#include "project.h"





int main (void)
{
  /*set up pll */
  rcc_clock_setup_pll (&rcc_hse_configs[RCC_HSE_CONFIG]);

  /*turn on clocks to periferals */
  rcc_periph_clock_enable (RCC_GPIOA);
  rcc_periph_clock_enable (RCC_GPIOB);
  rcc_periph_clock_enable (RCC_GPIOC);
  rcc_periph_clock_enable (RCC_USART1);
  rcc_periph_clock_enable (RCC_AFIO);
  rcc_periph_clock_enable (RCC_PWR);
  rcc_periph_clock_enable (RCC_BKP);
  pwr_disable_backup_domain_write_protect();
  DWT_CTRL |= DWT_CTRL_CYCCNTENA;


  nvic_set_priority (NVIC_SYSTICK_IRQ, 0x80);
  nvic_set_priority (NVIC_USART1_IRQ, 0x40);
  nvic_set_priority (NVIC_USB_HP_CAN_TX_IRQ, 0x40);
  nvic_set_priority (NVIC_USB_LP_CAN_RX0_IRQ, 0x40);
  nvic_set_priority (NVIC_RTC_IRQ, 0x10);



  usart_init();
  cdcacm_rings_init();
  rtc_init();
  leds_init();

  printf ("Startup:\r\n");

  motor_init();
  ticker_init();
  usb_init();


  for (;;);


  return 0;
}