Restructure includes; Remove callbacks

10 files changed, 131 insertions, 200 deletions

diff --git a/Makefile b/Makefile
index e3dde25..a13e209 100644
--- a/Makefile
+++ b/Makefile
@@ -132,7 +132,7 @@ export	SIZE
 # CFLAGS
 CFLAGS_STD	= -std=c11
 
-#CFLAGS_OPT	= -Os
+CFLAGS_OPT	= -Os
 
 CFLAGS_MCU	= -mlittle-endian
 CFLAGS_MCU     += -march=armv7e-m
diff --git a/inc/actuators.h b/inc/actuators.h
index 4baacc0..78379f4 100755
--- a/inc/actuators.h
+++ b/inc/actuators.h
@@ -34,7 +34,7 @@
  ******* macros ***************************************************************
  ******************************************************************************/
 	# define	ACT_REFRESH_PERIOD_US	(20000u)
-	# define	ACT_TASK_MODE_IT	(false)
+	# define	ACT_TASK_MODE_IT	(true)
 
 
 /******************************************************************************
diff --git a/inc/ctrl.h b/inc/ctrl.h
index acf1279..13f0d91 100755
--- a/inc/ctrl.h
+++ b/inc/ctrl.h
@@ -34,7 +34,7 @@
  ******* macros ***************************************************************
  ******************************************************************************/
 	# define	CTRL_REFRESH_PERIOD_US	(20000u)
-	# define	CTRL_TASK_MODE_IT	(false)
+	# define	CTRL_TASK_MODE_IT	(true)
 
 
 /******************************************************************************
diff --git a/src/actuators.c b/src/actuators.c
index 3f5dc93..92d8ea3 100755
--- a/src/actuators.c
+++ b/src/actuators.c
@@ -18,22 +18,21 @@
 /******************************************************************************
  ******* headers **************************************************************
  ******************************************************************************/
-/* Standard C ----------------------------------------------------------------*/
 	#include <stdbool.h>
 	#include <stddef.h>
 	#include <stdint.h>
-/* Drivers -------------------------------------------------------------------*/
+
 	#include "stm32l4xx_hal.h"
-/* libalx --------------------------------------------------------------------*/
+
 	#include "libalx/alx_math.h"
-/* STM32L4 modules -----------------------------------------------------------*/
-	#include "can.h"
-	#include "delay.h"
-	#include "errors.h"
-	#include "led.h"
-	#include "servo.h"
-	#include "tim.h"
-/* project -------------------------------------------------------------------*/
+
+	#include "stm32l4-modules/can.h"
+	#include "stm32l4-modules/delay.h"
+	#include "stm32l4-modules/errors.h"
+	#include "stm32l4-modules/led.h"
+	#include "stm32l4-modules/tim.h"
+	#include "stm32l4-modules/dev/servo.h"
+
 	#include "actuators.h"
 
 
@@ -69,8 +68,6 @@ static	float	yaw;
  ******************************************************************************/
 static	int	modules_init		(void);
 static	int	modules_deinit		(void);
-static	int	proc_init		(void);
-static	void	proc_deinit		(void);
 static	int	proc_actuators_it	(void);
 static	int	proc_actuators_delay	(void);
 static	int	proc_ref_read		(void *data);
@@ -97,16 +94,12 @@ int	proc_actuators_init	(void)
 	if (modules_init()) {
 		goto err_mod;
 	}
-	if (proc_init()) {
-		goto err_proc;
-	}
 
 	return	ERROR_OK;
 
 
-err_proc:
-	modules_deinit();
 err_mod:
+	init_pending	= true;
 
 	return	ERROR_NOK;
 }
@@ -128,7 +121,6 @@ int	proc_actuators_deinit	(void)
 		return	status;
 	}
 
-	proc_deinit();
 	if (modules_deinit()) {
 		status	= ERROR_NOK;
 	}
@@ -175,12 +167,6 @@ static	int	modules_init		(void)
 		goto err_delay;
 	}
 
-	if (ACT_TASK_MODE_IT) {
-		if (tim_tim3_init(ACT_REFRESH_PERIOD_US)) {
-			goto err_tim;
-		}
-	}
-
 	if (can_init()) {
 		goto err_can;
 	}
@@ -188,17 +174,23 @@ static	int	modules_init		(void)
 		goto err_servo;
 	}
 
+	if (ACT_TASK_MODE_IT) {
+		if (tim_tim3_init(ACT_REFRESH_PERIOD_US)) {
+			goto err_tim;
+		}
+	}
+
 	return	ERROR_OK;
 
 
+err_tim:
+	servo_deinit();
 err_servo:
 	can_deinit();
 err_can:
 	delay_us_deinit();
 err_delay:
 	led_deinit();
-	tim_tim3_deinit();
-err_tim:
 
 	return	ERROR_NOK;
 }
@@ -226,39 +218,6 @@ static	int	modules_deinit		(void)
 	return	status;
 }
 
-static	int	proc_init		(void)
-{
-
-	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;
-	}
-
-
-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)
 {
 
@@ -267,9 +226,12 @@ static	int	proc_actuators_it	(void)
 //		__WFI();
 
 		if (tim_tim3_interrupt) {
-			if (tim_callback_exe()) {
-				return	ERROR_NOK;
+			if (!proc_ref_read(NULL)) {
+				if (proc_actuators_set(NULL)) {
+					return	ERROR_NOK;
+				}
 			}
+
 			tim_tim3_interrupt	= false;
 		}
 	}
@@ -286,7 +248,6 @@ static	int	proc_actuators_delay	(void)
 				return	ERROR_NOK;
 			}
 		}
-//prj_error_handle();
 	}
 }
 
diff --git a/src/ctrl.c b/src/ctrl.c
index 8856b64..5bb1d99 100755
--- a/src/ctrl.c
+++ b/src/ctrl.c
@@ -22,22 +22,21 @@
 /******************************************************************************
  ******* headers **************************************************************
  ******************************************************************************/
-/* Standard C ----------------------------------------------------------------*/
 	#include <stdbool.h>
 	#include <stddef.h>
 	#include <stdint.h>
-/* Drivers -------------------------------------------------------------------*/
+
 	#include "stm32l4xx_hal.h"
-/* libalx --------------------------------------------------------------------*/
+
 	#include "libalx/alx_math.h"
-/* STM32L4 modules -----------------------------------------------------------*/
-	#include "can.h"
-	#include "delay.h"
-	#include "errors.h"
-	#include "led.h"
-	#include "nunchuk.h"
-	#include "tim.h"
-/* project -------------------------------------------------------------------*/
+
+	#include "stm32l4-modules/can.h"
+	#include "stm32l4-modules/delay.h"
+	#include "stm32l4-modules/errors.h"
+	#include "stm32l4-modules/led.h"
+	#include "stm32l4-modules/tim.h"
+	#include "stm32l4-modules/dev/nunchuk.h"
+
 	#include "ctrl.h"
 
 
@@ -74,8 +73,6 @@ static	bool	level;
  ******************************************************************************/
 static	int	modules_init		(void);
 static	int	modules_deinit		(void);
-static	int	proc_init		(void);
-static	void	proc_deinit		(void);
 static	int	proc_ctrl_it		(void);
 static	int	proc_ctrl_delay		(void);
 static	int	proc_ctrl_read		(void *data);
@@ -102,18 +99,14 @@ int	proc_ctrl_init		(void)
 	if (modules_init()) {
 		goto err_mod;
 	}
-	if (proc_init()) {
-		goto err_proc;
-	}
 
 	level	= true;
 
 	return	ERROR_OK;
 
 
-err_proc:
-	modules_deinit();
 err_mod:
+	init_pending	= true;
 
 	return	ERROR_NOK;
 }
@@ -135,7 +128,6 @@ int	proc_ctrl_deinit	(void)
 		return	status;
 	}
 
-	proc_deinit();
 	if (modules_deinit()) {
 		status	= ERROR_NOK;
 	}
@@ -182,12 +174,6 @@ static	int	modules_init		(void)
 		goto err_delay;
 	}
 
-	if (CTRL_TASK_MODE_IT) {
-		if (tim_tim3_init(CTRL_REFRESH_PERIOD_US)) {
-			goto err_tim;
-		}
-	}
-
 	if (can_init()) {
 		goto err_can;
 	}
@@ -195,17 +181,23 @@ static	int	modules_init		(void)
 		goto err_nunchuk;
 	}
 
+	if (CTRL_TASK_MODE_IT) {
+		if (tim_tim3_init(CTRL_REFRESH_PERIOD_US)) {
+			goto err_tim;
+		}
+	}
+
 	return	ERROR_OK;
 
 
+err_tim:
+	nunchuk_deinit();
 err_nunchuk:
 	can_deinit();
 err_can:
 	delay_us_deinit();
 err_delay:
 	led_deinit();
-	tim_tim3_deinit();
-err_tim:
 
 	return	ERROR_NOK;
 }
@@ -234,39 +226,6 @@ static	int	modules_deinit		(void)
 	return	status;
 }
 
-static	int	proc_init		(void)
-{
-
-	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;
-	}
-
-
-err_push:
-	proc_deinit();
-
-	return	ERROR_NOK;
-}
-
-static	void	proc_deinit		(void)
-{
-
-	if (CTRL_TASK_MODE_IT) {
-		while (tim_callback_pop()) {
-			;
-		}
-	}
-}
-
 static	int	proc_ctrl_it		(void)
 {
 
@@ -275,9 +234,13 @@ static	int	proc_ctrl_it		(void)
 //		__WFI();
 
 		if (tim_tim3_interrupt) {
-			if (tim_callback_exe()) {
+			if (proc_ctrl_read(NULL)) {
 				return	ERROR_NOK;
 			}
+			if (proc_ctrl_report(NULL)) {
+				return	ERROR_NOK;
+			}
+
 			tim_tim3_interrupt	= false;
 		}
 	}
diff --git a/src/main.c b/src/main.c
index 0c3392d..1f36a60 100755
--- a/src/main.c
+++ b/src/main.c
@@ -19,32 +19,29 @@
 /******************************************************************************
  ******* headers **************************************************************
  ******************************************************************************/
-/* Standard C ----------------------------------------------------------------*/
 	#include <stdbool.h>
 	#include <stdnoreturn.h>
-/* Drivers -------------------------------------------------------------------*/
+
 	#include "stm32l4xx_hal.h"
-/* libalx --------------------------------------------------------------------*/
-/* STM32L4 modules -----------------------------------------------------------*/
-	#include "can.h"
-	#include "clk.h"
-	#include "delay.h"
-	#include "display.h"
-	#include "errors.h"
-	#include "led.h"
-	#include "nunchuk.h"
-	#include "servo.h"
-	#include "tim.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 "ctrl.h"
+
+	#include "stm32l4-modules/can.h"
+	#include "stm32l4-modules/clk.h"
+	#include "stm32l4-modules/delay.h"
+	#include "stm32l4-modules/errors.h"
+	#include "stm32l4-modules/led.h"
+	#include "stm32l4-modules/tim.h"
+	#include "stm32l4-modules/dev/display.h"
+	#include "stm32l4-modules/dev/nunchuk.h"
+	#include "stm32l4-modules/dev/servo.h"
+	#include "stm32l4-modules/test/can_test.h"
+	#include "stm32l4-modules/test/display_test.h"
+	#include "stm32l4-modules/test/led_test.h"
+	#include "stm32l4-modules/test/nunchuk_test.h"
+	#include "stm32l4-modules/test/servo_test.h"
+	#include "stm32l4-modules/test/tim_test.h"
+
 	#include "actuators.h"
+	#include "ctrl.h"
 	#include "test.h"
 
 
@@ -53,7 +50,7 @@
  ******************************************************************************/
 	# define	DEBUG_MODE	(false)
 
-	# define	PROJECT_CTRL	(true)
+	# define	PROJECT_CTRL	(false)
 	# define	PROJECT_ACT	(!PROJECT_CTRL)
 
 
diff --git a/src/stm32l4xx_it.c b/src/stm32l4xx_it.c
index 6aade74..ade6457 100755
--- a/src/stm32l4xx_it.c
+++ b/src/stm32l4xx_it.c
@@ -39,6 +39,7 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include <stdbool.h>
+
 #include "stm32l4xx_hal.h"
 
 /******************************************************************************/
diff --git a/src/test.c b/src/test.c
index 94fe40d..661fea0 100755
--- a/src/test.c
+++ b/src/test.c
@@ -17,28 +17,22 @@
 /******************************************************************************
  ******* 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 "stm32l4-modules/delay.h"
+	#include "stm32l4-modules/errors.h"
+	#include "stm32l4-modules/led.h"
+	#include "stm32l4-modules/test/can_test.h"
+	#include "stm32l4-modules/test/display_test.h"
+	#include "stm32l4-modules/test/led_test.h"
+	#include "stm32l4-modules/test/nunchuk_test.h"
+	#include "stm32l4-modules/test/servo_test.h"
+	#include "stm32l4-modules/test/tim_test.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"
 
 
diff --git a/stm32l4-modules b/stm32l4-modules
-Subproject 83946ef2ec31ffdf8d9f07ae71028fa21e247d3
+Subproject 48d19e45b2220a40fa48c692c8d31dac5231374
diff --git a/tmp/Makefile b/tmp/Makefile
index cc17390..e132ec8 100755
--- a/tmp/Makefile
+++ b/tmp/Makefile
@@ -10,10 +10,7 @@ LIBALX_INC_DIR		= $(LIBALX_DIR)/inc/
 STM32_CMSIS_INC_DIR	= $(STM32_CMSIS_DIR)/Include/
 STM32L4_CMSIS_INC_DIR	= $(STM32L4_CMSIS_DIR)/Include/
 STM32L4_HAL_INC_DIR	= $(STM32L4_HAL_DIR)/Inc/
-
-MODULES_BASE_INC_DIR	= $(MODULES_DIR)/inc/
-MODULES_DEV_INC_DIR	= $(MODULES_DIR)/inc/dev/
-MODULES_TST_INC_DIR	= $(MODULES_DIR)/inc/test/
+MODULES_INC_DIR		= $(MODULES_DIR)/inc/
 
 SRC_DIR = $(MAIN_DIR)/src/
 INC_DIR = $(MAIN_DIR)/inc/
@@ -50,72 +47,90 @@ IT_INC_DIRS		= \
 			$(COMMON_INC_DIRS)
 
 
-MAIN_INC_BASE		= can.h clk.h delay.h errors.h led.h tim.h
-MAIN_INC_DEV		= display.h nunchuk.h servo.h
-MAIN_INC_TST		= \
-			can_test.h led_test.h tim_test.h \
-			display_test.h nunchuk_test.h servo_test.h
+MAIN_INC_MOD		= \
+				stm32l4-modules/can.h \
+				stm32l4-modules/clk.h \
+				stm32l4-modules/delay.h \
+				stm32l4-modules/errors.h \
+				stm32l4-modules/led.h \
+				stm32l4-modules/tim.h \
+				stm32l4-modules/dev/display.h \
+				stm32l4-modules/dev/nunchuk.h \
+				stm32l4-modules/dev/servo.h \
+				stm32l4-modules/test/can_test.h \
+				stm32l4-modules/test/led_test.h \
+				stm32l4-modules/test/tim_test.h \
+				stm32l4-modules/test/display_test.h \
+				stm32l4-modules/test/nunchuk_test.h \
+				stm32l4-modules/test/servo_test.h
 MAIN_INC		= ctrl.h actuators.h
 MAIN_DEPS		= $(SRC_DIR)/main.c \
 			$(COMMON_DEPS) \
-			$(patsubst %,$(MODULES_BASE_INC_DIR)/%,$(MAIN_INC_BASE)) \
-			$(patsubst %,$(MODULES_DEV_INC_DIR)/%,$(MAIN_INC_DEV)) \
-			$(patsubst %,$(MODULES_TST_INC_DIR)/%,$(MAIN_INC_TST)) \
+			$(patsubst %,$(MODULES_INC_DIR)/%,$(MAIN_INC_MOD)) \
 			$(patsubst %,$(INC_DIR)/%,$(MAIN_INC))
 MAIN_INC_DIRS		= -I $(INC_DIR) \
-			-I $(MODULES_BASE_INC_DIR) \
-			-I $(MODULES_DEV_INC_DIR) \
-			-I $(MODULES_TST_INC_DIR) \
+			-I $(MODULES_INC_DIR) \
 			$(COMMON_INC_DIRS)
 
 
 CTRL_INC_LIBALX		= libalx/alx_math.h
-CTRL_INC_BASE		= can.h delay.h errors.h led.h tim.h
-CTRL_INC_DEV		= nunchuk.h
+CTRL_INC_MOD		= \
+				stm32l4-modules/can.h \
+				stm32l4-modules/delay.h \
+				stm32l4-modules/errors.h \
+				stm32l4-modules/led.h \
+				stm32l4-modules/tim.h \
+				stm32l4-modules/dev/nunchuk.h
+CTRL_INC_MOD		=
 CTRL_INC		= ctrl.h
 CTRL_DEPS		= $(SRC_DIR)/ctrl.c \
 			$(COMMON_DEPS) \
 			$(patsubst %,$(LIBALX_INC_DIR)/%,$(CTRL_INC_LIBALX)) \
-			$(patsubst %,$(MODULES_BASE_INC_DIR)/%,$(CTRL_INC_BASE)) \
-			$(patsubst %,$(MODULES_DEV_INC_DIR)/%,$(CTRL_INC_DEV)) \
+			$(patsubst %,$(MODULES_INC_DIR)/%,$(CTRL_INC_MOD)) \
 			$(patsubst %,$(INC_DIR)/%,$(CTRL_INC))
 CTRL_INC_DIRS		= -I $(INC_DIR) \
 			-I $(LIBALX_INC_DIR) \
-			-I $(MODULES_BASE_INC_DIR) \
-			-I $(MODULES_DEV_INC_DIR) \
+			-I $(MODULES_INC_DIR) \
 			$(COMMON_INC_DIRS)
 
 
 ACT_INC_LIBALX		= libalx/alx_math.h
-ACT_INC_BASE		= can.h delay.h errors.h led.h tim.h
-ACT_INC_DEV		= servo.h
+ACT_INC_MOD		= \
+				stm32l4-modules/can.h \
+				stm32l4-modules/delay.h \
+				stm32l4-modules/errors.h \
+				stm32l4-modules/led.h \
+				stm32l4-modules/tim.h \
+				stm32l4-modules/dev/servo.h
 ACT_INC			= actuators.h
 ACT_DEPS		= $(SRC_DIR)/actuators.c \
 			$(COMMON_DEPS) \
 			$(patsubst %,$(LIBALX_INC_DIR)/%,$(ACT_INC_LIBALX)) \
-			$(patsubst %,$(MODULES_BASE_INC_DIR)/%,$(ACT_INC_BASE)) \
-			$(patsubst %,$(MODULES_DEV_INC_DIR)/%,$(ACT_INC_DEV)) \
+			$(patsubst %,$(MODULES_INC_DIR)/%,$(ACT_INC_MOD)) \
 			$(patsubst %,$(INC_DIR)/%,$(ACT_INC))
 ACT_INC_DIRS		= -I $(INC_DIR) \
 			-I $(LIBALX_INC_DIR) \
-			-I $(MODULES_BASE_INC_DIR) \
-			-I $(MODULES_DEV_INC_DIR) \
+			-I $(MODULES_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_MOD		= \
+				stm32l4-modules/delay.h \
+				stm32l4-modules/errors.h \
+				stm32l4-modules/led.h \
+				stm32l4-modules/test/can_test.h \
+				stm32l4-modules/test/led_test.h \
+				stm32l4-modules/test/tim_test.h \
+				stm32l4-modules/test/display_test.h \
+				stm32l4-modules/test/nunchuk_test.h \
+				stm32l4-modules/test/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)) \
+			$(patsubst %,$(MODULES_INC_DIR)/%,$(TST_INC_MOD)) \
 			$(patsubst %,$(INC_DIR)/%,$(TST_INC))
 TST_INC_DIRS		= -I $(INC_DIR) \
-			-I $(MODULES_BASE_INC_DIR) \
-			-I $(MODULES_TST_INC_DIR) \
+			-I $(MODULES_INC_DIR) \
 			$(COMMON_INC_DIRS)