simplest servo

G4:G431/Servo/main.c

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+/*
+ * This file is part of the blink project.
+ * Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stm32g4.h>
+#include <string.h>
+
+#include "commproto.h"
+#include "hardware.h"
+#include "servo.h"
+#include "usart.h"
+
+// 40ms for debouncing
+#define TDEBOUNCE   (40)
+
+int main(void){
+    StartHSE();
+    gpio_setup();
+    usart_setup(115200);
+    bool pressed = false;
+    uint32_t Tblink = 0, Tkey = 0; // blink and key pressed time
+    while(1){
+        USART_flags_t f = usart_process();
+        if(f.rxovrfl) usart_sendstr("Rx buffer overflow!\n");
+        if(f.txerr) usart_sendstr("Tx error!\n");
+        char *str = usart_getline();
+        if(str){
+            const char *ans = parse_cmd(usart_sendstr, str);
+            if(ans) usart_sendstr(ans);
+        }
+        process_servo();
+        if(Tms - Tblink > 499){
+            LED_TOGG();
+            Tblink = Tms;
+        }
+        if(KEY_PRESSED()){
+            if(!pressed){ // new event
+                pressed = true;
+                usart_sendstr("Key pressed\n");
+            }
+            Tkey = Tms;
+        }else{ // key released
+            if(pressed && (Tms - Tkey) > TDEBOUNCE){ // wait for debounce
+                pressed = false;
+                usart_sendstr("Key released\n");
+            }
+        }
+    }
+}