diff --git a/Core/Src/stm32f4xx_hal_msp.c b/Core/Src/stm32f4xx_hal_msp.c
index eb4c7be0..b964379a 100644
--- a/Core/Src/stm32f4xx_hal_msp.c
+++ b/Core/Src/stm32f4xx_hal_msp.c
@@ -98,11 +98,8 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
     __HAL_RCC_GPIOA_CLK_ENABLE();
     /**ADC1 GPIO Configuration
     PA0-WKUP     ------> ADC1_IN0
-    PA1     ------> ADC1_IN1
-    PA2     ------> ADC1_IN2
-    PA3     ------> ADC1_IN3
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3;
+    GPIO_InitStruct.Pin = GPIO_PIN_0;
     GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -111,6 +108,49 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
 
   /* USER CODE END ADC1_MspInit 1 */
   }
+  else if(hadc->Instance==ADC2)
+  {
+  /* USER CODE BEGIN ADC2_MspInit 0 */
+
+  /* USER CODE END ADC2_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_ADC2_CLK_ENABLE();
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**ADC2 GPIO Configuration
+    PA1     ------> ADC2_IN1
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN ADC2_MspInit 1 */
+
+  /* USER CODE END ADC2_MspInit 1 */
+  }
+  else if(hadc->Instance==ADC3)
+  {
+  /* USER CODE BEGIN ADC3_MspInit 0 */
+
+  /* USER CODE END ADC3_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_ADC3_CLK_ENABLE();
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**ADC3 GPIO Configuration
+    PA2     ------> ADC3_IN2
+    PA3     ------> ADC3_IN3
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN ADC3_MspInit 1 */
+
+  /* USER CODE END ADC3_MspInit 1 */
+  }
 
 }
 
@@ -132,16 +172,48 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
 
     /**ADC1 GPIO Configuration
     PA0-WKUP     ------> ADC1_IN0
-    PA1     ------> ADC1_IN1
-    PA2     ------> ADC1_IN2
-    PA3     ------> ADC1_IN3
     */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0);
 
   /* USER CODE BEGIN ADC1_MspDeInit 1 */
 
   /* USER CODE END ADC1_MspDeInit 1 */
   }
+  else if(hadc->Instance==ADC2)
+  {
+  /* USER CODE BEGIN ADC2_MspDeInit 0 */
+
+  /* USER CODE END ADC2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_ADC2_CLK_DISABLE();
+
+    /**ADC2 GPIO Configuration
+    PA1     ------> ADC2_IN1
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1);
+
+  /* USER CODE BEGIN ADC2_MspDeInit 1 */
+
+  /* USER CODE END ADC2_MspDeInit 1 */
+  }
+  else if(hadc->Instance==ADC3)
+  {
+  /* USER CODE BEGIN ADC3_MspDeInit 0 */
+
+  /* USER CODE END ADC3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_ADC3_CLK_DISABLE();
+
+    /**ADC3 GPIO Configuration
+    PA2     ------> ADC3_IN2
+    PA3     ------> ADC3_IN3
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
+
+  /* USER CODE BEGIN ADC3_MspDeInit 1 */
+
+  /* USER CODE END ADC3_MspDeInit 1 */
+  }
 
 }
 
diff --git a/Makefile b/Makefile
index 034cbbac..dbdfb40c 100644
--- a/Makefile
+++ b/Makefile
@@ -73,6 +73,7 @@ Drivers/Embedded-Base/general/src/lsm6dso.c \
 Drivers/Embedded-Base/general/src/sht30.c \
 Drivers/Embedded-Base/platforms/stm32f405/src/can.c \
 Drivers/Embedded-Base/general/src/pi4ioe.c \
+Drivers/Embedded-Base/middleware/src/timer.c \
 Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c \
 Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c \
 Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c \
@@ -150,6 +151,7 @@ C_INCLUDES =  \
 -IDrivers/STM32F4xx_HAL_Driver/Inc/Legacy \
 -IDrivers/Embedded-Base/general/include \
 -IDrivers/Embedded-Base/platforms/stm32f405/include \
+-IDrivers/Embedded-Base/middleware/include \
 -IMiddlewares/Third_Party/FreeRTOS/Source/include \
 -IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 \
 -IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F \