自学教程：C++ GPIO_StructInit函数代码示例

void f3d_uart_init(void) {  GPIO_InitTypeDef GPIO_InitStructure;  USART_InitTypeDef USART_InitStructure;  NVIC_InitTypeDef NVIC_InitStructure;  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE);  GPIO_StructInit(&GPIO_InitStructure);  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;  GPIO_Init(GPIOC,&GPIO_InitStructure);  GPIO_StructInit(&GPIO_InitStructure);  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;  GPIO_Init(GPIOC , &GPIO_InitStructure);  GPIO_PinAFConfig(GPIOC,4,GPIO_AF_7);  GPIO_PinAFConfig(GPIOC,5,GPIO_AF_7);  RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);  USART_StructInit(&USART_InitStructure);  USART_InitStructure.USART_BaudRate = 9600;  USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;  USART_Init(USART1 ,&USART_InitStructure);  USART_Cmd(USART1 , ENABLE);  // Initialize the rx and tx queues  init_queue(&rxbuf);  init_queue(&txbuf);  // Setup the NVIC priority and subpriority  NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x08;  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x08;  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;  NVIC_Init(&NVIC_InitStructure);    // Enable the RX interrupt   USART_ITConfig(USART1,USART_IT_RXNE,ENABLE);}

void DacInit(void){  	RCC_APB1PeriphClockCmd(RCC_APB1Periph_DAC, ENABLE);	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE);	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);	GPIO_InitTypeDef GPIO_InitStructure;	GPIO_StructInit(&GPIO_InitStructure);	GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_4;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;	GPIO_Init(GPIOA, &GPIO_InitStructure);	DAC_InitTypeDef DAC_InitStructure;	DAC_StructInit(&DAC_InitStructure);	DAC_InitStructure.DAC_Trigger = DAC_Trigger_T2_TRGO;	DAC_InitStructure.DAC_WaveGeneration = DAC_WaveGeneration_None;	DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable;		DAC_Init(DAC_Channel_1, &DAC_InitStructure);	DAC_Cmd(DAC_Channel_1, ENABLE);	DAC_SetChannel1Data(DAC_Align_12b_R, DAC_ZERO);}

// TODO: Verify pins setting needed for RX and TXinline void STM32_M0_UART::init_gpio(void){    GPIO_InitTypeDef GPIO;    // Enable GPIO clock    RCC_AHBPeriphClockCmd(USART_TX_GPIO_CLK | USART_RX_GPIO_CLK, ENABLE);    // Configure USART Tx and Rx as alternate function push-pull    GPIO_StructInit(&GPIO);    //TX    GPIO.GPIO_Pin = USART_TX_PIN;    GPIO.GPIO_Mode = GPIO_Mode_AF;    GPIO.GPIO_Speed = GPIO_Speed_2MHz;    GPIO.GPIO_OType = GPIO_OType_PP;    GPIO.GPIO_PuPd = GPIO_PuPd_NOPULL;    GPIO_Init(USART_TX_GPIO_PORT, &GPIO);    //RX    GPIO.GPIO_Pin = USART_RX_PIN;    GPIO.GPIO_Mode = GPIO_Mode_AF;    GPIO.GPIO_Speed = GPIO_Speed_2MHz;    GPIO.GPIO_OType = GPIO_OType_PP;    GPIO.GPIO_PuPd = GPIO_PuPd_NOPULL;    GPIO_Init(USART_RX_GPIO_PORT, &GPIO);    // Connect USART pins to AF    GPIO_PinAFConfig(USART_TX_GPIO_PORT, USART_TX_SOURCE, USART_TX_AF);    GPIO_PinAFConfig(USART_RX_GPIO_PORT, USART_RX_SOURCE, USART_RX_AF);}

static  void  BSP_ADC_Init (void){    ADC_InitTypeDef   adc_init;    GPIO_InitTypeDef  gpio_init;    RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);    GPIO_StructInit(&gpio_init);    gpio_init.GPIO_Pin  = GPIO_Pin_0;    gpio_init.GPIO_Mode = GPIO_Mode_AIN;    GPIO_Init(GPIOB, &gpio_init);    adc_init.ADC_Mode               = ADC_Mode_Independent;    adc_init.ADC_ScanConvMode       = DISABLE;    adc_init.ADC_ContinuousConvMode = ENABLE;    adc_init.ADC_ExternalTrigConv   = ADC_ExternalTrigConv_None;    adc_init.ADC_DataAlign          = ADC_DataAlign_Right;    adc_init.ADC_NbrOfChannel       = 1;    ADC_Init(ADC1, &adc_init);    ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 1, ADC_SampleTime_13Cycles5);    ADC_Cmd(ADC1, ENABLE);    ADC_SoftwareStartConvCmd(ADC1, ENABLE);}

/**  * @brief  Configures COMP1: DAC channel 1 to COMP1 inverting input  *                           and COMP1 output to TIM2 IC4.  * @param  None  * @retval None  */void COMP_Config(void){  /* Init Structure definition */  COMP_InitTypeDef COMP_InitStructure;  GPIO_InitTypeDef GPIO_InitStructure;  /* GPIOA Peripheral clock enable */  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);  /* Configure PA1: PA1 is used as COMP1 non inveting input */  GPIO_StructInit(&GPIO_InitStructure);  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;  GPIO_Init(GPIOA, &GPIO_InitStructure);  /* COMP Peripheral clock enable */  RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);  /* COMP1 Init: DAC1 output is used COMP1 inverting input */  COMP_StructInit(&COMP_InitStructure);  COMP_InitStructure.COMP_InvertingInput = COMP_InvertingInput_DAC1;  /* Redirect COMP1 output to TIM2 Input capture 4 */  COMP_InitStructure.COMP_Output = COMP_Output_TIM2IC4;  COMP_InitStructure.COMP_Mode = COMP_Mode_HighSpeed;  COMP_InitStructure.COMP_Hysteresis = COMP_Hysteresis_No;  COMP_Init(COMP_Selection_COMP1, &COMP_InitStructure);  /* Enable COMP1 */  COMP_Cmd(COMP_Selection_COMP1, ENABLE);}

void LEDS_Init(void){    GPIO_InitTypeDef gpioE;        //    // Turn on clocks to GPIO E so we can drive the outputs    //    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOE, ENABLE);        //    // Set up default values    //    GPIO_StructInit(&gpioE);        //    // Make pins 8-15 outputs since they are connected to the LEDS    //    gpioE.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13 |GPIO_Pin_14 | GPIO_Pin_15;    gpioE.GPIO_Mode = GPIO_Mode_OUT;        //    // Initialize the hardware    //    GPIO_Init(GPIOE, &gpioE);            return;    }

void GPIO_Configuration(void){	GPIO_InitTypeDef GPIO_InitStructure;	GPIO_StructInit(&GPIO_InitStructure);	// Set all as default	GPIO_Init(PORTA, &GPIO_InitStructure);	GPIO_Init(PORTB, &GPIO_InitStructure);	GPIO_Init(PORTC, &GPIO_InitStructure);	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;	GPIO_InitStructure.GPIO_Pin = LED1_PIN;	GPIO_Init(LED1_PORT, &GPIO_InitStructure);	GPIO_InitStructure.GPIO_Pin = LED2_PIN;	GPIO_Init(LED2_PORT, &GPIO_InitStructure);	GPIO_InitStructure.GPIO_Pin = WIZ_RESET_PIN;	GPIO_Init(WIZ_RESET_PORT, &GPIO_InitStructure);	GPIO_InitStructure.GPIO_Pin = WIZ_PWDN_PIN;	GPIO_Init(WIZ_PWDN_PORT, &GPIO_InitStructure);	//GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;	// For IIN Chip EXTI	//GPIO_InitStructure.GPIO_Pin = WIZ_INT_PIN;	//GPIO_Init(WIZ_INT_PORT, &GPIO_InitStructure);	wizpf_led_set(WIZ_LED1, VAL_OFF);	wizpf_led_set(WIZ_LED2, VAL_OFF);	GPIO_SetBits(WIZ_RESET_PORT, WIZ_RESET_PIN);	GPIO_ResetBits(WIZ_PWDN_PORT, WIZ_PWDN_PIN);	// ToDo}

 void TEST_INIT(void){			GPIO_InitTypeDef GPIO_InitStructure;    RCC_AHB1PeriphClockCmd(LED_GPIO_RCC, ENABLE);    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);     GPIO_StructInit(&GPIO_InitStructure);	  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;    GPIO_InitStructure.GPIO_Pin = LED1;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;    GPIO_Init(LED_GPIO, &GPIO_InitStructure);	  GPIO_SetBits(LED_GPIO,LED1);		  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_14|GPIO_Pin_15;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;    GPIO_Init(LED_GPIO, &GPIO_InitStructure);	  		GPIO_SetBits(LED_GPIO,GPIO_Pin_12);		GPIO_SetBits(LED_GPIO,GPIO_Pin_14);		GPIO_SetBits(LED_GPIO,GPIO_Pin_15);					  		GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	  GPIO_Init(GPIOA, &GPIO_InitStructure);	  	}

void USART1_init(int baudrate) {    GPIO_InitTypeDef GPIO_InitStructure;    USART_InitTypeDef USART_InitStructure;    /*Enable peripheral clock for GPIOA*/    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA,ENABLE);    /*Enable peripheral clock for UART1*/    RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE);    /*GPIOA Configuration PA9 as TX PA10 as RX*/    GPIO_StructInit(&GPIO_InitStructure);    GPIO_InitStructure.GPIO_Pin=GPIO_Pin_9|GPIO_Pin_10;    GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;    GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;    GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;    GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;    GPIO_Init(GPIOA,&GPIO_InitStructure);    /*Connect USART2 pins to AF7*/    //PA9=USART1_TX    //PA10=USART1_RX    GPIO_PinAFConfig(GPIOA,GPIO_PinSource9,GPIO_AF_7);    GPIO_PinAFConfig(GPIOA,GPIO_PinSource10,GPIO_AF_7);    USART_StructInit(&USART_InitStructure);    USART_InitStructure.USART_BaudRate=baudrate;    USART_InitStructure.USART_WordLength=USART_WordLength_8b;    USART_InitStructure.USART_StopBits=USART_StopBits_1;    USART_InitStructure.USART_Parity=USART_Parity_No;    USART_InitStructure.USART_HardwareFlowControl=USART_HardwareFlowControl_None;    USART_InitStructure.USART_Mode=USART_Mode_Tx|USART_Mode_Rx;    USART_Init(USART1,&USART_InitStructure);    USART_Cmd(USART1,ENABLE);}

void fdi_i2c_initialize(void) {    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);        GPIO_InitTypeDef GPIO_InitStruct;    GPIO_StructInit(&GPIO_InitStruct);    GPIO_InitStruct.GPIO_Pin = GPIO_Pin_7 /* SCL */| GPIO_Pin_8 /* SDA */;    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_InitStruct.GPIO_OType = GPIO_OType_OD;    GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;    GPIO_Init(GPIOB, &GPIO_InitStruct);        GPIO_PinAFConfig(GPIOB, GPIO_PinSource8 /* SCL */, GPIO_AF_I2C1);    GPIO_PinAFConfig(GPIOB, GPIO_PinSource7 /* SDA */, GPIO_AF_I2C1);        RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);    I2C_InitTypeDef I2C_InitStruct;    I2C_StructInit(&I2C_InitStruct);    I2C_InitStruct.I2C_ClockSpeed = 100000;    I2C_InitStruct.I2C_Mode = I2C_Mode_I2C;    I2C_InitStruct.I2C_DutyCycle = I2C_DutyCycle_2;    I2C_InitStruct.I2C_OwnAddress1 = 0x00;    I2C_InitStruct.I2C_Ack = I2C_Ack_Disable;    I2C_InitStruct.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;    I2C_Init(I2C1, &I2C_InitStruct);        I2C_Cmd(I2C1, ENABLE);}

void f3d_i2c1_init() {  GPIO_InitTypeDef GPIO_InitStructure;  I2C_InitTypeDef  I2C_InitStructure;  SPI_InitTypeDef  SPI_InitStructure;  RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1,ENABLE);  // Enable the clock to the I2C peripheral   RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);  // Port B - SDA (7) and SCL (6)  GPIO_StructInit(&GPIO_InitStructure);  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_6 | GPIO_Pin_7;  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  GPIO_Init(GPIOB , &GPIO_InitStructure);  GPIO_PinAFConfig(GPIOB, 6, GPIO_AF_4);  GPIO_PinAFConfig(GPIOB, 7, GPIO_AF_4);  // I2C GPIO Initialization and Alternate Function Selection   I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;  I2C_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;  I2C_InitStructure.I2C_DigitalFilter = 0x00;  I2C_InitStructure.I2C_OwnAddress1 = 0x00;  I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;  I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;  I2C_InitStructure.I2C_Timing = 0x00902025;  I2C_Init(I2C1, &I2C_InitStructure);    I2C_Cmd(I2C1, ENABLE);}

void Sensor_Configuration(void) {	ADC_CommonInitTypeDef ADC_CommonInitStructure;	GPIO_InitTypeDef GPIO_InitStructure;	SensorGPIO_Configuration();	DMA2_Configuration();	GPIO_StructInit(&GPIO_InitStructure);	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 |									GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;	GPIO_Init(GPIOA, &GPIO_InitStructure);	ADC_CommonInitStructure.ADC_Mode = ADC_DualMode_RegSimult;	ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;	ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_1;	ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_20Cycles;	ADC_CommonInit(&ADC_CommonInitStructure);	ADC1_Config();	ADC2_Config();	ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);	ADC_Cmd(ADC1, ENABLE);	ADC_Cmd(ADC2, ENABLE);	ADC_DMACmd(ADC1, ENABLE);	ADC_SoftwareStartConv(ADC1);}

void GPIO_Configuration(void){	{	GPIO_InitTypeDef GPIO_InitStructure;	GPIO_StructInit(&GPIO_InitStructure);	// Set all as default	GPIO_Init(PORTA, &GPIO_InitStructure);	GPIO_Init(PORTB, &GPIO_InitStructure);	GPIO_Init(PORTC, &GPIO_InitStructure);	}#ifdef LED1_PIN	GPIO_INIT_SIMP(GPIO_Mode_Out_PP, LED1_PORT, LED1_PIN);	wizpf_led_set(WIZ_LED1, VAL_OFF);#endif#ifdef LED2_PIN	GPIO_INIT_SIMP(GPIO_Mode_Out_PP, LED2_PORT, LED2_PIN);	wizpf_led_set(WIZ_LED2, VAL_OFF);#endif#ifdef WIZ_RESET_PIN	GPIO_INIT_SIMP(GPIO_Mode_Out_PP, WIZ_RESET_PORT, WIZ_RESET_PIN);	GPIO_SetBits(WIZ_RESET_PORT, WIZ_RESET_PIN);#endif#ifdef WIZ_PWDN_PIN	GPIO_INIT_SIMP(GPIO_Mode_Out_PP, WIZ_PWDN_PORT, WIZ_PWDN_PIN);	GPIO_ResetBits(WIZ_PWDN_PORT, WIZ_PWDN_PIN);#endif#ifdef WIZ_INT_PIN	GPIO_INIT_SIMP(GPIO_Mode_IPU, WIZ_INT_PORT, WIZ_INT_PIN);	// For IIN Chip EXTI#endif	// ToDo}

void TIMER2_CH2_PWM_Init(int prescaler,int autoreload){	//USER LED / PB3  / TIM2_CH2 / AF1	RCC_AHBPeriphClockCmd(RCC_AHBENR_GPIOBEN ,ENABLE);	GPIO_InitTypeDef myGPIO;	GPIO_StructInit(&myGPIO);	myGPIO.GPIO_Pin=GPIO_Pin_3;	myGPIO.GPIO_Mode=GPIO_Mode_AF;	myGPIO.GPIO_Speed=GPIO_Speed_10MHz;	GPIO_Init(GPIOB,&myGPIO);	GPIO_PinAFConfig(GPIOB,GPIO_PinSource3,GPIO_AF_1);	//select the output mode by writing the CCS bits in the CCMRx register		//Timer time base configuration	RCC_APB1PeriphClockCmd(RCC_APB1ENR_TIM2EN,ENABLE);	TIM_TimeBaseInitTypeDef myTimeBase;	TIM_TimeBaseStructInit(&myTimeBase);	myTimeBase.TIM_CounterMode=TIM_CounterMode_Up;	myTimeBase.TIM_Period=autoreload;	myTimeBase.TIM_Prescaler=prescaler;	myTimeBase.TIM_ClockDivision= TIM_CKD_DIV1;	TIM_TimeBaseInit(TIM2,&myTimeBase);	//Timer capture compare configuration	TIM_OCInitTypeDef myTimerOC;	TIM_OCStructInit(&myTimerOC);	myTimerOC.TIM_OCMode=TIM_OCMode_PWM1;	myTimerOC.TIM_OCPolarity=TIM_OCPolarity_High;	myTimerOC.TIM_OutputState=TIM_OutputState_Enable;	myTimerOC.TIM_Pulse=autoreload;//0 Duty cycle at start	TIM_OC2Init(TIM2,&myTimerOC);	TIM_CCxCmd(TIM2,TIM_Channel_2,TIM_CCx_Enable);//enable CCP2	//start Timer	TIM_Cmd(TIM2,ENABLE);//Counter enabled}

void ADC1_Config(void){	ADC_InitTypeDef   ADC_InitStructure;	GPIO_InitTypeDef  GPIO_InitStructure;	/* Enable GPIO ports B */	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);		/* ADC1 Periph clock enable */	RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);		/* Configure Pin & Port as input push-pull for ADC channel 1 usage */	GPIO_StructInit(&GPIO_InitStructure);	GPIO_InitStructure.GPIO_Pin = GPIO_PIN_ADCin1;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;	GPIO_Init(GPIO_PORT_ADCin1, &GPIO_InitStructure);		/* Reset ADC to default values */	ADC_DeInit();	/* ADC1 Configuration */	ADC_StructInit(&ADC_InitStructure);	ADC_InitStructure.ADC_ScanConvMode = DISABLE;	ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;	ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;	ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;	ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;	ADC_InitStructure.ADC_NbrOfConversion = 1;	ADC_Init(ADC1, &ADC_InitStructure);		ADC_Cmd(ADC1, ENABLE);}

void enableGPIOPowerUsageAndNoiseReductions(void){    RCC_AHBPeriphClockCmd(        RCC_AHBPeriph_GPIOA |        RCC_AHBPeriph_GPIOB |        RCC_AHBPeriph_GPIOC |        RCC_AHBPeriph_GPIOD |        RCC_AHBPeriph_GPIOE |        RCC_AHBPeriph_GPIOF,        ENABLE    );    GPIO_InitTypeDef GPIO_InitStructure;    GPIO_StructInit(&GPIO_InitStructure);    GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_All;    GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_13 | GPIO_Pin_14); // leave JTAG pins alone    GPIO_Init(GPIOA, &GPIO_InitStructure);    GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_All;    GPIO_Init(GPIOB, &GPIO_InitStructure);    GPIO_Init(GPIOC, &GPIO_InitStructure);    GPIO_Init(GPIOD, &GPIO_InitStructure);    GPIO_Init(GPIOE, &GPIO_InitStructure);}

void EINT_Config(void){	GPIO_StructInit(&GPIO_InitStructure1);	GPIO_InitStructure1.GPIO_Pin = GPIO_Pin_0;	GPIO_InitStructure1.GPIO_Mode = GPIO_Mode_IPU;	GPIO_InitStructure1.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_Init(GPIOG, &GPIO_InitStructure1);	//SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOA, EXTI_PinSource0);	EXTI_InitTypeDef EXTI_InitStructure;	EXTI_StructInit(&EXTI_InitStructure);	EXTI_InitStructure.EXTI_Line = EXTI_Line0;	EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;	EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;	EXTI_InitStructure.EXTI_LineCmd = ENABLE;	EXTI_Init(&EXTI_InitStructure);	NVIC_InitTypeDef NVIC_InitStructure1;	NVIC_InitStructure1.NVIC_IRQChannel = EXTI0_IRQn;	NVIC_InitStructure1.NVIC_IRQChannelPreemptionPriority = 0x01;	NVIC_InitStructure1.NVIC_IRQChannelSubPriority = 0x01;	NVIC_InitStructure1.NVIC_IRQChannelCmd = ENABLE;	NVIC_Init(&NVIC_InitStructure1);}

void Battery::initialize(){	GPIO_InitTypeDef GPIO_InitStructure;	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);	GPIO_StructInit(&GPIO_InitStructure);	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_Init(GPIOC, &GPIO_InitStructure);	ADC_InitTypeDef ADC_InitStructure;	ADC_CommonInitTypeDef ADC_CommonInitStructure;	RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC|RCC_APB2Periph_ADC1, ENABLE);	RCC_AHB1PeriphClockCmd(RCC_AHB1ENR_GPIOCEN,ENABLE);	ADC_DeInit();	ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;	ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div4;	ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;	ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;	ADC_CommonInit(&ADC_CommonInitStructure);	ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;	ADC_InitStructure.ADC_ScanConvMode = DISABLE;	ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;	ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;	ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;	ADC_InitStructure.ADC_NbrOfConversion = 1;	ADC_Init(ADC1, &ADC_InitStructure);	ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 1, ADC_SampleTime_112Cycles);	ADC_Cmd(ADC1, ENABLE);	ADC_DMACmd(ADC1,DISABLE);}

void adcInit() {			GPIO_InitTypeDef GPIO_InitStruct;	ADC_CommonInitTypeDef ADC_CommonInitStruct;	ADC_InitTypeDef ciguMigu;		RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); 			GPIO_StructInit(&GPIO_InitStruct);  GPIO_InitStruct.GPIO_Pin  = GPIO_Pin_1;  GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AN;  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_Init(GPIOA, &GPIO_InitStruct);		ADC_CommonStructInit(&ADC_CommonInitStruct);	ADC_CommonInitStruct.ADC_Prescaler = ADC_Prescaler_Div4;	ADC_CommonInit(&ADC_CommonInitStruct);		ADC_StructInit(&ciguMigu);	ciguMigu.ADC_Resolution = ADC_Resolution_10b;	ADC_Init(ADC1, &ciguMigu);	ADC_Cmd(ADC1, ENABLE);		ADC_RegularChannelConfig(ADC1, ADC_Channel_1, 1, ADC_SampleTime_480Cycles);}

void nRF24L01_spi_init(){    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);    GPIO_InitTypeDef gpio;    GPIO_StructInit(&gpio);    gpio.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11 | GPIO_Pin_12;    gpio.GPIO_Mode = GPIO_Mode_AF;    gpio.GPIO_Speed = GPIO_Speed_100MHz;    gpio.GPIO_OType = GPIO_OType_PP;    gpio.GPIO_PuPd = GPIO_PuPd_NOPULL;    GPIO_Init(GPIOC,&gpio);    GPIO_PinAFConfig(GPIOC, GPIO_PinSource10, GPIO_AF_SPI3);    GPIO_PinAFConfig(GPIOC, GPIO_PinSource11, GPIO_AF_SPI3);    GPIO_PinAFConfig(GPIOC, GPIO_PinSource12, GPIO_AF_SPI3);    RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI3, ENABLE);    SPI_InitTypeDef spi1;    SPI_StructInit(&spi1);    spi1.SPI_Mode = SPI_Mode_Master;    spi1.SPI_DataSize = SPI_DataSize_8b;    spi1.SPI_NSS = SPI_NSS_Soft;    spi1.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32;    SPI_Init(SPI3,&spi1);    SPI_Cmd(SPI3,ENABLE);}

/******************************************************************************** Function Name  : GPIO_Configuration* Description    : Configures the different GPIO ports.* Input          : None* Output         : None* Return         : None*******************************************************************************/void GPIO_Configuration(void){	GPIO_InitTypeDef GPIO_InitStructure;	GPIO_StructInit(&GPIO_InitStructure);	// PORTB CONFIG	GPIO_InitStructure.GPIO_Pin = 	PIN_ENABLE_TXD | PIN_ENABLE_RXD;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;	GPIO_Init(GPIOB, &GPIO_InitStructure);	GPIO_InitStructure.GPIO_Pin = PIN_DXL_RXD | PIN_PC_RXD;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;	GPIO_Init(GPIOB, &GPIO_InitStructure);	GPIO_InitStructure.GPIO_Pin = PIN_DXL_TXD | PIN_PC_TXD;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	GPIO_Init(GPIOB, &GPIO_InitStructure);	GPIO_PinRemapConfig( GPIO_Remap_USART1, ENABLE);	GPIO_PinRemapConfig( GPIO_Remap_SWJ_Disable, ENABLE);	GPIO_ResetBits(PORT_ENABLE_TXD, PIN_ENABLE_TXD);	// TX Disable	GPIO_SetBits(PORT_ENABLE_RXD, PIN_ENABLE_RXD);	// RX Enable}

void init_debug_usart_lib() {  GPIO_InitTypeDef gpio;  USART_InitTypeDef usart;  RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);    GPIO_StructInit(&gpio);    gpio.GPIO_Mode = GPIO_Mode_AF;  gpio.GPIO_Pin = GPIO_Pin_5;  gpio.GPIO_Speed = GPIO_Speed_50MHz;  gpio.GPIO_OType = GPIO_OType_PP;  gpio.GPIO_PuPd = GPIO_PuPd_UP;  GPIO_Init(GPIOD, &gpio);  GPIO_PinAFConfig(GPIOD, GPIO_PinSource5, GPIO_AF_USART2);    USART_StructInit(&usart);  usart.USART_Mode = USART_Mode_Tx;  usart.USART_BaudRate = 9600;	  usart.USART_HardwareFlowControl = USART_HardwareFlowControl_None;  usart.USART_WordLength = USART_WordLength_8b;  usart.USART_StopBits = USART_StopBits_1;  usart.USART_Parity = USART_Parity_No;    USART_Init(USART2, &usart);	    USART2->BRR = 0x0000016d;  USART_Cmd(USART2, ENABLE);}

/* initialize the encoder */void init_encoder(void){	GPIO_InitTypeDef GPIO_InitStruct;	//Enable GPIO clock	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);	GPIO_StructInit(&GPIO_InitStruct);	GPIO_InitStruct.GPIO_Pin = ENCODER_LEFT_A_PIN | ENCODER_RIGHT_A_PIN				 | ENCODER_LEFT_B_PIN | ENCODER_RIGHT_B_PIN;	GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;	GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;	GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;	GPIO_Init(ENCODER_PORT, &GPIO_InitStruct);	resetEncoder(&ENCODER_L);	resetEncoder(&ENCODER_R);	ENCODER_L.phaseA = ENCODER_LEFT_A_PIN;	ENCODER_L.phaseB = ENCODER_LEFT_B_PIN;	ENCODER_R.phaseA = ENCODER_RIGHT_A_PIN;	ENCODER_R.phaseB = ENCODER_RIGHT_B_PIN;	init_encoder_exti(EXTI_PinSource0, EXTI0_IRQn, EXTI_Line0);	init_encoder_exti(EXTI_PinSource1, EXTI1_IRQn, EXTI_Line1);	init_encoder_exti(EXTI_PinSource2, EXTI2_IRQn, EXTI_Line2);	init_encoder_exti(EXTI_PinSource3, EXTI3_IRQn, EXTI_Line3);	/* get encoder data every period */	//EncoderTimer = xTimerCreate("Encoder Polling", (ENCODER_PERIOD), pdTRUE, (void *) 1, Encoder_Polling);	//xTimerStart(EncoderTimer, 0);}

void Initialize_ADC(void){		ADC_InitTypeDef ADC_InitStruct;		GPIO_InitTypeDef GPIO_InitStruct;				GPIO_StructInit(&GPIO_InitStruct);		GPIO_InitStruct.GPIO_Pin = 0x01;		GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AN;		GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;		GPIO_Init(GPIOC, &GPIO_InitStruct);			ADC_DeInit();		ADC_InitStruct.ADC_DataAlign = ADC_DataAlign_Right;		ADC_InitStruct.ADC_Resolution = ADC_Resolution_12b;		ADC_InitStruct.ADC_ContinuousConvMode = ENABLE;		ADC_InitStruct.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;		ADC_InitStruct.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;		ADC_InitStruct.ADC_NbrOfConversion = 1;		ADC_InitStruct.ADC_ScanConvMode = DISABLE;		ADC_Init(ADC1, &ADC_InitStruct);				ADC_Cmd(ADC1, ENABLE);				ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_144Cycles);						//InitializeTimer();		}

/**  * @brief  Configures COMP2: PA3 as COMP2 non inverting input  *                           VREFINT as COMP2 inverting input  *                           and COMP2 output to TIM2 BKIN.  * @param  None  * @retval None  */void COMP_Config(void){    COMP_InitTypeDef        COMP_InitStructure;  GPIO_InitTypeDef        GPIO_InitStructure;  /* GPIOA Peripheral clock enable */  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);  /* Configure PA3 in analog mode: PA3 is connected to COMP2 non inverting input */  GPIO_StructInit(&GPIO_InitStructure);  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;  GPIO_Init(GPIOA, &GPIO_InitStructure);  /* COMP Peripheral clock enable */  RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);  /* COMP2 config */  COMP_StructInit(&COMP_InitStructure);  COMP_InitStructure.COMP_InvertingInput = COMP_InvertingInput_VREFINT;  COMP_InitStructure.COMP_Output = COMP_Output_TIM1BKIN;  COMP_InitStructure.COMP_Hysteresis = COMP_Hysteresis_No;  COMP_InitStructure.COMP_Mode = COMP_Mode_UltraLowPower;  COMP_InitStructure.COMP_OutputPol =  COMP_OutputPol_NonInverted;  COMP_Init(COMP_Selection_COMP2, &COMP_InitStructure);  /* Enable COMP2 */  COMP_Cmd(COMP_Selection_COMP2, ENABLE);}

/************************************************************************** Description: Initialize the LED hardware* Returns: none* Notes: none*************************************************************************/void led_init(    void){    GPIO_InitTypeDef GPIO_InitStructure;    GPIO_StructInit(&GPIO_InitStructure);    /* Configure the Receive LED on MS/TP board */    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;    GPIO_Init(GPIOB, &GPIO_InitStructure);    /* Configure the Transmit LED on MS/TP board */    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;    GPIO_Init(GPIOB, &GPIO_InitStructure);    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);    /* Configure the LD4 on Discovery board */    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;    GPIO_Init(GPIOC, &GPIO_InitStructure);    /* Configure the LD3 on Discovery board */    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;    GPIO_Init(GPIOC, &GPIO_InitStructure);    /* Enable the GPIO_LED Clock */    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);    led_tx_on();    led_rx_on();    led_ld3_on();    led_ld4_on();}

//keystatic  void  BSP_PB_Init (void){    GPIO_InitTypeDef  gpio_init;    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);    GPIO_StructInit(&gpio_init);    gpio_init.GPIO_Pin  = BSP_KEY1;    gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING;    GPIO_Init(GPIOC, &gpio_init);    GPIO_StructInit(&gpio_init);    gpio_init.GPIO_Pin  = BSP_KEY2;    gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING;    GPIO_Init(GPIOC, &gpio_init);}

/**  * @brief  This function initialises quadrature encoder input to capture						AB phase output from ENB encoder.   * @param  void  * @retval void  * @brief  * PB4  --> TIM3 CH1  * PB5  --> TIM3 CH2  */void QEI1_init (void){	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;	TIM_ICInitTypeDef TIM_ICInitStructure;	GPIO_InitTypeDef GPIO_InitStructure;	NVIC_InitTypeDef NVIC_InitStructure;	/* TIM3 clock source enable */	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);	/* Enable GPIOB, clock */	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);	GPIO_StructInit(&GPIO_InitStructure);	/* Configure PB.4,5 as encoder alternate function */	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;	GPIO_Init(GPIOB, &GPIO_InitStructure);	/* Connect TIM3 pins to AF2 */	GPIO_PinAFConfig(GPIOB, GPIO_PinSource4, GPIO_AF_TIM3);	GPIO_PinAFConfig(GPIOB, GPIO_PinSource5, GPIO_AF_TIM3);	/* Enable the TIM3 Update Interrupt */	NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;	NVIC_Init(&NVIC_InitStructure);	/* Timer configuration in Encoder mode */	TIM_DeInit(TIM3);	TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);	TIM_TimeBaseStructure.TIM_Prescaler = 0x0;  // No prescaling	TIM_TimeBaseStructure.TIM_Period = (4*4000)-1;	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);	TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,	TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);	TIM_ICStructInit(&TIM_ICInitStructure);	TIM_ICInitStructure.TIM_ICFilter = 6;	TIM_ICInit(TIM3, &TIM_ICInitStructure);	// Clear all pending interrupts	TIM_ClearFlag(TIM3, TIM_FLAG_Update);	TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);	//Reset counter	TIM3->CNT = 0;      //encoder value	TIM_Cmd(TIM3, ENABLE);}

void GPIO_Configuration(void){	{	GPIO_InitTypeDef GPIO_InitStructure;	GPIO_StructInit(&GPIO_InitStructure);	// Set all as default	GPIO_Init(PORTA, &GPIO_InitStructure);	GPIO_Init(PORTB, &GPIO_InitStructure);	GPIO_Init(PORTC, &GPIO_InitStructure);	}#ifdef LED1_PIN	wizpf_gpio_init(LED1_PORT, LED1_PIN, GMOD_OUT_PUSHPULL);	wizpf_led_set(WIZ_LED1, VAL_OFF);#endif#ifdef LED2_PIN	wizpf_gpio_init(LED2_PORT, LED2_PIN, GMOD_OUT_PUSHPULL);	wizpf_led_set(WIZ_LED2, VAL_OFF);#endif#ifdef WIZ_RESET_PIN	wizpf_gpio_init(WIZ_RESET_PORT, WIZ_RESET_PIN, GMOD_OUT_PUSHPULL);	GPIO_SetBits(WIZ_RESET_PORT, WIZ_RESET_PIN);#endif#ifdef WIZ_PWDN_PIN	wizpf_gpio_init(WIZ_PWDN_PORT, WIZ_PWDN_PIN, GMOD_OUT_PUSHPULL);	GPIO_ResetBits(WIZ_PWDN_PORT, WIZ_PWDN_PIN);#endif#ifdef WIZ_INT_PIN	wizpf_gpio_init(WIZ_INT_PORT, WIZ_INT_PIN, GMOD_IN_PULLUP);	// For IIN Chip EXTI#endif	// ToDo}

int main(void){  ledval = 0;  GPIO_InitTypeDef  GPIO_InitStruct;  //Enable Our Clock for the GPIO Pins  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);  // Configure Pins. Currently, PortA, Pins 0-7, Push-Pull Output  GPIO_StructInit(&GPIO_InitStruct); //Get everything all nice and clean  GPIO_InitStruct.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4 |                              GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7;  GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP; // Push Pull Output  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_2MHz; //Choose the lowest acceptable speed  GPIO_Init(GPIOA, &GPIO_InitStruct);  // Configure SysTick//  if ( SysTick_Config(SystemCoreClock / 1000))//    while(1);  while(1){    //GPIO_SetBits(GPIOA, 0xFF & ledval);    GPIO_WriteBit(GPIOA,GPIO_Pin_0, (ledval & 0x01 == 1) ? Bit_SET : Bit_RESET);    ledval++;    Delay(1500000); //Delay a lot  }}