Motor_v2/Robot_V2/sys/initial.cpp

#include "initial.h"
#include "Timer.h"
#include "ang_sensor.h"
#include <stdint.h>

void GPIO_config(void) {
	// 使能GPIOB时钟
	rcu_periph_clock_enable(RCU_GPIOB);
	// 配置PB2为输入引脚，用于读取电机状态
	gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_2);
}

/* retarget the C library printf function to the USART */
u8 USART0_init() {
	gd_eval_com_init(EVAL_COM0);
	return 1;
}

/*!
	\brief      configure the watchdog peripheral
	\param[in]  none
	\param[out] none
	\retval     none
*/
u8 watchdog_init(u32 time) {
	u8 status = 0;
	/* configure FWDGT counter clock: 40KHz(IRC40K) / 64 = 0.625 KHz */
	/* time = reload_value / clock_frequency */
	status = fwdgt_config(time * 0.625, FWDGT_PSC_DIV64);
	fwdgt_enable();
	return status;
}

void angsens_MG_test(void) {
	u8 MGH = gpio_input_bit_get(GPIOB, GPIO_PIN_10);
	u8 MGL = gpio_input_bit_get(GPIOB, GPIO_PIN_11);
	std::printf("MGH:%d MGL:%d\r\n", MGH, MGL);
}
/**
 * @brief  driver输出初始化
 */
void driver_init(void) {
	timer1_gpio_config();
	timer1_pwm_config();
	TIMER3_config();
}

int fputc(int ch, FILE *f) throw() {
	usart_data_transmit(EVAL_COM0, (uint8_t)ch);
	while (RESET == usart_flag_get(EVAL_COM0, USART_FLAG_TBE))
		;
	return ch;
}