quad increment and decrement working

2025-10-31 11:26:46 -07:00 · 2022-02-17 21:47:25 +00:00
parent 66f02a9128
commit 65416cc9e0
66 changed files with 930 additions and 1068 deletions
--- a/firmware/quad_test/.mxproject
+++ b/firmware/quad_test/.mxproject
@@ -8,6 +8,6 @@ SourceFiles=stm32f0xx_it.c;stm32f0xx_hal_msp.c;main.c;
 LibFiles=Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_def.h;Drivers/STM32F0xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_cortex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash_ex.h;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_spi.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_spi_ex.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim_ex.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_uart.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_uart_ex.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc_ex.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c_ex.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_gpio.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_dma.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_cortex.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr_ex.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash_ex.c;Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f042x6.h;Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f0xx.h;Drivers/CMSIS/Device/ST/STM32F0xx/Include/system_stm32f0xx.h;Drivers/CMSIS/Device/ST/STM32F0xx/Source/Templates/system_stm32f0xx.c;Drivers/CMSIS/Include/arm_common_tables.h;Drivers/CMSIS/Include/arm_const_structs.h;Drivers/CMSIS/Include/arm_math.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armcc_V6.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cmFunc.h;Drivers/CMSIS/Include/core_cmInstr.h;Drivers/CMSIS/Include/core_cmSimd.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;

 [PreviousUsedKeilFiles]
-SourceFiles=..\Src\main.c;..\Src\stm32f0xx_it.c;..\Src\stm32f0xx_hal_msp.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_spi.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_spi_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_uart.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_uart_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_gpio.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_dma.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_cortex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash_ex.c;../\Src/system_stm32f0xx.c;../Drivers/CMSIS/Device/ST/STM32F0xx/Source/Templates/system_stm32f0xx.c;null;
+SourceFiles=..\Src\main.c;..\Src\stm32f0xx_it.c;..\Src\stm32f0xx_hal_msp.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_spi.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_spi_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_uart.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_uart_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_gpio.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_dma.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_cortex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash_ex.c;../\Src/system_stm32f0xx.c;../Drivers/CMSIS/Device/ST/STM32F0xx/Source/Templates/system_stm32f0xx.c;C:/Users/allen/Desktop/repos/usb2ps2/firmware/quad_test//MDK-ARM/startup_stm32f042x6.s;
 HeaderPath=..\Drivers\STM32F0xx_HAL_Driver\Inc;..\Drivers\STM32F0xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F0xx\Include;..\Drivers\CMSIS\Include;..\Inc;

--- a/firmware/quad_test/Inc/quad_encoder.h
+++ b/firmware/quad_test/Inc/quad_encoder.h
@@ -7,8 +7,18 @@

 #include "stm32f0xx_hal.h"

+typedef struct
+{
+  GPIO_TypeDef* A_port;
+  uint16_t A_pin;
+  GPIO_TypeDef* B_port;
+  uint16_t B_pin;
+  uint8_t current_index;
+} quad_output;

-
+void quad_init(quad_output *qo, GPIO_TypeDef* this_A_port, uint16_t this_A_pin, GPIO_TypeDef* this_B_port, uint16_t this_B_pin);
+void quad_increment(quad_output *qo);
+void quad_decrement(quad_output *qo);
 #ifdef __cplusplus
 }
 #endif
--- a/firmware/quad_test/MDK-ARM/my_adb.uvguix.allen
+++ b/firmware/quad_test/MDK-ARM/my_adb.uvguix.allen
@@ -93,8 +93,8 @@
      <flags>2</flags>
      <showCmd>3</showCmd>
      <MinPosition>
-        <xPos>-1</xPos>
-        <yPos>-1</yPos>
+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
      </MinPosition>
      <MaxPosition>
        <xPos>-1</xPos>
@@ -1838,7 +1838,7 @@
        <Name>Debug</Name>
        <Buttons>
          <Len>2373</Len>
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+          <Data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ata>
        </Buttons>
        <OriginalItems>
          <Len>898</Len>
@@ -3606,9 +3606,9 @@
      <ActiveTab>0</ActiveTab>
      <Doc>
        <Name>../Src/main.c</Name>
-        <ColumnNumber>8</ColumnNumber>
+        <ColumnNumber>25</ColumnNumber>
        <TopLine>270</TopLine>
-        <CurrentLine>292</CurrentLine>
+        <CurrentLine>287</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
--- a/firmware/quad_test/MDK-ARM/my_adb.uvoptx
+++ b/firmware/quad_test/MDK-ARM/my_adb.uvoptx
@@ -278,42 +278,6 @@
    <File>
      <GroupNumber>2</GroupNumber>
      <FileNumber>6</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>../Src/main.c</PathWithFileName>
-      <FilenameWithoutPath>main.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>7</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>../Src/stm32f0xx_it.c</PathWithFileName>
-      <FilenameWithoutPath>stm32f0xx_it.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>8</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>../Src/stm32f0xx_hal_msp.c</PathWithFileName>
-      <FilenameWithoutPath>stm32f0xx_hal_msp.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>9</FileNumber>
      <FileType>5</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -325,7 +289,7 @@
    </File>
    <File>
      <GroupNumber>2</GroupNumber>
-      <FileNumber>10</FileNumber>
+      <FileNumber>7</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -335,6 +299,42 @@
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>8</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Src/main.c</PathWithFileName>
+      <FilenameWithoutPath>main.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>9</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Src/stm32f0xx_it.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f0xx_it.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>10</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Src/stm32f0xx_hal_msp.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f0xx_hal_msp.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
  </Group>

  <Group>
--- a/firmware/quad_test/MDK-ARM/my_adb.uvprojx
+++ b/firmware/quad_test/MDK-ARM/my_adb.uvprojx
@@ -338,7 +338,7 @@
              <MiscControls></MiscControls>
              <Define>USE_HAL_DRIVER,STM32F042x6</Define>
              <Undefine></Undefine>
-              <IncludePath>../Inc;   ../Drivers/STM32F0xx_HAL_Driver/Inc;   ../Drivers/STM32F0xx_HAL_Driver/Inc/Legacy;   ../Drivers/CMSIS/Device/ST/STM32F0xx/Include;   ../Drivers/CMSIS/Include</IncludePath>
+              <IncludePath>../Inc;    ../Drivers/STM32F0xx_HAL_Driver/Inc;    ../Drivers/STM32F0xx_HAL_Driver/Inc/Legacy;    ../Drivers/CMSIS/Device/ST/STM32F0xx/Include;    ../Drivers/CMSIS/Include</IncludePath>
            </VariousControls>
          </Cads>
          <Aads>
@@ -412,6 +412,16 @@
              <FileType>5</FileType>
              <FilePath>..\Inc\helpers.h</FilePath>
            </File>
+            <File>
+              <FileName>quad_encoder.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\Inc\quad_encoder.h</FilePath>
+            </File>
+            <File>
+              <FileName>quad_encoder.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Src\quad_encoder.c</FilePath>
+            </File>
            <File>
              <FileName>main.c</FileName>
              <FileType>1</FileType>
@@ -427,16 +437,6 @@
              <FileType>1</FileType>
              <FilePath>../Src/stm32f0xx_hal_msp.c</FilePath>
            </File>
-            <File>
-              <FileName>quad_encoder.h</FileName>
-              <FileType>5</FileType>
-              <FilePath>..\Inc\quad_encoder.h</FilePath>
-            </File>
-            <File>
-              <FileName>quad_encoder.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Src\quad_encoder.c</FilePath>
-            </File>
          </Files>
        </Group>
        <Group>
--- a/firmware/quad_test/MDK-ARM/my_adb/delay_us.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/delay_us.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/delay_us.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/delay_us.o
--- a/firmware/quad_test/MDK-ARM/my_adb/helpers.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/helpers.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/helpers.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/helpers.o
--- a/firmware/quad_test/MDK-ARM/my_adb/main.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/main.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/main.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/main.o
--- a/firmware/quad_test/MDK-ARM/my_adb/my_adb.axf
+++ b/firmware/quad_test/MDK-ARM/my_adb/my_adb.axf
--- a/firmware/quad_test/MDK-ARM/my_adb/my_adb.build_log.htm
+++ b/firmware/quad_test/MDK-ARM/my_adb/my_adb.build_log.htm
@@ -27,11 +27,14 @@ Project File Date:  02/17/2022
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 6 (build 750)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
 Build target 'my_adb'
-compiling main.c...
+compiling quad_encoder.c...
+..\Src\quad_encoder.c(61): warning:  #1-D: last line of file ends without a newline
+  }
+..\Src\quad_encoder.c: 1 warning, 0 errors
 linking...
-Program Size: Code=7936 RO-data=304 RW-data=36 ZI-data=1916  
+Program Size: Code=8156 RO-data=308 RW-data=36 ZI-data=1932  
 FromELF: creating hex file...
-"my_adb\my_adb.axf" - 0 Error(s), 0 Warning(s).
+"my_adb\my_adb.axf" - 0 Error(s), 1 Warning(s).

 <h2>Software Packages used:</h2>

@@ -54,7 +57,7 @@ Package Vendor: Keil
 <h2>Collection of Component Files used:</h2>

   * Component: ARM::CMSIS:CORE:5.3.0
-Build Time Elapsed:  00:00:02
+Build Time Elapsed:  00:00:01
 </pre>
 </body>
 </html>
--- a/firmware/quad_test/MDK-ARM/my_adb/my_adb.hex
+++ b/firmware/quad_test/MDK-ARM/my_adb/my_adb.hex
@@ -1,23 +1,23 @@
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--- a/firmware/quad_test/MDK-ARM/my_adb/my_adb.htm
+++ b/firmware/quad_test/MDK-ARM/my_adb/my_adb.htm
@@ -3,7 +3,7 @@
 <title>Static Call Graph - [my_adb\my_adb.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image my_adb\my_adb.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060750: Last Updated: Thu Feb 17 21:06:00 2022
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060750: Last Updated: Thu Feb 17 21:46:46 2022
 <BR><P>
 <H3>Maximum Stack Usage =        180 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@@ -68,7 +68,7 @@ Global Symbols
 <P><STRONG><a name="[23]"></a>__main</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f042x6.o(.text)
 </UL>
-<P><STRONG><a name="[7c]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))
+<P><STRONG><a name="[80]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))

 <P><STRONG><a name="[2a]"></a>_main_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
 <BR><BR>[Calls]<UL><LI><a href="#[2b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
@@ -78,15 +78,15 @@ Global Symbols
 <BR><BR>[Called By]<UL><LI><a href="#[2b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
 </UL>

-<P><STRONG><a name="[7d]"></a>_main_clock</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))
+<P><STRONG><a name="[81]"></a>_main_clock</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))

-<P><STRONG><a name="[7e]"></a>_main_cpp_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))
+<P><STRONG><a name="[82]"></a>_main_cpp_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))

-<P><STRONG><a name="[7f]"></a>_main_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))
+<P><STRONG><a name="[83]"></a>_main_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))

-<P><STRONG><a name="[80]"></a>__rt_final_cpp</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D))
+<P><STRONG><a name="[84]"></a>__rt_final_cpp</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D))

-<P><STRONG><a name="[81]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))
+<P><STRONG><a name="[85]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))

 <P><STRONG><a name="[0]"></a>Reset_Handler</STRONG> (Thumb, 38 bytes, Stack size 0 bytes, startup_stm32f042x6.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f042x6.o(RESET)
@@ -173,14 +173,14 @@ Global Symbols
 <P><STRONG><a name="[6]"></a>WWDG_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f042x6.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f042x6.o(RESET)
 </UL>
-<P><STRONG><a name="[82]"></a>__aeabi_uidiv</STRONG> (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)
+<P><STRONG><a name="[86]"></a>__aeabi_uidiv</STRONG> (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)

 <P><STRONG><a name="[3b]"></a>__aeabi_uidivmod</STRONG> (Thumb, 44 bytes, Stack size 12 bytes, uidiv.o(.text))
 <BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = __aeabi_uidivmod
 </UL>
 <BR>[Called By]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SystemClock_Config
-<LI><a href="#[78]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;mouse_buf_is_full
-<LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;mouse_buf_add
+<LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;mouse_buf_is_full
+<LI><a href="#[79]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;mouse_buf_add
 <LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;kb_buf_is_full
 <LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;kb_buf_add
 <LI><a href="#[38]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
@@ -189,22 +189,22 @@ Global Symbols
 <LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
 </UL>

-<P><STRONG><a name="[79]"></a>__aeabi_memcpy</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, memcpya.o(.text))
-<BR><BR>[Called By]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;mouse_buf_add
+<P><STRONG><a name="[7b]"></a>__aeabi_memcpy</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, memcpya.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[79]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;mouse_buf_add
 </UL>

-<P><STRONG><a name="[83]"></a>__aeabi_memcpy4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED)
+<P><STRONG><a name="[87]"></a>__aeabi_memcpy4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED)

-<P><STRONG><a name="[84]"></a>__aeabi_memcpy8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED)
+<P><STRONG><a name="[88]"></a>__aeabi_memcpy8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED)

 <P><STRONG><a name="[2d]"></a>__aeabi_memset</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, memseta.o(.text))
 <BR><BR>[Called By]<UL><LI><a href="#[2e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_memset$wrapper
 <LI><a href="#[2c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr
 </UL>

-<P><STRONG><a name="[85]"></a>__aeabi_memset4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
+<P><STRONG><a name="[89]"></a>__aeabi_memset4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

-<P><STRONG><a name="[86]"></a>__aeabi_memset8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
+<P><STRONG><a name="[8a]"></a>__aeabi_memset8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

 <P><STRONG><a name="[2c]"></a>__aeabi_memclr</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, memseta.o(.text))
 <BR><BR>[Calls]<UL><LI><a href="#[2d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memset
@@ -218,7 +218,7 @@ Global Symbols
 <LI><a href="#[21]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[87]"></a>__aeabi_memclr8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
+<P><STRONG><a name="[8b]"></a>__aeabi_memclr8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

 <P><STRONG><a name="[2e]"></a>_memset$wrapper</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, memseta.o(.text), UNUSED)
 <BR><BR>[Calls]<UL><LI><a href="#[2d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memset
@@ -230,7 +230,7 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[2a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_main_scatterload
 </UL>

-<P><STRONG><a name="[88]"></a>__scatterload_rt2</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)
+<P><STRONG><a name="[8c]"></a>__scatterload_rt2</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)

 <P><STRONG><a name="[43]"></a>HAL_DMA_Abort_IT</STRONG> (Thumb, 72 bytes, Stack size 16 bytes, stm32f0xx_hal_dma.o(i.HAL_DMA_Abort_IT))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_DMA_Abort_IT
@@ -243,7 +243,8 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[31]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
 </UL>
-<BR>[Called By]<UL><LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;spi_error_dump_reboot
+<BR>[Called By]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;spi_error_dump_reboot
+<LI><a href="#[21]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

 <P><STRONG><a name="[47]"></a>HAL_GPIO_Init</STRONG> (Thumb, 294 bytes, Stack size 24 bytes, stm32f0xx_hal_gpio.o(i.HAL_GPIO_Init))
@@ -254,13 +255,14 @@ Global Symbols
 <LI><a href="#[59]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
 </UL>

-<P><STRONG><a name="[7b]"></a>HAL_GPIO_TogglePin</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f0xx_hal_gpio.o(i.HAL_GPIO_TogglePin))
-<BR><BR>[Called By]<UL><LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;spi_error_dump_reboot
+<P><STRONG><a name="[7f]"></a>HAL_GPIO_TogglePin</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f0xx_hal_gpio.o(i.HAL_GPIO_TogglePin))
+<BR><BR>[Called By]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;spi_error_dump_reboot
 </UL>

 <P><STRONG><a name="[4a]"></a>HAL_GPIO_WritePin</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32f0xx_hal_gpio.o(i.HAL_GPIO_WritePin))
 <BR><BR>[Called By]<UL><LI><a href="#[49]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TxRxCpltCallback
 <LI><a href="#[59]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
+<LI><a href="#[7d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;quad_write
 </UL>

 <P><STRONG><a name="[31]"></a>HAL_GetTick</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f0xx_hal.o(i.HAL_GetTick))
@@ -418,8 +420,8 @@ Global Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 68<LI>Call Chain = HAL_SPI_TxRxCpltCallback &rArr; parse_spi_buf &rArr; mouse_buf_add &rArr; mouse_buf_is_full &rArr; __aeabi_uidivmod
 </UL>
 <BR>[Calls]<UL><LI><a href="#[4c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive_IT
-<LI><a href="#[4a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
 <LI><a href="#[4b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;parse_spi_buf
+<LI><a href="#[4a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
 </UL>
 <BR>[Called By]<UL><LI><a href="#[5e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_CloseRxTx_ISR
 </UL>
@@ -600,22 +602,22 @@ Global Symbols
 <BR><BR>[Calls]<UL><LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
 </UL>

-<P><STRONG><a name="[89]"></a>__1printf$3</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printf3.o(i.__0printf$3), UNUSED)
+<P><STRONG><a name="[8d]"></a>__1printf$3</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printf3.o(i.__0printf$3), UNUSED)

 <P><STRONG><a name="[72]"></a>__2printf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printf3.o(i.__0printf$3))
 <BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = __2printf
 </UL>
-<BR>[Called By]<UL><LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;spi_error_dump_reboot
+<BR>[Called By]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;spi_error_dump_reboot
 <LI><a href="#[21]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[8a]"></a>__scatterload_copy</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)
+<P><STRONG><a name="[8e]"></a>__scatterload_copy</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)

-<P><STRONG><a name="[8b]"></a>__scatterload_null</STRONG> (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)
+<P><STRONG><a name="[8f]"></a>__scatterload_null</STRONG> (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)

-<P><STRONG><a name="[8c]"></a>__scatterload_zeroinit</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)
+<P><STRONG><a name="[90]"></a>__scatterload_zeroinit</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)

-<P><STRONG><a name="[7a]"></a>byte_to_int16_t</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, main.o(i.byte_to_int16_t))
+<P><STRONG><a name="[7c]"></a>byte_to_int16_t</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, main.o(i.byte_to_int16_t))
 <BR><BR>[Called By]<UL><LI><a href="#[4b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;parse_spi_buf
 </UL>

@@ -678,18 +680,21 @@ Global Symbols
 <LI><a href="#[70]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;kb_buf_init
 </UL>

-<P><STRONG><a name="[21]"></a>main</STRONG> (Thumb, 110 bytes, Stack size 16 bytes, main.o(i.main))
+<P><STRONG><a name="[21]"></a>main</STRONG> (Thumb, 140 bytes, Stack size 16 bytes, main.o(i.main))
 <BR><BR>[Stack]<UL><LI>Max Depth = 180<LI>Call Chain = main &rArr; SystemClock_Config &rArr; HAL_RCC_ClockConfig &rArr; HAL_RCC_GetSysClockFreq &rArr; __aeabi_uidivmod
 </UL>
 <BR>[Calls]<UL><LI><a href="#[4c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive_IT
 <LI><a href="#[37]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Init
-<LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;spi_error_dump_reboot
+<LI><a href="#[30]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
+<LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;spi_error_dump_reboot
 <LI><a href="#[73]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;protocol_status_lookup_init
 <LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SystemClock_Config
 <LI><a href="#[5d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART2_UART_Init
 <LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM2_Init
 <LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_SPI1_Init
 <LI><a href="#[59]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
+<LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;quad_init
+<LI><a href="#[78]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;quad_decrement
 <LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;mouse_buf_init
 <LI><a href="#[70]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;kb_buf_init
 <LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;delay_us_init
@@ -705,11 +710,11 @@ Global Symbols
 <LI><a href="#[70]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;kb_buf_init
 </UL>

-<P><STRONG><a name="[77]"></a>mouse_buf_add</STRONG> (Thumb, 50 bytes, Stack size 16 bytes, helpers.o(i.mouse_buf_add))
+<P><STRONG><a name="[79]"></a>mouse_buf_add</STRONG> (Thumb, 50 bytes, Stack size 16 bytes, helpers.o(i.mouse_buf_add))
 <BR><BR>[Stack]<UL><LI>Max Depth = 36<LI>Call Chain = mouse_buf_add &rArr; mouse_buf_is_full &rArr; __aeabi_uidivmod
 </UL>
-<BR>[Calls]<UL><LI><a href="#[78]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;mouse_buf_is_full
-<LI><a href="#[79]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy
+<BR>[Calls]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;mouse_buf_is_full
+<LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy
 <LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uidivmod
 </UL>
 <BR>[Called By]<UL><LI><a href="#[4b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;parse_spi_buf
@@ -724,12 +729,12 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[21]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[78]"></a>mouse_buf_is_full</STRONG> (Thumb, 28 bytes, Stack size 8 bytes, helpers.o(i.mouse_buf_is_full))
+<P><STRONG><a name="[7a]"></a>mouse_buf_is_full</STRONG> (Thumb, 28 bytes, Stack size 8 bytes, helpers.o(i.mouse_buf_is_full))
 <BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = mouse_buf_is_full &rArr; __aeabi_uidivmod
 </UL>
 <BR>[Calls]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uidivmod
 </UL>
-<BR>[Called By]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;mouse_buf_add
+<BR>[Called By]<UL><LI><a href="#[79]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;mouse_buf_add
 </UL>

 <P><STRONG><a name="[6d]"></a>mouse_buf_reset</STRONG> (Thumb, 22 bytes, Stack size 8 bytes, helpers.o(i.mouse_buf_reset))
@@ -745,8 +750,8 @@ Global Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 52<LI>Call Chain = parse_spi_buf &rArr; mouse_buf_add &rArr; mouse_buf_is_full &rArr; __aeabi_uidivmod
 </UL>
 <BR>[Calls]<UL><LI><a href="#[6b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;handle_protocol_switch
-<LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;byte_to_int16_t
-<LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;mouse_buf_add
+<LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;byte_to_int16_t
+<LI><a href="#[79]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;mouse_buf_add
 <LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;kb_buf_add
 <LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
 </UL>
@@ -757,10 +762,43 @@ Global Symbols
 <BR><BR>[Called By]<UL><LI><a href="#[21]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[76]"></a>spi_error_dump_reboot</STRONG> (Thumb, 76 bytes, Stack size 0 bytes, main.o(i.spi_error_dump_reboot))
+<P><STRONG><a name="[78]"></a>quad_decrement</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, quad_encoder.o(i.quad_decrement))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = quad_decrement &rArr; quad_write
+</UL>
+<BR>[Calls]<UL><LI><a href="#[7d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;quad_write
+</UL>
+<BR>[Called By]<UL><LI><a href="#[21]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[76]"></a>quad_init</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, quad_encoder.o(i.quad_init))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = quad_init &rArr; quad_reset &rArr; quad_write
+</UL>
+<BR>[Calls]<UL><LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;quad_reset
+</UL>
+<BR>[Called By]<UL><LI><a href="#[21]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[7e]"></a>quad_reset</STRONG> (Thumb, 12 bytes, Stack size 8 bytes, quad_encoder.o(i.quad_reset))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = quad_reset &rArr; quad_write
+</UL>
+<BR>[Calls]<UL><LI><a href="#[7d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;quad_write
+</UL>
+<BR>[Called By]<UL><LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;quad_init
+</UL>
+
+<P><STRONG><a name="[7d]"></a>quad_write</STRONG> (Thumb, 82 bytes, Stack size 8 bytes, quad_encoder.o(i.quad_write))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = quad_write
+</UL>
+<BR>[Calls]<UL><LI><a href="#[4a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
+</UL>
+<BR>[Called By]<UL><LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;quad_reset
+<LI><a href="#[78]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;quad_decrement
+</UL>
+
+<P><STRONG><a name="[77]"></a>spi_error_dump_reboot</STRONG> (Thumb, 76 bytes, Stack size 0 bytes, main.o(i.spi_error_dump_reboot))
 <BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = spi_error_dump_reboot &rArr; __2printf
 </UL>
-<BR>[Calls]<UL><LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_TogglePin
+<BR>[Calls]<UL><LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_TogglePin
 <LI><a href="#[30]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
 <LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__2printf
 </UL>
@@ -770,11 +808,11 @@ Global Symbols
 <H3>
 Local Symbols
 </H3>
-<P><STRONG><a name="[59]"></a>MX_GPIO_Init</STRONG> (Thumb, 106 bytes, Stack size 48 bytes, main.o(i.MX_GPIO_Init))
+<P><STRONG><a name="[59]"></a>MX_GPIO_Init</STRONG> (Thumb, 150 bytes, Stack size 48 bytes, main.o(i.MX_GPIO_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = MX_GPIO_Init &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[4a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
-<LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
+<BR>[Calls]<UL><LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
+<LI><a href="#[4a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
 </UL>
 <BR>[Called By]<UL><LI><a href="#[21]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
--- a/firmware/quad_test/MDK-ARM/my_adb/my_adb.lnp
+++ b/firmware/quad_test/MDK-ARM/my_adb/my_adb.lnp
@@ -2,10 +2,10 @@
 "my_adb\startup_stm32f042x6.o"
 "my_adb\delay_us.o"
 "my_adb\helpers.o"
+"my_adb\quad_encoder.o"
 "my_adb\main.o"
 "my_adb\stm32f0xx_it.o"
 "my_adb\stm32f0xx_hal_msp.o"
-"my_adb\quad_encoder.o"
 "my_adb\stm32f0xx_hal_spi.o"
 "my_adb\stm32f0xx_hal_spi_ex.o"
 "my_adb\stm32f0xx_hal_tim.o"
--- a/firmware/quad_test/MDK-ARM/my_adb/my_adb.map
+++ b/firmware/quad_test/MDK-ARM/my_adb/my_adb.map
@@ -34,6 +34,12 @@ Section Cross References
    helpers.o(i.mouse_buf_is_full) refers to uidiv.o(.text) for __aeabi_uidivmod
    helpers.o(i.mouse_buf_pop) refers to uidiv.o(.text) for __aeabi_uidivmod
    helpers.o(i.mouse_buf_reset) refers to memseta.o(.text) for __aeabi_memclr
+    quad_encoder.o(i.quad_decrement) refers to quad_encoder.o(i.quad_write) for quad_write
+    quad_encoder.o(i.quad_increment) refers to quad_encoder.o(i.quad_write) for quad_write
+    quad_encoder.o(i.quad_init) refers to quad_encoder.o(i.quad_reset) for quad_reset
+    quad_encoder.o(i.quad_reset) refers to quad_encoder.o(i.quad_write) for quad_write
+    quad_encoder.o(i.quad_write) refers to stm32f0xx_hal_gpio.o(i.HAL_GPIO_WritePin) for HAL_GPIO_WritePin
+    quad_encoder.o(i.quad_write) refers to quad_encoder.o(.constdata) for .constdata
    main.o(i.HAL_SPI_TxRxCpltCallback) refers to stm32f0xx_hal_gpio.o(i.HAL_GPIO_WritePin) for HAL_GPIO_WritePin
    main.o(i.HAL_SPI_TxRxCpltCallback) refers to main.o(i.parse_spi_buf) for parse_spi_buf
    main.o(i.HAL_SPI_TxRxCpltCallback) refers to stm32f0xx_hal_spi.o(i.HAL_SPI_TransmitReceive_IT) for HAL_SPI_TransmitReceive_IT
@@ -76,7 +82,10 @@ Section Cross References
    main.o(i.main) refers to helpers.o(i.mouse_buf_init) for mouse_buf_init
    main.o(i.main) refers to memseta.o(.text) for __aeabi_memclr4
    main.o(i.main) refers to stm32f0xx_hal_spi.o(i.HAL_SPI_TransmitReceive_IT) for HAL_SPI_TransmitReceive_IT
+    main.o(i.main) refers to quad_encoder.o(i.quad_init) for quad_init
    main.o(i.main) refers to main.o(i.spi_error_dump_reboot) for spi_error_dump_reboot
+    main.o(i.main) refers to quad_encoder.o(i.quad_decrement) for quad_decrement
+    main.o(i.main) refers to stm32f0xx_hal.o(i.HAL_Delay) for HAL_Delay
    main.o(i.main) refers to main.o(.data) for .data
    main.o(i.main) refers to main.o(.constdata) for .constdata
    main.o(i.main) refers to main.o(.bss) for .bss
@@ -1036,6 +1045,9 @@ Removing Unused input sections from the image.
    Removing helpers.o(i.mouse_buf_is_empty), (16 bytes).
    Removing helpers.o(i.mouse_buf_peek), (22 bytes).
    Removing helpers.o(i.mouse_buf_pop), (24 bytes).
+    Removing quad_encoder.o(.rev16_text), (4 bytes).
+    Removing quad_encoder.o(.revsh_text), (4 bytes).
+    Removing quad_encoder.o(i.quad_increment), (18 bytes).
    Removing main.o(.rev16_text), (4 bytes).
    Removing main.o(.revsh_text), (4 bytes).
    Removing main.o(i._Error_Handler), (2 bytes).
@@ -1052,8 +1064,6 @@ Removing Unused input sections from the image.
    Removing stm32f0xx_hal_msp.o(i.HAL_SPI_MspDeInit), (48 bytes).
    Removing stm32f0xx_hal_msp.o(i.HAL_TIM_Base_MspDeInit), (28 bytes).
    Removing stm32f0xx_hal_msp.o(i.HAL_UART_MspDeInit), (44 bytes).
-    Removing quad_encoder.o(.rev16_text), (4 bytes).
-    Removing quad_encoder.o(.revsh_text), (4 bytes).
    Removing stm32f0xx_hal_spi.o(.rev16_text), (4 bytes).
    Removing stm32f0xx_hal_spi.o(.revsh_text), (4 bytes).
    Removing stm32f0xx_hal_spi.o(i.HAL_SPI_Abort), (360 bytes).
@@ -1521,7 +1531,7 @@ Removing Unused input sections from the image.
    Removing stm32f0xx_hal_tim.o(i.__ARM_common_switch8), (26 bytes).
    Removing depilogue.o(i.__ARM_clz), (46 bytes).

-496 unused section(s) (total 34900 bytes) removed from the image.
+497 unused section(s) (total 34918 bytes) removed from the image.

 ==============================================================================

@@ -1553,44 +1563,44 @@ Image Symbol Table
    ../Src/main.c                            0x00000000   Number         0  main.o ABSOLUTE
    ../Src/stm32f0xx_hal_msp.c               0x00000000   Number         0  stm32f0xx_hal_msp.o ABSOLUTE
    ../Src/stm32f0xx_it.c                    0x00000000   Number         0  stm32f0xx_it.o ABSOLUTE
-    ../clib/microlib/division.c              0x00000000   Number         0  uidiv.o ABSOLUTE
    ../clib/microlib/division.c              0x00000000   Number         0  uldiv.o ABSOLUTE
+    ../clib/microlib/division.c              0x00000000   Number         0  uidiv.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry9a.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry8b.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry8a.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry7b.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry7a.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry5.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry2.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry9b.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry11b.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry.o ABSOLUTE
    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry11a.o ABSOLUTE
    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry10b.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry9b.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry8b.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry9a.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry.o ABSOLUTE
    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry10a.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry2.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry5.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry7a.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry7b.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry8a.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry11b.o ABSOLUTE
-    ../clib/microlib/longlong.c              0x00000000   Number         0  llushr.o ABSOLUTE
    ../clib/microlib/longlong.c              0x00000000   Number         0  llsshr.o ABSOLUTE
+    ../clib/microlib/longlong.c              0x00000000   Number         0  llushr.o ABSOLUTE
    ../clib/microlib/longlong.c              0x00000000   Number         0  llshl.o ABSOLUTE
-    ../clib/microlib/malloc/malloc.c         0x00000000   Number         0  malloca.o ABSOLUTE
-    ../clib/microlib/malloc/malloc.c         0x00000000   Number         0  mallocra.o ABSOLUTE
    ../clib/microlib/malloc/malloc.c         0x00000000   Number         0  mallocr.o ABSOLUTE
    ../clib/microlib/malloc/malloc.c         0x00000000   Number         0  malloc.o ABSOLUTE
+    ../clib/microlib/malloc/malloc.c         0x00000000   Number         0  mallocra.o ABSOLUTE
+    ../clib/microlib/malloc/malloc.c         0x00000000   Number         0  malloca.o ABSOLUTE
    ../clib/microlib/malloc/mvars.c          0x00000000   Number         0  mvars.o ABSOLUTE
-    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf0.o ABSOLUTE
-    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf1.o ABSOLUTE
-    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf3.o ABSOLUTE
-    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf2.o ABSOLUTE
    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printfa.o ABSOLUTE
    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf8.o ABSOLUTE
    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf7.o ABSOLUTE
-    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf6.o ABSOLUTE
    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf5.o ABSOLUTE
    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf4.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf3.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf2.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf1.o ABSOLUTE
    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printfb.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf0.o ABSOLUTE
+    ../clib/microlib/printf/printf.c         0x00000000   Number         0  printf6.o ABSOLUTE
    ../clib/microlib/printf/stubs.s          0x00000000   Number         0  stubs.o ABSOLUTE
    ../clib/microlib/stdio/streams.c         0x00000000   Number         0  stdout.o ABSOLUTE
-    ../clib/microlib/string/memcpy.c         0x00000000   Number         0  memcpyb.o ABSOLUTE
    ../clib/microlib/string/memcpy.c         0x00000000   Number         0  memcpya.o ABSOLUTE
+    ../clib/microlib/string/memcpy.c         0x00000000   Number         0  memcpyb.o ABSOLUTE
    ../clib/microlib/string/memset.c         0x00000000   Number         0  memseta.o ABSOLUTE
    ../clib/microlib/stubs.s                 0x00000000   Number         0  iusefp.o ABSOLUTE
    ../fplib/microlib/fpadd.c                0x00000000   Number         0  dadd.o ABSOLUTE
@@ -1685,78 +1695,83 @@ Image Symbol Table
    i.HAL_UART_Transmit                      0x08001000   Section        0  stm32f0xx_hal_uart.o(i.HAL_UART_Transmit)
    i.HardFault_Handler                      0x080010c8   Section        0  stm32f0xx_it.o(i.HardFault_Handler)
    i.MX_GPIO_Init                           0x080010cc   Section        0  main.o(i.MX_GPIO_Init)
-    MX_GPIO_Init                             0x080010cd   Thumb Code   106  main.o(i.MX_GPIO_Init)
-    i.MX_SPI1_Init                           0x08001140   Section        0  main.o(i.MX_SPI1_Init)
-    MX_SPI1_Init                             0x08001141   Thumb Code    52  main.o(i.MX_SPI1_Init)
-    i.MX_TIM2_Init                           0x0800117c   Section        0  main.o(i.MX_TIM2_Init)
-    MX_TIM2_Init                             0x0800117d   Thumb Code    80  main.o(i.MX_TIM2_Init)
-    i.MX_USART2_UART_Init                    0x080011d0   Section        0  main.o(i.MX_USART2_UART_Init)
-    MX_USART2_UART_Init                      0x080011d1   Thumb Code    46  main.o(i.MX_USART2_UART_Init)
-    i.NMI_Handler                            0x08001208   Section        0  stm32f0xx_it.o(i.NMI_Handler)
-    i.NVIC_SetPriority                       0x0800120c   Section        0  stm32f0xx_hal_cortex.o(i.NVIC_SetPriority)
-    NVIC_SetPriority                         0x0800120d   Thumb Code    60  stm32f0xx_hal_cortex.o(i.NVIC_SetPriority)
-    i.PendSV_Handler                         0x08001250   Section        0  stm32f0xx_it.o(i.PendSV_Handler)
-    i.SPI1_IRQHandler                        0x08001254   Section        0  stm32f0xx_it.o(i.SPI1_IRQHandler)
-    i.SPI_2linesRxISR_16BIT                  0x08001264   Section        0  stm32f0xx_hal_spi.o(i.SPI_2linesRxISR_16BIT)
-    SPI_2linesRxISR_16BIT                    0x08001265   Thumb Code    54  stm32f0xx_hal_spi.o(i.SPI_2linesRxISR_16BIT)
-    i.SPI_2linesRxISR_8BIT                   0x0800129a   Section        0  stm32f0xx_hal_spi.o(i.SPI_2linesRxISR_8BIT)
-    SPI_2linesRxISR_8BIT                     0x0800129b   Thumb Code    94  stm32f0xx_hal_spi.o(i.SPI_2linesRxISR_8BIT)
-    i.SPI_2linesTxISR_16BIT                  0x080012f8   Section        0  stm32f0xx_hal_spi.o(i.SPI_2linesTxISR_16BIT)
-    SPI_2linesTxISR_16BIT                    0x080012f9   Thumb Code    52  stm32f0xx_hal_spi.o(i.SPI_2linesTxISR_16BIT)
-    i.SPI_2linesTxISR_8BIT                   0x0800132c   Section        0  stm32f0xx_hal_spi.o(i.SPI_2linesTxISR_8BIT)
-    SPI_2linesTxISR_8BIT                     0x0800132d   Thumb Code    72  stm32f0xx_hal_spi.o(i.SPI_2linesTxISR_8BIT)
-    i.SPI_CloseRxTx_ISR                      0x08001374   Section        0  stm32f0xx_hal_spi.o(i.SPI_CloseRxTx_ISR)
-    SPI_CloseRxTx_ISR                        0x08001375   Thumb Code    82  stm32f0xx_hal_spi.o(i.SPI_CloseRxTx_ISR)
-    i.SPI_DMAAbortOnError                    0x080013c6   Section        0  stm32f0xx_hal_spi.o(i.SPI_DMAAbortOnError)
-    SPI_DMAAbortOnError                      0x080013c7   Thumb Code    18  stm32f0xx_hal_spi.o(i.SPI_DMAAbortOnError)
-    i.SPI_EndRxTxTransaction                 0x080013d8   Section        0  stm32f0xx_hal_spi.o(i.SPI_EndRxTxTransaction)
-    SPI_EndRxTxTransaction                   0x080013d9   Thumb Code    76  stm32f0xx_hal_spi.o(i.SPI_EndRxTxTransaction)
-    i.SPI_WaitFifoStateUntilTimeout          0x08001424   Section        0  stm32f0xx_hal_spi.o(i.SPI_WaitFifoStateUntilTimeout)
-    SPI_WaitFifoStateUntilTimeout            0x08001425   Thumb Code   150  stm32f0xx_hal_spi.o(i.SPI_WaitFifoStateUntilTimeout)
-    i.SPI_WaitFlagStateUntilTimeout          0x080014ba   Section        0  stm32f0xx_hal_spi.o(i.SPI_WaitFlagStateUntilTimeout)
-    SPI_WaitFlagStateUntilTimeout            0x080014bb   Thumb Code   140  stm32f0xx_hal_spi.o(i.SPI_WaitFlagStateUntilTimeout)
-    i.SVC_Handler                            0x08001546   Section        0  stm32f0xx_it.o(i.SVC_Handler)
-    i.SysTick_Handler                        0x08001548   Section        0  stm32f0xx_it.o(i.SysTick_Handler)
-    i.SystemClock_Config                     0x08001554   Section        0  main.o(i.SystemClock_Config)
-    i.SystemInit                             0x080015b0   Section        0  system_stm32f0xx.o(i.SystemInit)
-    i.TIM_Base_SetConfig                     0x0800160c   Section        0  stm32f0xx_hal_tim.o(i.TIM_Base_SetConfig)
-    i.TIM_ETR_SetConfig                      0x08001690   Section        0  stm32f0xx_hal_tim.o(i.TIM_ETR_SetConfig)
-    i.TIM_ITRx_SetConfig                     0x080016a6   Section        0  stm32f0xx_hal_tim.o(i.TIM_ITRx_SetConfig)
-    TIM_ITRx_SetConfig                       0x080016a7   Thumb Code    16  stm32f0xx_hal_tim.o(i.TIM_ITRx_SetConfig)
-    i.TIM_TI1_ConfigInputStage               0x080016b6   Section        0  stm32f0xx_hal_tim.o(i.TIM_TI1_ConfigInputStage)
-    TIM_TI1_ConfigInputStage                 0x080016b7   Thumb Code    34  stm32f0xx_hal_tim.o(i.TIM_TI1_ConfigInputStage)
-    i.TIM_TI2_ConfigInputStage               0x080016d8   Section        0  stm32f0xx_hal_tim.o(i.TIM_TI2_ConfigInputStage)
-    TIM_TI2_ConfigInputStage                 0x080016d9   Thumb Code    38  stm32f0xx_hal_tim.o(i.TIM_TI2_ConfigInputStage)
-    i.UART_AdvFeatureConfig                  0x080016fe   Section        0  stm32f0xx_hal_uart.o(i.UART_AdvFeatureConfig)
-    i.UART_CheckIdleState                    0x080017c8   Section        0  stm32f0xx_hal_uart.o(i.UART_CheckIdleState)
-    i.UART_SetConfig                         0x08001830   Section        0  stm32f0xx_hal_uart.o(i.UART_SetConfig)
-    i.UART_WaitOnFlagUntilTimeout            0x08001960   Section        0  stm32f0xx_hal_uart.o(i.UART_WaitOnFlagUntilTimeout)
-    i.__0printf$3                            0x080019c4   Section        0  printf3.o(i.__0printf$3)
-    i.__scatterload_copy                     0x080019e4   Section       14  handlers.o(i.__scatterload_copy)
-    i.__scatterload_null                     0x080019f2   Section        2  handlers.o(i.__scatterload_null)
-    i.__scatterload_zeroinit                 0x080019f4   Section       14  handlers.o(i.__scatterload_zeroinit)
-    i._printf_core                           0x08001a04   Section        0  printf3.o(i._printf_core)
-    _printf_core                             0x08001a05   Thumb Code   456  printf3.o(i._printf_core)
-    i.byte_to_int16_t                        0x08001bd0   Section        0  main.o(i.byte_to_int16_t)
-    i.delay_us_init                          0x08001bd8   Section        0  delay_us.o(i.delay_us_init)
-    i.fputc                                  0x08001be8   Section        0  main.o(i.fputc)
-    i.handle_protocol_switch                 0x08001c00   Section        0  main.o(i.handle_protocol_switch)
-    i.kb_buf_add                             0x08001c50   Section        0  helpers.o(i.kb_buf_add)
-    i.kb_buf_init                            0x08001c80   Section        0  helpers.o(i.kb_buf_init)
-    i.kb_buf_is_full                         0x08001ca0   Section        0  helpers.o(i.kb_buf_is_full)
-    i.kb_buf_reset                           0x08001cbc   Section        0  helpers.o(i.kb_buf_reset)
-    i.main                                   0x08001cd8   Section        0  main.o(i.main)
-    i.malloc                                 0x08001d68   Section        0  malloc.o(i.malloc)
-    i.mouse_buf_add                          0x08001dd4   Section        0  helpers.o(i.mouse_buf_add)
-    i.mouse_buf_init                         0x08001e06   Section        0  helpers.o(i.mouse_buf_init)
-    i.mouse_buf_is_full                      0x08001e1e   Section        0  helpers.o(i.mouse_buf_is_full)
-    i.mouse_buf_reset                        0x08001e3a   Section        0  helpers.o(i.mouse_buf_reset)
-    i.parse_spi_buf                          0x08001e50   Section        0  main.o(i.parse_spi_buf)
-    i.protocol_status_lookup_init            0x08001f28   Section        0  main.o(i.protocol_status_lookup_init)
-    i.spi_error_dump_reboot                  0x08001f44   Section        0  main.o(i.spi_error_dump_reboot)
-    .constdata                               0x08001fc0   Section       55  main.o(.constdata)
-    .constdata                               0x08001ff7   Section       16  system_stm32f0xx.o(.constdata)
-    .constdata                               0x08002007   Section        8  system_stm32f0xx.o(.constdata)
+    MX_GPIO_Init                             0x080010cd   Thumb Code   150  main.o(i.MX_GPIO_Init)
+    i.MX_SPI1_Init                           0x08001170   Section        0  main.o(i.MX_SPI1_Init)
+    MX_SPI1_Init                             0x08001171   Thumb Code    52  main.o(i.MX_SPI1_Init)
+    i.MX_TIM2_Init                           0x080011ac   Section        0  main.o(i.MX_TIM2_Init)
+    MX_TIM2_Init                             0x080011ad   Thumb Code    80  main.o(i.MX_TIM2_Init)
+    i.MX_USART2_UART_Init                    0x08001200   Section        0  main.o(i.MX_USART2_UART_Init)
+    MX_USART2_UART_Init                      0x08001201   Thumb Code    46  main.o(i.MX_USART2_UART_Init)
+    i.NMI_Handler                            0x08001238   Section        0  stm32f0xx_it.o(i.NMI_Handler)
+    i.NVIC_SetPriority                       0x0800123c   Section        0  stm32f0xx_hal_cortex.o(i.NVIC_SetPriority)
+    NVIC_SetPriority                         0x0800123d   Thumb Code    60  stm32f0xx_hal_cortex.o(i.NVIC_SetPriority)
+    i.PendSV_Handler                         0x08001280   Section        0  stm32f0xx_it.o(i.PendSV_Handler)
+    i.SPI1_IRQHandler                        0x08001284   Section        0  stm32f0xx_it.o(i.SPI1_IRQHandler)
+    i.SPI_2linesRxISR_16BIT                  0x08001294   Section        0  stm32f0xx_hal_spi.o(i.SPI_2linesRxISR_16BIT)
+    SPI_2linesRxISR_16BIT                    0x08001295   Thumb Code    54  stm32f0xx_hal_spi.o(i.SPI_2linesRxISR_16BIT)
+    i.SPI_2linesRxISR_8BIT                   0x080012ca   Section        0  stm32f0xx_hal_spi.o(i.SPI_2linesRxISR_8BIT)
+    SPI_2linesRxISR_8BIT                     0x080012cb   Thumb Code    94  stm32f0xx_hal_spi.o(i.SPI_2linesRxISR_8BIT)
+    i.SPI_2linesTxISR_16BIT                  0x08001328   Section        0  stm32f0xx_hal_spi.o(i.SPI_2linesTxISR_16BIT)
+    SPI_2linesTxISR_16BIT                    0x08001329   Thumb Code    52  stm32f0xx_hal_spi.o(i.SPI_2linesTxISR_16BIT)
+    i.SPI_2linesTxISR_8BIT                   0x0800135c   Section        0  stm32f0xx_hal_spi.o(i.SPI_2linesTxISR_8BIT)
+    SPI_2linesTxISR_8BIT                     0x0800135d   Thumb Code    72  stm32f0xx_hal_spi.o(i.SPI_2linesTxISR_8BIT)
+    i.SPI_CloseRxTx_ISR                      0x080013a4   Section        0  stm32f0xx_hal_spi.o(i.SPI_CloseRxTx_ISR)
+    SPI_CloseRxTx_ISR                        0x080013a5   Thumb Code    82  stm32f0xx_hal_spi.o(i.SPI_CloseRxTx_ISR)
+    i.SPI_DMAAbortOnError                    0x080013f6   Section        0  stm32f0xx_hal_spi.o(i.SPI_DMAAbortOnError)
+    SPI_DMAAbortOnError                      0x080013f7   Thumb Code    18  stm32f0xx_hal_spi.o(i.SPI_DMAAbortOnError)
+    i.SPI_EndRxTxTransaction                 0x08001408   Section        0  stm32f0xx_hal_spi.o(i.SPI_EndRxTxTransaction)
+    SPI_EndRxTxTransaction                   0x08001409   Thumb Code    76  stm32f0xx_hal_spi.o(i.SPI_EndRxTxTransaction)
+    i.SPI_WaitFifoStateUntilTimeout          0x08001454   Section        0  stm32f0xx_hal_spi.o(i.SPI_WaitFifoStateUntilTimeout)
+    SPI_WaitFifoStateUntilTimeout            0x08001455   Thumb Code   150  stm32f0xx_hal_spi.o(i.SPI_WaitFifoStateUntilTimeout)
+    i.SPI_WaitFlagStateUntilTimeout          0x080014ea   Section        0  stm32f0xx_hal_spi.o(i.SPI_WaitFlagStateUntilTimeout)
+    SPI_WaitFlagStateUntilTimeout            0x080014eb   Thumb Code   140  stm32f0xx_hal_spi.o(i.SPI_WaitFlagStateUntilTimeout)
+    i.SVC_Handler                            0x08001576   Section        0  stm32f0xx_it.o(i.SVC_Handler)
+    i.SysTick_Handler                        0x08001578   Section        0  stm32f0xx_it.o(i.SysTick_Handler)
+    i.SystemClock_Config                     0x08001584   Section        0  main.o(i.SystemClock_Config)
+    i.SystemInit                             0x080015e0   Section        0  system_stm32f0xx.o(i.SystemInit)
+    i.TIM_Base_SetConfig                     0x0800163c   Section        0  stm32f0xx_hal_tim.o(i.TIM_Base_SetConfig)
+    i.TIM_ETR_SetConfig                      0x080016c0   Section        0  stm32f0xx_hal_tim.o(i.TIM_ETR_SetConfig)
+    i.TIM_ITRx_SetConfig                     0x080016d6   Section        0  stm32f0xx_hal_tim.o(i.TIM_ITRx_SetConfig)
+    TIM_ITRx_SetConfig                       0x080016d7   Thumb Code    16  stm32f0xx_hal_tim.o(i.TIM_ITRx_SetConfig)
+    i.TIM_TI1_ConfigInputStage               0x080016e6   Section        0  stm32f0xx_hal_tim.o(i.TIM_TI1_ConfigInputStage)
+    TIM_TI1_ConfigInputStage                 0x080016e7   Thumb Code    34  stm32f0xx_hal_tim.o(i.TIM_TI1_ConfigInputStage)
+    i.TIM_TI2_ConfigInputStage               0x08001708   Section        0  stm32f0xx_hal_tim.o(i.TIM_TI2_ConfigInputStage)
+    TIM_TI2_ConfigInputStage                 0x08001709   Thumb Code    38  stm32f0xx_hal_tim.o(i.TIM_TI2_ConfigInputStage)
+    i.UART_AdvFeatureConfig                  0x0800172e   Section        0  stm32f0xx_hal_uart.o(i.UART_AdvFeatureConfig)
+    i.UART_CheckIdleState                    0x080017f8   Section        0  stm32f0xx_hal_uart.o(i.UART_CheckIdleState)
+    i.UART_SetConfig                         0x08001860   Section        0  stm32f0xx_hal_uart.o(i.UART_SetConfig)
+    i.UART_WaitOnFlagUntilTimeout            0x08001990   Section        0  stm32f0xx_hal_uart.o(i.UART_WaitOnFlagUntilTimeout)
+    i.__0printf$3                            0x080019f4   Section        0  printf3.o(i.__0printf$3)
+    i.__scatterload_copy                     0x08001a14   Section       14  handlers.o(i.__scatterload_copy)
+    i.__scatterload_null                     0x08001a22   Section        2  handlers.o(i.__scatterload_null)
+    i.__scatterload_zeroinit                 0x08001a24   Section       14  handlers.o(i.__scatterload_zeroinit)
+    i._printf_core                           0x08001a34   Section        0  printf3.o(i._printf_core)
+    _printf_core                             0x08001a35   Thumb Code   456  printf3.o(i._printf_core)
+    i.byte_to_int16_t                        0x08001c00   Section        0  main.o(i.byte_to_int16_t)
+    i.delay_us_init                          0x08001c08   Section        0  delay_us.o(i.delay_us_init)
+    i.fputc                                  0x08001c18   Section        0  main.o(i.fputc)
+    i.handle_protocol_switch                 0x08001c30   Section        0  main.o(i.handle_protocol_switch)
+    i.kb_buf_add                             0x08001c80   Section        0  helpers.o(i.kb_buf_add)
+    i.kb_buf_init                            0x08001cb0   Section        0  helpers.o(i.kb_buf_init)
+    i.kb_buf_is_full                         0x08001cd0   Section        0  helpers.o(i.kb_buf_is_full)
+    i.kb_buf_reset                           0x08001cec   Section        0  helpers.o(i.kb_buf_reset)
+    i.main                                   0x08001d08   Section        0  main.o(i.main)
+    i.malloc                                 0x08001dbc   Section        0  malloc.o(i.malloc)
+    i.mouse_buf_add                          0x08001e28   Section        0  helpers.o(i.mouse_buf_add)
+    i.mouse_buf_init                         0x08001e5a   Section        0  helpers.o(i.mouse_buf_init)
+    i.mouse_buf_is_full                      0x08001e72   Section        0  helpers.o(i.mouse_buf_is_full)
+    i.mouse_buf_reset                        0x08001e8e   Section        0  helpers.o(i.mouse_buf_reset)
+    i.parse_spi_buf                          0x08001ea4   Section        0  main.o(i.parse_spi_buf)
+    i.protocol_status_lookup_init            0x08001f7c   Section        0  main.o(i.protocol_status_lookup_init)
+    i.quad_decrement                         0x08001f98   Section        0  quad_encoder.o(i.quad_decrement)
+    i.quad_init                              0x08001faa   Section        0  quad_encoder.o(i.quad_init)
+    i.quad_reset                             0x08001fbc   Section        0  quad_encoder.o(i.quad_reset)
+    i.quad_write                             0x08001fc8   Section        0  quad_encoder.o(i.quad_write)
+    i.spi_error_dump_reboot                  0x08002020   Section        0  main.o(i.spi_error_dump_reboot)
+    .constdata                               0x0800209c   Section        4  quad_encoder.o(.constdata)
+    .constdata                               0x080020a0   Section       55  main.o(.constdata)
+    .constdata                               0x080020d7   Section       16  system_stm32f0xx.o(.constdata)
+    .constdata                               0x080020e7   Section        8  system_stm32f0xx.o(.constdata)
    .data                                    0x20000000   Section        4  delay_us.o(.data)
    .data                                    0x20000004   Section       12  main.o(.data)
    .data                                    0x20000010   Section        4  stm32f0xx_hal.o(.data)
@@ -1764,9 +1779,9 @@ Image Symbol Table
    .data                                    0x20000018   Section        4  stdout.o(.data)
    .data                                    0x2000001c   Section        4  mvars.o(.data)
    .data                                    0x20000020   Section        4  mvars.o(.data)
-    .bss                                     0x20000024   Section      380  main.o(.bss)
-    HEAP                                     0x200001a0   Section      512  startup_stm32f042x6.o(HEAP)
-    STACK                                    0x200003a0   Section     1024  startup_stm32f042x6.o(STACK)
+    .bss                                     0x20000024   Section      396  main.o(.bss)
+    HEAP                                     0x200001b0   Section      512  startup_stm32f042x6.o(HEAP)
+    STACK                                    0x200003b0   Section     1024  startup_stm32f042x6.o(STACK)

    Global Symbols

@@ -1910,47 +1925,52 @@ Image Symbol Table
    HAL_UART_MspInit                         0x08000fb9   Thumb Code    62  stm32f0xx_hal_msp.o(i.HAL_UART_MspInit)
    HAL_UART_Transmit                        0x08001001   Thumb Code   200  stm32f0xx_hal_uart.o(i.HAL_UART_Transmit)
    HardFault_Handler                        0x080010c9   Thumb Code     2  stm32f0xx_it.o(i.HardFault_Handler)
-    NMI_Handler                              0x08001209   Thumb Code     2  stm32f0xx_it.o(i.NMI_Handler)
-    PendSV_Handler                           0x08001251   Thumb Code     2  stm32f0xx_it.o(i.PendSV_Handler)
-    SPI1_IRQHandler                          0x08001255   Thumb Code    10  stm32f0xx_it.o(i.SPI1_IRQHandler)
-    SVC_Handler                              0x08001547   Thumb Code     2  stm32f0xx_it.o(i.SVC_Handler)
-    SysTick_Handler                          0x08001549   Thumb Code    12  stm32f0xx_it.o(i.SysTick_Handler)
-    SystemClock_Config                       0x08001555   Thumb Code    90  main.o(i.SystemClock_Config)
-    SystemInit                               0x080015b1   Thumb Code    78  system_stm32f0xx.o(i.SystemInit)
-    TIM_Base_SetConfig                       0x0800160d   Thumb Code   112  stm32f0xx_hal_tim.o(i.TIM_Base_SetConfig)
-    TIM_ETR_SetConfig                        0x08001691   Thumb Code    22  stm32f0xx_hal_tim.o(i.TIM_ETR_SetConfig)
-    UART_AdvFeatureConfig                    0x080016ff   Thumb Code   202  stm32f0xx_hal_uart.o(i.UART_AdvFeatureConfig)
-    UART_CheckIdleState                      0x080017c9   Thumb Code    96  stm32f0xx_hal_uart.o(i.UART_CheckIdleState)
-    UART_SetConfig                           0x08001831   Thumb Code   280  stm32f0xx_hal_uart.o(i.UART_SetConfig)
-    UART_WaitOnFlagUntilTimeout              0x08001961   Thumb Code    98  stm32f0xx_hal_uart.o(i.UART_WaitOnFlagUntilTimeout)
-    __0printf$3                              0x080019c5   Thumb Code    24  printf3.o(i.__0printf$3)
-    __1printf$3                              0x080019c5   Thumb Code     0  printf3.o(i.__0printf$3)
-    __2printf                                0x080019c5   Thumb Code     0  printf3.o(i.__0printf$3)
-    __scatterload_copy                       0x080019e5   Thumb Code    14  handlers.o(i.__scatterload_copy)
-    __scatterload_null                       0x080019f3   Thumb Code     2  handlers.o(i.__scatterload_null)
-    __scatterload_zeroinit                   0x080019f5   Thumb Code    14  handlers.o(i.__scatterload_zeroinit)
-    byte_to_int16_t                          0x08001bd1   Thumb Code     8  main.o(i.byte_to_int16_t)
-    delay_us_init                            0x08001bd9   Thumb Code    12  delay_us.o(i.delay_us_init)
-    fputc                                    0x08001be9   Thumb Code    18  main.o(i.fputc)
-    handle_protocol_switch                   0x08001c01   Thumb Code    70  main.o(i.handle_protocol_switch)
-    kb_buf_add                               0x08001c51   Thumb Code    48  helpers.o(i.kb_buf_add)
-    kb_buf_init                              0x08001c81   Thumb Code    32  helpers.o(i.kb_buf_init)
-    kb_buf_is_full                           0x08001ca1   Thumb Code    28  helpers.o(i.kb_buf_is_full)
-    kb_buf_reset                             0x08001cbd   Thumb Code    28  helpers.o(i.kb_buf_reset)
-    main                                     0x08001cd9   Thumb Code   110  main.o(i.main)
-    malloc                                   0x08001d69   Thumb Code    92  malloc.o(i.malloc)
-    mouse_buf_add                            0x08001dd5   Thumb Code    50  helpers.o(i.mouse_buf_add)
-    mouse_buf_init                           0x08001e07   Thumb Code    24  helpers.o(i.mouse_buf_init)
-    mouse_buf_is_full                        0x08001e1f   Thumb Code    28  helpers.o(i.mouse_buf_is_full)
-    mouse_buf_reset                          0x08001e3b   Thumb Code    22  helpers.o(i.mouse_buf_reset)
-    parse_spi_buf                            0x08001e51   Thumb Code   208  main.o(i.parse_spi_buf)
-    protocol_status_lookup_init              0x08001f29   Thumb Code    22  main.o(i.protocol_status_lookup_init)
-    spi_error_dump_reboot                    0x08001f45   Thumb Code    76  main.o(i.spi_error_dump_reboot)
-    boot_message                             0x08001fc0   Data          55  main.o(.constdata)
-    AHBPrescTable                            0x08001ff7   Data          16  system_stm32f0xx.o(.constdata)
-    APBPrescTable                            0x08002007   Data           8  system_stm32f0xx.o(.constdata)
-    Region$$Table$$Base                      0x08002010   Number         0  anon$$obj.o(Region$$Table)
-    Region$$Table$$Limit                     0x08002030   Number         0  anon$$obj.o(Region$$Table)
+    NMI_Handler                              0x08001239   Thumb Code     2  stm32f0xx_it.o(i.NMI_Handler)
+    PendSV_Handler                           0x08001281   Thumb Code     2  stm32f0xx_it.o(i.PendSV_Handler)
+    SPI1_IRQHandler                          0x08001285   Thumb Code    10  stm32f0xx_it.o(i.SPI1_IRQHandler)
+    SVC_Handler                              0x08001577   Thumb Code     2  stm32f0xx_it.o(i.SVC_Handler)
+    SysTick_Handler                          0x08001579   Thumb Code    12  stm32f0xx_it.o(i.SysTick_Handler)
+    SystemClock_Config                       0x08001585   Thumb Code    90  main.o(i.SystemClock_Config)
+    SystemInit                               0x080015e1   Thumb Code    78  system_stm32f0xx.o(i.SystemInit)
+    TIM_Base_SetConfig                       0x0800163d   Thumb Code   112  stm32f0xx_hal_tim.o(i.TIM_Base_SetConfig)
+    TIM_ETR_SetConfig                        0x080016c1   Thumb Code    22  stm32f0xx_hal_tim.o(i.TIM_ETR_SetConfig)
+    UART_AdvFeatureConfig                    0x0800172f   Thumb Code   202  stm32f0xx_hal_uart.o(i.UART_AdvFeatureConfig)
+    UART_CheckIdleState                      0x080017f9   Thumb Code    96  stm32f0xx_hal_uart.o(i.UART_CheckIdleState)
+    UART_SetConfig                           0x08001861   Thumb Code   280  stm32f0xx_hal_uart.o(i.UART_SetConfig)
+    UART_WaitOnFlagUntilTimeout              0x08001991   Thumb Code    98  stm32f0xx_hal_uart.o(i.UART_WaitOnFlagUntilTimeout)
+    __0printf$3                              0x080019f5   Thumb Code    24  printf3.o(i.__0printf$3)
+    __1printf$3                              0x080019f5   Thumb Code     0  printf3.o(i.__0printf$3)
+    __2printf                                0x080019f5   Thumb Code     0  printf3.o(i.__0printf$3)
+    __scatterload_copy                       0x08001a15   Thumb Code    14  handlers.o(i.__scatterload_copy)
+    __scatterload_null                       0x08001a23   Thumb Code     2  handlers.o(i.__scatterload_null)
+    __scatterload_zeroinit                   0x08001a25   Thumb Code    14  handlers.o(i.__scatterload_zeroinit)
+    byte_to_int16_t                          0x08001c01   Thumb Code     8  main.o(i.byte_to_int16_t)
+    delay_us_init                            0x08001c09   Thumb Code    12  delay_us.o(i.delay_us_init)
+    fputc                                    0x08001c19   Thumb Code    18  main.o(i.fputc)
+    handle_protocol_switch                   0x08001c31   Thumb Code    70  main.o(i.handle_protocol_switch)
+    kb_buf_add                               0x08001c81   Thumb Code    48  helpers.o(i.kb_buf_add)
+    kb_buf_init                              0x08001cb1   Thumb Code    32  helpers.o(i.kb_buf_init)
+    kb_buf_is_full                           0x08001cd1   Thumb Code    28  helpers.o(i.kb_buf_is_full)
+    kb_buf_reset                             0x08001ced   Thumb Code    28  helpers.o(i.kb_buf_reset)
+    main                                     0x08001d09   Thumb Code   140  main.o(i.main)
+    malloc                                   0x08001dbd   Thumb Code    92  malloc.o(i.malloc)
+    mouse_buf_add                            0x08001e29   Thumb Code    50  helpers.o(i.mouse_buf_add)
+    mouse_buf_init                           0x08001e5b   Thumb Code    24  helpers.o(i.mouse_buf_init)
+    mouse_buf_is_full                        0x08001e73   Thumb Code    28  helpers.o(i.mouse_buf_is_full)
+    mouse_buf_reset                          0x08001e8f   Thumb Code    22  helpers.o(i.mouse_buf_reset)
+    parse_spi_buf                            0x08001ea5   Thumb Code   208  main.o(i.parse_spi_buf)
+    protocol_status_lookup_init              0x08001f7d   Thumb Code    22  main.o(i.protocol_status_lookup_init)
+    quad_decrement                           0x08001f99   Thumb Code    18  quad_encoder.o(i.quad_decrement)
+    quad_init                                0x08001fab   Thumb Code    18  quad_encoder.o(i.quad_init)
+    quad_reset                               0x08001fbd   Thumb Code    12  quad_encoder.o(i.quad_reset)
+    quad_write                               0x08001fc9   Thumb Code    82  quad_encoder.o(i.quad_write)
+    spi_error_dump_reboot                    0x08002021   Thumb Code    76  main.o(i.spi_error_dump_reboot)
+    grey_code_lookup                         0x0800209c   Data           4  quad_encoder.o(.constdata)
+    boot_message                             0x080020a0   Data          55  main.o(.constdata)
+    AHBPrescTable                            0x080020d7   Data          16  system_stm32f0xx.o(.constdata)
+    APBPrescTable                            0x080020e7   Data           8  system_stm32f0xx.o(.constdata)
+    Region$$Table$$Base                      0x080020f0   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x08002110   Number         0  anon$$obj.o(Region$$Table)
    us_timer                                 0x20000000   Data           4  delay_us.o(.data)
    hw_revision                              0x20000004   Data           1  main.o(.data)
    spi_error_occured                        0x20000005   Data           1  main.o(.data)
@@ -1968,9 +1988,10 @@ Image Symbol Table
    my_kb_buf                                0x20000178   Data          12  main.o(.bss)
    latest_mouse_event                       0x20000184   Data          12  main.o(.bss)
    protocol_status_lookup                   0x20000190   Data          16  main.o(.bss)
-    __heap_base                              0x200001a0   Data           0  startup_stm32f042x6.o(HEAP)
-    __heap_limit                             0x200003a0   Data           0  startup_stm32f042x6.o(HEAP)
-    __initial_sp                             0x200007a0   Data           0  startup_stm32f042x6.o(STACK)
+    quad_x                                   0x200001a0   Data          16  main.o(.bss)
+    __heap_base                              0x200001b0   Data           0  startup_stm32f042x6.o(HEAP)
+    __heap_limit                             0x200003b0   Data           0  startup_stm32f042x6.o(HEAP)
+    __initial_sp                             0x200007b0   Data           0  startup_stm32f042x6.o(STACK)



@@ -1980,149 +2001,154 @@ Memory Map of the image

  Image Entry point : 0x080000c1

-  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00002054, Max: 0x00008000, ABSOLUTE)
+  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00002134, Max: 0x00008000, ABSOLUTE)

-    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00002030, Max: 0x00008000, ABSOLUTE)
+    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00002110, Max: 0x00008000, ABSOLUTE)

    Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object

    0x08000000   0x08000000   0x000000c0   Data   RO            3    RESET               startup_stm32f042x6.o
-    0x080000c0   0x080000c0   0x00000000   Code   RO         3519  * .ARM.Collect$$$$00000000  mc_p.l(entry.o)
-    0x080000c0   0x080000c0   0x00000004   Code   RO         3821    .ARM.Collect$$$$00000001  mc_p.l(entry2.o)
-    0x080000c4   0x080000c4   0x00000004   Code   RO         3824    .ARM.Collect$$$$00000004  mc_p.l(entry5.o)
-    0x080000c8   0x080000c8   0x00000000   Code   RO         3826    .ARM.Collect$$$$00000008  mc_p.l(entry7b.o)
-    0x080000c8   0x080000c8   0x00000000   Code   RO         3828    .ARM.Collect$$$$0000000A  mc_p.l(entry8b.o)
-    0x080000c8   0x080000c8   0x00000008   Code   RO         3829    .ARM.Collect$$$$0000000B  mc_p.l(entry9a.o)
-    0x080000d0   0x080000d0   0x00000000   Code   RO         3831    .ARM.Collect$$$$0000000D  mc_p.l(entry10a.o)
-    0x080000d0   0x080000d0   0x00000000   Code   RO         3833    .ARM.Collect$$$$0000000F  mc_p.l(entry11a.o)
-    0x080000d0   0x080000d0   0x00000004   Code   RO         3822    .ARM.Collect$$$$00002712  mc_p.l(entry2.o)
+    0x080000c0   0x080000c0   0x00000000   Code   RO         3552  * .ARM.Collect$$$$00000000  mc_p.l(entry.o)
+    0x080000c0   0x080000c0   0x00000004   Code   RO         3854    .ARM.Collect$$$$00000001  mc_p.l(entry2.o)
+    0x080000c4   0x080000c4   0x00000004   Code   RO         3857    .ARM.Collect$$$$00000004  mc_p.l(entry5.o)
+    0x080000c8   0x080000c8   0x00000000   Code   RO         3859    .ARM.Collect$$$$00000008  mc_p.l(entry7b.o)
+    0x080000c8   0x080000c8   0x00000000   Code   RO         3861    .ARM.Collect$$$$0000000A  mc_p.l(entry8b.o)
+    0x080000c8   0x080000c8   0x00000008   Code   RO         3862    .ARM.Collect$$$$0000000B  mc_p.l(entry9a.o)
+    0x080000d0   0x080000d0   0x00000000   Code   RO         3864    .ARM.Collect$$$$0000000D  mc_p.l(entry10a.o)
+    0x080000d0   0x080000d0   0x00000000   Code   RO         3866    .ARM.Collect$$$$0000000F  mc_p.l(entry11a.o)
+    0x080000d0   0x080000d0   0x00000004   Code   RO         3855    .ARM.Collect$$$$00002712  mc_p.l(entry2.o)
    0x080000d4   0x080000d4   0x00000058   Code   RO            4    .text               startup_stm32f042x6.o
-    0x0800012c   0x0800012c   0x0000002c   Code   RO         3522    .text               mc_p.l(uidiv.o)
-    0x08000158   0x08000158   0x00000024   Code   RO         3526    .text               mc_p.l(memcpya.o)
-    0x0800017c   0x0800017c   0x00000024   Code   RO         3528    .text               mc_p.l(memseta.o)
-    0x080001a0   0x080001a0   0x00000024   Code   RO         3851    .text               mc_p.l(init.o)
-    0x080001c4   0x080001c4   0x00000048   Code   RO         2976    i.HAL_DMA_Abort_IT  stm32f0xx_hal_dma.o
-    0x0800020c   0x0800020c   0x0000001c   Code   RO         2305    i.HAL_Delay         stm32f0xx_hal.o
-    0x08000228   0x08000228   0x0000013c   Code   RO         2914    i.HAL_GPIO_Init     stm32f0xx_hal_gpio.o
-    0x08000364   0x08000364   0x00000008   Code   RO         2917    i.HAL_GPIO_TogglePin  stm32f0xx_hal_gpio.o
-    0x0800036c   0x0800036c   0x0000000c   Code   RO         2918    i.HAL_GPIO_WritePin  stm32f0xx_hal_gpio.o
-    0x08000378   0x08000378   0x0000000c   Code   RO         2309    i.HAL_GetTick       stm32f0xx_hal.o
-    0x08000384   0x08000384   0x00000076   Code   RO         1724    i.HAL_HalfDuplex_Init  stm32f0xx_hal_uart.o
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+    0x08000158   0x08000158   0x00000024   Code   RO         3559    .text               mc_p.l(memcpya.o)
+    0x0800017c   0x0800017c   0x00000024   Code   RO         3561    .text               mc_p.l(memseta.o)
+    0x080001a0   0x080001a0   0x00000024   Code   RO         3884    .text               mc_p.l(init.o)
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+    0x08000384   0x08000384   0x00000076   Code   RO         1757    i.HAL_HalfDuplex_Init  stm32f0xx_hal_uart.o
    0x080003fa   0x080003fa   0x00000002   PAD
-    0x080003fc   0x080003fc   0x00000010   Code   RO         2313    i.HAL_IncTick       stm32f0xx_hal.o
-    0x0800040c   0x0800040c   0x00000020   Code   RO         2314    i.HAL_Init          stm32f0xx_hal.o
-    0x0800042c   0x0800042c   0x00000022   Code   RO         2315    i.HAL_InitTick      stm32f0xx_hal.o
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    0x0800044e   0x0800044e   0x00000002   PAD
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-    0x080006c8   0x080006c8   0x000003d8   Code   RO         2134    i.HAL_RCC_OscConfig  stm32f0xx_hal_rcc.o
-    0x08000aa0   0x08000aa0   0x00000002   Code   RO          510    i.HAL_SPI_ErrorCallback  stm32f0xx_hal_spi.o
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+    0x08000640   0x08000640   0x00000088   Code   RO         2164    i.HAL_RCC_GetSysClockFreq  stm32f0xx_hal_rcc.o
+    0x080006c8   0x080006c8   0x000003d8   Code   RO         2167    i.HAL_RCC_OscConfig  stm32f0xx_hal_rcc.o
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    0x08000aa2   0x08000aa2   0x00000002   PAD
-    0x08000aa4   0x08000aa4   0x000000d4   Code   RO          513    i.HAL_SPI_IRQHandler  stm32f0xx_hal_spi.o
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-    0x08000c30   0x08000c30   0x00000054   Code   RO          435    i.HAL_SPI_MspInit   stm32f0xx_hal_msp.o
-    0x08000c84   0x08000c84   0x00000002   Code   RO          520    i.HAL_SPI_RxCpltCallback  stm32f0xx_hal_spi.o
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+    0x08000c84   0x08000c84   0x00000002   Code   RO          553    i.HAL_SPI_RxCpltCallback  stm32f0xx_hal_spi.o
    0x08000c86   0x08000c86   0x00000002   PAD
-    0x08000c88   0x08000c88   0x000000d4   Code   RO          525    i.HAL_SPI_TransmitReceive_IT  stm32f0xx_hal_spi.o
-    0x08000d5c   0x08000d5c   0x00000060   Code   RO          257    i.HAL_SPI_TxRxCpltCallback  main.o
-    0x08000dbc   0x08000dbc   0x00000018   Code   RO         3077    i.HAL_SYSTICK_CLKSourceConfig  stm32f0xx_hal_cortex.o
-    0x08000dd4   0x08000dd4   0x00000002   Code   RO         3078    i.HAL_SYSTICK_Callback  stm32f0xx_hal_cortex.o
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    0x08000dd6   0x08000dd6   0x00000002   PAD
-    0x08000dd8   0x08000dd8   0x00000030   Code   RO         3079    i.HAL_SYSTICK_Config  stm32f0xx_hal_cortex.o
-    0x08000e08   0x08000e08   0x00000008   Code   RO         3080    i.HAL_SYSTICK_IRQHandler  stm32f0xx_hal_cortex.o
-    0x08000e10   0x08000e10   0x00000048   Code   RO         1504    i.HAL_TIMEx_MasterConfigSynchronization  stm32f0xx_hal_tim_ex.o
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-    0x08000e8c   0x08000e8c   0x00000024   Code   RO          437    i.HAL_TIM_Base_MspInit  stm32f0xx_hal_msp.o
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-    0x08000ec8   0x08000ec8   0x000000ee   Code   RO          857    i.HAL_TIM_ConfigClockSource  stm32f0xx_hal_tim.o
+    0x08000dd8   0x08000dd8   0x00000030   Code   RO         3112    i.HAL_SYSTICK_Config  stm32f0xx_hal_cortex.o
+    0x08000e08   0x08000e08   0x00000008   Code   RO         3113    i.HAL_SYSTICK_IRQHandler  stm32f0xx_hal_cortex.o
+    0x08000e10   0x08000e10   0x00000048   Code   RO         1537    i.HAL_TIMEx_MasterConfigSynchronization  stm32f0xx_hal_tim_ex.o
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+    0x08000ec8   0x08000ec8   0x000000ee   Code   RO          890    i.HAL_TIM_ConfigClockSource  stm32f0xx_hal_tim.o
    0x08000fb6   0x08000fb6   0x00000002   PAD
-    0x08000fb8   0x08000fb8   0x00000048   Code   RO          439    i.HAL_UART_MspInit  stm32f0xx_hal_msp.o
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-    0x080010c8   0x080010c8   0x00000002   Code   RO          379    i.HardFault_Handler  stm32f0xx_it.o
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    0x080010ca   0x080010ca   0x00000002   PAD
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-    0x08001140   0x08001140   0x0000003c   Code   RO          259    i.MX_SPI1_Init      main.o
-    0x0800117c   0x0800117c   0x00000054   Code   RO          260    i.MX_TIM2_Init      main.o
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-    0x0800120a   0x0800120a   0x00000002   PAD
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-    0x08001252   0x08001252   0x00000002   PAD
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-    0x0800129a   0x0800129a   0x0000005e   Code   RO          533    i.SPI_2linesRxISR_8BIT  stm32f0xx_hal_spi.o
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-    0x08002007   0x08002007   0x00000008   Data   RO         3490    .constdata          system_stm32f0xx.o
-    0x0800200f   0x0800200f   0x00000001   PAD
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+    0x0800123a   0x0800123a   0x00000002   PAD
+    0x0800123c   0x0800123c   0x00000044   Code   RO         3114    i.NVIC_SetPriority  stm32f0xx_hal_cortex.o
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+    0x08001282   0x08001282   0x00000002   PAD
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+    0x080015de   0x080015de   0x00000002   PAD
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+    0x0800172e   0x0800172e   0x000000ca   Code   RO         1792    i.UART_AdvFeatureConfig  stm32f0xx_hal_uart.o
+    0x080017f8   0x080017f8   0x00000068   Code   RO         1793    i.UART_CheckIdleState  stm32f0xx_hal_uart.o
+    0x08001860   0x08001860   0x00000130   Code   RO         1808    i.UART_SetConfig    stm32f0xx_hal_uart.o
+    0x08001990   0x08001990   0x00000062   Code   RO         1810    i.UART_WaitOnFlagUntilTimeout  stm32f0xx_hal_uart.o
+    0x080019f2   0x080019f2   0x00000002   PAD
+    0x080019f4   0x080019f4   0x00000020   Code   RO         3654    i.__0printf$3       mc_p.l(printf3.o)
+    0x08001a14   0x08001a14   0x0000000e   Code   RO         3896    i.__scatterload_copy  mc_p.l(handlers.o)
+    0x08001a22   0x08001a22   0x00000002   Code   RO         3897    i.__scatterload_null  mc_p.l(handlers.o)
+    0x08001a24   0x08001a24   0x0000000e   Code   RO         3898    i.__scatterload_zeroinit  mc_p.l(handlers.o)
+    0x08001a32   0x08001a32   0x00000002   PAD
+    0x08001a34   0x08001a34   0x000001cc   Code   RO         3661    i._printf_core      mc_p.l(printf3.o)
+    0x08001c00   0x08001c00   0x00000008   Code   RO          314    i.byte_to_int16_t   main.o
+    0x08001c08   0x08001c08   0x00000010   Code   RO           13    i.delay_us_init     delay_us.o
+    0x08001c18   0x08001c18   0x00000018   Code   RO          315    i.fputc             main.o
+    0x08001c30   0x08001c30   0x00000050   Code   RO          316    i.handle_protocol_switch  main.o
+    0x08001c80   0x08001c80   0x00000030   Code   RO          149    i.kb_buf_add        helpers.o
+    0x08001cb0   0x08001cb0   0x00000020   Code   RO          150    i.kb_buf_init       helpers.o
+    0x08001cd0   0x08001cd0   0x0000001c   Code   RO          152    i.kb_buf_is_full    helpers.o
+    0x08001cec   0x08001cec   0x0000001c   Code   RO          155    i.kb_buf_reset      helpers.o
+    0x08001d08   0x08001d08   0x000000b4   Code   RO          319    i.main              main.o
+    0x08001dbc   0x08001dbc   0x0000006c   Code   RO         3827    i.malloc            mc_p.l(malloc.o)
+    0x08001e28   0x08001e28   0x00000032   Code   RO          156    i.mouse_buf_add     helpers.o
+    0x08001e5a   0x08001e5a   0x00000018   Code   RO          157    i.mouse_buf_init    helpers.o
+    0x08001e72   0x08001e72   0x0000001c   Code   RO          159    i.mouse_buf_is_full  helpers.o
+    0x08001e8e   0x08001e8e   0x00000016   Code   RO          162    i.mouse_buf_reset   helpers.o
+    0x08001ea4   0x08001ea4   0x000000d8   Code   RO          320    i.parse_spi_buf     main.o
+    0x08001f7c   0x08001f7c   0x0000001c   Code   RO          321    i.protocol_status_lookup_init  main.o
+    0x08001f98   0x08001f98   0x00000012   Code   RO          257    i.quad_decrement    quad_encoder.o
+    0x08001faa   0x08001faa   0x00000012   Code   RO          259    i.quad_init         quad_encoder.o
+    0x08001fbc   0x08001fbc   0x0000000c   Code   RO          260    i.quad_reset        quad_encoder.o
+    0x08001fc8   0x08001fc8   0x00000058   Code   RO          261    i.quad_write        quad_encoder.o
+    0x08002020   0x08002020   0x0000007c   Code   RO          322    i.spi_error_dump_reboot  main.o
+    0x0800209c   0x0800209c   0x00000004   Data   RO          262    .constdata          quad_encoder.o
+    0x080020a0   0x080020a0   0x00000037   Data   RO          328    .constdata          main.o
+    0x080020d7   0x080020d7   0x00000010   Data   RO         3522    .constdata          system_stm32f0xx.o
+    0x080020e7   0x080020e7   0x00000008   Data   RO         3523    .constdata          system_stm32f0xx.o
+    0x080020ef   0x080020ef   0x00000001   PAD
+    0x080020f0   0x080020f0   0x00000020   Data   RO         3894    Region$$Table       anon$$obj.o


-    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08002030, Size: 0x000007a0, Max: 0x00001800, ABSOLUTE)
+    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08002110, Size: 0x000007b0, Max: 0x00001800, ABSOLUTE)

    Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object

-    0x20000000   0x08002030   0x00000004   Data   RW           15    .data               delay_us.o
-    0x20000004   0x08002034   0x0000000c   Data   RW          279    .data               main.o
-    0x20000010   0x08002040   0x00000004   Data   RW         2320    .data               stm32f0xx_hal.o
-    0x20000014   0x08002044   0x00000004   Data   RW         3491    .data               system_stm32f0xx.o
-    0x20000018   0x08002048   0x00000004   Data   RW         3835    .data               mc_p.l(stdout.o)
-    0x2000001c   0x0800204c   0x00000004   Data   RW         3838    .data               mc_p.l(mvars.o)
-    0x20000020   0x08002050   0x00000004   Data   RW         3839    .data               mc_p.l(mvars.o)
-    0x20000024        -       0x0000017c   Zero   RW          273    .bss                main.o
-    0x200001a0        -       0x00000200   Zero   RW            2    HEAP                startup_stm32f042x6.o
-    0x200003a0        -       0x00000400   Zero   RW            1    STACK               startup_stm32f042x6.o
+    0x20000000   0x08002110   0x00000004   Data   RW           15    .data               delay_us.o
+    0x20000004   0x08002114   0x0000000c   Data   RW          329    .data               main.o
+    0x20000010   0x08002120   0x00000004   Data   RW         2353    .data               stm32f0xx_hal.o
+    0x20000014   0x08002124   0x00000004   Data   RW         3524    .data               system_stm32f0xx.o
+    0x20000018   0x08002128   0x00000004   Data   RW         3868    .data               mc_p.l(stdout.o)
+    0x2000001c   0x0800212c   0x00000004   Data   RW         3871    .data               mc_p.l(mvars.o)
+    0x20000020   0x08002130   0x00000004   Data   RW         3872    .data               mc_p.l(mvars.o)
+    0x20000024        -       0x0000018c   Zero   RW          323    .bss                main.o
+    0x200001b0        -       0x00000200   Zero   RW            2    HEAP                startup_stm32f042x6.o
+    0x200003b0        -       0x00000400   Zero   RW            1    STACK               startup_stm32f042x6.o


 ==============================================================================
@@ -2134,7 +2160,8 @@ Image component sizes

        16          4          0          4          0     448436   delay_us.o
       260          0          0          0          0       6288   helpers.o
-      1126        162         55         12        380      15455   main.o
+      1210        172         55         12        396      15570   main.o
+       136          6          4          0          0       3230   quad_encoder.o
        88         38        192          0       1536        648   startup_stm32f042x6.o
       122         18          0          4          0       3631   stm32f0xx_hal.o
       178         28          0          0          0      10531   stm32f0xx_hal_cortex.o
@@ -2150,7 +2177,7 @@ Image component sizes
        92         14         24          4          0       1147   system_stm32f0xx.o

    ----------------------------------------------------------------------
-      7132        500        304         24       1916     524703   Object Totals
+      7352        516        308         24       1932     528048   Object Totals
         0          0         32          0          0          0   (incl. Generated)
        22          0          1          0          0          0   (incl. Padding)

@@ -2196,15 +2223,15 @@ Image component sizes

      Code (inc. data)   RO Data    RW Data    ZI Data      Debug   

-      7936        544        304         36       1916     521747   Grand Totals
-      7936        544        304         36       1916     521747   ELF Image Totals
-      7936        544        304         36          0          0   ROM Totals
+      8156        560        308         36       1932     524916   Grand Totals
+      8156        560        308         36       1932     524916   ELF Image Totals
+      8156        560        308         36          0          0   ROM Totals

 ==============================================================================

-    Total RO  Size (Code + RO Data)                 8240 (   8.05kB)
-    Total RW  Size (RW Data + ZI Data)              1952 (   1.91kB)
-    Total ROM Size (Code + RO Data + RW Data)       8276 (   8.08kB)
+    Total RO  Size (Code + RO Data)                 8464 (   8.27kB)
+    Total RW  Size (RW Data + ZI Data)              1968 (   1.92kB)
+    Total ROM Size (Code + RO Data + RW Data)       8500 (   8.30kB)

 ==============================================================================

--- a/firmware/quad_test/MDK-ARM/my_adb/my_adb_my_adb.dep
+++ b/firmware/quad_test/MDK-ARM/my_adb/my_adb_my_adb.dep
@@ -1,10 +1,10 @@
 Dependencies for Project 'my_adb', Target 'my_adb': (DO NOT MODIFY !)
 CompilerVersion: 5060750::V5.06 update 6 (build 750)::ARMCC
-F (startup_stm32f042x6.s)(0x620EB6AE)(--cpu Cortex-M0 -g --apcs=interwork --pd "__MICROLIB SETA 1"
+F (startup_stm32f042x6.s)(0x620EBB6B)(--cpu Cortex-M0 -g --apcs=interwork --pd "__MICROLIB SETA 1"

 -I.\RTE\_my_adb
-
-IC:\Users\allen\AppData\Local\Arm\Packs\ARM\CMSIS\5.6.0\CMSIS\Core\Include
+
+-IC:\Users\allen\AppData\Local\Arm\Packs\ARM\CMSIS\5.6.0\CMSIS\Core\Include

 -IC:\Users\allen\AppData\Local\Arm\Packs\Keil\STM32F0xx_DFP\2.0.0\Drivers\CMSIS\Device\ST\STM32F0xx\Include

@@ -41,8 +41,8 @@ I (C:\Keil_v5\ARM\ARMCC\include\string.h)(0x5D9B4298)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_cortex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_cortex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c_ex.h)(0x5DFA0893)
@@ -74,10 +74,48 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart_ex.h)(0x5DFA0893)
 I (../Inc/stm32f0xx_hal_conf.h)(0x620EBB6A)
 I (../Inc/main.h)(0x620EBB6A)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_def.h)(0x5DFA0893)
-I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f0xx.h)(0x5DFA0880)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_def.h)(0x5DFA0893)
+I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f0xx.h)(0x5DFA0880)
+I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f042x6.h)(0x5DFA0880)
+I (../Drivers/CMSIS/Include/core_cm0.h)(0x5DFA0892)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5D9B4298)
+I (../Drivers/CMSIS/Include/core_cmInstr.h)(0x5DFA0892)
 I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x5DFA0892)
-I (../Drivers/CMSIS/Include/core_cm0.h)(0x5DFA0892)
+I (../Drivers/CMSIS/Include/core_cmFunc.h)(0x5DFA0892)
+I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/system_stm32f0xx.h)(0x5DFA0880)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_cortex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart_ex.h)(0x5DFA0893)
+I (../Inc/shared.h)(0x617487BD)
+F (..\Inc\delay_us.h)(0x617487C7)()
+F (..\Inc\helpers.h)(0x61E0BF7F)()
+F (..\Inc\quad_encoder.h)(0x620EC234)()
+F (..\Src\quad_encoder.c)(0x620EC243)(--c99 -c --cpu Cortex-M0 -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I ../Inc -I ../Drivers/STM32F0xx_HAL_Driver/Inc -I ../Drivers/STM32F0xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F0xx/Include -I ../Drivers/CMSIS/Include
+
+-I.\RTE\_my_adb
+
+-IC:\Users\allen\AppData\Local\Arm\Packs\ARM\CMSIS\5.6.0\CMSIS\Core\Include
+
+-IC:\Users\allen\AppData\Local\Arm\Packs\Keil\STM32F0xx_DFP\2.0.0\Drivers\CMSIS\Device\ST\STM32F0xx\Include
+
+-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F042x6 -DUSE_HAL_DRIVER -DSTM32F042x6
+
+-o my_adb\quad_encoder.o --omf_browse my_adb\quad_encoder.crf --depend my_adb\quad_encoder.d)
 I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5D9B429A)
 I (C:\Keil_v5\ARM\ARMCC\include\string.h)(0x5D9B4298)
 I (C:\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5D9B429A)
@@ -112,11 +150,11 @@ I (C:\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5D9B429A)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F042x6 -DUSE_HAL_DRIVER -DSTM32F042x6
-
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart_ex.h)(0x5DFA0893)
+I (../Inc/shared.h)(0x617487BD)
 F (../Src/main.c)(0x620EC230)(--c99 -c --cpu Cortex-M0 -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I ../Inc -I ../Drivers/STM32F0xx_HAL_Driver/Inc -I ../Drivers/STM32F0xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F0xx/Include -I ../Drivers/CMSIS/Include
-I (../Inc/main.h)(0x620EB6AD)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal.h)(0x5DFA0893)
+
+-I.\RTE\_my_adb

 -IC:\Users\allen\AppData\Local\Arm\Packs\ARM\CMSIS\5.6.0\CMSIS\Core\Include

@@ -146,11 +184,11 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_cortex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart_ex.h)(0x5DFA0893)
-I (C:\Keil_v5\ARM\ARMCC\include\string.h)(0x5D9B4298)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c_ex.h)(0x5DFA0893)
-I (../Inc/delay_us.h)(0x617487C7)
-I (../Inc/shared.h)(0x617487BD)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim.h)(0x5DFA0893)
@@ -180,48 +218,10 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_def.h)(0x5DFA0893)
 I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f0xx.h)(0x5DFA0880)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_cortex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart_ex.h)(0x5DFA0893)
-I (../Inc/stm32f0xx_it.h)(0x620EB6AC)
-F (../Src/stm32f0xx_hal_msp.c)(0x620EB6AD)(--c99 -c --cpu Cortex-M0 -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I ../Inc -I ../Drivers/STM32F0xx_HAL_Driver/Inc -I ../Drivers/STM32F0xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F0xx/Include -I ../Drivers/CMSIS/Include
-
-I.\RTE\_my_adb
-
-IC:\Users\allen\AppData\Local\Arm\Packs\ARM\CMSIS\5.6.0\CMSIS\Core\Include
-
-IC:\Users\allen\AppData\Local\Arm\Packs\Keil\STM32F0xx_DFP\2.0.0\Drivers\CMSIS\Device\ST\STM32F0xx\Include
-
-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F042x6 -DUSE_HAL_DRIVER -DSTM32F042x6
-
-o my_adb\stm32f0xx_hal_msp.o --omf_browse my_adb\stm32f0xx_hal_msp.crf --depend my_adb\stm32f0xx_hal_msp.d)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal.h)(0x5DFA0893)
-I (../Inc/stm32f0xx_hal_conf.h)(0x620EB6AD)
-I (../Inc/main.h)(0x620EB6AD)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_def.h)(0x5DFA0893)
-I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f0xx.h)(0x5DFA0880)
-I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f042x6.h)(0x5DFA0880)
-I (../Drivers/CMSIS/Include/core_cm0.h)(0x5DFA0892)
-I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5D9B4298)
-I (../Drivers/CMSIS/Include/core_cmInstr.h)(0x5DFA0892)
 I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f042x6.h)(0x5DFA0880)
 I (../Drivers/CMSIS/Include/core_cm0.h)(0x5DFA0892)
-I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/system_stm32f0xx.h)(0x5DFA0880)
-I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5D9B429A)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5D9B4298)
+I (../Drivers/CMSIS/Include/core_cmInstr.h)(0x5DFA0892)
 I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x5DFA0892)
 I (../Drivers/CMSIS/Include/core_cmFunc.h)(0x5DFA0892)
 I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/system_stm32f0xx.h)(0x5DFA0880)
@@ -253,8 +253,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)

 -IC:\Users\allen\AppData\Local\Arm\Packs\Keil\STM32F0xx_DFP\2.0.0\Drivers\CMSIS\Device\ST\STM32F0xx\Include

-I (C:\Keil_v5\ARM\ARMCC\include\string.h)(0x5D9B4298)
-I (C:\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5D9B429A)
+-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F042x6 -DUSE_HAL_DRIVER -DSTM32F042x6
+
 -o my_adb\stm32f0xx_hal_msp.o --omf_browse my_adb\stm32f0xx_hal_msp.crf --depend my_adb\stm32f0xx_hal_msp.d)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal.h)(0x5DFA0893)
 I (../Inc/stm32f0xx_hal_conf.h)(0x620EBB6A)
@@ -286,8 +286,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart_ex.h)(0x5DFA0893)
-I (../Inc/shared.h)(0x617487BD)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart_ex.h)(0x5DFA0893)
 F (../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_spi.c)(0x5DFA0893)(--c99 -c --cpu Cortex-M0 -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I ../Inc -I ../Drivers/STM32F0xx_HAL_Driver/Inc -I ../Drivers/STM32F0xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F0xx/Include -I ../Drivers/CMSIS/Include

 -I.\RTE\_my_adb
@@ -319,8 +319,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_cortex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr.h)(0x5DFA0893)
@@ -352,8 +352,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/CMSIS/Include/core_cm0.h)(0x5DFA0892)
 I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5D9B4298)
 I (../Drivers/CMSIS/Include/core_cmInstr.h)(0x5DFA0892)
-I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x5DFA0892)
-I (../Drivers/CMSIS/Include/core_cmFunc.h)(0x5DFA0892)
+I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x5DFA0892)
+I (../Drivers/CMSIS/Include/core_cmFunc.h)(0x5DFA0892)
 I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/system_stm32f0xx.h)(0x5DFA0880)
 I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5D9B429A)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc_ex.h)(0x5DFA0893)
@@ -385,8 +385,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 -D__UVISION_VERSION="529" -D_RTE_ -DSTM32F042x6 -DUSE_HAL_DRIVER -DSTM32F042x6

 -o my_adb\stm32f0xx_hal_tim.o --omf_browse my_adb\stm32f0xx_hal_tim.crf --depend my_adb\stm32f0xx_hal_tim.d)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal.h)(0x5DFA0893)
-I (../Inc/stm32f0xx_hal_conf.h)(0x620EB6AD)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal.h)(0x5DFA0893)
+I (../Inc/stm32f0xx_hal_conf.h)(0x620EBB6A)
 I (../Inc/main.h)(0x620EBB6A)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_def.h)(0x5DFA0893)
@@ -418,8 +418,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart_ex.h)(0x5DFA0893)
 F (../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim_ex.c)(0x5DFA0893)(--c99 -c --cpu Cortex-M0 -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I ../Inc -I ../Drivers/STM32F0xx_HAL_Driver/Inc -I ../Drivers/STM32F0xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F0xx/Include -I ../Drivers/CMSIS/Include
-
-I.\RTE\_my_adb
+
+-I.\RTE\_my_adb

 -IC:\Users\allen\AppData\Local\Arm\Packs\ARM\CMSIS\5.6.0\CMSIS\Core\Include

@@ -451,8 +451,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi_ex.h)(0x5DFA0893)
@@ -484,8 +484,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x5DFA0892)
 I (../Drivers/CMSIS/Include/core_cmFunc.h)(0x5DFA0892)
 I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/system_stm32f0xx.h)(0x5DFA0880)
-I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5D9B429A)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc_ex.h)(0x5DFA0893)
+I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5D9B429A)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma.h)(0x5DFA0893)
@@ -517,8 +517,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal.h)(0x5DFA0893)
 I (../Inc/stm32f0xx_hal_conf.h)(0x620EBB6A)
 I (../Inc/main.h)(0x620EBB6A)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_def.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_def.h)(0x5DFA0893)
 I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f0xx.h)(0x5DFA0880)
 I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f042x6.h)(0x5DFA0880)
 I (../Drivers/CMSIS/Include/core_cm0.h)(0x5DFA0892)
@@ -550,8 +550,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)

 -I.\RTE\_my_adb

-IC:\Users\allen\AppData\Local\Arm\Packs\ARM\CMSIS\5.6.0\CMSIS\Core\Include
-
+-IC:\Users\allen\AppData\Local\Arm\Packs\ARM\CMSIS\5.6.0\CMSIS\Core\Include
+
 -IC:\Users\allen\AppData\Local\Arm\Packs\Keil\STM32F0xx_DFP\2.0.0\Drivers\CMSIS\Device\ST\STM32F0xx\Include

 -D__UVISION_VERSION="529" -D_RTE_ -DSTM32F042x6 -DUSE_HAL_DRIVER -DSTM32F042x6
@@ -583,8 +583,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
@@ -616,8 +616,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5D9B429A)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_cortex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h)(0x5DFA0893)
@@ -649,8 +649,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_def.h)(0x5DFA0893)
 I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f0xx.h)(0x5DFA0880)
-I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f042x6.h)(0x5DFA0880)
-I (../Drivers/CMSIS/Include/core_cm0.h)(0x5DFA0892)
+I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f042x6.h)(0x5DFA0880)
+I (../Drivers/CMSIS/Include/core_cm0.h)(0x5DFA0892)
 I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5D9B4298)
 I (../Drivers/CMSIS/Include/core_cmInstr.h)(0x5DFA0892)
 I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x5DFA0892)
@@ -682,8 +682,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 -IC:\Users\allen\AppData\Local\Arm\Packs\ARM\CMSIS\5.6.0\CMSIS\Core\Include

 -IC:\Users\allen\AppData\Local\Arm\Packs\Keil\STM32F0xx_DFP\2.0.0\Drivers\CMSIS\Device\ST\STM32F0xx\Include
-
-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F042x6 -DUSE_HAL_DRIVER -DSTM32F042x6
+
+-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F042x6 -DUSE_HAL_DRIVER -DSTM32F042x6

 -o my_adb\stm32f0xx_hal_i2c.o --omf_browse my_adb\stm32f0xx_hal_i2c.crf --depend my_adb\stm32f0xx_hal_i2c.d)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal.h)(0x5DFA0893)
@@ -715,8 +715,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_spi_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim_ex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart_ex.h)(0x5DFA0893)
 F (../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c_ex.c)(0x5DFA0893)(--c99 -c --cpu Cortex-M0 -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I ../Inc -I ../Drivers/STM32F0xx_HAL_Driver/Inc -I ../Drivers/STM32F0xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F0xx/Include -I ../Drivers/CMSIS/Include

@@ -748,8 +748,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma_ex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_cortex.h)(0x5DFA0893)
-I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_cortex.h)(0x5DFA0893)
+I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash_ex.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c.h)(0x5DFA0893)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c_ex.h)(0x5DFA0893)
@@ -781,8 +781,8 @@ I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h)(0x5DFA0893)
 I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f042x6.h)(0x5DFA0880)
 I (../Drivers/CMSIS/Include/core_cm0.h)(0x5DFA0892)
 I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5D9B4298)
-I (../Drivers/CMSIS/Include/core_cmInstr.h)(0x5DFA0892)
-I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x5DFA0892)
+I (../Drivers/CMSIS/Include/core_cmInstr.h)(0x5DFA0892)
+I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x5DFA0892)
 I (../Drivers/CMSIS/Include/core_cmFunc.h)(0x5DFA0892)
 I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/system_stm32f0xx.h)(0x5DFA0880)
 I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5D9B429A)
@@ -822,8 +822,8 @@ I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x5DFA0892)
 I (../Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_def.h)(0x5DFA0893)
 I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f0xx.h)(0x5DFA0880)
 I (../Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f042x6.h)(0x5DFA0880)
-I (../Drivers/CMSIS/Include/core_cm0.h)(0x5DFA0892)
-I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5D9B4298)
+I (../Drivers/CMSIS/Include/core_cm0.h)(0x5DFA0892)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5D9B4298)
 I (../Drivers/CMSIS/Include/core_cmInstr.h)(0x5DFA0892)
 I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x5DFA0892)
 I (../Drivers/CMSIS/Include/core_cmFunc.h)(0x5DFA0892)
--- a/firmware/quad_test/MDK-ARM/my_adb/quad_encoder.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/quad_encoder.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/quad_encoder.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/quad_encoder.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_cortex.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_cortex.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_cortex.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_cortex.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_dma.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_dma.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_dma.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_dma.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_flash.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_flash.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_flash.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_flash.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_flash_ex.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_flash_ex.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_flash_ex.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_flash_ex.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_gpio.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_gpio.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_gpio.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_gpio.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_i2c.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_i2c.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_i2c.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_i2c.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_i2c_ex.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_i2c_ex.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_i2c_ex.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_i2c_ex.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_msp.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_msp.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_msp.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_msp.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_pwr.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_pwr.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_pwr.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_pwr.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_pwr_ex.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_pwr_ex.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_pwr_ex.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_pwr_ex.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_rcc.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_rcc.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_rcc.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_rcc.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_rcc_ex.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_rcc_ex.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_rcc_ex.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_rcc_ex.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_spi.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_spi.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_spi.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_spi.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_spi_ex.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_spi_ex.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_spi_ex.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_spi_ex.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_tim.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_tim.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_tim.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_tim.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_tim_ex.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_tim_ex.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_tim_ex.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_tim_ex.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_uart.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_uart.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_uart.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_uart.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_uart_ex.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_uart_ex.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_uart_ex.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_hal_uart_ex.o
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_it.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_it.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_it.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/stm32f0xx_it.o
--- a/firmware/quad_test/MDK-ARM/my_adb/system_stm32f0xx.crf
+++ b/firmware/quad_test/MDK-ARM/my_adb/system_stm32f0xx.crf
--- a/firmware/quad_test/MDK-ARM/my_adb/system_stm32f0xx.o
+++ b/firmware/quad_test/MDK-ARM/my_adb/system_stm32f0xx.o
--- a/firmware/quad_test/Src/main.c
+++ b/firmware/quad_test/Src/main.c
@@ -248,6 +248,7 @@ uint8_t int16_to_uint6(int16_t value)
  return (uint8_t)value;
 }

+quad_output quad_x;

 /* USER CODE END 0 */

@@ -295,12 +296,15 @@ int main(void)

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
+  // GPIOF, GPIO_PIN_0
+  quad_init(&quad_x, GPIOF, GPIO_PIN_0, GPIOF, GPIO_PIN_1);
  while (1)
  {
    if(spi_error_occured)
      spi_error_dump_reboot();

-
+    quad_decrement(&quad_x);
+    HAL_Delay(1);
    
  /* USER CODE END WHILE */

@@ -449,11 +453,15 @@ static void MX_GPIO_Init(void)

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(USER_LED_GPIO_Port, USER_LED_Pin, GPIO_PIN_RESET);

+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOF, GPIO_PIN_0|GPIO_PIN_1, GPIO_PIN_RESET);
+
  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(SLAVE_REQ_GPIO_Port, SLAVE_REQ_Pin, GPIO_PIN_RESET);

@@ -464,6 +472,13 @@ static void MX_GPIO_Init(void)
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(USER_LED_GPIO_Port, &GPIO_InitStruct);

+  /*Configure GPIO pins : PF0 PF1 */
+  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
+
  /*Configure GPIO pin : SLAVE_REQ_Pin */
  GPIO_InitStruct.Pin = SLAVE_REQ_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
--- a/firmware/quad_test/Src/quad_encoder.c
+++ b/firmware/quad_test/Src/quad_encoder.c
@@ -4,3 +4,58 @@
 #include "quad_encoder.h"
 #include "shared.h"

+const uint8_t grey_code_lookup[4] = {0, 1, 3, 2};
+
+void quad_write(quad_output *qo)
+{
+  // printf("%d\n", qo->current_index);
+  uint8_t current_code = grey_code_lookup[qo->current_index];
+  switch(current_code)
+  {
+      case 0:
+        HAL_GPIO_WritePin(qo->A_port, qo->A_pin, GPIO_PIN_RESET);
+        HAL_GPIO_WritePin(qo->B_port, qo->B_pin, GPIO_PIN_RESET);
+        break;
+      case 1:
+        HAL_GPIO_WritePin(qo->A_port, qo->A_pin, GPIO_PIN_RESET);
+        HAL_GPIO_WritePin(qo->B_port, qo->B_pin, GPIO_PIN_SET);
+        break;
+      case 2:
+        HAL_GPIO_WritePin(qo->A_port, qo->A_pin, GPIO_PIN_SET);
+        HAL_GPIO_WritePin(qo->B_port, qo->B_pin, GPIO_PIN_RESET);
+        break;
+      case 3:
+        HAL_GPIO_WritePin(qo->A_port, qo->A_pin, GPIO_PIN_SET);
+        HAL_GPIO_WritePin(qo->B_port, qo->B_pin, GPIO_PIN_SET);
+        break;
+      default:
+        break;
+  }
+}
+
+void quad_reset(quad_output *qo)
+{
+  qo->current_index = 0;
+  quad_write(qo);
+}
+
+void quad_init(quad_output *qo, GPIO_TypeDef* this_A_port, uint16_t this_A_pin, GPIO_TypeDef* this_B_port, uint16_t this_B_pin)
+{
+  qo->A_port = this_A_port;
+  qo->A_pin = this_A_pin;
+  qo->B_port = this_B_port;
+  qo->B_pin = this_B_pin;
+  quad_reset(qo);
+}
+
+void quad_increment(quad_output *qo)
+{
+  qo->current_index = (uint8_t)(qo->current_index + 1) % 4;
+  quad_write(qo);
+}
+
+void quad_decrement(quad_output *qo)
+{
+  qo->current_index = (uint8_t)(qo->current_index - 1) % 4;
+  quad_write(qo);
+}
--- a/firmware/quad_test/my_adb.ioc
+++ b/firmware/quad_test/my_adb.ioc
@@ -12,18 +12,20 @@ Mcu.IPNb=6
 Mcu.Name=STM32F042F6Px
 Mcu.Package=TSSOP20
 Mcu.Pin0=PB8
-Mcu.Pin1=PA1
-Mcu.Pin10=VP_SYS_VS_Systick
-Mcu.Pin11=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin2=PA2
-Mcu.Pin3=PA4
-Mcu.Pin4=PA5
-Mcu.Pin5=PA6
-Mcu.Pin6=PA7
-Mcu.Pin7=PA13
-Mcu.Pin8=PA14
-Mcu.Pin9=VP_SYS_VS_PINREMAP
-Mcu.PinsNb=12
+Mcu.Pin1=PF0-OSC_IN
+Mcu.Pin10=PA14
+Mcu.Pin11=VP_SYS_VS_PINREMAP
+Mcu.Pin12=VP_SYS_VS_Systick
+Mcu.Pin13=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin2=PF1-OSC_OUT
+Mcu.Pin3=PA1
+Mcu.Pin4=PA2
+Mcu.Pin5=PA4
+Mcu.Pin6=PA5
+Mcu.Pin7=PA6
+Mcu.Pin8=PA7
+Mcu.Pin9=PA13
+Mcu.PinsNb=14
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F042F6Px
@@ -66,6 +68,10 @@ PCC.Seq0=0
 PCC.Series=STM32F0
 PCC.Temperature=25
 PCC.Vdd=3.6
+PF0-OSC_IN.Locked=true
+PF0-OSC_IN.Signal=GPIO_Output
+PF1-OSC_OUT.Locked=true
+PF1-OSC_OUT.Signal=GPIO_Output
 PinOutPanel.RotationAngle=0
 ProjectManager.AskForMigrate=true
 ProjectManager.BackupPrevious=false
--- a/firmware/quad_test/scrap.c
+++ b/firmware/quad_test/scrap.c
@@ -1,307 +1 @@
-  for (int i = 0; i < SPI_BUF_SIZE; ++i)
-    printf("%d ", backup_spi1_recv_buf[i]);
-  printf("\n");
-      printf("%d %d %x\n", buffered_code, adb_code, response);
-
-  while (1)
-  {
-    DEBUG0_HI();
-    process_spi_data();
-    DEBUG0_LOW();
-  /* USER CODE END WHILE */
-
-  /* USER CODE BEGIN 3 */
-    if(IS_ADB_DEVICE_PRESENT() == 0)
-      continue;
-    adb_status = adb_recv_cmd(&adb_data, 0);
-    if(adb_status == ADB_LINE_STATUS_RESET)
-      adb_reset();
-    else if(adb_status != ADB_OK)
-      continue;
-
-    uint8_t this_addr = adb_data >> 4;
-
-    mouse_event* this_mouse_event = mouse_buf_peek(&my_mouse_buf);
-    if(this_mouse_event != NULL)
-    {
-      
-    }
-
-
-
-
-    adb_status = parse_adb_cmd(adb_data);
-    if(adb_status == ADB_MOUSE_POLL)
-      adb_mouse_update();
-  }
-  /* USER CODE END 3 */
-
-}  
-  // printf("%d %d\n", this_mouse_event->movement_x, this_mouse_event->movement_y);
-  // mouse_buf_pop(&my_mouse_buf);
-while (1)
-  {
-
-  /* USER CODE END WHILE */
-
-  /* USER CODE BEGIN 3 */
-
-    adb_status = adb_recv_cmd(&adb_data, 0);
-    // printf("%d\n", adb_status);
-
-    if(adb_status == ADB_LINE_STATUS_RESET)
-      adb_reset();
-    else if(adb_status != ADB_OK)
-      continue;
-    // printf("%d\n", adb_data);
-    adb_status = parse_adb_cmd(adb_data);
-
-    if(adb_status == ADB_MOUSE_POLL)
-    {
-      adb_mouse_update();
-    }
-    // if(adb_status == ADB_KB_POLL)
-    // {
-    //   DEBUG0_HI();
-    //   DEBUG0_LOW();
-    // }
-  }
-
-adb_status = adb_recv_cmd(&adb_data, 0);
-  // if(cmd == ADB_CMD_TYPE_TALK && reg == 0 && addr == adb_mouse_current_addr && HAL_GetTick() - last_send > 500)
-  // {
-  //   uint16_t response = 0x8082;
-  //   if(HAL_GetTick() % 2)
-  //     response = 0x80fc;
-  //   adb_send_response_16b(response);
-  //   last_send = HAL_GetTick();
-  // }
-
-uint32_t last_send;
-void adb_mouse_update(void)
-{
-  mouse_event* this_mouse_event = mouse_buf_peek(&my_mouse_buf);
-  if(this_mouse_event == NULL)
-    return;
-  // uint16_t response = 0;
-  // if(this_mouse_event->button_left == 0)
-  //   response |= 0x8000;
-  // if(this_mouse_event->button_right == 0)
-  //   response |= 0x80;
-  response |= ((uint8_t)(this_mouse_event->movement_x)) & 0x7f;
-  response |= (((uint8_t)(this_mouse_event->movement_y)) & 0x7f) << 8;
-  adb_send_response_16b(response);
-  printf("0x%x\n", response);
-
-  if(HAL_GetTick() - last_send > 100)
-  {
-    // uint16_t response = 0x8080;
-    // if(HAL_GetTick() % 2)
-    //   response = 0x80fc;
-    DEBUG1_HI();
-    adb_send_response_16b(response);
-    DEBUG1_LOW();
-    last_send = HAL_GetTick();
-  }
-
-  mouse_buf_reset(&my_mouse_buf);
-}
-
-
-    if(adb_status == ADB_LINE_STATUS_RESET)
-      adb_reset();
-    else if(adb_status != ADB_OK)
-      continue;
-    
-    adb_status = parse_adb_cmd(adb_data);
-    if(adb_status == ADB_MOUSE_POLL)
-    {
-      // DEBUG0_HI();
-      adb_mouse_update();
-      // DEBUG0_LOW();
-    }
-  if(cmd == ADB_CMD_TYPE_TALK && reg == 0 && addr == adb_mouse_current_addr && HAL_GetTick() - last_send > 500)
-  {
-    uint16_t response = 0x80fc;
-    DEBUG1_HI();
-    adb_send_response_16b(response);
-    last_send = HAL_GetTick();
-    printf("sending...\n");
-    DEBUG1_LOW();
-  }
-
-  if(cmd == ADB_CMD_TYPE_TALK && reg == 0 && addr == adb_kb_current_addr && HAL_GetTick() - last_send > 500)
-  {
-    uint16_t response = 0x580;
-    DEBUG1_HI();
-    adb_send_response_16b(response);
-    last_send = HAL_GetTick();
-    printf("sending...\n");
-    DEBUG1_LOW();
-  }
-
-  
-  if(micros() - atten_start < 700)
-    printf("%d\n", micros() - atten_start);
-
-void adb_recv_cmd(void)
-{
-  HAL_GPIO_WritePin(DEBUG0_GPIO_Port, DEBUG0_Pin, GPIO_PIN_SET);
-  uint8_t result = look_for_atten(1);
-  HAL_GPIO_WritePin(DEBUG0_GPIO_Port, DEBUG0_Pin, GPIO_PIN_RESET);
-  // printf("%d\n", result);
-
-  uint8_t atten_result = look_for_atten(1);
-
-  if(atten_result != )
-}
-
-  // if ADB data line is high
-  while(ADB_READ_DATA_PIN() == GPIO_PIN_SET)
-  {
-    if(blocking == 0)
-      return ADB_LINE_STATUS_IDLE;
-  }
-  printf("%d %d\n", lo_time, hi_time);
-
-
-    HAL_GPIO_WritePin(DEBUG0_GPIO_Port, DEBUG0_Pin, GPIO_PIN_SET);
-    // parse_adb_cmd(adb_data);
-    printf("%d 0x%x\n", adb_status, adb_data);
-    HAL_GPIO_WritePin(DEBUG0_GPIO_Port, DEBUG0_Pin, GPIO_PIN_RESET);
-    // HAL_Delay(4);
-
-    if(adb_status != 0)
-      HAL_GPIO_WritePin(DEBUG0_GPIO_Port, DEBUG0_Pin, GPIO_PIN_SET);
-    else
-      HAL_GPIO_WritePin(DEBUG0_GPIO_Port, DEBUG0_Pin, GPIO_PIN_RESET);
-
-    if((adb_data & 0xf) == 0x4)
-      HAL_GPIO_WritePin(DEBUG1_GPIO_Port, DEBUG1_Pin, GPIO_PIN_SET);
-    else
-      HAL_GPIO_WritePin(DEBUG1_GPIO_Port, DEBUG1_Pin, GPIO_PIN_RESET);
-    // printf("%d 0x%x %x\n", adb_status, adb_data, adb_data & 0xf);
-
-
-    if(adb_status != 0)
-      HAL_GPIO_WritePin(DEBUG0_GPIO_Port, DEBUG0_Pin, GPIO_PIN_SET);
-    else
-      HAL_GPIO_WritePin(DEBUG0_GPIO_Port, DEBUG0_Pin, GPIO_PIN_RESET);
-
-    printf("%d 0x%x\n", adb_status, adb_data);
-
-uint16_t adb_mouse_reg[ADB_REG_SIZE];
-uint16_t adb_kb_reg[ADB_REG_SIZE];
-#define ADB_REG_SIZE 4
-
-
-default addr:
-2 = keyboard
-3 = mouse
-
-host: 0000 1111 = 0x0f addr 0 talk reg 3
-no response
-
-host: 0001 1111 = 0x1f addr 1 talk reg 3
-no response
-
-host: 0010 1111 = 0x2f addr 2 talk reg 3
-device: 0110 0000 0000 0101
-keyboard
-
-host: 0011 1111 = 0x3f addr 3 talk reg 3
-device: 0110 1010 0000 0001
-mouse
-
-host: 0100 1111 = 0x4f addr 4 talk reg 3
-no response
-
-...
-
-host: 1111 1111 = 0xff addr 15 talk reg 3
-no response
-
----------
-
-host: 0010 1011 addr 2 listen reg 3
-0000 1111 1111 1110 change addr to 0xf
-
-host: 00101111 addr 2 talk reg 3
-no response
-
-host: 1111 1011 addr 0xf listen reg 3
-0000 0010 1111 1110 change addr to 0x2
-
-host: 1111 1111 addr 0xf talk reg 3
-no response
-
-----------
-
-host: 0011 1011 addr 3 listen reg 3
-0000 1111 1111 1110  change addr to 0xf
-
-host: 0011 1111 addr 3 talk reg 3
-no response
-
-host: 1111 1011 addr 0xf listen reg 3
-0000 0011 1111 1110 change addr to 0x3
-
-
-host: 1111 1111 addr 0xf talk reg 3
-no response
-
-----
-
-host: 0010 1011
-
-if(cmd == ADB_CMD_TYPE_LISTEN && reg == 3 && addr == adb_mouse_current_addr)
-  {
-    uint16_t host_cmd;
-    DEBUG0_HI();
-    adb_listen_16b(&host_cmd);
-    DEBUG0_LOW();
-    if((host_cmd & ADB_CHANGE_ADDR) == ADB_CHANGE_ADDR)
-    {
-      adb_mouse_current_addr = (host_cmd & 0xf00) >> 8;
-      printf("m %x\n", adb_mouse_current_addr);
-    }
-  }
-
-  if(cmd == ADB_CMD_TYPE_LISTEN && reg == 3 && addr == adb_kb_current_addr)
-  {
-    uint16_t host_cmd;
-    DEBUG0_HI();
-    adb_listen_16b(&host_cmd);
-    DEBUG0_LOW();
-    if((host_cmd & ADB_CHANGE_ADDR) == ADB_CHANGE_ADDR)
-    {
-      adb_kb_current_addr = (host_cmd & 0xf00) >> 8;
-      printf("kb %x\n", adb_kb_current_addr);
-    }
-  }
-
- // printf("%x %x\n", host_cmd, adb_mouse_current_addr);
-      printf("!\n");
-    printf("%x %x\n", host_cmd, host_cmd & ADB_CHANGE_ADDR);
-
-  // if(cmd == ADB_CMD_TYPE_TALK && reg == 3)
-  //   printf("0x%x %d %d %d\n", data, addr, cmd, reg);
-
-void write_test(void)
-{
-  // adb_mouse_reg[3] = 0x6001;
-  // uint16_t rand_id = (rand() % 0xf) << 8;
-  // adb_mouse_reg[3] |= rand_id;
-
-  // delay_us(200); // stop-to-start time
-  // TEST_ADB_DATA_LOW();
-  // delay_us(35);
-  // TEST_ADB_DATA_HI();
-  // delay_us(65);
-
-  // adb_write_16(adb_mouse_reg[3]);
-
-  // TEST_ADB_DATA_LOW();
-  // delay_us(65);
-  // TEST_ADB_DATA_HI();
-}
+  printf("%d %d %d\n", (uint8_t)qo->current_index, (uint8_t)(qo->current_index - 1), (uint8_t)(qo->current_index - 1)%4);