mirror of
https://github.com/infiniteCable2/panda.git
synced 2026-06-08 10:54:55 +08:00
515ac45fc0
* motors * can * cleanup unused stuff * initial clean * more clean * remove integral and derivative clamps, revert pwm driver to original * remove integral and derivative clamps, revert pwm driver to original * remove integral and derivative clamps, revert pwm driver to original * dont need this for now * clean * fix can rx and can version error * ignore body for misra mutation test * fix bus recovery, remove body rx hook
22 lines
512 B
C
22 lines
512 B
C
#include "board/body/motor_control.h"
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void board_body_init(void) {
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motor_init();
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motor_encoder_init();
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motor_speed_controller_init();
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motor_encoder_reset(1);
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motor_encoder_reset(2);
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// Initialize CAN pins
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set_gpio_pullup(GPIOD, 0, PULL_NONE);
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set_gpio_alternate(GPIOD, 0, GPIO_AF9_FDCAN1);
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set_gpio_pullup(GPIOD, 1, PULL_NONE);
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set_gpio_alternate(GPIOD, 1, GPIO_AF9_FDCAN1);
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}
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board board_body = {
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.led_GPIO = {GPIOC, GPIOC, GPIOC},
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.led_pin = {7, 7, 7},
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.init = board_body_init,
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};
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