Improve configuration for compilation

4 files changed, 100 insertions, 36 deletions

diff --git a/Makefile b/Makefile
index f98ba88..41a78db 100644
--- a/Makefile
+++ b/Makefile
@@ -1,9 +1,9 @@
 #!/usr/bin/make -f
 
 VERSION		= 1
-PATCHLEVEL	= 3
+PATCHLEVEL	= 4
 SUBLEVEL	= 0
-EXTRAVERSION	=
+EXTRAVERSION	= ~a1
 NAME		= little-bird
 
 export	VERSION
diff --git a/src/actuators.c b/src/actuators.c
index 680308c..463c5bd 100755
--- a/src/actuators.c
+++ b/src/actuators.c
@@ -40,11 +40,17 @@
 /******************************************************************************
  ******* macros ***************************************************************
  ******************************************************************************/
+#define PROJECT_ACT_TASKING	(PROJECT_ACT_IT)
 
 
 /******************************************************************************
  ******* enums ****************************************************************
  ******************************************************************************/
+	enum	Project_Act_Tasking {
+		PROJECT_ACT_DEL,
+		PROJECT_ACT_IT,
+		PROJECT_ACT_EV
+	};
 
 
 /******************************************************************************
@@ -143,14 +149,18 @@ int	proc_actuators	(void)
 		}
 	}
 
-	if (ACT_TASK_MODE_IT) {
+	switch (PROJECT_ACT_TASKING) {
+	case PROJECT_ACT_DEL:
 		if (proc_actuators_it()) {
 			return	ERROR_NOK;
 		}
-	} else {
+		break;
+	case PROJECT_ACT_IT:
+	case PROJECT_ACT_EV:
 		if (proc_actuators_delay()) {
 			return	ERROR_NOK;
 		}
+		break;
 	}
 
 	return	ERROR_OK;
@@ -176,8 +186,8 @@ static	int	modules_init		(void)
 		goto err_servo;
 	}
 
-	if (ACT_TASK_MODE_IT) {
-		if (tim_timx_init(ACT_REFRESH_PERIOD_US)) {
+	if (PROJECT_ACT_TASKING != PROJECT_ACT_DEL) {
+		if (tim_it_init(ACT_REFRESH_PERIOD_US)) {
 			goto err_tim;
 		}
 	}
@@ -210,7 +220,7 @@ static	int	modules_deinit		(void)
 	if (can_deinit()) {
 		status	= ERROR_NOK;
 	}
-	if (tim_timx_deinit()) {
+	if (tim_it_deinit()) {
 		status	= ERROR_NOK;
 	}
 	if (delay_us_deinit()) {
@@ -226,17 +236,23 @@ static	int	proc_actuators_it	(void)
 {
 
 	while (true) {
-//		__WFE();
-		__WFI();
+		switch (PROJECT_ACT_TASKING) {
+		case PROJECT_ACT_IT:
+			__WFI();
+			break;
+		case PROJECT_ACT_EV:
+			__WFE();
+			break;
+		}
 
-		if (tim_timx_interrupt) {
+		if (*tim_it_timx_interrupt_ptr) {
 			if (!proc_ref_read()) {
 				if (proc_actuators_set()) {
 					return	ERROR_NOK;
 				}
 			}
 
-			tim_timx_interrupt	= false;
+			*tim_it_timx_interrupt_ptr	= false;
 		} else if (button_interrupt) {
 			led_toggle();
 
diff --git a/src/ctrl.c b/src/ctrl.c
index 6f648a1..7f2f668 100755
--- a/src/ctrl.c
+++ b/src/ctrl.c
@@ -43,11 +43,17 @@
 /******************************************************************************
  ******* macros ***************************************************************
  ******************************************************************************/
+#define PROJECT_CTRL_TASKING	(PROJECT_CTRL_IT)
 
 
 /******************************************************************************
  ******* enums ****************************************************************
  ******************************************************************************/
+	enum	Project_Ctrl_Tasking {
+		PROJECT_CTRL_DEL,
+		PROJECT_CTRL_IT,
+		PROJECT_CTRL_EV
+	};
 
 
 /******************************************************************************
@@ -149,14 +155,18 @@ int	proc_ctrl		(void)
 		}
 	}
 
-	if (CTRL_TASK_MODE_IT) {
+	switch (PROJECT_CTRL_TASKING) {
+	case PROJECT_CTRL_DEL:
 		if (proc_ctrl_it()) {
 			return	ERROR_NOK;
 		}
-	} else {
+		break;
+	case PROJECT_CTRL_IT:
+	case PROJECT_CTRL_EV:
 		if (proc_ctrl_delay()) {
 			return	ERROR_NOK;
 		}
+		break;
 	}
 
 	return	ERROR_OK;
@@ -181,8 +191,8 @@ static	int	modules_init		(void)
 		goto err_nunchuk;
 	}
 
-	if (CTRL_TASK_MODE_IT) {
-		if (tim_timx_init(CTRL_REFRESH_PERIOD_US)) {
+	if (PROJECT_CTRL_TASKING != PROJECT_CTRL_DEL) {
+		if (tim_it_init(CTRL_REFRESH_PERIOD_US)) {
 			goto err_tim;
 		}
 	}
@@ -214,7 +224,7 @@ static	int	modules_deinit		(void)
 	if (can_deinit()) {
 		status	= ERROR_NOK;
 	}
-	if (tim_timx_deinit()) {
+	if (tim_it_deinit()) {
 		status	= ERROR_NOK;
 	}
 	if (delay_us_deinit()) {
@@ -230,10 +240,16 @@ static	int	proc_ctrl_it		(void)
 {
 
 	while (true) {
-		__WFE();
-//		__WFI();
+		switch (PROJECT_CTRL_TASKING) {
+		case PROJECT_CTRL_IT:
+			__WFI();
+			break;
+		case PROJECT_CTRL_EV:
+			__WFE();
+			break;
+		}
 
-		if (tim_timx_interrupt) {
+		if (*tim_it_timx_interrupt_ptr) {
 			if (proc_ctrl_read()) {
 				return	ERROR_NOK;
 			}
@@ -241,7 +257,7 @@ static	int	proc_ctrl_it		(void)
 				return	ERROR_NOK;
 			}
 
-			tim_timx_interrupt	= false;
+			*tim_it_timx_interrupt_ptr	= false;
 		}
 	}
 }
diff --git a/src/main.c b/src/main.c
index 1f36a60..ba21ce0 100755
--- a/src/main.c
+++ b/src/main.c
@@ -48,15 +48,27 @@
 /******************************************************************************
  ******* macros ***************************************************************
  ******************************************************************************/
-	# define	DEBUG_MODE	(false)
+#define DEBUG_MODE		(false)
 
-	# define	PROJECT_CTRL	(false)
-	# define	PROJECT_ACT	(!PROJECT_CTRL)
+#define PROJECT_SYSCLK_SOURCE	(PROJECT_SYSCLK_FROM_PLL_MSI)
+
+#define PROJECT_COMPONENT	(PROJECT_COMPONENT_CTRL)
 
 
 /******************************************************************************
  ******* enums ****************************************************************
  ******************************************************************************/
+	enum	Project_SysClk_Source {
+		PROJECT_SYSCLK_FROM_HSI,
+		PROJECT_SYSCLK_FROM_MSI,
+		PROJECT_SYSCLK_FROM_PLL_HSI,
+		PROJECT_SYSCLK_FROM_PLL_MSI
+	};
+
+	enum	Project_Component {
+		PROJECT_COMPONENT_CTRL,
+		PROJECT_COMPONENT_ACT
+	};
 
 
 /******************************************************************************
@@ -85,7 +97,22 @@ static	noreturn void	stuck_forever	(bool led);
 noreturn int	main	(void)
 {
 	HAL_Init();
-	sysclk_config();
+
+	switch (PROJECT_SYSCLK_SOURCE) {
+	case PROJECT_SYSCLK_FROM_HSI:
+		sysclk_config_hsi();
+		break;
+	case PROJECT_SYSCLK_FROM_MSI:
+		sysclk_config_msi();
+		break;
+	case PROJECT_SYSCLK_FROM_PLL_HSI:
+		sysclk_config_pll_hsi();
+		break;
+	case PROJECT_SYSCLK_FROM_PLL_MSI:
+		sysclk_config_pll_msi();
+		break;
+	}
+
 	prj_error	= 0;
 
 	if (DEBUG_MODE) {
@@ -104,8 +131,8 @@ noreturn int	main	(void)
 
 
 err:
-/*	prj_error_handle();*/
-	stuck_forever(true);
+	prj_error_handle();
+	stuck_forever(false);
 }
 
 
@@ -115,14 +142,17 @@ err:
 static	int		proc_init	(void)
 {
 
-	if (PROJECT_ACT) {
-		if (proc_actuators_init()) {
+	switch (PROJECT_COMPONENT) {
+	case PROJECT_COMPONENT_CTRL:
+		if (proc_ctrl_init()) {
 			return	ERROR_NOK;
 		}
-	} else if (PROJECT_CTRL) {
-		if (proc_ctrl_init()) {
+		break;
+	case PROJECT_COMPONENT_ACT:
+		if (proc_actuators_init()) {
 			return	ERROR_NOK;
 		}
+		break;
 	}
 
 	return	ERROR_OK;
@@ -131,14 +161,17 @@ static	int		proc_init	(void)
 static	int		proc		(void)
 {
 
-	if (PROJECT_ACT) {
-		if (proc_actuators()) {
+	switch (PROJECT_COMPONENT) {
+	case PROJECT_COMPONENT_CTRL:
+		if (proc_ctrl()) {
 			return	ERROR_NOK;
 		}
-	} else if (PROJECT_CTRL) {
-		if (proc_ctrl()) {
+		break;
+	case PROJECT_COMPONENT_ACT:
+		if (proc_actuators()) {
 			return	ERROR_NOK;
 		}
+		break;
 	}
 
 	return	ERROR_OK;
@@ -154,8 +187,7 @@ static	noreturn void	stuck_forever	(bool led)
 	}
 
 	while (true) {
-//		__WFI();
-		__NOP();
+		__WFI();
 	}
 }