Stable 1.11.1

17 files changed, 768 insertions, 364 deletions

diff --git a/.gitignore b/.gitignore
index c3887a5..77df7d8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,4 +6,3 @@
 *.elf
 *.hex
 *.bin
-bin/sistemas-embebidos*
diff --git a/Makefile b/Makefile
index e7c03dc..e3dde25 100644
--- a/Makefile
+++ b/Makefile
@@ -1,9 +1,10 @@
 #!/usr/bin/make -f
 
-VERSION		= 0
-PATCHLEVEL	= .5
+VERSION		= 1
+PATCHLEVEL	= .0
 SUBLEVEL	= 
 EXTRAVERSION	=
+NAME		= little-bird
 
 export	VERSION
 export	PATCHLEVEL
@@ -131,7 +132,7 @@ export	SIZE
 # CFLAGS
 CFLAGS_STD	= -std=c11
 
-CFLAGS_OPT	= -Os
+#CFLAGS_OPT	= -Os
 
 CFLAGS_MCU	= -mlittle-endian
 CFLAGS_MCU     += -march=armv7e-m
@@ -177,9 +178,9 @@ export	LDFLAGS
 ################################################################################
 
 
-.PHONY: all stm32l4-drivers libalx stm32l4-modules objects target flash erase reset clean mrproper
+.PHONY: all stm32l4-drivers libalx stm32l4-modules main target flash erase reset clean mrproper
 
-all: stm32l4-drivers libalx stm32l4-modules objects target
+all: target
 
 stm32l4-drivers:
 	@echo	'	MAKE	drivers'
@@ -189,15 +190,15 @@ libalx:
 	@echo	'	MAKE	libalx'
 	$(Q)$(MAKE) base	-C $(LIBALX_DIR)
 
-stm32l4-modules:
+stm32l4-modules: stm32l4-drivers libalx
 	@echo	'	MAKE	modules'
 	$(Q)$(MAKE) -C $(MODULES_DIR)
 
-objects:
-	@echo	"	MAKE	objects"
+main: libalx stm32l4-modules
+	@echo	"	MAKE	main"
 	$(Q)$(MAKE) -C $(TMP_DIR)
 
-target:
+target: main
 	@echo	"	MAKE	target"
 	$(Q)$(MAKE) -C $(BIN_DIR)
 
diff --git a/bin/Makefile b/bin/Makefile
index 80a970a..e22f2fb 100644
--- a/bin/Makefile
+++ b/bin/Makefile
@@ -17,7 +17,7 @@ ALL	= $(PROJECT_NAME).elf $(PROJECT_NAME).hex $(PROJECT_NAME).lst size
 
 MAIN_OBJ_MODULES	= \
 			system_stm32l4xx.o stm32l4xx_it.o main.o \
-			ctrl.o actuators.o
+			ctrl.o actuators.o test.o
 MAIN_OBJS		= $(patsubst %,$(TMP_DIR)/%,$(MAIN_OBJ_MODULES))
 
 
@@ -55,7 +55,7 @@ $(PROJECT_NAME).elf: $(MAIN_OBJS) $(MAIN_LIBS)
 	@echo	"	CC	$@"
 	$(Q)$(CC) $(CFLAGS) $(LDFLAGS) $(MAIN_OBJS) -o $@ \
 					$(SRC_DIR)/startup_stm32l476xx.s\
-					$(STATIC_LIBS) $(LIBS) -TSTM32L476RG.ld
+					$(STATIC_LIBS) $(LIBS) -Tstm32l476rg.ld
 
 $(PROJECT_NAME).hex: $(PROJECT_NAME).elf
 	@echo	"	OBJCOPY	$@"
@@ -77,7 +77,6 @@ size: $(PROJECT_NAME).elf
 clean:
 	@echo	"	RM	$(ALL)"
 	$(Q)rm -f $(ALL)
-	$(Q)rm -f *.map
 
 ################################################################################
 ######## End of file ###########################################################
diff --git a/bin/STM32L476RG.ld b/bin/STM32L476RG.ld
deleted file mode 100644
index 4543da3..0000000
--- a/bin/STM32L476RG.ld
+++ /dev/null
@@ -1,184 +0,0 @@
-/*

-*****************************************************************************

-**

-

-**  File        : LinkerScript.ld

-**

-**  Abstract    : Linker script for STM32L476RGTx Device with

-**                1024KByte FLASH, 128KByte RAM

-**

-**                Set heap size, stack size and stack location according

-**                to application requirements.

-**

-**                Set memory bank area and size if external memory is used.

-**

-**  Target      : STMicroelectronics STM32

-**

-**

-**  Distribution: The file is distributed as is, without any warranty

-**                of any kind.

-**

-**  (c)Copyright Ac6.

-**  You may use this file as-is or modify it according to the needs of your

-**  project. Distribution of this file (unmodified or modified) is not

-**  permitted. Ac6 permit registered System Workbench for MCU users the

-**  rights to distribute the assembled, compiled & linked contents of this

-**  file as part of an application binary file, provided that it is built

-**  using the System Workbench for MCU toolchain.

-**

-*****************************************************************************

-*/

-

-/* Entry Point */

-ENTRY(Reset_Handler)

-

-/* Highest address of the user mode stack */

-_estack = 0x20018000;    /* end of RAM */

-/* Generate a link error if heap and stack don't fit into RAM */

-_Min_Heap_Size = 0x200;      /* required amount of heap  */

-_Min_Stack_Size = 0x400; /* required amount of stack */

-

-/* Specify the memory areas */

-MEMORY

-{

-RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 96K

-RAM2 (xrw)      : ORIGIN = 0x10000000, LENGTH = 32K

-FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 1024K

-}

-

-/* Define output sections */

-SECTIONS

-{

-  /* The startup code goes first into FLASH */

-  .isr_vector :

-  {

-    . = ALIGN(8);

-    KEEP(*(.isr_vector)) /* Startup code */

-    . = ALIGN(8);

-  } >FLASH

-

-  /* The program code and other data goes into FLASH */

-  .text :

-  {

-    . = ALIGN(8);

-    *(.text)           /* .text sections (code) */

-    *(.text*)          /* .text* sections (code) */

-    *(.glue_7)         /* glue arm to thumb code */

-    *(.glue_7t)        /* glue thumb to arm code */

-    *(.eh_frame)

-

-    KEEP (*(.init))

-    KEEP (*(.fini))

-

-    . = ALIGN(8);

-    _etext = .;        /* define a global symbols at end of code */

-  } >FLASH

-

-  /* Constant data goes into FLASH */

-  .rodata :

-  {

-    . = ALIGN(8);

-    *(.rodata)         /* .rodata sections (constants, strings, etc.) */

-    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */

-    . = ALIGN(8);

-  } >FLASH

-

-  .ARM.extab   : 

-  { 

-  . = ALIGN(8);

-  *(.ARM.extab* .gnu.linkonce.armextab.*)

-  . = ALIGN(8);

-  } >FLASH

-  .ARM : {

-	. = ALIGN(8);

-    __exidx_start = .;

-    *(.ARM.exidx*)

-    __exidx_end = .;

-	. = ALIGN(8);

-  } >FLASH

-

-  .preinit_array     :

-  {

-	. = ALIGN(8);

-    PROVIDE_HIDDEN (__preinit_array_start = .);

-    KEEP (*(.preinit_array*))

-    PROVIDE_HIDDEN (__preinit_array_end = .);

-	. = ALIGN(8);

-  } >FLASH

-  

-  .init_array :

-  {

-	. = ALIGN(8);

-    PROVIDE_HIDDEN (__init_array_start = .);

-    KEEP (*(SORT(.init_array.*)))

-    KEEP (*(.init_array*))

-    PROVIDE_HIDDEN (__init_array_end = .);

-	. = ALIGN(8);

-  } >FLASH

-  .fini_array :

-  {

-	. = ALIGN(8);

-    PROVIDE_HIDDEN (__fini_array_start = .);

-    KEEP (*(SORT(.fini_array.*)))

-    KEEP (*(.fini_array*))

-    PROVIDE_HIDDEN (__fini_array_end = .);

-	. = ALIGN(8);

-  } >FLASH

-

-  /* used by the startup to initialize data */

-  _sidata = LOADADDR(.data);

-

-  /* Initialized data sections goes into RAM, load LMA copy after code */

-  .data : 

-  {

-    . = ALIGN(8);

-    _sdata = .;        /* create a global symbol at data start */

-    *(.data)           /* .data sections */

-    *(.data*)          /* .data* sections */

-

-    . = ALIGN(8);

-    _edata = .;        /* define a global symbol at data end */

-  } >RAM AT> FLASH

-

-  

-  /* Uninitialized data section */

-  . = ALIGN(4);

-  .bss :

-  {

-    /* This is used by the startup in order to initialize the .bss secion */

-    _sbss = .;         /* define a global symbol at bss start */

-    __bss_start__ = _sbss;

-    *(.bss)

-    *(.bss*)

-    *(COMMON)

-

-    . = ALIGN(4);

-    _ebss = .;         /* define a global symbol at bss end */

-    __bss_end__ = _ebss;

-  } >RAM

-

-  /* User_heap_stack section, used to check that there is enough RAM left */

-  ._user_heap_stack :

-  {

-    . = ALIGN(8);

-    PROVIDE ( end = . );

-    PROVIDE ( _end = . );

-    . = . + _Min_Heap_Size;

-    . = . + _Min_Stack_Size;

-    . = ALIGN(8);

-  } >RAM

-

-  

-

-  /* Remove information from the standard libraries */

-  /DISCARD/ :

-  {

-    libc.a ( * )

-    libm.a ( * )

-    libgcc.a ( * )

-  }

-

-  .ARM.attributes 0 : { *(.ARM.attributes) }

-}

-

-

diff --git a/bin/stm32l476rg.ld b/bin/stm32l476rg.ld
new file mode 100644
index 0000000..92ded50
--- /dev/null
+++ b/bin/stm32l476rg.ld
@@ -0,0 +1,155 @@
+/******************************************************************************

+ *

+ *  STM32L476RGTx 

+ *  1024KByte FLASH, 128KByte RAM

+ *

+ *  Set heap size, stack size and stack location to application requirements.

+ *

+ *  Set memory bank area and size if external memory is used.

+ *

+ ******************************************************************************/

+

+/* Entry Point */

+ENTRY(Reset_Handler)

+

+/* Highest address of the user mode stack */

+_estack = 0x20018000;		/* end of RAM */

+/* Generate a link error if heap and stack don't fit into RAM */

+_Min_Heap_Size = 0x200;		/* required amount of heap  */

+_Min_Stack_Size = 0x400;	/* required amount of stack */

+

+/* Specify the memory areas */

+MEMORY

+{

+	RAM (xrw)	: ORIGIN = 0x20000000, LENGTH = 96K

+	RAM2 (xrw)	: ORIGIN = 0x10000000, LENGTH = 32K

+	FLASH (rx)	: ORIGIN = 0x8000000, LENGTH = 1024K

+}

+

+/* Define output sections */

+SECTIONS

+{

+	/* The startup code goes first into FLASH */

+	.isr_vector : {

+		. = ALIGN(8);

+		KEEP(*(.isr_vector))	/* Startup code */

+		. = ALIGN(8);

+	} >FLASH

+

+	/* The program code and other data goes into FLASH */

+	.text : {

+		. = ALIGN(8);

+		*(.text)	/* .text sections (code) */

+		*(.text*)	/* .text* sections (code) */

+		*(.glue_7)	/* glue arm to thumb code */

+		*(.glue_7t)	/* glue thumb to arm code */

+		*(.eh_frame)

+

+		KEEP (*(.init))

+		KEEP (*(.fini))

+

+		. = ALIGN(8);

+		_etext = .;	/* define a global symbols at end of code */

+	} >FLASH

+

+	/* Constant data goes into FLASH */

+	.rodata : {

+		. = ALIGN(8);

+		*(.rodata)	/* .rodata sections (constants, strings, etc.) */

+		*(.rodata*)	/* .rodata* sections (constants, strings, etc.) */

+		. = ALIGN(8);

+	} >FLASH

+

+	.ARM.extab : { 

+		. = ALIGN(8);

+		*(.ARM.extab* .gnu.linkonce.armextab.*)

+		. = ALIGN(8);

+	} >FLASH

+	.ARM : {

+		. = ALIGN(8);

+		__exidx_start = .;

+		*(.ARM.exidx*)

+		__exidx_end = .;

+		. = ALIGN(8);

+	} >FLASH

+

+	.preinit_array : {

+		. = ALIGN(8);

+		PROVIDE_HIDDEN (__preinit_array_start = .);

+		KEEP (*(.preinit_array*))

+		PROVIDE_HIDDEN (__preinit_array_end = .);

+		. = ALIGN(8);

+	} >FLASH

+  

+	.init_array : {

+		. = ALIGN(8);

+		PROVIDE_HIDDEN (__init_array_start = .);

+		KEEP (*(SORT(.init_array.*)))

+		KEEP (*(.init_array*))

+		PROVIDE_HIDDEN (__init_array_end = .);

+		. = ALIGN(8);

+	} >FLASH

+	.fini_array : {

+		. = ALIGN(8);

+		PROVIDE_HIDDEN (__fini_array_start = .);

+		KEEP (*(SORT(.fini_array.*)))

+		KEEP (*(.fini_array*))

+		PROVIDE_HIDDEN (__fini_array_end = .);

+		. = ALIGN(8);

+	} >FLASH

+

+	/* used by the startup to initialize data */

+	_sidata = LOADADDR(.data);

+

+	/* Initialized data sections goes into RAM, load LMA copy after code */

+	.data :  {

+		. = ALIGN(8);

+		_sdata = .;        /* create a global symbol at data start */

+		*(.data)           /* .data sections */

+		*(.data*)          /* .data* sections */

+

+		. = ALIGN(8);

+		_edata = .;        /* define a global symbol at data end */

+	} >RAM AT> FLASH

+

+  

+	/* Uninitialized data section */

+	. = ALIGN(4);

+	.bss : {

+		/* This is used by the startup in order to initialize the .bss secion */

+		_sbss = .;         /* define a global symbol at bss start */

+		__bss_start__ = _sbss;

+		*(.bss)

+		*(.bss*)

+		*(COMMON)

+

+		. = ALIGN(4);

+		_ebss = .;         /* define a global symbol at bss end */

+		__bss_end__ = _ebss;

+	} >RAM

+

+	/* User_heap_stack section, used to check that there is enough RAM left */

+	._user_heap_stack : {

+		. = ALIGN(8);

+		PROVIDE ( end = . );

+		PROVIDE ( _end = . );

+		. = . + _Min_Heap_Size;

+		. = . + _Min_Stack_Size;

+		. = ALIGN(8);

+	} >RAM

+

+

+

+	/* Remove information from the standard libraries */

+	/DISCARD/ : {

+		libc.a ( * )

+		libm.a ( * )

+		libgcc.a ( * )

+	}

+

+	.ARM.attributes 0 : {

+		*(.ARM.attributes)

+	}

+}

+

+/* EOF */

diff --git a/inc/actuators.h b/inc/actuators.h
index 3283fbd..4baacc0 100644..100755
--- a/inc/actuators.h
+++ b/inc/actuators.h
@@ -33,7 +33,8 @@
 /******************************************************************************
  ******* macros ***************************************************************
  ******************************************************************************/
-	# define	REFRESH_FREQ	(50u)
+	# define	ACT_REFRESH_PERIOD_US	(20000u)
+	# define	ACT_TASK_MODE_IT	(false)
 
 
 /******************************************************************************
@@ -55,8 +56,8 @@
  ******* functions ************************************************************
  ******************************************************************************/
 int	proc_actuators_init	(void);
-int	proc_actuators_1	(void);
-int	proc_actuators_2	(void);
+int	proc_actuators_deinit	(void);
+int	proc_actuators		(void);
 
 
 /******************************************************************************
diff --git a/inc/ctrl.h b/inc/ctrl.h
index 80bd956..acf1279 100644..100755
--- a/inc/ctrl.h
+++ b/inc/ctrl.h
@@ -33,7 +33,8 @@
 /******************************************************************************
  ******* macros ***************************************************************
  ******************************************************************************/
-	# define	REFRESH_FREQ	(50u)
+	# define	CTRL_REFRESH_PERIOD_US	(20000u)
+	# define	CTRL_TASK_MODE_IT	(false)
 
 
 /******************************************************************************
@@ -54,9 +55,9 @@
 /******************************************************************************
  ******* functions ************************************************************
  ******************************************************************************/
-int	proc_ctrl_init	(void);
-int	proc_ctrl_1	(void);
-int	proc_ctrl_2	(void);
+int	proc_ctrl_init		(void);
+int	proc_ctrl_deinit	(void);
+int	proc_ctrl		(void);
 
 
 /******************************************************************************
diff --git a/inc/test.h b/inc/test.h
new file mode 100755
index 0000000..7d82e73
--- /dev/null
+++ b/inc/test.h
@@ -0,0 +1,67 @@
+/******************************************************************************
+ *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *
+ *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *
+ *	SPDX-License-Identifier:	GPL-2.0-only			      *
+ ******************************************************************************/
+
+/**
+ *	@file		test.h
+ *	@author		Colomar Andrés, Alejandro
+ *	@author		García Pedroche, Francisco Javier
+ *	@copyright	GPL-2.0-only
+ *	@date		2018/jan/02
+ *	@brief		Test modules
+ */
+
+
+/******************************************************************************
+ ******* include guard ********************************************************
+ ******************************************************************************/
+# ifndef		TEST_H
+	# define	TEST_H
+
+
+/******************************************************************************
+ ******* headers **************************************************************
+ ******************************************************************************/
+/* Standard C ----------------------------------------------------------------*/
+/* Drivers -------------------------------------------------------------------*/
+/* libalx --------------------------------------------------------------------*/
+/* STM32L4 modules -----------------------------------------------------------*/
+
+
+/******************************************************************************
+ ******* macros ***************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* enums ****************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* structs **************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* variables ************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* functions ************************************************************
+ ******************************************************************************/
+int	test	(void);
+
+
+/******************************************************************************
+ ******* include guard ********************************************************
+ ******************************************************************************/
+# endif			/* test.h */
+
+
+/******************************************************************************
+ ******* end of file **********************************************************
+ ******************************************************************************/
diff --git a/src/actuators.c b/src/actuators.c
index d4c7e1d..3f5dc93 100644..100755
--- a/src/actuators.c
+++ b/src/actuators.c
@@ -33,7 +33,7 @@
 	#include "led.h"
 	#include "servo.h"
 	#include "tim.h"
-/* Project -------------------------------------------------------------------*/
+/* project -------------------------------------------------------------------*/
 	#include "actuators.h"
 
 
@@ -58,6 +58,7 @@
 /* Volatile ------------------------------------------------------------------*/
 /* Global --------------------------------------------------------------------*/
 /* Static --------------------------------------------------------------------*/
+static	bool	init_pending	= true;
 static	float	pitch;
 static	float	roll;
 static	float	yaw;
@@ -67,9 +68,11 @@ static	float	yaw;
  ******* static functions (prototypes) ****************************************
  ******************************************************************************/
 static	int	modules_init		(void);
-#if 0
+static	int	modules_deinit		(void);
 static	int	proc_init		(void);
-#endif
+static	void	proc_deinit		(void);
+static	int	proc_actuators_it	(void);
+static	int	proc_actuators_delay	(void);
 static	int	proc_ref_read		(void *data);
 static	int	proc_actuators_set	(void *data);
 
@@ -84,56 +87,76 @@ static	int	proc_actuators_set	(void *data);
 	 */
 int	proc_actuators_init	(void)
 {
-	if (modules_init()) {
-		return	ERROR_NOK;
+
+	if (init_pending) {
+		init_pending	= false;
+	} else {
+		return	ERROR_OK;
 	}
 
-#if 0
+	if (modules_init()) {
+		goto err_mod;
+	}
 	if (proc_init()) {
-		return	ERROR_NOK;
+		goto err_proc;
 	}
-#endif
 
 	return	ERROR_OK;
+
+
+err_proc:
+	modules_deinit();
+err_mod:
+
+	return	ERROR_NOK;
 }
 
 	/**
-	 * @brief	Run actuators process (based on timer interrupts)
+	 * @brief	Deinitialize actuators process
 	 * @return	Error
 	 * @note	Sets global variable 'prj_error'
 	 */
-int	proc_actuators_1	(void)
+int	proc_actuators_deinit	(void)
 {
-	while (true) {
-		__WFE();
-		if (tim_tim3_interrupt) {
-			if (tim_callback_exe()) {
-				prj_error_handle();
-				return	ERROR_NOK;
-			}
-			tim_tim3_interrupt	= false;
-		}
+	int	status;
+
+	status	= ERROR_OK;
+
+	if (!init_pending) {
+		init_pending	= true;
+	} else {
+		return	status;
 	}
 
-	return	ERROR_OK;
+	proc_deinit();
+	if (modules_deinit()) {
+		status	= ERROR_NOK;
+	}
+
+	return	status;
 }
 
 	/**
-	 * @brief	Run actuators process (based on delays)
+	 * @brief	Run actuators process
 	 * @return	Error
 	 * @note	Sets global variable 'prj_error'
 	 */
-int	proc_actuators_2	(void)
+int	proc_actuators	(void)
 {
-	delay_us(1000u);
 
-	while (true) {
-		delay_us(20000u);
+	if (init_pending) {
+		if (proc_actuators_init()) {
+			return	ERROR_NOK;
+		}
+	}
 
-		if (!proc_ref_read(NULL)) {
-			if (proc_actuators_set(NULL)) {
-				return	ERROR_NOK;
-			}
+	if (ACT_TASK_MODE_IT) {
+		if (proc_actuators_it()) {
+			return	ERROR_NOK;
+		}
+	} else {
+		if (proc_actuators_delay()) {
+			return	ERROR_NOK;
 		}
 	}
 
@@ -146,37 +169,126 @@ int	proc_actuators_2	(void)
  ******************************************************************************/
 static	int	modules_init		(void)
 {
-#if 0
-	if (tim_tim3_init(REFRESH_FREQ)) {
-		return	ERROR_NOK;
-	}
-#endif
+
+	led_init();
 	if (delay_us_init()) {
-		return	ERROR_NOK;
+		goto err_delay;
+	}
+
+	if (ACT_TASK_MODE_IT) {
+		if (tim_tim3_init(ACT_REFRESH_PERIOD_US)) {
+			goto err_tim;
+		}
 	}
+
 	if (can_init()) {
-		return	ERROR_NOK;
+		goto err_can;
 	}
 	if (servo_init()) {
-		return	ERROR_NOK;
+		goto err_servo;
 	}
 
 	return	ERROR_OK;
+
+
+err_servo:
+	can_deinit();
+err_can:
+	delay_us_deinit();
+err_delay:
+	led_deinit();
+	tim_tim3_deinit();
+err_tim:
+
+	return	ERROR_NOK;
+}
+
+static	int	modules_deinit		(void)
+{
+	int	status;
+
+	status	= ERROR_OK;
+
+	if (servo_deinit()) {
+		status	= ERROR_NOK;
+	}
+	if (can_deinit()) {
+		status	= ERROR_NOK;
+	}
+	if (tim_tim3_deinit()) {
+		status	= ERROR_NOK;
+	}
+	if (delay_us_deinit()) {
+		status	= ERROR_NOK;
+	}
+	led_deinit();
+
+	return	status;
 }
 
-#if 0
 static	int	proc_init		(void)
 {
-	if (tim_callback_push(&proc_ref_read, NULL)) {
-		return	ERROR_NOK;
+
+	if (ACT_TASK_MODE_IT) {
+		if (tim_callback_push(&proc_ref_read, NULL)) {
+			goto err_push;
+		}
+		if (tim_callback_push(&proc_actuators_set, NULL)) {
+			goto err_push;
+		}
+
+		return	ERROR_OK;
+	} else {
+		return	ERROR_OK;
 	}
-	if (tim_callback_push(&proc_actuators_set, NULL)) {
-		return	ERROR_NOK;
+
+
+err_push:
+	proc_deinit();
+
+	return	ERROR_NOK;
+}
+
+static	void	proc_deinit		(void)
+{
+
+	if (ACT_TASK_MODE_IT) {
+		while (tim_callback_pop()) {
+			;
+		}
+	}
+}
+
+static	int	proc_actuators_it	(void)
+{
+
+	while (true) {
+		__WFE();
+//		__WFI();
+
+		if (tim_tim3_interrupt) {
+			if (tim_callback_exe()) {
+				return	ERROR_NOK;
+			}
+			tim_tim3_interrupt	= false;
+		}
 	}
+}
 
-	return	ERROR_OK;
+static	int	proc_actuators_delay	(void)
+{
+
+	while (true) {
+		delay_us(ACT_REFRESH_PERIOD_US);
+
+		if (!proc_ref_read(NULL)) {
+			if (proc_actuators_set(NULL)) {
+				return	ERROR_NOK;
+			}
+		}
+//prj_error_handle();
+	}
 }
-#endif
 
 static	int	proc_ref_read		(void *data)
 {
diff --git a/src/ctrl.c b/src/ctrl.c
index 522c844..8856b64 100644..100755
--- a/src/ctrl.c
+++ b/src/ctrl.c
@@ -37,7 +37,7 @@
 	#include "led.h"
 	#include "nunchuk.h"
 	#include "tim.h"
-/* Project -------------------------------------------------------------------*/
+/* project -------------------------------------------------------------------*/
 	#include "ctrl.h"
 
 
@@ -59,8 +59,10 @@
 /******************************************************************************
  ******* variables ************************************************************
  ******************************************************************************/
+/* Volatile ------------------------------------------------------------------*/
 /* Global --------------------------------------------------------------------*/
 /* Static --------------------------------------------------------------------*/
+static	bool	init_pending	= true;
 static	float	pitch;
 static	float	roll;
 static	float	yaw;
@@ -71,9 +73,11 @@ static	bool	level;
  ******* static functions (prototypes) ****************************************
  ******************************************************************************/
 static	int	modules_init		(void);
-#if 0
+static	int	modules_deinit		(void);
 static	int	proc_init		(void);
-#endif
+static	void	proc_deinit		(void);
+static	int	proc_ctrl_it		(void);
+static	int	proc_ctrl_delay		(void);
 static	int	proc_ctrl_read		(void *data);
 static	int	proc_ctrl_report	(void *data);
 
@@ -86,63 +90,79 @@ static	int	proc_ctrl_report	(void *data);
 	 * @return	Error
 	 * @note	Sets global variable 'prj_error'
 	 */
-int	proc_ctrl_init	(void)
+int	proc_ctrl_init		(void)
 {
-	if (modules_init()) {
-		return	ERROR_NOK;
+
+	if (init_pending) {
+		init_pending	= false;
+	} else {
+		return	ERROR_OK;
 	}
 
-#if 0
+	if (modules_init()) {
+		goto err_mod;
+	}
 	if (proc_init()) {
-		return	ERROR_NOK;
+		goto err_proc;
 	}
-#endif
 
 	level	= true;
 
 	return	ERROR_OK;
+
+
+err_proc:
+	modules_deinit();
+err_mod:
+
+	return	ERROR_NOK;
 }
 
 	/**
-	 * @brief	Run controller process (based on timer interrupts)
+	 * @brief	Deinitialize controller process
 	 * @return	Error
 	 * @note	Sets global variable 'prj_error'
 	 */
-int	proc_ctrl_1		(void)
+int	proc_ctrl_deinit	(void)
 {
-	while (true) {
-		__WFE();
-		if (tim_tim3_interrupt) {
-			if (tim_callback_exe()) {
-				prj_error_handle();
-				return	ERROR_NOK;
-			}
-			tim_tim3_interrupt	= false;
-		}
+	int	status;
+
+	status	= ERROR_OK;
+
+	if (!init_pending) {
+		init_pending	= true;
+	} else {
+		return	status;
 	}
 
-	return	ERROR_OK;
+	proc_deinit();
+	if (modules_deinit()) {
+		status	= ERROR_NOK;
+	}
+
+	return	status;
 }
 
 	/**
-	 * @brief	Run controller process (based on delays)
+	 * @brief	Run controller process
 	 * @return	Error
 	 * @note	Sets global variable 'prj_error'
 	 */
-int	proc_ctrl_2		(void)
+int	proc_ctrl		(void)
 {
-	delay_us(1000u);
-
-	while (true) {
-		delay_us(20000u);
 
-		if (proc_ctrl_read(NULL)) {
-			prj_error_handle();
+	if (init_pending) {
+		if (proc_ctrl_init()) {
 			return	ERROR_NOK;
 		}
+	}
 
-		if (proc_ctrl_report(NULL)) {
-			prj_error_handle();
+	if (CTRL_TASK_MODE_IT) {
+		if (proc_ctrl_it()) {
+			return	ERROR_NOK;
+		}
+	} else {
+		if (proc_ctrl_delay()) {
 			return	ERROR_NOK;
 		}
 	}
@@ -156,39 +176,127 @@ int	proc_ctrl_2		(void)
  ******************************************************************************/
 static	int	modules_init		(void)
 {
-#if 0
-	if (tim_tim3_init(REFRESH_FREQ)) {
-		return	ERROR_NOK;
-	}
-#endif
+
 	led_init();
 	if (delay_us_init()) {
-		return	ERROR_NOK;
+		goto err_delay;
 	}
-	if (can_init()) {
-		return	ERROR_NOK;
+
+	if (CTRL_TASK_MODE_IT) {
+		if (tim_tim3_init(CTRL_REFRESH_PERIOD_US)) {
+			goto err_tim;
+		}
 	}
 
+	if (can_init()) {
+		goto err_can;
+	}
 	if (nunchuk_init()) {
-		return	ERROR_NOK;
+		goto err_nunchuk;
 	}
 
 	return	ERROR_OK;
+
+
+err_nunchuk:
+	can_deinit();
+err_can:
+	delay_us_deinit();
+err_delay:
+	led_deinit();
+	tim_tim3_deinit();
+err_tim:
+
+	return	ERROR_NOK;
+}
+
+static	int	modules_deinit		(void)
+{
+	int	status;
+
+	status	= ERROR_OK;
+
+	if (nunchuk_deinit()) {
+		status	= ERROR_NOK;
+	}
+	if (can_deinit()) {
+		status	= ERROR_NOK;
+	}
+	if (tim_tim3_deinit()) {
+		status	= ERROR_NOK;
+	}
+	if (delay_us_deinit()) {
+		status	= ERROR_NOK;
+	}
+	led_deinit();
+
+
+	return	status;
 }
 
-#if 0
 static	int	proc_init		(void)
 {
-	if (tim_callback_push(&proc_ctrl_read, NULL)) {
-		return	ERROR_NOK;
+
+	if (CTRL_TASK_MODE_IT) {
+		if (tim_callback_push(&proc_ctrl_read, NULL)) {
+			goto err_push;
+		}
+		if (tim_callback_push(&proc_ctrl_report, NULL)) {
+			goto err_push;
+		}
+
+		return	ERROR_OK;
+	} else {
+		return	ERROR_OK;
 	}
-	if (tim_callback_push(&proc_ctrl_report, NULL)) {
-		return	ERROR_NOK;
+
+
+err_push:
+	proc_deinit();
+
+	return	ERROR_NOK;
+}
+
+static	void	proc_deinit		(void)
+{
+
+	if (CTRL_TASK_MODE_IT) {
+		while (tim_callback_pop()) {
+			;
+		}
 	}
+}
 
-	return	ERROR_OK;
+static	int	proc_ctrl_it		(void)
+{
+
+	while (true) {
+		__WFE();
+//		__WFI();
+
+		if (tim_tim3_interrupt) {
+			if (tim_callback_exe()) {
+				return	ERROR_NOK;
+			}
+			tim_tim3_interrupt	= false;
+		}
+	}
+}
+
+static	int	proc_ctrl_delay		(void)
+{
+
+	while (true) {
+		delay_us(CTRL_REFRESH_PERIOD_US);
+
+		if (proc_ctrl_read(NULL)) {
+			return	ERROR_NOK;
+		}
+		if (proc_ctrl_report(NULL)) {
+			return	ERROR_NOK;
+		}
+	}
 }
-#endif
 
 static	int	proc_ctrl_read		(void *data)
 {
diff --git a/src/main.c b/src/main.c
index 0afb75b..0c3392d 100644..100755
--- a/src/main.c
+++ b/src/main.c
@@ -22,10 +22,8 @@
 /* Standard C ----------------------------------------------------------------*/
 	#include <stdbool.h>
 	#include <stdnoreturn.h>
-
 /* Drivers -------------------------------------------------------------------*/
 	#include "stm32l4xx_hal.h"
-
 /* libalx --------------------------------------------------------------------*/
 /* STM32L4 modules -----------------------------------------------------------*/
 	#include "can.h"
@@ -44,15 +42,19 @@
 	#include "nunchuk_test.h"
 	#include "servo_test.h"
 	#include "tim_test.h"
-
 /* project -------------------------------------------------------------------*/
 	#include "ctrl.h"
 	#include "actuators.h"
+	#include "test.h"
 
 
 /******************************************************************************
  ******* macros ***************************************************************
  ******************************************************************************/
+	# define	DEBUG_MODE	(false)
+
+	# define	PROJECT_CTRL	(true)
+	# define	PROJECT_ACT	(!PROJECT_CTRL)
 
 
 /******************************************************************************
@@ -75,7 +77,8 @@
 /******************************************************************************
  ******* static functions (prototypes) ****************************************
  ******************************************************************************/
-static	int		test		(void);
+static	int		proc_init	(void);
+static	int		proc		(void);
 static	noreturn void	stuck_forever	(bool led);
 
 
@@ -88,35 +91,23 @@ noreturn int	main	(void)
 	sysclk_config();
 	prj_error	= 0;
 
-#if 0
-	if (test()) {
-		stuck_forever(true);
+	if (DEBUG_MODE) {
+		if (test()) {
+			goto err;
+		}
 	}
-#else
-	(void)&test;
 
- #if 01
-	if (proc_actuators_init()) {
-		stuck_forever(true);
+	if (proc_init()) {
+		goto err;
 	}
- #elif 1
-	if (proc_ctrl_init()) {
-		stuck_forever(true);
-	}
- #endif
 
- #if 01
-	if (proc_actuators_2()) {
-		stuck_forever(true);
-	}
- #elif 1
-	if (proc_ctrl_2()) {
-		stuck_forever(true);
+	if (proc()) {
+		goto err;
 	}
- #endif
 
-#endif
 
+err:
+/*	prj_error_handle();*/
 	stuck_forever(true);
 }
 
@@ -124,8 +115,41 @@ noreturn int	main	(void)
 /******************************************************************************
  ******* static functions (definitions) ***************************************
  ******************************************************************************/
+static	int		proc_init	(void)
+{
+
+	if (PROJECT_ACT) {
+		if (proc_actuators_init()) {
+			return	ERROR_NOK;
+		}
+	} else if (PROJECT_CTRL) {
+		if (proc_ctrl_init()) {
+			return	ERROR_NOK;
+		}
+	}
+
+	return	ERROR_OK;
+}
+
+static	int		proc		(void)
+{
+
+	if (PROJECT_ACT) {
+		if (proc_actuators()) {
+			return	ERROR_NOK;
+		}
+	} else if (PROJECT_CTRL) {
+		if (proc_ctrl()) {
+			return	ERROR_NOK;
+		}
+	}
+
+	return	ERROR_OK;
+}
+
 static	noreturn void	stuck_forever	(bool led)
 {
+
 	if (led) {
 		led_set();
 	} else {
@@ -133,51 +157,11 @@ static	noreturn void	stuck_forever	(bool led)
 	}
 
 	while (true) {
-		__WFI();
+//		__WFI();
 		__NOP();
 	}
 }
 
-static	int		test		(void)
-{
-#if 0
-	if (led_test()) {
-		return	ERROR_NOK;
-	}
-#endif
-#if 0
-	can_r_test();
-#endif
-#if 0
-	can_w_test();
-#endif
-#if 0
-	if (servo_test_2()) {
-		return	ERROR_NOK;
-	}
-#endif
-#if 0
-	if (display_test()) {
-		return	ERROR_NOK;
-	}
-#endif
-#if 0
-	if (nunchuk_test_2()) {
-		return	ERROR_NOK;
-	}
-#endif
-#if 0
-	if (tim_test()) {
-		return	ERROR_NOK;
-	}
-#endif
-#if 0
-	prj_error_handle();
-#endif
-
-	return	ERROR_OK;
-}
-
 
 /******************************************************************************
  ******* end of file **********************************************************
diff --git a/src/startup_stm32l476xx.s b/src/startup_stm32l476xx.s
index f353700..56a0543 100644..100755
--- a/src/startup_stm32l476xx.s
+++ b/src/startup_stm32l476xx.s
@@ -7,7 +7,7 @@
   *                - Set the initial SP
   *                - Set the initial PC == Reset_Handler,
   *                - Set the vector table entries with the exceptions ISR address,
-  *                - Configure the clock system  
+  *                - Configure the clock system
   *                - Branches to main in the C library (which eventually
   *                  calls main()).
   *            After Reset the Cortex-M4 processor is in Thread mode,
diff --git a/src/stm32l4xx_it.c b/src/stm32l4xx_it.c
index 6aade74..6aade74 100644..100755
--- a/src/stm32l4xx_it.c
+++ b/src/stm32l4xx_it.c
diff --git a/src/test.c b/src/test.c
new file mode 100755
index 0000000..94fe40d
--- /dev/null
+++ b/src/test.c
@@ -0,0 +1,141 @@
+/******************************************************************************
+ *	Copyright (C) 2018	Colomar Andrés, Alejandro		      *
+ *	Copyright (C) 2018	García Pedroche, Francisco Javier	      *
+ *	SPDX-License-Identifier:	GPL-2.0-only			      *
+ ******************************************************************************/
+
+/**
+ *	@file		test.c
+ *	@author		Colomar Andrés, Alejandro
+ *	@author		García Pedroche, Francisco Javier
+ *	@copyright	GPL-2.0-only
+ *	@date		2018/jan/02
+ *	@brief		Test modules
+ */
+
+
+/******************************************************************************
+ ******* headers **************************************************************
+ ******************************************************************************/
+/* Standard C ----------------------------------------------------------------*/
+	#include <stdbool.h>
+	#include <stddef.h>
+	#include <stdint.h>
+
+/* Drivers -------------------------------------------------------------------*/
+	#include "stm32l4xx_hal.h"
+
+/* libalx --------------------------------------------------------------------*/
+/* STM32L4 modules -----------------------------------------------------------*/
+	#include "delay.h"
+	#include "errors.h"
+	#include "led.h"
+
+	#include "can_test.h"
+	#include "display_test.h"
+	#include "led_test.h"
+	#include "nunchuk_test.h"
+	#include "servo_test.h"
+	#include "tim_test.h"
+
+/* project -------------------------------------------------------------------*/
+	#include "test.h"
+
+
+/******************************************************************************
+ ******* macros ***************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* enums ****************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* structs **************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* variables ************************************************************
+ ******************************************************************************/
+/* Volatile ------------------------------------------------------------------*/
+/* Global --------------------------------------------------------------------*/
+/* Static --------------------------------------------------------------------*/
+
+
+/******************************************************************************
+ ******* static functions (prototypes) ****************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* global functions *****************************************************
+ ******************************************************************************/
+	/**
+	 * @brief	Test modules
+	 * @return	Error
+	 */
+int	test	(void)
+{
+	led_init();
+	delay_us_init();
+
+#if 0
+	if (led_test()) {
+		return	ERROR_NOK;
+	}
+#endif
+#if 0
+	can_r_test();
+#endif
+#if 0
+	can_w_test();
+#endif
+#if 1
+	if (servo_test_0()) {
+		return	ERROR_NOK;
+	}
+#endif
+#if 0
+	if (servo_test_1()) {
+		return	ERROR_NOK;
+	}
+#endif
+#if 0
+	if (servo_test_2()) {
+		return	ERROR_NOK;
+	}
+#endif
+#if 0
+	if (display_test()) {
+		return	ERROR_NOK;
+	}
+#endif
+#if 0
+	if (nunchuk_test_2()) {
+		return	ERROR_NOK;
+	}
+#endif
+#if 0
+	if (tim_test()) {
+		return	ERROR_NOK;
+	}
+#endif
+#if 0
+	prj_error_handle();
+#endif
+
+	return	ERROR_OK;
+}
+
+
+/******************************************************************************
+ ******* static functions (definitions) ***************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* end of file **********************************************************
+ ******************************************************************************/
diff --git a/stm32l4-drivers b/stm32l4-drivers
-Subproject 4ce59057c85bbac81fa44f956bfc392fcb6f120
+Subproject 911c1d2e48f239753a011a922efe71de8bf0137
diff --git a/stm32l4-modules b/stm32l4-modules
-Subproject f061888de747ef36615a396200b32d5a72ccdc3
+Subproject 83946ef2ec31ffdf8d9f07ae71028fa21e247d3
diff --git a/tmp/Makefile b/tmp/Makefile
index f50f7eb..cc17390 100644..100755
--- a/tmp/Makefile
+++ b/tmp/Makefile
@@ -23,7 +23,7 @@ DEP_DIR = $(MAIN_DIR)/dep/
 
 ALL		= \
 		system_stm32l4xx.o stm32l4xx_it.o main.o \
-		ctrl.o actuators.o
+		ctrl.o actuators.o test.o
 
 COMMON_INC_CMSIS	= core_cm4.h cmsis_gcc.h
 COMMON_INC_CMSIS_L4	= stm32l4xx.h
@@ -103,6 +103,22 @@ ACT_INC_DIRS		= -I $(INC_DIR) \
 			$(COMMON_INC_DIRS)
 
 
+TST_INC_BASE		= delay.h errors.h led.h
+TST_INC_TST		= \
+			can_test.h led_test.h tim_test.h \
+			display_test.h nunchuk_test.h servo_test.h
+TST_INC			= test.h
+TST_DEPS		= $(SRC_DIR)/test.c \
+			$(COMMON_DEPS) \
+			$(patsubst %,$(MODULES_BASE_INC_DIR)/%,$(TST_INC_BASE)) \
+			$(patsubst %,$(MODULES_TST_INC_DIR)/%,$(TST_INC_TST)) \
+			$(patsubst %,$(INC_DIR)/%,$(TST_INC))
+TST_INC_DIRS		= -I $(INC_DIR) \
+			-I $(MODULES_BASE_INC_DIR) \
+			-I $(MODULES_TST_INC_DIR) \
+			$(COMMON_INC_DIRS)
+
+
 # target: dependencies
 #	action
 
@@ -129,6 +145,10 @@ actuators.o: $(ACT_DEPS)
 	@echo	"	CC	$@"
 	$(Q)$(CC) $(CFLAGS) $(ACT_INC_DIRS) -c $< -o $@
 
+test.o: $(TST_DEPS)
+	@echo	"	CC	$@"
+	$(Q)$(CC) $(CFLAGS) $(TST_INC_DIRS) -c $< -o $@
+
 
 clean:
 	$(Q)rm -f *.o