File content as of revision 0:c21936a3520a:

double Speed_Igain[6]={ 0.1,
                        0.1,
                        0.1,
                        0.1,
                        0.1,
                        0.1};
double Speed_Pgain[6]={ 5,
                        5,
                        5,
                        5,
                        5,
                        5};
double Position_input_filter[6]
                     ={ 0.05,
                        0.05,
                        0.05,
                        0.05,
                        0.05,
                        0.05};

double position_Pgain[6]
                     ={ 20,
                        20,
                        20,
                        20,
                        20,
                        20};

double offset[6]={      1480,
                        1480,
                        1480,
                        1480,
                        1480,
                        1480};
                        
double Speed_I_input_filter[6]
                     ={ 0.005,
                        0.005,
                        0.005,
                        0.005,
                        0.005,
                        0.005};


// SPI
#define SPI_MOSI1       PA_7
#define SPI_MISO1       PA_6
#define SPI_SCK1        PA_5

// Encoder
#define ENCODER_CS1     PB_0
#define ENCODER_CS2     PC_1
#define ENCODER_CS3     PC_0
#define ENCODER_CS4     PB_15
#define ENCODER_CS5     PB_14
#define ENCODER_CS6     PB_13

// Limit switch

#define LIMIT_SW1       PC_3
#define LIMIT_SW2       PC_2
#define LIMIT_SW3       PC_5
#define LIMIT_SW4       PC_9
#define LIMIT_SW5       PC_6
#define LIMIT_SW6       PC_8

// Motor
#define MOTOR_PWM1      PA_15
#define MOTOR_PWM2      PA_9
#define MOTOR_PWM3      PA_8
#define MOTOR_PWM4      PB_10
#define MOTOR_PWM5      PB_3
#define MOTOR_PWM6      PA_10

#include "spi_setup.h"
#include "motor.h"
#include "encoder.h"
#include "timer.h"
#include "speed_pid.h"
#include "target_position_cal.h"
#include "Position.h"
#include "pc_serial.h"
#include "limit.h"
//#include "SPI_TO_UART.h"


void board_init()
{
    /*
    set_data[1]=Speed_Igain;
    set_data[2]=Speed_Pgain;
    set_data[4]=Position_input_filter;
    set_data[5]=position_Pgain1;
    set_data[6]=position_Pgain2;
    set_data[7]=position_Pgain3;
    set_data[8]=offset;
    */
    limit_init();
    SPI_INIT();
    motor_init();
    Serial_Init();
    timer_init();
    
}