#include??“init.h“

void?CAN_Thread1?（void?const?*argument）;?//CAN數據接收
osThreadId?T_CAN_ID1;
osThreadDef（CAN_Thread1?osPriorityHigh?1?512）;

void?Transfer_Thread1?（void?const?*argument）;?//CAN數據接收
osThreadId?T_Transfer_ID1;
osThreadDef（Transfer_Thread1?osPriorityNormal?1?512）;

void?LED_Thread1?（void?const?*argument）;?
osThreadId?T_LED_ID1;
osThreadDef（LED_Thread1?osPriorityNormal?1?128）;

void?ID_Thread1?（void?const?*argument）;?
osThreadId?T_ID_ID1;
osThreadDef（ID_Thread1?osPriorityLow?1?128）;

osSemaphoreId_t?CAN_Semaphore;?//?
osSemaphoreDef（CAN_Semaphore）;


u16?CAN_ID=0;
u32?Revice_State=0Revice_State_Last=0;?//接收CAN信號狀態??無信號則停止電機輸出??

u8?xy;
u8?WorkState=WORK;
extern??int??encoder;
/*RTXKernelStartInit?and?Task?Creak*/
void?KernelTaskInit（void）
{
	/************************************************/
	//外設初始化過程
	/************************************************/	
????TIM4_PWM_Init（8003-1）;??//10KHZ	
??	CANID_GPIOinit（）;?????//GPIO初始化?
????ID_init（）;
	??CANTransfer_Init（CANID）;//CAN通信初始化?
	//??USART1_Init（115200）;????//串口查看?
????Led_OutputInit（）;?????//led燈初始化
	//??USART1_Printf（）;??????//串口打印模塊信息		
	??Encoder_Configuration（Encoderdata-10）;?
????Encoder_init（2000-1240-1）;	//20ms采集
	??my_delayms（CAN_ID&0x0f）;//根據ID號延時啟動??	
??	NVIC_StateInit（）;	
???if（osKernelInitialize（）!=osOK）
	?{					while（1）;
	?}
???CAN_Semaphore=osSemaphoreNew（10osSemaphore（CAN_Semaphore））;
	?T_CAN_ID1=osThreadCreate（osThread（CAN_Thread1）NULL）;
	?T_Transfer_ID1=osThreadCreate（osThread（Transfer_Thread1）NULL）;
	?T_LED_ID1=osThreadCreate（osThread（LED_Thread1）NULL）;
	?T_ID_ID1=osThreadCreate（osThread（ID_Thread1）NULL）;

???if（?osKernelStart（）!=osOK）?//Start?Task?Running
	?{
	???while（1）;?
	?}
}
void?ID_init（void）
{
	?u8?id=0;

	?CAN_ID=（ID_CAN|Read_CanID（））;
???id=（CAN_ID&0x0f）;?
???switch（id）
	?{
	???case?1:{x=0y=1;}break;
	???case?2:{x=2y=3;}break;
		?case?3:{x=4y=5;}break;
		?case?4:{x=6y=7;}break;
		?case?5:{x=0y=1;}break;
	???case?6:{x=2y=3;}break;
		?case?7:{x=4y=5;}break;
		?case?8:{x=6y=7;}break;
		?
		?default:{?Motor_Pwm=0;?WorkState=WARING;}break;
	?}
	
}
//中斷優先級定義
void?NVIC_StateInit（void?）
{
????NVIC_InitTypeDef?		Nvic_InitStructure;
??		/*?Configure?one?bit?for?preemption?priority?*/
??	NVIC_PriorityGroupConfig（NVIC_PriorityGroup_1）;
		/*中斷設置*/
		Nvic_InitStructure.NVIC_IRQChannel?=?USB_LP_CAN1_RX0_IRQn;	???//CAN1?RX0中斷
		Nvic_InitStructure.NVIC_IRQChannelPreemptionPriority?=?0;		???//搶占優先級0
		Nvic_InitStructure.NVIC_IRQChannelSubPriority?=?0;			???//子優先級為0
		Nvic_InitStructure.NVIC_IRQChannelCmd?=?ENABLE;
		NVIC_Init（&Nvic_InitStructure）;
		
		Nvic_InitStructure.NVIC_IRQChannel?=?TIM2_IRQn;	???
		Nvic_InitStructure.NVIC_IRQChannelPreemptionPriority?=?1;		???//搶占優先級1
		Nvic_InitStructure.NVIC_IRQChannelSubPriority?=?0;			???//子優先級為0
		Nvic_InitStructure.NVIC_IRQChannelCmd?=?ENABLE;
		NVIC_Init（&Nvic_InitStructure）;
}
/*
CAN接收中斷線程??CAN接收成

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????4867??2018-01-04?16:53??直流電機驅動\BSPInit\init.c

?????文件????????493??2017-12-21?22:37??直流電機驅動\BSPInit\init.h

?????文件????????136??2017-10-29?15:18??直流電機驅動\BSPInit\main.c

?????文件?????633941??2011-03-10?10:51??直流電機驅動\BSPInit\stm32f10x.h

?????文件???????3287??2017-04-22?21:36??直流電機驅動\BSPInit\stm32f10x_conf.h

?????文件???????2432??2015-03-18?18:49??直流電機驅動\BSPInit\stm32f10x_it.c

?????文件???????1983??2011-04-04?18:57??直流電機驅動\BSPInit\stm32f10x_it.h

?????文件???????2208??2017-11-17?19:12??直流電機驅動\Devicer\data_transfer.c

?????文件????????222??2017-04-23?11:44??直流電機驅動\Devicer\data_transfer.h

?????文件???????2955??2017-11-17?00:03??直流電機驅動\Devicer\encoder.c

?????文件????????228??2017-11-17?00:12??直流電機驅動\Devicer\encoder.h

?????文件????????441??2017-11-17?19:12??直流電機驅動\Devicer\led.c

?????文件????????307??2017-11-10?18:43??直流電機驅動\Devicer\led.h

?????文件???????5049??2017-12-28?23:31??直流電機驅動\Devicer\motor_devicer.c

?????文件????????608??2018-01-04?15:25??直流電機驅動\Devicer\motor_devicer.h

?????文件????????254??2017-12-26?19:42??直流電機驅動\Devicer\mydelay.c

?????文件????????126??2016-05-10?12:13??直流電機驅動\Devicer\mydelay.h

?????文件????????426??2017-10-29?18:31??直流電機驅動\Devicer\Read_GPIOID.c

?????文件????????184??2017-04-28?19:59??直流電機驅動\Devicer\Read_GPIOID.h

?????文件???????7339??2017-12-22?11:29??直流電機驅動\Devicer\transfer_can.c

?????文件????????383??2018-01-04?17:03??直流電機驅動\Devicer\transfer_can.h

?????文件???????6956??2015-12-10?17:06??直流電機驅動\Project\DebugConfig\Motor_STM32F103T8.dbgconf

?????文件????????339??2018-01-04?16:52??直流電機驅動\Project\EventRecorderStub.scvd

?????文件??????17324??2018-01-04?15:12??直流電機驅動\Project\Listings\irq_cm3.lst

?????文件?????329886??2018-01-04?17:03??直流電機驅動\Project\Listings\Motor.map

?????文件??????55146??2017-11-11?20:33??直流電機驅動\Project\Listings\startup_stm32f10x_hd.lst

?????文件??????45134??2018-01-04?15:12??直流電機驅動\Project\Listings\startup_stm32f10x_md.lst

????.......????175009??2018-01-04?17:12??直流電機驅動\Project\Motor.uvguix.Administrator

?????文件?????176107??2017-11-11?20:35??直流電機驅動\Project\Motor.uvguix.Administrator.bak

????.......????176189??2017-12-28?23:31??直流電機驅動\Project\Motor.uvguix.Listen

............此處省略159個文件信息