void setup() {
  #if !defined(GPS_PROMINI)  //设置串口
    SerialOpen(0,SERIAL0_COM_SPEED);
    #if defined(PROMICRO) //设置串口
      SerialOpen(1,SERIAL1_COM_SPEED);
    #endif
    #if defined(MEGA) //设置串口
      SerialOpen(1,SERIAL1_COM_SPEED);
      SerialOpen(2,SERIAL2_COM_SPEED);
      SerialOpen(3,SERIAL3_COM_SPEED);
    #endif
  #endif
  LEDPIN_PINMODE;   
  POWERPIN_PINMODE;
  BUZZERPIN_PINMODE;
  STABLEPIN_PINMODE;  //设置部分IO口
  POWERPIN_OFF;
  initOutput();    //输出初始化
 
/**************************************************************************************/
/************        初始化PWM定时器和寄存器        ******************/
/**************************************************************************************/
void initOutput() {
  /****************            设置所有的PWM口为输出            ******************/
  for(uint8_t i=0;i<NUMBER_MOTOR;i++) {
    pinMode(PWM_PIN[i],OUTPUT);
  }
   
  /****************  特殊的 PWM 定时器 & 暂存器为了 MEGA's    ******************/
#if defined(MEGA)          //如果是MEGA主控
    #if (NUMBER_MOTOR > 0)
      // init 16bit timer 3
      TCCR3A |= (1<<WGM31); // phase correct mode
      TCCR3A &= ~(1<<WGM30);
      TCCR3B |= (1<<WGM33);
      TCCR3B &= ~(1<<CS31); // no prescaler
      ICR3  |= 0x3FFF; // TOP to 16383;     
     
      TCCR3A |= _BV(COM3C1); // connect pin 3 to timer 3 channel C
    #endif
    #if (NUMBER_MOTOR > 1)
      TCCR3A |= _BV(COM3A1); // connect pin 5 to timer 3 channel A
    #endif
    #if (NUMBER_MOTOR > 2)
      // init 16bit timer 4
      TCCR4A |= (1<<WGM41); // phase correct mode
      TCCR4A &= ~(1<<WGM40);
      TCCR4B |= (1<<WGM43);
      TCCR4B &= ~(1<<CS41); // no prescaler
      ICR4  |= 0x3FFF; // TOP to 16383;   
     
      TCCR4A |= _BV(COM4A1); // connect pin 6 to timer 4 channel A
    #endif
    #if (NUMBER_MOTOR > 3)
      TCCR3A |= _BV(COM3B1); // connect pin 2 to timer 3 channel B
    #endif
    #if (NUMBER_MOTOR > 4)
      TCCR4A |= _BV(COM4B1); // connect pin 7 to timer 4 channel B
      TCCR4A |= _BV(COM4C1); // connect pin 8 to timer 4 channel C
    #endif
    #if (NUMBER_MOTOR > 6)
      // timer 2 is a 8bit timer so we cant change its range
      TCCR2A |= _BV(COM2B1); // connect pin 9 to timer 2 channel B
      TCCR2A |= _BV(COM2A1); // connect pin 10 to timer 2 channel A
    #endif
  #endif
 
  /********特殊的 PWM 定时器 & 暂存器为了atmega32u4 (Promicro)  ************/
  #if defined(PROMICRO)
    #if (NUMBER_MOTOR > 0) && ( !defined(A32U4_4_HW_PWM_SERVOS) )
      TCCR1A |= (1<<WGM11); // phase correct mode & no prescaler
      TCCR1A &= ~(1<<WGM10);
      TCCR1B &= ~(1<<WGM12) &  ~(1<<CS11) & ~(1<<CS12);
      TCCR1B |= (1<<WGM13) | (1<<CS10);
      ICR1  |= 0x3FFF; // TOP to 16383;   
      TCCR1A |= _BV(COM1A1); // connect pin 9 to timer 1 channel A
    #endif
    #if (NUMBER_MOTOR > 1)
      TCCR1A |= _BV(COM1B1); // connect pin 10 to timer 1 channel B
    #endif
    #if (NUMBER_MOTOR > 2)
      #if !defined(HWPWM6) // timer 4A
        TCCR4E |= (1<<ENHC4); // enhanced pwm mode
        TCCR4B &= ~(1<<CS41); TCCR4B |= (1<<CS42)|(1<<CS40); // prescaler to 16
        TCCR4D |= (1<<WGM40); TC4H = 0x3; OCR4C = 0xFF; // phase and frequency correct mode & top to 1023 but with enhanced pwm mode we have 2047
        TCCR4A |= (1<<COM4A0)|(1<<PWM4A); // connect pin 5 to timer 4 channel A
      #else // timer 3A
toggle rate
        TCCR3A |= (1<<WGM31); // phase correct mode & no prescaler
        TCCR3A &= ~(1<<WGM30);
        TCCR3B &= ~(1<<WGM32) &  ~(1<<CS31) & ~(1<<CS32);
        TCCR3B |= (1<<WGM33) | (1<<CS30);
        ICR3  |= 0x3FFF; // TOP to 16383;   
        TCCR3A |= _BV(COM3A1); // connect pin 5 to timer 3 channel A   
      #endif
    #endif
    #if (NUMBER_MOTOR > 3) || ( (NUMBER_MOTOR > 0) && defined(A32U4_4_HW_PWM_SERVOS) )
      #if defined(HWPWM6)
        TCCR4E |= (1<<ENHC4); // enhanced pwm mode
        TCCR4B &= ~(1<<CS41); TCCR4B |= (1<<CS42)|(1<<CS40); // prescaler to 16
        TCCR4D |= (1<<WGM40); TC4H = 0x3; OCR4C = 0xFF; // phase and frequency correct mode & top to 1023 but with enhanced pwm mode we have 2047
      #endif
      TCCR4C |= (1<<COM4D1)|(1<<PWM4D); // connect pin 6 to timer 4 channel D
    #endif
    #if (NUMBER_MOTOR > 4)
      #if defined(HWPWM6)

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