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658 B
658 B
->main
最小硬件初始化
->时钟
对外暴露的时钟
->看门狗
->UART
最小软件初始化
FLASH配置
启动软件
检查ID
ID == 0，灯光调试指示灯快闪
ID == 1,
初始化相应的硬件
关键文件:
ID地址:
0x080E0000
# 公板IO资源分配
PA12 CAN1_TX
PA11 CAN1_RX
PA10 USART1_RX
PA9 USART1_TX
PC9 RCC_MCO_2 --> 16MHZ
PA14 SYS_JTCK_SWCLK
PA13 SYS_JTCK_SWDIO
PE2 调试指示灯
修改
1. 去除掉input_reg，修改驱动读取gpio的寄存器为kreg_step_motor_io_state
2. 增加舵机专用寄存器和方法