instance==TIM3)
+  else if(htim_base->Instance==TIM3)
   {
   /* USER CODE BEGIN TIM3_MspDeInit 0 */
 
@@ -501,6 +432,42 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 
   /* USER CODE END TIM3_MspDeInit 1 */
   }
+  else if(htim_base->Instance==TIM21)
+  {
+  /* USER CODE BEGIN TIM21_MspDeInit 0 */
+
+  /* USER CODE END TIM21_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM21_CLK_DISABLE();
+
+    /**TIM21 GPIO Configuration
+    PA2     ------> TIM21_CH1
+    */
+    HAL_GPIO_DeInit(ENC_PHA_DROIT_GPIO_Port, ENC_PHA_DROIT_Pin);
+
+    /* TIM21 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(TIM21_IRQn);
+  /* USER CODE BEGIN TIM21_MspDeInit 1 */
+
+  /* USER CODE END TIM21_MspDeInit 1 */
+  }
+  else if(htim_base->Instance==TIM22)
+  {
+  /* USER CODE BEGIN TIM22_MspDeInit 0 */
+
+  /* USER CODE END TIM22_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM22_CLK_DISABLE();
+
+    /**TIM22 GPIO Configuration
+    PA4     ------> TIM22_ETR
+    */
+    HAL_GPIO_DeInit(ENC_PHB_DROIT_GPIO_Port, ENC_PHB_DROIT_Pin);
+
+  /* USER CODE BEGIN TIM22_MspDeInit 1 */
+
+  /* USER CODE END TIM22_MspDeInit 1 */
+  }
 
 }
 
diff --git a/software/dumber3/Core/Src/stm32l0xx_hal_timebase_tim.c b/software/dumber3/Core/Src/stm32l0xx_hal_timebase_tim.c
new file mode 100644
index 0000000..530e636
--- /dev/null
+++ b/software/dumber3/Core/Src/stm32l0xx_hal_timebase_tim.c
@@ -0,0 +1,137 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32l0xx_hal_timebase_TIM.c
+  * @brief   HAL time base based on the hardware TIM.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 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 "stm32l0xx_hal.h"
+#include "stm32l0xx_hal_tim.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef        htim6;
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @brief  This function configures the TIM6 as a time base source.
+  *         The time source is configured  to have 1ms time base with a dedicated
+  *         Tick interrupt priority.
+  * @note   This function is called  automatically at the beginning of program after
+  *         reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
+  * @param  TickPriority: Tick interrupt priority.
+  * @retval HAL status
+  */
+HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
+{
+  RCC_ClkInitTypeDef    clkconfig;
+  uint32_t              uwTimclock, uwAPB1Prescaler;
+
+  uint32_t              uwPrescalerValue;
+  uint32_t              pFLatency;
+  HAL_StatusTypeDef     status;
+  /*Configure the TIM6 IRQ priority */
+  HAL_NVIC_SetPriority(TIM6_IRQn, TickPriority ,0);
+
+  /* Enable the TIM6 global Interrupt */
+  HAL_NVIC_EnableIRQ(TIM6_IRQn);
+
+  /* Enable TIM6 clock */
+  __HAL_RCC_TIM6_CLK_ENABLE();
+
+  /* Get clock configuration */
+  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
+
+  /* Get APB1 prescaler */
+  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
+  /* Compute TIM6 clock */
+  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
+  {
+    uwTimclock = HAL_RCC_GetPCLK1Freq();
+  }
+  else
+  {
+    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
+  }
+
+  /* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
+
+  /* Initialize TIM6 */
+  htim6.Instance = TIM6;
+
+  /* Initialize TIMx peripheral as follow:
+  + Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
+  + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+  + ClockDivision = 0
+  + Counter direction = Up
+  */
+  htim6.Init.Period = (1000000U / 1000U) - 1U;
+  htim6.Init.Prescaler = uwPrescalerValue;
+  htim6.Init.ClockDivision = 0;
+  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+
+  status = HAL_TIM_Base_Init(&htim6);
+  if (status == HAL_OK)
+  {
+    /* Start the TIM time Base generation in interrupt mode */
+    status = HAL_TIM_Base_Start_IT(&htim6);
+    if (status == HAL_OK)
+    {
+      if (TickPriority < (1UL << __NVIC_PRIO_BITS))
+      {
+        /* Configure the TIM IRQ priority */
+        HAL_NVIC_SetPriority(TIM6_IRQn, TickPriority, 0U);
+        uwTickPrio = TickPriority;
+      }
+      else
+      {
+        status = HAL_ERROR;
+      }
+    }
+  }
+
+ /* Return function status */
+  return status;
+}
+
+/**
+  * @brief  Suspend Tick increment.
+  * @note   Disable the tick increment by disabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_SuspendTick(void)
+{
+  /* Disable TIM6 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
+/**
+  * @brief  Resume Tick increment.
+  * @note   Enable the tick increment by Enabling TIM6 update interrupt.
+  * @param  None
+  * @retval None
+  */
+void HAL_ResumeTick(void)
+{
+  /* Enable TIM6 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
+}
+
diff --git a/software/dumber3/Core/Src/stm32l0xx_it.c b/software/dumber3/Core/Src/stm32l0xx_it.c
index 2be776b..3fb0851 100644
--- a/software/dumber3/Core/Src/stm32l0xx_it.c
+++ b/software/dumber3/Core/Src/stm32l0xx_it.c
@@ -21,8 +21,6 @@
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 #include "stm32l0xx_it.h"
-#include "FreeRTOS.h"
-#include "task.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 /* USER CODE END Includes */
@@ -59,10 +57,13 @@
 
 /* External variables --------------------------------------------------------*/
 extern ADC_HandleTypeDef hadc;
-extern LPTIM_HandleTypeDef hlptim1;
 extern DMA_HandleTypeDef hdma_lpuart1_tx;
 extern DMA_HandleTypeDef hdma_lpuart1_rx;
 extern UART_HandleTypeDef hlpuart1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim21;
+extern TIM_HandleTypeDef htim6;
+
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -100,28 +101,6 @@ void HardFault_Handler(void)
   }
 }
 
-/**
-  * @brief This function handles System tick timer.
-  */
-void SysTick_Handler(void)
-{
-  /* USER CODE BEGIN SysTick_IRQn 0 */
-
-  /* USER CODE END SysTick_IRQn 0 */
-  HAL_IncTick();
-#if (INCLUDE_xTaskGetSchedulerState == 1 )
-  if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
-  {
-#endif /* INCLUDE_xTaskGetSchedulerState */
-  xPortSysTickHandler();
-#if (INCLUDE_xTaskGetSchedulerState == 1 )
-  }
-#endif /* INCLUDE_xTaskGetSchedulerState */
-  /* USER CODE BEGIN SysTick_IRQn 1 */
-
-  /* USER CODE END SysTick_IRQn 1 */
-}
-
 /******************************************************************************/
 /* STM32L0xx Peripheral Interrupt Handlers                                    */
 /* Add here the Interrupt Handlers for the used peripherals.                  */
@@ -187,17 +166,45 @@ void ADC1_COMP_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles LPTIM1 global interrupt / LPTIM1 wake-up interrupt through EXTI line 29.
+  * @brief This function handles TIM2 global interrupt.
   */
-void LPTIM1_IRQHandler(void)
+void TIM2_IRQHandler(void)
 {
-  /* USER CODE BEGIN LPTIM1_IRQn 0 */
+  /* USER CODE BEGIN TIM2_IRQn 0 */
 
-  /* USER CODE END LPTIM1_IRQn 0 */
-  HAL_LPTIM_IRQHandler(&hlptim1);
-  /* USER CODE BEGIN LPTIM1_IRQn 1 */
+  /* USER CODE END TIM2_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim2);
+  /* USER CODE BEGIN TIM2_IRQn 1 */
 
-  /* USER CODE END LPTIM1_IRQn 1 */
+  /* USER CODE END TIM2_IRQn 1 */
+}
+
+/**
+  * @brief This function handles TIM6 global interrupt.
+  */
+void TIM6_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM6_IRQn 0 */
+
+  /* USER CODE END TIM6_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim6);
+  /* USER CODE BEGIN TIM6_IRQn 1 */
+
+  /* USER CODE END TIM6_IRQn 1 */
+}
+
+/**
+  * @brief This function handles TIM21 global interrupt.
+  */
+void TIM21_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM21_IRQn 0 */
+
+  /* USER CODE END TIM21_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim21);
+  /* USER CODE BEGIN TIM21_IRQn 1 */
+
+  /* USER CODE END TIM21_IRQn 1 */
 }
 
 /**
diff --git a/software/dumber3/Drivers/STM32L0xx_HAL_Driver/Inc/stm32l0xx_hal_lptim.h b/software/dumber3/Drivers/STM32L0xx_HAL_Driver/Inc/stm32l0xx_hal_lptim.h
deleted file mode 100644
index d7feb73..0000000
--- a/software/dumber3/Drivers/STM32L0xx_HAL_Driver/Inc/stm32l0xx_hal_lptim.h
+++ /dev/null
@@ -1,771 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    stm32l0xx_hal_lptim.h
-  * @author  MCD Application Team
-  * @brief   Header file of LPTIM HAL module.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2016 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.
-  *
-  ******************************************************************************
-  */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef STM32L0xx_HAL_LPTIM_H
-#define STM32L0xx_HAL_LPTIM_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32l0xx_hal_def.h"
-
-/** @addtogroup STM32L0xx_HAL_Driver
-  * @{
-  */
-
-#if defined (LPTIM1)
-
-/** @addtogroup LPTIM
-  * @{
-  */
-
-/* Exported types ------------------------------------------------------------*/
-/** @defgroup LPTIM_Exported_Types LPTIM Exported Types
-  * @{
-  */
-#define LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT  EXTI_IMR_IM29  /*!< External interrupt line 29 Connected to the LPTIM EXTI Line */
-
-/**
-  * @brief  LPTIM Clock configuration definition
-  */
-typedef struct
-{
-  uint32_t Source;         /*!< Selects the clock source.
-                           This parameter can be a value of @ref LPTIM_Clock_Source   */
-
-  uint32_t Prescaler;      /*!< Specifies the counter clock Prescaler.
-                           This parameter can be a value of @ref LPTIM_Clock_Prescaler */
-
-} LPTIM_ClockConfigTypeDef;
-
-/**
-  * @brief  LPTIM Clock configuration definition
-  */
-typedef struct
-{
-  uint32_t Polarity;      /*!< Selects the polarity of the active edge for the counter unit
-                           if the ULPTIM input is selected.
-                           Note: This parameter is used only when Ultra low power clock source is used.
-                           Note: If the polarity is configured on 'both edges', an auxiliary clock
-                           (one of the Low power oscillator) must be active.
-                           This parameter can be a value of @ref LPTIM_Clock_Polarity */
-
-  uint32_t SampleTime;     /*!< Selects the clock sampling time to configure the clock glitch filter.
-                           Note: This parameter is used only when Ultra low power clock source is used.
-                           This parameter can be a value of @ref LPTIM_Clock_Sample_Time */
-
-} LPTIM_ULPClockConfigTypeDef;
-
-/**
-  * @brief  LPTIM Trigger configuration definition
-  */
-typedef struct
-{
-  uint32_t Source;        /*!< Selects the Trigger source.
-                          This parameter can be a value of @ref LPTIM_Trigger_Source */
-
-  uint32_t ActiveEdge;    /*!< Selects the Trigger active edge.
-                          Note: This parameter is used only when an external trigger is used.
-                          This parameter can be a value of @ref LPTIM_External_Trigger_Polarity */
-
-  uint32_t SampleTime;    /*!< Selects the trigger sampling time to configure the clock glitch filter.
-                          Note: This parameter is used only when an external trigger is used.
-                          This parameter can be a value of @ref LPTIM_Trigger_Sample_Time  */
-} LPTIM_TriggerConfigTypeDef;
-
-/**
-  * @brief  LPTIM Initialization Structure definition
-  */
-typedef struct
-{
-  LPTIM_ClockConfigTypeDef     Clock;             /*!< Specifies the clock parameters */
-
-  LPTIM_ULPClockConfigTypeDef  UltraLowPowerClock;/*!< Specifies the Ultra Low Power clock parameters */
-
-  LPTIM_TriggerConfigTypeDef   Trigger;           /*!< Specifies the Trigger parameters */
-
-  uint32_t                     OutputPolarity;    /*!< Specifies the Output polarity.
-                                                  This parameter can be a value of @ref LPTIM_Output_Polarity */
-
-  uint32_t                     UpdateMode;        /*!< Specifies whether the update of the autoreload and the compare
-                                                  values is done immediately or after the end of current period.
-                                                  This parameter can be a value of @ref LPTIM_Updating_Mode */
-
-  uint32_t                     CounterSource;     /*!< Specifies whether the counter is incremented each internal event
-                                                  or each external event.
-                                                  This parameter can be a value of @ref LPTIM_Counter_Source */
-} LPTIM_InitTypeDef;
-
-/**
-  * @brief  HAL LPTIM State structure definition
-  */
-typedef enum
-{
-  HAL_LPTIM_STATE_RESET            = 0x00U,    /*!< Peripheral not yet initialized or disabled  */
-  HAL_LPTIM_STATE_READY            = 0x01U,    /*!< Peripheral Initialized and ready for use    */
-  HAL_LPTIM_STATE_BUSY             = 0x02U,    /*!< An internal process is ongoing              */
-  HAL_LPTIM_STATE_TIMEOUT          = 0x03U,    /*!< Timeout state                               */
-  HAL_LPTIM_STATE_ERROR            = 0x04U     /*!< Internal Process is ongoing                 */
-} HAL_LPTIM_StateTypeDef;
-
-/**
-  * @brief  LPTIM handle Structure definition
-  */
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-typedef struct __LPTIM_HandleTypeDef
-#else
-typedef struct
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-{
-  LPTIM_TypeDef                 *Instance;         /*!< Register base address     */
-
-  LPTIM_InitTypeDef              Init;             /*!< LPTIM required parameters */
-
-  HAL_StatusTypeDef              Status;           /*!< LPTIM peripheral status   */
-
-  HAL_LockTypeDef                Lock;             /*!< LPTIM locking object      */
-
-  __IO  HAL_LPTIM_StateTypeDef   State;            /*!< LPTIM peripheral state    */
-
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-  void (* MspInitCallback)(struct __LPTIM_HandleTypeDef *hlptim);            /*!< LPTIM Base Msp Init Callback                 */
-  void (* MspDeInitCallback)(struct __LPTIM_HandleTypeDef *hlptim);          /*!< LPTIM Base Msp DeInit Callback               */
-  void (* CompareMatchCallback)(struct __LPTIM_HandleTypeDef *hlptim);       /*!< Compare match Callback                       */
-  void (* AutoReloadMatchCallback)(struct __LPTIM_HandleTypeDef *hlptim);    /*!< Auto-reload match Callback                   */
-  void (* TriggerCallback)(struct __LPTIM_HandleTypeDef *hlptim);            /*!< External trigger event detection Callback    */
-  void (* CompareWriteCallback)(struct __LPTIM_HandleTypeDef *hlptim);       /*!< Compare register write complete Callback     */
-  void (* AutoReloadWriteCallback)(struct __LPTIM_HandleTypeDef *hlptim);    /*!< Auto-reload register write complete Callback */
-  void (* DirectionUpCallback)(struct __LPTIM_HandleTypeDef *hlptim);        /*!< Up-counting direction change Callback        */
-  void (* DirectionDownCallback)(struct __LPTIM_HandleTypeDef *hlptim);      /*!< Down-counting direction change Callback      */
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-} LPTIM_HandleTypeDef;
-
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-/**
-  * @brief  HAL LPTIM Callback ID enumeration definition
-  */
-typedef enum
-{
-  HAL_LPTIM_MSPINIT_CB_ID          = 0x00U,    /*!< LPTIM Base Msp Init Callback ID                  */
-  HAL_LPTIM_MSPDEINIT_CB_ID        = 0x01U,    /*!< LPTIM Base Msp DeInit Callback ID                */
-  HAL_LPTIM_COMPARE_MATCH_CB_ID    = 0x02U,    /*!< Compare match Callback ID                        */
-  HAL_LPTIM_AUTORELOAD_MATCH_CB_ID = 0x03U,    /*!< Auto-reload match Callback ID                    */
-  HAL_LPTIM_TRIGGER_CB_ID          = 0x04U,    /*!< External trigger event detection Callback ID     */
-  HAL_LPTIM_COMPARE_WRITE_CB_ID    = 0x05U,    /*!< Compare register write complete Callback ID      */
-  HAL_LPTIM_AUTORELOAD_WRITE_CB_ID = 0x06U,    /*!< Auto-reload register write complete Callback ID  */
-  HAL_LPTIM_DIRECTION_UP_CB_ID     = 0x07U,    /*!< Up-counting direction change Callback ID         */
-  HAL_LPTIM_DIRECTION_DOWN_CB_ID   = 0x08U,    /*!< Down-counting direction change Callback ID       */
-} HAL_LPTIM_CallbackIDTypeDef;
-
-/**
-  * @brief  HAL TIM Callback pointer definition
-  */
-typedef  void (*pLPTIM_CallbackTypeDef)(LPTIM_HandleTypeDef *hlptim);  /*!< pointer to the LPTIM callback function */
-
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-/**
-  * @}
-  */
-
-/* Exported constants --------------------------------------------------------*/
-/** @defgroup LPTIM_Exported_Constants LPTIM Exported Constants
-  * @{
-  */
-
-/** @defgroup LPTIM_Clock_Source LPTIM Clock Source
-  * @{
-  */
-#define LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC        0x00000000U
-#define LPTIM_CLOCKSOURCE_ULPTIM                LPTIM_CFGR_CKSEL
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Clock_Prescaler LPTIM Clock Prescaler
-  * @{
-  */
-#define LPTIM_PRESCALER_DIV1                    0x00000000U
-#define LPTIM_PRESCALER_DIV2                    LPTIM_CFGR_PRESC_0
-#define LPTIM_PRESCALER_DIV4                    LPTIM_CFGR_PRESC_1
-#define LPTIM_PRESCALER_DIV8                    (LPTIM_CFGR_PRESC_0 | LPTIM_CFGR_PRESC_1)
-#define LPTIM_PRESCALER_DIV16                   LPTIM_CFGR_PRESC_2
-#define LPTIM_PRESCALER_DIV32                   (LPTIM_CFGR_PRESC_0 | LPTIM_CFGR_PRESC_2)
-#define LPTIM_PRESCALER_DIV64                   (LPTIM_CFGR_PRESC_1 | LPTIM_CFGR_PRESC_2)
-#define LPTIM_PRESCALER_DIV128                  LPTIM_CFGR_PRESC
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Output_Polarity LPTIM Output Polarity
-  * @{
-  */
-
-#define LPTIM_OUTPUTPOLARITY_HIGH               0x00000000U
-#define LPTIM_OUTPUTPOLARITY_LOW                LPTIM_CFGR_WAVPOL
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Clock_Sample_Time LPTIM Clock Sample Time
-  * @{
-  */
-#define LPTIM_CLOCKSAMPLETIME_DIRECTTRANSITION  0x00000000U
-#define LPTIM_CLOCKSAMPLETIME_2TRANSITIONS      LPTIM_CFGR_CKFLT_0
-#define LPTIM_CLOCKSAMPLETIME_4TRANSITIONS      LPTIM_CFGR_CKFLT_1
-#define LPTIM_CLOCKSAMPLETIME_8TRANSITIONS      LPTIM_CFGR_CKFLT
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Clock_Polarity LPTIM Clock Polarity
-  * @{
-  */
-#define LPTIM_CLOCKPOLARITY_RISING              0x00000000U
-#define LPTIM_CLOCKPOLARITY_FALLING             LPTIM_CFGR_CKPOL_0
-#define LPTIM_CLOCKPOLARITY_RISING_FALLING      LPTIM_CFGR_CKPOL_1
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Trigger_Source LPTIM Trigger Source
-  * @{
-  */
-#define LPTIM_TRIGSOURCE_SOFTWARE               0x0000FFFFU
-#define LPTIM_TRIGSOURCE_0                      0x00000000U
-#define LPTIM_TRIGSOURCE_1                      LPTIM_CFGR_TRIGSEL_0
-#define LPTIM_TRIGSOURCE_2                      LPTIM_CFGR_TRIGSEL_1
-#define LPTIM_TRIGSOURCE_3                      (LPTIM_CFGR_TRIGSEL_0 | LPTIM_CFGR_TRIGSEL_1)
-#define LPTIM_TRIGSOURCE_4                      LPTIM_CFGR_TRIGSEL_2
-#define LPTIM_TRIGSOURCE_5                      (LPTIM_CFGR_TRIGSEL_0 | LPTIM_CFGR_TRIGSEL_2)
-#define LPTIM_TRIGSOURCE_6                      (LPTIM_CFGR_TRIGSEL_1 | LPTIM_CFGR_TRIGSEL_2)
-#define LPTIM_TRIGSOURCE_7                      LPTIM_CFGR_TRIGSEL
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_External_Trigger_Polarity LPTIM External Trigger Polarity
-  * @{
-  */
-#define LPTIM_ACTIVEEDGE_RISING                LPTIM_CFGR_TRIGEN_0
-#define LPTIM_ACTIVEEDGE_FALLING               LPTIM_CFGR_TRIGEN_1
-#define LPTIM_ACTIVEEDGE_RISING_FALLING        LPTIM_CFGR_TRIGEN
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Trigger_Sample_Time LPTIM Trigger Sample Time
-  * @{
-  */
-#define LPTIM_TRIGSAMPLETIME_DIRECTTRANSITION  0x00000000U
-#define LPTIM_TRIGSAMPLETIME_2TRANSITIONS      LPTIM_CFGR_TRGFLT_0
-#define LPTIM_TRIGSAMPLETIME_4TRANSITIONS      LPTIM_CFGR_TRGFLT_1
-#define LPTIM_TRIGSAMPLETIME_8TRANSITIONS      LPTIM_CFGR_TRGFLT
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Updating_Mode LPTIM Updating Mode
-  * @{
-  */
-
-#define LPTIM_UPDATE_IMMEDIATE                  0x00000000U
-#define LPTIM_UPDATE_ENDOFPERIOD                LPTIM_CFGR_PRELOAD
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Counter_Source LPTIM Counter Source
-  * @{
-  */
-
-#define LPTIM_COUNTERSOURCE_INTERNAL            0x00000000U
-#define LPTIM_COUNTERSOURCE_EXTERNAL            LPTIM_CFGR_COUNTMODE
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Flag_Definition LPTIM Flags Definition
-  * @{
-  */
-
-#define LPTIM_FLAG_DOWN                          LPTIM_ISR_DOWN
-#define LPTIM_FLAG_UP                            LPTIM_ISR_UP
-#define LPTIM_FLAG_ARROK                         LPTIM_ISR_ARROK
-#define LPTIM_FLAG_CMPOK                         LPTIM_ISR_CMPOK
-#define LPTIM_FLAG_EXTTRIG                       LPTIM_ISR_EXTTRIG
-#define LPTIM_FLAG_ARRM                          LPTIM_ISR_ARRM
-#define LPTIM_FLAG_CMPM                          LPTIM_ISR_CMPM
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Interrupts_Definition LPTIM Interrupts Definition
-  * @{
-  */
-#define LPTIM_IT_DOWN                            LPTIM_IER_DOWNIE
-#define LPTIM_IT_UP                              LPTIM_IER_UPIE
-#define LPTIM_IT_ARROK                           LPTIM_IER_ARROKIE
-#define LPTIM_IT_CMPOK                           LPTIM_IER_CMPOKIE
-#define LPTIM_IT_EXTTRIG                         LPTIM_IER_EXTTRIGIE
-#define LPTIM_IT_ARRM                            LPTIM_IER_ARRMIE
-#define LPTIM_IT_CMPM                            LPTIM_IER_CMPMIE
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/* Exported macros -----------------------------------------------------------*/
-/** @defgroup LPTIM_Exported_Macros LPTIM Exported Macros
-  * @{
-  */
-
-/** @brief Reset LPTIM handle state.
-  * @param  __HANDLE__ LPTIM handle
-  * @retval None
-  */
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-#define __HAL_LPTIM_RESET_HANDLE_STATE(__HANDLE__) do {                                                        \
-                                                        (__HANDLE__)->State             = HAL_LPTIM_STATE_RESET; \
-                                                        (__HANDLE__)->MspInitCallback   = NULL;                  \
-                                                        (__HANDLE__)->MspDeInitCallback = NULL;                  \
-                                                      } while(0)
-#else
-#define __HAL_LPTIM_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_LPTIM_STATE_RESET)
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-
-/**
-  * @brief  Enable the LPTIM peripheral.
-  * @param  __HANDLE__ LPTIM handle
-  * @retval None
-  */
-#define __HAL_LPTIM_ENABLE(__HANDLE__)   ((__HANDLE__)->Instance->CR |= (LPTIM_CR_ENABLE))
-
-/**
-  * @brief  Disable the LPTIM peripheral.
-  * @param  __HANDLE__ LPTIM handle
-  * @note   The following sequence is required to solve LPTIM disable HW limitation.
-  *         Please check Errata Sheet ES0335 for more details under "MCU may remain
-  *         stuck in LPTIM interrupt when entering Stop mode" section.
-  * @note   Please call @ref HAL_LPTIM_GetState() after a call to __HAL_LPTIM_DISABLE to
-  *         check for TIMEOUT.
-  * @retval None
-  */
-#define __HAL_LPTIM_DISABLE(__HANDLE__)   LPTIM_Disable(__HANDLE__)
-
-/**
-  * @brief  Start the LPTIM peripheral in Continuous mode.
-  * @param  __HANDLE__ LPTIM handle
-  * @retval None
-  */
-#define __HAL_LPTIM_START_CONTINUOUS(__HANDLE__)  ((__HANDLE__)->Instance->CR |=  LPTIM_CR_CNTSTRT)
-/**
-  * @brief  Start the LPTIM peripheral in single mode.
-  * @param  __HANDLE__ LPTIM handle
-  * @retval None
-  */
-#define __HAL_LPTIM_START_SINGLE(__HANDLE__)      ((__HANDLE__)->Instance->CR |=  LPTIM_CR_SNGSTRT)
-
-/**
-  * @brief  Write the passed parameter in the Autoreload register.
-  * @param  __HANDLE__ LPTIM handle
-  * @param  __VALUE__ Autoreload value
-  * @retval None
-  * @note   The ARR register can only be modified when the LPTIM instance is enabled.
-  */
-#define __HAL_LPTIM_AUTORELOAD_SET(__HANDLE__ , __VALUE__)  ((__HANDLE__)->Instance->ARR =  (__VALUE__))
-
-/**
-  * @brief  Write the passed parameter in the Compare register.
-  * @param  __HANDLE__ LPTIM handle
-  * @param  __VALUE__ Compare value
-  * @retval None
-  * @note   The CMP register can only be modified when the LPTIM instance is enabled.
-  */
-#define __HAL_LPTIM_COMPARE_SET(__HANDLE__ , __VALUE__)     ((__HANDLE__)->Instance->CMP =  (__VALUE__))
-
-/**
-  * @brief  Check whether the specified LPTIM flag is set or not.
-  * @param  __HANDLE__ LPTIM handle
-  * @param  __FLAG__ LPTIM flag to check
-  *            This parameter can be a value of:
-  *            @arg LPTIM_FLAG_DOWN    : Counter direction change up Flag.
-  *            @arg LPTIM_FLAG_UP      : Counter direction change down to up Flag.
-  *            @arg LPTIM_FLAG_ARROK   : Autoreload register update OK Flag.
-  *            @arg LPTIM_FLAG_CMPOK   : Compare register update OK Flag.
-  *            @arg LPTIM_FLAG_EXTTRIG : External trigger edge event Flag.
-  *            @arg LPTIM_FLAG_ARRM    : Autoreload match Flag.
-  *            @arg LPTIM_FLAG_CMPM    : Compare match Flag.
-  * @retval The state of the specified flag (SET or RESET).
-  */
-#define __HAL_LPTIM_GET_FLAG(__HANDLE__, __FLAG__)          (((__HANDLE__)->Instance->ISR &(__FLAG__)) == (__FLAG__))
-
-/**
-  * @brief  Clear the specified LPTIM flag.
-  * @param  __HANDLE__ LPTIM handle.
-  * @param  __FLAG__ LPTIM flag to clear.
-  *            This parameter can be a value of:
-  *            @arg LPTIM_FLAG_DOWN    : Counter direction change up Flag.
-  *            @arg LPTIM_FLAG_UP      : Counter direction change down to up Flag.
-  *            @arg LPTIM_FLAG_ARROK   : Autoreload register update OK Flag.
-  *            @arg LPTIM_FLAG_CMPOK   : Compare register update OK Flag.
-  *            @arg LPTIM_FLAG_EXTTRIG : External trigger edge event Flag.
-  *            @arg LPTIM_FLAG_ARRM    : Autoreload match Flag.
-  *            @arg LPTIM_FLAG_CMPM    : Compare match Flag.
-  * @retval None.
-  */
-#define __HAL_LPTIM_CLEAR_FLAG(__HANDLE__, __FLAG__)        ((__HANDLE__)->Instance->ICR  = (__FLAG__))
-
-/**
-  * @brief  Enable the specified LPTIM interrupt.
-  * @param  __HANDLE__ LPTIM handle.
-  * @param  __INTERRUPT__ LPTIM interrupt to set.
-  *            This parameter can be a value of:
-  *            @arg LPTIM_IT_DOWN    : Counter direction change up Interrupt.
-  *            @arg LPTIM_IT_UP      : Counter direction change down to up Interrupt.
-  *            @arg LPTIM_IT_ARROK   : Autoreload register update OK Interrupt.
-  *            @arg LPTIM_IT_CMPOK   : Compare register update OK Interrupt.
-  *            @arg LPTIM_IT_EXTTRIG : External trigger edge event Interrupt.
-  *            @arg LPTIM_IT_ARRM    : Autoreload match Interrupt.
-  *            @arg LPTIM_IT_CMPM    : Compare match Interrupt.
-  * @retval None.
-  * @note   The LPTIM interrupts can only be enabled when the LPTIM instance is disabled.
-  */
-#define __HAL_LPTIM_ENABLE_IT(__HANDLE__, __INTERRUPT__)    ((__HANDLE__)->Instance->IER  |= (__INTERRUPT__))
-
-/**
-  * @brief  Disable the specified LPTIM interrupt.
-  * @param  __HANDLE__ LPTIM handle.
-  * @param  __INTERRUPT__ LPTIM interrupt to set.
-  *            This parameter can be a value of:
-  *            @arg LPTIM_IT_DOWN    : Counter direction change up Interrupt.
-  *            @arg LPTIM_IT_UP      : Counter direction change down to up Interrupt.
-  *            @arg LPTIM_IT_ARROK   : Autoreload register update OK Interrupt.
-  *            @arg LPTIM_IT_CMPOK   : Compare register update OK Interrupt.
-  *            @arg LPTIM_IT_EXTTRIG : External trigger edge event Interrupt.
-  *            @arg LPTIM_IT_ARRM    : Autoreload match Interrupt.
-  *            @arg LPTIM_IT_CMPM    : Compare match Interrupt.
-  * @retval None.
-  * @note   The LPTIM interrupts can only be disabled when the LPTIM instance is disabled.
-  */
-#define __HAL_LPTIM_DISABLE_IT(__HANDLE__, __INTERRUPT__)   ((__HANDLE__)->Instance->IER  &= (~(__INTERRUPT__)))
-
-/**
-  * @brief  Check whether the specified LPTIM interrupt source is enabled or not.
-  * @param  __HANDLE__ LPTIM handle.
-  * @param  __INTERRUPT__ LPTIM interrupt to check.
-  *            This parameter can be a value of:
-  *            @arg LPTIM_IT_DOWN    : Counter direction change up Interrupt.
-  *            @arg LPTIM_IT_UP      : Counter direction change down to up Interrupt.
-  *            @arg LPTIM_IT_ARROK   : Autoreload register update OK Interrupt.
-  *            @arg LPTIM_IT_CMPOK   : Compare register update OK Interrupt.
-  *            @arg LPTIM_IT_EXTTRIG : External trigger edge event Interrupt.
-  *            @arg LPTIM_IT_ARRM    : Autoreload match Interrupt.
-  *            @arg LPTIM_IT_CMPM    : Compare match Interrupt.
-  * @retval Interrupt status.
-  */
-
-#define __HAL_LPTIM_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IER\
-                                                                & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET)
-
-/**
-  * @brief  Enable interrupt on the LPTIM Wake-up Timer associated Exti line.
-  * @retval None
-  */
-#define __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_IT()       (EXTI->IMR\
-                                                        |= LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT)
-
-/**
-  * @brief  Disable interrupt on the LPTIM Wake-up Timer associated Exti line.
-  * @retval None
-  */
-#define __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_IT()      (EXTI->IMR\
-                                                        &= ~(LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT))
-
-/**
-  * @brief  Enable event on the LPTIM Wake-up Timer associated Exti line.
-  * @retval None.
-  */
-#define __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_EVENT()    (EXTI->EMR\
-                                                        |= LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT)
-
-/**
-  * @brief  Disable event on the LPTIM Wake-up Timer associated Exti line.
-  * @retval None.
-  */
-#define __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_EVENT()   (EXTI->EMR\
-                                                        &= ~(LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT))
-
-/**
-  * @}
-  */
-
-/* Exported functions --------------------------------------------------------*/
-/** @defgroup LPTIM_Exported_Functions LPTIM Exported Functions
-  * @{
-  */
-
-/** @addtogroup LPTIM_Exported_Functions_Group1
-  *  @brief    Initialization and Configuration functions.
-  * @{
-  */
-/* Initialization/de-initialization functions  ********************************/
-HAL_StatusTypeDef HAL_LPTIM_Init(LPTIM_HandleTypeDef *hlptim);
-HAL_StatusTypeDef HAL_LPTIM_DeInit(LPTIM_HandleTypeDef *hlptim);
-
-/* MSP functions  *************************************************************/
-void HAL_LPTIM_MspInit(LPTIM_HandleTypeDef *hlptim);
-void HAL_LPTIM_MspDeInit(LPTIM_HandleTypeDef *hlptim);
-/**
-  * @}
-  */
-
-/** @addtogroup LPTIM_Exported_Functions_Group2
-  *  @brief   Start-Stop operation functions.
-  * @{
-  */
-/* Start/Stop operation functions  *********************************************/
-/* ################################# PWM Mode ################################*/
-/* Blocking mode: Polling */
-HAL_StatusTypeDef HAL_LPTIM_PWM_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
-HAL_StatusTypeDef HAL_LPTIM_PWM_Stop(LPTIM_HandleTypeDef *hlptim);
-/* Non-Blocking mode: Interrupt */
-HAL_StatusTypeDef HAL_LPTIM_PWM_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
-HAL_StatusTypeDef HAL_LPTIM_PWM_Stop_IT(LPTIM_HandleTypeDef *hlptim);
-
-/* ############################# One Pulse Mode ##############################*/
-/* Blocking mode: Polling */
-HAL_StatusTypeDef HAL_LPTIM_OnePulse_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
-HAL_StatusTypeDef HAL_LPTIM_OnePulse_Stop(LPTIM_HandleTypeDef *hlptim);
-/* Non-Blocking mode: Interrupt */
-HAL_StatusTypeDef HAL_LPTIM_OnePulse_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
-HAL_StatusTypeDef HAL_LPTIM_OnePulse_Stop_IT(LPTIM_HandleTypeDef *hlptim);
-
-/* ############################## Set once Mode ##############################*/
-/* Blocking mode: Polling */
-HAL_StatusTypeDef HAL_LPTIM_SetOnce_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
-HAL_StatusTypeDef HAL_LPTIM_SetOnce_Stop(LPTIM_HandleTypeDef *hlptim);
-/* Non-Blocking mode: Interrupt */
-HAL_StatusTypeDef HAL_LPTIM_SetOnce_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
-HAL_StatusTypeDef HAL_LPTIM_SetOnce_Stop_IT(LPTIM_HandleTypeDef *hlptim);
-
-/* ############################### Encoder Mode ##############################*/
-/* Blocking mode: Polling */
-HAL_StatusTypeDef HAL_LPTIM_Encoder_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period);
-HAL_StatusTypeDef HAL_LPTIM_Encoder_Stop(LPTIM_HandleTypeDef *hlptim);
-/* Non-Blocking mode: Interrupt */
-HAL_StatusTypeDef HAL_LPTIM_Encoder_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period);
-HAL_StatusTypeDef HAL_LPTIM_Encoder_Stop_IT(LPTIM_HandleTypeDef *hlptim);
-
-/* ############################# Time out  Mode ##############################*/
-/* Blocking mode: Polling */
-HAL_StatusTypeDef HAL_LPTIM_TimeOut_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Timeout);
-HAL_StatusTypeDef HAL_LPTIM_TimeOut_Stop(LPTIM_HandleTypeDef *hlptim);
-/* Non-Blocking mode: Interrupt */
-HAL_StatusTypeDef HAL_LPTIM_TimeOut_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Timeout);
-HAL_StatusTypeDef HAL_LPTIM_TimeOut_Stop_IT(LPTIM_HandleTypeDef *hlptim);
-
-/* ############################## Counter Mode ###############################*/
-/* Blocking mode: Polling */
-HAL_StatusTypeDef HAL_LPTIM_Counter_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period);
-HAL_StatusTypeDef HAL_LPTIM_Counter_Stop(LPTIM_HandleTypeDef *hlptim);
-/* Non-Blocking mode: Interrupt */
-HAL_StatusTypeDef HAL_LPTIM_Counter_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period);
-HAL_StatusTypeDef HAL_LPTIM_Counter_Stop_IT(LPTIM_HandleTypeDef *hlptim);
-/**
-  * @}
-  */
-
-/** @addtogroup LPTIM_Exported_Functions_Group3
-  *  @brief  Read operation functions.
-  * @{
-  */
-/* Reading operation functions ************************************************/
-uint32_t HAL_LPTIM_ReadCounter(const LPTIM_HandleTypeDef *hlptim);
-uint32_t HAL_LPTIM_ReadAutoReload(const LPTIM_HandleTypeDef *hlptim);
-uint32_t HAL_LPTIM_ReadCompare(const LPTIM_HandleTypeDef *hlptim);
-/**
-  * @}
-  */
-
-/** @addtogroup LPTIM_Exported_Functions_Group4
-  *  @brief  LPTIM IRQ handler and callback functions.
-  * @{
-  */
-/* LPTIM IRQ functions  *******************************************************/
-void HAL_LPTIM_IRQHandler(LPTIM_HandleTypeDef *hlptim);
-
-/* CallBack functions  ********************************************************/
-void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim);
-void HAL_LPTIM_AutoReloadMatchCallback(LPTIM_HandleTypeDef *hlptim);
-void HAL_LPTIM_TriggerCallback(LPTIM_HandleTypeDef *hlptim);
-void HAL_LPTIM_CompareWriteCallback(LPTIM_HandleTypeDef *hlptim);
-void HAL_LPTIM_AutoReloadWriteCallback(LPTIM_HandleTypeDef *hlptim);
-void HAL_LPTIM_DirectionUpCallback(LPTIM_HandleTypeDef *hlptim);
-void HAL_LPTIM_DirectionDownCallback(LPTIM_HandleTypeDef *hlptim);
-
-/* Callbacks Register/UnRegister functions  ***********************************/
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-HAL_StatusTypeDef HAL_LPTIM_RegisterCallback(LPTIM_HandleTypeDef *lphtim, HAL_LPTIM_CallbackIDTypeDef CallbackID,
-                                             pLPTIM_CallbackTypeDef pCallback);
-HAL_StatusTypeDef HAL_LPTIM_UnRegisterCallback(LPTIM_HandleTypeDef *lphtim, HAL_LPTIM_CallbackIDTypeDef CallbackID);
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-/**
-  * @}
-  */
-
-/** @addtogroup LPTIM_Group5
-  *  @brief   Peripheral State functions.
-  * @{
-  */
-/* Peripheral State functions  ************************************************/
-HAL_LPTIM_StateTypeDef HAL_LPTIM_GetState(const LPTIM_HandleTypeDef *hlptim);
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/* Private types -------------------------------------------------------------*/
-/** @defgroup LPTIM_Private_Types LPTIM Private Types
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/* Private variables ---------------------------------------------------------*/
-/** @defgroup LPTIM_Private_Variables LPTIM Private Variables
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/* Private constants ---------------------------------------------------------*/
-/** @defgroup LPTIM_Private_Constants LPTIM Private Constants
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/* Private macros ------------------------------------------------------------*/
-/** @defgroup LPTIM_Private_Macros LPTIM Private Macros
-  * @{
-  */
-
-#define IS_LPTIM_CLOCK_SOURCE(__SOURCE__)       (((__SOURCE__) == LPTIM_CLOCKSOURCE_ULPTIM) || \
-                                                 ((__SOURCE__) == LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC))
-
-
-#define IS_LPTIM_CLOCK_PRESCALER(__PRESCALER__) (((__PRESCALER__) ==  LPTIM_PRESCALER_DIV1  ) || \
-                                                 ((__PRESCALER__) ==  LPTIM_PRESCALER_DIV2  ) || \
-                                                 ((__PRESCALER__) ==  LPTIM_PRESCALER_DIV4  ) || \
-                                                 ((__PRESCALER__) ==  LPTIM_PRESCALER_DIV8  ) || \
-                                                 ((__PRESCALER__) ==  LPTIM_PRESCALER_DIV16 ) || \
-                                                 ((__PRESCALER__) ==  LPTIM_PRESCALER_DIV32 ) || \
-                                                 ((__PRESCALER__) ==  LPTIM_PRESCALER_DIV64 ) || \
-                                                 ((__PRESCALER__) ==  LPTIM_PRESCALER_DIV128))
-
-#define IS_LPTIM_CLOCK_PRESCALERDIV1(__PRESCALER__) ((__PRESCALER__) ==  LPTIM_PRESCALER_DIV1)
-
-#define IS_LPTIM_OUTPUT_POLARITY(__POLARITY__)  (((__POLARITY__) == LPTIM_OUTPUTPOLARITY_LOW ) || \
-                                                 ((__POLARITY__) == LPTIM_OUTPUTPOLARITY_HIGH))
-
-#define IS_LPTIM_CLOCK_SAMPLE_TIME(__SAMPLETIME__) (((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_DIRECTTRANSITION) || \
-                                                    ((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_2TRANSITIONS)     || \
-                                                    ((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_4TRANSITIONS)     || \
-                                                    ((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_8TRANSITIONS))
-
-#define IS_LPTIM_CLOCK_POLARITY(__POLARITY__)   (((__POLARITY__) == LPTIM_CLOCKPOLARITY_RISING)  || \
-                                                 ((__POLARITY__) == LPTIM_CLOCKPOLARITY_FALLING) || \
-                                                 ((__POLARITY__) == LPTIM_CLOCKPOLARITY_RISING_FALLING))
-
-#define IS_LPTIM_TRG_SOURCE(__TRIG__)           (((__TRIG__) == LPTIM_TRIGSOURCE_SOFTWARE) || \
-                                                 ((__TRIG__) == LPTIM_TRIGSOURCE_0) || \
-                                                 ((__TRIG__) == LPTIM_TRIGSOURCE_1) || \
-                                                 ((__TRIG__) == LPTIM_TRIGSOURCE_2) || \
-                                                 ((__TRIG__) == LPTIM_TRIGSOURCE_3) || \
-                                                 ((__TRIG__) == LPTIM_TRIGSOURCE_4) || \
-                                                 ((__TRIG__) == LPTIM_TRIGSOURCE_5) || \
-                                                 ((__TRIG__) == LPTIM_TRIGSOURCE_6) || \
-                                                 ((__TRIG__) == LPTIM_TRIGSOURCE_7))
-
-#define IS_LPTIM_EXT_TRG_POLARITY(__POLARITY__) (((__POLARITY__) == LPTIM_ACTIVEEDGE_RISING         ) || \
-                                                 ((__POLARITY__) == LPTIM_ACTIVEEDGE_FALLING        ) || \
-                                                 ((__POLARITY__) == LPTIM_ACTIVEEDGE_RISING_FALLING ))
-
-#define IS_LPTIM_TRIG_SAMPLE_TIME(__SAMPLETIME__) (((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_DIRECTTRANSITION) || \
-                                                   ((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_2TRANSITIONS    ) || \
-                                                   ((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_4TRANSITIONS    ) || \
-                                                   ((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_8TRANSITIONS    ))
-
-#define IS_LPTIM_UPDATE_MODE(__MODE__)          (((__MODE__) == LPTIM_UPDATE_IMMEDIATE) || \
-                                                 ((__MODE__) == LPTIM_UPDATE_ENDOFPERIOD))
-
-#define IS_LPTIM_COUNTER_SOURCE(__SOURCE__)     (((__SOURCE__) == LPTIM_COUNTERSOURCE_INTERNAL) || \
-                                                 ((__SOURCE__) == LPTIM_COUNTERSOURCE_EXTERNAL))
-
-#define IS_LPTIM_AUTORELOAD(__AUTORELOAD__)     ((0x00000001UL <= (__AUTORELOAD__)) &&\
-                                                 ((__AUTORELOAD__) <= 0x0000FFFFUL))
-
-#define IS_LPTIM_COMPARE(__COMPARE__)           ((__COMPARE__) <= 0x0000FFFFUL)
-
-#define IS_LPTIM_PERIOD(__PERIOD__)             ((0x00000001UL <= (__PERIOD__)) &&\
-                                                 ((__PERIOD__) <= 0x0000FFFFUL))
-
-#define IS_LPTIM_PULSE(__PULSE__)               ((__PULSE__) <= 0x0000FFFFUL)
-
-/**
-  * @}
-  */
-
-/* Private functions ---------------------------------------------------------*/
-/** @defgroup LPTIM_Private_Functions LPTIM Private Functions
-  * @{
-  */
-void LPTIM_Disable(LPTIM_HandleTypeDef *hlptim);
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-#endif /* LPTIM1 */
-/**
-  * @}
-  */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* STM32L0xx_HAL_LPTIM_H */
diff --git a/software/dumber3/Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_lptim.c b/software/dumber3/Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_lptim.c
deleted file mode 100644
index 548ae80..0000000
--- a/software/dumber3/Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_lptim.c
+++ /dev/null
@@ -1,2450 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    stm32l0xx_hal_lptim.c
-  * @author  MCD Application Team
-  * @brief   LPTIM HAL module driver.
-  *          This file provides firmware functions to manage the following
-  *          functionalities of the Low Power Timer (LPTIM) peripheral:
-  *           + Initialization and de-initialization functions.
-  *           + Start/Stop operation functions in polling mode.
-  *           + Start/Stop operation functions in interrupt mode.
-  *           + Reading operation functions.
-  *           + Peripheral State functions.
-  *
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2016 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.
-  *
-  ******************************************************************************
-  @verbatim
-  ==============================================================================
-                     ##### How to use this driver #####
-  ==============================================================================
-    [..]
-      The LPTIM HAL driver can be used as follows:
-
-      (#)Initialize the LPTIM low level resources by implementing the
-        HAL_LPTIM_MspInit():
-         (++) Enable the LPTIM interface clock using __HAL_RCC_LPTIMx_CLK_ENABLE().
-         (++) In case of using interrupts (e.g. HAL_LPTIM_PWM_Start_IT()):
-             (+++) Configure the LPTIM interrupt priority using HAL_NVIC_SetPriority().
-             (+++) Enable the LPTIM IRQ handler using HAL_NVIC_EnableIRQ().
-             (+++) In LPTIM IRQ handler, call HAL_LPTIM_IRQHandler().
-
-      (#)Initialize the LPTIM HAL using HAL_LPTIM_Init(). This function
-         configures mainly:
-         (++) The instance: LPTIM1.
-         (++) Clock: the counter clock.
-             (+++) Source   : it can be either the ULPTIM input (IN1) or one of
-                              the internal clock; (APB, LSE, LSI or MSI).
-             (+++) Prescaler: select the clock divider.
-         (++)  UltraLowPowerClock : To be used only if the ULPTIM is selected
-               as counter clock source.
-             (+++) Polarity:   polarity of the active edge for the counter unit
-                               if the ULPTIM input is selected.
-             (+++) SampleTime: clock sampling time to configure the clock glitch
-                               filter.
-         (++) Trigger: How the counter start.
-             (+++) Source: trigger can be software or one of the hardware triggers.
-             (+++) ActiveEdge : only for hardware trigger.
-             (+++) SampleTime : trigger sampling time to configure the trigger
-                                glitch filter.
-         (++) OutputPolarity : 2 opposite polarities are possible.
-         (++) UpdateMode: specifies whether the update of the autoreload and
-              the compare values is done immediately or after the end of current
-              period.
-
-      (#)Six modes are available:
-
-         (++) PWM Mode: To generate a PWM signal with specified period and pulse,
-         call HAL_LPTIM_PWM_Start() or HAL_LPTIM_PWM_Start_IT() for interruption
-         mode.
-
-         (++) One Pulse Mode: To generate pulse with specified width in response
-         to a stimulus, call HAL_LPTIM_OnePulse_Start() or
-         HAL_LPTIM_OnePulse_Start_IT() for interruption mode.
-
-         (++) Set once Mode: In this mode, the output changes the level (from
-         low level to high level if the output polarity is configured high, else
-         the opposite) when a compare match occurs. To start this mode, call
-         HAL_LPTIM_SetOnce_Start() or HAL_LPTIM_SetOnce_Start_IT() for
-         interruption mode.
-
-         (++) Encoder Mode: To use the encoder interface call
-         HAL_LPTIM_Encoder_Start() or HAL_LPTIM_Encoder_Start_IT() for
-         interruption mode. Only available for LPTIM1 instance.
-
-         (++) Time out Mode: an active edge on one selected trigger input rests
-         the counter. The first trigger event will start the timer, any
-         successive trigger event will reset the counter and the timer will
-         restart. To start this mode call HAL_LPTIM_TimeOut_Start_IT() or
-         HAL_LPTIM_TimeOut_Start_IT() for interruption mode.
-
-         (++) Counter Mode: counter can be used to count external events on
-         the LPTIM Input1 or it can be used to count internal clock cycles.
-         To start this mode, call HAL_LPTIM_Counter_Start() or
-         HAL_LPTIM_Counter_Start_IT() for interruption mode.
-
-
-      (#) User can stop any process by calling the corresponding API:
-          HAL_LPTIM_Xxx_Stop() or HAL_LPTIM_Xxx_Stop_IT() if the process is
-          already started in interruption mode.
-
-      (#) De-initialize the LPTIM peripheral using HAL_LPTIM_DeInit().
-
-    *** Callback registration ***
-  =============================================
-  [..]
-  The compilation define  USE_HAL_LPTIM_REGISTER_CALLBACKS when set to 1
-  allows the user to configure dynamically the driver callbacks.
-  [..]
-  Use Function HAL_LPTIM_RegisterCallback() to register a callback.
-  HAL_LPTIM_RegisterCallback() takes as parameters the HAL peripheral handle,
-  the Callback ID and a pointer to the user callback function.
-  [..]
-  Use function HAL_LPTIM_UnRegisterCallback() to reset a callback to the
-  default weak function.
-  HAL_LPTIM_UnRegisterCallback takes as parameters the HAL peripheral handle,
-  and the Callback ID.
-  [..]
-  These functions allow to register/unregister following callbacks:
-
-    (+) MspInitCallback         : LPTIM Base Msp Init Callback.
-    (+) MspDeInitCallback       : LPTIM Base Msp DeInit Callback.
-    (+) CompareMatchCallback    : Compare match Callback.
-    (+) AutoReloadMatchCallback : Auto-reload match Callback.
-    (+) TriggerCallback         : External trigger event detection Callback.
-    (+) CompareWriteCallback    : Compare register write complete Callback.
-    (+) AutoReloadWriteCallback : Auto-reload register write complete Callback.
-    (+) DirectionUpCallback     : Up-counting direction change Callback.
-    (+) DirectionDownCallback   : Down-counting direction change Callback.
-
-  [..]
-  By default, after the Init and when the state is HAL_LPTIM_STATE_RESET
-  all interrupt callbacks are set to the corresponding weak functions:
-  examples HAL_LPTIM_TriggerCallback(), HAL_LPTIM_CompareMatchCallback().
-
-  [..]
-  Exception done for MspInit and MspDeInit functions that are reset to the legacy weak
-  functionalities in the Init/DeInit only when these callbacks are null
-  (not registered beforehand). If not, MspInit or MspDeInit are not null, the Init/DeInit
-  keep and use the user MspInit/MspDeInit callbacks (registered beforehand)
-
-  [..]
-  Callbacks can be registered/unregistered in HAL_LPTIM_STATE_READY state only.
-  Exception done MspInit/MspDeInit that can be registered/unregistered
-  in HAL_LPTIM_STATE_READY or HAL_LPTIM_STATE_RESET state,
-  thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit.
-  In that case first register the MspInit/MspDeInit user callbacks
-  using HAL_LPTIM_RegisterCallback() before calling DeInit or Init function.
-
-  [..]
-  When The compilation define USE_HAL_LPTIM_REGISTER_CALLBACKS is set to 0 or
-  not defined, the callback registration feature is not available and all callbacks
-  are set to the corresponding weak functions.
-
-  @endverbatim
-  ******************************************************************************
-  */
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32l0xx_hal.h"
-
-/** @addtogroup STM32L0xx_HAL_Driver
-  * @{
-  */
-
-/** @defgroup LPTIM LPTIM
-  * @brief LPTIM HAL module driver.
-  * @{
-  */
-
-#ifdef HAL_LPTIM_MODULE_ENABLED
-
-#if defined (LPTIM1)
-
-/* Private typedef -----------------------------------------------------------*/
-/* Private define ------------------------------------------------------------*/
-/** @addtogroup LPTIM_Private_Constants
-  * @{
-  */
-#define TIMEOUT                                     1000UL /* Timeout is 1s */
-/**
-  * @}
-  */
-
-/* Private macro -------------------------------------------------------------*/
-/* Private variables ---------------------------------------------------------*/
-/* Private function prototypes -----------------------------------------------*/
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-static void LPTIM_ResetCallback(LPTIM_HandleTypeDef *lptim);
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-static HAL_StatusTypeDef LPTIM_WaitForFlag(const LPTIM_HandleTypeDef *hlptim, uint32_t flag);
-
-/* Exported functions --------------------------------------------------------*/
-
-/** @defgroup LPTIM_Exported_Functions LPTIM Exported Functions
-  * @{
-  */
-
-/** @defgroup LPTIM_Exported_Functions_Group1 Initialization/de-initialization functions
-  *  @brief    Initialization and Configuration functions.
-  *
-@verbatim
-  ==============================================================================
-              ##### Initialization and de-initialization functions #####
-  ==============================================================================
-    [..]  This section provides functions allowing to:
-      (+) Initialize the LPTIM according to the specified parameters in the
-          LPTIM_InitTypeDef and initialize the associated handle.
-      (+) DeInitialize the LPTIM peripheral.
-      (+) Initialize the LPTIM MSP.
-      (+) DeInitialize the LPTIM MSP.
-
-@endverbatim
-  * @{
-  */
-
-/**
-  * @brief  Initialize the LPTIM according to the specified parameters in the
-  *         LPTIM_InitTypeDef and initialize the associated handle.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_Init(LPTIM_HandleTypeDef *hlptim)
-{
-  uint32_t tmpcfgr;
-
-  /* Check the LPTIM handle allocation */
-  if (hlptim == NULL)
-  {
-    return HAL_ERROR;
-  }
-
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  assert_param(IS_LPTIM_CLOCK_SOURCE(hlptim->Init.Clock.Source));
-  assert_param(IS_LPTIM_CLOCK_PRESCALER(hlptim->Init.Clock.Prescaler));
-  if ((hlptim->Init.Clock.Source == LPTIM_CLOCKSOURCE_ULPTIM)
-      || (hlptim->Init.CounterSource == LPTIM_COUNTERSOURCE_EXTERNAL))
-  {
-    assert_param(IS_LPTIM_CLOCK_POLARITY(hlptim->Init.UltraLowPowerClock.Polarity));
-    assert_param(IS_LPTIM_CLOCK_SAMPLE_TIME(hlptim->Init.UltraLowPowerClock.SampleTime));
-  }
-  assert_param(IS_LPTIM_TRG_SOURCE(hlptim->Init.Trigger.Source));
-  if (hlptim->Init.Trigger.Source != LPTIM_TRIGSOURCE_SOFTWARE)
-  {
-    assert_param(IS_LPTIM_EXT_TRG_POLARITY(hlptim->Init.Trigger.ActiveEdge));
-    assert_param(IS_LPTIM_TRIG_SAMPLE_TIME(hlptim->Init.Trigger.SampleTime));
-  }
-  assert_param(IS_LPTIM_OUTPUT_POLARITY(hlptim->Init.OutputPolarity));
-  assert_param(IS_LPTIM_UPDATE_MODE(hlptim->Init.UpdateMode));
-  assert_param(IS_LPTIM_COUNTER_SOURCE(hlptim->Init.CounterSource));
-
-  if (hlptim->State == HAL_LPTIM_STATE_RESET)
-  {
-    /* Allocate lock resource and initialize it */
-    hlptim->Lock = HAL_UNLOCKED;
-
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-    /* Reset interrupt callbacks to legacy weak callbacks */
-    LPTIM_ResetCallback(hlptim);
-
-    if (hlptim->MspInitCallback == NULL)
-    {
-      hlptim->MspInitCallback = HAL_LPTIM_MspInit;
-    }
-
-    /* Init the low level hardware : GPIO, CLOCK, NVIC */
-    hlptim->MspInitCallback(hlptim);
-#else
-    /* Init the low level hardware : GPIO, CLOCK, NVIC */
-    HAL_LPTIM_MspInit(hlptim);
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-  }
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Get the LPTIMx CFGR value */
-  tmpcfgr = hlptim->Instance->CFGR;
-
-  if ((hlptim->Init.Clock.Source == LPTIM_CLOCKSOURCE_ULPTIM)
-      || (hlptim->Init.CounterSource == LPTIM_COUNTERSOURCE_EXTERNAL))
-  {
-    tmpcfgr &= (uint32_t)(~(LPTIM_CFGR_CKPOL | LPTIM_CFGR_CKFLT));
-  }
-  if (hlptim->Init.Trigger.Source != LPTIM_TRIGSOURCE_SOFTWARE)
-  {
-    tmpcfgr &= (uint32_t)(~(LPTIM_CFGR_TRGFLT | LPTIM_CFGR_TRIGSEL));
-  }
-
-  /* Clear CKSEL, PRESC, TRIGEN, TRGFLT, WAVPOL, PRELOAD & COUNTMODE bits */
-  tmpcfgr &= (uint32_t)(~(LPTIM_CFGR_CKSEL | LPTIM_CFGR_TRIGEN | LPTIM_CFGR_PRELOAD |
-                          LPTIM_CFGR_WAVPOL | LPTIM_CFGR_PRESC | LPTIM_CFGR_COUNTMODE));
-
-  /* Set initialization parameters */
-  tmpcfgr |= (hlptim->Init.Clock.Source    |
-              hlptim->Init.Clock.Prescaler |
-              hlptim->Init.OutputPolarity  |
-              hlptim->Init.UpdateMode      |
-              hlptim->Init.CounterSource);
-
-  /* Glitch filters for internal triggers and  external inputs are configured
-   * only if an internal clock source is provided to the LPTIM
-   */
-  if (hlptim->Init.Clock.Source == LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC)
-  {
-    tmpcfgr |= (hlptim->Init.Trigger.SampleTime |
-                hlptim->Init.UltraLowPowerClock.SampleTime);
-  }
-
-  /* Configure LPTIM external clock polarity and digital filter */
-  if ((hlptim->Init.Clock.Source == LPTIM_CLOCKSOURCE_ULPTIM)
-      || (hlptim->Init.CounterSource == LPTIM_COUNTERSOURCE_EXTERNAL))
-  {
-    tmpcfgr |= (hlptim->Init.UltraLowPowerClock.Polarity |
-                hlptim->Init.UltraLowPowerClock.SampleTime);
-  }
-
-  /* Configure LPTIM external trigger */
-  if (hlptim->Init.Trigger.Source != LPTIM_TRIGSOURCE_SOFTWARE)
-  {
-    /* Enable External trigger and set the trigger source */
-    tmpcfgr |= (hlptim->Init.Trigger.Source     |
-                hlptim->Init.Trigger.ActiveEdge |
-                hlptim->Init.Trigger.SampleTime);
-  }
-
-  /* Write to LPTIMx CFGR */
-  hlptim->Instance->CFGR = tmpcfgr;
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  DeInitialize the LPTIM peripheral.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_DeInit(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the LPTIM handle allocation */
-  if (hlptim == NULL)
-  {
-    return HAL_ERROR;
-  }
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Disable the LPTIM Peripheral Clock */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-  if (hlptim->MspDeInitCallback == NULL)
-  {
-    hlptim->MspDeInitCallback = HAL_LPTIM_MspDeInit;
-  }
-
-  /* DeInit the low level hardware: CLOCK, NVIC.*/
-  hlptim->MspDeInitCallback(hlptim);
-#else
-  /* DeInit the low level hardware: CLOCK, NVIC.*/
-  HAL_LPTIM_MspDeInit(hlptim);
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_RESET;
-
-  /* Release Lock */
-  __HAL_UNLOCK(hlptim);
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Initialize the LPTIM MSP.
-  * @param  hlptim LPTIM handle
-  * @retval None
-  */
-__weak void HAL_LPTIM_MspInit(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Prevent unused argument(s) compilation warning */
-  UNUSED(hlptim);
-
-  /* NOTE : This function should not be modified, when the callback is needed,
-            the HAL_LPTIM_MspInit could be implemented in the user file
-   */
-}
-
-/**
-  * @brief  DeInitialize LPTIM MSP.
-  * @param  hlptim LPTIM handle
-  * @retval None
-  */
-__weak void HAL_LPTIM_MspDeInit(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Prevent unused argument(s) compilation warning */
-  UNUSED(hlptim);
-
-  /* NOTE : This function should not be modified, when the callback is needed,
-            the HAL_LPTIM_MspDeInit could be implemented in the user file
-   */
-}
-
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Exported_Functions_Group2 LPTIM Start-Stop operation functions
-  *  @brief   Start-Stop operation functions.
-  *
-@verbatim
-  ==============================================================================
-                ##### LPTIM Start Stop operation functions #####
-  ==============================================================================
-    [..]  This section provides functions allowing to:
-      (+) Start the PWM mode.
-      (+) Stop the PWM mode.
-      (+) Start the One pulse mode.
-      (+) Stop the One pulse mode.
-      (+) Start the Set once mode.
-      (+) Stop the Set once mode.
-      (+) Start the Encoder mode.
-      (+) Stop the Encoder mode.
-      (+) Start the Timeout mode.
-      (+) Stop the Timeout mode.
-      (+) Start the Counter mode.
-      (+) Stop the Counter mode.
-
-
-@endverbatim
-  * @{
-  */
-
-/**
-  * @brief  Start the LPTIM PWM generation.
-  * @param  hlptim LPTIM handle
-  * @param  Period Specifies the Autoreload value.
-  *         This parameter must be a value between 0x0001 and 0xFFFF.
-  * @param  Pulse Specifies the compare value.
-  *         This parameter must be a value between 0x0000 and 0xFFFF.
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_PWM_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-  assert_param(IS_LPTIM_PERIOD(Period));
-  assert_param(IS_LPTIM_PULSE(Pulse));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Reset WAVE bit to set PWM mode */
-  hlptim->Instance->CFGR &= ~LPTIM_CFGR_WAVE;
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-
-  /* Load the period value in the autoreload register */
-  __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period);
-
-  /* Wait for the completion of the write operation to the LPTIM_ARR register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK);
-
-  /* Load the pulse value in the compare register */
-  __HAL_LPTIM_COMPARE_SET(hlptim, Pulse);
-
-  /* Wait for the completion of the write operation to the LPTIM_CMP register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Start timer in continuous mode */
-  __HAL_LPTIM_START_CONTINUOUS(hlptim);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Stop the LPTIM PWM generation.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_PWM_Stop(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Start the LPTIM PWM generation in interrupt mode.
-  * @param  hlptim LPTIM handle
-  * @param  Period Specifies the Autoreload value.
-  *         This parameter must be a value between 0x0001 and 0xFFFF
-  * @param  Pulse Specifies the compare value.
-  *         This parameter must be a value between 0x0000 and 0xFFFF
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_PWM_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-  assert_param(IS_LPTIM_PERIOD(Period));
-  assert_param(IS_LPTIM_PULSE(Pulse));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Reset WAVE bit to set PWM mode */
-  hlptim->Instance->CFGR &= ~LPTIM_CFGR_WAVE;
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-
-  /* Load the period value in the autoreload register */
-  __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period);
-
-  /* Wait for the completion of the write operation to the LPTIM_ARR register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK);
-
-  /* Load the pulse value in the compare register */
-  __HAL_LPTIM_COMPARE_SET(hlptim, Pulse);
-
-  /* Wait for the completion of the write operation to the LPTIM_CMP register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Enable Autoreload write complete interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARROK);
-
-  /* Enable Compare write complete interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPOK);
-
-  /* Enable Autoreload match interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARRM);
-
-  /* Enable Compare match interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPM);
-
-  /* If external trigger source is used, then enable external trigger interrupt */
-  if ((hlptim->Init.Trigger.Source) != LPTIM_TRIGSOURCE_SOFTWARE)
-  {
-    /* Enable external trigger interrupt */
-    __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_EXTTRIG);
-  }
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Start timer in continuous mode */
-  __HAL_LPTIM_START_CONTINUOUS(hlptim);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Stop the LPTIM PWM generation in interrupt mode.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_PWM_Stop_IT(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Disable Autoreload write complete interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARROK);
-
-  /* Disable Compare write complete interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPOK);
-
-  /* Disable Autoreload match interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARRM);
-
-  /* Disable Compare match interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPM);
-
-  /* If external trigger source is used, then disable external trigger interrupt */
-  if ((hlptim->Init.Trigger.Source) != LPTIM_TRIGSOURCE_SOFTWARE)
-  {
-    /* Disable external trigger interrupt */
-    __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_EXTTRIG);
-  }
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Start the LPTIM One pulse generation.
-  * @param  hlptim LPTIM handle
-  * @param  Period Specifies the Autoreload value.
-  *         This parameter must be a value between 0x0001 and 0xFFFF.
-  * @param  Pulse Specifies the compare value.
-  *         This parameter must be a value between 0x0000 and 0xFFFF.
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_OnePulse_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-  assert_param(IS_LPTIM_PERIOD(Period));
-  assert_param(IS_LPTIM_PULSE(Pulse));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Reset WAVE bit to set one pulse mode */
-  hlptim->Instance->CFGR &= ~LPTIM_CFGR_WAVE;
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-
-  /* Load the period value in the autoreload register */
-  __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period);
-
-  /* Wait for the completion of the write operation to the LPTIM_ARR register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK);
-
-  /* Load the pulse value in the compare register */
-  __HAL_LPTIM_COMPARE_SET(hlptim, Pulse);
-
-  /* Wait for the completion of the write operation to the LPTIM_CMP register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Start timer in single (one shot) mode */
-  __HAL_LPTIM_START_SINGLE(hlptim);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Stop the LPTIM One pulse generation.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_OnePulse_Stop(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Start the LPTIM One pulse generation in interrupt mode.
-  * @param  hlptim LPTIM handle
-  * @param  Period Specifies the Autoreload value.
-  *         This parameter must be a value between 0x0001 and 0xFFFF.
-  * @param  Pulse Specifies the compare value.
-  *         This parameter must be a value between 0x0000 and 0xFFFF.
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_OnePulse_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-  assert_param(IS_LPTIM_PERIOD(Period));
-  assert_param(IS_LPTIM_PULSE(Pulse));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Reset WAVE bit to set one pulse mode */
-  hlptim->Instance->CFGR &= ~LPTIM_CFGR_WAVE;
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-
-  /* Load the period value in the autoreload register */
-  __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period);
-
-  /* Wait for the completion of the write operation to the LPTIM_ARR register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK);
-
-  /* Load the pulse value in the compare register */
-  __HAL_LPTIM_COMPARE_SET(hlptim, Pulse);
-
-  /* Wait for the completion of the write operation to the LPTIM_CMP register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Enable Autoreload write complete interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARROK);
-
-  /* Enable Compare write complete interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPOK);
-
-  /* Enable Autoreload match interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARRM);
-
-  /* Enable Compare match interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPM);
-
-  /* If external trigger source is used, then enable external trigger interrupt */
-  if ((hlptim->Init.Trigger.Source) != LPTIM_TRIGSOURCE_SOFTWARE)
-  {
-    /* Enable external trigger interrupt */
-    __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_EXTTRIG);
-  }
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Start timer in single (one shot) mode */
-  __HAL_LPTIM_START_SINGLE(hlptim);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Stop the LPTIM One pulse generation in interrupt mode.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_OnePulse_Stop_IT(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Disable Autoreload write complete interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARROK);
-
-  /* Disable Compare write complete interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPOK);
-
-  /* Disable Autoreload match interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARRM);
-
-  /* Disable Compare match interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPM);
-
-  /* If external trigger source is used, then disable external trigger interrupt */
-  if ((hlptim->Init.Trigger.Source) != LPTIM_TRIGSOURCE_SOFTWARE)
-  {
-    /* Disable external trigger interrupt */
-    __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_EXTTRIG);
-  }
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Start the LPTIM in Set once mode.
-  * @param  hlptim LPTIM handle
-  * @param  Period Specifies the Autoreload value.
-  *         This parameter must be a value between 0x0001 and 0xFFFF.
-  * @param  Pulse Specifies the compare value.
-  *         This parameter must be a value between 0x0000 and 0xFFFF.
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_SetOnce_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-  assert_param(IS_LPTIM_PERIOD(Period));
-  assert_param(IS_LPTIM_PULSE(Pulse));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Set WAVE bit to enable the set once mode */
-  hlptim->Instance->CFGR |= LPTIM_CFGR_WAVE;
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-
-  /* Load the period value in the autoreload register */
-  __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period);
-
-  /* Wait for the completion of the write operation to the LPTIM_ARR register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK);
-
-  /* Load the pulse value in the compare register */
-  __HAL_LPTIM_COMPARE_SET(hlptim, Pulse);
-
-  /* Wait for the completion of the write operation to the LPTIM_CMP register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Start timer in single (one shot) mode */
-  __HAL_LPTIM_START_SINGLE(hlptim);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Stop the LPTIM Set once mode.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_SetOnce_Stop(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Start the LPTIM Set once mode in interrupt mode.
-  * @param  hlptim LPTIM handle
-  * @param  Period Specifies the Autoreload value.
-  *         This parameter must be a value between 0x0000 and 0xFFFF.
-  * @param  Pulse Specifies the compare value.
-  *         This parameter must be a value between 0x0000 and 0xFFFF.
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_SetOnce_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-  assert_param(IS_LPTIM_PERIOD(Period));
-  assert_param(IS_LPTIM_PULSE(Pulse));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Set WAVE bit to enable the set once mode */
-  hlptim->Instance->CFGR |= LPTIM_CFGR_WAVE;
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-
-  /* Load the period value in the autoreload register */
-  __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period);
-
-  /* Wait for the completion of the write operation to the LPTIM_ARR register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK);
-
-  /* Load the pulse value in the compare register */
-  __HAL_LPTIM_COMPARE_SET(hlptim, Pulse);
-
-  /* Wait for the completion of the write operation to the LPTIM_CMP register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Enable Autoreload write complete interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARROK);
-
-  /* Enable Compare write complete interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPOK);
-
-  /* Enable Autoreload match interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARRM);
-
-  /* Enable Compare match interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPM);
-
-  /* If external trigger source is used, then enable external trigger interrupt */
-  if ((hlptim->Init.Trigger.Source) != LPTIM_TRIGSOURCE_SOFTWARE)
-  {
-    /* Enable external trigger interrupt */
-    __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_EXTTRIG);
-  }
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Start timer in single (one shot) mode */
-  __HAL_LPTIM_START_SINGLE(hlptim);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Stop the LPTIM Set once mode in interrupt mode.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_SetOnce_Stop_IT(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Disable Autoreload write complete interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARROK);
-
-  /* Disable Compare write complete interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPOK);
-
-  /* Disable Autoreload match interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARRM);
-
-  /* Disable Compare match interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPM);
-
-  /* If external trigger source is used, then disable external trigger interrupt */
-  if ((hlptim->Init.Trigger.Source) != LPTIM_TRIGSOURCE_SOFTWARE)
-  {
-    /* Disable external trigger interrupt */
-    __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_EXTTRIG);
-  }
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Start the Encoder interface.
-  * @param  hlptim LPTIM handle
-  * @param  Period Specifies the Autoreload value.
-  *         This parameter must be a value between 0x0001 and 0xFFFF.
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_Encoder_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period)
-{
-  uint32_t          tmpcfgr;
-
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-  assert_param(IS_LPTIM_PERIOD(Period));
-  assert_param(hlptim->Init.Clock.Source == LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC);
-  assert_param(hlptim->Init.Clock.Prescaler == LPTIM_PRESCALER_DIV1);
-  assert_param(IS_LPTIM_CLOCK_POLARITY(hlptim->Init.UltraLowPowerClock.Polarity));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Get the LPTIMx CFGR value */
-  tmpcfgr = hlptim->Instance->CFGR;
-
-  /* Clear CKPOL bits */
-  tmpcfgr &= (uint32_t)(~LPTIM_CFGR_CKPOL);
-
-  /* Set Input polarity */
-  tmpcfgr |=  hlptim->Init.UltraLowPowerClock.Polarity;
-
-  /* Write to LPTIMx CFGR */
-  hlptim->Instance->CFGR = tmpcfgr;
-
-  /* Set ENC bit to enable the encoder interface */
-  hlptim->Instance->CFGR |= LPTIM_CFGR_ENC;
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-
-  /* Load the period value in the autoreload register */
-  __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period);
-
-  /* Wait for the completion of the write operation to the LPTIM_ARR register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Start timer in continuous mode */
-  __HAL_LPTIM_START_CONTINUOUS(hlptim);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Stop the Encoder interface.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_Encoder_Stop(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Reset ENC bit to disable the encoder interface */
-  hlptim->Instance->CFGR &= ~LPTIM_CFGR_ENC;
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Start the Encoder interface in interrupt mode.
-  * @param  hlptim LPTIM handle
-  * @param  Period Specifies the Autoreload value.
-  *         This parameter must be a value between 0x0000 and 0xFFFF.
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_Encoder_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period)
-{
-  uint32_t          tmpcfgr;
-
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-  assert_param(IS_LPTIM_PERIOD(Period));
-  assert_param(hlptim->Init.Clock.Source == LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC);
-  assert_param(hlptim->Init.Clock.Prescaler == LPTIM_PRESCALER_DIV1);
-  assert_param(IS_LPTIM_CLOCK_POLARITY(hlptim->Init.UltraLowPowerClock.Polarity));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Configure edge sensitivity for encoder mode */
-  /* Get the LPTIMx CFGR value */
-  tmpcfgr = hlptim->Instance->CFGR;
-
-  /* Clear CKPOL bits */
-  tmpcfgr &= (uint32_t)(~LPTIM_CFGR_CKPOL);
-
-  /* Set Input polarity */
-  tmpcfgr |=  hlptim->Init.UltraLowPowerClock.Polarity;
-
-  /* Write to LPTIMx CFGR */
-  hlptim->Instance->CFGR = tmpcfgr;
-
-  /* Set ENC bit to enable the encoder interface */
-  hlptim->Instance->CFGR |= LPTIM_CFGR_ENC;
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-
-  /* Load the period value in the autoreload register */
-  __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period);
-
-  /* Wait for the completion of the write operation to the LPTIM_ARR register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Enable "switch to down direction" interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_DOWN);
-
-  /* Enable "switch to up direction" interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_UP);
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Start timer in continuous mode */
-  __HAL_LPTIM_START_CONTINUOUS(hlptim);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Stop the Encoder interface in interrupt mode.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_Encoder_Stop_IT(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Reset ENC bit to disable the encoder interface */
-  hlptim->Instance->CFGR &= ~LPTIM_CFGR_ENC;
-
-  /* Disable "switch to down direction" interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_DOWN);
-
-  /* Disable "switch to up direction" interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_UP);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Start the Timeout function.
-  * @note   The first trigger event will start the timer, any successive
-  *         trigger event will reset the counter and the timer restarts.
-  * @param  hlptim LPTIM handle
-  * @param  Period Specifies the Autoreload value.
-  *         This parameter must be a value between 0x0001 and 0xFFFF.
-  * @param  Timeout Specifies the TimeOut value to reset the counter.
-  *         This parameter must be a value between 0x0000 and 0xFFFF.
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_TimeOut_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Timeout)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-  assert_param(IS_LPTIM_PERIOD(Period));
-  assert_param(IS_LPTIM_PULSE(Timeout));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Set TIMOUT bit to enable the timeout function */
-  hlptim->Instance->CFGR |= LPTIM_CFGR_TIMOUT;
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-
-  /* Load the period value in the autoreload register */
-  __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period);
-
-  /* Wait for the completion of the write operation to the LPTIM_ARR register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK);
-
-  /* Load the Timeout value in the compare register */
-  __HAL_LPTIM_COMPARE_SET(hlptim, Timeout);
-
-  /* Wait for the completion of the write operation to the LPTIM_CMP register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Start timer in continuous mode */
-  __HAL_LPTIM_START_CONTINUOUS(hlptim);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Stop the Timeout function.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_TimeOut_Stop(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Reset TIMOUT bit to enable the timeout function */
-  hlptim->Instance->CFGR &= ~LPTIM_CFGR_TIMOUT;
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Start the Timeout function in interrupt mode.
-  * @note   The first trigger event will start the timer, any successive
-  *         trigger event will reset the counter and the timer restarts.
-  * @param  hlptim LPTIM handle
-  * @param  Period Specifies the Autoreload value.
-  *         This parameter must be a value between 0x0001 and 0xFFFF.
-  * @param  Timeout Specifies the TimeOut value to reset the counter.
-  *         This parameter must be a value between 0x0000 and 0xFFFF.
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_TimeOut_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Timeout)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-  assert_param(IS_LPTIM_PERIOD(Period));
-  assert_param(IS_LPTIM_PULSE(Timeout));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Enable EXTI Line interrupt on the LPTIM Wake-up Timer */
-  __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_IT();
-
-  /* Set TIMOUT bit to enable the timeout function */
-  hlptim->Instance->CFGR |= LPTIM_CFGR_TIMOUT;
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-
-  /* Load the period value in the autoreload register */
-  __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period);
-
-  /* Wait for the completion of the write operation to the LPTIM_ARR register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK);
-
-  /* Load the Timeout value in the compare register */
-  __HAL_LPTIM_COMPARE_SET(hlptim, Timeout);
-
-  /* Wait for the completion of the write operation to the LPTIM_CMP register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Enable Compare match interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPM);
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Start timer in continuous mode */
-  __HAL_LPTIM_START_CONTINUOUS(hlptim);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Stop the Timeout function in interrupt mode.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_TimeOut_Stop_IT(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-
-  /* Disable EXTI Line interrupt on the LPTIM Wake-up Timer */
-  __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_IT();
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Reset TIMOUT bit to enable the timeout function */
-  hlptim->Instance->CFGR &= ~LPTIM_CFGR_TIMOUT;
-
-  /* Disable Compare match interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPM);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Start the Counter mode.
-  * @param  hlptim LPTIM handle
-  * @param  Period Specifies the Autoreload value.
-  *         This parameter must be a value between 0x0001 and 0xFFFF.
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_Counter_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-  assert_param(IS_LPTIM_PERIOD(Period));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* If clock source is not ULPTIM clock and counter source is external, then it must not be prescaled */
-  if ((hlptim->Init.Clock.Source != LPTIM_CLOCKSOURCE_ULPTIM)
-      && (hlptim->Init.CounterSource == LPTIM_COUNTERSOURCE_EXTERNAL))
-  {
-    /* Check if clock is prescaled */
-    assert_param(IS_LPTIM_CLOCK_PRESCALERDIV1(hlptim->Init.Clock.Prescaler));
-    /* Set clock prescaler to 0 */
-    hlptim->Instance->CFGR &= ~LPTIM_CFGR_PRESC;
-  }
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-
-  /* Load the period value in the autoreload register */
-  __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period);
-
-  /* Wait for the completion of the write operation to the LPTIM_ARR register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Start timer in continuous mode */
-  __HAL_LPTIM_START_CONTINUOUS(hlptim);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Stop the Counter mode.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_Counter_Stop(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Start the Counter mode in interrupt mode.
-  * @param  hlptim LPTIM handle
-  * @param  Period Specifies the Autoreload value.
-  *         This parameter must be a value between 0x0001 and 0xFFFF.
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_Counter_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-  assert_param(IS_LPTIM_PERIOD(Period));
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Enable EXTI Line interrupt on the LPTIM Wake-up Timer */
-  __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_IT();
-
-  /* If clock source is not ULPTIM clock and counter source is external, then it must not be prescaled */
-  if ((hlptim->Init.Clock.Source != LPTIM_CLOCKSOURCE_ULPTIM)
-      && (hlptim->Init.CounterSource == LPTIM_COUNTERSOURCE_EXTERNAL))
-  {
-    /* Check if clock is prescaled */
-    assert_param(IS_LPTIM_CLOCK_PRESCALERDIV1(hlptim->Init.Clock.Prescaler));
-    /* Set clock prescaler to 0 */
-    hlptim->Instance->CFGR &= ~LPTIM_CFGR_PRESC;
-  }
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Clear flag */
-  __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-
-  /* Load the period value in the autoreload register */
-  __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period);
-
-  /* Wait for the completion of the write operation to the LPTIM_ARR register */
-  if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Enable Autoreload write complete interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARROK);
-
-  /* Enable Autoreload match interrupt */
-  __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARRM);
-
-  /* Enable the Peripheral */
-  __HAL_LPTIM_ENABLE(hlptim);
-
-  /* Start timer in continuous mode */
-  __HAL_LPTIM_START_CONTINUOUS(hlptim);
-
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @brief  Stop the Counter mode in interrupt mode.
-  * @param  hlptim LPTIM handle
-  * @retval HAL status
-  */
-HAL_StatusTypeDef HAL_LPTIM_Counter_Stop_IT(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-
-  /* Disable EXTI Line interrupt on the LPTIM Wake-up Timer */
-  __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_IT();
-
-  /* Set the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_BUSY;
-
-  /* Disable the Peripheral */
-  __HAL_LPTIM_DISABLE(hlptim);
-
-  if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT)
-  {
-    return HAL_TIMEOUT;
-  }
-
-  /* Disable Autoreload write complete interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARROK);
-
-  /* Disable Autoreload match interrupt */
-  __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARRM);
-  /* Change the LPTIM state */
-  hlptim->State = HAL_LPTIM_STATE_READY;
-
-  /* Return function status */
-  return HAL_OK;
-}
-
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Exported_Functions_Group3 LPTIM Read operation functions
-  *  @brief  Read operation functions.
-  *
-@verbatim
-  ==============================================================================
-                  ##### LPTIM Read operation functions #####
-  ==============================================================================
-[..]  This section provides LPTIM Reading functions.
-      (+) Read the counter value.
-      (+) Read the period (Auto-reload) value.
-      (+) Read the pulse (Compare)value.
-@endverbatim
-  * @{
-  */
-
-/**
-  * @brief  Return the current counter value.
-  * @param  hlptim LPTIM handle
-  * @retval Counter value.
-  */
-uint32_t HAL_LPTIM_ReadCounter(const LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  return (hlptim->Instance->CNT);
-}
-
-/**
-  * @brief  Return the current Autoreload (Period) value.
-  * @param  hlptim LPTIM handle
-  * @retval Autoreload value.
-  */
-uint32_t HAL_LPTIM_ReadAutoReload(const LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  return (hlptim->Instance->ARR);
-}
-
-/**
-  * @brief  Return the current Compare (Pulse) value.
-  * @param  hlptim LPTIM handle
-  * @retval Compare value.
-  */
-uint32_t HAL_LPTIM_ReadCompare(const LPTIM_HandleTypeDef *hlptim)
-{
-  /* Check the parameters */
-  assert_param(IS_LPTIM_INSTANCE(hlptim->Instance));
-
-  return (hlptim->Instance->CMP);
-}
-
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Exported_Functions_Group4 LPTIM IRQ handler and callbacks
-  *  @brief  LPTIM  IRQ handler.
-  *
-@verbatim
-  ==============================================================================
-                      ##### LPTIM IRQ handler and callbacks  #####
-  ==============================================================================
-[..]  This section provides LPTIM IRQ handler and callback functions called within
-      the IRQ handler:
-   (+) LPTIM interrupt request handler
-   (+) Compare match Callback
-   (+) Auto-reload match Callback
-   (+) External trigger event detection Callback
-   (+) Compare register write complete Callback
-   (+) Auto-reload register write complete Callback
-   (+) Up-counting direction change Callback
-   (+) Down-counting direction change Callback
-
-@endverbatim
-  * @{
-  */
-
-/**
-  * @brief  Handle LPTIM interrupt request.
-  * @param  hlptim LPTIM handle
-  * @retval None
-  */
-void HAL_LPTIM_IRQHandler(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Compare match interrupt */
-  if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_CMPM) != RESET)
-  {
-    if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_CMPM) != RESET)
-    {
-      /* Clear Compare match flag */
-      __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPM);
-
-      /* Compare match Callback */
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-      hlptim->CompareMatchCallback(hlptim);
-#else
-      HAL_LPTIM_CompareMatchCallback(hlptim);
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-    }
-  }
-
-  /* Autoreload match interrupt */
-  if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_ARRM) != RESET)
-  {
-    if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_ARRM) != RESET)
-    {
-      /* Clear Autoreload match flag */
-      __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARRM);
-
-      /* Autoreload match Callback */
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-      hlptim->AutoReloadMatchCallback(hlptim);
-#else
-      HAL_LPTIM_AutoReloadMatchCallback(hlptim);
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-    }
-  }
-
-  /* Trigger detected interrupt */
-  if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_EXTTRIG) != RESET)
-  {
-    if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_EXTTRIG) != RESET)
-    {
-      /* Clear Trigger detected flag */
-      __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_EXTTRIG);
-
-      /* Trigger detected callback */
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-      hlptim->TriggerCallback(hlptim);
-#else
-      HAL_LPTIM_TriggerCallback(hlptim);
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-    }
-  }
-
-  /* Compare write interrupt */
-  if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_CMPOK) != RESET)
-  {
-    if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_CMPOK) != RESET)
-    {
-      /* Clear Compare write flag */
-      __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK);
-
-      /* Compare write Callback */
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-      hlptim->CompareWriteCallback(hlptim);
-#else
-      HAL_LPTIM_CompareWriteCallback(hlptim);
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-    }
-  }
-
-  /* Autoreload write interrupt */
-  if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_ARROK) != RESET)
-  {
-    if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_ARROK) != RESET)
-    {
-      /* Clear Autoreload write flag */
-      __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-
-      /* Autoreload write Callback */
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-      hlptim->AutoReloadWriteCallback(hlptim);
-#else
-      HAL_LPTIM_AutoReloadWriteCallback(hlptim);
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-    }
-  }
-
-  /* Direction counter changed from Down to Up interrupt */
-  if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_UP) != RESET)
-  {
-    if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_UP) != RESET)
-    {
-      /* Clear Direction counter changed from Down to Up flag */
-      __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_UP);
-
-      /* Direction counter changed from Down to Up Callback */
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-      hlptim->DirectionUpCallback(hlptim);
-#else
-      HAL_LPTIM_DirectionUpCallback(hlptim);
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-    }
-  }
-
-  /* Direction counter changed from Up to Down interrupt */
-  if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_DOWN) != RESET)
-  {
-    if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_DOWN) != RESET)
-    {
-      /* Clear Direction counter changed from Up to Down flag */
-      __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_DOWN);
-
-      /* Direction counter changed from Up to Down Callback */
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-      hlptim->DirectionDownCallback(hlptim);
-#else
-      HAL_LPTIM_DirectionDownCallback(hlptim);
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-    }
-  }
-}
-
-/**
-  * @brief  Compare match callback in non-blocking mode.
-  * @param  hlptim LPTIM handle
-  * @retval None
-  */
-__weak void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Prevent unused argument(s) compilation warning */
-  UNUSED(hlptim);
-
-  /* NOTE : This function should not be modified, when the callback is needed,
-            the HAL_LPTIM_CompareMatchCallback could be implemented in the user file
-   */
-}
-
-/**
-  * @brief  Autoreload match callback in non-blocking mode.
-  * @param  hlptim LPTIM handle
-  * @retval None
-  */
-__weak void HAL_LPTIM_AutoReloadMatchCallback(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Prevent unused argument(s) compilation warning */
-  UNUSED(hlptim);
-
-  /* NOTE : This function should not be modified, when the callback is needed,
-            the HAL_LPTIM_AutoReloadMatchCallback could be implemented in the user file
-   */
-}
-
-/**
-  * @brief  Trigger detected callback in non-blocking mode.
-  * @param  hlptim LPTIM handle
-  * @retval None
-  */
-__weak void HAL_LPTIM_TriggerCallback(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Prevent unused argument(s) compilation warning */
-  UNUSED(hlptim);
-
-  /* NOTE : This function should not be modified, when the callback is needed,
-            the HAL_LPTIM_TriggerCallback could be implemented in the user file
-   */
-}
-
-/**
-  * @brief  Compare write callback in non-blocking mode.
-  * @param  hlptim LPTIM handle
-  * @retval None
-  */
-__weak void HAL_LPTIM_CompareWriteCallback(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Prevent unused argument(s) compilation warning */
-  UNUSED(hlptim);
-
-  /* NOTE : This function should not be modified, when the callback is needed,
-            the HAL_LPTIM_CompareWriteCallback could be implemented in the user file
-   */
-}
-
-/**
-  * @brief  Autoreload write callback in non-blocking mode.
-  * @param  hlptim LPTIM handle
-  * @retval None
-  */
-__weak void HAL_LPTIM_AutoReloadWriteCallback(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Prevent unused argument(s) compilation warning */
-  UNUSED(hlptim);
-
-  /* NOTE : This function should not be modified, when the callback is needed,
-            the HAL_LPTIM_AutoReloadWriteCallback could be implemented in the user file
-   */
-}
-
-/**
-  * @brief  Direction counter changed from Down to Up callback in non-blocking mode.
-  * @param  hlptim LPTIM handle
-  * @retval None
-  */
-__weak void HAL_LPTIM_DirectionUpCallback(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Prevent unused argument(s) compilation warning */
-  UNUSED(hlptim);
-
-  /* NOTE : This function should not be modified, when the callback is needed,
-            the HAL_LPTIM_DirectionUpCallback could be implemented in the user file
-   */
-}
-
-/**
-  * @brief  Direction counter changed from Up to Down callback in non-blocking mode.
-  * @param  hlptim LPTIM handle
-  * @retval None
-  */
-__weak void HAL_LPTIM_DirectionDownCallback(LPTIM_HandleTypeDef *hlptim)
-{
-  /* Prevent unused argument(s) compilation warning */
-  UNUSED(hlptim);
-
-  /* NOTE : This function should not be modified, when the callback is needed,
-            the HAL_LPTIM_DirectionDownCallback could be implemented in the user file
-   */
-}
-
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-/**
-  * @brief  Register a User LPTIM callback to be used instead of the weak predefined callback
-  * @param hlptim LPTIM handle
-  * @param CallbackID ID of the callback to be registered
-  *        This parameter can be one of the following values:
-  *          @arg @ref HAL_LPTIM_MSPINIT_CB_ID          LPTIM Base Msp Init Callback ID
-  *          @arg @ref HAL_LPTIM_MSPDEINIT_CB_ID        LPTIM Base Msp DeInit Callback ID
-  *          @arg @ref HAL_LPTIM_COMPARE_MATCH_CB_ID    Compare match Callback ID
-  *          @arg @ref HAL_LPTIM_AUTORELOAD_MATCH_CB_ID Auto-reload match Callback ID
-  *          @arg @ref HAL_LPTIM_TRIGGER_CB_ID          External trigger event detection Callback ID
-  *          @arg @ref HAL_LPTIM_COMPARE_WRITE_CB_ID    Compare register write complete Callback ID
-  *          @arg @ref HAL_LPTIM_AUTORELOAD_WRITE_CB_ID Auto-reload register write complete Callback ID
-  *          @arg @ref HAL_LPTIM_DIRECTION_UP_CB_ID     Up-counting direction change Callback ID
-  *          @arg @ref HAL_LPTIM_DIRECTION_DOWN_CB_ID   Down-counting direction change Callback ID
-  * @param pCallback pointer to the callback function
-  * @retval status
-  */
-HAL_StatusTypeDef HAL_LPTIM_RegisterCallback(LPTIM_HandleTypeDef        *hlptim,
-                                             HAL_LPTIM_CallbackIDTypeDef CallbackID,
-                                             pLPTIM_CallbackTypeDef      pCallback)
-{
-  HAL_StatusTypeDef status = HAL_OK;
-
-  if (pCallback == NULL)
-  {
-    return HAL_ERROR;
-  }
-
-  if (hlptim->State == HAL_LPTIM_STATE_READY)
-  {
-    switch (CallbackID)
-    {
-      case HAL_LPTIM_MSPINIT_CB_ID :
-        hlptim->MspInitCallback = pCallback;
-        break;
-
-      case HAL_LPTIM_MSPDEINIT_CB_ID :
-        hlptim->MspDeInitCallback = pCallback;
-        break;
-
-      case HAL_LPTIM_COMPARE_MATCH_CB_ID :
-        hlptim->CompareMatchCallback = pCallback;
-        break;
-
-      case HAL_LPTIM_AUTORELOAD_MATCH_CB_ID :
-        hlptim->AutoReloadMatchCallback = pCallback;
-        break;
-
-      case HAL_LPTIM_TRIGGER_CB_ID :
-        hlptim->TriggerCallback = pCallback;
-        break;
-
-      case HAL_LPTIM_COMPARE_WRITE_CB_ID :
-        hlptim->CompareWriteCallback = pCallback;
-        break;
-
-      case HAL_LPTIM_AUTORELOAD_WRITE_CB_ID :
-        hlptim->AutoReloadWriteCallback = pCallback;
-        break;
-
-      case HAL_LPTIM_DIRECTION_UP_CB_ID :
-        hlptim->DirectionUpCallback = pCallback;
-        break;
-
-      case HAL_LPTIM_DIRECTION_DOWN_CB_ID :
-        hlptim->DirectionDownCallback = pCallback;
-        break;
-
-      default :
-        /* Return error status */
-        status =  HAL_ERROR;
-        break;
-    }
-  }
-  else if (hlptim->State == HAL_LPTIM_STATE_RESET)
-  {
-    switch (CallbackID)
-    {
-      case HAL_LPTIM_MSPINIT_CB_ID :
-        hlptim->MspInitCallback = pCallback;
-        break;
-
-      case HAL_LPTIM_MSPDEINIT_CB_ID :
-        hlptim->MspDeInitCallback = pCallback;
-        break;
-
-      default :
-        /* Return error status */
-        status =  HAL_ERROR;
-        break;
-    }
-  }
-  else
-  {
-    /* Return error status */
-    status =  HAL_ERROR;
-  }
-
-  return status;
-}
-
-/**
-  * @brief  Unregister a LPTIM callback
-  *         LLPTIM callback is redirected to the weak predefined callback
-  * @param hlptim LPTIM handle
-  * @param CallbackID ID of the callback to be unregistered
-  *        This parameter can be one of the following values:
-  *          @arg @ref HAL_LPTIM_MSPINIT_CB_ID          LPTIM Base Msp Init Callback ID
-  *          @arg @ref HAL_LPTIM_MSPDEINIT_CB_ID        LPTIM Base Msp DeInit Callback ID
-  *          @arg @ref HAL_LPTIM_COMPARE_MATCH_CB_ID    Compare match Callback ID
-  *          @arg @ref HAL_LPTIM_AUTORELOAD_MATCH_CB_ID Auto-reload match Callback ID
-  *          @arg @ref HAL_LPTIM_TRIGGER_CB_ID          External trigger event detection Callback ID
-  *          @arg @ref HAL_LPTIM_COMPARE_WRITE_CB_ID    Compare register write complete Callback ID
-  *          @arg @ref HAL_LPTIM_AUTORELOAD_WRITE_CB_ID Auto-reload register write complete Callback ID
-  *          @arg @ref HAL_LPTIM_DIRECTION_UP_CB_ID     Up-counting direction change Callback ID
-  *          @arg @ref HAL_LPTIM_DIRECTION_DOWN_CB_ID   Down-counting direction change Callback ID
-  * @retval status
-  */
-HAL_StatusTypeDef HAL_LPTIM_UnRegisterCallback(LPTIM_HandleTypeDef        *hlptim,
-                                               HAL_LPTIM_CallbackIDTypeDef CallbackID)
-{
-  HAL_StatusTypeDef status = HAL_OK;
-
-  if (hlptim->State == HAL_LPTIM_STATE_READY)
-  {
-    switch (CallbackID)
-    {
-      case HAL_LPTIM_MSPINIT_CB_ID :
-        /* Legacy weak MspInit Callback */
-        hlptim->MspInitCallback = HAL_LPTIM_MspInit;
-        break;
-
-      case HAL_LPTIM_MSPDEINIT_CB_ID :
-        /* Legacy weak Msp DeInit Callback */
-        hlptim->MspDeInitCallback = HAL_LPTIM_MspDeInit;
-        break;
-
-      case HAL_LPTIM_COMPARE_MATCH_CB_ID :
-        /* Legacy weak Compare match Callback */
-        hlptim->CompareMatchCallback = HAL_LPTIM_CompareMatchCallback;
-        break;
-
-      case HAL_LPTIM_AUTORELOAD_MATCH_CB_ID :
-        /* Legacy weak Auto-reload match Callback */
-        hlptim->AutoReloadMatchCallback = HAL_LPTIM_AutoReloadMatchCallback;
-        break;
-
-      case HAL_LPTIM_TRIGGER_CB_ID :
-        /* Legacy weak External trigger event detection Callback */
-        hlptim->TriggerCallback = HAL_LPTIM_TriggerCallback;
-        break;
-
-      case HAL_LPTIM_COMPARE_WRITE_CB_ID :
-        /* Legacy weak Compare register write complete Callback */
-        hlptim->CompareWriteCallback = HAL_LPTIM_CompareWriteCallback;
-        break;
-
-      case HAL_LPTIM_AUTORELOAD_WRITE_CB_ID :
-        /* Legacy weak Auto-reload register write complete Callback */
-        hlptim->AutoReloadWriteCallback = HAL_LPTIM_AutoReloadWriteCallback;
-        break;
-
-      case HAL_LPTIM_DIRECTION_UP_CB_ID :
-        /* Legacy weak Up-counting direction change Callback */
-        hlptim->DirectionUpCallback = HAL_LPTIM_DirectionUpCallback;
-        break;
-
-      case HAL_LPTIM_DIRECTION_DOWN_CB_ID :
-        /* Legacy weak Down-counting direction change Callback */
-        hlptim->DirectionDownCallback = HAL_LPTIM_DirectionDownCallback;
-        break;
-
-      default :
-        /* Return error status */
-        status =  HAL_ERROR;
-        break;
-    }
-  }
-  else if (hlptim->State == HAL_LPTIM_STATE_RESET)
-  {
-    switch (CallbackID)
-    {
-      case HAL_LPTIM_MSPINIT_CB_ID :
-        /* Legacy weak MspInit Callback */
-        hlptim->MspInitCallback = HAL_LPTIM_MspInit;
-        break;
-
-      case HAL_LPTIM_MSPDEINIT_CB_ID :
-        /* Legacy weak Msp DeInit Callback */
-        hlptim->MspDeInitCallback = HAL_LPTIM_MspDeInit;
-        break;
-
-      default :
-        /* Return error status */
-        status =  HAL_ERROR;
-        break;
-    }
-  }
-  else
-  {
-    /* Return error status */
-    status =  HAL_ERROR;
-  }
-
-  return status;
-}
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-
-/**
-  * @}
-  */
-
-/** @defgroup LPTIM_Group5 Peripheral State functions
-  *  @brief   Peripheral State functions.
-  *
-@verbatim
-  ==============================================================================
-                      ##### Peripheral State functions #####
-  ==============================================================================
-    [..]
-    This subsection permits to get in run-time the status of the peripheral.
-
-@endverbatim
-  * @{
-  */
-
-/**
-  * @brief  Return the LPTIM handle state.
-  * @param  hlptim LPTIM handle
-  * @retval HAL state
-  */
-HAL_LPTIM_StateTypeDef HAL_LPTIM_GetState(const LPTIM_HandleTypeDef *hlptim)
-{
-  /* Return LPTIM handle state */
-  return hlptim->State;
-}
-
-/**
-  * @}
-  */
-
-
-/**
-  * @}
-  */
-
-/* Private functions ---------------------------------------------------------*/
-
-/** @defgroup LPTIM_Private_Functions LPTIM Private Functions
-  * @{
-  */
-#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
-/**
-  * @brief  Reset interrupt callbacks to the legacy weak callbacks.
-  * @param  lptim pointer to a LPTIM_HandleTypeDef structure that contains
-  *                the configuration information for LPTIM module.
-  * @retval None
-  */
-static void LPTIM_ResetCallback(LPTIM_HandleTypeDef *lptim)
-{
-  /* Reset the LPTIM callback to the legacy weak callbacks */
-  lptim->CompareMatchCallback    = HAL_LPTIM_CompareMatchCallback;
-  lptim->AutoReloadMatchCallback = HAL_LPTIM_AutoReloadMatchCallback;
-  lptim->TriggerCallback         = HAL_LPTIM_TriggerCallback;
-  lptim->CompareWriteCallback    = HAL_LPTIM_CompareWriteCallback;
-  lptim->AutoReloadWriteCallback = HAL_LPTIM_AutoReloadWriteCallback;
-  lptim->DirectionUpCallback     = HAL_LPTIM_DirectionUpCallback;
-  lptim->DirectionDownCallback   = HAL_LPTIM_DirectionDownCallback;
-}
-#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
-
-/**
-  * @brief  LPTimer Wait for flag set
-  * @param  hlptim pointer to a LPTIM_HandleTypeDef structure that contains
-  *                the configuration information for LPTIM module.
-  * @param  flag   The lptim flag
-  * @retval HAL status
-  */
-static HAL_StatusTypeDef LPTIM_WaitForFlag(const LPTIM_HandleTypeDef *hlptim, uint32_t flag)
-{
-  HAL_StatusTypeDef result = HAL_OK;
-  uint32_t count = TIMEOUT * (SystemCoreClock / 20UL / 1000UL);
-  do
-  {
-    count--;
-    if (count == 0UL)
-    {
-      result = HAL_TIMEOUT;
-    }
-  } while ((!(__HAL_LPTIM_GET_FLAG((hlptim), (flag)))) && (count != 0UL));
-
-  return result;
-}
-
-/**
-  * @brief  Disable LPTIM HW instance.
-  * @param  hlptim pointer to a LPTIM_HandleTypeDef structure that contains
-  *                the configuration information for LPTIM module.
-  * @note   The following sequence is required to solve LPTIM disable HW limitation.
-  *         Please check Errata Sheet ES0335 for more details under "MCU may remain
-  *         stuck in LPTIM interrupt when entering Stop mode" section.
-  * @retval None
-  */
-void LPTIM_Disable(LPTIM_HandleTypeDef *hlptim)
-{
-  uint32_t tmpclksource = 0;
-  uint32_t tmpIER;
-  uint32_t tmpCFGR;
-  uint32_t tmpCMP;
-  uint32_t tmpARR;
-  uint32_t primask_bit;
-
-  /* Enter critical section */
-  primask_bit = __get_PRIMASK();
-  __set_PRIMASK(1) ;
-
-  /*********** Save LPTIM Config ***********/
-  /* Save LPTIM source clock */
-  switch ((uint32_t)hlptim->Instance)
-  {
-    case LPTIM1_BASE:
-      tmpclksource = __HAL_RCC_GET_LPTIM1_SOURCE();
-      break;
-    default:
-      break;
-  }
-
-  /* Save LPTIM configuration registers */
-  tmpIER = hlptim->Instance->IER;
-  tmpCFGR = hlptim->Instance->CFGR;
-  tmpCMP = hlptim->Instance->CMP;
-  tmpARR = hlptim->Instance->ARR;
-
-  /*********** Reset LPTIM ***********/
-  switch ((uint32_t)hlptim->Instance)
-  {
-    case LPTIM1_BASE:
-      __HAL_RCC_LPTIM1_FORCE_RESET();
-      __HAL_RCC_LPTIM1_RELEASE_RESET();
-      break;
-    default:
-      break;
-  }
-
-  /*********** Restore LPTIM Config ***********/
-  if ((tmpCMP != 0UL) || (tmpARR != 0UL))
-  {
-    /* Force LPTIM source kernel clock from APB */
-    switch ((uint32_t)hlptim->Instance)
-    {
-      case LPTIM1_BASE:
-        __HAL_RCC_LPTIM1_CONFIG(RCC_LPTIM1CLKSOURCE_PCLK1);
-        break;
-      default:
-        break;
-    }
-
-    if (tmpCMP != 0UL)
-    {
-      /* Restore CMP register (LPTIM should be enabled first) */
-      hlptim->Instance->CR |= LPTIM_CR_ENABLE;
-      hlptim->Instance->CMP = tmpCMP;
-
-      /* Wait for the completion of the write operation to the LPTIM_CMP register */
-      if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT)
-      {
-        hlptim->State = HAL_LPTIM_STATE_TIMEOUT;
-      }
-      __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK);
-    }
-
-    if (tmpARR != 0UL)
-    {
-      /* Restore ARR register (LPTIM should be enabled first) */
-      hlptim->Instance->CR |= LPTIM_CR_ENABLE;
-      hlptim->Instance->ARR = tmpARR;
-
-      /* Wait for the completion of the write operation to the LPTIM_ARR register */
-      if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT)
-      {
-        hlptim->State = HAL_LPTIM_STATE_TIMEOUT;
-      }
-
-      __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK);
-    }
-
-    /* Restore LPTIM source kernel clock */
-    switch ((uint32_t)hlptim->Instance)
-    {
-      case LPTIM1_BASE:
-        __HAL_RCC_LPTIM1_CONFIG(tmpclksource);
-        break;
-      default:
-        break;
-    }
-  }
-
-  /* Restore configuration registers (LPTIM should be disabled first) */
-  hlptim->Instance->CR &= ~(LPTIM_CR_ENABLE);
-  hlptim->Instance->IER = tmpIER;
-  hlptim->Instance->CFGR = tmpCFGR;
-
-  /* Exit critical section: restore previous priority mask */
-  __set_PRIMASK(primask_bit);
-}
-/**
-  * @}
-  */
-#endif /* LPTIM1 */
-
-#endif /* HAL_LPTIM_MODULE_ENABLED */
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
diff --git a/software/dumber3/Dumber3.ioc b/software/dumber3/Dumber3.ioc
index cdb2f77..443b4f5 100644
--- a/software/dumber3/Dumber3.ioc
+++ b/software/dumber3/Dumber3.ioc
@@ -31,10 +31,11 @@ FREERTOS.INCLUDE_xEventGroupSetBitFromISR=1
 FREERTOS.INCLUDE_xTaskAbortDelay=1
 FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
 FREERTOS.INCLUDE_xTaskGetHandle=1
-FREERTOS.IPParameters=Tasks01,configTICK_RATE_HZ,configUSE_TICKLESS_IDLE,INCLUDE_xTaskGetHandle,INCLUDE_xTaskAbortDelay,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_pcTaskGetTaskName,INCLUDE_xTaskGetCurrentTaskHandle,configTOTAL_HEAP_SIZE
+FREERTOS.IPParameters=Tasks01,configTICK_RATE_HZ,configUSE_TICKLESS_IDLE,INCLUDE_xTaskGetHandle,INCLUDE_xTaskAbortDelay,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_pcTaskGetTaskName,INCLUDE_xTaskGetCurrentTaskHandle,configTOTAL_HEAP_SIZE,configUSE_NEWLIB_REENTRANT
 FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configTICK_RATE_HZ=1000
 FREERTOS.configTOTAL_HEAP_SIZE=1024
+FREERTOS.configUSE_NEWLIB_REENTRANT=1
 FREERTOS.configUSE_TICKLESS_IDLE=1
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
@@ -46,15 +47,15 @@ Mcu.CPN=STM32L071CBT3
 Mcu.Family=STM32L0
 Mcu.IP0=ADC
 Mcu.IP1=DMA
-Mcu.IP10=TIM21
+Mcu.IP10=TIM22
 Mcu.IP2=FREERTOS
-Mcu.IP3=LPTIM1
-Mcu.IP4=LPUART1
-Mcu.IP5=NVIC
-Mcu.IP6=RCC
-Mcu.IP7=SYS
-Mcu.IP8=TIM2
-Mcu.IP9=TIM3
+Mcu.IP3=LPUART1
+Mcu.IP4=NVIC
+Mcu.IP5=RCC
+Mcu.IP6=SYS
+Mcu.IP7=TIM2
+Mcu.IP8=TIM3
+Mcu.IP9=TIM21
 Mcu.IPNb=11
 Mcu.Name=STM32L071C(B-Z)Tx
 Mcu.Package=LQFP48
@@ -81,17 +82,18 @@ Mcu.Pin26=PB7
 Mcu.Pin27=PB8
 Mcu.Pin28=PB9
 Mcu.Pin29=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin3=PA3
-Mcu.Pin30=VP_LPTIM1_VS_LPTIM_counterModeInternalClock
-Mcu.Pin31=VP_SYS_VS_Systick
+Mcu.Pin3=PA4
+Mcu.Pin30=VP_SYS_VS_tim6
+Mcu.Pin31=VP_TIM2_VS_ClockSourceINT
 Mcu.Pin32=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin33=VP_TIM21_VS_ClockSourceINT
 Mcu.Pin4=PA5
 Mcu.Pin5=PA6
 Mcu.Pin6=PA7
 Mcu.Pin7=PB0
 Mcu.Pin8=PB1
 Mcu.Pin9=PB10
-Mcu.PinsNb=33
+Mcu.PinsNb=34
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32L071CBTx
@@ -103,7 +105,6 @@ NVIC.EXTI2_3_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.EXTI4_15_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.LPTIM1_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.LPUART1_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.PendSV_IRQn=true\:3\:0\:false\:false\:false\:true\:false\:false\:false
@@ -111,7 +112,12 @@ NVIC.SVC_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:true
 NVIC.SavedPendsvIrqHandlerGenerated=true
 NVIC.SavedSvcallIrqHandlerGenerated=true
 NVIC.SavedSystickIrqHandlerGenerated=true
-NVIC.SysTick_IRQn=true\:3\:0\:false\:false\:true\:true\:false\:true\:false
+NVIC.SysTick_IRQn=true\:3\:0\:false\:false\:false\:true\:false\:true\:false
+NVIC.TIM21_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true\:true
+NVIC.TIM2_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true\:true
+NVIC.TIM6_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:true\:true
+NVIC.TimeBase=TIM6_IRQn
+NVIC.TimeBaseIP=TIM6
 PA0.GPIOParameters=GPIO_Label
 PA0.GPIO_Label=BATTERY_SENSE
 PA0.Mode=IN0
@@ -119,7 +125,7 @@ PA0.Signal=ADC_IN0
 PA1.GPIOParameters=GPIO_Label
 PA1.GPIO_Label=ENC_PHA_GAUCHE
 PA1.Locked=true
-PA1.Signal=S_TIM2_CH2
+PA1.Signal=GPIO_Input
 PA10.GPIOParameters=GPIO_Label
 PA10.GPIO_Label=XBEE_RESET
 PA10.Locked=true
@@ -144,10 +150,9 @@ PA2.GPIOParameters=GPIO_Label
 PA2.GPIO_Label=ENC_PHA_DROIT
 PA2.Locked=true
 PA2.Signal=S_TIM21_CH1
-PA3.GPIOParameters=GPIO_Label
-PA3.GPIO_Label=ENC_PHB_DROIT
-PA3.Locked=true
-PA3.Signal=S_TIM21_CH2
+PA4.GPIOParameters=GPIO_Label
+PA4.GPIO_Label=ENC_PHB_DROIT
+PA4.Signal=S_TIM22_ETR
 PA5.GPIOParameters=GPIO_Label
 PA5.GPIO_Label=ENC_PHB_GAUCHE
 PA5.Locked=true
@@ -170,21 +175,23 @@ PA9.Locked=true
 PA9.Signal=GPIO_Output
 PB0.GPIOParameters=GPIO_Speed,GPIO_Label
 PB0.GPIO_Label=PWM_A_DROIT
-PB0.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
+PB0.GPIO_Speed=GPIO_SPEED_FREQ_LOW
 PB0.Locked=true
 PB0.Signal=S_TIM3_CH3
 PB1.GPIOParameters=GPIO_Speed,GPIO_Label
 PB1.GPIO_Label=PWM_B_DROIT
-PB1.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
+PB1.GPIO_Speed=GPIO_SPEED_FREQ_LOW
 PB1.Locked=true
 PB1.Signal=S_TIM3_CH4
-PB10.GPIOParameters=GPIO_Label
+PB10.GPIOParameters=GPIO_Speed,GPIO_Label
 PB10.GPIO_Label=USART_TX
+PB10.GPIO_Speed=GPIO_SPEED_FREQ_LOW
 PB10.Locked=true
 PB10.Mode=Asynchronous
 PB10.Signal=LPUART1_TX
-PB11.GPIOParameters=GPIO_Label
+PB11.GPIOParameters=GPIO_Speed,GPIO_Label
 PB11.GPIO_Label=USART_RX
+PB11.GPIO_Speed=GPIO_SPEED_FREQ_LOW
 PB11.Locked=true
 PB11.Mode=Asynchronous
 PB11.Signal=LPUART1_RX
@@ -264,7 +271,7 @@ ProjectManager.StackSize=0x200
 ProjectManager.TargetToolchain=STM32CubeIDE
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM21_Init-TIM21-false-HAL-true,8-MX_ADC_Init-ADC-false-HAL-true,9-MX_LPTIM1_Init-LPTIM1-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM21_Init-TIM21-false-HAL-true,8-MX_ADC_Init-ADC-false-HAL-true,9-MX_TIM22_Init-TIM22-false-HAL-true
 RCC.ADCFreq_Value=4000000
 RCC.AHBFreq_Value=6000000
 RCC.APB1Freq_Value=6000000
@@ -304,14 +311,12 @@ SH.GPXTI3.0=GPIO_EXTI3
 SH.GPXTI3.ConfNb=1
 SH.GPXTI4.0=GPIO_EXTI4
 SH.GPXTI4.ConfNb=1
-SH.S_TIM21_CH1.0=TIM21_CH1,Encoder_Interface
+SH.S_TIM21_CH1.0=TIM21_CH1,PWM_Input_1
 SH.S_TIM21_CH1.ConfNb=1
-SH.S_TIM21_CH2.0=TIM21_CH2,Encoder_Interface
-SH.S_TIM21_CH2.ConfNb=1
-SH.S_TIM2_CH1.0=TIM2_CH1,Encoder_Interface
+SH.S_TIM22_ETR.0=TIM22_ETR,ClockSourceETR_Mode2
+SH.S_TIM22_ETR.ConfNb=1
+SH.S_TIM2_CH1.0=TIM2_CH1,PWM_Input_1
 SH.S_TIM2_CH1.ConfNb=1
-SH.S_TIM2_CH2.0=TIM2_CH2,Encoder_Interface
-SH.S_TIM2_CH2.ConfNb=1
 SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
 SH.S_TIM3_CH1.ConfNb=1
 SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
@@ -320,17 +325,24 @@ SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
 SH.S_TIM3_CH3.ConfNb=1
 SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
 SH.S_TIM3_CH4.ConfNb=1
+TIM2.IPParameters=Prescaler
+TIM2.Prescaler=9
+TIM21.IPParameters=Prescaler
+TIM21.Prescaler=9
 TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM3.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
+TIM3.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Period
+TIM3.Period=199
 VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
 VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
-VP_LPTIM1_VS_LPTIM_counterModeInternalClock.Mode=Counts__internal_clock_event_00
-VP_LPTIM1_VS_LPTIM_counterModeInternalClock.Signal=LPTIM1_VS_LPTIM_counterModeInternalClock
-VP_SYS_VS_Systick.Mode=SysTick
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_SYS_VS_tim6.Mode=TIM6
+VP_SYS_VS_tim6.Signal=SYS_VS_tim6
+VP_TIM21_VS_ClockSourceINT.Mode=Internal
+VP_TIM21_VS_ClockSourceINT.Signal=TIM21_VS_ClockSourceINT
+VP_TIM2_VS_ClockSourceINT.Mode=Internal
+VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
 VP_TIM3_VS_ClockSourceINT.Mode=Internal
 VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
 board=custom