/*******************************************************************************
  * @file                   main.c
  * @author:                MQjehovah                 mail:MQjehovah@hotmail.com
  * @version                1.0.0
  * @date                   2017.5.9
  * @brief                  
  ******************************************************************************
  * @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stdio.h"
/* Definition ----------------------------------------------------------------*/
/* Functions -----------------------------------------------------------------*/
/*******************************************************************************
  * @brief  时钟配置            
  * @param  None              
  * @retval None              
  * @Note   None              
*******************************************************************************/
void RCC_Config()
{
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC, ENABLE);
  // RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_USART1, ENABLE);
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_TIM1, ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4, ENABLE);
}

/*******************************************************************************
  * @brief  加减速测试            
  * @param  None              
  * @retval None              
  * @Note   None              
*******************************************************************************/
void test(void)
{
  motor_init();
  motor_start();
  delay_ms(5000);
  motor_set_speed(100);
  delay_ms(5000);
  motor_set_speed(300);
  delay_ms(5000);
  motor_set_speed(500);
  delay_ms(5000);
  motor_set_speed(700);
  motor_info.dir = MOTOR_DIR_CW;
  delay_ms(5000);
  motor_set_speed(900);
  delay_ms(5000);
  motor_set_speed(1200);
  delay_ms(5000);
  motor_set_speed(1400);
  delay_ms(5000);
}

/*******************************************************************************
  * @brief  中断优先级配置            
  * @param  None              
  * @retval None              
  * @Note   None              
*******************************************************************************/
void NVIC_Config(void) //配置中断优先级
{
  //  NVIC_InitTypeDef NVIC_InitStructure;
  //
  //  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
  //  NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
  //  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  //  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
  //  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  //  NVIC_Init(&NVIC_InitStructure);
}

/*******************************************************************************
  * @brief  主函数             
  * @param  None              
  * @retval None              
  * @Note   None              
*******************************************************************************/
int main(void)
{
  RCC_Config();
  NVIC_Config();
  GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); //关闭jtag，保留swd。
  SysTick_init();
  HALL_Config();
  PWM_Config();
  CAN1_Config();
  test();
  while (1)
  {
    LED_ON(1);
    delay_ms(500);
    LED_OFF(1);
    delay_ms(500);
  }
}

/*********************************END OF FILE**********************************/