main.c

#include "stm32f0xx_ll_bus.h"
#include "stm32f0xx_ll_gpio.h"
#include "stm32f0xx_ll_rcc.h"
#include "stm32f0xx_ll_system.h"
#include "fsm.h"

/**
  * System Clock Configuration
  * The system Clock is configured as follow :
  *    System Clock source            = PLL (HSI/2)
  *    SYSCLK(Hz)                     = 48000000
  *    HCLK(Hz)                       = 48000000
  *    AHB Prescaler                  = 1
  *    APB1 Prescaler                 = 1
  *    HSI Frequency(Hz)              = 8000000
  *    PLLMUL                         = 12
  *    Flash Latency(WS)              = 1
  */
static void rcc_config(void)
{
        /* Set FLASH latency */
        LL_FLASH_SetLatency(LL_FLASH_LATENCY_1);

        /* Enable HSI and wait for activation*/
        LL_RCC_HSI_Enable();
        while (LL_RCC_HSI_IsReady() != 1);

        /* Main PLL configuration and activation */
        LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSI_DIV_2,
                                    LL_RCC_PLL_MUL_12);

        LL_RCC_PLL_Enable();
        while (LL_RCC_PLL_IsReady() != 1);

        /* Sysclk activation on the main PLL */
        LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
        LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
        while (LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL);

        /* Set APB1 prescaler */
        LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_1);

        /* Update CMSIS variable (which can be updated also
         * through SystemCoreClockUpdate function) */
        SystemCoreClock = 48000000;
}

/*
 * First function to be called from fsm
 */
void fsm_global_init(void *args)
{
        (void) args;

        fsm_set_state(FSM_DYNAMIXEL_INIT);
        return;
}

/*
 * Handler for internal fsm errors, like wrong requests
 */
void fsm_error(void *args)
{
        (void) args;

        return;
}

/*
 * ALL NECESSARY OPERATIONS SHOULD BE DONE IN CORRESPONDING
 *                      STATES OF FSM
 *                   !DO NOT CHANGE MAIN!
 */
int main(void)
{
        rcc_config();
        fsm_init();

        while (1) {
                fsm_run_state();
                fsm_state_mng();
        }
        return 0;
}