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matthewreed

Cleaned up pid code and several other todos


#include "stm32f0xx_hal_conf.h"
#include "stm32f0xx_hal_gpio_ex.h"
SPI_HandleTypeDef hspi1;

void spi_init()
{
    hspi1.Instance = SPI1;
    hspi1.Init.Mode = SPI_MODE_MASTER;
    hspi1.Init.Direction = SPI_DIRECTION_2LINES;
    hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
    hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
    hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
    hspi1.Init.NSS = SPI_NSS_SOFT;
    hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
    hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
    hspi1.Init.TIMode = SPI_TIMODE_DISABLED;
    hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED;
    hspi1.Init.NSSPMode = SPI_NSS_PULSE_ENABLED;
    HAL_SPI_Init(&hspi1);
}    
    
SPI_HandleTypeDef* spi_get()
{
    return &hspi1;
}

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