Added utils and ain

firmware/src/bsp/ain.cpp

@@ -0,0 +1,35 @@
+/**** Includes ****/
+#include "../utils/utils.h"
+#include "mcu/mcu_hal.h"
+#include "ain.h"
+
+using namespace bsp;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+
+/**** Public function definitions ****/
+bsp::AnalogIn::AnalogIn(uint8_t adc_ch)
+{
+	this->adc_ch = adc_ch;
+	this->mul = DEF_AIN_MUL;
+	this->div = DEF_AIN_DIV;
+	this->offset = DEF_AIN_OFFSET;
+	this->last_read = 0;
+}
+
+uint16_t bsp::AnalogIn::read(void)
+{
+	//Read ADC
+	uint16_t raw = mcu::adc_read(this->adc_ch);
+	
+	//Convert to mV
+	this->last_read = util::convert_muldivoff(raw, this->mul, this->div, this->offset);
+	
+	return this->last_read;
+}
+
+/**** Private function definitions ****/
+

firmware/src/bsp/ain.h

@@ -0,0 +1,37 @@
+#ifndef ANALOG_IN_H_
+#define ANALOG_IN_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+namespace bsp {
+
+/**** Public definitions ****/
+static const uint8_t DEF_AIN_MUL = 215;
+static const uint8_t DEF_AIN_DIV = 44;
+static const int16_t DEF_AIN_OFFSET = 0;
+
+class AnalogIn
+{
+	protected:
+	uint8_t adc_ch;
+	
+	public:
+	AnalogIn(uint8_t adc_ch);
+	
+	uint8_t mul;
+	uint8_t div;
+	int16_t offset;
+	uint16_t last_read;
+	
+	uint16_t read(void);
+};
+
+/**** Public function declarations ****/
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* ANALOG_IN_H_ */

firmware/src/bsp/mcu/mcu_hal.cpp

@@ -0,0 +1,435 @@
+/**** Includes ****/
+#include <avr/io.h>
+#include <avr/eeprom.h>
+#include "mcu_hal.h"
+
+using namespace mcu;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+static uint8_t gpio_read_level(uint8_t pin_reg, uint8_t mask);
+
+/**** Public function definitions ****/
+void mcu::startup(startupCfg_t* hwCfg)
+{
+	// Fail-safe GPIO init
+	PORTB = 0x00;  // Reset PORTB pull-ups
+	DDRB = 0x00;   // Set all as inputs
+	
+	PORTC = 0x40;  // Reset PORTC pull-ups, except reset
+	DDRC = 0x00;   // Set all as inputs
+	
+	PORTD = 0x00;  // Reset PORTD pull-ups
+	DDRD = 0x00;   // Set all as inputs
+	
+	PORTE = 0x00;  // Reset PORTE pull-ups
+	DDRE = 0x00;   // Set all as inputs
+	
+	// Pull-x set all HiZ
+	PORTB &= ~0xFF;  // Reset pull-ups
+	DDRB &= ~0xFF;   // Set all as inputs
+	
+	// Inputs set all as HiZ inputs
+	PORTC &= ~0x3F;  // Reset pull-ups
+	DDRC &= ~0x3F;   // Set all as inputs
+	
+	PORTE &= ~0x0C;  // Reset pull-ups
+	DDRE &= ~0x0C;   // Set all as inputs
+	
+	// Outputs set all low
+	PORTD &= ~0xFF;  // Reset all low
+	DDRD |= 0xFF;   // Set all as outputs
+	
+	// Ignition input
+	PORTE |= 0x01;  // Set pull-up
+	DDRE &= ~0x01;   // Set all as input
+	
+	// 5V switched control
+	PORTE &= ~0x02;  // Set low
+	DDRE |= 0x02;   // Set all as output
+	
+	//ADC configuration
+	PRR0 &= ~0x01; //Enable ADC power
+	DIDR0 &= ~0x00; //Enable digital inputs
+	
+	ADMUX = 0x40;  //Set AVCC reference, Right adjust
+	ADCSRA = 0x00; //ADC Disabled, Single conversion, no IT
+	ADCSRA |= (uint8_t)hwCfg->adc_clk;
+	ADCSRB = 0x00; //no trigger input
+	
+	ADCSRA |= 0x80;  //Enable ADC
+}
+
+// ADC Interface functions 
+uint16_t mcu::adc_read(uint8_t ch)
+{
+	//check if ADC is enabled
+	if(!(ADCSRA&0x80)) return 0xFFFF;
+
+	//Safe guard mux
+	if(ch > 15) return 0xFFFF;
+	// Not available channels
+	if((ch > 8) && (ch<14)) return 0xFFFF;
+	
+	ADMUX &= ~0x0F;
+	ADMUX |= ch;
+	ADCSRA |= 0x40;
+	while(ADCSRA&0x40); //wait to finish
+	return ADC;
+}
+
+// GPIO functions
+uint8_t mcu::gpio_read(uint8_t ch)
+{
+	switch(ch)
+	{
+		case PIN_PB0:
+		return gpio_read_level(PINB,0x01);
+		
+		case PIN_PB1:
+		return gpio_read_level(PINB,0x02);
+		
+		case PIN_PB2:
+		return gpio_read_level(PINB,0x04);
+		
+		case PIN_PB3:
+		return gpio_read_level(PINB,0x08);
+		
+		case PIN_PB4:
+		return gpio_read_level(PINB,0x10);
+		
+		case PIN_PB5:
+		return gpio_read_level(PINB,0x20);
+		
+		case PIN_PB6:
+		return gpio_read_level(PINB,0x40);
+		
+		case PIN_PB7:
+		return gpio_read_level(PINB,0x80);
+		
+		case PIN_PC0:
+		return gpio_read_level(PINC,0x01);
+		
+		case PIN_PC1:
+		return gpio_read_level(PINC,0x02);
+		
+		case PIN_PC2:
+		return gpio_read_level(PINC,0x04);
+		
+		case PIN_PC3:
+		return gpio_read_level(PINC,0x08);
+		
+		case PIN_PC4:
+		return gpio_read_level(PINC,0x10);
+		
+		case PIN_PC5:
+		return gpio_read_level(PINC,0x20);
+		
+		case PIN_PD0:
+		return gpio_read_level(PIND,0x01);
+		
+		case PIN_PD1:
+		return gpio_read_level(PIND,0x02);
+		
+		case PIN_PD2:
+		return gpio_read_level(PIND,0x04);
+		
+		case PIN_PD3:
+		return gpio_read_level(PIND,0x08);
+		
+		case PIN_PD4:
+		return gpio_read_level(PIND,0x10);
+		
+		case PIN_PD5:
+		return gpio_read_level(PIND,0x20);
+		
+		case PIN_PD6:
+		return gpio_read_level(PIND,0x40);
+		
+		case PIN_PD7:
+		return gpio_read_level(PIND,0x80);
+		
+		case PIN_PE0:
+		return gpio_read_level(PINE,0x01);
+		
+		case PIN_PE1:
+		return gpio_read_level(PINE,0x02);
+		
+		case PIN_PE2:
+		return gpio_read_level(PINE,0x04);
+		
+		case PIN_PE3:
+		return gpio_read_level(PINE,0x08);
+		
+		default:
+		return LEVEL_LOW;
+	}
+}
+
+void mcu::gpio_write(uint8_t ch, int8_t lvl)
+{
+	switch(ch)
+	{		
+		case PIN_PB0:
+		if(lvl>0){
+			PORTB |= 0x01;
+			DDRB |= 0x01;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x01;
+			PORTB &= ~0x01;
+		}
+		else{
+			PORTB &= ~0x01;
+			DDRB |= 0x01;
+		}
+		return;
+		
+		case PIN_PB1:
+		if(lvl>0){
+			PORTB |= 0x02;
+			DDRB |= 0x02;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x02;
+			PORTB &= ~0x02;
+		}
+		else{
+			PORTB &= ~0x02;
+			DDRB |= 0x02;
+		}
+		return;
+		
+		case PIN_PB2:
+		if(lvl>0){
+			PORTB |= 0x04;
+			DDRB |= 0x04;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x04;
+			PORTB &= ~0x04;
+		}
+		else{
+			PORTB &= ~0x04;
+			DDRB |= 0x04;
+		}
+		return;
+		
+		case PIN_PB3:
+		if(lvl>0){
+			PORTB |= 0x08;
+			DDRB |= 0x08;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x08;
+			PORTB &= ~0x08;
+		}
+		else{
+			PORTB &= ~0x08;
+			DDRB |= 0x08;
+		}
+		return;
+		
+		case PIN_PB4:
+		if(lvl>0){
+			PORTB |= 0x10;
+			DDRB |= 0x10;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x10;
+			PORTB &= ~0x10;
+		}
+		else{
+			PORTB &= ~0x10;
+			DDRB |= 0x10;
+		}
+		return;
+		
+		case PIN_PB5:
+		if(lvl>0){
+			PORTB |= 0x20;
+			DDRB |= 0x20;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x20;
+			PORTB &= ~0x20;
+		}
+		else{
+			PORTB &= ~0x20;
+			DDRB |= 0x20;
+		}
+		return;
+		
+		case PIN_PB6:
+		if(lvl>0){
+			PORTB |= 0x40;
+			DDRB |= 0x40;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x40;
+			PORTB &= ~0x40;
+		}
+		else{
+			PORTB &= ~0x40;
+			DDRB |= 0x40;
+		}
+		return;
+		
+		case PIN_PB7:
+		if(lvl>0){
+			PORTB |= 0x80;
+			DDRB |= 0x80;
+		}
+		else if(lvl<0){
+			DDRB &= ~0x80;
+			PORTB &= ~0x80;
+		}
+		else{
+			PORTB &= ~0x80;
+			DDRB |= 0x80;
+		}
+		return;
+		
+		case PIN_PD0:
+		if(lvl>0){
+			PORTD |= 0x01;
+			DDRD |= 0x01;
+		}
+		else{
+			PORTD &= ~0x01;
+			DDRD |= 0x01;
+		}
+		return;
+		
+		case PIN_PD1:
+		if(lvl>0){
+			PORTD |= 0x02;
+			DDRD |= 0x02;
+		}
+		else{
+			PORTD &= ~0x02;
+			DDRD |= 0x02;
+		}
+		return;
+		
+		case PIN_PD2:
+		if(lvl>0){
+			PORTD |= 0x04;
+			DDRD |= 0x04;
+		}
+		else{
+			PORTD &= ~0x04;
+			DDRD |= 0x04;
+		}
+		return;
+		
+		case PIN_PD3:
+		if(lvl>0){
+			PORTD |= 0x08;
+			DDRD |= 0x08;
+		}
+		else{
+			PORTD &= ~0x08;
+			DDRD |= 0x08;
+		}
+		return;
+		
+		case PIN_PD4:
+		if(lvl>0){
+			PORTD |= 0x10;
+			DDRD |= 0x10;
+		}
+		else{
+			PORTD &= ~0x10;
+			DDRD |= 0x10;
+		}
+		return;
+		
+		case PIN_PD5:
+		if(lvl>0){
+			PORTD |= 0x20;
+			DDRD |= 0x20;
+		}
+		else{
+			PORTD &= ~0x20;
+			DDRD |= 0x20;
+		}
+		return;
+		
+		case PIN_PD6:
+		if(lvl>0){
+			PORTD |= 0x40;
+			DDRD |= 0x40;
+		}
+		else{
+			PORTD &= ~0x40;
+			DDRD |= 0x40;
+		}
+		return;
+		
+		case PIN_PD7:
+		if(lvl>0){
+			PORTD |= 0x80;
+			DDRD |= 0x80;
+		}
+		else{
+			PORTD &= ~0x80;
+			DDRD |= 0x80;
+		}
+		return;
+		
+		case PIN_PE1:
+		if(lvl>0){
+			PORTE |= 0x02;
+			DDRE |= 0x02;
+		}
+		else{
+			PORTE &= ~0x02;
+			DDRE |= 0x02;
+		}
+		return;
+		
+		default:
+		return;
+	}
+}
+
+uint8_t mcu::eeprom_read8b(uint16_t address)
+{
+	return eeprom_read_byte((uint8_t*)address);
+}
+
+uint16_t mcu::eeprom_read16b(uint16_t address)
+{
+	return eeprom_read_word((uint16_t*)address);
+}
+
+uint32_t mcu::eeprom_read32b(uint16_t address)
+{
+	return eeprom_read_dword((uint32_t*)address);
+}
+
+void mcu::eeprom_write8b(uint16_t address, uint8_t value)
+{
+	eeprom_write_byte((uint8_t*)address, value);
+}
+
+void mcu::eeprom_write16b(uint16_t address, uint16_t value)
+{
+	eeprom_write_word((uint16_t*)address, value);
+}
+
+void mcu::eeprom_write32b(uint16_t address, uint32_t value)
+{
+	eeprom_write_dword((uint32_t*)address, value);
+}
+
+/**** Private function definitions ****/
+static uint8_t gpio_read_level(uint8_t pin_reg, uint8_t mask)
+{
+	if(pin_reg&mask) return LEVEL_HIGH;
+	else return LEVEL_LOW;
+}
+

firmware/src/bsp/mcu/mcu_hal.h

@@ -0,0 +1,101 @@
+#ifndef MCU_HAL_H_
+#define MCU_HAL_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+namespace mcu {
+
+/**** Public definitions ****/
+/*
+*/
+
+const uint8_t PIN_PB0 = 1;	// Pull-x 2
+const uint8_t PIN_PB1 = 2;	// Pull-x 7
+const uint8_t PIN_PB2 = 3;	// Pull-x 3
+const uint8_t PIN_PB3 = 4;	// Pull-x 8
+const uint8_t PIN_PB4 = 5;	// Pull-x 4
+const uint8_t PIN_PB5 = 6;	// Pull-x 5
+const uint8_t PIN_PB6 = 7;	// Pull-x 1
+const uint8_t PIN_PB7 = 8;	// Pull-x 6
+
+const uint8_t PIN_PC0 = 9;	// Input 2
+const uint8_t PIN_PC1 = 10;	// Input 7
+const uint8_t PIN_PC2 = 11;	// Input 3
+const uint8_t PIN_PC3 = 12;	// Input 8
+const uint8_t PIN_PC4 = 13;	// Input 4
+const uint8_t PIN_PC5 = 14;	// Input 5
+
+const uint8_t PIN_PD0 = 15;	// Output 5
+const uint8_t PIN_PD1 = 16;	// Output 4
+const uint8_t PIN_PD2 = 17;	// Output 6
+const uint8_t PIN_PD3 = 18;	// Output 1
+const uint8_t PIN_PD4 = 19;	// Output 7
+const uint8_t PIN_PD5 = 20;	// Output 2
+const uint8_t PIN_PD6 = 21;	// Output 8
+const uint8_t PIN_PD7 = 22;	// Output 3
+
+const uint8_t PIN_PE0 = 23;	// Ignition input
+const uint8_t PIN_PE1 = 24;	// 5V control
+const uint8_t PIN_PE2 = 25;	// Input 1
+const uint8_t PIN_PE3 = 26;	// Input 6
+
+const uint8_t LEVEL_LOW  = 0;
+const uint8_t LEVEL_HIGH = 1;
+const int8_t LEVEL_HIZ   = -1;
+
+const uint8_t ADC0 = 0;		// Input 1
+const uint8_t ADC1 = 1;		// Input 2
+const uint8_t ADC2 = 2;		// Input 3
+const uint8_t ADC3 = 3;		// Input 4
+const uint8_t ADC4 = 4;		// Input 5
+const uint8_t ADC5 = 5;		// Input 6
+const uint8_t ADC6 = 6;		// Input 7
+const uint8_t ADC7 = 7;		// Input 8
+const uint8_t ADC8 = 8;		// MCU temperature
+const uint8_t ADC14 = 14;	// MCU internal reference
+const uint8_t ADC15 = 15;	// MCU ground
+
+//ADC definitions
+typedef enum {
+	ADC_DIV2 = 0x01,
+	ADC_DIV4 = 0x02,
+	ADC_DIV8 = 0x03,
+	ADC_DIV16 = 0x04,
+	ADC_DIV32 = 0x05,
+	ADC_DIV64 = 0x06,
+	ADC_DIV128 = 0x07
+} adcClkDiv_t;
+
+//Timer definitions
+typedef enum {
+	TIM_DIV1 = 0x01,
+	TIM_DIV8 = 0x02,
+	TIM_DIV64 = 0x03,
+	TIM_DIV256 = 0x04,
+	TIM_DIV1024 = 0x05
+} timerClkDiv_t;
+
+typedef struct {
+	adcClkDiv_t adc_clk;
+} startupCfg_t;
+
+/**** Public function declarations ****/
+void startup(startupCfg_t* hwCfg);
+
+uint8_t gpio_read(uint8_t ch);
+void gpio_write(uint8_t ch, int8_t lvl);
+
+uint16_t adc_read(uint8_t ch);
+
+uint8_t eeprom_read8b(uint16_t address);
+uint16_t eeprom_read16b(uint16_t address);
+uint32_t eeprom_read32b(uint16_t address);
+
+void eeprom_write8b(uint16_t address, uint8_t value);
+void eeprom_write16b(uint16_t address, uint16_t value);
+void eeprom_write32b(uint16_t address, uint32_t value);
+
+} //namespace
+
+#endif /* MCU_HAL_H_ */

firmware/src/logic-controller.atsln

@@ -0,0 +1,22 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Atmel Studio Solution File, Format Version 11.00
+VisualStudioVersion = 14.0.23107.0
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{E66E83B9-2572-4076-B26E-6BE79FF3018A}") = "logic-controller", "logic-controller.cppproj", "{DCE6C7E3-EE26-4D79-826B-08594B9AD897}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|AVR = Debug|AVR
+		Release|AVR = Release|AVR
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Debug|AVR.ActiveCfg = Debug|AVR
+		{DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Debug|AVR.Build.0 = Debug|AVR
+		{DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Release|AVR.ActiveCfg = Release|AVR
+		{DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Release|AVR.Build.0 = Release|AVR
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

firmware/src/logic-controller.componentinfo.xml

@@ -0,0 +1,86 @@
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+<Store xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns="AtmelPackComponentManagement">
+	<ProjectComponents>
+		<ProjectComponent z:Id="i1" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/">
+			<CApiVersion></CApiVersion>
+			<CBundle></CBundle>
+			<CClass>Device</CClass>
+			<CGroup>Startup</CGroup>
+			<CSub></CSub>
+			<CVariant></CVariant>
+			<CVendor>Atmel</CVendor>
+			<CVersion>1.7.0</CVersion>
+			<DefaultRepoPath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs</DefaultRepoPath>
+			<DependentComponents xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays" />
+			<Description></Description>
+			<Files xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays">
+				<d4p1:anyType i:type="FileInfo">
+					<AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.7.374\include\</AbsolutePath>
+					<Attribute></Attribute>
+					<Category>include</Category>
+					<Condition>C</Condition>
+					<FileContentHash i:nil="true" />
+					<FileVersion></FileVersion>
+					<Name>include/</Name>
+					<SelectString></SelectString>
+					<SourcePath></SourcePath>
+				</d4p1:anyType>
+				<d4p1:anyType i:type="FileInfo">
+					<AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.7.374\include\avr\iom328pb.h</AbsolutePath>
+					<Attribute></Attribute>
+					<Category>header</Category>
+					<Condition>C</Condition>
+					<FileContentHash>TU9y07FA4IWGxznrvGv9rQ==</FileContentHash>
+					<FileVersion></FileVersion>
+					<Name>include/avr/iom328pb.h</Name>
+					<SelectString></SelectString>
+					<SourcePath></SourcePath>
+				</d4p1:anyType>
+				<d4p1:anyType i:type="FileInfo">
+					<AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.7.374\templates\main.c</AbsolutePath>
+					<Attribute>template</Attribute>
+					<Category>source</Category>
+					<Condition>C Exe</Condition>
+					<FileContentHash>KjvOcFWd++tbnsEMfVPd/w==</FileContentHash>
+					<FileVersion></FileVersion>
+					<Name>templates/main.c</Name>
+					<SelectString>Main file (.c)</SelectString>
+					<SourcePath></SourcePath>
+				</d4p1:anyType>
+				<d4p1:anyType i:type="FileInfo">
+					<AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.7.374\templates\main.cpp</AbsolutePath>
+					<Attribute>template</Attribute>
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+					<FileVersion></FileVersion>
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+					<SelectString>Main file (.cpp)</SelectString>
+					<SourcePath></SourcePath>
+				</d4p1:anyType>
+				<d4p1:anyType i:type="FileInfo">
+					<AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.7.374\gcc\dev\atmega328pb</AbsolutePath>
+					<Attribute></Attribute>
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+					<SelectString></SelectString>
+					<SourcePath></SourcePath>
+				</d4p1:anyType>
+			</Files>
+			<PackName>ATmega_DFP</PackName>
+			<PackPath>C:/Program Files (x86)/Atmel/Studio/7.0/Packs/atmel/ATmega_DFP/1.7.374/Atmel.ATmega_DFP.pdsc</PackPath>
+			<PackVersion>1.7.374</PackVersion>
+			<PresentInProject>true</PresentInProject>
+			<ReferenceConditionId>ATmega328PB</ReferenceConditionId>
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+				<d4p1:string></d4p1:string>
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+			<VersionMode>Fixed</VersionMode>
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+		</ProjectComponent>
+	</ProjectComponents>
+</Store>

firmware/src/logic-controller.cppproj

@@ -0,0 +1,190 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003" ToolsVersion="14.0">
+  <PropertyGroup>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectVersion>7.0</ProjectVersion>
+    <ToolchainName>com.Atmel.AVRGCC8.CPP</ToolchainName>
+    <ProjectGuid>dce6c7e3-ee26-4d79-826b-08594b9ad897</ProjectGuid>
+    <avrdevice>ATmega328PB</avrdevice>
+    <avrdeviceseries>none</avrdeviceseries>
+    <OutputType>Executable</OutputType>
+    <Language>CPP</Language>
+    <OutputFileName>$(MSBuildProjectName)</OutputFileName>
+    <OutputFileExtension>.elf</OutputFileExtension>
+    <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
+    <AssemblyName>logic-controller</AssemblyName>
+    <Name>logic-controller</Name>
+    <RootNamespace>logic-controller</RootNamespace>
+    <ToolchainFlavour>Native</ToolchainFlavour>
+    <KeepTimersRunning>true</KeepTimersRunning>
+    <OverrideVtor>false</OverrideVtor>
+    <CacheFlash>true</CacheFlash>
+    <ProgFlashFromRam>true</ProgFlashFromRam>
+    <RamSnippetAddress />
+    <UncachedRange />
+    <preserveEEPROM>true</preserveEEPROM>
+    <OverrideVtorValue />
+    <BootSegment>2</BootSegment>
+    <ResetRule>0</ResetRule>
+    <eraseonlaunchrule>0</eraseonlaunchrule>
+    <EraseKey />
+    <AsfFrameworkConfig>
+      <framework-data xmlns="">
+        <options />
+        <configurations />
+        <files />
+        <documentation help="" />
+        <offline-documentation help="" />
+        <dependencies>
+          <content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.52.0" />
+        </dependencies>
+      </framework-data>
+    </AsfFrameworkConfig>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+    <ToolchainSettings>
+      <AvrGccCpp>
+        <avrgcc.common.Device>-mmcu=atmega328pb -B "%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\gcc\dev\atmega328pb"</avrgcc.common.Device>
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+        <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
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+        <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
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+          </ListValues>
+        </avrgcccpp.assembler.general.IncludePaths>
+      </AvrGccCpp>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+    <ToolchainSettings>
+      <AvrGccCpp>
+        <avrgcc.common.Device>-mmcu=atmega328pb -B "%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\gcc\dev\atmega328pb"</avrgcc.common.Device>
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+            <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\include\</Value>
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+        <avrgcc.compiler.optimization.DebugLevel>Default (-g2)</avrgcc.compiler.optimization.DebugLevel>
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+        <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcccpp.compiler.optimization.DebugLevel>Default (-g2)</avrgcccpp.compiler.optimization.DebugLevel>
+        <avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
+        <avrgcccpp.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcccpp.linker.libraries.Libraries>
+        <avrgcccpp.assembler.general.IncludePaths>
+          <ListValues>
+            <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.7.374\include\</Value>
+          </ListValues>
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+        <avrgcccpp.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcccpp.assembler.debugging.DebugLevel>
+      </AvrGccCpp>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="bsp\ain.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\ain.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\mcu\mcu_hal.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="bsp\mcu\mcu_hal.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="main.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="utils\interpolate.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="utils\interpolate.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="utils\utils.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="utils\utils.h">
+      <SubType>compile</SubType>
+    </Compile>
+  </ItemGroup>
+  <ItemGroup>
+    <Folder Include="bsp" />
+    <Folder Include="bsp\mcu" />
+    <Folder Include="utils" />
+  </ItemGroup>
+  <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
+</Project>

firmware/src/main.cpp

@@ -0,0 +1,18 @@
+/*
+ * logic-controller.cpp
+ *
+ * Created: 28.04.2024 20:03:09
+ * Author : User
+ */ 
+
+#include <avr/io.h>
+
+
+int main(void)
+{
+    /* Replace with your application code */
+    while (1) 
+    {
+    }
+}
+

firmware/src/utils/interpolate.cpp

@@ -0,0 +1,163 @@
+/**** Includes ****/
+#include "utils.h"
+#include "interpolate.h"
+
+using namespace util;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+/**** Public function definitions ****/
+uint16_t util::interpolate_1d(uint16_t x, uint16_t* x_axis, uint16_t* y_values, uint8_t len_axis)
+{
+	// validate axis length
+	if(len_axis==0) return 0;			// Empty data set
+	if(len_axis==1) return y_values[0];	// Only one data point
+
+	uint16_t y;
+
+	uint8_t i = find_interval_end_index(x, x_axis, len_axis);
+	if(i==0)
+	{
+		//Less then start
+		y = y_values[0];
+	}
+	else if(i==len_axis)
+	{
+		//More than end
+		y = y_values[len_axis-1];
+	}
+	else
+	{
+		// Do interpolate
+		y = interpolate(x, x_axis[i-1], x_axis[i], y_values[i-1], y_values[i]);
+	}
+
+	return y;
+}
+
+uint16_t util::interpolate_2d(uint16_t x, uint16_t y, uint16_t* x_axis, uint8_t len_x_axis, uint16_t* y_axis, uint8_t len_y_axis, uint16_t* z_values)
+{
+	// validate axis length
+	if((len_x_axis==0)&&(len_y_axis==0)) return 0;				// Empty data set
+	if((len_x_axis==1)&&(len_y_axis==1)) return z_values[0];	// Only one data point
+
+	uint8_t ix = find_interval_end_index(x, x_axis, len_x_axis);
+	uint8_t iy = find_interval_end_index(y, y_axis, len_y_axis);
+
+	// Check corners - easy answers
+	if((ix==0)&&(iy==0))
+	{
+		return z_values[0];  //[0][0]  [Y][X]
+	}
+	else if((ix==len_x_axis)&&(iy==0))
+	{
+		return z_values[len_x_axis-1]; //[0][end]
+	}
+	else if((ix==0)&&(iy==len_y_axis))
+	{
+		uint16_t i = index2d_to_index1d(0, len_y_axis-1, len_x_axis);
+		return z_values[i]; //[end][0]
+	}
+	else if((ix==len_x_axis)&&(iy==len_y_axis))
+	{
+		uint16_t i = index2d_to_index1d(len_x_axis-1, len_y_axis-1, len_x_axis);
+		return z_values[i];  //[end][end]
+	};
+
+	// Check boundaries - 1D interpolation
+	if(ix==0)
+    {
+        // On ix=0 line
+        uint16_t i = 0;
+        uint16_t z0 = z_values[i];
+        i = index2d_to_index1d(0, len_y_axis-1, len_x_axis);
+        uint16_t z1 = z_values[i];
+        return interpolate(y, y_axis[0], y_axis[len_y_axis-1], z0, z1);
+    }
+    else if(ix==len_x_axis)
+    {
+        // On ix=END line
+        uint16_t i = len_x_axis-1;
+        uint16_t z0 = z_values[i];
+        i = index2d_to_index1d(len_x_axis-1, len_y_axis-1, len_x_axis);
+        uint16_t z1 = z_values[i];
+        return interpolate(y, y_axis[0], y_axis[len_y_axis-1], z0, z1);
+    }
+    else if(iy==0)
+    {
+        // On iy=0 line
+        uint16_t i = 0;
+        uint16_t z0 = z_values[i];
+        i = len_x_axis-1;
+        uint16_t z1 = z_values[i];
+        return interpolate(x, x_axis[0], x_axis[len_x_axis-1], z0, z1);
+    }
+    else if(iy==len_y_axis)
+    {
+        // On iy=END line
+        uint16_t i = index2d_to_index1d(0, len_y_axis-1, len_x_axis);
+        uint16_t z0 = z_values[i];
+        i = index2d_to_index1d(len_x_axis-1, len_y_axis-1, len_x_axis);
+        uint16_t z1 = z_values[i];
+        return interpolate(x, x_axis[0], x_axis[len_x_axis-1], z0, z1);
+    }
+
+	// Do interpolation
+	// Get axis values
+	uint16_t x0 = x_axis[ix-1];
+	uint16_t x1 = x_axis[ix];
+	uint16_t y0 = y_axis[iy-1];
+	uint16_t y1 = y_axis[iy];
+
+	// Do y0 line calculation
+	// Get z values at x0 and x1 points on y0 line
+	uint16_t i = index2d_to_index1d(ix-1, iy-1, len_x_axis);
+	uint16_t z0 = z_values[i];
+	uint16_t z1 = z_values[i+1];
+	// Interpolate z value on y0 line
+	uint16_t zy0 = interpolate(x, x0, x1, z0, z1);
+
+	// Do y1 line calculation
+	// Get z values at x0 and x1 points on y1 line
+	i = index2d_to_index1d(ix-1, iy, len_x_axis);
+	z0 = z_values[i];
+	z1 = z_values[i+1];
+	// Interpolate z value on y0 line
+	uint16_t zy1 = interpolate(x, x0, x1, z0, z1);
+
+	// Do calculation in y axis on xz line
+	return interpolate(y, y0, y1, zy0, zy1);
+}
+
+uint16_t  util::interpolate(uint16_t x, uint16_t x0, uint16_t x1, uint16_t y0, uint16_t y1)
+{
+	int32_t dy = (int32_t)y1 - (int32_t)y0;
+	int32_t dx = (int32_t)x1 - (int32_t)x0;
+	int32_t d = (int32_t)x - (int32_t)x0;
+
+	int32_t y = dy * d;
+	y /= dx;
+	y += y0;
+
+	return util::sat_cast(y);
+}
+
+uint8_t  util::find_interval_end_index(uint16_t val, uint16_t* axis_values, uint8_t len_axis)
+{
+	for(uint8_t i=0; i<len_axis; i++)
+	{
+		if(val < axis_values[i]) return i;
+		continue;
+	}
+
+	return len_axis;
+}
+
+uint16_t  util::index2d_to_index1d(uint8_t ix, uint8_t iy, uint8_t len_x)
+{
+	return ((uint16_t)len_x * iy) + ix;
+}
+
+/**** Private function definitions ****/

firmware/src/utils/interpolate.h

@@ -0,0 +1,23 @@
+#ifndef UTILS_INTERPOLATE_H_
+#define UTILS_INTERPOLATE_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+namespace util {
+
+/**** Public definitions ****/
+/**** Public function declarations ****/
+uint16_t interpolate_1d(uint16_t x, uint16_t* x_axis, uint16_t* y_values, uint8_t len_axis);
+uint16_t interpolate_2d(uint16_t x, uint16_t y, uint16_t* x_axis, uint8_t len_x_axis, uint16_t* y_axis, uint8_t len_y_axis, uint16_t* z_values);
+
+uint8_t find_interval_end_index(uint16_t val, uint16_t* axis_values, uint8_t len_axis);
+uint16_t interpolate(uint16_t x, uint16_t x0, uint16_t x1, uint16_t y0, uint16_t y1);
+uint16_t index2d_to_index1d(uint8_t ix, uint8_t iy, uint8_t len_x);
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* UTILS_INTERPOLATE_H_ */

firmware/src/utils/utils.cpp

@@ -0,0 +1,164 @@
+/**** Includes ****/
+#include "utils.h"
+
+using namespace util;
+
+/**** Private definitions ****/
+/**** Private constants ****/
+/**** Private variables ****/
+/**** Private function declarations ****/
+#ifndef TESTING
+#endif
+
+/**** Public function definitions ****/
+uint8_t util::invert(uint8_t x)
+{
+	if(x!=0) return 0;
+	else return 1;
+}
+
+uint8_t util::sat_add(uint8_t x, uint8_t y)
+{
+	uint8_t z = x + y;
+	// Check for overflow
+	if((z < x)||(z < y)) return 0xFF;
+	else return z;
+}
+
+uint16_t util::sat_add(uint16_t x, uint16_t y)
+{
+	uint16_t z = x + y;
+	// Check for overflow
+	if((z < x)||(z < y)) return 0xFF;
+	else return z;
+}
+
+uint32_t util::sat_add(uint32_t x, uint32_t y)
+
+{
+	uint32_t z = x + y;
+	// Check for overflow
+	if((z < x)||(z < y)) return 0xFF;
+	else return z;
+}
+
+uint8_t util::sat_subtract(uint8_t x, uint8_t y)
+{
+	uint8_t z = x - y;
+	// Check for underflow
+	if(z > x) return 0;
+	else return z;
+}
+
+uint16_t util::sat_subtract(uint16_t x, uint16_t y)
+{
+	uint16_t z = x - y;
+	// Check for underflow
+	if(z > x) return 0;
+	else return z;
+}
+uint32_t util::sat_subtract(uint32_t x, uint32_t y)
+{
+	uint32_t z = x - y;
+	// Check for underflow
+	if(z > x) return 0;
+	else return z;
+}
+
+uint8_t util::abs_subtract(uint8_t x, uint8_t y)
+{
+	if(x > y) return x - y;
+	else return y-x;
+}
+
+uint16_t util::abs_subtract(uint16_t x, uint16_t y)
+{
+	if(x > y) return x - y;
+	else return y-x;
+}
+
+uint32_t util::abs_subtract(uint32_t x, uint32_t y)
+{
+	if(x > y) return x - y;
+	else return y-x;
+}
+
+
+uint16_t util::sat_cast(uint32_t x)
+{
+	if(x > 0x0000FFFF) return 0xFFFF;
+	else return (uint16_t)x;
+}
+
+uint16_t util::sat_cast(int32_t x)
+{
+	if(x < 0) return 0x0000;
+	else if(x > 0x0000FFFF) return 0xFFFF;
+	else return (uint16_t)x;
+}
+
+uint16_t util::convert_muldivoff(uint16_t raw, uint8_t mul, uint8_t div, int16_t offset)
+{
+	int32_t temp = (int32_t)raw;
+
+	temp = temp * mul;
+	if(div>1) temp /= div;
+	temp += offset;
+
+	return sat_cast(temp);
+}
+
+uint16_t util::sat_mul_kilo(uint16_t xk, uint16_t yk)
+{
+	uint32_t temp = (uint32_t)xk * (uint32_t)yk;
+	temp /= 1000;
+
+	return sat_cast(temp);
+}
+
+uint16_t util::sat_div_kilo(uint16_t top, uint16_t bot)
+{
+	//Sanity check bot
+	if(bot==0) return 0xFFFF; //aka infinity
+
+	uint32_t temp = (uint32_t)top * 1000;
+	temp /= (uint32_t)bot;
+
+	return sat_cast(temp);
+}
+
+uint16_t util::sat_ratio(uint16_t top, uint16_t bot)
+{
+	//Sanity check bot
+	if(bot==0) return 0xFFFF; //aka infinity
+
+	//Easy option
+	if(top>=bot) return 0xFFFF;
+
+	uint32_t temp = (uint32_t)top * 0x0000FFFF;
+	temp /= (uint32_t)bot;
+
+	return sat_cast(temp);
+}
+
+uint16_t util::percent_to_16b(uint8_t percent)
+{
+	uint32_t temp = (uint32_t)percent * 0x0000FFFF;
+	temp /= 100;
+
+	// Limit to 16 bits
+	uint16_t pwm = sat_cast(temp);
+
+	return pwm;
+}
+
+uint16_t util::percent_of(uint8_t percent, uint16_t value)
+{
+	if(percent == 0) return 0;
+	else if(percent >= 100) return value;
+	
+	uint32_t temp = (uint32_t)value * percent;
+	return temp/100;
+}
+
+/**** Private function definitions ****/

firmware/src/utils/utils.h

@@ -0,0 +1,44 @@
+#ifndef UTILS_H_
+#define UTILS_H_
+
+/**** Includes ****/
+#include <stdint.h>
+
+namespace util {
+
+/**** Public definitions ****/
+/**** Public function declarations ****/
+uint8_t invert(uint8_t x);
+
+uint16_t sat_cast(uint32_t x);
+uint16_t sat_cast(int32_t x);
+
+uint16_t convert_muldivoff(uint16_t raw, uint8_t mul, uint8_t div, int16_t offset);
+uint16_t sat_mul_kilo(uint16_t xk, uint16_t yk);
+uint16_t sat_div_kilo(uint16_t top, uint16_t bot);
+uint16_t sat_ratio(uint16_t top, uint16_t bot);
+uint16_t percent_to_16b(uint8_t percent);
+
+uint16_t percent_of(uint8_t percent, uint16_t value);
+
+uint8_t sat_add(uint8_t x, uint8_t y);
+uint16_t sat_add(uint16_t x, uint16_t y);
+uint32_t sat_add(uint32_t x, uint32_t y);
+
+uint8_t sat_subtract(uint8_t x, uint8_t y);
+uint16_t sat_subtract(uint16_t x, uint16_t y);
+uint32_t sat_subtract(uint32_t x, uint32_t y);
+
+uint8_t abs_subtract(uint8_t x, uint8_t y);
+uint16_t abs_subtract(uint16_t x, uint16_t y);
+uint32_t abs_subtract(uint32_t x, uint32_t y);
+
+uint16_t interpolate_1d(uint16_t x, uint16_t* x_axis, uint16_t* y_values, uint8_t len_axis);
+uint16_t interpolate_2d(uint16_t x, uint16_t y, uint16_t* x_axis, uint8_t len_x_axis, uint16_t* y_axis, uint8_t len_y_axis, uint16_t* z_values);
+
+#ifdef TESTING
+#endif
+
+} //namespace
+
+#endif /* UTILS_H_ */