message: make encoder count parameter more visible
diff: /* Global variables ----------------------------------------------------------*/
  float vbus_voltage = 12.0f; //Arbitrary non-zero inital value to avoid division by zero if ADC reading is late
  +//@TODO stick parameter into struct
  +#define ENCODER_CPR (600*4)
  +static const float elec_rad_per_enc = 7.0 * 2 * M_PI * (1.0f / (float)ENCODER_CPR);
  +
  //@TODO: Migrate to C++, clearly we are actually doing object oriented code here...
  Motor_t motors[] = {
  { //M0
  @@ -498,16 +502,12 @@ static uint16_t check_timing(TIM_HandleTypeDef* htim, volatile uint16_t* log, vo
  }
  static void update_rotor(Rotor_t* rotor) {
  - //@TODO stick parameter into struct
  - #define QCPR (600*4)
  - static const float elec_rad_per_enc = 7.0 * 2 * M_PI * (1.0f / (float)QCPR);
  -
  //update internal encoder state
  int16_t delta_enc = (int16_t)rotor->encoder_timer->Instance->CNT - (int16_t)rotor->encoder_state;
  rotor->encoder_state += (int32_t)delta_enc;
  //compute electrical phase
  - float ph = elec_rad_per_enc * ((rotor->encoder_state % QCPR) - rotor->encoder_offset);
  + float ph = elec_rad_per_enc * ((rotor->encoder_state % ENCODER_CPR) - rotor->encoder_offset);
  ph = fmodf(ph, 2*M_PI);
  rotor->phase = ph;
  