void hw_init(void)
{
hw_init_clock();
hw_init_gpio();
hw_init_ltdc();
hw_init_timer();
}
int main(void) {
halInit();
chSysInit();
chThdSleepMilliseconds(1000);
hw_init_gpio();
LED_RED_OFF();
LED_GREEN_OFF();
conf_general_init();
ledpwm_init();
mc_configuration mcconf;
conf_general_read_mc_configuration(&mcconf);
mc_interface_init(&mcconf);
commands_init();
comm_usb_init();
app_configuration appconf;
conf_general_read_app_configuration(&appconf);
app_init(&appconf);
timeout_init();
timeout_configure(appconf.timeout_msec, appconf.timeout_brake_current);
#if CAN_ENABLE
comm_can_init();
#endif
#if WS2811_ENABLE
ws2811_init();
led_external_init();
#endif
#if ENCODER_ENABLE
encoder_init();
#endif
#if SERVO_OUT_ENABLE
#if SERVO_OUT_SIMPLE
servo_simple_init();
#else
servo_init();
#endif
#endif
// Threads
chThdCreateStatic(periodic_thread_wa, sizeof(periodic_thread_wa), NORMALPRIO, periodic_thread, NULL);
chThdCreateStatic(sample_send_thread_wa, sizeof(sample_send_thread_wa), NORMALPRIO - 1, sample_send_thread, NULL);
chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
for(;;) {
chThdSleepMilliseconds(5000);
}
}
int main(void) {
halInit();
chSysInit();
hw_init_gpio();
ledpwm_init();
mcpwm_init();
comm_init();
app_init();
// Threads
chThdCreateStatic(periodic_thread_wa, sizeof(periodic_thread_wa), NORMALPRIO, periodic_thread, NULL);
chThdCreateStatic(sample_send_thread_wa, sizeof(sample_send_thread_wa), NORMALPRIO, sample_send_thread, NULL);
chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
for(;;) {
chThdSleepMilliseconds(100);
}
}