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motor_control.c
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motor_control.c
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/**
******************************************************************************
* @file TIM_TimeBase/main.c
* @author MCD Application Team
* @version V1.0.0
* @date 19-September-2011
* @brief Main program body
******************************************************************************
* @attention
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>© COPYRIGHT 2011 STMicroelectronics</center></h2>
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f4_discovery.h"
#include "usbd_cdc_core.h"
#include "usbd_usr.h"
#include "usbd_desc.h"
/** @addtogroup STM32F4_Discovery_Peripheral_Examples
* @{
*/
/** @addtogroup TIM_TimeBase
* @{
*/
/* Private typedef -----------------------------------------------------------*/
GPIO_InitTypeDef GPIO_InitStructure;
/* Private define ------------------------------------------------------------*/
#define TESTRESULT_ADDRESS 0x080FFFFC
#define ALLTEST_PASS 0x00000000
#define ALLTEST_FAIL 0x55555555
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
#ifdef USB_OTG_HS_INTERNAL_DMA_ENABLED
#if defined ( __ICCARM__ ) /*!< IAR Compiler */
#pragma data_alignment = 4
#endif
#endif /* USB_OTG_HS_INTERNAL_DMA_ENABLED */
__ALIGN_BEGIN USB_OTG_CORE_HANDLE USB_OTG_dev __ALIGN_END;
__IO uint32_t TimingDelay;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
__IO uint16_t CCR1_Val = 14024; // velocità siderale a 16µstep/step
__IO uint16_t CCR2_Val = 14024;
__IO uint16_t CCR3_Val = 13654;
__IO uint16_t CCR4_Val = 6826;
uint16_t PrescalerValue = 0;
/* Private function prototypes -----------------------------------------------*/
static void TIM_Config(void);
void Delay(__IO uint32_t nTime);
void TimingDelay_Decrement(void);
static void Fail_Handler(void);
/* Private functions ---------------------------------------------------------*/
/**
* @brief Main program
* @param None
* @retval None
*/