From e3f0598f1b5e8d0594c69a4d089e85dc3c0e7118 Mon Sep 17 00:00:00 2001
From: but0n <but0n@icloud.com>
Date: Sat, 20 Aug 2016 23:50:22 +0800
Subject: [PATCH] Brushless motor auto startup:v:

---
 .../Libraries/STM32F10x_StdPeriph_Driver/inc/motor.h       | 3 +--
 .../Libraries/STM32F10x_StdPeriph_Driver/src/motor.c       | 2 +-
 .../Libraries/STM32F10x_StdPeriph_Driver/src/mpu6050.c     | 2 +-
 src/main.c                                                 | 7 ++++---
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/motor.h b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/motor.h
index 053aa55..65c1a51 100644
--- a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/motor.h
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/motor.h
@@ -9,7 +9,6 @@
 #define MOTOR_MAX 27360
 #define MOTOR_MIN 10080
 
-void PWM_Init(unsigned short arr, unsigned short psc);  //72MHz / (arr + 1)*(psc + 1)
-
+void motor_PWM_Init(unsigned short arr, unsigned short psc);  //72MHz / (arr + 1)*(psc + 1)
 
 #endif
diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/motor.c b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/motor.c
index b67dfd3..c218a17 100644
--- a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/motor.c
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/motor.c
@@ -2,7 +2,7 @@
 #include "motor.h"
 
 //A7
-void PWM_Init(unsigned short arr, unsigned short psc) {
+void motor_PWM_Init(unsigned short arr, unsigned short psc) {
     RCC->APB1ENR |= 1<<1;       //TIM3 enable
     RCC->APB2ENR |= 1<<2;       //GPIOA enable
 
diff --git a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/mpu6050.c b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/mpu6050.c
index 3b73042..db8cc86 100644
--- a/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/mpu6050.c
+++ b/libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/mpu6050.c
@@ -56,7 +56,7 @@ short MPU_GetData(unsigned char REG_Addr) {
 }
 void MPU_init() {
     IIC_init();
-    delay(500);
+    //delay(500);
     MPU_Sigle_Write(PWR_MGMT_1, 0x00);
     MPU_Sigle_Write(SMPLRT_DIV, 0x07);
     MPU_Sigle_Write(CONFIG, 0x06);
diff --git a/src/main.c b/src/main.c
index f5f529f..0e75e1c 100644
--- a/src/main.c
+++ b/src/main.c
@@ -101,12 +101,13 @@ void Comput(SixAxis cache) {
 int main() {
     initLED();
     Key_init();
+    motor_PWM_Init(28800,5);
 
-    PWM_Init(28800,5);
+//Brushless motor auto init
     MOTOR1 = MOTOR_MAX;
-    PAUSE();
+    delay(3000);
     MOTOR1 = MOTOR_MIN;
-    PAUSE();
+    delay(8000);
 
     uart_init(72, 115200);