Introduce cmd_worker() that handles commands cyclically.

src/commands.c

@@ -16,9 +16,9 @@ cmd_t command = {
 
 int cmd_terminated = 0;
 
-cmd_t *cmd_getcommand(void)
+void cmd_worker(void)
 {
-	return &command;
+	cmd_handle(&command);
 }
 
 void cmd_collect_char(char c)

src/include/commands.h

@@ -3,7 +3,7 @@ typedef struct {
     int index;
 } cmd_t;
 
-cmd_t *cmd_getcommand(void);
+void cmd_worker(void);
 
 void cmd_collect_char(char c);
 void cmd_handle(cmd_t *command);

src/inverter.c

@@ -15,22 +15,16 @@ int main()
 
 	/* With this MCU frequency (8MHz), 12 is a baudrate of 38.4k baud */
 	uart_init(12);
-
 	pwm_init();
-
 	timer_initT1();
 
-
 	DDRB |= (1 << DDB5);
 	DDRD |= (1 << DDD7);
 
 	printf("Up and running.\n\r");
 
 	while (1) {
-		/* We handle terminated commands here. 
+		cmd_worker();
-		Outside of the context of the UART receive interrupt. */
-		cmd_handle(cmd_getcommand());
-
 		pwm_worker();
 	}