restructuring

F0:F030,F042,F072/QuadEncoder/main.c

@@ -0,0 +1,67 @@
+/*
+ * main.c
+ *
+ * Copyright 2018 Edward V. Emelianoff <eddy@sao.ru, 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#include "hardware.h"
+#include "protocol.h"
+#include "usart.h"
+#include <stm32f0.h>
+
+
+volatile uint32_t Tms = 0;
+
+// Called when systick fires
+void sys_tick_handler(void){
+    ++Tms;
+}
+
+int main(void){
+    uint32_t T = 0;
+    uint32_t tim3cnt = 0;
+    char *txt;
+    hw_setup();
+    SysTick_Config(6000, 1);
+    SEND("Encoder controller v0.1\n");
+    while (1){
+        if(usart1_getline(&txt)){ // usart1 received command, process it
+            txt = process_command(txt);
+        }else txt = NULL;
+        if(txt){ // text waits for sending
+            while(ALL_OK != usart1_send(txt, 0));
+        }
+        if(Tms - T == 10){
+            T = Tms;
+            if(tim3cnt != TIM3->CNT){
+                int32_t diff = TIM3->CNT - tim3cnt;
+                if(tim3upd){
+                    if(TIM3->CR1 & TIM_CR1_DIR) diff -= 80;
+                    else diff += 80;
+                    tim3upd = 0;
+                }
+                tim3cnt = TIM3->CNT;
+                put_string("Speed: ");
+                put_int(diff);
+                put_string(", pos: ");
+                put_uint(TIM3->CNT);
+                put_char('\n');
+            }
+        }
+        usart1_sendbuf();
+    }
+}