Mcucpp

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#include <usart.h>
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#include <tiny_ostream.h>
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#include <iopins.h>
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#include <pinlist.h>
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#include <drivers/servo.h>
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#include <delay.h>
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#include <compiler.h>
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#include <timers.h>
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using namespace Mcucpp;
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typedef Usart1 Usart;
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class UsartOut
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{
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	public:
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	void put(char c)
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	{
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		Usart::Write(c);
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	}
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};
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typedef basic_ostream<UsartOut> ostream;
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ostream cout; 
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typedef IO::Pc8 Led;
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typedef Timers::Timer7 ServoTimer;
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typedef IO::PinList<IO::Pb8, IO::Pb9, IO::Pb7> ServoPins;
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Servo<ServoPins, ServoTimer> servo;
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const int ServoTable[] = {
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	128, 134, 140, 146, 153, 159, 165, 171, 
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	177, 183, 188, 194, 199, 204, 209, 214, 
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	219, 223, 227, 231, 234, 238, 241, 243, 
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	246, 248, 250, 251, 253, 254, 254, 254, 
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	254, 254, 253, 252, 251, 250, 248, 245, 
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	243, 240, 237, 234, 230, 226, 222, 218, 
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	213, 208, 204, 198, 193, 187, 182, 176, 
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	170, 164, 158, 152, 145, 139, 133, 126, 
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	120, 114, 107, 101, 95, 89, 83, 77, 
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	71, 66, 60, 55, 50, 45, 40, 36, 
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	31, 27, 24, 20, 17, 14, 11, 9, 
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	7, 5, 3, 2, 1, 1, 1, 1, 
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	1, 2, 3, 4, 6, 8, 10, 12, 
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	15, 18, 22, 25, 29, 34, 38, 43, 
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	47, 52, 58, 63, 68, 74, 80, 86, 
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	92, 98, 104, 111, 117, 123
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};
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static const int Elements = sizeof(ServoTable) / sizeof(ServoTable[0]);
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typedef IO::Pa0 Btn;
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int main()
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{
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	Clock::SysClock::SetClockFreq(24000000);
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	IO::Porta::Enable();
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	IO::Portb::Enable();
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	IO::Portc::Enable();
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	IO::Portd::Enable();
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	Led::SetConfiguration(IO::NativePortBase::Out);
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	IO::Pc9::SetConfiguration(IO::NativePortBase::Out);
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	Btn::SetConfiguration(IO::NativePortBase::In);
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	Btn::SetPullUp(IO::NativePortBase::PullUp);
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	Led::Set();
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	Usart::Init(115200);
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	Usart::SelectTxRxPins(0, 0);
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	cout << "Hello, world!\r\n";
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	cout << "Clock = " << Clock::SysClock::ClockFreq() << "\r\n";
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	IO::Pc9::Set();
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	servo.UpdateTimings();
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	cout << "servo._pulseDivider = " << servo._pulseDivider << "\r\n";
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	cout << "servo._pulseMaxReload = " << servo._pulseMaxTicks << "\r\n";
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	cout << "servo._pulseMinReload = " << servo._pulseMinTicks << "\r\n";
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	cout << "servo._pauseDivider = " << servo._pauseDivider << "\r\n";
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	cout << "servo._pauseReload = " << servo._pauseTicks << "\r\n";
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	servo.TimerHandler();
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	ServoTimer::EnableInterrupt(ServoTimer::OverflowInt);
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	int pos = 0, prev = 0;
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	while(1)
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	{
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		if(Btn::IsSet())
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		{
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			servo.SetPosition(2, 0);
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		}
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		else
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		{
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			servo.SetPosition(2, 255);
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		}
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		delay_ms<20, 24000000>();
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		IO::Pc9::Toggle();
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		servo.SetPosition(0, (ServoTable[pos] + ServoTable[prev]) / 2);
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		delay_ms<20, 24000000>();
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		servo.SetPosition(0, ServoTable[pos]);
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		servo.SetPosition(1, 0);
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		prev = pos;
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		pos++;
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		if(pos >= Elements)
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			pos = 0;
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	}
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	return 0;
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}
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extern "C" MCUCPP_INTERRUPT(TIM7_IRQHandler)
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{
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	ServoTimer::ClearInterruptFlag();
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	servo.TimerHandler();
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	ServoTimer::EnableInterrupt(ServoTimer::OverflowInt);
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}
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