main.c File Reference

Top‑level application entry point and hardware initialization. More...

#include "main.h"
#include "pins.h"
#include "joint_inputs.h"
#include "motors.h"
#include "us_sensor.h"
#include <stdint.h>
#include <string.h>
#include <stdio.h>
#include <stm32f4xx_hal.h>

Go to the source code of this file.

Macros
#define	STEP_PERIOD_US   2000U
#define	SCHEDULER_POLL_MS   1U

Functions
void	schedulerUpdate (void)
void	SystemClock_Config (void)
	System Clock Configuration.
int	main (void)
	The application entry point.
void	Error_Handler (void)
	This function is executed in case of error occurrence.

Variables
TIM_HandleTypeDef	htim1
TIM_HandleTypeDef	htim3
TIM_HandleTypeDef	htim5

Detailed Description

Top‑level application entry point and hardware initialization.

: Main program body

Date

2025-06-12

Author

Dylan Featherson, Tomas Franco, Charith Sunku

Definition in file main.c.

Macro Definition Documentation

SCHEDULER_POLL_MS

#define SCHEDULER_POLL_MS   1U

STEP_PERIOD_US

#define STEP_PERIOD_US   2000U

Function Documentation

Error_Handler()

void Error_Handler

(

void

)

This function is executed in case of error occurrence.

Return values

None

Error_Handler.

Referenced by SystemClock_Config().

main()

int main

(

void

)

The application entry point.

Return values

int

describe main.

References SystemClock_Config().

SystemClock_Config()

void SystemClock_Config

(

void

)

System Clock Configuration.

Return values

None

Clock configured to 16 MHz

Configure the main internal regulator output voltage

Initializes the RCC Oscillators according to the specified parameters in the RCC_OscInitTypeDef structure.

Initializes the CPU, AHB and APB buses clocks

References Error_Handler().

Referenced by main().

Variable Documentation

htim1

TIM_HandleTypeDef htim1

htim3

TIM_HandleTypeDef htim3

htim5

TIM_HandleTypeDef htim5