tuber/robot/user/main.cpp

#include "stm32g0xx_hal.h"
#include "uart_bridge.h"
#include "encoder.h"

void SystemClock_Config(void);
void Error_Handler(void);

//static void MX_GPIO_Init(void);



int main()
{
    HAL_Init();
    
    SystemClock_Config();

    init_usart();
    
    init_encoder();
    
    while (true)
    {
        send_data_pack_encoder();
        
        HAL_Delay(100);
    }
    
    //MX_GPIO_Init();
   
    return 0;
}


void SystemClock_Config(void)
{
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    
    // Configure the main internal regulator output voltage
    HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
    
    // Initializes the RCC Oscillators according to the specified parameters
    // in the RCC_OscInitTypeDef structure.
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
    RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
    RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
    RCC_OscInitStruct.PLL.PLLN = 16;
    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
    RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV4;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    {
        Error_Handler();
    }
    
    // Initializes the CPU, AHB and APB buses clocks
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                                |RCC_CLOCKTYPE_PCLK1;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
    
    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
    {
        Error_Handler();
    }
}


//
void Error_Handler(void)
{
    __disable_irq();
    while (1) {}
}