Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: PositionSensor/PositionSensor.cpp
- Revision:
- 225:81b72a4bf18b
- Parent:
- 192:3152a86cd108
diff -r 90172915d0fb -r 81b72a4bf18b PositionSensor/PositionSensor.cpp --- a/PositionSensor/PositionSensor.cpp Wed Oct 17 02:59:26 2018 +0000 +++ b/PositionSensor/PositionSensor.cpp Sat Oct 27 23:13:31 2018 +0000 @@ -18,17 +18,12 @@ _valid = false; _rotations = 0; - __GPIOA_CLK_ENABLE(); - __GPIOB_CLK_ENABLE(); - - GPIOB->MODER |= GPIO_MODER_MODER3_1; - GPIOB->OTYPER |= GPIO_OTYPER_OT_3 | GPIO_OTYPER_OT_10 ; - GPIOB->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR3 | GPIO_OSPEEDER_OSPEEDR10 ; - GPIOB->AFR[0] |= 0x00001000 ; + __GPIOA_CLK_ENABLE(); - GPIOA->MODER |= GPIO_MODER_MODER15_1; - GPIOA->OTYPER |= GPIO_OTYPER_OT_15; - GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR15; + GPIOA->MODER |= GPIO_MODER_MODER15_1 | GPIO_MODER_MODER1_1; + GPIOA->OTYPER |= GPIO_OTYPER_OT_15 | GPIO_OTYPER_OT_1; + GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR15 | GPIO_OSPEEDER_OSPEEDR1; + GPIOA->AFR[0] |= 0x00000010; GPIOA->AFR[1] |= 0x10000000 ; __TIM2_CLK_ENABLE();