int main(void)
{
Stm32_Clock_Init(9); //system clock init always init first
IO_Init();
delay_init(72); //delay init
uart_init(72,115200); //uart init
PWM4_Init(150,18000); // ultra ping sig
// PWM2_2Init(100,1800); //count to 100, freq/1800 //IR aqusition pulse
Timer3_Init(65535,256); //time refrence for echo/ultrasonic
// setup 5 for motors?
Timer2_Init(65535,10); // motor try1
motor_Init();
EXTIX_Init();
// Adc_Init();
// LED0_PWM_VAL2_2=0x44;
// LED0_PWM_VAL2_1=0x34;
LED0_PWM_VAL4=0x34;
IRO=0;//turn on IR LEDs
while(1)
{
printf("adcx1\tadcx2\tadcx3\tadcx4\tGyro\tBatt\techo\n");
printf("%u\t%u\t%u\t%u\t%u\t%u\t%u",adcx1,adcx2,adcx3,adcx4,Gyro_raw,Batt,echo);
printf("\n");
// USART1->DR=echo/0xff;
// while((USART1->SR&0X40)==0);//wait for transfer to compleate
LED0=!LED0;
delay_us(100000);//wait for the end of transmission
}
}
int main()
{
// This is needed for FreeRTOS.
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
InitDebug();
cfg_Init( );
PolePosition_Init();
// This MUST be initialized before fullCAN
MotorPosition_Init(FEEDBACK_POLE_POSITION);
fullCAN_Init( 1000000, cfg_GetControllerID() );
if ( cfg_GetControllerID() == 0)
{
fullCAN_SetTerminationState(ENABLE);
} else {
fullCAN_SetTerminationState(DISABLE);
}
d1k_STDIO_CAN_Init( CAN2,
fullCAN_GetControllerId() + FULLCAN_IDBASE_STDIO_TX,
fullCAN_GetControllerId() + FULLCAN_IDBASE_STDIO_RX );
d1k_portal_Init( );
ControlLoopInit();
InitLEDs( );
adc_Init( 100000 );
motor_Init( );
fault_Init( );
diag_Init( );
fan_Init( );
fan_SetDutyCycle( 1.0f );
printf("fullStartup! Controller: %u\r\n", (uint16)fullCAN_GetControllerId());
vTaskStartScheduler( );
}
